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CN-113042476-B - Full-automatic visual cement warehouse cleaning device

CN113042476BCN 113042476 BCN113042476 BCN 113042476BCN-113042476-B

Abstract

A full-automatic visual cement warehouse cleaning device comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system, and is characterized in that the hoisting mechanism comprises a hoist, a hoist support and a hoisting steel wire rope, the supporting mechanism comprises a mounting base, an upper unfolding device, an upper supporting device, a supporting arm inclination sensor and a spring damping support, the upper supporting device comprises three support telescopic arms in three sections, the descending rotating mechanism comprises a vertical moving cylinder, a lower mounting base, a lower unfolding device, a rotating supporting device, a guiding travelling wheel and a rotating arm inclination sensor, the rotating supporting device comprises three rotating supporting telescopic arms in three sections, and the cleaning mechanism comprises a cutting cutter disc, a cutting motor, a frame inclination sensor, a frame cylinder and a camera. The invention can realize multi-angle visual cleaning of the cement silo, and is suitable for the silo cleaning treatment of cement silos with various specifications and sizes.

Inventors

  • BAI GUOCHANG
  • LI SHILIN
  • ZHAO JIANGMING
  • YANG CHONGHAO

Assignees

  • 郑州大学

Dates

Publication Date
20260512
Application Date
20210318

Claims (9)

  1. 1. A full-automatic visual cement warehouse cleaning device mainly comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system, and is characterized in that the hoisting mechanism comprises a hoist (1), a hoist support (2) and a hoisting steel wire rope (3), the supporting mechanism comprises a mounting base (4), an upper unfolding device (14), an upper supporting device (5) and a supporting arm inclination sensor (501), the upper supporting device (5) comprises three supporting telescopic arms (304), each supporting telescopic arm (304) is driven by an upper moving cylinder (201) to drive the three telescopic arms and a spring shock absorption support (6), and the descending rotating mechanism comprises a vertical moving cylinder (7), The lower mounting base (8), the lower unfolding device (12), the rotary supporting device (13) and the rotary arm inclination sensor (502), the rotary supporting device (13) comprises three rotary supporting telescopic arms (305), each rotary supporting telescopic arm (305) is driven by a lower moving cylinder (204) to drive a three-section telescopic arm and a guide travelling wheel (9), a cleaning mechanism is arranged at the tail end of the rotary supporting device (13), and each cleaning mechanism comprises a cutting cutter head (11), a cutting motor (402), a frame (403), a frame inclination sensor (503), a frame cylinder (10), The camera (401), the hoist engine (1) is installed on the installation face of hoist engine support (2) through the bolt, hoist wire rope (3) end-to-end connection rings screw on hoist engine (1), rings screw is installed on installation base (4) through the screw thread, install between the pterygoid lamina of installation base (4) through the pivot connection upper portion strutting arrangement (5), go up movable cylinder (201) through flange fixed mounting in the root of the basic arm of telescopic arm, the terminal surface welding of telescopic arm basic arm installation pterygoid lamina and gear (303), gear (303) meshes with lifting part (302) driven by lifting cylinder (301), support the installation face and spring damper support (6) at telescopic arm (304) top through the screw connection, the installation face of support arm inclination sensor (501) is fixed on the upper installation face of support telescopic arm (304) basic arm through the screw, the flange dish on the lifting cylinder (301) of upper portion expansion device (14) is fixed at the inside cavity top of installation base (4) through the screw, make it place with installation base (4) coaxial, vertical movable cylinder (7) adopts screw (4) and install in the same inside cavity of lower side (8) with lower base (8) fixed at the same place through the lower fixed screw (8), the rotary arm inclination sensor (502) is fixed on the upper mounting surface of the basic arm of the rotary support telescopic arm (305) by using screws, the lower moving cylinder (204) is fixedly mounted on the root of the basic arm through a flange, the top of the three rotary support telescopic arms (305) is respectively fixed with the upper mounting plate and the lower mounting plate of the wheel frame (101) of the guiding travelling wheel (9) through bolt connection, a group of guiding travelling wheels (9) is provided with two rollers (103) capable of independently controlling rotation, each roller (103) is driven by a motor (102), the cutting cutter head (11) is driven by a cutting motor (402), the cutting motor (402) is mounted on the frame (403) through a flange, the wing plates at two ends of the frame cylinder (10) are connected with the wing plates under the third section of the telescopic arm of the rotary support telescopic arm (305), The side wing plates of the frame (403) are connected through pin shafts, the upper wing plates of the frame (403) are connected with the tail ends of the third sections of telescopic arms of the rotary supporting telescopic arms (305) through pin shafts to form a triangular structure, the installation surface of the frame inclination angle sensor (503) is installed on the outer installation surface of the frame (403) through screws, and the camera (401) is fixed on the lower installation plate of the wheel frame (101) of the guiding travelling wheel (9) through screws.
  2. 2. The full-automatic visual cement warehouse cleaning device of claim 1, wherein the supporting telescopic arm (304) and the rotating supporting telescopic arm (305) are made of aluminum alloy materials and are of thin-wall structures, a bolt type telescopic mode is adopted, a servo electric cylinder is selected for the vertical moving cylinder (7), the upper moving cylinder (201) and the lower moving cylinder (204), hydraulic oil leakage pollution can be avoided, and the hydraulic oil can be conveniently connected with a PLC control system.
  3. 3. The full-automatic visual cement warehouse cleaning device of claim 1, wherein the lifting piece (302) is of a cylinder structure with teeth on the outer surface, the gear (303) and the lifting piece (302) are made of 20CrMnTi, nitriding treatment is carried out on the surfaces, the bearing capacity is improved, the lifting cylinder (301) is made of a servo electric cylinder, the lifting piece (302) is driven to move up and down, and the lifting piece (302) can drive three telescopic arms to be unfolded and retracted simultaneously through meshing with the gear (303).
  4. 4. The full-automatic visual cement warehouse cleaning device according to claim 1, wherein the guiding travelling wheel (9) uses tapered roller bearings, the roller (103) uses Mecanum wheels, the transverse and longitudinal movement can be realized, the hub (104) and the rolling small wheels (105) are made of aviation aluminum alloy materials, and the rolling small wheels (105) are provided with rubber sleeves.
  5. 5. The full-automatic visual cement warehouse cleaning device according to claim 1, wherein the motor (102) of the guiding travelling wheel (9) is a servo motor, the motor driving circuit adopts a TB6612FNG chip, the full-automatic visual cement warehouse cleaning device has a high-current MOSFET-H bridge structure, the output of the double-channel circuit can drive 2 motors (102) simultaneously, and an overheat protection and low-voltage detection circuit is built in the full-automatic visual cement warehouse cleaning device without adding cooling fins.
  6. 6. The full-automatic visual cement warehouse cleaning device of claim 1, wherein the camera (401) uses an infrared camera to radiate 'illumination' by infrared lamps, and the infrared low-illumination color camera senses infrared light reflected by surrounding environment to realize night vision imaging, so that the cement warehouse in dark environment can be observed in real time.
  7. 7. A full-automatic visual cement warehouse cleaning device according to claim 1, wherein the inclination angle signals of the supporting telescopic arm (304), the frame (403) and the rotary supporting telescopic arm (305) are collected by the supporting arm inclination angle sensor (501), the frame inclination angle sensor (503) and the rotary arm inclination angle sensor (502), processed by a PLC control system, the unfolding angles of the upper supporting device (5) and the rotary supporting device (13) can be adjusted by controlling the electric cylinders of the upper unfolding device (14) and the lower unfolding device (12), and the frame cylinder (10) which is adjusted to be the electric cylinders stretches, so that the frame (403) always keeps the vertical direction, and the machinable posture is maintained.
  8. 8. The full-automatic visual cement silo cleaning device of claim 1, wherein the cutting motor (402) is an external rotor DC brushless motor, and the cutting cutterhead (11) is made of cemented carbide steel and is a disc-shaped cutter with cutting blades on the upper surface and the side surface of the cylinder.
  9. 9. The full-automatic visual cement warehouse cleaning device according to claim 1, wherein the spring (601) of the spring shock-absorbing support (6) is a rectangular-section spiral compression spring.

Description

Full-automatic visual cement warehouse cleaning device Technical Field The invention relates to the technical field of cement warehouse cleaning and crushing, in particular to a full-automatic visual cement warehouse cleaning and crushing device for a cement warehouse. Background The cement must pass through physical inspection in a certain age, and can leave the factory after being qualified, so that a cement factory must set up a cement warehouse with a certain capacity. In the production process, the cement is hydrated in advance along with the water brought by the mixed materials during grinding to cause cement agglomeration in a cement silo, a large amount of materials are retained in the cement silo to cause discharging difficulty after a certain period of time, and as the cement silo is a cylindrical structure for storing cement, the size of the cement silo is very large, the internal environment is severe, the silo cleaning work is dangerous, the cement silo is required to be carried out in an environment with larger dust pollution, collapse burial accidents are easy to occur and the efficiency is low if the cement silo is cleaned in the manual silo, so that the silo cleaning device is necessary. The general warehouse cleaning device adopts manual assistance and only cleans the parts above the discharging bin, the parts below the device are cleaned by manual warehouse entry, the danger is still very high in practice, the cleaned cement can be accumulated on the lower part in a large quantity, and secondary dust of the materials is easily caused by walking of people or contact of tools and the materials in the warehouse cleaning operation, so that the environment in the warehouse is worse. The cement silo cleaning device disclosed in the patent CN 210456001U uses three steel wires to hoist the whole device, the structure is difficult to clean the whole plane in the circumferential direction and below a discharging bin, vibration generated in the cleaning process can cause the device to be difficult to control, the multi-angle automatic cement silo cleaning machine disclosed in the patent CN 209647150U lacks a stable supporting device, an indexing motor is difficult to realize effective indexing when arranged under the steel wires, the cement silo cleaning device disclosed in the patent CN 110615192A does not have a control system and corresponding sensors, the two arms of the cleaning device cannot perform the silo cleaning operation, therefore, the device cannot have an effective supporting effect, and the whole device is inconvenient to hoist. Therefore, the invention is necessary to provide a full-automatic and efficient cement warehouse cleaning device. Disclosure of Invention The invention aims to solve the problems that dust in an existing cement silo is harmful to personnel health and labor capacity is large and incomplete, and provides a full-automatic cement silo cleaning device. The technical scheme is that the full-automatic visual cement warehouse cleaning device mainly comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system, and is characterized in that the hoisting mechanism comprises a hoisting machine, a hoisting machine support and a hoisting steel wire rope, the supporting mechanism comprises a mounting base, an upper unfolding device, an upper supporting device and a supporting arm inclination sensor, the upper supporting device comprises three supporting telescopic arms, each supporting telescopic arm is driven by a moving cylinder to drive the three telescopic arms and a spring damping support, the descending rotating mechanism comprises a vertical moving cylinder, a lower mounting base, a lower unfolding device, a rotating supporting device and a rotating arm inclination sensor, the rotating supporting device comprises three rotating supporting telescopic arms, each rotating supporting telescopic arm is driven by the moving cylinder to drive the three telescopic arms, the cleaning mechanism is arranged at the tail end of the rotary supporting device, and each set of cleaning mechanism comprises a cutting cutter head, a driving motor, a frame inclination angle sensor, a frame cylinder, a cleaning mechanism and a cleaning mechanism, The camera, the hoist engine is installed on the installation face of the hoist engine support through the bolt, the end of the hoisting wire rope wound on the hoist engine is connected with the flying screw, the flying screw is installed on the installation base through the screw thread, the upper supporting device is connected with the installation base through the shaft pin, the upper moving cylinder is fixedly installed at the end of the basic arm of the telescopic arm through the flange, the wing plate of the basic arm is welded with the end face of the gear, the gear is meshed with the lifting piece driven by the lifting cylinder, the installation face of the end of th