An intelligent coal bunker cleaning robot

Abstract

The present invention discloses an intelligent coal bunker cleaning robot, which includes an annular ring beam fixed on a platen. A moving trolley is provided on the annular ring beam, and a lifting device for controlling the lifting of a rectangular frame is fixed on the moving trolley. The rectangular frame is composed of an upper cross beam, a lower cross beam and two vertical guide beam on the left and right. A cleaning robot capable of moving up and down is arranged inside the rectangular frame. Both ends of the cleaning robot are slidably connected to the two vertical guide beams. A traction machine is fixed at the upper end of the cleaning robot. Two fixed pulleys are fixed on the upper cross beam. Two strands of steel wire ropes are separated from the traction machine and respectively pass through the two fixed pulleys and then are fixed at both ends of the cleaning robot. This device can meet the cleaning process requirements of coal bunkers with different sizes and effectively solve the deficiencies of manual and equipment cleaning in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of coal mining, and particularly to an intelligent coal bunker cleaning robot. Background Art

[0002] An underground coal bunker is a device for storing raw coal underground in a coal mine. During the underground coal mining process, new raw coal continuously enters the underground coal bunker, and at the same time, the raw coal in the bunker flows out through the coal discharge port onto the belt conveyor. After long-term use of the underground coal bunker, a certain amount of raw coal condensate will condense on the bunker wall surface. The existence of these condensates, on the one hand, causes blockage of the coal flow, and on the other hand, greatly reduces the storage capacity of the underground coal bunker. Moreover, the existence of these condensates poses a great safety hazard.

[0003] Currently, most coal bunker cleaning in China is still manual cleaning, which requires construction workers to enter the bunker, with cumbersome construction procedures, low efficiency, high risk coefficient, and a lot of working hours. In recent years, with the development of technology, coal bunker cleaning robots for mines have emerged. The appearance of this kind of robot has largely solved the deficiencies of manual cleaning. At the same time, there are also many deficiencies, such as most of these robots have complex structures, high prices, high failure rates, and most can only be used for small-sized coal bunkers. Summary of the Invention

[0004] Aiming at the above-mentioned existing technical deficiencies, the purpose of the present invention is to provide an intelligent coal bunker cleaning robot, which can meet the cleaning process requirements of coal bunkers of different sizes and effectively solve the deficiencies of manual and equipment cleaning in the prior art.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention provides an intelligent coal bunker cleaning robot, including an annular ring beam fixed on a platen. A moving trolley capable of traveling along the annular ring beam is provided on the annular ring beam. An elevating device for controlling the lifting of a rectangular frame is fixed on the moving trolley. The rectangular frame is composed of an upper cross beam, a lower cross beam, and two vertical guide beam on the left and right. A cleaning robot capable of moving up and down is provided inside the frame of the rectangular frame. Both ends of the cleaning robot are slidably connected to the two vertical guide beams. A traction machine is fixed at the upper end of the cleaning robot. Two fixed pulleys are fixed on the upper cross beam. Two strands of steel wire ropes are separated from the traction machine and respectively pass through the two fixed pulleys and then are fixed at both ends of the cleaning robot.

[0007] Preferably, the lifting device includes a universal shaft, two lifting drums are fixed at both ends of the universal shaft, two hanging plates rotatably connected to the universal shaft are arranged on both sides of the lifting drum, the upper end of the hanging rod is fixed on the moving trolley, and a lifting drive motor for controlling the rotation of one of the lifting drums is fixed on the moving trolley. A steel wire rope is fixedly wound on the lifting drum, and the other end of the steel wire rope is fixed at both ends of the upper cross beam of the rectangular frame.

[0008] Preferably, the coal bunker cleaning robot includes a power station, two sleeves are respectively fixedly connected to both ends of the power station through a plurality of support rods, the sleeves are nested on the vertical guide beam and slidably connected thereto, and a cleaning device for cleaning the bunker wall is further arranged below the power station.

[0009] Preferably, the cleaning device includes a rotating shaft with a sweeper fixed in the middle, two rotating wheels are respectively fixed at both ends of the rotating shaft, two second hanging plates are also rotatably connected to both ends of the rotating shaft, the upper ends of the second hanging plates are fixed on the power station, and a second drive motor is fixed on the power station, and the second drive motor is chain-drivenly connected to one of the rotating shafts.

[0010] Preferably, the power station provides power for the moving trolley, the lifting drive motor, the traction machine and the second drive motor.

[0011] Preferably, a short beam is connected to the lower end of the vertical guide beam.

[0012] The beneficial effects of the present invention are as follows: A flexible connection is adopted between the vertical guide beam and the lifting device in the present device, and the working force of the coal bunker cleaning robot on the bunker wall can change with the thickness of the adhered coal on the bunker wall. When the adhered coal is thick, the force is large; when the adhered coal is thin, the force is small. The vertical guide beam in the present device can be lifted up and down, avoiding the influence of the height of the coal surface in the bunker on the bunker wall cleaning work. The system configuration of the present device is simple, the overall weight is small, it is convenient for installation, has little influence on the platen, and is applicable to coal bunkers of various specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic diagram of the working position of an intelligent coal bunker cleaning robot provided by an embodiment of the present invention;

[0015] Figure 2 It is a schematic structural diagram of an intelligent coal bunker cleaning robot provided by an embodiment of the present invention.

[0016] Description of the reference numerals:

[0017] 1. Bedplate; 2. Ring-shaped girdle beam; 3. Mobile trolley; 4. Fixed pulley; 5. Lifting device; 5-1. Lifting drum; 5-2. Universal shaft; 5-3. Lifting drive motor; 6. Vertical guide beam; 7. Coal bunker cleaning robot; 7-1. Traction machine; 7-2. Power station; 7-3. Second drive motor; 7-4. Sweeper; 7-5. Runner, 8. Sleeve; 9. Short beam. Detailed implementation manners

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] As Figures 1 to 2 shown, an intelligent coal bunker cleaning robot includes a ring-shaped girdle beam 2 fixed on a bedplate 1. A mobile trolley 3 capable of traveling along the ring-shaped girdle beam 2 is provided on the ring-shaped girdle beam 2. A lifting device 5 for controlling the lifting of a rectangular frame is fixed on the mobile trolley 3. The rectangular frame is composed of an upper cross beam, a lower cross beam, and two vertical guide beams 6 on the left and right. A coal bunker cleaning robot 7 capable of moving up and down is provided inside the frame of the rectangular frame. Both ends of the coal bunker cleaning robot 7 are slidably connected to the two vertical guide beams 6. A traction machine 7-1 is fixed at the upper end of the coal bunker cleaning robot 7. Two fixed pulleys 4 are fixed on the upper cross beam. Two strands of steel wire ropes are branched from the traction machine 7-1 and respectively pass through the two fixed pulleys 4 and then are fixed at both ends of the coal bunker cleaning robot 7.

[0020] The lifting device 5 includes a universal shaft 5-2. Two lifting drums 5-1 are fixed at both ends of the universal shaft 5-2. Two hanging plates rotatably connected to the universal shaft 5-2 are provided on both sides of the lifting drum 5-1. The upper ends of the hanging rods are fixed on the mobile trolley 3. A lifting drive motor 5-3 for controlling the rotation of one of the lifting drums 5-1 is fixed on the mobile trolley 3. A steel wire rope is fixedly wound on the lifting drum 5-1. The other end of the steel wire rope is fixed at both ends of the upper cross beam of the rectangular frame.

[0021] The coal bunker cleaning robot 7 includes a power station 7-2. Two sleeves 8 are respectively fixedly connected to both ends of the power station 7-2 through a plurality of support rods. The sleeves 8 are nested on the vertical guide beam 6 and are slidably connected thereto. A cleaning device for cleaning the bunker wall is further provided below the power station 7-2.

[0022] The cleaning device includes a rotating shaft with a sweeper 7-4 fixed in the middle. At both ends of the rotating shaft, wheels 7-5 are respectively fixed. At both ends of the rotating shaft, there are also second suspension plates rotatably connected. The upper ends of the second suspension plates are fixed on a power station 7-2. A second driving motor 7-3 is fixed on the power station 7-2. The second driving motor 7-3 is chain-drivenly connected to one of the rotating shafts.

[0023] The power station 7-2 provides power for the mobile trolley 3, the lifting driving motor 5-3, the traction machine 7-1 and the second driving motor 7-3.

[0024] During use, after the mobile trolley 3 moves along the annular ring beam 2 to a working position, the lifting device 5 controls the vertical guide beam 6 to a working position (in the height direction). The coal bunker cleaning robot 7 moves up and down along the vertical guide beam 6. At the same time, the sweeper 7-4 is controlled by the second driving motor 7-3 to rotate to clean the bunker wall. After the cleaning of this working position area is completed, the mobile trolley 3 moves along the annular ring beam 2 to the next working position, and the coal bunker cleaning robot 7 is controlled to repeat the above work until the mobile trolley 3 walks around the annular ring beam 2. At this time, the coal bunker cleaning robot 7 completes the cleaning of the entire coal bunker wall at one working position height. Then the lifting device 5 releases the guide beam 6 to the second working position (in the height direction), and continues to clean the bunker wall in the same working mode until the entire bunker wall is cleaned. The sweeper 7-4 is always rotating. Even when the mobile trolley 3 is moving along the annular ring beam 2, the sweeper 7-4 is still rotating.

[0025] See Figure 1 , a short beam 9 is connected to the lower end of the vertical guide beam 6. When the mobile trolley 3 moves on the annular ring beam 2, the short beam 9 clears the sticky coal under the sweeper 7. Only in this way can the sleeve 8 smoothly move to the lowermost end along the vertical guide beam 6, preventing the lower cross beam of the rectangular frame from resting on the coal wall and causing the sweeper 7-4 to not be able to contact the coal wall and unable to work.

[0026] Obviously, those skilled in the art can make various modifications and variations 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 equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An intelligent coal bunker cleaning robot, characterized in that: It includes an annular ring beam (2) fixed on the platen (1). A moving trolley (3) capable of traveling along it is provided on the annular ring beam (2). A lifting device (5) for controlling the lifting of the rectangular frame is fixed on the moving trolley (3). The rectangular frame is composed of an upper cross beam, a lower cross beam, and two vertical guide beams (6) on the left and right. A bin cleaning robot (7) is arranged inside the rectangular frame. Both ends of the bin cleaning robot (7) are slidably connected to the two vertical guide beams (6). A traction machine (7-1) is fixed at the upper end of the bin cleaning robot (7). Two fixed pulleys (4) are fixed on the upper cross beam. Two strands of steel wire ropes are branched from the traction machine (7-1), pass through the two fixed pulleys (4) respectively, and then are fixed at both ends of the bin cleaning robot (7); The bin cleaning robot (7) includes a power station (7-2). Both ends of the power station (7-2) are fixedly connected to two sleeves (8) through a plurality of support rods respectively. The sleeves (8) are nested on the vertical guide beam (6) and are slidably connected to it. A cleaning device for cleaning the bin wall is also provided below the power station (7-2); The cleaning device includes a rotating shaft with a sweeper (7-4) fixed in the middle. Rotating wheels (7-5) are fixed at both ends of the rotating shaft respectively. Second hanging plates are also rotatably connected to both ends of the rotating shaft. The upper ends of the second hanging plates are fixed on the power station (7-2). A second driving motor (7-3) is fixed on the power station (7-2). The second driving motor (7-3) is chain-driven to one of the rotating shafts; A short beam (9) is connected to the lower end of the vertical guide beam (6).

2. The intelligent coal bunker cleaning robot according to claim 1, characterized in that: The lifting device (5) includes a universal shaft (5-2). Two lifting drums (5-1) are fixed at both ends of the universal shaft (5-2). Two hanging plates rotatably connected to the universal shaft (5-2) are arranged on both sides of the lifting drum (5-1). The upper ends of the hanging plates are fixed on the moving trolley (3). A lifting driving motor (5-3) for controlling the rotation of one of the lifting drums (5-1) is fixed on the moving trolley (3). A steel wire rope is fixedly wound on the lifting drum (5-1). The other end of the steel wire rope is fixed at both ends of the upper cross beam of the rectangular frame.

3. The intelligent coal bunker cleaning robot according to claim 1, characterized in that: The power station (7-2) provides power for the moving trolley (3), the lifting driving motor (5-3), the traction machine (7-1), and the second driving motor (7-3).

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