Wall-climbing cleaning robot for powder bin

Abstract

The utility model discloses a powder bin wall-climbing cleaning robot which comprises a first cylindrical shell and a second cylindrical shell, the side face of the first cylindrical shell and the side face of the second cylindrical shell are each provided with four stretching structures distributed in an annular array mode, and each stretching structure comprises a bottom plate. A vertical sliding rail, a vertical first electric push rod and a rotating base are sequentially installed on the front face of the bottom plate from top to bottom, a sliding block is installed on the sliding rail in a sliding mode, a telescopic rod of the first electric push rod faces upwards, the tail end of the telescopic rod is fixed to the sliding block, and a second electric push rod is arranged in front of the rotating base. According to the cleaning robot, the size of the robot is reduced through the folding and stretching structure, so that the robot can enter the powder bin through the feeding inlet, the moving structure and the scraping plate abut against the inner wall of the powder bin through the unfolding and stretching structure, and then the robot is controlled to move up and down along the inner wall of the powder bin through the moving structure; the first servo motor controls the scraper to rotate, and dirt attached to the inner wall of the powder bin is scraped down and then washed away with water.

Description

Technical Field

[0001] The utility model relates to the technical field of powder silo cleaning, in particular to a powder silo wall-climbing cleaning robot. Background Art

[0002] The concrete production process requires a lot of powder, which is usually stored in a powder silo. A powder silo is a storage container for powdered materials. If it is not cleaned in time, it may affect the next use of the powder silo.

[0003] Traditional cleaning methods rely on manual labor. However, the narrow top inlet of the powder silo makes it difficult for workers to clean the inner wall through this access point. Therefore, cleaning typically requires opening the silo's large cover. Numerous bolts secure the cover to the kettle, making both removal and installation cumbersome. Furthermore, many powder silos are deep, making manual cleaning difficult and inefficient. Therefore, we designed a wall-climbing cleaning robot for powder silos. Utility Model Content

[0004] The purpose of the utility model is to provide a powder silo wall-climbing cleaning robot to address the deficiencies of the prior art and to solve the problems raised in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A powder silo wall-climbing cleaning robot comprises a first cylindrical shell and a second cylindrical shell, four extension structures distributed in a ring array are installed on the side surfaces of the first cylindrical shell and the second cylindrical shell, the extension structure comprises a bottom plate, a vertical slide rail, a vertical first electric push rod and a rotating base are installed in sequence on the front surface of the bottom plate from top to bottom, a slider is slidably installed on the slide rail, the telescopic rod of the first electric push rod faces upward, the end of the telescopic rod is fixed to the slider, a second electric push rod is provided in front of the rotating base, a rotating connecting piece is installed on the rear end of the shell of the second electric push rod, the rotating connecting piece is rotatably installed on the rotating base, a pair of connecting rods are provided between the second electric push rod and the slider, one end of the connecting rod is rotatably installed on the side surface of the slider, and the other end of the connecting rod is rotatably installed on the side surface of the shell of the second electric push rod;

[0007] A first servo motor is installed inside the first cylindrical shell, and the output shaft of the first servo motor is on the axis of the first cylindrical shell. The output shaft of the first servo motor passes through the bottom of the first cylindrical shell and is installed with a conductive slip ring. The stator of the conductive slip ring is fixed to the first cylindrical shell. A cylindrical hole coaxial with the second cylindrical shell is provided on the top of the second cylindrical shell. The end of the output shaft of the first servo motor is fixedly installed on the bottom center of the cylindrical hole, and the conductive slip ring is located in the cylindrical hole. The second cylindrical shell is rotatably installed on the first cylindrical shell. The extension structure on the first cylindrical shell has a moving structure installed on the end of the telescopic rod of the second electric push rod. The extension structure on the second cylindrical shell has a scraper installed on the end of the telescopic rod of the second electric push rod.

[0008] Preferably, the movable structure includes a U-shaped plate, a pair of movable wheels are rotatably installed between the left and right inner walls of the U-shaped plate, a second servo motor is arranged between the two movable wheels, the second servo motor is installed on the inner side of the U-shaped plate, the right side mounting shafts of the two movable wheels both pass through the right side wall of the U-shaped plate and are installed with a first sprocket, the output shaft of the second servo motor passes through the right side wall of the U-shaped plate and is installed with two second sprockets, and the two second sprockets are respectively connected to the two first sprockets through chains.

[0009] Preferably, the base plate is fixedly mounted on the side of the cylindrical shell, the bottom edge of the base plate of the extended structure on the first cylindrical shell faces upward, and the bottom edge of the base plate of the extended structure on the second cylindrical shell faces downward.

[0010] Preferably, an L-shaped baffle that rotates 90 degrees clockwise is fixedly installed on the bottom of the rotating base.

[0011] Preferably, a hanging ring is installed at the top center of the first cylindrical shell.

[0012] Preferably, a first protective shell is installed on the inner side of the U-shaped plate, the second servo motor is covered in the first protective shell, a second protective shell is installed on the right side of the U-shaped plate, and the first sprocket, the second sprocket and the chain are all covered in the second protective shell.

[0013] Preferably, the moving wheel is a rubber roller wheel, and anti-slip grooves are provided on the moving wheel.

[0014] Compared with the existing technology, the utility model provides a powder silo wall climbing cleaning robot, which has the following beneficial effects:

[0015] The wall-climbing cleaning robot can shrink its volume by folding and stretching its structure, so that the robot can enter the interior of the powder silo through the feeding inlet. By unfolding the stretching structure, the moving structure and the scraper can be pressed against the inner wall of the powder silo. By setting the moving structure, the robot can be controlled to move up and down along the inner wall of the powder silo. By setting the first servo motor, the scraper can be controlled to rotate, thereby scraping off the dirt attached to the inner wall of the powder silo and finally flushing it away with water. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the cylindrical shell of the utility model;

[0018] Figure 3 This is a schematic diagram of the stretching structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the mobile structure of the utility model;

[0020] Figure 5 It is a schematic diagram of the overall folded structure of the utility model.

[0021] Figure numerals: 1. first cylindrical shell; 2. second cylindrical shell; 3. first servo motor; 4. conductive slip ring; 5. extension structure; 5-1. base plate; 5-2. slide rail; 5-3. first electric push rod; 5-4. rotating base; 5-5. slider; 5-6. L-shaped baffle; 5-7. second electric push rod; 5-8. rotating connector; 5-9. connecting rod; 6. moving structure; 6-1. U-shaped plate; 6-2. moving wheel; 6-3. second servo motor; 6-4. first sprocket; 6-5. second sprocket; 6-6. chain; 6-7. first protective shell; 6-8. second protective shell; 7. scraper; 8. lifting ring. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 5 In this embodiment: a powder silo climbing cleaning robot includes a first cylindrical shell 1 and a second cylindrical shell 2. Figure 1 and Figure 3, the side surfaces of the first cylindrical shell 1 and the second cylindrical shell 2 are both installed with four stretching structures 5 distributed in a ring array, the stretching structure 5 includes a base plate 5-1, the front of the base plate 5-1 is sequentially installed with a vertical slide rail 5-2, a vertical first electric push rod 5-3 and a rotating base 5-4, a slider 5-5 is slidably installed on the slide rail 5-2, the telescopic rod of the first electric push rod 5-3 faces upward, and the end of the telescopic rod is fixed on the slider 5-5, a second electric push rod 5-7 is provided in front of the rotating base 5-4, a rotating connecting member 5-8 is installed at the rear end of the shell of the second electric push rod 5-7, the rotating connecting member 5-8 is rotatably installed on the rotating base 5-4, a pair of connecting rods 5-9 are provided between the second electric push rod 5-7 and the slider 5-5, one end of the connecting rod 5-9 The end is rotatably mounted on the side of the slider 5-5, and the other end of the connecting rod 5-9 is rotatably mounted on the side of the shell of the second electric push rod 5-7. When the telescopic rod of the first electric push rod 5-3 pushes the slider 5-5 to move upward, the second electric push rod 5-7 and the bottom plate 5-1 can be controlled to fold by pulling the connecting rod 5-9. When the telescopic rod of the first electric push rod 5-3 pulls the slider 5-5 to move downward, the second electric push rod 5-7 and the bottom plate 5-1 can be controlled to unfold by pushing the connecting rod 5-9. An L-shaped baffle 5-6 that rotates 90 degrees clockwise is fixedly mounted on the bottom of the rotating base 5-4. The maximum unfolding angle of the second electric push rod 5-7 and the bottom plate 5-1 is 90 degrees. When the second electric push rod 5-7 is unfolded to the maximum, the back of its shell will touch the side of the L-shaped baffle 5-6.

[0024] See also Figure 1 and Figure 2, a lifting ring 8 is installed at the top center position of the first cylindrical shell 1, and a lifting rope can be connected to the lifting ring 8. When in use, the lifting rope can be used to facilitate the user to put the robot into or take it out of the powder bin. A first servo motor 3 is installed inside the first cylindrical shell 1, and the output shaft of the first servo motor 3 is on the axis of the first cylindrical shell 1. The output shaft of the first servo motor 3 passes through the bottom of the first cylindrical shell 1 and is installed with a conductive slip ring 4. The stator of the conductive slip ring 4 is fixed to the first cylindrical shell 1, and a cylindrical hole coaxial with the second cylindrical shell 2 is provided on the top of the second cylindrical shell 2. The end of the output shaft of the first servo motor 3 is fixedly installed on the bottom center of the cylindrical hole, and the conductive slip ring 4 is located in the cylindrical hole. The second cylindrical shell 2 is rotatably installed on the first cylindrical shell 1. The extension structure 5 on the first cylindrical shell 1 has an extension of the second electric push rod 5-7 A moving structure 6 is installed at the end of the retracting rod, and an extension structure 5 on the second cylindrical shell 2 has a scraper 7 installed at the end of the telescopic rod of the second electric push rod 5-7. After the extension structure 5 is unfolded, the moving structure 6 and the scraper 7 can be pressed against the inner wall of the powder silo through the second electric push rod 5-7. The robot can be controlled to climb upward along the inside of the powder silo through the moving structure 6. The first servo motor 3 can control the rotation of the second cylindrical shell 2, thereby driving the scraper 7 to rotate and scrape off the dirt on the inner wall of the powder silo. A controller is also installed in the first cylindrical shell 1. The first servo motor 3, the extension structure 5 on the first cylindrical shell 1 and the moving structure 6 are all connected to the controller. The extension structure 5 on the second cylindrical shell 2 is connected to the controller through a conductive slip ring 4. The controller can be connected to the host computer through wiring, and the host computer controls the robot to unfold, fold, move and work. Please refer to Figure 1 and Figure 5 The base plate 5-1 is fixedly installed on the side of the cylindrical shell. The bottom edge of the base plate 5-1 of the stretching structure 5 on the first cylindrical shell 1 is facing upward, and the bottom edge of the base plate 5-1 of the stretching structure 5 on the second cylindrical shell 2 is facing downward. The second electric push rod 5-7 of the stretching structure 5 on the first cylindrical shell 1 rotates downward to fold and rotates upward to unfold. The second electric push rod 5-7 of the stretching structure 5 on the second cylindrical shell 2 rotates upward to fold and rotates downward to unfold.

[0025] See also Figure 4The movable structure 6 includes a U-shaped plate 6-1, and a pair of movable wheels 6-2 are rotatably installed between the left and right inner walls of the U-shaped plate 6-1. The movable wheels 6-2 are rubber rollers, and anti-slip grooves are provided on the movable wheels 6-2. A second servo motor 6-3 is provided between the two movable wheels 6-2, and the second servo motor 6-3 is installed on the inner side of the U-shaped plate 6-1. The right mounting shafts of the two movable wheels 6-2 pass through the right side wall of the U-shaped plate 6-1 and are installed with a first sprocket 6-4. The output shaft of the second servo motor 6-3 passes through the right side wall of the U-shaped plate 6-1 and is installed with two second sprockets 6-5. The two second sprockets 6-5 are respectively connected to the two first sprockets 6-4 through chains 6-6. The U-shaped The back of the plate 6-1 is perpendicular to the telescopic rod of the second electric push rod 5-7. When the second electric push rod 5-7 is fully extended, the U-shaped plate 6-1 is vertically downward, and the two moving wheels 6-2 are distributed up and down. The second servo motor 6-3 can drive the moving wheel 6-2 to rotate through the chain 6-6, and push the moving wheel 6-2 against the inner wall of the powder silo. The up and down movement of the robot can be controlled by the rotation of the moving wheel 6-2. A first protective shell 6-7 is installed on the inner side of the U-shaped plate 6-1, and the second servo motor 6-3 is covered in the first protective shell 6-7. A second protective shell 6-8 is installed on the right side of the U-shaped plate 6-1, and the first sprocket 6-4, the second sprocket 6-5 and the chain 6-6 are all covered in the second protective shell 6-8.

[0026] The working principle and use process of the utility model are as follows: when the wall-climbing cleaning robot is used, the lifting ring 8 is connected with a lifting rope, and then the completely folded robot is put into the entrance at the top of the powder silo through the lifting rope, and the first electric push rods 5-3 of all the extension structures 5 are started to make all the second electric push rods 5-7 fully unfolded, and then the second electric push rods 5-7 of the extension structure 5 on the first cylindrical shell 1 are started to make the moving wheels 6-2 on the four moving structures 6 all press against the inner wall of the powder silo, and the robot is controlled to move up and down through the moving structure 6 to adjust the starting position, and then the second electric push rods 5-7 of the extension structure 5 on the second cylindrical shell 2 are started to make the four scrapers 7 all press against the inner wall of the powder silo, and then the first servo motor 3 is started to control the rotation of the scrapers 7, and at the same time the moving structure 6 is started The robot is controlled to move upward to scrape off the dirt on the inner wall of the powder silo. After the inner wall of the powder silo is cleaned, the first servo motor 3 is turned off first, and the second electric push rod 5-7 of the extension structure 5 on the second cylindrical shell 2 is started to control the telescopic rod of the electric push rod to retract into its original position. Then, the moving structure 6 is started to control the robot to return to the bottom of the powder silo. Then, the second electric push rod 5-7 of the extension structure 5 on the first cylindrical shell 1 is started to control the telescopic rod of the electric push rod to retract into its original position. Then, the first electric push rods 5-3 of all the extension structures 5 are started to fold all the second electric push rods 5-7. Finally, the robot is taken out from the entrance at the top of the powder silo by the hanging rope. After the robot is taken out, the outlet at the bottom of the powder silo is opened and the scraped dirt is washed away with water. The cleaning of the inner wall of the powder silo is completed.

[0027] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A powder silo wall-climbing cleaning robot, comprising a first cylindrical shell (1) and a second cylindrical shell (2), characterized in that: Four extension structures (5) distributed in a ring array are installed on the side of each of the first cylindrical shell (1) and the second cylindrical shell (2). The extension structure (5) includes a base plate (5-1). A vertical slide rail (5-2), a vertical first electric push rod (5-3) and a rotating base (5-4) are installed on the front of the base plate (5-1) in order from top to bottom. A slider (5-5) is slidably installed on the slide rail (5-2). The telescopic rod of the first electric push rod (5-3) faces upward, and the end of the telescopic rod is fixed on the slider (5-5). A second electric push rod (5-7) is provided in front of the rotating base (5-4), a rotating connecting member (5-8) is installed at the rear end of the housing of the second electric push rod (5-7), and the rotating connecting member (5-8) is rotatably mounted on the rotating base (5-4). A pair of connecting rods (5-9) are provided between the second electric push rod (5-7) and the slider (5-5), one end of the connecting rod (5-9) is rotatably mounted on the side of the slider (5-5), and the other end of the connecting rod (5-9) is rotatably mounted on the side of the housing of the second electric push rod (5-7); A first servo motor (3) is installed inside the first cylindrical shell (1), and the output shaft of the first servo motor (3) is on the axis of the first cylindrical shell (1). The output shaft of the first servo motor (3) passes through the bottom of the first cylindrical shell (1) and is installed with a conductive slip ring (4). The stator of the conductive slip ring (4) is fixed to the first cylindrical shell (1). A cylindrical hole coaxial with the second cylindrical shell (2) is provided on the top of the second cylindrical shell (2). The end of the output shaft of the first servo motor (3) is fixedly installed on the bottom center of the cylindrical hole. The conductive slip ring (4) is located in the cylindrical hole. The second cylindrical shell (2) is rotatably installed on the first cylindrical shell (1). The extension structure (5) on the first cylindrical shell (1) and the end of the telescopic rod of the second electric push rod (5-7) thereof are installed with a moving structure (6). The extension structure (5) on the second cylindrical shell (2) and the end of the telescopic rod of the second electric push rod (5-7) thereof are installed with a scraper (7).

2. The powder silo wall-climbing cleaning robot according to claim 1, characterized in that: The movable structure (6) comprises a U-shaped plate (6-1), a pair of movable wheels (6-2) being rotatably mounted between the left and right inner side walls of the U-shaped plate (6-1), a second servo motor (6-3) being arranged between the two movable wheels (6-2), the second servo motor (6-3) being mounted on the inner side of the U-shaped plate (6-1), right side mounting shafts of the two movable wheels (6-2) both passing through the right side wall of the U-shaped plate (6-1) and being mounted with a first sprocket (6-4), an output shaft of the second servo motor (6-3) passing through the right side wall of the U-shaped plate (6-1) and being mounted with two second sprockets (6-5), and the two second sprockets (6-5) being respectively connected to the two first sprockets (6-4) through chains (6-6).

3. The powder silo wall-climbing cleaning robot according to claim 1, characterized in that: The bottom plate (5-1) is fixedly mounted on the side of the cylindrical shell; the bottom edge of the bottom plate (5-1) of the extension structure (5) on the first cylindrical shell (1) faces upward, and the bottom edge of the bottom plate (5-1) of the extension structure (5) on the second cylindrical shell (2) faces downward.

4. The powder silo wall-climbing cleaning robot according to claim 1, characterized in that: An L-shaped baffle (5-6) that rotates 90 degrees clockwise is fixedly installed on the bottom of the rotating base (5-4).

5. The powder silo wall-climbing cleaning robot according to claim 1, characterized in that: A hanging ring (8) is installed at the center of the top of the first cylindrical shell (1).

6. The powder silo wall-climbing cleaning robot according to claim 2, characterized in that: A first protective shell (6-7) is installed on the inner side of the U-shaped plate (6-1), and the second servo motor (6-3) is covered in the first protective shell (6-7). A second protective shell (6-8) is installed on the right side of the U-shaped plate (6-1), and the first sprocket (6-4), the second sprocket (6-5) and the chain (6-6) are all covered in the second protective shell (6-8).

7. The powder silo wall-climbing cleaning robot according to claim 2, characterized in that: The moving wheel (6-2) is a rubber roller, and anti-skid patterns are provided on the moving wheel (6-2).

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