阅读说明：本技术 一种清理储煤仓内壁的清仓机器人 (Cleaning robot for cleaning inner wall of coal storage bin ) 是由 徐宏祥 于超 邓久帅 宁可佳 黄根 崔家画 庞增瑞 汪竞争 于 2020-07-20 设计创作，主要内容包括：由于煤的粘性和长时间堆积,使得煤易在储煤仓内壁板结,影响储煤仓容积。该发明专利主要是在储煤仓上部设置一圈齿轮,大梁布置在齿轮上,大梁中心位置竖直放置一个可伸的立柱机构,立柱结构尾部水平放置一个工作臂,工作臂尾部通过钢丝绳与立柱机构链接保持工作臂稳定,工作臂尾部设置可伸缩清仓机器手,机器手不仅能水平伸缩还能上下移动。机器手尾部采用高速旋转的刀片清除板结的煤块。通过齿轮运动带动大梁做旋转运动,工作臂和清仓机器手也同样做旋转运动,可伸缩机器手能清理不同位置,不同大小的煤块。本发明专利要解决的问题是如何更加高效智能化的清理粘在储煤仓内壁上板结的煤。(Due to the viscosity and long-time accumulation of coal, the coal is easy to harden on the inner wall of the coal storage bin, and the volume of the coal storage bin is influenced. The coal bunker cleaning machine is mainly characterized in that a circle of gears are arranged on the upper portion of a coal bunker, a crossbeam is arranged on the gears, a stretchable upright post mechanism is vertically arranged in the center of the crossbeam, a working arm is horizontally arranged at the tail of the upright post mechanism, the tail of the working arm is connected with the upright post mechanism through a steel wire rope to keep the working arm stable, a telescopic bunker cleaning robot is arranged at the tail of the working arm, and the robot can horizontally stretch and retract and can move up and down. The tail part of the manipulator adopts a blade rotating at a high speed to remove hardened coal blocks. The girder is driven to rotate by the gear movement, the working arm and the bin cleaning manipulator also rotate, and the telescopic manipulator can clean coal blocks in different positions and sizes. The invention aims to solve the problem of how to more efficiently and intelligently clean hardened coal adhered to the inner wall of a coal storage bin.)

1. The bunker cleaning robot for the coal bunker is characterized in that a circle of gear (2) is arranged on the upper portion of the coal bunker, a crossbeam (1) is arranged on the gear (2), the upper end of a stand column structure (4) is fixed at a coal bunker inlet, the left side of the lower end of the tail section of the stand column is connected with a left working arm (8), and the left working arm (8) is connected with a counterweight device reservoir (10). The right side is hinged with the right working arm, a working arm lifting mechanism is installed in the middle of the upright post mechanism (4), and the electric control cabinet (3) and the balance water tank (5) are arranged on a top plate outside the coal bunker. When the manipulator stretches (12), the water quantity of the reservoir is adjusted to balance the whole working arm. The upright post is telescopic up and down, when cleaning the bottom of the coal storage bin, the upright post is telescopic, and the mechanical arm (12) is also telescopic.

2. The bin cleaning robot according to claim 1, wherein: the energy consumption is lower through the movement of the gear (2).

3. The bin cleaning robot according to claim 1, wherein: the bin cleaning manipulator (12) can stretch and move up and down, and the cleaning efficiency is higher.

4. The bin cleaning robot according to claim 1, wherein: the tail end of the bin cleaning manipulator (12) is provided with a blade rotating at a high speed, and the blade cuts coal on the inner wall of the coal storage bin to fall off.

5. The bin cleaning robot according to claim 1, wherein: the upright column structure (4) is telescopic, can be cleaned in all directions by being combined with the bin cleaning manipulator (12), and is higher in efficiency.

6. The bin cleaning robot according to claim 1, wherein: the counterweight adopts water, and water is pumped and absorbed through the water tank (5) like the reservoir (10), so that the balance of the mechanical arm is easier to control and adjust.

7. The bin cleaning robot according to claim 1, wherein: the device comprises an illuminating image device (11), is more intelligent, and can observe a cleaning result through an image.

Technical Field

The invention relates to a coal storage bin of a coal washing plant, belonging to the field of coal dressing. Is directly applied to the coal storage bin of the coal preparation plant.

Background

The ground coal bunker is used as a middle storage device for storing coal, raw coal can continuously flow in and flow out, the upper part of the structure of the raw coal bunker is a cylinder, the lower part of the structure of the raw coal bunker is a hyperbolic cone, the raw coal falls from top to bottom by dead weight, a platform with a small inclination angle is formed on the side wall of the coal bunker due to the protrusion or the depression, and the blockage of the coal bunker is related to the storage time of coal materials in the coal bunker. In general, the longer the storage time, the poorer the fluidity of the coal, and the more likely the coal will be clogged.

The traditional bunker cleaning process has the problems of complex working procedures, more using and constructing personnel, large labor capacity, potential safety hazards and the like, and becomes a bottleneck restricting the safety of coal transportation. The manual warehousing and cleaning has low efficiency, and various harmful gases poison the warehousing constructors. And the depth of the coal bunker is generally 20-30 m, and if accidents such as bunker wall collapse and the like occur, great potential safety hazards exist in manual bunker cleaning. The coal preparation plant is based on the principle of intellectualization, so the bin cleaning robot is designed.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an intelligent warehouse cleaning robot without manual cleaning.

The technical scheme includes that a circle of gears are arranged on the upper portion of a coal storage bin, a crossbeam is arranged on the gears, a stretchable upright post mechanism is vertically arranged in the center of the crossbeam, a working arm is horizontally arranged at the tail of the upright post structure, the tail of the working arm is connected with the upright post mechanism through a steel wire rope to keep the working arm stable, and a telescopic bin cleaning manipulator is arranged at the tail of the working arm and can horizontally stretch and move and rotate 360 degrees. The tail part of the manipulator adopts a blade rotating at a high speed to remove hardened coal blocks. The girder is driven to rotate by the gear movement, and the working arm and the bunker cleaning manipulator also rotate, so that the telescopic manipulator can clean coal blocks in different positions and sizes.

Compared with the prior art, the invention has the beneficial effects that manual cleaning is not needed, and the cleaning efficiency is higher than that of manual cleaning. The coal storage bin cleaning device can clean coal at any time, production does not need to be stopped due to cleaning of the coal storage bin, and production efficiency is effectively improved.

Drawings

In order to more clearly illustrate the patented examples or prior art solutions of this invention, the drawings that need to be used in the description of the embodiments or prior art will be briefly described below.

FIG. 1 is a top view of a schematic of the structure of the present invention;

FIG. 2 is a side view of a schematic of the inventive structure;

FIG. 3 is a side view of a detail component of FIG. 2 in a schematic structural view according to the present invention;

in the figure: 1. girder 2, gear 3, electric control cabinet 4, upright post mechanism 5, water tank 6, working arm lifting mechanism 7, steel wire rope 8, working arm 9, blade 10, reservoir 11, lighting and monitoring equipment 12 and telescopic manipulator

Detailed Description

The following detailed description of specific embodiments of the present invention is provided in connection with the accompanying drawings.

As shown in figures 1 and 2, the invention provides a novel warehouse cleaning robot which comprises a girder 1, a gear 2, a gear 3, an electric control cabinet 4, an upright post mechanism 5, a water tank 6, a working arm lifting mechanism 7, a steel wire rope 8, a working arm 9, a blade 10, a water reservoir 11, a lighting and monitoring device 12, a telescopic manipulator 12

As shown in fig. 1: a circle of gears are installed at the top of the coal storage bin, and a crossbeam capable of rotating around the gears is placed at the central horizontal position.

As shown in fig. 2: 3 automatically controlled cabinets, 4 stand mechanisms, 5 water tanks are placed in proper order to girder top, and 8 work arms are connected to stand mechanism below, and the work arm passes through 7 wire rope connections, keeps the work arm stable, and right work arm has 10 cisterns, and left work arm has 11 illumination and supervisory equipment and 12 scalable manipulators.

As shown in fig. 3: the storehouse cleaning manipulator is telescopic.

Specifically, the girder is connected with a top contact point of the coal storage bin through a gear.

In particular, the upright structure is downwardly movable.

Specifically, the wire rope is connected with the left and right working arms through the working arm lifting mechanism.

Specifically, the left and right working arms are kept stable by pumping and sucking water into the reservoir through the water tank.

In particular, the cleaning robot can be telescopic so as to adjust the length to clean coal at different angles and positions.

Specifically, the tail end of the bin cleaning manipulator is provided with a blade rotating at a high speed, and the blade cuts coal falling off from the inner wall of the coal storage bin.

The above detailed description of the examples of the present patent application is made, and it is obvious that the described examples are only a part of the examples of the present patent application, not all examples. All equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.