A coal bunker unblocking robot device

Abstract

This invention discloses a coal bunker unblocking robot device, including a slide rail with a servo-driven sliding trolley. A servo-driven lifting vertical rod is mounted on the trolley via a sleeve, and a rotatable cleaning component is located at the lower end of the vertical rod. Support seats are located at both ends of the slide rail, and these support seats can be connected to the upper side wall of the coal bunker. Multiple rollers are rotatably mounted below each support seat, and the spacing between the rollers can be adjusted to clamp between the inner and outer walls of the coal bunker. Each support seat has at least one roller connected to a roller motor. Compared with existing technologies, this invention has the advantages of improved cleaning efficiency, flexibility, and adaptability. These advantages not only make coal bunker cleaning easier and more efficient but also provide strong protection for the safe operation of the coal bunker.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically a coal bunker unblocking robot device. Background Technology

[0002] As a key facility for coal storage and transfer, the efficiency and safety of coal bunkers are crucial considerations for the development of the coal industry. Coal bunker unblocking is a vital link in ensuring the normal operation of coal bunkers, and its technical level and operational efficiency directly affect the continuity and safety of coal production.

[0003] Coal bunkers are typically designed with a cylindrical upper section and a conical lower section. During the flow of raw coal within the bunker, the coal itself is compressed, and fine coal dust easily adheres to the inner wall. This natural adhesion phenomenon leads to a rapid increase in the friction coefficient of the bunker's inner wall, causing the adhered coal dust to accumulate layer by layer, forming coal seam caking. This not only reduces the effective usable space of the coal bunker and lowers its storage capacity, but can also lead to blockages, severely impacting the normal transfer of coal and the continuity of production.

[0004] Existing coal bunker unblocking technologies mainly include manual cleaning, hydraulic automatic cleaning devices, and high-pressure water jet cleaning devices. Hydraulic automatic cleaning devices typically consist of a support arm, hydraulic cylinders, and a control system. The extension and retraction of the hydraulic cylinders drives the support arm to perform cleaning operations inside the coal bunker. High-pressure water jet cleaning devices utilize high-pressure water jets to impact the coal bunker walls, achieving the purpose of removing adhered coal.

[0005] Although existing coal bunker cleaning technologies can meet the needs of coal production to a certain extent, some shortcomings remain: High-pressure water jet cleaning requires a large amount of water for flushing, increasing the burden on water resources; while high-pressure water jets can remove some coal dust when impacting the inner wall of the coal bunker, the water pressure may actually make hardened or compacted coal blocks even more difficult to clean; due to the large volume of the coal bunker and the distance between the nozzle and the side wall, there is water pressure loss during transmission, resulting in insufficient pressure to effectively remove coal dust by the time the water reaches the side wall, thus reducing cleaning efficiency; when using a robotic arm to adjust the cleaning device closer to the side wall, the lever length of the robotic arm needs to be increased to deliver the cleaning device deep into the coal bunker. This not only increases the complexity and cost of the robotic arm but also reduces its operational flexibility. Furthermore, the long lever and complex mechanical structure result in a large self-weight for the robotic arm, placing higher demands on the structural stability and load-bearing capacity of the coal bunker. In addition, due to the lever effect, the robotic arm is prone to swaying or deviation during operation, reducing the accuracy and stability of the cleaning process.

[0006] Therefore, it is necessary to provide a coal bunker unblocking robot device to solve the problems mentioned in the background art. Summary of the Invention

[0007] To achieve the above objectives, the present invention provides the following technical solution: a coal bunker unblocking robot device, including a slide rail, a servo-sliding trolley in the slide rail, a servo-lifting vertical rod in the trolley via a sleeve, and a rotatable cleaning component at the lower end of the vertical rod;

[0008] The slide rail is provided with support seats at both ends, and the support seats can be connected to the side wall at the upper end of the coal bunker;

[0009] The support base is rotatably provided with multiple rollers, the spacing of which can be adjusted to clamp between the inner and outer walls of the coal bunker, and each support base has at least one roller connected to a roller motor.

[0010] Furthermore, as a preferred embodiment, the crane is rotatably provided with a turntable, and the sleeve is fixed in the turntable.

[0011] Furthermore, as a preferred embodiment, a pressure rod is hinged to the lower end of the vertical rod, and a pull rope is fixed to the end of the pressure rod away from the vertical rod. A counterweight is connected below the pull rope, and the pull rope passes over a pulley mounted on the trolley and is wound into a winding device located at one end of the slide rail.

[0012] Furthermore, preferably, a connecting seat is hinged to one side of the lower end of the vertical rod, and the cleaning assembly is rotatably connected to the lower part of the connecting seat.

[0013] Furthermore, as a preferred embodiment, the connecting seat and the vertical rod are hinged with an inclined adjustment telescopic cylinder.

[0014] Furthermore, as a preferred embodiment, the cleaning assembly includes a rotating drum with multiple inclined scrapers distributed circumferentially on its outer wall.

[0015] Furthermore, as a preferred embodiment, the scraper is slidably embedded in the rotating drum, a central column is fixed in the center of the rotating drum, a connecting plate is rotatably provided in the central column, and a plurality of oval holes are distributed around the connecting plate, and each scraper is sequentially connected to the oval holes on one side inside the rotating drum.

[0016] Furthermore, as a preferred embodiment, a scraper adjustment telescopic cylinder is hinged between the central column and the connecting plate.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] In this invention, the cleaning component can be precisely positioned at any location within the coal bunker via a servo-sliding connecting seat, a traveling trolley, and a servo-lifting vertical rod, thereby achieving comprehensive cleaning of the coal bunker.

[0019] The tiltable cleaning components and the design of the counterweight ensure that the cleaning components adhere to the coal bunker sidewall with appropriate pressure and angle, achieving efficient and low-wear cleaning.

[0020] The rotating cleaning components and scraper design enable efficient removal of coal chunks from the side walls of the coal bunker, greatly improving cleaning efficiency.

[0021] In addition, by adjusting the length of the scraper extending out of the rotating drum, a suitable cleaning method can be selected according to the hardness and looseness of the coal, further improving cleaning efficiency; at the same time, the self-cleaning function of the cleaning component can ensure that no coal chunks are trapped between the scrapers, maintaining the durability of the cleaning effect. Attached Figure Description

[0022] Figure 1 A schematic diagram of a coal bunker unblocking robot device;

[0023] Figure 2 A structural diagram illustrating the cleaning of the vertical surface of the cleaning component;

[0024] Figure 3 A structural diagram illustrating the cleaning slope of the cleaning component;

[0025] Figure 4 A structural diagram showing the cross-section of the component being cleaned;

[0026] In the diagram: 1. Slide rail; 2. Carriage; 31. Vertical rod; 32. Connecting seat; 33. Tilt adjustment telescopic cylinder; 4. Sleeve; 5. Cleaning assembly; 51. Rotary drum; 52. Scraper; 53. Central column; 54. Connecting plate; 55. Oval hole; 56. Scraper adjustment telescopic cylinder; 61. Support seat; 62. Roller; 63. Roller motor; 7. Turntable; 8. Pressure rod; 91. Counterweight; 92. Pull rope; 93. Pulley; 94. Winding device. Detailed Implementation

[0027] Please see Figure 1 In this embodiment of the invention, a coal bunker unblocking robot device includes a slide rail 1, a servo-sliding trolley 2 in the slide rail 1, a servo-lifting vertical rod 31 in the trolley 2 through a sleeve 4, and a rotatable cleaning component 5 at the lower end of the vertical rod 31.

[0028] The slide rail 1 is provided with support seats 61 at both ends, and the support seats 61 can be connected to the side wall at the upper end of the coal bunker.

[0029] The slide rail 1 is mounted on the upper part of the coal bunker by two support seats 61. The lateral position of the cleaning component 5 can be changed by the sliding of the traveling trolley 2, and the depth of the cleaning component 5 can be changed by the raising and lowering of the vertical rod 31, thereby cleaning different parts of the coal bunker.

[0030] In this embodiment, a plurality of rollers 62 are rotatably provided below the support base 61. The rollers 62 are adjustable in spacing to clamp between the inner and outer walls of the coal bunker, and at least one roller 62 of each support base 61 is connected to a roller motor 63. That is, the roller motor 63 can drive the support base 61 to slide on the upper part of the coal bunker side wall, and when two support bases 61 slide synchronously in the same direction, they can drive the slide rail 1 to change its circumferential direction on the coal bunker, thereby changing the circumferential position of the cleaning component 5 on the side wall of the coal bunker.

[0031] In this embodiment, the crane 2 is rotatably provided with a turntable 7, and the sleeve 4 is fixed in the turntable 7.

[0032] In this embodiment, a pressure rod 8 is hinged to the lower end of the vertical rod 31. A pull rope 92 is fixed to the end of the pressure rod 8 away from the vertical rod 31. A counterweight 91 is connected to the lower part of the pull rope 92. The pull rope 92 passes over a pulley 93 set on the traveling trolley 2 and is wound into a winding device 94 located at one end of the slide rail 1.

[0033] In other words, by changing the length of the winding rope 92 of the winding device 94, the height of the counterweight 91 can be changed, and the angle between the pressure rod 8 and the vertical rod 31 can be changed at the same time. When the angle between the pressure rod 8 and the vertical rod 31 is larger, the lateral pressure applied by the pressure rod 8 to the cleaning component 5 is also greater, so that the cleaning component 5 can adhere to the side wall of the coal bunker with a certain pressure, ensuring efficient cleaning of the coal bunker. When the angle between the pressure rod 8 and the vertical rod 31 is smaller, the lateral pressure applied by the pressure rod 8 to the cleaning component 5 is also smaller, and the pressure of the cleaning component 5 on the side wall of the coal bunker is reduced. When the coal pieces adhering to the side wall of the coal bunker are thin or loose, the mutual wear between the cleaning component 5 and the side wall of the coal bunker can be reduced.

[0034] Please see Figure 2 and Figure 3 In this embodiment, a connecting seat 32 is hinged to one side of the lower end of the vertical rod 31, and the cleaning component 5 is rotatably connected to the lower part of the connecting seat 32 and can be driven to rotate by a motor.

[0035] In this embodiment, a tilting adjustment telescopic cylinder 33 is hinged between the connecting seat 32 and the vertical rod 31.

[0036] In other words, by tilting and adjusting the telescopic cylinder 33 to extend and retract, the tilt angle between the cleaning component 5 and the vertical rod 31 can be changed, thereby enabling the cleaning component 5 to clean the inclined surface inside the coal bunker.

[0037] Please see Figure 4In this embodiment, the cleaning component 5 includes a rotating drum 51, and multiple inclined scrapers 52 are distributed around the outer circumference of the rotating drum 51. When the rotating drum 51 rotates against the inclination direction of the scrapers 52, the blades of the scrapers 52 can scrape off the coal lumps adhering to the side wall of the coal bunker, thereby achieving the effect of cleaning the coal bunker.

[0038] In this embodiment, the scraper 52 is slidably embedded in the rotating drum 51. A central column 53 is fixed in the center of the rotating drum 51. A connecting plate 54 is rotatably provided in the central column 53. A plurality of oval holes 55 are distributed around the connecting plate 54. Each scraper 52 is connected to one side of the rotating drum 51 in sequence to the oval hole 55.

[0039] In this embodiment, a scraper adjustment telescopic cylinder 56 is hinged between the central column 53 and the connecting plate 54.

[0040] The extension and retraction of the scraper adjustment telescopic cylinder 56 enables the connecting plate 54 to rotate. When the connecting plate 54 rotates, it can drive each scraper 52 to slide on the side wall of the rotating drum 51, thereby changing the length of the scraper 52 extending out of the rotating drum 51. The oblong hole 55 is used to accommodate the change in the radial position between the end of the scraper 52 and the connecting plate 54 after the length of the scraper 52 extending out of the rotating drum 51 is changed. The scraper adjustment telescopic cylinder 56 is connected to an external cable through an electric slip ring.

[0041] The longer the scraper 52 extends beyond the rotating drum 51, the higher the scraping efficiency. However, due to the increased lever length, the pressure applied to the end of the scraper 52 is relatively small, making it more suitable for cleaning loose coal lumps. Conversely, the longer the scraper 52 extends beyond the rotating drum 51, the lower the cleaning efficiency. However, due to the decreased lever length, the pressure applied to the end of the scraper 52 is relatively large, making it more suitable for cleaning hard coal lumps. Furthermore, when the scraper 52 is completely retracted into the rotating drum 51, it can clean the coal lumps trapped between the scrapers 52, achieving a self-cleaning effect.

[0042] In practice, this includes:

[0043] Install support bases: The slide rail 1 is mounted on the upper end of the coal bunker through two support bases 61. Multiple rollers 62 are provided below the support bases 61. The spacing of these rollers can be adjusted to adapt to the distance between the inner and outer walls of the coal bunker, ensuring that the rollers 62 are in close contact with the side walls of the coal bunker and fixing the support bases 61.

[0044] Adjusting the circumferential position: Start the roller motor 63 to drive the support seat 61 to slide on the upper part of the coal bunker side wall. By controlling the two support seats 61 to slide synchronously in the same direction, the circumferential position of the slide rail 1 on the coal bunker can be changed, thereby adjusting the circumferential position of the cleaning component 5 on the coal bunker side wall.

[0045] Lateral movement and lifting: By controlling the servo sliding of the traveling trolley 2 on the slide rail 1, the lateral position of the cleaning component 5 can be changed; by controlling the servo lifting of the vertical rod 31 in the sleeve 4, the depth of the cleaning component 5 can be adjusted so that it can reach different parts inside the coal bunker.

[0046] Adjusting the cleaning pressure: Based on the characteristics of the coal blocks in the coal bunker, the height of the counterweight 91 is changed by winding or releasing the pull rope 92 through the winding device 94, thereby adjusting the angle between the pressure rod 8 and the vertical rod 31; the larger the angle, the greater the lateral pressure applied by the pressure rod 8 to the cleaning component 5; the smaller the angle, the smaller the pressure; this ensures that the cleaning component 5 can adhere to the side wall of the coal bunker with appropriate pressure, achieving efficient and low-wear cleaning;

[0047] Cleaning operation: Start the motor in the cleaning component 5 to drive the rotating drum 51 to rotate. The scraper 52 on the rotating drum 51 rotates in the opposite direction of the tilt to scrape off the coal blocks adhering to the side wall of the coal bunker. According to the hardness and looseness of the coal blocks, adjust the extension and retraction cylinder 56 of the scraper to adjust the length of the scraper 52 extending out of the rotating drum 51 to obtain the best cleaning effect.

[0048] Sloping surface cleaning: For the sloping part inside the coal bunker, the tilt adjustment telescopic cylinder 33 can be extended and retracted to change the tilt angle between the cleaning component 5 and the vertical rod 31, so that the cleaning component 5 can fit the sloping surface for cleaning.

[0049] Self-cleaning operation: When it is necessary to clean the coal lumps trapped between the scrapers 52, the scrapers 52 can be completely retracted into the rotating drum 51, and self-cleaning is achieved by rotating the drum 51.

[0050] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A coal bunker unblocking robot device, comprising a slide rail (1), characterized in that, The slide rail (1) is provided with a servo-sliding trolley (2), and the trolley (2) is provided with a servo-lifting vertical rod (31) through a sleeve (4). The lower end of the vertical rod (31) is provided with a rotatable cleaning component (5). The slide rail (1) is provided with support seats (61) at both ends, and the support seats (61) can be connected to the side wall at the upper end of the coal bunker; Multiple rollers (62) are rotatably provided below the support base (61). The rollers (62) are adjustable in spacing to clamp between the inner and outer walls of the coal bunker. Each support base (61) has at least one roller (62) connected to a roller motor (63). The crane (2) is rotatably provided with a turntable (7), and the sleeve (4) is fixed in the turntable (7); The lower end of the vertical rod (31) is hinged to a pressure rod (8), and a pull rope (92) is fixed to the end of the pressure rod (8) away from the vertical rod (31). A weight (91) is connected to the lower end of the pull rope (92), and the pull rope (92) passes over a pulley (93) set on the trolley (2) and is wound into a winding device (94) located at one end of the slide rail (1). A connecting seat (32) is hinged to one side of the lower end of the vertical rod (31), and the cleaning component (5) is rotatably connected to the lower part of the connecting seat (32). An inclined adjustment telescopic cylinder (33) is hinged between the connecting seat (32) and the vertical rod (31).

2. The coal bunker unblocking robot device according to claim 1, characterized in that, The cleaning assembly (5) includes a rotating drum (51) with multiple inclined scrapers (52) distributed circumferentially on the outer wall of the rotating drum (51).

3. The coal bunker unblocking robot device according to claim 2, characterized in that, The scraper (52) is slidably embedded in the rotating drum (51). A central column (53) is fixed in the center of the rotating drum (51). A connecting plate (54) is rotatably provided in the central column (53). A plurality of oval holes (55) are distributed around the connecting plate (54). Each scraper (52) is connected to one side of the rotating drum (51) in sequence in the oval holes (55).

4. The coal bunker unblocking robot device according to claim 3, characterized in that, A scraper adjustment telescopic cylinder (56) is hinged between the central column (53) and the connecting plate (54).

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