Automatic ground cleaning robot for coal conveying trestle

Abstract

The invention provides an automatic ground cleaning robot for a coal conveying trestle, and relates to the technical field of pulverized coal conveying, the automatic ground cleaning robot comprises a support frame, symmetrically arranged driving tracks are mounted on two sides of the support frame, a spray washing unit is mounted on the support frame, a pulverized coal collecting and sweeping unit is arranged on the front side of the support frame, and an image monitoring device is mounted on the support frame. The problems that in the prior art, a worker usually holds a high-pressure water gun to conduct flushing, time and labor are wasted, meanwhile, the physical health of workers is affected due to the severe working environment, or a robot holds the high-pressure water gun to conduct flushing on the ground of the coal conveying trestle, but pulverized coal falling on the ground is only flushed away from the coal conveying trestle, and the working environment is poor are solved. When water is evaporated, the water is accumulated on the coal conveying trestle or the ground of the coal conveying trestle again under the action of wind power, and meanwhile, the water is only washed and cleaned, so that the situation of resource waste caused by loss of pulverized coal is often caused.

Description

Technical Field

[0001] The invention belongs to the technical field of coal powder transportation, and in particular relates to an automatic cleaning robot for the ground of a coal conveying trestle. Background Art

[0002] The coal conveyor trestle is a device used to load and unload coal. Due to long-term use and environmental factors, a large amount of coal dust and dust often accumulates on the surface of the trestle, affecting the work efficiency and the normal operation of the equipment. For the cleaning of the coal conveyor trestle floor, manual handheld high-pressure water guns are usually used for flushing, which is time-consuming and labor-intensive. At the same time, due to the harsh working environment, it will affect the health of the staff. Alternatively, a robot handheld high-pressure water gun is used to flush the coal conveyor trestle floor, but the coal powder that falls on the ground is only washed away from the coal conveyor trestle. When the water evaporates, it will accumulate on the coal conveyor trestle or the coal conveyor trestle floor again under the action of wind. At the same time, only flushing cleaning often causes the loss of coal powder and waste of resources. Summary of the invention

[0003] The present invention provides an automatic cleaning robot for the ground of a coal conveying trestle, which is used to solve at least one of the technical problems mentioned above.

[0004] In order to solve the above technical problems, the present invention discloses an automatic cleaning robot for the ground of a coal conveyor trestle, comprising a support frame, symmetrically arranged drive tracks are installed on both sides of the support frame, a spray cleaning unit is installed on the support frame, a coal powder collecting and cleaning unit is provided on the front side of the support frame, and an image monitoring device is installed on the support frame.

[0005] Preferably, the spray cleaning unit includes a water tank, which is installed on a support frame. An access pipe is provided at the inlet end of the water tank, and a water pipe mounting block is rotatably connected to the outlet end of the water tank. A water spray pipe is installed on the water pipe mounting block. The inlet end of the water spray pipe is communicated with the water tank, and a water pump is provided at the inlet end of the water spray pipe. A cleaning nozzle is rotatably installed at the outlet end of the water spray pipe.

[0006] Preferably, the coal powder collecting and cleaning unit includes a position adjustment component, a coal powder cleaning body and a coal powder collecting body. The position adjustment component is installed on a support frame. The position adjustment component is used to adjust the spatial position of the coal powder cleaning body. The coal powder cleaning body is installed at the working end of the position adjustment component. The coal powder cleaning body is used to clean the coal powder on the ground of the coal conveying trestle. The coal powder collecting body is connected to the coal powder cleaning body and is used to collect coal powder.

[0007] Preferably, the position adjustment assembly includes an electric extension gear, which is rotatably connected to a support frame, an extension rack is slidably connected inside the support frame, a rack guide block is fixedly connected to the extension rack, the rack guide block is slidably connected to the support frame, the extension rack and the electric extension gear are meshed with each other, a transfer block is fixedly connected to the extension rack, and a coarse adjustment assembly and a fine adjustment assembly are fixedly connected to the transfer block.

[0008] Preferably, the coarse adjustment component is any one of an electric telescopic member, a hydraulic cylinder or a pneumatic cylinder;

[0009] The fine adjustment component includes a back plate, which is fixedly connected to the working end of the coarse adjustment component. A screw motor is installed on the back plate. A bidirectional screw is fixedly connected to the output end of the screw motor. Two symmetrically arranged fine adjustment nuts are threadedly connected to the bidirectional screw. Connecting rod one and connecting rod two are hinged to the two fine adjustment nuts respectively. Connecting rod one and connecting rod two are cross-arranged and hinged in the middle. The ends of connecting rod one and connecting rod two away from the fine adjustment nuts are hinged to the coal powder cleaning body.

[0010] Preferably, the coal powder cleaning body comprises a coal powder cleaning shell, on which a plurality of feed wheels are installed, an electric cleaning drive screw is rotatably connected in the coal powder cleaning shell, two symmetrically arranged cleaning nuts are threadedly connected to the electric cleaning drive screw, a bending rod is fixedly connected to the cleaning nut, a micro roller is rotatably connected to the bending rod, the micro roller is rotatably connected to the roller guide frame, and a brush strip is fixedly connected to the bending rod;

[0011] A fixed rotating shaft is installed in the coal powder cleaning shell, and a cylinder is rotatably connected to the fixed rotating shaft, a storage cylinder and an adjusting cylinder are fixedly connected to the cylinder, a coal suction head rod is slidably connected in the storage cylinder, a buffer elastic part is fixedly connected to the bottom of the storage cylinder, the working end of the adjusting cylinder is connected to the coal suction head rod, and a coal suction head is fixedly connected to the coal suction head rod, a liquid storage tank and a temporary coal storage box are fixedly connected to the coal powder cleaning shell, one end of the temporary coal storage box is communicated with the coal suction head, and the other end of the temporary coal storage box is communicated with the coal powder collecting body, a self-cleaning nozzle is installed in the coal powder cleaning shell, the self-cleaning nozzle is communicated with the liquid storage tank, and an electric brush strip cleaning slider is slidably connected to the inner wall of the coal powder cleaning shell.

[0012] Preferably, a sliding key is connected to two symmetrically arranged meshing gears 1 on the electric cleaning drive screw, a meshing gear 2 is fixedly connected to the cylinder body, the meshing gear 2 is used to mesh with the meshing gear 1, and a meshing drive cylinder is fixedly connected in the coal powder cleaning shell, and the two working ends of the meshing drive cylinder are slidably connected to the side surfaces of the two meshing gears 1.

[0013] Preferably, the coal powder collecting body includes a collecting shell, which is fixedly connected to the supporting frame, a screening platform is rotatably connected inside the collecting shell, a screen cylinder is fixedly connected to the screening platform, the top of the screen cylinder is slidably connected to the inner wall of the collecting shell, a feeding port is provided at the top of the collecting shell, a drying assembly is installed in the collecting shell, the outer side of the screen cylinder is a classification cavity, an arc-shaped groove is provided at the bottom of the classification cavity, an arc-shaped push plate is fixedly connected to the screening platform, the arc-shaped push plate is used to cooperate with the arc-shaped groove, a number of evenly arranged drop troughs are opened on the arc-shaped groove, the bottom of the drop trough leads to the accumulation trough, an electric push plate is slidably connected to the accumulation trough, and a discharge port is provided at the accumulation trough.

[0014] Preferably, it also includes a sensing component, which includes a pressure sensor, which is arranged in the screening table, and a fixed electromagnet and a movable electromagnet are also arranged in the screening table, a pull rope is fixedly connected to the movable electromagnet, and the other end of the pull rope is fixedly connected to the T-shaped stopper, and a reset elastic member is fixedly connected to the T-shaped stopper, and an electric support rod is rotatably connected under the screening table, and the electric support rod is used to cooperate with the T-shaped stopper, and the pressure sensor is electrically connected to the fixed electromagnet and the movable electromagnet;

[0015] A screening shaft is fixedly connected to the bottom of the screening table, a shaft elastic part is sleeved on the screening shaft, a face gear 1 is fixedly connected to the screening shaft, a screening drive shaft is rotatably connected in the collection shell, and a face gear 2 is fixedly connected to the screening drive shaft.

[0016] Preferably, it also includes a cleanliness detection and evaluation module, which is used to evaluate the cleaning effect of the cleaning robot and control the cleaning robot to clean again when the cleaning effect is not good.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention adopts a driving crawler to drive the entire robot to move forward, which can effectively avoid the occurrence of slipping caused by coal powder. At the same time, a coal powder collection and cleaning unit and a spray washing unit are arranged, which not only play the role of collecting coal powder, but also can use water to quickly clean the coal conveying trestle and the coal conveying trestle ground. The whole process is monitored by an image monitoring device, and autonomous navigation and remote control can be realized at the same time.

[0019] The present invention thus avoids the conventional method of flushing with a manual handheld high-pressure water gun, which is time-consuming and labor-intensive and may affect the health of workers due to the harsh working environment, or flushing with a robot handheld high-pressure water gun on the ground of the coal conveyor trestle. However, the coal powder that falls on the ground is only flushed away from the coal conveyor trestle. When the water evaporates, it will accumulate on the coal conveyor trestle or on the ground of the coal conveyor trestle again under the action of wind. Meanwhile, only flushing cleaning often results in the loss of coal powder and waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 A three-dimensional schematic diagram of an automatic floor cleaning robot for a coal handling trestle proposed by the present invention;

[0022] Figure 2 A schematic diagram of the water spray pipe structure proposed for the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the coal powder collection and cleaning unit proposed by the present invention;

[0024] Figure 4 This is a schematic diagram of the main structure of the coal dust cleaning device of the present invention;

[0025] Figure 5 A side view of a coal powder collecting and cleaning unit of the present invention;

[0026] Figure 6 This is a schematic diagram of the internal structure of the coal powder collecting body of the present invention;

[0027] Figure 7 For the present invention Figure 6 A partial enlarged view of point A.

[0028] In the figure: 1, support frame; 100, driving crawler; 2, spray washing unit; 200, water tank; 201, access pipe; 202, water pipe mounting block; 203, water spray pipe; 204, cleaning nozzle; 3, coal powder collection and cleaning unit; 300, position adjustment component; 3000, electric extension gear; 3001, extension rack; 3002, rack guide block; 3003, adapter block; 3004, back plate; 3005, screw motor; 3006, bidirectional screw; 3007 , fine adjustment nut; 3008, connecting rod 1; 3009, connecting rod 2; 302, coal powder collection body; 3020, collection shell; 3021, screening table; 3022, screen cylinder; 3023, feed port; 3024, classification chamber; 3025, arc groove; 3026, drop chute; 3027, accumulation chute; 3028, electric push plate; 3029, discharge port; 303, coal powder cleaning body; 3030, coal powder cleaning shell; 3031, feed wheel; 3032 , electric cleaning drive screw; 3033, cleaning nut; 3034, bending rod; 3035, micro roller; 3036, roller guide frame; 3037, brush strip; 3038, fixed shaft; 3039, cylinder; 304, storage cylinder; 3040, regulating cylinder; 3041, coal suction head rod; 3042, buffer elastic part; 3043, coal suction head; 3044, liquid storage tank; 3045, self-cleaning nozzle; 3046, electric brush strip cleaning slider; 3047, Meshing gear one; 3048, meshing gear two; 3049, meshing drive cylinder; 305, arc push plate; 3050, fixed electromagnet; 3051, moving electromagnet; 3052, pull rope; 3053, T-type stop; 3054, reset elastic part; 3055, electric support rod; 4, image monitoring equipment; 5, temporary coal storage box; 500, screening shaft; 501, shaft elastic part; 502, screening drive shaft; 503, face gear two; 504, face gear one. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] The present invention provides the following embodiments

[0032] Example 1

[0033] The embodiment of the present invention provides a coal handling trestle floor automatic cleaning robot, such as Figure 1-7 As shown, it includes a support frame 1, symmetrically arranged driving tracks 100 are installed on both sides of the support frame 1, a spray washing unit 2 is installed on the support frame 1, a coal powder collecting and cleaning unit 3 is provided on the front side of the support frame 1, and an image monitoring device 4 is installed on the support frame 1.

[0034] Preferably, it also includes a cleanliness detection and evaluation module, which is used to evaluate the cleaning effect of the cleaning robot and control the cleaning robot to clean again when the cleaning effect is not good.

[0035] The working principle and beneficial effects of the above technical solution are as follows: the present invention adopts a driving crawler 100 to drive the entire robot to move forward, which can effectively avoid the occurrence of slippage caused by coal powder. At the same time, the coal powder collection and cleaning unit 3 and the spray washing unit 2 are arranged to collect the coal powder and quickly clean the coal conveying trestle and the coal conveying trestle floor with water. The whole process is monitored by the image monitoring device 4, and autonomous navigation and remote control can be realized at the same time;

[0036] The present invention thus avoids the conventional method of flushing with a manual handheld high-pressure water gun, which is time-consuming and labor-intensive and may affect the health of workers due to the harsh working environment, or flushing with a robot handheld high-pressure water gun on the ground of the coal conveyor trestle. However, the coal powder that falls on the ground is only flushed away from the coal conveyor trestle. When the water evaporates, it will accumulate on the coal conveyor trestle or on the ground of the coal conveyor trestle again under the action of wind. Meanwhile, only flushing cleaning often results in the loss of coal powder and waste of resources.

[0037] Example 2

[0038] On the basis of Example 1, the spray cleaning unit 2 includes a water tank 200, which is installed on the support frame 1. The inlet end of the water tank 200 is provided with an access pipe 201, and the outlet end of the water tank 200 is rotatably connected to a water pipe mounting block 202, on which a water spray pipe 203 is installed. The inlet end of the water spray pipe 203 is communicated with the water tank 200, and a water pump is provided at the inlet end of the water spray pipe 203, and a cleaning nozzle 204 is rotatably installed at the outlet end of the water spray pipe 203.

[0039] The working principle and beneficial effects of the above technical solution are as follows: after the water source is connected to the water tank 200 through the pipeline 201, it enters the water pipe mounting block 202 through the water tank 200 and then is sprayed toward the coal conveying trestle or the ground of the coal conveying trestle through the water spray pipe 203 and the cleaning nozzle 204 on the water pipe mounting block 202, thereby cleaning the coal conveying trestle or the ground of the coal conveying trestle. In this process, the direction of the water source sprayed by the cleaning nozzle 204 can be flexibly adjusted by rotating the water pipe mounting block 202 in coordination with the rotation of the cleaning nozzle 204.

[0040] Example 3

[0041] On the basis of Example 1, the coal powder collecting and cleaning unit 3 includes a position adjustment component 300, a coal powder cleaning body 303 and a coal powder collecting body 302. The position adjustment component 300 is installed on the support frame 1. The position adjustment component 300 is used to adjust the spatial position of the coal powder cleaning body 303. The coal powder cleaning body 303 is installed at the working end of the position adjustment component 300. The coal powder cleaning body 303 is used to clean the coal powder on the ground of the coal conveying trestle. The coal powder collecting body 302 is connected to the coal powder cleaning body 303 and is used to collect coal powder.

[0042] The position adjustment component 300 includes an electric extension gear 3000, which is rotatably connected to the support frame 1, and an extension rack 3001 is slidably connected inside the support frame 1. A rack guide block 3002 is fixedly connected to the extension rack 3001, and the rack guide block 3002 is slidably connected to the support frame 1. The extension rack 3001 is meshed with the electric extension gear 3000, and a transfer block 3003 is fixedly connected to the extension rack 3001, and a coarse adjustment component and a fine adjustment component are fixedly connected to the transfer block 3003.

[0043] The working principle and beneficial effects of the above technical solution are as follows: when working, the spatial position of the coal powder cleaning body 303 is flexibly adjusted by the position adjustment component 300, and the coal powder cleaning body 303 cleans and collects the coal powder falling on the ground, and sends the collected coal powder into the coal powder collecting body 302;

[0044] When the position adjustment component 300 is working, the electric extension gear 3000 rotates to drive the extension rack 3001 to move forward and backward, and the extension rack 3001 moves forward and backward to drive the coal powder cleaning body 303 to achieve adjustment in the forward and backward direction.

[0045] Example 4

[0046] Based on Example 3, the coarse adjustment component is any one of an electric telescopic member, a hydraulic cylinder or a pneumatic cylinder;

[0047] The fine adjustment component includes a back plate 3004, which is fixedly connected to the working end of the coarse adjustment component. A screw motor 3005 is installed on the back plate 3004. A bidirectional screw 3006 is fixedly connected to the output end of the screw motor 3005. Two symmetrically arranged fine adjustment nuts 3007 are threadedly connected to the bidirectional screw 3006. A connecting rod 1 3008 and a connecting rod 2 3009 are hinged to the two fine adjustment nuts 3007 respectively. The connecting rod 1 3008 and the connecting rod 2 3009 are cross-arranged and hinged in the middle. The ends of the connecting rod 1 3008 and the connecting rod 2 3009 away from the fine adjustment nuts 3007 are hinged to the coal powder cleaning body 303.

[0048] The working principle and beneficial effects of the above technical solution are as follows: when adjusting in the left and right directions, coarse adjustment is achieved through the coarse adjustment component, and fine adjustment is achieved through the fine adjustment component. Coarse adjustment can be achieved through electric telescopic parts, hydraulic cylinders or cylinder telescopic parts. When fine adjustment is performed, the two-way screw 3006 is driven by the screw motor 3005 to rotate and drive the two fine adjustment nuts 3007 to move, and finally drive the connecting rod 1 3008 and the connecting rod 2 3009 to move, thereby realizing precise adjustment of the left and right positions of the coal powder cleaning body 303.

[0049] Example 5

[0050] On the basis of Example 3, the coal powder cleaning body 303 includes a coal powder cleaning shell 3030, on which a plurality of feed wheels 3031 are installed, an electric cleaning drive screw 3032 is rotatably connected in the coal powder cleaning shell 3030, and two symmetrically arranged cleaning nuts 3033 are threadedly connected to the electric cleaning drive screw 3032, and a bending rod 3034 is fixedly connected to the cleaning nut 3033, and a micro roller 3035 is rotatably connected to the bending rod 3034, and the micro roller 3035 is rollingly connected to the roller guide frame 3036, and a brush strip 3037 is fixedly connected to the bending rod 3034;

[0051] A fixed shaft 3038 is installed in the coal dust cleaning shell 3030, and a cylinder 3039 is rotatably connected to the fixed shaft 3038. The cylinder 3039 is fixedly connected to the storage cylinder 304 and the regulating cylinder 3040. A coal suction head rod 3041 is slidably connected in the storage cylinder 304. A buffer elastic member 3042 is fixedly connected to the bottom of the storage cylinder 304. The working end of the regulating cylinder 3040 is connected to the coal suction head rod 3041. The coal suction head rod 3041 is fixedly connected to the The coal suction head 3043 and the coal powder cleaning shell 3030 are fixedly connected with a liquid storage tank 3044 and a temporary coal storage box 5, one end of the temporary coal storage box 5 is communicated with the coal suction head 3043, and the other end of the temporary coal storage box 5 is communicated with the coal powder collecting body 302. A self-cleaning nozzle 3045 is installed in the coal powder cleaning shell 3030, and the self-cleaning nozzle 3045 is communicated with the liquid storage tank 3044. The inner wall of the coal powder cleaning shell 3030 is slidably connected with an electric brush strip cleaning slider 3046.

[0052] The working principle and beneficial effects of the above technical solution are as follows: when cleaning coal powder, the electric cleaning drive screw 3032 rotates to drive the cleaning nut 3033 to move, the movement of the cleaning nut 3033 drives the bending rod 3034 to move, and the movement of the bending rod 3034 drives the brush bar 3037 to move, thereby gathering the coal powder to the middle. In the process, the micro roller 3035 and the roller guide frame 3036 play a good guiding role. After the coal powder is gathered at the coal suction head 3043, the coal powder can be sucked into the temporary coal storage box 5 through the coal suction head 3043, and the coal suction head 3043 can be cleaned by the self-cleaning nozzle 3045. The brush bar 3037 can be cleaned by the reciprocating sliding of the electric brush bar cleaning slider 3046. During the working process, the position of the coal suction head 3043 can be fine-tuned by adjusting the extension and retraction of the cylinder 3040.

[0053] Example 6

[0054] On the basis of Example 5, two symmetrically arranged meshing gears 1 3047 are connected by a sliding key on the electric cleaning drive screw 3032, a meshing gear 2 3048 is fixedly connected to the cylinder 3039, the meshing gear 2 3048 is used to mesh with the meshing gear 1 3047, and a meshing drive cylinder 3049 is fixedly connected in the coal powder cleaning shell 3030, and the two working ends of the meshing drive cylinder 3049 are slidably connected to the sides of the two meshing gears 1 3047.

[0055] The working principle and beneficial effects of the above technical solution are as follows: when the pitch angle of the coal suction head 3043 is adjusted based on the thickness of the coal seam, the meshing drive cylinder 3049 is shortened so that the meshing gear 1 3047 and the meshing gear 2 3048 are meshed with each other, and then the electric cleaning drive screw 3032 rotates to drive the meshing gear 1 3047 to rotate, and the meshing gear 1 3047 rotates to drive the meshing gear 2 3048 to rotate, and the meshing gear 2 3048 rotates to drive the cylinder 3039 to rotate, and the cylinder 3039 rotates to adjust the pitch angle of the coal suction head 3043. After the adjustment is completed, the meshing gear 1 3047 and the meshing gear 2 3048 are disengaged.

[0056] Example 7

[0057] On the basis of Example 3, the coal powder collecting body 302 includes a collecting shell 3020, the collecting shell 3020 is fixedly connected to the support frame 1, a screening table 3021 is rotatably connected in the collecting shell 3020, a screen cylinder 3022 is fixedly connected to the screening table 3021, the top of the screen cylinder 3022 is slidably connected to the inner wall of the collecting shell 3020, a feed port 3023 is provided at the top of the collecting shell 3020, a drying component is installed in the collecting shell 3020, and the screen cylinder 3022 is fixedly connected to the inner wall of the collecting shell 3020. The outer side is a classification cavity 3024, and an arc-shaped groove 3025 is provided at the bottom of the classification cavity 3024. An arc-shaped push plate 305 is fixedly connected to the screening table 3021, and the arc-shaped push plate 305 is used to cooperate with the arc-shaped groove 3025. A plurality of evenly arranged material dropping grooves 3026 are opened on the arc-shaped groove 3025, and the bottom of the material dropping groove 3026 leads to the material accumulation groove 3027, and an electric push plate 3028 is slidably connected in the material accumulation groove 3027, and a material discharge port 3029 is opened at the material accumulation groove 3027.

[0058] The working principle and beneficial effects of the above technical solution are as follows: the collected coal powder enters the coal powder collecting body 302 through the hose and is continuously accumulated on the screening table 3021. When the accumulation reaches a preset mass, the screening table 3021 rotates to drive the screen drum 3022 to rotate. The coal powder accumulated on the screening table 3021 is thrown into the arc groove 3025 under the action of centrifugal force, and impurity particles with larger particle sizes are left on the screening table 3021 and thrown into the arc groove 3025. The coal powder is pushed into the drop trough 3026 under the action of the arc push plate 305, and finally falls into the accumulation trough 3027. After being pushed by the electric push plate 3028 of the accumulation trough 3027, it is output through the discharge port 3029.

[0059] Example 8

[0060] On the basis of Example 7, it also includes a sensing component, which includes a pressure sensor, which is arranged in the screening table 3021. The screening table 3021 is also provided with a fixed electromagnet 3050 and a movable electromagnet 3051. The movable electromagnet 3051 is fixedly connected with a pull rope 3052, and the other end of the pull rope 3052 is fixedly connected to a T-shaped stopper 3053. The T-shaped stopper 3053 is fixedly connected with a reset elastic member 3054. An electric support rod 3055 is rotatably connected below the screening table 3021, and the electric support rod 3055 is used to cooperate with the T-shaped stopper 3053. The pressure sensor is electrically connected to the fixed electromagnet 3050 and the movable electromagnet 3051.

[0061] A screening shaft 500 is fixedly connected to the bottom of the screening table 3021, a shaft elastic member 501 is sleeved on the screening shaft 500, a face gear 1 504 is fixedly connected to the screening shaft 500, a screening drive shaft 502 is rotatably connected in the collection shell 3020, and a face gear 2 503 is fixedly connected to the screening drive shaft 502.

[0062] The working principle and beneficial effects of the above technical solution are as follows: when the actual detection value of the pressure sensor is greater than the preset detection value, the fixed electromagnet 3050 and the movable electromagnet 3051 are energized, and the movable electromagnet 3051 moves upward to pull the pull rope 3052 to loosen and drive the T-shaped stopper 3053 to move to the right. At this time, the screening table 3021 moves downward under the action of gravity until the face gear 1 504 and the face gear 2 503 are meshed with each other, and then the screening drive shaft 502 drives the face gear 2 503 to rotate, the face gear 2 503 drives the face gear 1 504 to rotate, and the face gear 1 504 rotates and drives the screening shaft 500 to rotate, thereby realizing the rotation of the screening table 3021;

[0063] When the actual detection value of the pressure sensor is less than the preset detection value, the fixed electromagnet 3050 and the movable electromagnet 3051 lose power, and the T-shaped stopper 3053 moves to the left. At this time, the electric support rod 3055 and the T-shaped stopper 3053 are against each other, thereby ensuring that the screening table 3021 does not move downward.

[0064] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A coal handling trestle floor automatic cleaning robot, characterized in that: The invention comprises a support frame (1), wherein symmetrically arranged driving tracks (100) are mounted on both sides of the support frame (1), a spray cleaning unit (2) is mounted on the support frame (1), a coal powder collecting and cleaning unit (3) is arranged on the front side of the support frame (1), and an image monitoring device (4) is mounted on the support frame (1).

2. The automatic cleaning robot for the coal handling trestle floor according to claim 1, characterized in that: The spray cleaning unit (2) comprises a water tank (200), the water tank (200) being mounted on the support frame (1), the inlet end of the water tank (200) being provided with an access pipe (201), the outlet end of the water tank (200) being rotatably connected to a water pipe mounting block (202), a water spray pipe (203) being mounted on the water pipe mounting block (202), the inlet end of the water spray pipe (203) being in communication with the water tank (200), the inlet end of the water spray pipe (203) being provided with a water pump, and the outlet end of the water spray pipe (203) being rotatably mounted with a cleaning nozzle (204).

3. The automatic cleaning robot for the coal handling trestle floor according to claim 1 is characterized by: The coal powder collecting and cleaning unit (3) comprises a position adjustment component (300), a coal powder cleaning body (303) and a coal powder collecting body (302); the position adjustment component (300) is mounted on the support frame (1); the position adjustment component (300) is used to adjust the spatial position of the coal powder cleaning body (303); the coal powder cleaning body (303) is mounted at the working end of the position adjustment component (300); the coal powder cleaning body (303) is used to clean the coal powder on the ground of the coal conveying trestle; the coal powder collecting body (302) is in communication with the coal powder cleaning body (303) and is used to collect coal powder.

4. The automatic cleaning robot for the coal handling trestle floor according to claim 3 is characterized by: The position adjustment component (300) comprises an electric extension gear (3000), the electric extension gear (3000) is rotatably connected to the support frame (1), an extension rack (3001) is slidably connected inside the support frame (1), a rack guide block (3002) is fixedly connected to the extension rack (3001), the rack guide block (3002) is slidably connected to the support frame (1), the extension rack (3001) and the electric extension gear (3000) are meshed with each other, a transfer block (3003) is fixedly connected to the extension rack (3001), and a coarse adjustment component and a fine adjustment component are fixedly connected to the transfer block (3003).

5. The automatic cleaning robot for the floor of a coal handling trestle according to claim 4, characterized in that: The coarse adjustment component is any one of an electric telescopic member, a hydraulic cylinder or a pneumatic cylinder; The fine adjustment component comprises a back plate (3004), wherein the back plate (3004) is fixedly connected to the working end of the coarse adjustment component, a lead screw motor (3005) is installed on the back plate (3004), a bidirectional lead screw (3006) is fixedly connected to the output end of the lead screw motor (3005), two symmetrically arranged fine adjustment nuts (3007) are threadedly connected to the bidirectional lead screw (3006), a connecting rod 1 (3008) and a connecting rod 2 (3009) are hingedly connected to the two fine adjustment nuts (3007), the connecting rod 1 (3008) and the connecting rod 2 (3009) are cross-arranged and hingedly connected in the middle, and the ends of the connecting rod 1 (3008) and the connecting rod 2 (3009) away from the fine adjustment nuts (3007) are hingedly connected to the coal powder cleaning body (303).

6. The automatic cleaning robot for the floor of a coal handling trestle according to claim 3 is characterized by: The coal powder cleaning body (303) comprises a coal powder cleaning shell (3030), on which a plurality of feed wheels (3031) are mounted, an electric cleaning drive lead screw (3032) is rotatably connected in the coal powder cleaning shell (3030), two symmetrically arranged cleaning nuts (3033) are threadedly connected to the electric cleaning drive lead screw (3032), a bending rod (3034) is fixedly connected to the cleaning nut (3033), a micro roller (3035) is rotatably connected to the bending rod (3034), the micro roller (3035) is rollingly connected to a roller guide frame (3036), and a brush strip (3037) is fixedly connected to the bending rod (3034); A fixed rotating shaft (3038) is installed in the coal dust cleaning shell (3030), and a cylinder (3039) is rotatably connected to the fixed rotating shaft (3038), and a storage cylinder (304) and an adjusting cylinder (3040) are fixedly connected to the cylinder (3039), and a coal suction head rod (3041) is slidably connected to the storage cylinder (304), and a buffer elastic member (3042) is fixedly connected to the bottom of the storage cylinder (304), and a working end of the adjusting cylinder (3040) is connected to the coal suction head rod (3041), and a coal suction head rod (3041) is fixedly connected to the coal suction head rod (3041). A liquid storage tank (3044) and a temporary coal storage tank (5) are fixedly connected to the coal powder cleaning shell (3030), one end of the temporary coal storage tank (5) is communicated with the coal suction head (3043), and the other end of the temporary coal storage tank (5) is communicated with the coal powder collecting body (302). A self-cleaning nozzle (3045) is installed in the coal powder cleaning shell (3030), and the self-cleaning nozzle (3045) is communicated with the liquid storage tank (3044). The inner wall of the coal powder cleaning shell (3030) is slidably connected with an electric brush strip cleaning slider (3046).

7. The automatic cleaning robot for the floor of a coal handling trestle according to claim 6, characterized in that: The electric cleaning drive screw (3032) is keyed to two symmetrically arranged meshing gears 1 (3047); the cylinder (3039) is fixedly connected to a meshing gear 2 (3048); the meshing gear 2 (3048) is used to mesh with the meshing gear 1 (3047); a meshing drive cylinder (3049) is fixedly connected inside the coal powder cleaning shell (3030); the two working ends of the meshing drive cylinder (3049) are slidably connected to the sides of the two meshing gears 1 (3047).

8. The automatic cleaning robot for the floor of a coal handling trestle according to claim 3 is characterized by: The coal powder collecting body (302) comprises a collecting shell (3020), wherein the collecting shell (3020) is fixedly connected to the supporting frame (1), a screening platform (3021) is rotatably connected inside the collecting shell (3020), a screen cylinder (3022) is fixedly connected to the screening platform (3021), the top of the screen cylinder (3022) is slidably connected to the inner wall of the collecting shell (3020), a feeding port (3023) is provided at the top of the collecting shell (3020), a drying component is installed inside the collecting shell (3020), and the outer side of the screen cylinder (3022) is a classification The classification cavity (3024) is provided with an arc-shaped groove (3025) at the bottom, and the screening platform (3021) is fixedly connected with an arc-shaped push plate (305), and the arc-shaped push plate (305) is used to cooperate with the arc-shaped groove (3025). The arc-shaped groove (3025) is provided with a plurality of evenly arranged material dropping grooves (3026), and the bottom of the material dropping groove (3026) leads to a material accumulation groove (3027), and an electric push plate (3028) is slidably connected in the material accumulation groove (3027), and a discharge port (3029) is provided at the material accumulation groove (3027).

9. The automatic cleaning robot for the floor of a coal handling trestle according to claim 8, characterized in that: The device also comprises a sensing component, wherein the sensing component comprises a pressure sensor, and the pressure sensor is arranged in the screening platform (3021). The screening platform (3021) is also provided with a fixed electromagnet (3050) and a movable electromagnet (3051). The movable electromagnet (3051) is fixedly connected with a pull rope (3052), and the other end of the pull rope (3052) is fixedly connected with a T-shaped stopper (3053). The T-shaped stopper (3053) is fixedly connected with a reset elastic member (3054). An electric support rod (3055) is rotatably connected below the screening platform (3021), and the electric support rod (3055) is used to cooperate with the T-shaped stopper (3053). The pressure sensor is electrically connected with the fixed electromagnet (3050) and the movable electromagnet (3051). A screening shaft (500) is fixedly connected to the bottom of the screening platform (3021), a shaft elastic member (501) is sleeved on the screening shaft (500), a face gear 1 (504) is fixedly connected to the screening shaft (500), a screening drive shaft (502) is rotatably connected inside the collection shell (3020), and a face gear 2 (503) is fixedly connected to the screening drive shaft (502).

10. The automatic cleaning robot for the floor of a coal handling trestle according to claim 1, characterized in that: It also includes a cleanliness detection and evaluation module, which is used to evaluate the cleaning effect of the cleaning robot and control the cleaning robot to clean again when the cleaning effect is not good.

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