An auxiliary cleaning robot for a roadheader and a method for removing consolidated slime

Abstract

The present invention discloses an auxiliary cleaning robot for a roadheader and a method for removing consolidated slime. The robot includes a crawler chassis, a mechanical arm for cleaning consolidated slime, a manipulator claw for cleaning consolidated slime, a first-conveyor cleaning mechanism, and a slime detection system supporting the roadheader. The present invention can assist in cleaning the consolidated slurry of the roadheader, and can clean the consolidated slime on the cutting head, the scraper plate, the crawler, and the first conveyor. During the daily maintenance of the roadheader, the present invention is operated by personnel to perform maintenance on the cutting part and the scraper and conveyor part of the equipment to clean the consolidated slime, which can, to a certain extent, reduce the labor intensity of workers and improve the service life of the roadheader.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary cleaning of roadheaders, and particularly relates to an auxiliary cleaning robot for a roadheader and a method for removing solidified coal slime. Background Art

[0002] The main roadheader used in existing underground coal mine tunneling operations is a roadheader. In the tunneling process, the roadway and the roadheader need to be maintained daily as scheduled. However, the maintenance operations of the roadheader still require manual labor by workers, resulting in a large amount of labor and poor maintenance effects.

[0003] The solidified coal slime at the bottom of the cutting head picks reduces the service life of the picks and affects the cutting effect of the roadheader, thereby reducing the tunneling efficiency.

[0004] The solidified coal slime at the scraper plate star wheel requires a sharp increase in the starting torque of the star wheel motor, and the star wheel motor is subject to high hydraulic pressure, resulting in a shortened service life.

[0005] The solidified coal slime on the crawler requires a sharp increase in the starting torque of the crawler motor, and the crawler motor is subject to high hydraulic pressure, resulting in a shortened service life or the roadheader jerks when walking.

[0006] The solidified coal slime inside the first conveyor requires a sharp increase in the starting torque of the first conveyor motor, and the first conveyor motor is subject to high hydraulic pressure, resulting in a shortened service life.

[0007] In view of the above problems, it is necessary to provide an auxiliary cleaning robot for a roadheader and a method for detecting solidified coal slime to overcome the defects existing in the above production process. Summary of the Invention

[0008] Objective: The objective of the present invention is to solve the defects of the prior art and propose an auxiliary cleaning robot for a roadheader and a method for removing solidified coal slime. The present invention can monitor in real time the components where coal slime is solidified, and can assist in cleaning the solidified slurry of the roadheader, and can clean the coal slime inside the cutting head, scraper plate, crawler, and first conveyor, which can reduce the labor intensity of workers and the damage rate of the picks and star wheel motors of the roadheader to a certain extent.

[0009] In order to achieve the above technical objectives, the technical means adopted by the present invention are as follows:

[0010] An auxiliary cleaning robot for a roadheader, comprising:

[0011] A traveling part, located at the bottom of the device;

[0012] A vertical support arm, fixedly connected to the traveling part;

[0013] A first hydraulic cylinder, fixedly connected to the vertical support arm;

[0014] The swing frame is hinged at one end to the vertical support arm and at the other end to the telescopic rod of the first hydraulic cylinder. The telescopic movement of the first hydraulic cylinder drives the swing frame to achieve single-degree-of-freedom pendulum movement;

[0015] The secondary slewing arm is horizontally arranged and is fixedly connected to the swing frame at one end through a rotating shaft. A tertiary transverse moving arm is slidably connected to the secondary slewing arm;

[0016] The second hydraulic cylinder is fixed on the secondary slewing arm, and its telescopic rod is connected to the tertiary transverse moving arm;

[0017] The vertical sliding pair is arranged on the tertiary transverse moving arm;

[0018] The third hydraulic cylinder is fixed on the tertiary transverse moving arm, and its telescopic rod is connected to the slider on the vertical sliding pair. A coal slime cleaning and consolidating mechanical claw mechanism is installed on the slider of the vertical sliding pair. The coal slime cleaning and consolidating mechanical claw mechanism includes:

[0019] The claw frame is fixedly connected to the slider, and installed on the claw frame are:

[0020] The high-pressure water jet nozzle;

[0021] The cement solvent nozzle;

[0022] The impact motor, and an impact drill is installed on its drive shaft;

[0023] The brush roller frame, and brush rollers are installed on it;

[0024] The hydraulic valve station is fixed on the vertical support arm and provides hydraulic pressure to the first hydraulic cylinder, the second hydraulic cylinder, and the third hydraulic cylinder;

[0025] The cutting torque sensor is installed between the cutting motor and the cutting head and is used to collect the torque signal of the cutting motor;

[0026] The cutting pressure sensor is installed on the oil supply pipeline at the inlet of the cutting part slewing hydraulic cylinder and is used to collect the pressure signal of the cutting part slewing hydraulic cylinder;

[0027] The star wheel pressure sensor is installed on the oil supply pipeline at the inlet of the star wheel motor and is used to collect the pressure signal of the star wheel motor of the scraper plate part;

[0028] The main control module, its signal input end is connected to the cutting torque sensor, the cutting pressure sensor, and the star wheel pressure sensor;

[0029] Its signal output end is connected to the traveling part, the hydraulic valve station, the high-pressure water jet nozzle, the cement solvent nozzle, and the impact motor.

[0030] The traveling part includes:

[0031] A crawler chassis, and crawlers installed on both the left and right sides of the crawler chassis;

[0032] A crawler pressure sensor, installed in the oil supply pipeline at the inlet of the crawler motor, for collecting the pressure signal of the crawler motor and sending the signal to the main control module.

[0033] The vertical sliding pair includes:

[0034] A vertical slide rail, fixedly connected to the three-stage transverse moving arm;

[0035] A slider, slidably connected to the vertical slide rail.

[0036] A first-stage conveying and cleaning mechanism is further provided on the traveling part, and the first-stage conveying and cleaning mechanism includes:

[0037] A traction pipe reel, fixed to the traveling part through a traction pipe reel bracket;

[0038] A spray traction pipe, one end of which is fixed to the traction pipe reel and wound around it, and a brush is fixed to the outer periphery of the spray traction pipe;

[0039] A traction pipe reel motor, fixed to the traveling part, and the drive shaft is connected to the shaft of the traction pipe reel;

[0040] A water tank, fixed to the traveling part, and a water pump is provided inside the water tank. The water pump is used to supply the water in the water tank into the spray traction pipe, and water outlets are provided on the pipe body of the spray traction pipe;

[0041] A first-stage pressure sensor, installed in the oil supply pipeline at the inlet of the first-stage motor, for collecting the pressure signal of the first-stage motor and sending the signal to the main control module.

[0042] The present invention further discloses a method for removing the solidified coal slime on a roadheader by using the roadheader auxiliary cleaning robot, including the following steps:

[0043] Step 1: Real-time monitor the rotation torque of the roadheader cutting motor through a cutting torque sensor. When the torque exceeds the standard, it indicates that there is a large block of solidified coal slime in the cutting part. When the torque shows abnormal fluctuations at a fixed frequency, it indicates that there are small pieces of solidified coal slime in the cutting part;

[0044] Real-time monitor the oil pressure of the roadheader cutting slewing cylinder through a cutting pressure sensor. When the oil pressure exceeds the standard, it indicates that there is a large block of solidified coal slime in the cutting part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there are small pieces of solidified coal slime in the cutting part;

[0045] The oil pressure of the star wheel motor is monitored in real time through a star wheel pressure sensor. When the oil pressure exceeds the standard, it indicates that there is a large amount of solidified coal slime in the scraper plate part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small amount of solidified coal slime in the scraper plate part;

[0046] The oil pressure of the crawler motor is monitored in real time through a crawler pressure sensor. When the oil pressure exceeds the standard, it indicates that there is a large amount of solidified coal slime on the crawler. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small amount of solidified coal slime on the crawler;

[0047] When the system detects that there is a large amount of solidified coal slime in the roadheader, the roadheader immediately stops working and retreats to carry out the cleaning operation of the solidified coal slime. When the system detects that there is a small amount of solidified coal slime on the body of the roadheader, the roadheader continues to run and carries out the cleaning operation of the solidified coal slime within the maintenance shift of the day;

[0048] Step 2: When cleaning the solidified coal slime on the cutting head, scraper plate and crawler, the worker remotely controls the robot to move forward through the handle, and at the same time controls each hydraulic cylinder through the hydraulic valve station, thereby adjusting the position of the drill bit so that the drill bit reaches the designated working point and is ready to start cleaning the solidified coal slime;

[0049] Step 3: First, the high-pressure water jet is used for intermittent impact, and then the cement solvent is sprayed. As the solidified coal slime is continuously broken, the rotary brush extends forward irregularly for cleaning;

[0050] Step 4: Repeat Step 2 - Step 3 until the solidified coal slime is cleaned up. Manually operate the rotary brush to retract, and each hydraulic cylinder retracts to return to the initial working state and prepare for the next work.

[0051] The present invention further discloses a method for removing the solidified coal slime inside the first conveyor using the auxiliary cleaning robot of the roadheader, including the following steps:

[0052] Step 5: The oil pressure of the first conveyor motor is monitored in real time through a first conveyor pressure sensor. When the oil pressure exceeds the standard, it indicates that there is a large amount of solidified coal slime inside the first conveyor. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small amount of solidified coal slime inside the first conveyor;

[0053] When it is detected that there is a large amount of solidified coal slime inside the first conveyor, the roadheader immediately stops working and retreats to carry out the cleaning operation of the solidified coal slime;

[0054] When it is detected that there is a small amount of solidified coal slime inside the first conveyor, the roadheader continues to run and carries out the cleaning operation of the solidified coal slime within the maintenance shift of the day;

[0055] Step 6: When cleaning the solidified coal slime on the first conveyor, the worker remotely controls the robot to move forward through the handle to reach the rear of the first conveyor, and the staff fixes one end of the spray traction pipe on the scraper of the first conveyor;

[0056] Step 7: Start the first conveyor. Rotate the first conveyor to take the spray towing pipe out from the upper part after one full circle around the first conveyor. Fix the spray towing pipe at the scraper end of the first conveyor and then remove it, re-fix it on the towing pipe reel and tighten it up.

[0057] Step 8: Spray high-pressure water jets through the spray towing pipe to clean the inside of the first conveyor, and mix a cement dissolving agent in the water to dissolve the solidified cement.

[0058] Step 9: Turn on the motor of the towing pipe reel. Drive the spray towing pipe to move back and forth through the motor of the towing pipe reel, and then drive the brush on the spray towing pipe to scrub the inside of the first conveyor back and forth.

[0059] Step 10: Repeat Step 8 - Step 9 until the solidified slime inside the first conveyor is completely cleaned. Loosen one end of the spray towing pipe and fix it on the scraper of the first conveyor. Operate the first conveyor to rotate, send out the spray towing pipe and complete the recovery. Manually operate the robot to return to the initial working state and prepare for the next work. Beneficial Effects

[0060] First, the present invention judges the adhesion condition of the slime on the cutting head by collecting the torque signal of the cutting motor through the cutting torque sensor and collecting the pressure signal of the first hydraulic cylinder of the cutting part through the pressure sensor of the first hydraulic cylinder of the cutting part.

[0061] Collect the pressure signal of the star wheel motor through the star wheel pressure sensor to judge the solidification condition of the slime at the joint between the star wheel and the scraper plate; it can assist in cleaning the solidified slurry of the roadheader, can clean the slime on the cutting head, improve the service life of the cutting teeth of the cutting head and the tunneling efficiency of the cutting part, can clean the slime on the scraper plate, prevent the slime from solidifying at the joint between the star wheel and the scraper plate, and damage the motor when the star wheel rotates.

[0062] Second, the present invention judges the amount of solidified slime on the crawler by collecting the pressure signal of the crawler motor through the crawler motor pressure sensor, can clean the slime on the crawler, prevent the slime from solidifying at the inner joint of the crawler, and damage the motor when the crawler motor rotates.

[0063] Third, the present invention judges the amount of solidified slime generated at the dead corners and scrapers inside the first conveyor by collecting the pressure signal of the first conveyor motor through the first conveyor motor pressure sensor, can clean the slime inside the first conveyor, prevent the slime from solidifying at the dead corners and scrapers inside the first conveyor, and damage the motor when the first conveyor motor rotates. Description of the Drawings

[0064] Figure 1 It is a schematic structural diagram of the roadheader auxiliary cleaning robot of the present invention.

[0065] Figure 2 It is a crawler chassis diagram of the present invention.

[0066] Figure 3 It is a mechanical arm diagram for cleaning solidified slime of the present invention.

[0067] Figure 4 This is the diagram of the manipulator claw for cleaning and consolidating coal slime of the present invention.

[0068] Figure 5 This is the diagram of the first-stage cleaning mechanism of the present invention.

[0069] Figure 6 This is the diagram of the hanging state of the first-stage cleaning mechanism of the present invention.

[0070] Figure 7 This is the diagram of the first-stage cleaning state of the present invention.

[0071] Figure 8 This is the diagram of the detection system for consolidated coal slime of the present invention.

[0072] Figure 9 This is the diagram of the detection and control system for consolidated coal slime of the present invention.

[0073] Figure 10 This is the flowchart of the detection work for consolidated coal slime of the present invention.

[0074] In the figure, 1 - chassis, 2 - manipulator arm for cleaning and consolidating coal slime, 3 - manipulator claw for cleaning and consolidating coal slime, 4 - first-stage cleaning mechanism; 101 - explosion-proof power box, 102 - left crawler belt, 103 - right crawler belt; 201 - first-stage base, 202 - first hydraulic cylinder, 203 - turntable, 204 - second-stage slewing arm, 205 - second hydraulic cylinder, 206 - third-stage transverse arm, 207 - slide rail, 208 - slider, 209 - third hydraulic cylinder, 210 - hydraulic valve station; 301 - claw frame, 302 - high-pressure water jet nozzle, 303 - cement dissolving agent nozzle, 304 - impact motor, 305 - drill bit, 306 - brush roller frame, 307 - brush roller head; 401 - traction pipe reel motor, 402 - traction pipe reel, 403 - spray traction pipe, 404 - brush, 405 - water tank; 501 - cutting torque sensor, 502 - cutting pressure sensor, 503 - star wheel pressure sensor, 504 - crawler belt pressure sensor, 505 - first-stage pressure sensor. Detailed implementation manners

[0075] To make the structure and working mode of the present invention easier to understand, the present invention will be further elaborated below in conjunction with the attached drawings. The attached drawings are described as follows:

[0076] The described roadheader auxiliary cleaning robot includes a crawler chassis 1, a mechanical arm 2 for cleaning consolidated coal slime, a manipulator claw 3 for cleaning consolidated coal slime, a first-conveyor cleaning mechanism 4, and a coal slime detection system. The crawler chassis 1 travels on the coal mine ground; the mechanical arm 2 for cleaning consolidated coal slime is fixed to the crawler chassis 1 by bolts, enabling the horizontal rotation of the mechanical arm 2 for cleaning consolidated coal slime on the crawler chassis 1; the manipulator claw 3 for cleaning consolidated coal slime is hinged to the mechanical arm 2 for cleaning consolidated coal slime, realizing the single-degree-of-freedom rotation of the manipulator claw 3 for cleaning consolidated coal slime in the plane. The first-conveyor cleaning mechanism 4 is fixed to the crawler chassis 1, capable of cleaning the coal slime inside the first conveyor. The coal slime detection system is configured on the roadheader.

[0077] The crawler chassis 1 of the present invention includes an explosion-proof power box 101, a left crawler 102, and a right crawler 103; the explosion-proof power box 101 is fixed in the middle of the whole machine; the left crawler 102 is fixed on the left side of the explosion-proof power box 101; the right crawler 103 is fixed on the right side of the explosion-proof power box 101.

[0078] The mechanical arm 2 for cleaning consolidated coal slime of the present invention includes a first-stage base 201, a first hydraulic cylinder 202, a turntable 203, a second-stage slewing arm 204, a second hydraulic cylinder 205, a third-stage transverse arm 206, a slide rail 207, a slider 208, a third hydraulic cylinder 209, and a hydraulic valve station 210; the first-stage base 201 is fixed to the explosion-proof power box 101 by bolts; the first hydraulic cylinder 202 is hinged to the first-stage base 201; the turntable 203 is hinged to the first-stage base 201 and can achieve single-degree-of-freedom pendulum through the first hydraulic cylinder 202; the second-stage slewing arm 204 is fixed to the turntable 203 and symmetrically hinged on both sides of the first-stage base 201; the second hydraulic cylinder 205 is fixed to the second-stage slewing arm 204; the third-stage transverse arm 206 is arranged on the second-stage slewing arm 204 and can be pushed by the second hydraulic cylinder 205 to move horizontally on the second-stage slewing arm 204; the slide rail 207 is fixed to the third-stage transverse arm 206; the slider 208 is arranged on the slide rail 207; both ends of the third hydraulic cylinder 209 are connected to the third-stage transverse arm 206 and the slider 208, capable of driving the slider 208 to move longitudinally on the slide rail 207; the hydraulic valve station 210 is fixed to the first-stage base 201 and is the hydraulic control system of the mechanical arm.

[0079] The coal slime manipulator claw 3 of the present invention includes a claw frame 301, a high-pressure water jet nozzle 302, a cement solvent nozzle 303, an impact motor 304, a drill bit 305, a brush roller frame 306, and a brush roller head 307; the claw frame 301 is connected to the slider 208; the high-pressure water jet nozzle 302 is fixed on the right side of the claw frame 301; the cement solvent nozzle 303 is fixed on the right side of the claw frame 301 by bolts; the impact motor is fixed at the front end of the claw frame 301; the drill bit 306 is fixed at the front end of the impact motor 304; the brush roller frame 306 is fixed to the claw frame 301 by bolts; the brush roller head 307 is coaxially fitted with the brush roller frame 306.

[0080] The first transport cleaning mechanism 4 of the present invention includes a towing pipe reel motor 401, a towing pipe reel 402, a spray towing pipe 403, a brush 404, and a water tank 405; the towing pipe reel motor is fixed on the water tank 405, the towing pipe reel 402 is fixed on one side of the towing pipe reel motor and can rotate following the towing pipe reel motor, one end of the spray towing pipe 403 is fixed on the towing pipe reel and wound thereon, the brush 404 is distributed on the spray towing pipe 403; the water tank 405 is fixed on the explosion-proof power box 101.

[0081] The coal slime detection system of the present invention includes a cutting torque sensor 501, a cutting pressure sensor 502, a star wheel pressure sensor 503, a crawler pressure sensor 504, and a first transport pressure sensor 505. The cutting torque sensor 501 is installed between the cutting motor and the cutting head and can detect the torque of the cutting part; the cutting part pressure sensor 502 is installed on the oil supply pipeline at the inlet of the cutting part swing hydraulic cylinder and is used to detect its oil supply pressure; the star wheel pressure sensor 503 is installed on the oil supply pipeline at the inlet of the star wheel motor and is used to detect its oil supply pressure, the crawler pressure sensor 504 is installed on the oil supply pipeline at the inlet of the crawler motor and is used to detect its oil supply pressure, and the first transport pressure sensor 505 is installed on the oil supply pipeline at the inlet of the first transport motor and is used to detect its oil supply pressure.

[0082] The method for removing the solidified coal slime on the roadheader by using the roadheader auxiliary cleaning robot of the present invention includes the following steps:

[0083] Step 1: The consolidated slime detection system can monitor the rotation torque of the roadheader cutting motor in real time through the cutting torque sensor 501. When the torque exceeds the standard, it indicates that there is a large piece of consolidated slime in the cutting part. When the torque shows abnormal fluctuations at a fixed frequency, it indicates that there is a small piece of consolidated slime in the cutting part. The system monitors the oil pressure of the roadheader cutting slewing cylinder in real time through the cutting pressure sensor 502. When the oil pressure exceeds the standard, it indicates that there is a large piece of consolidated slime in the cutting part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small piece of consolidated slime in the cutting part. The system monitors the oil pressure of the star wheel motor in real time through the star wheel pressure sensor 503. When the oil pressure exceeds the standard, it indicates that there is a large piece of consolidated slime in the scraper plate part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small piece of consolidated slime in the scraper plate part. The system monitors the oil pressure of the track motor in real time through the track pressure sensor 504. When the oil pressure exceeds the standard, it indicates that there is a large piece of consolidated slime on the track. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small piece of consolidated slime on the track. When the system detects that there is a large piece of consolidated slime on the roadheader, the roadheader immediately stops working and retreats for the operation of cleaning the consolidated slime. When the system detects that there is a small piece of consolidated slime on the roadheader body, the roadheader continues to run and conducts the operation of cleaning the consolidated slime during the maintenance shift on the same day.

[0084] Step 2: When cleaning the consolidated slime on the cutting head, scraper plate and track, the worker remotely controls the robot to move forward through the handle, and at the same time controls each motor, and then controls the position of the drill bit so that the drill bit reaches the specified working point to prepare for cleaning the consolidated slime.

[0085] Step 3: First, the high-pressure water jet is used for intermittent impact, and then the cement dissolving agent is sprayed. As the consolidated slime is continuously broken, the rotary brush extends forward irregularly for cleaning.

[0086] Step 4: Repeat Step 2 - Step 3 until the consolidated slime is cleaned up. Manually operate the rotary brush to retract, and each hydraulic cylinder retracts to return to the initial working state to prepare for the next work.

[0087] The method for removing the consolidated slime inside the first conveyor using the roadheader auxiliary cleaning robot of the present invention includes the following steps:

[0088] Step 5: The consolidated slime detection system monitors the oil pressure of the first conveyor motor in real time through the first conveyor pressure sensor 505. When the oil pressure exceeds the standard, it indicates that there is a large piece of consolidated slime inside the first conveyor. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is a small piece of consolidated slime inside the first conveyor. When the system detects that there is a large piece of consolidated slime inside the first conveyor, the roadheader immediately stops working and retreats for the operation of cleaning the consolidated slime. When the system detects that there is a small piece of consolidated slime inside the first conveyor, the roadheader continues to run and conducts the operation of cleaning the consolidated slime during the maintenance shift on the same day.

[0089] Step Six: When cleaning the solidified slime in the first conveyor, the worker remotely controls the robot to move forward through the handle to reach the rear of the first conveyor, and the staff fixes one end of the spray traction pipe on the scraper of the first conveyor;

[0090] Step Seven: Start the first conveyor. The first conveyor rotates to drive the spray traction pipe to go around the first conveyor and then be taken out from the upper part. Fix the spray traction pipe on the scraper end of the first conveyor and remove it, then re-fix it on the traction pipe reel and tighten it.

[0091] Step Eight: Spray high-pressure water jets through the spray traction pipe to clean the inside of the first conveyor, and mix cement dissolving agent in the water to dissolve the solidified cement.

[0092] Step Nine: Turn on the motor of the traction pipe reel, drive the spray traction pipe to make reciprocating movements through the motor of the traction pipe reel, and then drive the brush on the spray traction pipe to reciprocate and scrub the inside of the first conveyor.

[0093] Step Ten: Repeat Step Eight - Step Nine until the solidified slime inside the first conveyor is cleaned up. Loosen one end of the spray traction pipe and fix it on the scraper of the first conveyor. Operate the first conveyor to rotate, send out and recover the spray traction pipe, and manually control the robot to return to the initial working state to prepare for the next work.

Claims

1. An auxiliary cleaning robot for a roadheader, characterized in that, Comprising: A walking part, located at the bottom of the device; A vertical support arm, fixedly connected to the walking part; A first hydraulic cylinder, fixedly connected to the vertical support arm; A swing frame, hinged at one end to the vertical support arm and at the other end to the telescopic rod of the first hydraulic cylinder, and the first hydraulic cylinder expands and contracts to drive the swing frame to achieve single-degree-of-freedom pendulum swing; A secondary slewing arm, arranged horizontally, fixedly connected to the swing frame at one end through a rotating shaft, and a tertiary transverse moving arm is slidably connected to the secondary slewing arm; A second hydraulic cylinder, fixed on the secondary slewing arm, and its telescopic rod is connected to the tertiary transverse moving arm; A vertical sliding pair, arranged on the tertiary transverse moving arm; A third hydraulic cylinder, fixed on the tertiary transverse moving arm, and its telescopic rod is connected to the slider on the vertical sliding pair. A cleaning and consolidating coal slime mechanical claw mechanism is installed on the slider of the vertical sliding pair, and the cleaning and consolidating coal slime mechanical claw mechanism includes: A claw frame, fixedly connected to the slider, and installed on the claw frame: A high-pressure water jet nozzle; A cement dissolving agent nozzle; An impact motor, with an impact drill installed on its drive shaft; A brush roller frame, with a brush roller installed thereon; A hydraulic valve station, fixed on the vertical support arm, providing hydraulic pressure to the first hydraulic cylinder, the second hydraulic cylinder, and the third hydraulic cylinder; A cutting torque sensor, installed between the cutting motor and the cutting head, for collecting the torque signal of the cutting motor; A cutting pressure sensor, installed on the oil supply pipeline at the inlet of the cutting part slewing hydraulic cylinder, for collecting the pressure signal of the cutting part slewing hydraulic cylinder; A star wheel pressure sensor, installed on the oil supply pipeline at the inlet of the star wheel motor, for collecting the pressure signal of the star wheel motor of the scraper plate part; A main control module, with its signal input end connected to the cutting torque sensor, the cutting pressure sensor, and the star wheel pressure sensor; Its signal output end is connected to the walking part, the hydraulic valve station, the high-pressure water jet nozzle, the cement dissolving agent nozzle, and the impact motor.

2. The auxiliary cleaning robot for a roadheader according to claim 1, characterized in that, The walking part includes: A crawler chassis, and crawlers installed on both the left and right sides of the crawler chassis; A crawler pressure sensor, installed on the oil supply pipeline at the inlet of the crawler motor, for collecting the pressure signal of the crawler motor and sending this signal to the main control module.

3. The auxiliary cleaning robot for a roadheader according to claim 1, characterized in that, The vertical sliding pair includes: A vertical sliding rail, fixedly connected to the tertiary transverse moving arm; A slider, slidably connected to the vertical sliding rail.

4. The auxiliary cleaning robot for a roadheader according to claim 1, characterized in that, A first-stage conveying cleaning mechanism is further provided on the walking part, and the first-stage conveying cleaning mechanism includes: A traction pipe reel, fixed on the walking part through a traction pipe reel bracket; A spraying traction pipe, fixed at one end on the traction pipe reel and wound around it, and a brush is fixed on the outer periphery of the spraying traction pipe; A traction pipe reel motor, fixed on the walking part, and its drive shaft is connected to the disk shaft of the traction pipe reel; A water tank, fixed on the walking part, and a water pump is provided inside the water tank. The water pump is used to supply water in the water tank into the spraying traction pipe, and water outlets are opened on the pipe body of the spraying traction pipe; A first-stage conveying pressure sensor, installed on the oil supply pipeline at the inlet of the first-stage conveying motor, for collecting the pressure signal of the first-stage conveying motor and sending this signal to the main control module.

5. A method for removing solidified coal slime on a roadheader by using the auxiliary cleaning robot for a roadheader according to any one of claims 1 to 3, characterized in that,Including the following steps: Step 1: The cutting torque sensor (501) is used to monitor the rotational torque of the roadheader cutting motor in real time. When the torque exceeds the standard, it indicates that there is large - block consolidated coal slime in the cutting part. When the torque shows abnormal fluctuations at a fixed frequency, it indicates that there is small - block consolidated coal slime in the cutting part; The cutting pressure sensor (502) is used to monitor the oil pressure of the roadheader cutting slewing cylinder in real time. When the oil pressure exceeds the standard, it indicates that there is large - block consolidated coal slime in the cutting part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is small - block consolidated coal slime in the cutting part; The star wheel pressure sensor (503) is used to monitor the oil pressure of the star wheel motor in real time. When the oil pressure exceeds the standard, it indicates that there is large - block consolidated coal slime in the scraper plate part. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is small - block consolidated coal slime in the scraper plate part; The crawler pressure sensor (504) is used to monitor the oil pressure of the crawler motor in real time. When the oil pressure exceeds the standard, it indicates that there is large - block consolidated coal slime on the crawler. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is small - block consolidated coal slime on the crawler; When the system detects that there is large - block consolidated coal slime on the roadheader, the roadheader immediately stops working and retreats to carry out the operation of cleaning the consolidated coal slime. When the system detects that there is small - block consolidated coal slime on the roadheader body, the roadheader continues to run and carries out the operation of cleaning the consolidated coal slime during the daily maintenance shift; Step 2: When cleaning the consolidated coal slime on the cutting head, scraper plate and crawler, the worker remotely controls the robot to move forward through the handle, and at the same time controls each hydraulic cylinder through the hydraulic valve station, thereby adjusting the position of the drill bit so that the drill bit reaches the specified working point to prepare for cleaning the consolidated coal slime; Step 3: First, the high - pressure water jet is used for intermittent impact, and then the cement dissolving agent is sprayed. As the consolidated coal slime is continuously broken, the rotary brush extends forward irregularly for cleaning; Step 4: Repeat Step 2 - Step 3 until the consolidated coal slime is cleaned. Manually control the rotary brush to retract, and each hydraulic cylinder retracts to return to the initial working state to prepare for the next work.

6. A method for removing the solidified slime inside the first conveyor using the roadheader auxiliary cleaning robot described in claim 4, characterized in that, It includes the following steps: Step 5: The first - conveyor pressure sensor (505) is used to monitor the oil pressure of the first - conveyor motor in real time. When the oil pressure exceeds the standard, it indicates that there is large - block consolidated coal slime in the first - conveyor. When the oil pressure shows abnormal fluctuations at a fixed frequency, it indicates that there is small - block consolidated coal slime in the first - conveyor; When it is detected that there is large - block consolidated coal slime in the first - conveyor, the roadheader immediately stops working and retreats to carry out the operation of cleaning the consolidated coal slime; When it is detected that there is small - block consolidated coal slime in the first - conveyor, the roadheader continues to run and carries out the operation of cleaning the consolidated coal slime during the daily maintenance shift; Step 6: When cleaning the consolidated coal slime in the first - conveyor, the worker remotely controls the robot to move forward to the rear of the first - conveyor through the handle, and the staff fixes one end of the spray traction pipe on the first - conveyor scraper; Step 7: Start the first - conveyor. The first - conveyor rotates to drive the spray traction pipe to go around the first - conveyor for one week and then be taken out from the upper part. Fix the spray traction pipe on the first - conveyor scraper end and unload it, and then re - fix it on the traction pipe reel and tighten it; Step 8: Spray high - pressure water jet through the spray traction pipe to clean the inside of the first - conveyor, and mix the cement dissolving agent in the water to dissolve the consolidated cement; Step 9: Turn on the traction pipe reel motor, drive the spray traction pipe to reciprocate through the traction pipe reel motor, and then drive the brush on the spray traction pipe to reciprocally wash the inside of the first conveyor; Step 10: Repeat Step 8 - Step 9 until the solidified coal slime inside the first conveyor is cleaned up. Loosen one end of the spray traction pipe and fix it on the scraper of the first conveyor. Operate the first conveyor to rotate, send out and complete the recovery of the spray traction pipe. Manually operate the robot to return to the initial working state and prepare for the next work.

Images