A kind of pangolin type robot for coal bunker unblocking and method

Abstract

This invention provides a pangolin-shaped robot and method for clearing blockages in coal bunkers, including a bionic head device, a bionic neck device, a bionic body device, a locking device, and a multimodal perception system. Through a rigid-flexible collaborative structural design, the robot can efficiently overcome obstacles and operate flexibly within the confined space of a coal bunker. The integrated multimodal perception system can accurately identify the type of blockage and optimize path planning. Combined with a wiring harness and rope connection to an external workstation, it ensures continuous and safe operation even in extreme environments. The axial tunneling module of the bionic head device works in conjunction with the slag discharge guiding mechanism, significantly improving clearing efficiency; the spiral coal crushing device of the bionic body device adopts a quick-release design, simplifying the maintenance process. Overall, it achieves intelligent, efficient, and low-cost reliable clearing of coal bunker blockages, significantly improving the efficiency and safety of coal bunker clearing.

Description

Technical Field

[0001] This invention relates to the field of industrial automation equipment and special robots, specifically to an intelligent coal bunker clearing "pangolin" robot designed based on bionic principles, which is particularly suitable for clearing various blockage forms in coal bunkers, such as arching, jamming, and wall hanging. Background Technology

[0002] As a core facility in the coal production and transportation system, coal bunkers undertake the critical tasks of storing, buffering, and quantitatively transporting coal. However, during long-term operation, coal bunkers frequently experience blockages such as arching, jamming, and wall adhesion due to factors such as uneven coal particle size distribution, fluctuating moisture content, changes in bunker wall inclination angle, and complex geometric structures. These blockages are mostly concentrated at the coal bunker hopper opening, corners, or areas of abrupt slope changes, severely hindering coal flow. This not only leads to decreased transportation efficiency and accelerated equipment wear but also poses a significant safety hazard, potentially causing coal dust explosions due to localized coal pressure buildup, thus threatening production safety.

[0003] Currently, commonly used methods for clearing coal bunker blockages include high-pressure water jet flushing, air jet impact, and manual entry. Water jet flushing uses high-speed jets to impact the coal wall crust or blockages, but it is almost ineffective against hardened, dry, or highly adhesive coal seams, and it can increase the coal's moisture content and reduce its calorific value, making it unsuitable for the low-temperature freezing environment of northern regions. Air jets use the instantaneous release of high-pressure gas to create a shock wave, but they are often only effective against loosely arched structures and lack the ability to destroy stable blockages. Furthermore, the impact can easily cause disorderly accumulation of coal blocks, leading to secondary blockages. While manual cleaning can achieve a certain degree of thorough removal, the process is extremely dangerous, labor-intensive, and requires a harsh internal environment within the coal bunker, making continuous operation generally impossible.

[0004] In existing technologies, such as the slag discharge guiding mechanism head and concrete repair method disclosed in CN202510094596, although performing well in the field of construction engineering, they have revealed many shortcomings in the process of clearing blockages in coal bunkers. First, its power output capability is limited, making it difficult to cope with the obstacle-breaking requirements of high-strength and high-hardness coal blocks in the coal bunker, resulting in low clearing efficiency. Second, this technology lacks a perception and positioning system adapted to high dust and strong electromagnetic interference environments, making it difficult for the robot to accurately identify the type and location of blockages in the complex working conditions of the coal bunker, resulting in significant path planning deviations. Furthermore, its equipment structure design is simple and cannot meet the needs of multi-degree-of-freedom posture adjustment in the narrow channels of the coal bunker, affecting the flexibility and efficiency of the clearing operation. In addition, the performance of traditional materials degrades rapidly in high temperature, high humidity, and high wear environments, and the maintenance cycle is short, which cannot guarantee the long-term stable operation of the robot. Moreover, its concrete repair method is too cumbersome in the coal bunker clearing scenario and is not suitable for the need to quickly remove blockages. Finally, the surface roughness of the additively manufactured parts is relatively large, increasing the wear and movement resistance of the robot in the coal bunker, affecting its service life and work efficiency. These shortcomings indicate that existing technologies are insufficient to meet the complex needs of coal bunker unblocking, and there is an urgent need to develop a new type of robot to overcome these technical bottlenecks and improve unblocking efficiency and reliability. Summary of the Invention

[0005] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a pangolin-shaped robot and method for clearing blockages in coal bunkers, enabling intelligent, efficient, and safe cleaning of blocked areas in coal bunkers.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A pangolin-shaped robot for clearing blockages in coal bunkers includes:

[0008] A bionic head device is placed at the front of the robot, serving as the first active rotating tunneling section;

[0009] A bionic body device is located at the rear of the robot, serving as the second active rotating tunneling section;

[0010] A bionic neck device is installed between the bionic head device and the bionic body device for axial feeding and posture adjustment.

[0011] The locking device includes a front locking device and a rear locking device with the same structure; the front locking device is installed between the bionic head device and the bionic neck device; the rear locking device is installed on the bionic body device at the end away from the bionic neck device.

[0012] The drive base includes a front drive base, a neck drive base, and a rear drive base with identical structures; the front drive base is installed between the bionic head device and the front locking device; the neck drive base is installed between the bionic neck device and the bionic body device; and the rear drive base is installed between the bionic body device and the rear locking device.

[0013] Preferably, the bionic head device includes an axial tunneling module, a flange, a slag discharge guiding mechanism, a reducer, a hydraulic drive system, and a head coupling; the slag discharge guiding mechanism is fixedly connected to the axial tunneling module via the flange; the hydraulic drive system and the reducer are disposed inside the slag discharge guiding mechanism; the hydraulic drive system includes a compact hydraulic motor, the housing of which is fixedly connected to the front-end drive base; the head reducer is fixedly connected to the housing of the compact hydraulic motor; the output shaft of the compact hydraulic motor is drivenly connected to the head coupling via the reducer, and the head coupling is drivenly connected to the axial tunneling module.

[0014] Preferably, the bionic neck device includes a flexible shell, a multi-directional attitude adjustment mechanism, and a hydraulic telescopic mechanism; the flexible shell is a wear-resistant rubber composite bellows with annular metal pressure rings at both ends, which are respectively sealed and fixedly connected to the front locking device and the neck drive base; the multi-directional attitude adjustment mechanism includes a front half coupling, a rear half coupling, a cross block, and a cross connecting shaft; the cross block is fixed on the cross connecting shaft; the front half coupling and the rear half coupling are respectively hinged to both sides of the cross connecting shaft; a front servo is mounted on the front half coupling, and a rear servo is mounted on the rear half coupling; the output shaft of the front servo is connected to... The center hole of the front half coupling is connected by a spline and coaxially fixed; the output shaft of the rear servo motor is connected to the center hole of the rear half coupling by a spline and coaxially fixed; the rotation angle of the front servo motor drives the front half coupling to deflect around the cross block, and the rotation angle of the rear servo motor drives the rear half coupling to deflect around the cross block. The rotation planes of the front half coupling and the rear half coupling are perpendicular to each other in space; the hydraulic telescopic mechanism includes a hydraulic cylinder and a hydraulic push rod; mounting ears are provided on both sides of the cylinder body of the hydraulic cylinder, and the mounting ears are fixedly connected to the neck drive base; the hydraulic push rod is driven by the hydraulic cylinder, and a straight spline sliding pair is provided between the front end of the hydraulic push rod and the rear half coupling.

[0015] Preferably, the bionic body device is equipped with a body hydraulic motor, a detection device, and a spiral coal crushing device; the detection device includes a ground-penetrating radar, an ultrasonic sensor, and an inertial navigation system fixed on the body device; the spiral coal crushing device includes a spiral drum, a tooth base, and coal crushing teeth arranged in a forward spiral line on the outer periphery of the bionic body device; the tooth base is fixedly connected to the spiral drum, and the coal crushing teeth are embedded in the tooth base; the rotation of the bionic body device is driven by the body hydraulic motor.

[0016] Preferably, the locking device includes a connecting assembly, a driving assembly, and an anchoring assembly; the connecting assembly includes an upper plate and a lower plate; the lower plate is an annular thick plate with evenly distributed bolt holes on its outer edge; the lower plate is fixedly connected to the front drive base and the rear drive base; the upper plate is an annular cover plate, fixedly connected to the lower plate by bolts, and the upper plate has a sealed cavity inside, with a through hole for cables to pass through at the center of the sealed cavity; the driving assembly includes a motor, a drive wheel shaft, a driven wheel shaft, a bushing, a drive drive wheel, a drive driven wheel, and a connecting rod; the drive drive wheel is installed in a slot on the lower plate; the motor is fixed to the... On the front drive base; one end of the drive wheel shaft is connected to the drive drive wheel via a flat key and is pressed and fixed by a locking sleeve, and the other end of the drive wheel shaft is connected to the output shaft of the motor; both ends of the driven wheel shaft are supported in the bearing seat holes of the lower plate by rolling bearings; the drive drive wheel meshes with the drive driven wheel and is mounted on the driven wheel shaft; the bushing is installed in the middle of the driven wheel shaft with an interference fit and is connected to the connecting rod via a key; the anchoring assembly includes a connecting rod shaft, a push rod, a claw handle and a conical locking claw; both ends of the connecting rod shaft are hinged to the free end of the connecting rod and one end of the push rod, respectively; the front end of the push rod is hinged to the claw handle.

[0017] A method for using a pangolin-shaped robot for clearing blockages in coal bunkers includes the following steps:

[0018] S1. Perception and State Estimation: Acquire and fuse measurement information from the detection devices within the device to form a model of robot pose and working environment.

[0019] S2, Path and Tunneling Decision: Generates feasible paths based on the environmental model and coal bunker geometry and obstacle constraints, and outputs local velocity and attitude commands for tracking the paths.

[0020] S3. Motion control and execution: Based on local velocity and posture commands, the hydraulic drive system in the bionic head device, the body hydraulic motor of the bionic body device, and each hydraulic cylinder and hydraulic push rod are adjusted in a closed loop. Based on the target posture, the target displacement and velocity of each degree of freedom of the bionic neck device are solved to drive execution.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. This invention employs a unique biomimetic structural design, cleverly integrating obstacle breaking and perception functions into one. Its front axial tunneling module and rear slag discharge guiding mechanism work in tandem, coupled with a multimodal perception system providing real-time and accurate environmental data feedback, thereby achieving precise coal crushing and high-precision channel trimming. Compared to traditional methods, this invention improves unblocking efficiency and reduces secondary blockage rates. In actual tests, traditional unblocking methods averaged 45 minutes with a 60% first-pass yield, while the robot of this invention can complete the same task in just 15 minutes with a 95% first-pass yield, significantly improving operational efficiency. Simultaneously, the advanced path autonomous planning algorithm ensures smooth and efficient operation in complex coal bunker environments, effectively solving the operational challenges of traditional equipment in complex environments.

[0023] 2. This invention provides hydraulic power to the robot via a harness and ropes, avoiding many limitations of traditional battery power and eliminating concerns about work interruptions due to insufficient power. This ensures the robot can operate continuously for extended periods within the coal bunker, significantly improving work efficiency. In explosion-proof endurance tests, traditional battery-powered equipment has a runtime of 3 hours, while the robot of this invention can operate continuously for over 8 hours, significantly extending its working time. Simultaneously, the harness and ropes design allows for more stable operation in the complex coal bunker environment, reducing the risk of work interruptions due to power system failures or instability. Furthermore, the scale-like body structure and locking device design provide stable adhesion for the equipment during operation within the coal bunker, preventing slippage or unstable operation. The application of a wear-resistant coating effectively ensures the stability of the equipment under harsh conditions such as wear and dust, significantly extending the maintenance cycle and thus significantly reducing overall operating costs, bringing greater economic benefits to users.

[0024] 3. The spiral coal crushing device of this invention adopts a quick-release interface design. This innovative design allows for rapid replacement of wear modules, significantly reducing downtime caused by replacing worn parts and effectively improving equipment utilization. Simultaneously, the flexible structure design of the biomimetic neck device greatly enhances the robot's spatial freedom, enabling it to move flexibly within the coal bunker and easily handle complex operational requirements.

[0025] 4. The multimodal perception system equipped in this invention has remote monitoring and real-time data feedback functions. Maintenance personnel can use remote terminals to monitor the equipment's operating status anytime, anywhere, and quickly obtain real-time data feedback from the equipment. In the event of an anomaly, maintenance personnel can quickly formulate and execute handling measures based on real-time data, significantly improving maintenance efficiency, reducing maintenance costs, and ensuring stable equipment operation. In maintenance efficiency tests, the response time for traditional equipment was 1 hour, while the robot of this invention can complete anomaly handling in just 10 minutes, significantly improving maintenance efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic cross-sectional view of the overall structure of the present invention;

[0028] Figure 3 This is a cross-sectional view of the bionic head device of the present invention.

[0029] Figure 4 This is an isometric structural diagram of the biomimetic neck device of the present invention;

[0030] Figure 5 This is a schematic diagram of the locking device of the present invention in its unfolded state;

[0031] Figure 6 This is a schematic diagram of the locking device of the present invention in its retracted state;

[0032] Figure 7 This is a schematic diagram of the internal structure of the locking device of the present invention;

[0033] Figure 8 This is a schematic diagram of the spiral coal crushing device of the present invention;

[0034] Figure 9 This is a schematic diagram of the working process of the locking device of the present invention.

[0035] Figure 10 This is a schematic diagram of the workflow of the present invention.

[0036] in:

[0037] 1. Bionic head device; 101. Axial tunneling module; 102. Flange; 103. Slag discharge guiding mechanism; 1031. Reducer; 1032. Hydraulic drive system; 1033. Head coupling; 2. Bionic neck device; 201. Flexible shell; 202. Multi-directional attitude adjustment mechanism; 2021. Half coupling; 2022. Cross block; 2023. Cross connecting shaft; 203. Hydraulic telescopic mechanism; 2031. Hydraulic push rod; 2032. Hydraulic cylinder; 204. Electric servo motor; 3. Bionic body device; 301. Detection device; 302. Spiral coal crushing device; 3021. Spiral drum ; 3022, Cutting tooth base; 3023, Coal breaking cutting tooth; 4a, Front locking device; 4b, Rear locking device; 401, Connecting assembly; 4011, Lower plate; 4012, Upper plate; 402, Drive assembly; 4021, Drive wheel shaft; 4023, Bushing; 4024, Drive drive wheel; 4025, Drive driven wheel; 4026, Connecting rod; 4027, Motor; 403, Anchoring assembly; 4031, Connecting rod shaft; 4032, Push rod; 4033, Claw handle; 4034, Conical locking claw; 5a, Front drive base; 5b, Neck drive base; 5c, Rear drive base. Detailed Implementation

[0038] The invention will now be further described with reference to the accompanying drawings.

[0039] like Figures 1 to 10As shown, a pangolin-shaped robot for clearing blockages in coal bunkers includes a bionic head device 1, a bionic neck device 2, a bionic body device 3, a front locking device 4a, a rear locking device 4b, a front drive base 5a, a neck drive base 5b, a rear drive base 5c, and a multimodal sensing system (detection device 301). The bionic head device 1 is located at the front end of the robot, the bionic body device 3 is located at the rear end of the robot, and the bionic neck device 2 is located between the two and connected to the front locking device 4a and the neck drive base 5b. It is used for axial feed and yaw attitude adjustment. The above three are arranged along the central axis of the robot to form a bionic kinematic chain. The attitude adjustment of the bionic neck device 2 is achieved by an electric servo motor 204 arranged at the outer edge of the half coupling 2021, which drives the cross block 2022 to deflect. To control the forward path, the housing of the hydraulic drive system 1032 in the bionic head device 1 is fixed to the front drive base 5a by end face flange stop fit, positioning cylindrical pin and evenly distributed high strength bolts to ensure that the drive body remains stationary. Its output shaft is connected to the axial tunneling module 101 and the slag discharge guide mechanism 103 through a reduction transmission and coupling, so that the two rotate synchronously. The bionic neck device 2 does not rotate as a whole under the constraint of the linear anti-rotation guide pair, and only undertakes support, axial feed and attitude adjustment. The front locking device 4a is installed at the end of the front drive base 5a and connected to the front flange of the bionic neck device 2. The rear locking device 4b is installed at the end of the rear drive base 5c. The multimodal sensing system is arranged inside the bionic body device 3 and connected to the external workstation through the rear wiring harness.

[0040] The bionic head device 1, as the core drilling unit, includes an axial tunneling module 101, a slag removal guiding mechanism 103, a flange 102, a reducer 1031, a hydraulic drive system 1032, and a coupling. The axial tunneling module 101 is fixed to the front end of the bionic head device 1. The front drive base 5a is located at the rear end of the bionic head device 1 and adjacent to the front locking device 4a. The front flange 102 connects the axial tunneling module 101 to the slag removal guiding mechanism 103. The flange face mating area uses a positioning stop and positioning pin to control coaxiality, and circumferential bolts are tightened to form axial preload. Radial roller bearings and thrust bearings are installed between the flange 102 and the front drive base 5a to bear radial load and axial thrust respectively, forming a separate support for rotating and stationary parts. This allows the outer shell and base to remain stationary, and the counter-torque generated during drilling is contained within the bearings. The slag discharge guiding mechanism 103 transmits power to the front locking device 4a through its housing and front drive base 5a. The reaction circuit is closed by the embedded relationship between its conical locking claw 4034 and the coal body, preventing the housing and base from being rotated. The slag discharge guiding mechanism 103 contains a reducer 1031 and a coupling. The output shaft of the hydraulic drive system 1032 is connected to the input end of the reducer 1031 through a spline. The output end of the reducer 1031 is connected to the front drilling unit through the coupling to achieve stable synchronous transmission. The coupling is a diaphragm type to compensate for assembly errors and reduce the additional load on the bearings. Wear-resistant bushings and dustproof rings are installed at all pins.

[0041] The bionic neck device 2, as a key component connecting the two rotating bodies, includes a flexible shell 201, a multi-directional attitude adjustment mechanism 202, and a hydraulic telescopic mechanism 203. The front end of the neck is connected to the front locking device 4a, and the rear end is connected to the neck drive base 5b by end face flanges, positioning stops, positioning pins, and evenly distributed bolts. The flexible shell 201 is a wear-resistant rubber composite bellows. The two ends are sealed with metal pressure rings and adjacent shell flanges, and are tightened by bolts to form a sealed cavity, which plays a role in dust prevention and protection and does not participate in torque transmission. The multi-directional attitude adjustment mechanism 202 is composed of front and rear half couplings 2021, cross blocks 2022, and cross connecting shafts 2023. The electric servo motor 204 is connected to the outer edge of the half couplings 2021. The cylinder base is fastened to the adjacent shell by bolts through a reinforcing plate and positioned by positioning pins, which can independently control the yaw degree of freedom. The hydraulic telescopic mechanism 203 is the main drive for axial feed. Its cylinder ear plate is fastened to the support plate of the neck drive base 5b by bolts and positioned by positioning pins.

[0042] The bionic body device 3, serving as an auxiliary milling unit, includes a motor 4027, a body hydraulic motor, a detection device 301, and a spiral coal crushing device 302. The detection device 301, located within the front housing of the bionic body device 3, comprises a ground-penetrating radar, an ultrasonic sensor, and an inertial navigation system, and is fixed by a bracket and screws. The spiral coal crushing device 302, located on the rear outer periphery of the bionic body device 3, consists of a spiral roller 3021, a cutter tooth base 3022, and coal crushing cutter teeth 3023. The spiral coal crushing unit... The teeth are fixed inside the cutting unit by bolts and fixed to the base. They are arranged in a forward spiral circumferential array. When the body rotates, it performs secondary milling and hole shaping on the incompletely crushed coal and hole wall. On the other hand, it generates a backward axial conveying force to continuously push the crushed coal away from the working face. The tangential reaction force with the coal wall is converted into an axial propulsion force to assist in forward movement. The body is connected to the shell of the adjacent base by flanges, positioning pins and bolts to ensure coaxiality and dynamic load stability.

[0043] The locking device includes a connecting assembly 401, a driving assembly 402, and an anchoring assembly 403. The front locking device 4a is positioned after the front driving base 5a and before the bionic neck device 2, and the rear locking device 4b is positioned before the rear driving base 5c. The connecting assemblies 401 of both devices are positioned using end-face flange locating joints and fastened with evenly distributed high-strength bolts using positioning cylindrical pins, ensuring that the locking device housing remains stationary during operation. The connecting assembly 401 consists of a lower plate surface 4011 and an upper plate surface 4012. The lower plate surface 4011 mates with the end face of the adjacent driving base to form the main load-bearing interface, and the upper plate surface 4012 is bolted to the lower plate surface 4011. The connection forms a sealed cavity with a central through-hole and a sealing connector for cables and hydraulic lines to pass through, providing dust and seepage protection. The drive assembly 402 is installed within the cavity of the connecting assembly 401. The drive assembly 402 of the front locking device is connected to the output shaft of the motor 4027 in the front drive base 5a via a coupling. The drive assembly 402 of the rear locking device is connected to the output shaft of the motor 4027 in the bionic body device 3 via a coupling. The drive input shaft is supported at both ends by rolling bearings and limited by shaft end locking nuts and retaining rings. The input shaft and the driving component are connected by a flat key and equipped with an anti-loosening structure. The driving component and the driven component mesh and transmit torque. The interference fit bushing 4023 in the moving shaft transmits power to the connecting rod 4026, completing the "rotation-oscillation-linear motion" conversion. Bearings and wear-resistant bushings are installed at all shaft-hole mating points, and a labyrinth seal is installed at the housing protrusion point to improve reliability in dusty environments. The anchoring assembly 403 and the drive assembly 402 form a sliding limit fit relationship. A circumferential arc-shaped guide groove is machined inside the connecting assembly 401, and the pin on the connecting rod 4026 slides within the guide groove under restricted conditions, achieving mechanical limitation and positioning guidance of the connecting rod 4026's swing amplitude. The connecting rod 4026 is hinged to the push rod 4032 via the connecting rod 4026 pivot shaft using a waist-shaped groove sliding pin, further controlling the swing. The step is converted into the linear reciprocating motion of the push rod 4032. The front end of the push rod 4032 is hinged to the claw handle 4033 by a pin, which drives the conical locking claw 4034 to radially open or retract around its fixed pin. When open, the locking claw teeth wedge into the coal body to form a mechanical fixation, and bear the counter torque and axial reaction force generated by the rotation and axial feed of the bionic head. The reaction force is closed through the locking device housing to the corresponding drive base and the coal body. When retracted, the push rod 4032 moves in the opposite direction to make the locking claw disengage from the coal body, thus completing the release. The two sets of locking devices are consistent in structure, connection method and operation principle, only the force take-off position is different, which facilitates alternating anchoring and propulsion and on-site maintenance and replacement.

[0044] Multimodal perception systems include sensor data fusion algorithms, path planning algorithms, motion control algorithms, and real-time path adjustment and obstacle avoidance algorithms.

[0045] As a further embodiment of the present invention: the bionic head device 1 also includes a flange 102, a coupling, a reduction transmission and a hydraulic drive system 1032. The axial tunneling module 101 at the front end and the slag discharge guiding mechanism 103 at the rear end are axially fixed together by the end face flange mating method. The flange face is provided with a stop for positioning and a positioning cylindrical pin to control the coaxiality. The circumferential direction is fastened with evenly distributed high-strength bolts and anti-loosening washers or thread sealant. The hydraulic drive system 1032 and the reduction transmission are built into the hollow cavity of the slag discharge guiding mechanism 103. The output shaft of the drive system and the input end of the reduction transmission are connected by a spline and limited by a shaft end locking nut and a retaining ring. The output end of the reduction transmission is connected to the front drilling unit through a coaxial coupling. The coupling is preferably a diaphragm type to compensate for small coaxial errors and reduce the additional load on the support bearing. The flange face is provided with a seal around the perimeter to prevent dust and coal slurry from entering.

[0046] As a further embodiment of the present invention: the bionic neck device 2 includes a covering layer, a spring layer, a multi-directional posture adjustment mechanism 202, a hydraulic telescopic mechanism 203, and a micro hydraulic drive unit. The multi-directional posture adjustment mechanism 202 is installed inside the spring layer, and the covering layer covers the outside to form protection. The multi-directional posture adjustment mechanism 202 is composed of front and rear half couplings 2021, a cross block 2022, and a cross connecting shaft 2023. The cross block 2022 is supported by a needle roller bearing and assembled in the inner cavity of the half coupling 2021. The two ends of the cross connecting shaft 2023 are respectively hinged to the two half couplings 2021 and the cross block 2022 by pins and snap rings to ensure flexible rotation and easy maintenance. The front half coupling 2021 is connected to the end flange of the front locking device 4a by a stop, positioning pin, and bolt fastening. The rear half coupling 2021 is connected to the push end of the hydraulic telescopic mechanism 203 by a straight spline sliding pair to transmit axial thrust and allow small angle compensation. The hydraulic telescopic mechanism 203, as the main drive for the axial movement of the neck, includes a hydraulic cylinder 2032 and a hydraulic push rod 2031. The lug of the hydraulic cylinder 2032 is fastened by bolts and positioned on the support frame at the front end of the neck drive base 5b by positioning pins. The front end of the push rod 4032 is connected to the rear half coupling 2021 by the aforementioned straight spline sliding pair or spline sleeve to prevent the push rod 4032 from generating bending moment due to posture adjustment. The inlet and outlet of the hydraulic cylinder 2032 are connected to the integrated wiring harness inside the bionic body device 3 via high-pressure hoses, quick connectors, and sealing joints and sheaths at each flange before being connected to the external hydraulic pump station. The micro hydraulic drive unit is equipped with two pairs of micro attitude adjustment hydraulic cylinders 2032 and their push rods 4032, arranged symmetrically in pairs. The free end of the push rod 4032 is connected to the outer edge of the half coupling 2021 via ball joint pins. The cylinder base is bolted to the front locking device 4a housing and the neck drive base 5b via reinforcing plates and positioned with locating pins. By independently adjusting the stroke of each cylinder, the cross block 2022 is actively driven to generate controllable deflection in the yaw direction, thereby achieving fine adjustment of the head posture.

[0047] As a further embodiment of the present invention: the detection device 301 also includes a ground-penetrating radar, an inertial navigation system and an ultrasonic sensor, all of which are installed in the detection chamber at the front of the bionic body device 3 and are fixed by sensor brackets and screws, and are isolated by vibration damping pads. The "inverted scale" area at the rear of the bionic body device 3 is provided with a spiral roller 3021, a tooth base 3022 and coal-breaking teeth 3023. The coal-breaking teeth 3023 are embedded in the tooth base 3022 and limited by a pressure plate. The spiral roller 3021 is fixed to the tooth base 3022 by bolts and positioning pins and is arranged in a positive spiral circumferential array along the outer periphery. The rear end of the bionic body device 3 is provided with a sealed wire-passing interface. The wire harness and tube bundle are connected to the external workstation through this interface. The interface uses a hydraulic sealing joint to ensure dust prevention and sealing.

[0048] As a further embodiment of the present invention: the connecting assembly 401 of the locking device consists of an upper plate surface 4012 and a lower plate surface 4011. The lower plate surface 4011 of the front locking device 4a located at the head of the robot is fixed to the end face of the front drive base 5a by end face flange positioning, positioning cylindrical pins, and evenly distributed high-strength bolts. The lower plate surface 4011 of the rear locking device 4b located at the tail of the robot is connected to the end face of the rear drive base 5c in the same way. Both the front and rear drive bases 5c are non-rotating support components. The above connection provides a static connection for the locking device. The reference is to prevent the housing from rotating during operation. The front and rear ends of the neck device are connected to the front locking device 4a and the neck drive base 5b respectively by flanges, positioning pins and bolts, and work together with the linear anti-rotation guide pair inside the neck to allow only axial feed and yaw attitude adjustment of the neck without overall rotation, thereby avoiding interference between the head and body rotation and the neck and the wire harness. The upper plate 4012 is connected to the lower plate 4011 by bolts to form a sealed cavity. A wire hole is opened in the center and a sealing joint is installed for the sealed passage of the wire harness and pipeline and external connection.

[0049] As a further embodiment of the present invention: the drive assembly 402 of the locking device further includes a drive wheel shaft 4021, a driven wheel shaft, a bushing 4023, a drive drive wheel 4024, a drive driven wheel 4025, and a connecting rod 4026. The drive wheel shaft 4021 is connected by a flat key and pressed and fixed by a locking sleeve. The other end of the drive wheel shaft 4021 is connected to the output shaft of the motor 4027 through a coupling. The drive drive wheel 4024 meshes with the drive driven wheel 4025 and is mounted on the drive wheel shaft 4021. Both ends of the driven wheel shaft are supported by rolling bearings in the bearing seat holes of the lower plate 4011. The bushing 4023 is installed in the middle of the driven wheel shaft with an interference fit and is fixed to the connecting rod 4026 by a key connection structure, thereby converting the rotational motion into the oscillation of the connecting rod 4026. All shafts and holes are equipped with wear-resistant bushings, and a labyrinth seal is provided at the housing protrusion position to improve reliability in dusty environments.

[0050] As a further embodiment of the present invention, the anchoring assembly 403 of the locking device further includes a connecting rod 4026 pivot, a push rod 4032, a claw handle 4033, and a conical locking claw 4034. The connecting rod 4026 pivot is hinged to the free end of the connecting rod 4026 and one end of the push rod 4032 via a waist-shaped groove sliding pin, converting the swing of the connecting rod 4026 into the linear reciprocating motion of the push rod 4032. One end of the claw handle 4033 is coaxially fixed in the inner cavity of the push rod 4032, and the other end is rotatably sleeved in the shaft hole of the conical locking claw 4034 by a pin. When the opening is executed, the conical locking claw 4034 rotates outward around its fixed pin and weds into the coal body to form a mechanical fixation, bearing the counter-torque and axial reaction force from the head rotation and axial feed, and closing the force circuit with the adjacent drive base through the locking housing. When the reverse drive is performed, the locking claw retracts to achieve release. The above structure facilitates separate maintenance and quick replacement, and is suitable for alternating anchoring and propulsion conditions.

[0051] As a further aspect of the present invention, the sensor data fusion algorithm also includes an extended Kalman filter algorithm and a particle filter algorithm. The extended Kalman filter algorithm fuses data from the inertial navigation system and ultrasonic sensors to improve the positioning accuracy of the pangolin robot in complex environments. Furthermore, by establishing state equations and observation equations, it updates the position and attitude information of the pangolin robot in real time. The particle filter algorithm takes the underground medium reflection data obtained by the ground-penetrating radar and the distance information output by the ultrasonic sensors as inputs. Through importance sampling and resampling mechanisms, it updates the probability distribution of the pangolin robot's position in complex environments to further improve positioning accuracy.

[0052] As a further aspect of the present invention, the path planning algorithm also includes a fast exploratory random tree algorithm and a dynamic window algorithm. The fast exploratory random tree algorithm constructs a tree topology in the complex environment of the coal bunker by random sampling, expands from the starting node to the target node, and quickly generates a globally feasible path to provide an initial trajectory for the pangolin-type robot. The dynamic window algorithm discretely samples candidate velocity vectors in the velocity space, and dynamically evaluates and outputs the optimal velocity command based on the target direction, velocity constraints and real-time motion state using an optimization function, thereby realizing real-time smooth adjustment and local path correction along the predetermined trajectory.

[0053] As a further aspect of the present invention, the motion control algorithm also includes a PID-based control algorithm and an inverse kinematics control algorithm. The PID-based control algorithm is used to adjust the torque output of the joint electric servo motor 204. Through real-time feedback adjustment, the motion accuracy and stability of the joint motor 4027 are ensured. The inverse kinematics control algorithm calculates the target angle of each joint based on the target posture and position of the pangolin-type robot, thereby realizing multi-degree-of-freedom cooperative motion.

[0054] The device operates by the following steps:

[0055] Step 1: Place the device at the entrance of the coal bunker cover. Establish electrical and hydraulic connections with the external hydraulic pump station and the upper control console through the wiring harness at the rear of the bionic body device, and complete the power-on, self-test and communication handshake.

[0056] Step 2: Power transmission and dynamic control of the pangolin-shaped robot are achieved through the wiring harness integrated into the rear end of the bionic body device. The ground-penetrating radar inside the front detection section of the bionic body device enables coarse positioning of the blockage in the coal bunker. The hydraulic drive system inside the bionic head device drives the external axial tunneling module and slag discharge guide mechanism to rotate, moving it towards the predetermined coarse positioning point. During the process, the multimodal perception system is used to understand the complex coal bunker environment.

[0057] Step 3: By combining the power propulsion of the bionic head device with the multi-degree-of-freedom rotation of the bionic neck device, the pangolin-type robot reaches the predetermined coarse positioning point. Then, the ultrasonic sensor inside the front detection section of the bionic body device achieves fine positioning of the blockage. During the process from the initial point to the fine positioning point, the multimodal perception system plans and controls the route in real time. The slag discharge guiding mechanism clears and supports the working channel, helping the pangolin-type robot to work smoothly in the complex coal bunker environment. The spiral coal breaking device with inverted scales at the rear of the bionic body device is arranged in a spiral to assist in coal breaking during the pangolin-type robot's forward movement.

[0058] Step 4: After reaching the precise positioning point, the pangolin-shaped robot begins its unblocking operation. At this time, the locking device at the rear of the drive base 5c of the pangolin-shaped robot activates, its claw structure inserting into the surrounding coal blocks, providing stable support and ensuring the robot's stability during operation. Simultaneously, the bionic head device at the front of the robot activates, crushing the blocked coal blocks. During this process, the flexible bionic neck device equipped on the robot allows the bionic head device to precisely and effectively unblock the predetermined target point and its surrounding area, effectively preventing recurrence of blockage. Once the unblocking operation is successfully completed, the locking device 4a at the rear of the drive base 5a opens, while the locking device 4b at the rear of the drive base 5c closes. Then, the flexible bionic neck device retracts, causing the components at the rear of the pangolin-shaped robot to move accordingly, thus returning the robot to its initial state and preparing it for the next operation.

[0059] Step 5: Repeat the above process until all blockages are cleared and an exit route is planned, thus concluding the entire clearing operation. Example

[0060] like Figures 1 to 9 As shown, a pangolin-shaped robot for clearing blockages in coal bunkers includes a bionic head device 1, a bionic neck device 2, a bionic body device 3, a front locking device 4a, a rear locking device 4b, a front drive base 5a, a neck drive base 5b, and a rear drive base 5c. The bionic head device 1 is located at the front of the robot, serving as the first active rotating tunneling section; the bionic body device 3 is located at the rear of the robot, serving as the second active rotating tunneling section; the bionic neck device 2 connects the locking device 4a and the drive base 5b, and is used for axial feed and attitude adjustment. These three components are distributed along the robot's central axis. The drive bases 5a, 5b, and 5c are all non-rotating bases, located after the bionic head device 1, between the bionic neck device 2 and the bionic body device 3, and after the bionic body device 3, respectively, providing support and power interfaces for adjacent modules.

[0061] The biomimetic head device 1 is the core drilling unit, rotating around its own axis. It includes an axial tunneling module 101, a flange 102, a slag discharge guiding mechanism 103, a reducer 1031, a hydraulic drive system 1032, and a coupling 1033. The hydraulic drive system 1032 uses a compact hydraulic motor. The motor housing is connected to the drive base 5a via a flange and secured with bolts, positioned by a locating cylindrical pin to keep the motor body stationary. The motor output shaft drives the axial tunneling module 101 to rotate and break coal via the reducer 1031 and coupling 1033. Radial roller bearings and thrust bearings are installed between the flange 102 and the drive base 5a to bear the radial load and axial thrust of the rotating shaft system, respectively, achieving separate support for the rotating and stationary components, keeping the outer shell stationary while the rotational force acts only on the drilling tool. The drilling counter-torque is transmitted to the locking device 4a via the drive base 5a, and then closed by the conical locking claw 4034 with the coal body, thereby preventing the head from rotating and driving the base and the outer shell.

[0062] The bionic neck device 2 does not rotate under the constraint of the anti-rotation guide pair, but it can achieve axial feed and yaw adjustment. The neck includes a flexible shell 201, a multi-directional attitude adjustment mechanism 202, and a hydraulic telescopic mechanism 203. The flexible shell 201 is a wear-resistant rubber composite bellows structure with annular metal pressure rings at both ends. It is fastened to the flange faces of the front locking device 4a and the drive base 5b respectively by bolts and sealed with gaskets to form a sealed cavity to cover the internal mechanism. The flexible shell is used for protection and sealing and does not bear torque transmission. The multi-directional attitude adjustment mechanism 202 consists of front and rear half couplings 2021, a cross block 2022, and a cross connecting shaft 2023. The end face of the front half coupling 2021 is fastened to the mounting flange of the locking device 4a with bolts and positioned with a positioning cylindrical pin. The end face of the rear half coupling 2021 is fastened to the end flange of the drive base 5b with bolts and positioned with a positioning cylindrical pin. Two electric servo motors 204 are directly connected to the corresponding half couplings 2021. The output shaft of the servo motor is connected to the center hole of the half coupling with a spline and is coaxially fixed. The rotation angle of the servo motor drives the half coupling to deflect around the cross block 2022, thereby realizing the attitude adjustment of the robot's neck. The hydraulic telescopic mechanism 203 is the main drive for the axial feed of the neck, including a hydraulic cylinder 2032 and a hydraulic push rod 2031. The hydraulic cylinder 2032 has mounting ears on both sides of the cylinder body. The through holes of the ears are fastened to the front support plate of the drive base 5b with high-strength bolts and positioned with positioning cylindrical pins. A straight spline sliding pair is set between the front end of the hydraulic push rod 2031 and the rear half coupling 2021 to transmit axial thrust and compensate for small angular deviations during the attitude adjustment process, and avoid applying bending moment to the push rod.

[0063] The bionic body device 3, serving as an auxiliary milling and coal conveying unit, rotates around its own axis. A hydraulic motor is installed inside the bionic body device 3, and a detection device 301 and a spiral coal crushing device 302 are located on its outer periphery. The detection device 301 includes a ground-penetrating radar, an ultrasonic sensor, and an inertial navigation system, installed inside its housing and fixed to a bracket with screws. The spiral coal crushing device 302 consists of a spiral drum 3021, a tooth base 3022, and coal crushing teeth 3023, arranged along a forward spiral line on the outer periphery of the body. When the body rotates, the tangential reaction force of the coal crushing teeth on the coal wall is decomposed into an axial propulsive component and a backward conveying component. The axial propulsive component assists forward movement, while the backward conveying component continuously pushes the crushed coal behind the robot to prevent accumulation. The tooth base 3022 is connected to the spiral drum 3021 by bolts, and the coal crushing teeth 3023 are embedded inside the tooth base 3022. The rotation of the body is driven by a hydraulic motor.

[0064] The locking device 4 includes a connecting assembly 401, a driving assembly 402, and an anchoring assembly 403. A set of locking devices is respectively installed at the ends of the robot's front-end driving base 5a and the tail-end driving base 5c. The lower plate surface 4011 of the connecting assembly 401 is an annular thick plate with evenly distributed bolt holes on its outer edge. The lower plate surface 4011 is bolted to the end flanges of the driving bases 5a and 5c and positioned with cylindrical pins to maintain a static reference. The upper plate surface 4012 is an annular cover plate, connected to the lower plate surface 4011 by bolts, forming a sealed cavity inside, with a wire through hole in the center for cable passage. The drive assembly 402 consists of a drive wheel shaft 4021, a driven wheel shaft, a bushing 4023, a drive drive wheel 4024, a drive driven wheel 4025, and a connecting rod 4026. The drive drive wheel 4024 is installed in a slot on the lower plate 4011. One end of the drive wheel shaft 4021 is connected to the drive drive wheel 4024 by a flat key and is pressed and fixed by a locking sleeve. The other end is connected to the output shaft of the motor 4027. The drive driven wheel 4025 meshes with the drive drive wheel 4024 and is installed on the driven wheel shaft. Both ends of the driven wheel shaft are supported in the bearing seat holes of the lower plate 4011 by rolling bearings. The bushing 4023 is installed in the middle of the driven wheel shaft with an interference fit and is connected to the connecting rod 4026 by a key to convert rotation into the swing of the connecting rod. The anchoring assembly 403 includes a connecting rod shaft 4031, a push rod 4032, a claw handle 4033, and a conical locking claw 4034. The two ends of the connecting rod shaft 4031 are hinged to the free end of the connecting rod 4026 and one end of the push rod 4032 respectively via a slotted sliding pin, converting the swing of the connecting rod 4026 into the linear motion of the push rod 4032. The front end of the push rod 4032 is hinged to the claw handle 4033 via a pin, driving the conical locking claw 4034 to open around its fixed pin and embed into the coal body for anchoring. Reverse driving retracts it to release the anchor. The two sets of locking devices 4a and 4b have identical structures and are used to achieve the same anchoring and release functions. Example

[0065] like Figure 10 As shown, a method of using a pangolin-shaped robot for clearing blockages in coal bunkers includes the following:

[0066] A. Perception and State Estimation Unit, used to acquire and fuse measurement information from multimodal sensors within the device to form a robot pose and working environment model. The multimodal sensors include a ground-penetrating radar and an ultrasonic sensor, as well as an inertial navigation system, located in the front detection section of the bionic body device 3.

[0067] B. Path and tunneling decision unit, used to generate feasible paths based on the environmental model and coal bunker geometry and obstacle constraints, and output local velocity and attitude commands for tracking the path;

[0068] C. Motion control and execution unit, used to perform closed-loop adjustment of the hydraulic drive system 1032 in the bionic head device 1, the body hydraulic motor of the bionic body device 3, and various hydraulic actuators including hydraulic cylinders 2032 and hydraulic push rods 2031, based on local speed and posture commands. It also solves the target displacement and velocity of each degree of freedom of the bionic neck device 2 based on the target posture to drive execution. Working principle: to achieve high efficiency, high intelligence and high safety in coal bunker clearing. During the coal bunker clearing process, it intelligently plans the route and detects the coal blockage point in real time, improving the accuracy and reliability of coal bunker clearing. Through the multi-degree of freedom of the bionic neck device 2 and the auxiliary coal breaking of the bionic body device 3, it ensures the free passage of the pangolin-shaped robot in the coal bunker, enabling it to reach the predetermined coal breaking point. Then, through the efficient crushing function of the bionic head device 1, it achieves the "three highs" of clearing the coal bunker.

[0069] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0070] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A pangolin-shaped robot for clearing blockages in coal bunkers, characterized in that, include: A bionic head device is installed at the front end of the robot as the first active rotating tunneling section; the bionic head device includes an axial tunneling module, a flange, a slag discharge guiding mechanism, a reducer, a hydraulic drive system, and a head coupling; A bionic body device is located at the rear of the robot and serves as the second active rotating tunneling section; the bionic body device is equipped with a body hydraulic motor, a detection device, and a spiral coal crushing device. A bionic neck device is installed between the bionic head device and the bionic body device for axial feeding and posture adjustment. The locking devices include a front locking device and a rear locking device with the same structure; A front locking device is installed between the bionic head device and the bionic neck device; a rear locking device is installed on the bionic body device at the end away from the bionic neck device. The drive base includes a front drive base, a neck drive base, and a rear drive base, all with identical structures. The front drive base is installed between the bionic head device and the front locking device; A neck drive base is installed between the bionic neck device and the bionic body device; The rear drive base is installed between the bionic body device and the rear locking device. The bionic neck device includes a flexible shell, a multi-directional attitude adjustment mechanism, and a hydraulic telescopic mechanism. The flexible shell is a wear-resistant rubber composite bellows with annular metal pressure rings at both ends, which are respectively sealed and fixedly connected to the front locking device and the neck drive base. The multi-directional attitude adjustment mechanism includes a front half-coupling, a rear half-coupling, a cross block, and a cross connecting shaft. The cross block is fixed on the cross connecting shaft. The front half-coupling and the rear half-coupling are respectively hinged to both sides of the cross connecting shaft. A front servo is installed on the front half-coupling, and a rear servo is installed on the rear half-coupling. The front servo's output shaft is splined and coaxially fixed to the center hole of the front half coupling; the rear servo's output shaft is splined and coaxially fixed to the center hole of the rear half coupling; the front servo's rotation angle causes the front half coupling to deflect around the cross block, and the rear servo's rotation angle causes the rear half coupling to deflect around the cross block. The rotation planes of the front and rear half couplings are perpendicular in space; the hydraulic telescopic mechanism includes a hydraulic cylinder and a hydraulic push rod; mounting ears are provided on both sides of the cylinder body of the hydraulic cylinder, and the mounting ears are fixedly connected to the neck drive base; the hydraulic push rod is driven by the hydraulic cylinder, and a straight spline sliding pair is provided between the front end of the hydraulic push rod and the rear half coupling.

2. The pangolin-shaped robot for clearing blockages in coal bunkers as described in claim 1, characterized in that, The slag discharge guiding mechanism is fixedly connected to the axial tunneling module via a flange; the hydraulic drive system and reducer are installed inside the slag discharge guiding mechanism; the hydraulic drive system includes a compact hydraulic motor, the housing of which is fixedly connected to the front drive base; the reducer is fixedly connected to the housing of the compact hydraulic motor; the output shaft of the compact hydraulic motor is drivenly connected to the head coupling via the reducer, and the head coupling is drivenly connected to the axial tunneling module.

3. The pangolin-shaped robot for clearing blockages in coal bunkers as described in claim 1, characterized in that, The detection device includes a ground-penetrating radar, an ultrasonic sensor, and an inertial navigation system fixed on the body device; the spiral coal crushing device includes a spiral drum, a tooth base, and coal crushing teeth arranged in a forward spiral line on the outer periphery of the bionic body device; the tooth base is fixedly connected to the spiral drum, and the coal crushing teeth are embedded in the tooth base. The rotation of the bionic body device is driven by a hydraulic motor.

4. The pangolin-shaped robot for clearing blockages in coal bunkers as described in claim 1, characterized in that, The locking device includes a connecting assembly, a driving assembly, and an anchoring assembly. The connecting assembly includes an upper plate and a lower plate. The lower plate is an annular thick plate with evenly distributed bolt holes on its outer edge. The lower plate is fixedly connected to the front drive base and the rear drive base. The upper plate is an annular cover plate, fixedly connected to the lower plate by bolts. The upper plate has a sealed cavity inside, with a cable through-hole at its center. The driving assembly includes a motor, a drive wheel shaft, a driven wheel shaft, a bushing, a drive drive wheel, a drive driven wheel, and a connecting rod. The drive drive wheel is installed in a slot on the lower plate. The motor is fixed to the front drive base. On the drive base; one end of the drive wheel shaft is connected to the drive wheel via a flat key and secured by a locking sleeve, and the other end of the drive wheel shaft is connected to the output shaft of the motor; both ends of the driven wheel shaft are supported by rolling bearings in the bearing seat holes on the lower plate; the drive wheel meshes with the driven wheel and is mounted on the driven wheel shaft; the bushing is installed in the middle of the driven wheel shaft with an interference fit and is connected to the connecting rod via a key; the anchoring assembly includes a connecting rod shaft, a push rod, a pawl, and a conical locking pawl; both ends of the connecting rod shaft are hinged to the free end of the connecting rod and one end of the push rod, respectively; the front end of the push rod is hinged to the pawl.

5. A method of using a pangolin-shaped robot for clearing blockages in coal bunkers, based on the pangolin-shaped robot for clearing blockages in coal bunkers as described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Perception and state estimation: Acquire and fuse measurement information from the detection device to form a robot pose and working environment model; S2, Path and Tunneling Decision: Generates feasible paths based on the environmental model and coal bunker geometry and obstacle constraints, and outputs local velocity and attitude commands for tracking the paths. S3. Motion control and execution: Based on local velocity and posture commands, the hydraulic drive system in the bionic head device, the body hydraulic motor of the bionic body device, and each hydraulic cylinder and hydraulic push rod are adjusted in a closed loop. Based on the target posture, the target displacement and velocity of each degree of freedom of the bionic neck device are solved to drive execution.

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