Coal conveying system dredging robot

Abstract

The present invention is a coal conveying system unclogging robot, belonging to the field of coal transportation; a coal drop pipe unclogging robot with high flexibility and good working effect is proposed; the technical solution is: a coal conveying system unclogging robot, comprising: a robot and a cutter head assembly; the robot is a mechanical arm with at least two axes, a cutter head assembly is fixed at the end of the mechanical arm, and the cutter head assembly comprises: a telescopic part and a cutter head; one end of the telescopic part is connected to the end of the mechanical arm, and a cutter head is fixed at the other end of the telescopic part.

Description

Technical Field

[0001] The invention relates to a coal conveying system dredging robot, belonging to the field of coal conveying. Background Art

[0002] Coal-fired power plants need to use conveyor belts and coal pipes to deliver coal powder or coal sludge to the boiler for combustion.

[0003] When coal slime is used as fuel, the water content in the coal slime accounts for 16% of the total mass. Therefore, the coal drop port of the coal conveyor trestle is often blocked in the coal conveying system. In serious cases, coal slime overflows and the machine must be shut down for manual processing and dredging, resulting in unnecessary downtime losses and a large amount of manpower for dredging, which greatly affects production safety and benefits.

[0004] In addition, the coal drop pipe has a square structure with a 90-degree internal angle, which is prone to adhesion and coal blockage at the dead corner; some coal drop pipes are installed with three-way baffles, which are prone to deformation or failure to limit in place after long-term operation, forming a certain gap and causing coal blockage; and the coal drop pipe is equipped with wear-resistant plates when it is severely impacted. Since the power coal is currently mixed with a large amount of stones and other debris, the wear-resistant plates are prone to warping up after long-term operation, reducing the flow area and causing coal blockage in the coal drop pipe.

[0005] At present, coal blockage is prone to occur in the coal drop pipe mainly at the inclined slope facing the belt and the inclined slope of the three-way partition. A rotating scraper has been installed at the coal drop port facing the inclined slope of the belt, and the blockage problem has been basically solved. However, the coal blockage inside the coal drop pipe cannot be quickly solved. Once the above problem occurs, it must be shut down for maintenance, which seriously affects the normal operation of the equipment. Summary of the invention

[0006] In order to solve the above technical problems, the present invention proposes a coal pipe dredging robot with high flexibility and good working effect.

[0007] In order to achieve the above technical objectives, the technical solution provided by the present invention is:

[0008] A coal conveying system dredging robot comprises: a robot and a cutter head assembly; the robot is a mechanical arm with at least two axes, the end of the mechanical arm is fixed with a cutter head assembly, the cutter head assembly comprises: a telescopic member and a cutter head; one end of the telescopic member is connected to the end of the mechanical arm, and the other end of the telescopic member is fixed with a cutter head.

[0009] The coal conveying system clearing robot also includes a base; the base includes: a fixed rail, a screw, a driving motor and a sliding seat, the fixed rail is a strip structure, a rail groove is provided on the fixed rail along the axial direction, a screw is provided in the rail groove, and the screw has a tendency to rotate around its center line, a driving motor for driving the screw to rotate is fixed on one side of the fixed rail, a sliding seat is provided in the rail groove, a threaded hole adapted to the screw is provided on the sliding seat, the screw rotates to drive the sliding seat to run, and a robot is fixed on the sliding seat.

[0010] The cutter head also includes: a shell, a motor, a reducer, a dredging tool and a pressure sensing module. The shell is a tubular structure with an open end. The outer wall of the shell is fixedly connected to the other end of the telescopic part. The shell is provided with a motor and a reducer. The output shaft of the reducer is fixedly connected to the dredging tool. The dredging tool has a tendency to rotate around its central axis. A pressure sensing module is provided on the working end face of the dredging tool.

[0011] The cutter head also includes a movable bracket and a compression spring; a plurality of slide rails are arranged on the inner wall of the shell, a movable bracket is arranged in the shell, the movable bracket is a block structure adapted to the shell, a plurality of slide grooves are arranged on the outer wall of the movable bracket, a plurality of slide rails are arranged in the slide grooves one by one, and the movable bracket has a tendency to slide back and forth along the slide rails, a compression spring is arranged between the movable bracket and the inside of the shell, a motor is fixed on one side of the movable bracket facing the inside of the shell, and a reducer is fixed on the other end face of the movable bracket.

[0012] The pressure sensing module includes: a limit switch, a pressure rod and a pre-tensioning spring. The limit switch is fixed inside the dredging tool. A part of the pressure rod is arranged inside the dredging tool, and the other part of the pressure rod protrudes from the front end surface of the dredging tool. A baffle is fixed on the pressure rod inside the dredging tool. A pre-tensioning spring is installed on the pressure rod between the baffle and the inside of the dredging tool. The pressure rod touches the limit switch when pressed down.

[0013] The first rotating axis of the robot has the tendency to enable the robot end to reciprocate between one side of the coal drop pipe opening and directly below the coal drop pipe opening; the second rotating axis of the robot has the tendency to enable the cutter head to reciprocate in a certain direction on a certain plane.

[0014] The minimum distance between the coal dropping pipe opening and the conveyor belt is X, the width of the coal dropping pipe opening perpendicular to the running direction of the conveyor belt is Y, and the length of the telescopic part is less than .

[0015] The end of the slide rail at the opening of the shell is provided with a protrusion.

[0016] The dredging tool is a cylindrical structure as a whole, a plurality of teeth are fixed on the side surface of the dredging tool, and the front end surface of the dredging tool is horizontal.

[0017] The reducer is a planetary reducer.

[0018] The pressure sensing module also includes a wireless communication module, which is disposed inside the dredging tool, and the antenna of the wireless communication module extends into the housing.

[0019] The pressure sensing module is electrically connected to the control center via the wireless communication module.

[0020] The pressure sensing module also includes a battery, and the battery is electrically connected to the limit switch and the wireless communication module.

[0021] The front end face of the dredging tool is its working end face.

[0022] The front end surface of the dredging tool is provided with a groove, and the limit switch, part of the pressure rod, the preload spring, the wireless communication module and the battery are all arranged in the groove.

[0023] A fixed cover plate is fixed at the end of the groove, a through hole is arranged in the middle of the fixed cover plate, and the pressure rod is movably arranged in the through hole.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention adopts a combination of a robot and a cutter head assembly, which facilitates the control of the cutter head assembly to operate in a complex environment, avoiding collision with the conveyor belt and the inner wall of the coal drop pipe, and at the same time can control the cutter head to operate at a suitable position inside the coal drop pipe.

[0026] 2. The present invention adopts a telescopic part, and the main working position is at 3.0 to 3.5 meters inside the coal drop pipe. At the same time, the entrance to the pipe is narrow. The telescopic part can be used to enter the coal drop pipe conveniently and quickly, preventing the conveyor belt and the coal drop pipe mouth from being restricted and reaching the appropriate position at the same time.

[0027] 3. The present invention adopts a pressure sensing module. Generally, the coal seam at the blocked position inside the coal drop pipe is relatively soft. When the pressure sensing module touches the blocked coal seam and the inner wall of the coal drop pipe, it is subjected to different reverse pressures, thereby providing the robot with the distance parameters between the cutter head and the inner wall of the coal drop pipe, thereby realizing precise control of pipeline dredging.

[0028] 4. The present invention adopts a movable bracket and a compression spring. The pressure sensing module uploads the signal and the control module sends the command. There is a time difference in between and the cutter head itself has inertia, so the dredging tool presses on the inner wall of the coal drop pipe, causing damage to the equipment and the coal drop pipe. The movable bracket and the compression spring can achieve buffering to avoid hard contact between the dredging tool and the inner wall of the coal drop pipe.

[0029] 5. When there is a three-way partition inside the coal drop pipe, there are at least two coal drop pipe openings. The present invention adopts a base, which is suitable for fine-tuning the position of the robot on the one hand, so that the cutter head assembly can smoothly enter the coal drop pipe, and on the other hand, one device can be used to clean multiple coal drop pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention.

[0031] Figure 2 It is a schematic diagram of the use state of the present invention.

[0032] Figure 3 It is a schematic diagram of the side structure of the present invention.

[0033] Figure 4 It is a schematic diagram of the structure of the dredging tool of the present invention.

[0034] Figure 5 It is a schematic diagram of the internal structure of the cutter head of the present invention.

[0035] Figure 6 It is a schematic diagram of the structure of the movable support of the present invention.

[0036] Figure 7 It is a cross-sectional view of the movable support of the present invention.

[0037] Figure 8 It is a schematic diagram of the base structure of the present invention.

[0038] Fig. 9 It is a vertical cross-sectional schematic diagram of the fixed track of the present invention.

[0039] Fig.10 It is a schematic diagram of the side structure of the sliding seat of the present invention.

[0040] In the figure: 1 is a robot, 2 is a cutter head assembly, 3 is a base, 21 is a telescopic part, 22 is a cutter head, 221 is a housing, 222 is a motor, 223 is a reducer, 224 is a dredging tool, 225 is a pressure sensing module, 226 is a movable bracket, 227 is a compression spring, 228 is a slide rail, 229 is a slide groove, 31 is a fixed rail, 32 is a lead screw, 33 is a drive motor, and 34 is a sliding seat. DETAILED DESCRIPTION

[0041] In order to further understand the present invention, the following is described in detail with reference to the accompanying drawings and embodiments:

[0042] like Figures 1 to 10As shown: the coal conveying system clearing robot of the present invention comprises: a robot 1 and a cutter head assembly 2; the robot 1 is a robotic arm with at least two axes, the end of the robotic arm is fixed with a cutter head assembly 2, the cutter head assembly 2 comprises: a telescopic member 21 and a cutter head 22; one end of the telescopic member 21 is connected to the end of the robotic arm, and the other end of the telescopic member 21 is fixed with a cutter head 22.

[0043] The coal conveying system dredging robot also includes a base 3; the base 3 includes: a fixed rail 31, a screw 32, a drive motor 33 and a sliding seat 34, the fixed rail 31 is a strip structure, a rail groove 35 is provided on the fixed rail 31 along the axial direction, a screw 32 is provided in the rail groove 35, and the screw 32 has a tendency to rotate around its center line, a drive motor 33 for driving the screw 32 to rotate is fixed on one side of the fixed rail 31, a sliding seat 34 is provided in the rail groove 35, a threaded hole adapted to the screw 32 is provided on the sliding seat 34, the screw 32 rotates to drive the sliding seat 34 to run, and the robot 1 is fixed on the sliding seat 34.

[0044] The cutter head 22 also includes: a shell 221, a motor 222, a reducer 223, a dredging tool 224 and a pressure sensing module 225. The shell 221 is a tubular structure with one end open. The outer wall of the shell 221 is fixedly connected to the other end of the telescopic member 21. The shell 221 is provided with a motor 222 and a reducer 223. The output shaft of the reducer 223 is fixedly connected to the dredging tool 224. The dredging tool 224 has a tendency to rotate around its central axis. A pressure sensing module 225 is provided on the working end face of the dredging tool 224.

[0045] The cutter head 22 also includes a movable bracket 226 and a compression spring 227; a plurality of slide rails 228 are arranged on the inner wall of the shell 221, a movable bracket 226 is arranged in the shell 221, the movable bracket 226 is a block structure adapted to the shell 221, a plurality of slide grooves 229 are arranged on the outer wall of the movable bracket 226, a plurality of slide rails 228 are arranged in the slide grooves 229 in a one-to-one correspondence, and the movable bracket 226 has a tendency to slide back and forth along the slide rails 228, a compression spring 227 is arranged between the movable bracket 226 and the inside of the shell 221, a motor 222 is fixed on one side of the movable bracket 226 facing the inside of the shell 221, and a reducer 223 is fixed on the other side end face of the movable bracket 226.

[0046] The pressure sensing module 225 includes: a limit switch, a pressure rod and a pre-tensioning spring. The limit switch is fixed inside the unblocking tool 224. A part of the pressure rod is arranged inside the unblocking tool 224, and the other part of the pressure rod protrudes from the front end surface of the unblocking tool 224. A baffle is fixed on the pressure rod inside the unblocking tool 224. A pre-tensioning spring is installed on the pressure rod between the baffle and the inside of the unblocking tool 224. The pressure rod touches the limit switch when pressed down.

[0047] The first rotation axis of the robot 1 has the tendency to enable the end of the robot 1 to reciprocate between one side of the coal drop pipe opening and directly below the coal drop pipe opening; the second rotation axis of the robot 1 has the tendency to enable the cutter head 22 to reciprocate in a certain direction on a certain plane.

[0048] The minimum distance between the coal dropping pipe opening and the conveyor belt is X, the width of the coal dropping pipe opening perpendicular to the running direction of the conveyor belt is Y, and the length of the telescopic member 21 is less than .

[0049] A protrusion is provided at the end of the slide rail 228 at the opening of the housing 221 .

[0050] The dredging tool 224 is a cylindrical structure as a whole, a plurality of teeth are fixed on the side of the dredging tool 224, and the front end surface of the dredging tool 224 is horizontal.

[0051] The reducer 223 is a planetary reducer.

[0052] The pressure sensing module 225 further includes a wireless communication module, which is disposed inside the dredging tool 224 , and the antenna of the wireless communication module extends into the housing 221 .

[0053] The pressure sensing module 225 is electrically connected to the control center via a wireless communication module.

[0054] The pressure sensing module 225 also includes a battery, and the battery is electrically connected to the limit switch and the wireless communication module.

[0055] The front end face of the dredging tool 224 is its working end face.

[0056] The front end surface of the dredging tool 224 is provided with a groove, and the limit switch, part of the pressure rod, the preload spring, the wireless communication module and the battery are all arranged in the groove.

[0057] A fixed cover plate is fixed at the end of the groove, a through hole is arranged in the middle of the fixed cover plate, and the pressure rod is movably arranged in the through hole.

[0058] The telescopic member 21 is an electro-hydraulic push rod.

[0059] The specific operation mode of the present invention is as follows:

[0060] The driving motor 33 is running to adjust the robot 1 to a suitable position just below the opening of the coal drop pipe, and the robot 1 is running to vertically extend the cutter head assembly 2 into the coal drop pipe.

[0061] The robot 1 operates again to adjust the angle between the cutter head assembly 2 and the coal drop pipe, and at the same time the telescopic member 21 extends to the coal blocking position in the coal drop pipe. During this process, the robot 1 and the base 3 are fine-tuned to prevent the cutter head assembly 2 from colliding with the inner wall of the coal drop pipe.

[0062] The robot 1 is adjusted here so that the working end face of the cutter head 22 faces the pipe wall with the coal seam attached, and the motor 222 is started. The dredging tool 224 rotates, and the robot fine-tunes so that the dredging tool 224 advances toward the pipe wall, and at the same time reciprocates left and right on the parallel plane of the corresponding pipe wall. At the same time, the telescopic part 21 gradually descends, thereby achieving dredging of coal blockage in the coal drop pipe.

[0063] When the dredging tool 224 approaches the inner wall of the coal drop pipe, the pressure rod receives greater pressure from the pipe wall, the preload spring deforms greatly, and the limit switch is triggered, making it easier for the robot 1 to determine the cleaning status inside the pipe.

[0064] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Those familiar with the technology may modify or improve the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. Coal conveying system dredging robot, characterized in that: include: A robot (1) and a cutter head assembly (2); the robot (1) is a mechanical arm with at least two axes, the end of the mechanical arm being fixed with the cutter head assembly (2), the cutter head assembly (2) comprising: a telescopic member (21) and a cutter head (22); one end of the telescopic member (21) is connected to the end of the mechanical arm, and the other end of the telescopic member (21) is fixed with the cutter head (22); The coal conveying system dredging robot further comprises a base (3); the base (3) comprises: a fixed track (31), a lead screw (32), a drive motor (33) and a sliding seat (34); the fixed track (31) is a strip-shaped structure; a track groove (35) is provided on the fixed track (31) along the axial direction; a lead screw (32) is provided in the track groove (35), and the lead screw (32) has a tendency to rotate around its center line; a drive motor (33) for driving the lead screw (32) to rotate is fixed on one side of the fixed track (31); a sliding seat (34) is provided in the track groove (35); a threaded hole adapted to the lead screw (32) is provided on the sliding seat (34); the lead screw (32) rotates to drive the sliding seat (34) to operate; and the robot (1) is fixed on the sliding seat (34); The cutter head (22) further comprises: a housing (221), a motor (222), a reducer (223), a dredging tool (224) and a pressure sensing module (225); the housing (221) is a tubular structure with one end open; the outer wall of the housing (221) is fixedly connected to the other end of the telescopic member (21); the motor (222) and the reducer (223) are arranged in the housing (221); the output shaft of the reducer (223) is fixedly connected to the dredging tool (224); the dredging tool (224) has a tendency to rotate around its central axis; and the pressure sensing module (225) is arranged on the working end surface of the dredging tool (224); The cutter head (22) further comprises a movable bracket (226) and a compression spring (227); a plurality of slide rails (228) are arranged on the inner wall of the shell (221); a movable bracket (226) is arranged inside the shell (221); the movable bracket (226) is a block structure adapted to the shell (221); a plurality of slide grooves (229) are arranged on the outer wall of the movable bracket (226); the plurality of slide rails (228) are arranged in the slide grooves (229) in a one-to-one correspondence; and the movable bracket (226) has a tendency to slide back and forth along the slide rails (228); a compression spring (227) is arranged between the movable bracket (226) and the inside of the shell (221); a motor (222) is fixed on one side of the movable bracket (226) facing the inside of the shell (221); and a reducer (223) is fixed on the other side end surface of the movable bracket (226); The pressure sensing module also includes a wireless communication module, which is disposed inside the dredging tool, and the antenna of the wireless communication module extends into the housing.

2. The coal handling system dredging robot according to claim 1, characterized in that: The pressure sensing module (225) comprises: a limit switch, a pressure rod and a preload spring; the limit switch is fixed inside the dredging tool (224); a portion of the pressure rod is arranged inside the dredging tool (224); another portion of the pressure rod protrudes from the front end surface of the dredging tool (224); a baffle is fixed on the pressure rod inside the dredging tool (224); a preload spring is sleeved on the pressure rod between the baffle and the inside of the dredging tool (224); and the pressure rod touches the limit switch when pressed down.

3. The coal handling system dredging robot according to claim 2, characterized in that: The first rotation axis of the robot (1) has the tendency to enable the end of the robot (1) to reciprocate between one side of the coal drop pipe opening and directly below the coal drop pipe opening; the second rotation axis of the robot (1) has the tendency to enable the cutter head (22) to reciprocate along a certain direction on a certain plane.

4. The coal handling system dredging robot according to claim 3, characterized in that: The minimum distance between the coal dropping pipe opening and the conveyor belt is X, the width of the coal dropping pipe opening perpendicular to the running direction of the conveyor belt is Y, and the length of the telescopic member (21) is less than .

5. The coal handling system dredging robot according to claim 4, characterized in that: A protrusion is provided at the end of the slide rail (228) at the opening of the housing (221).

6. The coal handling system dredging robot according to claim 5, characterized in that: The dredging tool (224) is a cylindrical structure as a whole, a plurality of teeth are fixed on the side surface of the dredging tool (224), and the front end surface of the dredging tool (224) is horizontal.

7. The coal handling system dredging robot according to claim 6, characterized in that: The reducer (223) is a planetary reducer.

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