A robot automatic loading and unloading device for coal mill

Abstract

The application discloses a robot automatic loading and unloading device suitable for a coal mill, and relates to the technical field of loading and unloading robots, and comprises a first robot which can plan a route and navigate, and is provided with a containing space; a second robot which is located in the containing space and can move along with the first robot, wherein the second robot at least comprises a loading and unloading assembly, the loading and unloading assembly comprises a mounting base, two symmetrically-distributed integrated bases which are fixed to the mounting base and are integrated with an unloading motor and a positioning rod, and a clamping assembly which is fixed to the output end of the unloading motor and is locked by the positioning rod, and the clamping assembly can clamp or release a slag discharge cylinder of the coal mill.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading and unloading robots, and particularly relates to a robot automatic loading and unloading slag device suitable for a coal mill. BACKGROUND

[0002] The coal mill is a device for grinding coal blocks into coal powder by using a grinding disc and a grinding bed. After passing through the main body of the coal mill, the coal powder is sent to a classifier for classification, and coal gangue and sundries that cannot be ground are discharged as slag into a slag discharge cylinder.

[0003] The stone coal slag discharge work of the coal mill is an important process in the pulverizing system, and there is a great safety hazard in the post. In the traditional slag discharge process, the stone coal slag is automatically discharged by the coal mill slag discharge system to the slag discharge cylinder, the slag discharge worker manually stops the operation of the slag discharge system through the full-cylinder signal, and then uses a manual trolley to pull the slag discharge cylinder to an open area, and then uses a hydraulic rotary forklift to transport the slag discharge cylinder to a slag pool. The whole process is time-consuming and labor-intensive, and there is a risk of scalding and crushing.

[0004] In recent years, the application of intelligent robots in thermal power plants has achieved remarkable achievements, and the automation level of thermal power plants has been greatly improved. With the construction of intelligent power plants and the promotion of centralized control and few people or unmanned operation, the manual stone coal slag discharge of the coal mill is particularly conspicuous. Manual slag discharge and forklift transportation are dangerous, have high labor and training costs, are not energy-efficient, and sometimes cause the coal mill to run in poor conditions or limit the output due to human delay in slag discharge.

[0005] Therefore, from the safety perspective or the economic benefit, it is of great significance to research a robot automatic loading and unloading slag device suitable for a coal mill.

[0006] Therefore, it is necessary to provide a robot automatic loading and unloading slag device suitable for a coal mill to solve the problems in the background technology. SUMMARY

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a robot automatic loading and unloading slag device suitable for a coal mill, comprising:

[0008] A first robot capable of route planning and navigation, and having a containing space;

[0009] A second robot located in the containing space and capable of moving following the first robot, the second robot comprising at least a loading and unloading assembly, the loading and unloading assembly comprising:

[0010] A mounting seat;

[0011] Two symmetrically distributed integrated seats fixed to the mounting seat,

[0012] and the integrated seat is integrated with a discharging motor and a positioning rod; and

[0013] The clamping assembly is fixed to the output end of the discharging motor and locked by the positioning rod, and the clamping assembly can clamp or release the slagging cylinder of the coal mill.

[0014] Further, as a preferred, the first robot comprises:

[0015] The main control bin is internally integrated with a route planning system, a navigation system and a video monitoring system;

[0016] The first arm body is fixed to the left side of the main control bin; and

[0017] The two second arm bodies are symmetrically arranged, and the two second arm bodies are correspondingly fixed to the front and rear sides of the main control bin, and the bottoms of the first arm body and the second arm body are provided with universal wheel groups.

[0018] Further, as a preferred, the main control bin, the first arm body and the second arm body form a containing space therebetween;

[0019] The follow-up rotating seat is rotationally arranged below the main control bin, and the follow-up rotating seat is provided with two symmetrically arranged winches below, and the free ends of the winches are connected to the clamping assembly located directly below.

[0020] Further, as a preferred, the winch is configured to: when the discharging cylinder is dumped by using the loading and unloading assembly, the corresponding winch is wound to make the clamping assembly rotate, and then the discharging motor drives the clamping assembly to continue to rotate.

[0021] Further, as a preferred, the second robot further comprises a track wheel group and a position adjusting assembly mounted on the track wheel group, and the position adjusting assembly comprises:

[0022] A plurality of track plates connected in sequence;

[0023] A sliding seat is limitingly and slidably arranged on the track plate, and the sliding seat is used for mounting the loading and unloading assembly, and by adjusting the position of the sliding seat, the discharging cylinder on the loading and unloading assembly can be supported on the track plate;

[0024] A rack is fixed to the track plate along the extension direction of the track plate; and

[0025] A motor is fixed to the sliding seat, and the output end of the motor is fixed with a gear, and the gear is engaged with the rack.

[0026] Further, as a preferred, the clamping assembly comprises:

[0027] An arc base has an arc slot;

[0028] Two symmetrically arranged arc claws are slidingly arranged in the arc slot and can extend out of the arc slot; and

[0029] Two groups of symmetrically arranged telescopic cylinders, each group of telescopic cylinders is a plurality of telescopic cylinders distributed along the axial direction of the arc base, the telescopic ends of the telescopic cylinders are fixed with four arc rods distributed in a circle, and the arc plates are fixed with resistance increasing discs.

[0030] Further, as preferred, the clamping assembly further comprises:

[0031] Two limiting plates symmetrically arranged and fixed in the arc slot, a through hole is formed in the middle of the limiting plate;

[0032] A spring is connected between the arc claw and the limiting plate;

[0033] A winding wheel is rotationally arranged in the arc slot and has power; and

[0034] A control rope is connected to one end of the arc claw, the other end passes through the through hole of the limiting plate and is wound on the winding wheel.

[0035] Further, as preferred, the bottom of the arc base is connected with a plurality of interval distributed pull ropes, the bottom of the pull rope is fixed with an electromagnetic adsorption block.

[0036] Further, as preferred, the pull rope is a multi-layer liquid storage structure, one end of the arc claw is fixed with a sealing plate, the sealing plate is slidingly connected with the arc slot in a sealed manner, in the initial stage, the arc claw is accommodated in the arc slot, at this time, the two sealing plates and the pull rope are filled with oil.

[0037] Compared with the prior art, the application provides a robot automatic loading and unloading device suitable for a coal mill, which has the following beneficial effects:

[0038] 1. In the embodiment of the application, the automation level of thermal power generation is greatly improved, which plays a positive role in the construction of intelligent power plants. Reducing dust leakage greatly helps to improve the environment of the coal mill area.

[0039] 2. In the embodiment of the application, the risk of power limitation or shutdown of the coal mill due to running in harsh environment and damage to equipment or personal injury due to improper human operation is reduced.

[0040] 3. In the embodiment of the application, the replacement of the slag discharge cylinder can be realized by rotating, and the replacement method has the advantages of simplifying the action of the second robot.

[0041] 4. In the embodiment of the present application, the first robot can provide route guidance for the second robot, and the second robot can focus on loading and unloading the slag bucket, in addition, the first robot can also provide unloading assistance for the second robot;

[0042] 5. In the embodiment of the present application, when the slag bucket is poured by using the loading and unloading assembly, the corresponding winch is wound to make the clamping assembly rotate by 90 degrees, at this time, the coal ash in the slag bucket has been poured, and the slag bucket is in a horizontal state, at this time, the unloading motor only needs a small driving force to drive the clamping assembly to continue to rotate by 90 degrees, and then the slag is discharged. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of a robot automatic loading and unloading slag device suitable for a coal mill;

[0044] Figure 2 It is a structural schematic diagram of a second robot in a robot automatic loading and unloading slag device suitable for a coal mill;

[0045] Figure 3 It is a structural schematic diagram of a position adjusting assembly in a robot automatic loading and unloading slag device suitable for a coal mill;

[0046] Figure 4 It is a structural schematic diagram of a clamping assembly in a robot automatic loading and unloading slag device suitable for a coal mill;

[0047] Figure 5 It is a structural schematic diagram of a pull rope and an electromagnetic adsorption block in a robot automatic loading and unloading slag device suitable for a coal mill;

[0048] In the figure: 1, first arm body; 2, second arm body; 3, main control bin; 4, universal wheel set; 5, follow-up rotating seat; 6, first winch; 7, second winch; 8, loading and unloading assembly; 9, position adjusting assembly; 10, track wheel set; 91, track plate; 92, sliding seat; 93, rack; 94, motor; 81, mounting seat; 82, integrated seat; 83, clamping assembly; 84, positioning rod; 85, pull rope; 86, electromagnetic adsorption block; 831, arc seat; 832, arc claw; 833, sealing plate; 834, limiting plate; 835, spring; 836, telescopic cylinder; 837, arc rod; 838, resistance increasing disc; 839, winding wheel; 8310, communication hole. DETAILED DESCRIPTION

[0049] Please refer to Figures 1-5 In the embodiment of the present application, a robot automatic loading and unloading slag device suitable for a coal mill is provided, which comprises:

[0050] The first robot can plan and navigate a route, and the first robot has a containing space;

[0051] The second robot is located in the accommodation space and can follow the movement of the first robot. The second robot can follow the movement of the first robot in the following ways: 1. Using sensors: install sensors on the second robot, such as ultrasonic or infrared sensors, to detect the position and direction of the first robot and automatically adjust the movement trajectory of the second robot.

[0052] 2. Using visual recognition technology: install a camera on the second robot and use computer vision algorithms to recognize and track the first robot. This requires deep learning algorithm knowledge in aspects such as identification, tracking, and prediction of the first robot.

[0053] 3. Using radio signals: let the first robot carry a transmitter, such as an RFID tag or GPS device, and install a receiver on the second robot so that the second robot can receive the signals sent from the transmitter and adjust its movement trajectory according to the signals.

[0054] The specific implementation of the second robot following the movement of the first robot is not described here.

[0055] The second robot at least includes a loading and unloading assembly 8, which comprises:

[0056] a mounting seat 81;

[0057] two symmetrically distributed integrated seats 82, which are fixed to the mounting seat 81, and the integrated seats 82 are integrated with unloading motors and positioning rods 84; and

[0058] a clamping assembly 83 fixed to the output end of the unloading motor and locked by the positioning rod 84, and the clamping assembly 83 can clamp or release the slagging cylinder of the coal mill.

[0059] In this embodiment, two clamping assemblies 83 are configured, which are the first clamping assembly and the second clamping assembly. Before replacing the slagging cylinder filled with coal slag on the coal mill, taking the first clamping assembly clamping the empty slagging cylinder as an example, the second clamping assembly is in an idle state. Therefore, when replacing the slagging cylinder filled with coal slag on the coal mill, the second clamping assembly clamps the slagging cylinder filled with coal slag on the coal mill, and then the empty slagging cylinder on the first clamping assembly is placed at the slagging end of the coal mill, and so on.

[0060] That is, in this embodiment, the replacement of the slagging cylinder can be realized by rotating. The advantage of this replacement method is that it simplifies the action of the second robot.

[0061] Of course, this replacement mode has certain requirements for the structure of the clamping assembly 83, for example, the clamping assembly 83 should have a gap so that the slag discharge cylinder can be accommodated during the rotation of the clamping assembly 83, and since the clamping assembly 83 can accommodate the slag discharge cylinder during the rotation, the gap should be relatively large, which will be described in detail below.

[0062] In addition, in the present embodiment, the first robot can provide route guidance for the second robot, and the second robot can focus on loading and unloading the slag discharge cylinder. In addition, the first robot can also provide other assistance to the second robot, which will be described in detail below.

[0063] First, regarding the structure of the clamping assembly 83, in the present embodiment, the clamping assembly 83 comprises:

[0064] an arc seat 831 having an arc chamber;

[0065] two symmetrically arranged arc claws 832, both of which are slidingly arranged in the arc chamber and can extend out of the arc chamber; and

[0066] two groups of telescopic cylinders 836, each group of telescopic cylinders 836 being a plurality of telescopic cylinders 836 distributed along the axis of the arc seat 831, the telescopic ends of the telescopic cylinders 836 being fixed with four circumferentially distributed arc rods 837, and the arc plates 837 being fixed with resistance discs 838.

[0067] Among them, the arc seat 831 has a gap, so that the slag discharge cylinder can be accommodated through the gap during the rotation of the clamping assembly 83, then the gap is blocked by the movement of the arc claw 832, and finally the three-point positioning and locking of the slag discharge cylinder can be realized by cooperating with the two groups of telescopic cylinders 836.

[0068] The meaning of the three-point positioning and locking is not only to lock the slag discharge cylinder at three point positions, but actually means that the slag discharge cylinder is locked at three point positions within the same circumferential range.

[0069] Regarding the structure of the first robot, the first robot comprises:

[0070] a main control chamber 3, which is internally integrated with a route planning system, a navigation system, and a video monitoring system;

[0071] a first arm body 1 fixed to the left side of the main control chamber 3; and

[0072] two symmetrically arranged second arm bodies 2, both of which are fixed to the front and rear sides of the main control chamber 3, and the bottoms of the first arm body 1 and the second arm bodies 2 are provided with universal wheel sets 4.

[0073] The main control bin 3, the first arm body 1 and the second arm body 2 constitute a containing space;

[0074] The lower part of the main control bin 3 is rotatably provided with a follow-up rotating seat 5, the lower part of the follow-up rotating seat 5 is provided with two winches arranged in symmetry, and the free ends of the winches are connected with the clamping assemblies 83 located directly below.

[0075] The two winches are respectively a first winch 6 and a second winch 7, the free end of the first winch 6 is connected with a first clamping assembly, and the free end of the second winch 7 is connected with a second clamping assembly;

[0076] In the implementation, a WIFI module can be used as a connection hub of the control interface (a smart slag removal background management system) of an upper computer and hardware of a lower computer (a first robot and a second robot), information transmission, remote control, remote monitoring and other functions under the same local area network are completed by means of a WIFI communication protocol, and the functions are integrated in a unified management platform, so that an operator can remotely monitor and use automatic driving technology to realize intelligent unmanned slag removal.

[0077] The route planning system is an online collaborative scheduling algorithm combining centralized and decentralized decision-making. The algorithm centrally coordinates the global information of the warehouse system in real time, and regards the first robot as an intelligent agent (Agent) with decision-making ability. Based on the decentralized decision-making strategy, the first robot autonomously receives the information of the slag car preparation sent by the coal mill slag removal system and determines the handling task and walking path. For the online collaborative scheduling problem of the first robot, a mixed integer linear programming model is established to minimize the weighted total handling completion time, and a multiple first robot online collaborative scheduling algorithm is proposed combined with the characteristics of the problem. The algorithm centrally manages and allocates the global information of the automated slag removal arriving at the slag removal site through centralized decision-making, provides real-time and accurate global information according to the needs of the first robot, and regards each first robot as an Agent with autonomous decision-making ability. Each intelligent robot autonomously calls the assignment algorithm and path planning algorithm to determine the handling task and walking path. To support the automatic guided driving and automatic dumping of coal slag of the first robot, a priority rule-based assignment algorithm and a grid congestion-based path planning algorithm can be designed. The priority rule-based assignment algorithm is a general algorithm that can call any assignment rule including random assignment. Once the assignment rule is selected, the algorithm will execute this rule to generate an assignment scheme and enter the path planning for collaborative optimization to achieve online collaborative scheduling. Further combined with the characteristics of the problem, a number of specific rules can be designed, and through experimental analysis, a priority rule with the highest adaptability to the problem in this paper is determined. The grid congestion-based path planning algorithm realizes conflict-free path planning through the reservation table and conflict first robot priority determination rule, and defines grid congestion to measure the real-time traffic congestion of the warehouse. Each first robot will dynamically update the handling path according to the traffic congestion at the current time to reduce the excessive occupation and waiting of the first robot on the congested road section.

[0078] The navigation system uses electromagnetic navigation, laser navigation, and image recognition navigation to select appropriate navigation methods for specific environments and human influences, and optimizes the automatic driving technology through simulation of operating environments and unexpected situations.

[0079] The video monitoring system collects environmental information through a camera to make accurate judgments about the current environment, and is also conducive to remote personnel monitoring.

[0080] In addition, the winch on the first robot can also assist the clamping assembly 83 in dumping the slag drum.

[0081] Specifically, when the discharge cylinder is being dumped, the winch is configured to: when the discharge cylinder is being dumped by the loading and unloading assembly 8, the corresponding winch is wound to make the clamping assembly 83 rotate by 90 degrees, and then the unloading motor drives the clamping assembly 83 to continue rotating by 90 degrees.

[0082] It should be noted that when the discharge cylinder is being dumped by the loading and unloading assembly 8, the corresponding winch is wound to make the clamping assembly 83 rotate by 90 degrees, at this time, the discharge cylinder has been dumped partially, and the discharge cylinder is in a horizontal state, at this time, the unloading motor only needs a small driving force to drive the clamping assembly 83 to continue rotating by 90 degrees.

[0083] In the embodiment, the second robot further comprises a track wheel set 10 and a position adjusting assembly 9 installed on the track wheel set 10, and the position adjusting assembly 9 comprises:

[0084] a plurality of track plates 91 connected in sequence;

[0085] a sliding seat 92 provided on the track plate 91 in a position-limiting manner, and the sliding seat 92 is used for installing the loading and unloading assembly 8, and by adjusting the position of the sliding seat 92, the discharge cylinder on the loading and unloading assembly 8 can be supported on the track plate 91;

[0086] a rack 93 fixed on the track plate 91 along the extension direction of the track plate 91; and

[0087] a motor 94 fixed on the sliding seat 92, and an output end of the motor 94 is fixed with a gear, and the gear is engaged with the rack.

[0088] On the one hand, by adjusting the position of the sliding seat 92, the position of the loading and unloading assembly 8 can be adjusted, and then the loading and unloading assembly 8 can be more accurately positioned on the discharge cylinder of the coal mill;

[0089] On the other hand, after the clamping assembly 83 on the loading and unloading assembly 8 grabs the discharge cylinder of the coal mill, by rotating, the discharge cylinder of the coal mill can be carried on the track plate 91, and the stability of the clamping assembly 83 is improved;

[0090] Further, when the discharge cylinder is being dumped, only the position of the sliding seat 92 needs to be adjusted to make the discharge cylinder away from the track plate, and the action of the second robot is simplified;

[0091] In the embodiment, the clamping assembly 83 further comprises:

[0092] two limiting plates 834 symmetrically arranged and fixed in the arc chamber, and a through hole is formed in the middle of the limiting plate 834;

[0093] a spring 835 connected between the arc claw 832 and the limiting plate 834;

[0094] a winding wheel 839 rotatably arranged in the arc slot and having power;

[0095] a control rope having one end connected with the arc claw 832 and the other end passing through the through hole of the limiting plate 834 and wound on the winding wheel 839.

[0096] Therefore, in the implementation, the winding wheel 839 can be used to wind the control rope and pull the arc claw 832 to be accommodated in the arc slot, and when the winding wheel releases the control rope, the arc claw is extended out of the arc slot under the action of the spring;

[0097] In order to improve the locking performance of the clamping assembly on the slag bucket, the bottom of the arc seat 831 is connected with a plurality of spaced-apart pull ropes 85 through the communication holes 8310, and the bottom of each pull rope 85 is fixed with an electromagnetic adsorption block 86. After the electromagnetic adsorption block 86 is powered, it can generate a strong magnetic force to be adsorbed on the surface of the slag bucket, thereby assisting the clamping assembly to clamp the slag bucket.

[0098] As a preferred embodiment, the pull rope 85 is a multi-layer liquid storage structure, the arc claw 832 is fixed with a sealing plate 833 at one end of the arc slot, the sealing plate 833 is connected with the arc slot in a sealing sliding manner, in the initial stage, the arc claw 832 is accommodated in the arc slot, at this time, the two sealing plates 833 and the pull rope are filled with oil, and when the pull rope 85 is filled with oil, the bending radius of the pull rope 85 will be increased, so that the hose is not easy to bend.

[0099] The specific reason is that the oil exerts an outward pressure on the inner wall of the pull rope 85, increasing the bending stiffness of the pull rope 85.

[0100] Specifically, when the pull rope 85 is bent, the inside is compressed and the outside is stretched. In the case that the pull rope 85 is filled with oil, the interaction force between the oil molecules will make the oil molecules maintain a certain distance, forming a dense structure, and due to the viscosity of the oil, there is also a certain friction force between the oil molecules. These will generate an outward pressure opposite to the inner wall of the pull rope 85, called "hydrostatic pressure". The hydrostatic pressure increases with the increase of the water surface height in the hose, thereby increasing the stiffness of the pull rope 85, so that when the clamping assembly 83 does not clamp the slag bucket, the pull rope can remain vertical and will not sway randomly with the movement of the second robot, reducing the impact and wear degree of the electromagnetic adsorption block, and improving the subsequent service life and stability.

[0101] When the volume wheel releases the control rope, the arc claw extends out of the arc warehouse under the action of the spring, at this time the pressure between the two sealing plates will decrease, because at the same temperature and the same amount of material, when the space becomes larger, the molecules will occupy more space, thus reducing the average collision frequency between them, thereby reducing the pressure, in other words, the two sealing plates form a piston, thereby pumping part of the oil in the pull rope between the two sealing plates, so that the bending stiffness of the pull rope decreases, facilitating the electromagnetic adsorption block to adsorb the change in the bending degree of the pull rope and adsorb on the slag removal cylinder when the clamping assembly 83 clamps the slag removal cylinder.

[0102] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art within the technical range disclosed by the present application, according to the technical scheme and the inventive concept of the present application, equivalent replacement or change, should be covered within the protection scope of the present application.

Claims

1. A robot automatic loading and unloading device for coal mill, characterized in that: The application relates to a robot system, which comprises: a first robot capable of route planning and navigation, and provided with a containing space; a second robot located in the containing space and capable of moving along with the first robot, the second robot comprising at least a loading and unloading assembly (8), the loading and unloading assembly (8) comprising: a mounting base (81); two symmetrically-distributed integrated bases (82) fixed to the mounting base (81), and a discharging motor and a positioning rod (84) integrated in the integrated bases (82); and a clamping assembly (83) fixed to the output end of the discharging motor and locked by the positioning rod (84), and capable of clamping or releasing a slag discharge cylinder of a coal mill. The containing space of the first robot is rotationally provided with a follow-up rotating base (5), the lower portion of the follow-up rotating base (5) is provided with two symmetrically-arranged winches, and the free ends of the winches are connected to the clamping assembly (83) located directly below. The winches are configured to: when the slag discharge cylinder is dumped by using the loading and unloading assembly (8), the corresponding winch is wound to make the clamping assembly (83) rotate by 90 degrees, and then the discharging motor drives the clamping assembly (83) to continue rotating by 90 degrees. The clamping assembly (83) comprises: an arc base (831) provided with an arc slot; two symmetrically-arranged arc claws (832) slidingly arranged in the arc slot and capable of extending out of the arc slot; two symmetrically-arranged limiting plates (834) fixed in the arc slot, the middle portions of the limiting plates (834) being provided with through holes; springs (835) connected between the arc claws (832) and the limiting plates (834); a winding wheel (839) rotationally arranged in the arc slot and provided with power; and a control rope with one end connected to the arc claw (832) and the other end penetrating through the through hole of the limiting plate (834) and wound around the winding wheel (839). The bottom of the arc base (831) is connected with a plurality of interval-distributed pull ropes (85), and the bottom of the pull rope (85) is fixed with an electromagnetic adsorption block (86). The pull rope (85) is a multilayer liquid storage structure, one end of the arc claw (832) is fixed with a sealing plate (833), the sealing plate (833) is sealingly and slidingly connected with the arc slot, in the initial stage, the arc claw (832) is accommodated in the arc slot, at this time, the two sealing plates (833) and the pull rope are filled with oil.

2. A robot automatic loading and unloading device for coal mill as claimed in claim 1 wherein: The first robot comprises: a main control bin (3) internally integrated with a route planning system, a navigation system and a video monitoring system; a first arm body (1) fixed to the left side of the main control bin (3); and two symmetrically-arranged second arm bodies (2) correspondingly fixed to the front and rear sides of the main control bin (3), and the bottom portions of the first arm body (1) and the second arm bodies (2) are provided with universal wheel sets (4).

3. A robot automatic loading and unloading device for coal mill as claimed in claim 2 wherein: The main control bin (3), the first arm body (1) and the second arm bodies (2) constitute the containing space.

4. A robot automatic loading and unloading device for coal mill as claimed in claim 1 wherein: The second robot further comprises a track wheel set (10) and a position adjusting assembly (9) mounted on the track wheel set (10), wherein the position adjusting assembly (9) comprises: a plurality of sequentially connected track plates (91); a sliding seat (92) which is limitingly and slidingly arranged on the track plate (91), and is used for mounting the loading and unloading assembly (8), and through adjusting the position of the sliding seat (92), the slag discharge cylinder on the loading and unloading assembly (8) can be supported on the track plate (91); a rack (93) which is fixed on the track plate (91) along the extension direction of the track plate (91); and a motor (94) which is fixed on the sliding seat (92), and the output end of the motor (94) is fixed with a gear which is engaged with the rack.

5. The robot automatic loading and unloading device suitable for the coal mill according to claim 1 or 4, characterized in that: the clamping assembly (83) further comprises two groups of symmetrical telescopic cylinders (836), each group of telescopic cylinders (836) is a plurality of telescopic cylinders (836) which are distributed along the axial direction of the arc seat (831), the telescopic ends of the telescopic cylinders (836) are fixed with four arc rods (837) which are circumferentially distributed, and the arc rods (837) are fixed with resistance increasing discs (838).

Images