Cement silo discharging and crushing robot

Abstract

The utility model discloses a cement silo discharging and crushing robot which comprises a roller, a material suction head internally provided with a grating plate and a vehicle body provided with walking mechanisms on the two sides of the bottom, the upper end of the vehicle body is provided with a material conveying pipe, the front end of the material conveying pipe is communicated with the top end of the material suction head, and the rear end of the material conveying pipe is communicated with an external suction system. A blade group is mounted on one side, far away from the conveying pipe, of the grating plate; the front end of the vehicle body is provided with an image acquisition mechanism and a rotary driving mechanism, the vehicle body is internally provided with a control box, a storage battery pack and a wireless communication module, the two ends of the roller are coaxially and fixedly connected with vertical bevel gears, and the two sides of the front end of the vehicle body are rotationally connected with crushing rollers; the top of the crushing roller is coaxially and fixedly connected with a transverse bevel gear meshed with the vertical bevel gear, and the side surface and the bottom surface of the crushing roller are both connected with a plurality of groups of crushing nails for crushing cement blocks on the inner side wall of the cement silo; the cement discharging device integrates the automatic discharging function and the crushing function and has the advantages of being high in cement discharging efficiency, good in cement discharging effect and low in cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of cement production and storage equipment, and more specifically, relates to a cement storage discharging and crushing robot. Background Art

[0002] Cement is a powdery, hydraulic, inorganic gelling material. It is a powdery material with strong water absorption. It must undergo a certain storage period of inspection and can only be shipped out after passing the inspection. Therefore, cement plants must set up cement warehouses with a certain capacity to store cement. When needed, the cement is discharged through the discharging device of the cement warehouse. In the actual discharging process of the cement warehouse, due to the influence of long-term stacking or climate or temperature and humidity differences inside and outside the warehouse, some cement in the cement warehouse is easy to clump and mix with other powdered cement or the clumped cement adheres to the inner wall of the cement warehouse. The volume of the clumping is often large and difficult to break. However, the existing discharging devices do not have the ability to break the cement lumps. Function, when cement is discharged from the warehouse, it is very easy to cause the discharging device to be blocked or the discharged cement contains a lot of agglomerated cement, which affects the cement discharging efficiency and discharging effect; in addition, in order to avoid affecting the discharging, before discharging or after the cement warehouse has been used for a period of time, it is necessary to manually carry crushing tools into the cement warehouse to crush the agglomerated cement mixed in the powdered cement or adhered to the side wall of the warehouse, which is time-consuming and labor-intensive, with poor crushing effect, low crushing efficiency and high labor cost, and still causes the subsequent discharging device to be blocked or the discharged cement contains agglomerated cement, thereby affecting the cement discharging effect and discharging effect. The overall cement discharging efficiency is low, the cement discharging effect is poor and the cost is high. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the utility model is to provide a cement warehouse discharging and crushing robot, which integrates automatic discharging function and automatic crushing function, has good crushing effect and high crushing efficiency, and avoids the blockage of the discharging device or the impact on the quality of the discharged cement due to agglomerated cement when the cement is discharged from the warehouse. The overall advantages are high cement discharging efficiency, good cement discharging effect and low cost.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] The top of the crushing roller is coaxially fixed with the top of the crushing roller, and the top of the crushing roller is coaxially fixed with the top of the crushing roller, and the bottom surface of the crushing roller is connected with a plurality of crushing nails for crushing cement blocks on the inner wall of the cement storage tank.

[0006] Further configuration: the blade group includes several transverse blades and several longitudinal blades, the transverse blades are arranged along the length direction of the horizontal bar of the grille plate, and the longitudinal blades are arranged along the length direction of the vertical bar of the grille plate, and the transverse blades and vertical blades are both integrally formed with the grille plate.

[0007] Further configuration: the blade group includes a fixed frame, several transverse blades and several longitudinal blades, the upper end of the transverse blade is provided with several upper slots, the bottom of the longitudinal blade is evenly provided with several lower slots matching the upper slots, both ends of the transverse blade are provided with a first mounting part, both ends of the longitudinal blade are provided with a second mounting part, the first mounting part and the fixed frame, the second mounting part and the fixed frame are connected by bolts.

[0008] It is further configured that the crushing assembly includes several groups of crushing hammers and several groups of crushing knives, the crushing hammers and the crushing knives are fixedly mounted on the outer circumferential side of the drum, and two adjacent groups of the crushing hammers and crushing knives are arranged in an interlaced manner.

[0009] Further arrangement: a pushing plate for flattening the upper cement surface in the cement storage is provided between the walking mechanism and the suction head, the pushing plate is L-shaped, the front end of the vehicle body is fixedly connected to the top of the vertical end of the pushing plate, the horizontal end of the pushing plate faces the walking mechanism, the horizontal end of the pushing plate is located between the bottom of the walking mechanism and the bottom of the suction head, and the vertical end of the pushing plate is connected to a group of crushing blades near the side of the suction head.

[0010] Further arrangement: a crushing mechanism is provided on the rear side of the crushing roller, and the crushing mechanism includes an upper plate, a lower plate, a crushing hammer, a crushing roller and a scraper arranged in sequence along the circumference of the upper plate, the lower plate and the upper plate are coaxially fixedly connected with a rotating shaft, both sides of the front end of the vehicle body are fixedly connected with a first electric push rod, the top rod of the first electric push rod is connected with a support, and the support is equipped with a first motor; the driving end of the first motor passes through the support and is fixedly connected to the top of the rotating shaft, the scraper is fixedly connected between the upper plate and the lower plate, the top of the crushing hammer is hinged with a swing arm that rotates around the tangent of the upper plate, the top of the swing arm is hinged to the upper plate, and a number of hammer blocks are connected to the side of the crushing hammer, the top and bottom ends of the crushing roller are respectively rotatably connected to the upper plate and the lower plate, and a number of crushing blocks are installed on the outer side of the crushing roller.

[0011] It is further configured that: the upper plate is installed with an electromagnet, and the top end of the swing arm is connected with an iron block magnetically connected to the electromagnet.

[0012] The transmission gear of said sliding panel also is connected with the gear train of said sliding panel also, and the sliding panel also is connected with the gear train of said sliding panel. The two sliding panels have the both ends connected to the gear train of said sliding panel.

[0013] Further configuration: the image acquisition mechanism includes a high-definition camera, a lighting lamp and a bracket arranged in an inverted U shape, the two vertical ends of the bracket are installed on the upper end surface of the vehicle body, and a fixed seat and a third motor for driving the fixed seat to rotate are installed on the top of the closed end of the bracket. The high-definition camera and the lighting lamp can be removably installed on the upper end of the fixed seat, and the lighting lamp and the high-definition camera are electrically connected to the output end of the control box.

[0014] Further configuration: the walking mechanism is a crawler-type walking mechanism, which includes a frame, a crawler, a driving wheel installed on the frame, a traveling wheel, a guide wheel and a power device for driving the crawler to travel, and the guide wheel, the traveling wheel and the driving wheel are connected by a crawler transmission.

[0015] In summary, the utility model plays the role of automatically controlling the overall movement through the walking mechanism and the control box; through the roller, the crushing assembly and the rotary drive mechanism, when the vehicle body moves forward, the rotary drive mechanism drives the roller crushing assembly to roll and crush the cement agglomerated on the cement surface in front of the vehicle body, thereby automatically performing preliminary crushing of the cement agglomerates before discharging; through the suction head, the feeding pipe and the external suction system, the cement after preliminary crushing or the cement dust raised by the crushing is transported to the outside of the cement storage, and at the same time, the visibility in the cement storage is improved, thereby automatically discharging the crushed cement and ensuring high crushing and discharging efficiency; through the blade group and the grille plate, it is used to perform secondary crushing of the cement agglomerates that are sucked into the suction head and missed and not completely crushed Crushing, cutting and filtering play a role in further improving the discharging effect and efficiency; through the image acquisition mechanism and wireless communication module, it plays a role in automatically collecting real-time road conditions and cement agglomerate position images in the cement silo; through the vertical bevel gear, transverse bevel gear, crushing roller and crushing nails, while the rotary drive mechanism drives the drum to rotate, it drives the vertical bevel gear to rotate coaxially, and drives the transverse bevel gear meshing with the vertical bevel gear to rotate, thereby driving the crushing roller to roll against the side wall of the cement silo, and then drives the crushing nails located on the side and bottom of the crushing roller to roll and crush the agglomerated cement on the inner wall of the cement silo and the surface cement close to the side wall of the cement silo, respectively, to crush the agglomerated cement on the side wall of the cement silo and the surface cement in the silo;

[0016] The utility model integrates the automatic discharging function and the automatic crushing function, avoids the discharging blockage or the influence on the quality of the discharged cement caused by the agglomerated cement when the cement is discharged from the warehouse, and has the advantages of high cement discharging efficiency, good cement discharging effect and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the first embodiment of the present invention;

[0018] Figure 2 This is a partial structural diagram of the first embodiment of the present utility model;

[0019] Figure 3 for Figure 1 A partial enlarged view of middle A;

[0020] Figure 4 A partial cross-sectional view of the first embodiment of the present utility model;

[0021] Figure 5 This is a structural diagram of the grid plate in Example 1 of the present utility model;

[0022] Figure 6 This is a front side view of the first embodiment of the present utility model;

[0023] Figure 7 for Figure 1 A partial enlarged view of middle B;

[0024] Figure 8 This is a cross-sectional view of the second embodiment of the present utility model;

[0025] Figure 9 This is a structural diagram of the grid plate in Example 2 of the present utility model.

[0026] Figure: 1. Roller; 2. Suction head; 3. Carriage; 4. Travel mechanism; 5. Feed pipe; 6. Grid plate; 7. Control box; 8. Battery pack; 9. Wireless communication module; 10. Vertical bevel gear; 11. Horizontal bevel gear; 12. Crushing roller; 13. Crushing nail; 14. Horizontal blade; 15. Longitudinal blade; 16. Fixing frame; 17. Upper slot; 18. Lower slot; 19. First mounting part; 20. Second mounting part; 21. Crushing hammer; 22. Crushing knife; 23. First electric push rod; 24. Crushing blade ; 25. Upper plate; 26. Lower plate; 27. Breaker; 28. Roller; 29. ​​Scraper; 30. Rotating shaft; 31. Support; 32. Swing arm; 33. Hammer block; 34. Rolling block; 35. First motor; 36. Mounting box; 37. Second motor; 38. Active bevel gear; 39. Driven bevel gear; 40. Rotating shaft; 41. Flip frame; 42. Second electric push rod; 43. Support frame; 44. High-definition camera; 45. Bracket; 46. Third motor; 47. Electromagnet; 48. Iron block; 49. Push plate. DETAILED DESCRIPTION

[0027] In order to explain the technical content, purpose and effect of the present invention in detail, the following is a description of the embodiments and the accompanying drawings. It should be noted that the words "upper" and "lower" used in the following description refer to the attached Figure 1 and Figure 4 In the directions, the words "bottom" and "top" refer to the Figure 1 and Figure 4 The direction towards the geometric center of a specific component.

[0028] The key concept of the present invention is that: the walking mechanism 4 and the control box 7 play the role of automatically controlling the walking of the whole; the drum 1, the crushing assembly and the rotary drive mechanism play the role of automatically crushing the cement lumps in the cement surface before discharging; the cement after preliminary crushing or the cement dust raised by crushing is transported to the outside of the cement silo through the suction head 2, the feeding pipe 5 and the external suction system, thereby improving the visibility inside the cement silo, playing the role of automatically discharging the crushed cement and ensuring high crushing and discharging efficiency; the blade group and the grid plate 6 are used to perform secondary crushing, cutting and filtering on the cement lumps that are not completely crushed in the suction head 2, thereby further improving The discharging effect and discharging efficiency are improved; through the image acquisition mechanism and the wireless communication module 9, it plays the role of automatically collecting the real-time road conditions and cement agglomerate position images in the cement silo; through the vertical bevel gear 10, the transverse bevel gear 11, the crushing roller 12 and the crushing nail 13, when the drum 1 rotates, it drives the vertical bevel gear 10 and the transverse bevel gear 11 meshing with the vertical bevel gear 10 to rotate, thereby driving the crushing roller 12 to roll against the side wall of the cement silo, and then driving the crushing nail 13 to crush the agglomerated cement on the inner wall of the cement silo and the surface cement close to the side wall of the cement silo, thereby crushing the agglomerated cement on the side wall of the cement silo and the surface cement in the silo;

[0029] The utility model integrates the functions of automatic discharging and automatic crushing. There is no need for manual labor to carry crushing tools into the cement storage bin. Automatic walking discharging, automatic crushing of surface cement and crushing of cement agglomerated on the inner wall of the cement storage bin can be achieved at the same time. The overall crushing effect is good and the crushing efficiency is high. It avoids discharging blockage or influence on the quality of discharged cement caused by agglomerated cement when the cement is discharged from the storage bin. It has the advantages of high cement discharging efficiency, good cement discharging effect and low cost as a whole.

[0030] Please refer to Figures 1 to 9As shown, a cement silo discharging and crushing robot comprises a drum 1, a suction head 2 and a body 3 arranged in sequence from front to back. Both sides of the bottom of the body 3 are equipped with a walking mechanism 4. A delivery pipe 5 is installed on the upper end of the body 3. The rear end of the delivery pipe 5 is connected to an external suction system for sucking cement out of the cement silo. The top of the suction head 2 is connected to the front end of the delivery pipe 5. A grid plate 6 is installed in the suction head 2. A blade group for cutting cement blocks is installed on the side of the grid plate 6 away from the delivery pipe 5. A crushing blade for crushing surface agglomerated cement is installed on the outer side of the drum 1. The front end of the vehicle body 3 is equipped with an image acquisition mechanism and a rotating drive mechanism for driving the roller 1 forward and backward. A control box 7, a battery pack 8 and a wireless communication module 9 are installed in the vehicle body 3. Both ends of the roller 1 are coaxially fixedly connected with vertical bevel gears 10. Both sides of the front end of the vehicle body 3 are rotatably connected with crushing rollers 12. The top of the crushing roller 12 is coaxially fixedly connected with a transverse bevel gear 11 that meshes with the vertical bevel gear 10. The side surface and bottom surface of the crushing roller 12 are connected with multiple groups of crushing nails 13 for crushing cement blocks on the inner wall of the cement storage.

[0031] From the above description, it can be seen that when it is necessary to discharge the cement in the cement silo, first, the robot is placed into the cement silo through the inspection port on one side of the cement silo, and then through the walking mechanism 4 and the control box 7, the staff uses the external control system outside the cement silo to send commands to the control box 7, and the control box 7 controls the walking mechanism 4 to drive the vehicle body 3 to move on the cement surface in the cement silo, thereby automatically controlling the overall movement; then, through the drum 1, the crushing assembly and the rotary drive mechanism, in the process of the vehicle body 3 moving forward, the rotary drive mechanism drives the drum 1 to rotate forward and backward, thereby driving the crushing assembly to perform preliminary crushing of the agglomerated cement on the cement surface in front of the vehicle body 3, thereby automatically performing preliminary crushing of the agglomerated cement before discharging; then, as the vehicle body 3 moves forward, through the suction head 2, the feed pipe 5 and the external suction system, under the suction action of the external suction system, the cement that has been preliminarily crushed or the crushed cement The dust is first sucked into the suction head 2, and then enters the conveying pipe 5 and the external suction system through the suction head 2 to be transported to the outside of the cement storage. At the same time, it avoids excessive cement dust in the cement storage from being raised and affecting the visibility in the storage, ensuring the crushing and discharging efficiency, and playing the role of automatic discharging of crushed cement and improving the visibility in the cement storage; in the process of cement being sucked into the suction head 2, the blade group and the grid plate 6 are first used to perform secondary crushing and cutting on the agglomerated cement that has been missed and not completely crushed in the suction head 2, and then filtered through the grid plate 6. After cutting, the qualified powdered cement enters the conveying pipe 5 through the grid plate 6, and is finally transported to the outside of the cement storage by the external suction system, playing the role of secondary crushing of the cement before discharging; it avoids the blockage of discharging caused by agglomerated cement affecting the discharging efficiency, or the mixing of agglomerated cement in the discharged cement affecting the quality of the discharged cement, thereby achieving the effect of improving the cement discharging efficiency and cement discharging effect;

[0032] Through the image acquisition mechanism and the wireless communication module 9, the real-time images of the cement silo and the side walls of the cement silo within the field of view are transmitted to the external control system via the wireless communication module 9, which plays the role of automatically acquiring the real-time road conditions and cement agglomeration position images in the cement silo; when the image acquisition mechanism detects that there is agglomerated cement on the side wall of the cement silo in front of the vehicle body 3, the staff manipulates the walking mechanism 4 to approach the agglomerated cement position on the side wall of the cement silo, and through the vertical bevel gear 10, the transverse bevel gear 11, the crushing roller 12 and the crushing nail 13, while the rotary drive mechanism drives the drum 1 to rotate, the drum 1 drives the vertical bevel gear 10 to rotate coaxially, driving the vertical bevel gear 10 meshing with the vertical bevel gear 10. The engaged transverse bevel gear 11 rotates, thereby driving the crushing roller 12 to roll against the side wall of the cement silo, and then driving the crushing nails 13 located on the side and bottom of the crushing roller to roll and crush the agglomerated cement on the inner wall of the cement silo and the surface cement close to the side wall of the cement silo, respectively, to crush the agglomerated cement on the side wall of the cement silo and the surface cement in the silo. The walking discharge, surface cement crushing and cement agglomeration on the inner wall of the cement silo are carried out simultaneously, with high overall crushing efficiency and good crushing effect. In addition, the battery pack 8 is used as the power supply for the device to avoid affecting the service life of the device due to the power supply line being entangled and scratched, thereby improving the service life.

[0033] Furthermore, the blade group includes several transverse blades 14 and several longitudinal blades 15. The transverse blades 14 are arranged along the length direction of the horizontal bar of the grille plate 6, and the longitudinal blades 15 are arranged along the length direction of the vertical bar of the grille plate 6. The transverse blades 14 and the vertical blades are both integrally formed with the grille plate 6.

[0034] From the above description, it can be seen that the horizontal blade 14 and the vertical blade 15 are integrally formed with the grid plate 6, and the cement blocks that are missed and not completely crushed in the suction head 2 are cut and crushed again horizontally and vertically, so as to avoid the grid plate 6 being blocked by the agglomerated cement and affecting the discharge efficiency, thereby playing a role in further crushing and cutting the agglomerated cement and improving the discharge efficiency; by forming the horizontal blade 14 and the vertical blade into one piece with the grid plate 6, the structural stability between the blade and the grid plate 6 is improved.

[0035] Furthermore, the blade group includes a fixed frame 16, several transverse blades 14 and several longitudinal blades 15. The upper end of the transverse blade 14 is provided with several upper slots 17, and the bottom of the longitudinal blade 15 is evenly provided with several lower slots 18 that cooperate with the upper slots 17. Both ends of the transverse blade 14 are provided with a first mounting portion 19, and both ends of the longitudinal blade 15 are provided with a second mounting portion 20. The first mounting portion 19 and the fixed frame 16, and the second mounting portion 20 and the fixed frame 16 are connected by bolts.

[0036] From the above description, it can be seen that the cement blocks that are missed and not completely crushed in the suction head 2 are cut and crushed again horizontally and vertically through the transverse blade 14 and the longitudinal blade 15, which further crushes and cuts the agglomerated cement and improves the discharge efficiency; through the upper slot 17, the lower slot 18, the fixed frame 16, the first mounting portion 19 and the second mounting portion 20, when it is necessary to replace one or more of the transverse blades 14 or the longitudinal blades 15, it is only necessary to unscrew the bolts at both ends of the corresponding blade, remove the blade from the fixed frame 16 and replace it with a new blade, thereby reducing the overall maintenance cost.

[0037] Furthermore, the crushing assembly includes several groups of crushing hammers 21 and several groups of crushing knives 22. The crushing hammers 21 and crushing knives 22 are fixedly mounted on the outer circumferential side of the drum 1, and two adjacent groups of crushing hammers 21 and crushing knives 22 are arranged in an interlaced manner.

[0038] From the above description, it can be seen that when the rotary drive mechanism drives the drum 1 to rotate forward and backward, the crushing hammer head 21 and the crushing knife 22 are used to hammer and cut the agglomerated cement in the real-time surface cement in the cement storage, thereby further improving the crushing effect and crushing efficiency of the surface cement; reducing the occurrence of discharge blockage due to cement blocks or the situation where the discharged cement contains a large amount of agglomerated cement, thereby further improving the overall discharge effect and discharge efficiency.

[0039] Furthermore, a pushing plate 49 for flattening the upper cement surface in the cement storage is provided between the walking mechanism 4 and the suction head 2. The pushing plate 49 is L-shaped, and the front end of the vehicle body 3 is fixedly connected to the top of the vertical end of the pushing plate 49. The horizontal end of the pushing plate 49 faces the walking mechanism 4, and the horizontal end of the pushing plate 49 is located between the bottom of the walking mechanism 4 and the bottom of the suction head 2. The vertical end of the pushing plate 49 is connected to a group of crushing blades 24 near the side of the suction head 2.

[0040] As can be seen from the above description, in the process of the traveling mechanism 4 driving the vehicle body 3 to move forward, the L-shaped push plate 49 is set, and the horizontal end of the push plate 49 is set to be located between the bottom of the traveling mechanism 4 and the bottom of the suction head 2, which is used to press down the cement layer in the surface cement in front of the traveling mechanism that is turned over by the roller 1, adjust the flatness of the surface cement surface passed by the traveling mechanism 4, ensure the stability of the traveling mechanism 4, avoid the phenomenon of the vehicle body 3 turning over, and use the vertical end of the push plate 49 to push the broken and splashed cement down. The cement is efficiently and accurately collected at the suction head 2, which improves the concentration of the cement, so that the external suction system can suck in the cement more efficiently, thereby further improving the discharge efficiency; through the crushing blade 24, the agglomerated cement splashed to the vertical end of the push plate 49 is first crushed and cut again by the crushing blade 24, and the crushed and cut cement is then sucked into the suction head 2 under the suction of the external suction system, further avoiding the agglomerated cement from clogging the suction head 2 and affecting the discharge speed, thereby further improving the discharge efficiency and discharge efficiency.

[0041] Furthermore, a crushing mechanism is provided on the rear side of the crushing roller 12, which includes an upper plate 25, a lower plate 26, a breaker 27, a crushing roller 28 and a scraper 29 arranged in sequence along the circumference of the upper plate 25, the lower plate 26 and the upper plate 25 are coaxially fixedly connected to a rotating shaft 30, and the front ends of the vehicle body 3 are fixedly connected to a first electric push rod 23, the top rod of the first electric push rod 23 is connected to a support 31, and the support 31 is equipped with a first motor 35; the driving end of the first motor 35 passes through the support 31 and is fixedly connected to the top of the rotating shaft 30, the scraper 29 is fixedly connected between the upper plate 25 and the lower plate 26, the top of the breaker 27 is hinged with a swing arm 32 that rotates around the tangent of the upper plate 25, and the top of the swing arm 32 is hinged to the upper plate 25, and a number of hammer blocks are connected to the side of the breaker 27, the top and bottom ends of the crushing roller 28 are rotatably connected to the upper plate 25 and the lower plate 26 respectively, and a number of crushing blocks 34 are installed on the outer side of the crushing roller 28.

[0042] As can be seen from the above description, when the image acquisition mechanism detects that there is agglomerated cement on the side wall of the cement silo in front of the vehicle body 3, the staff uses the external control system to send a command to the control box 7. The control box 7 controls the first electric push rod 23 and the first motor 35 to start first and then the first electric push rod 23 extends, driving the support 31, the first motor 35, the upper plate 25, the lower plate 26 and the rotating shaft 30 to move toward the side wall of the cement silo. When the crushing mechanism moves to the agglomeration of the side wall of the cement silo, the first motor 35 rotates, driving the rotating shaft 30, the lower plate 26 and the upper plate 25 to rotate together, thereby driving the crushing cone, the rolling roller 28 and the scraper 29 to rotate toward the agglomerated cement on the inner wall of the cement silo in turn. The rotation of the upper plate 25 drives the swing arm 32 to swing the crushing cone radially outward. The agglomerated cement that remains on the side wall of the cement silo after being crushed by the crushing roller 12 first passes through the crushing nails 13 on the crushing cone The cement blocks on the side wall that have been hammered are crushed into pieces again by the crushing roller 28 and the crushing block 34. Finally, the cement powder remaining on the inner wall of the cement silo is scraped off to the surface cement by the scraper 29. At the same time, it is prevented that more powdered cement remains on the side wall of the cement silo, which causes the subsequent cement to agglomerate again and affects the overall cement discharge rate. It plays the role of automatically and timely crushing and falling off the agglomerated cement on the side wall of the cement silo. The setting of the first electric push rod 23 is more convenient for crushing the agglomerated cement on the inner wall of the cylindrical cement silo. At the same time of each discharge, the agglomerated cement attached to the side wall of the cement silo and the raised cement powder are crushed and fallen off in time, so as to avoid the agglomerated cement on the inner wall of the cement silo being thick and affecting the overall travel speed and discharge speed. While improving the overall discharge efficiency, it reduces the subsequent workload of clearing the silo.

[0043] Furthermore, the upper plate 25 is installed with an electromagnet 47 , and the top of the swing arm 32 is connected to an iron block 48 that is magnetically connected to the electromagnet 47 .

[0044] From the above description, it can be seen that when only the cement fragments attached to the inner wall of the cement storage need to be crushed or scraped off, the external control system is used to send a command to control the electromagnet 47 to be energized, and the electromagnet 47 is magnetically connected to the iron block 48 to fix the swing arm 32 to the sides of the upper plate and the lower plate to prevent the swing arm 32 from swinging.

[0045] Furthermore, the rotation drive mechanism includes an installation box 36, a second motor 37 fixedly installed in one end of the installation box 36, a driving bevel gear 38 and two driven bevel gears 39, both of which are located in the other end of the installation box 36. The two driven bevel gears 39 are respectively meshed with the opposite sides of the driving bevel gear 38, and the driving end of the second motor 37 is coaxially fixedly connected to the driving bevel gear 38. The drum 1 includes two coaxially arranged outer cylinders, and the adjacent ends between the two outer cylinders are fixedly connected with a rotating shaft 40. The two rotating shafts 40 are respectively coaxially rotatably connected to the opposite sides of the other end of the installation box 36, and the ends of the rotating shaft 40 are fixedly connected to the driven bevel gear 39; both sides of the installation box 36 are fixedly connected to a turning frame 41, and the top of the feed pipe 5 is hinged with a second electric push rod 42. One end of the turning frame 41 is hinged to the side of the feed pipe 5, and the top rod of the second electric push rod 42 is hinged to the top of the other end of the turning frame 41. The turning frame 41 is extended with a support frame 43, and the two ends of the crushing roller 12 are rotatably connected to the support frame 43.

[0046] As can be seen from the above description, when crushing is required, the second motor 37 is started, and the driving end of the second motor 37 rotates, driving the active bevel gear 38 to rotate, thereby driving the two driven gears meshing on the opposite sides of the active bevel gear 38 to rotate, and then driving the two rotating shafts 40 and the outer cylinder to rotate coaxially, so as to realize the role of the rotary drive mechanism in driving the drum 1 to rotate forward and backward; by installing the box 36, cement is prevented from entering the meshing teeth of the active bevel gear 38 and the driven bevel gear 39, thereby protecting the active bevel gear 38 and the driven bevel gear 39; when the drum 1 needs to be adjusted upward, the second electric push rod 42 is started, the top rod of the second electric push rod 42 is shortened, driving the flip frame 41 to rotate upward, thereby driving the installation box 36 and the drum 1 to rotate upward away from the bottom of the cement storage; when the drum 1 needs to be adjusted downward, on the contrary, the top rod of the second electric push rod 42 is extended, driving the flip frame 41 to rotate downward, thereby driving the installation box 36 and the drum 1 to rotate downward toward the cement storage, thereby realizing the role of adjustable height of the drum 1.

[0047] Furthermore, the image acquisition mechanism includes a high-definition camera 44, a lighting lamp and a bracket 45 arranged in an inverted U shape. The two vertical ends of the bracket 45 are installed on the upper end surface of the vehicle body 3. A fixed seat and a third motor 46 for driving the fixed seat to rotate are installed on the top of the closed end of the bracket 45. The high-definition camera 44 and the lighting lamp can be detachably installed on the upper end of the fixed seat. The lighting lamp and the high-definition camera 44 are both electrically connected to the output end of the control box 7.

[0048] From the above description, it can be seen that through the high-definition camera 44 and the lighting, the external control system sends a command to the control box 7, the control box 7 turns on the high-definition camera 44 and the lighting, and uses the third motor 46 to rotate, driving the fixed seat and the high-definition camera 44 to rotate and shoot, so that the surrounding environment in the cement warehouse, the surface cement road conditions and the real-time situation of the agglomerated cement in the cement warehouse and the side walls are transmitted to the external control system through the wireless communication module 9, which is convenient for the staff to manipulate the position and crushing work of the robot; the lighting is used to assist the high-definition camera 44 to take clear images.

[0049] Furthermore, the walking mechanism 4 is a crawler-type walking mechanism 4, which includes a frame, tracks, driving wheels installed on the frame, walking wheels, guide wheels and a power device for driving the tracks to walk, and the guide wheels, walking wheels and driving wheels are connected by crawler transmission.

[0050] From the above description, it can be seen that the movement of the vehicle body 3 is controlled by the power device inside the crawler walking mechanism 4. The function of the crawler is to increase the contact area, reduce the pressure on the ground, facilitate climbing operations, further ensure the stability of the device movement, avoid the device shaking and affecting the crushing efficiency and effect, and further improve the overall discharging effect and discharging efficiency.

[0051] Reference Figures 1 to 7 , the utility model provides the embodiment 1:

[0052] A cement silo discharging and crushing robot comprises a drum 1, a suction head 2 and a body 3 arranged in sequence from front to back, a walking mechanism 4 is installed on both sides of the bottom of the body 3, a delivery pipe 5 is installed on the upper end of the body 3, and the rear end of the delivery pipe 5 is connected to an external suction system for sucking cement out of the cement silo. The external suction system of this embodiment is composed of a telescopic hose (not shown in the figure, the same as in the whole text) and a cement dry powder self-priming pump located outside the cement silo (not shown in the figure, the same as in the whole text). The rear end of the delivery pipe 5 is connected to one end of the telescopic hose, and the cement dry powder self-priming pump is connected to the other end of the telescopic hose. The present invention is not limited to this structure, and other suction structures that can transport powdered cement in the cement silo to the outside of the cement silo are also acceptable.

[0053] An image acquisition mechanism and a rotary drive mechanism for driving the roller 1 forward and backward are installed at the front end of the vehicle body 3. A control box 7, a battery pack 8 and a wireless communication module 9 are installed in the vehicle body 3. The control box 7 of this embodiment is a PLC control box 7 (not shown in the figure, the same as in the whole text). The wireless communication module 9 is any one of a WIFI communication module, a Bluetooth communication module, a ZigBee communication module or a Z-Wave communication module. This structure is not limited to other wireless communication modules that can connect to an external control system operation terminal such as a wireless tablet computer outside the cement depot for control measurement and data transmission, facilitate data collection, and play a role in more accurate positioning of the robot and data sharing. In addition, in order to facilitate entry into the cement depot, a group of fixing rings for fixing the traction rope can be installed on the top of the vehicle body 3;

[0054] The top of the suction head 2 is connected to the front end of the feed pipe 5. A grid plate 6 is installed in the suction head 2. A blade group for cutting cement blocks is installed on the side of the grid plate 6 away from the feed pipe 5. The blade group includes several transverse blades 14 and several longitudinal blades 15. The transverse blades 14 are arranged along the length direction of the horizontal bar of the grid plate 6, and the longitudinal blades 15 are arranged along the length direction of the vertical bar of the grid plate 6. The transverse blades 14 and the vertical blades are both integrally formed with the grid plate 6.

[0055] A crushing assembly for crushing surface agglomerated cement is installed on the outer side of the drum 1. Vertical bevel gears 10 are coaxially fixedly connected to both ends of the drum 1. The crushing assembly includes several groups of crushing hammers 21 and several groups of crushing knives 22. The crushing hammers 21 and crushing knives 22 are fixedly installed on the outer circumferential side of the drum 1. The two adjacent groups of crushing hammers 21 and crushing knives 22 are arranged in an interlaced manner.

[0056] Crushing rollers 12 are rotatably connected to both sides of the front end of the vehicle body 3. The top of the crushing roller 12 is coaxially fixedly connected to a transverse bevel gear 11 that meshes with the vertical bevel gear 10. The side surface and bottom surface of the crushing roller 12 are connected to multiple groups of crushing nails 13 for crushing cement blocks on the inner wall of the cement storage.

[0057] A pushing plate 49 for flattening the upper cement surface in the cement storage is provided between the walking mechanism 4 and the suction head 2. The pushing plate 49 is L-shaped, and the front end of the vehicle body 3 is fixedly connected to the top of the vertical end of the pushing plate 49. The horizontal end of the pushing plate 49 faces the walking mechanism 4, and the horizontal end of the pushing plate 49 is located between the bottom of the walking mechanism 4 and the bottom of the suction head 2. The vertical end of the pushing plate 49 is connected to a group of crushing blades 24 near the side of the suction head 2.

[0058] A crushing mechanism is provided at the rear side of the crushing roller 12, which includes an upper plate 25, a lower plate 26, a crushing hammer 27, a crushing roller 28 and a scraper 29 arranged in sequence along the circumference of the upper plate 25, the lower plate 26 and the upper plate 25 are coaxially fixedly connected to a rotating shaft 30, the top rod of the first electric push rod 23 is connected to a support 31, and the support 31 is equipped with a first motor 35; the driving end of the first motor 35 passes through the support 31 and is fixedly connected to the top of the rotating shaft 30, the scraper 29 is fixedly connected between the upper plate 25 and the lower plate 26, and the crushing hammer 27 is fixedly connected to the upper plate 25. A swing arm 32 is hinged at the top, rotating about the tangent of the upper plate 25. The top of the swing arm 32 is hinged to the upper plate 25. Several hammer blocks are connected to the side of the breaker 27. The top and bottom ends of the crushing roller 28 are respectively connected to the upper plate 25 and the lower plate 26 for rotation. Several crushing blocks 34 are installed on the outer side of the crushing roller 28. An electromagnet 47 is installed on the upper plate 25. An iron block 48 is connected to the top of the swing arm 32, which is magnetically connected to the electromagnet 47. The upper plate 25 is provided with a separate power supply (not shown in the figure) for supplying power to the electromagnet 47.

[0059] The rotary drive mechanism includes an installation box 36, a second motor 37 fixedly installed in one end of the installation box 36, a driving bevel gear 38 and two driven bevel gears 39, both of which are located in the other end of the installation box 36. The two driven bevel gears 39 are respectively meshed with the opposite sides of the driving bevel gear 38. The driving end of the second motor 37 is coaxially fixedly connected to the driving bevel gear 38. The drum 1 includes two coaxially arranged outer cylinders, and the adjacent ends between the two outer cylinders are fixedly connected with a rotating shaft 40. The two rotating shafts 40 are respectively coaxially rotatably connected to the opposite sides of the other end of the installation box 36, and the ends of the rotating shaft 40 are fixedly connected to the driven bevel gear 39; both sides of the installation box 36 are fixedly connected to a turning frame 41, and the top of the feed pipe 5 is hinged with a second electric push rod 42. One end of the turning frame 41 is hinged to the side of the feed pipe 5, and the top rod of the second electric push rod 42 is hinged to the top of the other end of the turning frame 41. The turning frame 41 is extended with a support frame 43, and both ends of the crushing roller 12 are rotatably connected to the support frame 43.

[0060] The image acquisition mechanism includes a high-definition camera 44, a lighting lamp (not shown in the figure, the same as in the whole text) and a bracket 45 arranged in an inverted U shape. The two vertical ends of the bracket 45 are installed on the upper end surface of the vehicle body 3. A fixed seat (not marked in the figure, the same as in the whole text) and a third motor 46 for driving the fixed seat to rotate are installed on the top of the closed end of the bracket 45. The high-definition camera 44 and the lighting lamp can be detachably installed on the upper end of the fixed seat. The lighting lamp and the high-definition camera 44 are both electrically connected to the output end of the control box 7.

[0061] The walking mechanism 4 is a crawler-type walking mechanism 4, which is the existing technology. The crawler-type walking mechanism 4 includes a frame, a crawler, a driving wheel installed on the frame, a traveling wheel, a guide wheel and a power device for driving the crawler to walk (not shown in the figure, the same as the whole text), and the guide wheel, the traveling wheel and the driving wheel are connected by a crawler transmission.

[0062] Example 2: The difference from Example 1 is that Figures 8 and 9 As shown, the blade group includes a fixed frame 16, several transverse blades 14 and several longitudinal blades 15. The upper end of the transverse blade 14 is provided with several upper slots 17, and the bottom of the longitudinal blade 15 is evenly provided with several lower slots 18 that match the upper slots 17. Both ends of the transverse blade 14 are provided with a first mounting portion 19, and both ends of the longitudinal blade 15 are provided with a second mounting portion 20. The first mounting portion 19 and the fixed frame 16, and the second mounting portion 20 and the fixed frame 16 are connected by bolts.

[0063] In summary, compared with the prior art, the present invention integrates the functions of automatic discharging and automatic crushing, and has the advantages of high cement discharging efficiency, good cement discharging effect and low cost; through the walking mechanism 4 and the control box 7, the overall walking is automatically controlled; through the roller 1, the crushing assembly and the rotary drive mechanism, in the process of the vehicle body 3 moving forward, the rotary drive mechanism drives the roller 1 crushing assembly to roll and crush the agglomerated cement on the cement surface in front of the vehicle body 3, thereby automatically crushing the agglomerated cement before discharging; through the suction head 2, the conveying pipe 5 and the external suction system, the cement after preliminary crushing or the cement dust raised by the crushing is transported to the outside of the cement storage, thereby improving the visibility in the cement storage, and automatically discharging the crushed cement and ensuring high crushing and discharging efficiency; through the blade group and the grid plate 6, it is used to 2, the agglomerated cement that is not completely crushed is secondary crushed, cut and filtered, which plays a role in further improving the discharging effect and discharging efficiency; through the image acquisition mechanism and the wireless communication module 9, it plays a role in automatically collecting the real-time road conditions and cement agglomerate position images in the cement silo; through the vertical bevel gear 10, the transverse bevel gear 11, the crushing roller 12 and the crushing nail 13, while the rotary drive mechanism drives the drum 1 to rotate, it drives the vertical bevel gear 10 to rotate coaxially, drives the transverse bevel gear 11 meshing with the vertical bevel gear 10 to rotate, thereby driving the crushing roller 12 to roll against the side wall of the cement silo, and then drives the crushing nails 13 located on the side and bottom of the crushing roller to roll and crush the agglomerated cement on the inner wall of the cement silo and the surface cement close to the side wall of the cement silo, respectively, to crush the agglomerated cement on the side wall of the cement silo and the surface cement in the silo, thereby crushing the agglomerated cement on the side wall of the cement silo and the surface cement in the silo.

[0064] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A cement silo discharging and crushing robot, characterized by: The top of the crushing roller is coaxially fixed with a horizontal bevel gear meshing with the vertical bevel gear, and the side surface and bottom surface of the crushing roller are connected with a plurality of groups of crushing nails for crushing cement blocks on the inner wall of the cement storage bin.

2. A cement silo discharging crushing robot according to claim 1, characterized in that: The blade group includes a plurality of transverse blades and a plurality of longitudinal blades. The transverse blades are arranged along the length direction of the horizontal bars of the grille plate, and the longitudinal blades are arranged along the length direction of the vertical bars of the grille plate. The transverse blades and the vertical blades are integrally formed with the grille plate.

3. The cement silo discharging crushing robot according to claim 1, characterized in that: The blade group includes a fixed frame, several transverse blades and several longitudinal blades. Several upper slots are opened at the upper end of the transverse blade, and several lower slots matching the upper slots are evenly opened at the bottom of the longitudinal blade. Both ends of the transverse blade are provided with a first mounting part, and both ends of the longitudinal blade are provided with a second mounting part. The first mounting part and the fixed frame, as well as the second mounting part and the fixed frame are connected by bolts.

4. The cement silo discharging and crushing robot according to claim 1, characterized in that: The crushing assembly includes several groups of crushing hammers and several groups of crushing knives. The crushing hammers and the crushing knives are fixedly installed on the outer circumferential side of the drum, and two adjacent groups of crushing hammers and crushing knives are arranged in a staggered manner.

5. The cement silo discharging and crushing robot according to claim 1, characterized in that: A pushing plate for flattening the upper cement surface in the cement storage is provided between the walking mechanism and the suction head. The pushing plate is L-shaped. The front end of the vehicle body is fixedly connected to the top of the vertical end of the pushing plate. The horizontal end of the pushing plate faces the walking mechanism. The horizontal end of the pushing plate is located between the bottom of the walking mechanism and the bottom of the suction head. The vertical end of the pushing plate is connected to a group of crushing blades near the side of the suction head.

6. The cement silo discharging and crushing robot according to claim 1, characterized in that: A crushing mechanism is provided at the rear side of the crushing roller, and the crushing mechanism includes an upper plate, a lower plate, a crushing hammer, a crushing roller and a scraper arranged in sequence along the circumference of the upper plate, the lower plate and the upper plate are coaxially fixedly connected with a rotating shaft, both sides of the front end of the vehicle body are fixedly connected with a first electric push rod, the top rod of the first electric push rod is connected with a support, and the support is equipped with a first motor; the driving end of the first motor passes through the support and is fixedly connected to the top of the rotating shaft, and the scraper is fixedly connected between the upper plate and the lower plate, the top of the crushing hammer is hinged with a swing arm that rotates around the tangent of the upper plate, the top of the swing arm is hinged to the upper plate, and a number of hammer blocks are connected to the side of the crushing hammer, the top and bottom ends of the crushing roller are rotatably connected to the upper plate and the lower plate respectively, and a number of crushing blocks are installed on the outer side of the crushing roller.

7. The cement silo discharging and crushing robot according to claim 6, characterized in that: The upper plate is equipped with an electromagnet, and the top end of the swing arm is connected to an iron block magnetically connected to the electromagnet.

8. The cement silo discharging and crushing robot according to claim 1, characterized in that: The transmission gear of said sliding arm is connected to said sliding arm said sliding arm to a vertical cam which is coupled to the gear shift pin of said sliding arm, said sliding arm having two opposite ends connected to the vertical cam and a pair of parallel rods connected to said sliding arm.

9. The cement silo discharging and crushing robot according to claim 1, characterized in that: The image acquisition mechanism includes a high-definition camera, a lighting lamp and a bracket arranged in an inverted U shape. The two vertical ends of the bracket are installed on the upper end surface of the vehicle body. A fixing seat and a third motor for driving the fixing seat to rotate are installed on the top of the closed end of the bracket. The high-definition camera and the lighting lamp can be detachably installed on the upper end of the fixing seat. The lighting lamp and the high-definition camera are both electrically connected to the output end of the control box.

10. The cement silo discharging and crushing robot according to claim 1, characterized in that: The walking mechanism is a crawler-type walking mechanism, which includes a frame, crawlers, driving wheels installed on the frame, walking wheels, guide wheels and a power device for driving the crawlers to walk. The guide wheels, the walking wheels and the driving wheels are connected by crawler transmission.

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