Ground cylinder cleaning equipment

Abstract

The utility model discloses ground cylinder cleaning equipment which can automatically clean a cylinder, greatly reduce the labor intensity of workers and indirectly improve the discharging efficiency. According to the technical scheme, the robot comprises an AGV trolley, a six-axis robot device, a camera device and a cleaning device, the six-axis robot device is arranged on the AGV trolley, and the camera device and the cleaning device are arranged at the execution end of the six-axis robot device; the cleaning device structurally comprises a base, a rotating platform, a servo motor, a cleaning connecting piece and a cleaning head, the upper end of the base is connected to the six-axis robot device, the rotating platform is arranged on the base, a machine body of the servo motor is fixedly arranged on the base, and the cleaning connecting piece is connected with the cleaning head. The power output end of the servo motor is connected with the power input end of the rotary platform, the power output end of the rotary platform is connected with a cleaning connecting piece, and the tail end of the cleaning connecting piece is connected with a cleaning head. The ground cylinder cleaning device can be widely applied to the field of ground cylinder cleaning.

Description

Technical Field

[0001] This utility model relates to a ground tank cleaning device, belonging to the field of ground tank cleaning technology. Background Technology

[0002] Traditional floor tank cleaning is entirely done manually. Workers need to hold tools such as brushes and rags, repeatedly bending over and squatting to scrub the inside and outside of the floor tank. The long-term bending and scrubbing puts a great strain on the workers' waist, arms and legs, easily causing fatigue and physical discomfort. Prolonged work may even lead to occupational diseases.

[0003] Manual cleaning of floor tanks is slow; a worker can only clean a limited number of tanks per day, making it difficult to meet the needs of large-scale production. Furthermore, manual cleaning often misses certain areas of the tanks, such as the bottom, corners, and crevices of the walls, leaving unsanitary areas and affecting the overall cleanliness of the tanks.

[0004] The intensity, angle, and duration of manual cleaning are difficult to maintain consistently, resulting in significant variations in cleaning effectiveness between different workers. It's impossible to guarantee that every tank will meet the same cleaning standards. Furthermore, manual operation is prone to oversights and omissions, further impacting the cleaning outcome. Utility Model Content

[0005] This invention overcomes the shortcomings of the existing technology and provides a ground cylinder cleaning device that can automatically clean the cylinder, greatly reduce the labor intensity of workers, and indirectly improve the discharge efficiency.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: a ground tank cleaning device, including an AGV trolley, a six-axis robot device, a camera device and a cleaning device, wherein the six-axis robot device is mounted on the AGV trolley, and the execution end of the six-axis robot device is equipped with a camera device and a cleaning device;

[0007] The cleaning device comprises a base, a rotary platform, a servo motor, a cleaning connector, and a cleaning head. The upper end of the base is connected to a six-axis robot. The rotary platform is mounted on the base. The body of the servo motor is fixedly mounted on the base. The power output end of the servo motor is connected to the power input end of the rotary platform. The power output end of the rotary platform is connected to the cleaning connector, and the end of the cleaning connector is connected to the cleaning head.

[0008] Furthermore, the base is a frame structure, and the rotating platform is disposed within the frame structure.

[0009] Furthermore, the AGV has a tracked walking structure.

[0010] Furthermore, the camera device is located on one side of the execution end of the six-axis robot device.

[0011] Furthermore, the cleaning head is an inverted frustum-shaped structure, and multiple flexible cleaning strips are provided on the sides and bottom of the frustum-shaped structure.

[0012] Compared with the prior art, the advantages of this utility model are as follows: This utility model controls a six-axis robot to move the cleaning device up and down; at the same time, the servo motor in the cleaning device works, which moves the cleaning head on the cleaning connector around the center of the cylinder in a circular motion. As the rotation speed is different, the cleaning head will make centrifugal motion and touch the cylinder wall and the bottom of the cylinder, thereby achieving the purpose of cleaning the cylinder. It can realize the automatic cleaning of the cylinder, which can greatly reduce the labor intensity of workers and indirectly improve the discharge efficiency. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is a schematic diagram of the cleaning device in this utility model.

[0016] Figure 3 This is a flowchart of the control strategy for the cleaning device in this utility model.

[0017] In the diagram: 1 is the AGV trolley, 2 is the six-axis robot device, 3 is the camera device, 4 is the cleaning device, 41 is the base, 42 is the rotary platform, 43 is the servo motor, 44 is the cleaning connector, and 45 is the cleaning head. Detailed Implementation

[0018] The present invention will be further described below with reference to specific embodiments.

[0019] like Figure 1 , Figure 2 and Figure 3 As shown, this utility model discloses a ground cylinder cleaning device, including an AGV trolley 1, a six-axis robot device 2, a camera device 3, and a cleaning device 4. The six-axis robot device 2 is mounted on the AGV trolley 1. The AGV trolley has a tracked walking structure and can move between cylinders. The AGV trolley 1 is independently driven. The cleaning device 4 is installed at the execution end of the six-axis robot device 2. The camera device 3 is located on one side of the execution end of the six-axis robot device 2. The camera device 3 is a prior art device with a built-in vision sensor and uses visual positioning, which can solve the problem of the not-so-precise distribution of ground cylinders.

[0020] The cleaning device 4 has the following structure: a base 41, a rotary platform 42, a servo motor 43, a cleaning connector 44, and a cleaning head 45. The upper end of the base 41 is connected to the six-axis robot device 2. The base 41 has a frame structure. The rotary platform 42 is set inside the frame structure. The body of the servo motor 43 is fixedly set on the base 41. The power output end of the servo motor 43 is connected to the power input end of the rotary platform 42. The power output end of the rotary platform 42 is connected to the cleaning connector 44. The end of the cleaning connector 44 is connected to the cleaning head 45. The cleaning head 45 has an inverted frustum-shaped structure. Multiple flexible cloth strips are provided on the sides and bottom of the frustum-shaped structure. By utilizing the centrifugal force generated by the circular motion of the cloth strips, they can contact every part of the cylinder wall, greatly enhancing the cleaning effect on the cylinder.

[0021] In this invention, the tracked AGV trolley 1 is driven independently by four tracked wheels. A six-axis robot device 2 is mounted on the chassis of the AGV trolley 1. A camera device 3 and a cleaning device 4 are mounted at the end of the six axes of the robot. The base 41 of the cleaning device 4 is fixed to the end of the six axes of the six-axis robot device 2, and a rotary platform 42 is mounted on it. The input end of the rotary platform 42 is connected to a servo motor 43, and the output end of the rotary platform 42 is connected to a cleaning connector 44. A cleaning head 45 is mounted on the cleaning connector 44. When the AGV trolley 1 moves roughly around the target cylinder, the camera device 3 performs visual processing on the target cylinder to obtain the cylinder center. After obtaining the target cylinder center, a series of processes are performed to control the six-axis robot device 2 to move up and down with the cleaning device 4. At the same time, the servo motor 43 in the cleaning device 4 works, causing the cleaning head 45 on the cleaning connector 44 to move in a circular motion around the cylinder center. As the rotation speed varies, the cleaning head 45 will perform centrifugal motion, touching the cylinder wall and bottom, thereby achieving the purpose of cleaning the cylinder.

[0022] The working process of this utility model is as follows: The tracked AGV trolley 1 receives a cylinder cleaning command. The camera device 3 guides the AGV trolley 1 to move above the cylinder to be cleaned and triggers a photo-taking command. The six-axis robot device 2 moves to the photo-taking position, i.e., the camera device 3 is perpendicular to the cylinder opening. Using a visual recognition algorithm, the robot calculates the cylinder opening center coordinates and cylinder bottom depth information and sends them to the robot controller. The six-axis robot device 2 drives the end-effector cleaning device 4 to move vertically downwards. After the cleaning head 45 is submerged in the cylinder opening, the robot controls the rotary platform 42 to rotate rapidly, causing the cleaning head 45 to rotate. Simultaneously, the robot device 2 moves up and down repeatedly inside the cylinder a set number of times. After this, the six-axis robot device 2 returns to its initial position, and the cleaning task is completed.

[0023] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A pit cleaning apparatus, characterized by, It includes an AGV trolley (1), a six-axis robot device (2), a camera device (3) and a cleaning device (4). The six-axis robot device (2) is mounted on the AGV trolley (1), and the execution end of the six-axis robot device (2) is equipped with a camera device (3) and a cleaning device (4). The structure of the cleaning device (4) is as follows: it includes a base (41), a rotary platform (42), a servo motor (43), a cleaning connector (44), and a cleaning head (45). The upper end of the base (41) is connected to the six-axis robot device (2). The rotary platform (42) is set on the base (41). The body of the servo motor (43) is fixedly set on the base (41). The power output end of the servo motor (43) is connected to the power input end of the rotary platform (42). The power output end of the rotary platform (42) is connected to the cleaning connector (44). The end of the cleaning connector (44) is connected to the cleaning head (45).

2. A tank cleaning apparatus according to claim 1, wherein, The base (41) is a frame structure, and the rotating platform (42) is set inside the frame structure.

3. The floor tank cleaning equipment according to claim 1, characterized in that, The AGV has a tracked walking structure.

4. A device for cleaning a tank according to claim 1, characterized in that The camera device (3) is located on one side of the execution end of the six-axis robot device (2).

5. A device for cleaning a tank according to claim 1, characterized in that The cleaning head (45) is an inverted frustum-shaped structure, and multiple flexible cleaning strips are provided on the sides and bottom of the frustum-shaped structure.

Images