Coal bunker blockage clearing device and operation method

Abstract

The present invention relates to the technical field of coal bunker blockage clearing and treatment, and specifically to a coal bunker blockage clearing device and operation method; the coal bunker blockage clearing device comprises: a robot, the robot comprising an intermediate platform and an impact mechanism, a moving mechanism being provided on both sides of the intermediate platform, the moving mechanism comprising an air motor and a screw propulsion mechanism, the air motor being connected to the screw propulsion mechanism, the air motor being connected to a valve box in the intermediate platform, the air motor being used to drive the screw propulsion mechanism to move; the impact mechanism being provided on the intermediate platform, the impact mechanism being provided with a pneumatic integrated component, the pneumatic integrated component comprising an integrated pneumatic spear and an air cannon; a hoisting mechanism being provided on the coal bunker and arranged near the coal bunker entrance, the hoisting mechanism being provided with an air compressor, the pneumatic integrated component being connected to the air compressor. The device can break up and drop coal slag that has accumulated for a long time due to excessive viscosity, thereby completely solving the problem of coal bunker blockage; and the device can clear the coal slag accumulated in the coal bunker, so that the coal slag can be smoothly discharged from the coal bunker.

Description

Technical Field

[0001] The present invention relates to the technical field of coal bunker blockage clearing and treatment, and in particular to a coal bunker blockage clearing device and an operation method. Background Art

[0002] The height of existing vertical coal bunkers is generally in the range of 20m-30m; the cross-sectional area of ​​the coal bunker is 5-25m², the diameter of the circular section is 2.5-5m, the width of the arched section is about 3m, and the height is greater than 2m; the inclination angle of the inclined coal bunker is greater than or equal to 60°. The lower part of the coal bunker is generally a conical closing funnel, which can better reduce congestion. However, a common problem in production operation is that every winter or on rainy days, due to the humid weather, the raw coal bunker is often blocked, affecting the normal supply of coal. The coal bunker structure is as follows: Figure 1 shown.

[0003] Most coal mines still use the traditional manual cleaning method, such as Figure 1-2 Manual bunker cleaning doesn't require special equipment, but it's time-consuming and labor-intensive. The lack of ventilation in the bunker, harmful gases, and the large amounts of dust and other particulate matter created by the cleaning process can seriously harm workers' health. While working in the bunker, adhesives can sometimes fall and injure workers due to knocks and gravity.

[0004] Another solution is to install two electric vibrators on each coal bin. When there is a blockage, the coal can be loosened by vibration and fall down. This solution has a certain effect, but when the coal is very humid and has a high moisture content, it will stick to the wall and sometimes the more it is vibrated, the more solid it becomes, making it difficult to drop the coal.

[0005] Henan Polytechnic University has designed a vertical dredging equipment based on the technology of air cannon and the principle of dynamic high pressure. Figure 2 During the dredging process, the rubber bullets in the firing canister are accelerated by controlled high-pressure air and hit the coal in the coal bunker at high speed.

[0006] Air cannons are easy to operate and can be controlled manually, pneumatically, or electrically, individually or in groups. When using air cannons to clear the coal, the lower portion must be cleared first, followed by the upper portion, to facilitate coal removal. While air cannons significantly improve efficiency compared to manual clearing and relieve workers from high-intensity manual labor, they require a time-consuming energy storage process, resulting in low efficiency.

[0007] Most of the coal bunker blockage clearing solutions available on the market can remove the coal slag near the center of the coal bunker and make it slide out of the coal bunker. However, since the diameter of the coal bunker is as long as 2.5-5m, most of the existing treatment solutions are unable to solve the problem of coal slag accumulated on both sides of the coal bunker, causing the coal slag in the coal bunker to still accumulate on both sides of the coal bunker. Moreover, the force that can be generated by most of the existing coal bunker coal slag treatment solutions is unable to break up and drop the coal slag that has accumulated for a long time due to excessive viscosity, and cannot completely solve the blockage problem of the coal bunker. Summary of the Invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the fact that most of the coal slag treatment solutions in the existing technology can generate forces that cannot break up and drop the coal slag accumulated for a long time due to excessive viscosity, and cannot completely solve the problem of coal bin blockage, thereby providing a coal bin clearing device and operating method.

[0009] In order to solve the above technical problems, the present invention provides a coal bunker blockage clearing device, comprising: a robot, the robot comprising an intermediate platform and an impact mechanism, moving mechanisms are provided on both sides of the intermediate platform, the moving mechanism comprises a pneumatic motor and a spiral propulsion mechanism, the pneumatic motor is connected to the spiral propulsion mechanism, the pneumatic motor is connected to the valve box in the intermediate platform, and the pneumatic motor is used to drive the spiral propulsion mechanism to move; the impact mechanism is arranged on the intermediate platform, and a pneumatic integrated component is provided on the impact mechanism, and the pneumatic integrated component comprises a pneumatic spear and an air cannon integrated into one piece; a lifting mechanism is provided on the coal bunker and is arranged close to the coal bunker entrance, an air compressor is provided in the lifting mechanism, and the pneumatic integrated component is connected to the air compressor; an observation mechanism is provided at the coal bunker entrance, and the observation mechanism is used to detect the internal situation of the coal bunker.

[0010] Furthermore, the impact mechanism includes a mechanical arm and a mechanical claw, the mechanical arm is rotatably arranged on the intermediate platform, the mechanical claw is arranged on the mechanical arm, and the mechanical claw is used to clamp the pneumatic integrated component.

[0011] Furthermore, the mechanical claw includes a base, a main body, and a clamping claw. The base is arranged at one end of the mechanical arm, the main body is arranged on the base, and the clamping claw is arranged on the main body. The clamping claw is used to clamp the pneumatic integrated component.

[0012] Furthermore, the pneumatic motor is connected to the valve box via a hose.

[0013] Furthermore, the lifting mechanism includes a lifting platform, a lifting device, and a driving member. The lifting device and the driving member are both arranged on the lifting platform. A lifting arm is provided at one end of the lifting device, and a steel cable is provided on the lifting arm. One end of the steel cable is connected to the driving member, and the other end is connected to the robot.

[0014] Furthermore, a clamp is provided at the other end of the steel cable, and the clamp is used to clamp the robot.

[0015] Furthermore, a fixed pulley is provided on the boom, and the steel cable is provided on the fixed pulley.

[0016] Furthermore, the driving member includes a motor and a drum, the motor is connected to the drum, and one end of the steel cable is wound around the drum.

[0017] Furthermore, the observation mechanism includes a depth camera and a fill light. The depth camera is used to obtain color images and depth images, detect coal slag accumulation, obstacle detection, distance measurement, and path planning and automatic control during robot operation. The observed data information is transmitted to the remote control system via WiFi.

[0018] The present invention also provides an operation method of the coal bunker blockage clearing device, comprising: a sling is arranged above the coal bunker entrance, a clamp is aligned with the coal bunker entrance, a robot is clamped with the clamp and aligned with the upper entrance of the coal bunker, a motor drives the steel cable to drop the robot clamped by the clamp onto the coal slag accumulated in the center of the coal bunker and then releases the clamp, an observation mechanism for observing downward is arranged at the coal bunker entrance, the observed data information is transmitted to the remote control system via WiFi, the computer of the external remote control system issues a command, the robot starts working, carries a pneumatic spear and walks to the coal slag accumulation blockage position, the robotic arm rotates and falls, so that the spear head of the pneumatic spear is against the surface of the blocked coal slag, the pneumatic spear starts working, the spear head of the pneumatic spear penetrates into the accumulated coal slag and impacts the coal slag, so that the accumulated The coal slag is crushed. If the viscosity of the coal slag is high due to excessive humidity and ordinary impact cannot crush the coal slag, an air cannon is used to release the impact gas to directly impact the accumulated coal slag, destroy the static friction between the coal slag, and restore the coal slag to a state of gravity sliding. The loosened coal slag flows out of the coal bunker along the conical inner wall at the bottom of the coal bunker. After the dredging work is completed, the user can directly pull the hose installed behind the pneumatic spear outside the coal bunker to make the pneumatic spear leave the coal bunker and realize the recovery of the pneumatic spear. After the robot transports the pneumatic spear to the coal slag pile, the external computer sends a command to make the robot return to the position under the clamp, so that the clamp re-clamps the robot, and the sling drives the steel cable to rise, and lifts the robot from the coal bunker entrance to realize the recovery of the robot.

[0019] The technical solution of the present invention has the following advantages:

[0020] The coal bunker blockage clearing device provided by the present invention includes: a robot, the robot includes an intermediate platform and an impact mechanism, moving mechanisms are provided on both sides of the intermediate platform, the moving mechanism includes a pneumatic motor and a spiral propulsion mechanism, the pneumatic motor is connected to the spiral propulsion mechanism, the pneumatic motor is connected to the valve box in the intermediate platform, and the pneumatic motor is used to drive the spiral propulsion mechanism to move; the impact mechanism is provided on the intermediate platform, and a pneumatic integrated component is provided on the impact mechanism, and the pneumatic integrated component includes a pneumatic spear and an air cannon integrated into one piece; a lifting mechanism is provided on the coal bunker and is arranged close to the coal bunker entrance, an air compressor is provided in the lifting mechanism, and the pneumatic integrated component is connected to the air compressor; an observation mechanism is provided at the coal bunker entrance, and the observation mechanism is used to detect the internal situation of the coal bunker.

[0021] A hoisting mechanism, located at the entrance to the coal bunker, facilitates the robot's transport to the interior of the bunker, where it can be used to clear accumulated coal slag. The robot comprises a central platform, a mobile mechanism located on either side of the platform, and an impact mechanism. A pneumatic motor within the mobile mechanism drives the rotation of a spiral propulsion mechanism, enabling the robot to navigate the complex coal bunker environment. Simultaneously, an observation mechanism is used to adaptively adjust the robot. The pneumatic assembly comprises a pneumatic spear and an air cannon, all integrated into one unit. Compressed air from an air compressor forces the pneumatic spear's piston to reciprocate, continuously impacting the spearhead, which squeezes the surrounding clogged coal slag and propels the spear forward. As the pneumatic spear advances, it can pull pipelines with smaller diameters into the coal slag, achieving deeper dredging. When conventional impact forces are unable to break or clear coal slag, the air cannon dredging device delivers a greater impact on the accumulated coal slag, clearing the clogged coal slag. The air cannon is powered by compressed gas. When it contacts accumulated coal slag, it suddenly releases the compressed gas through an air blast device, creating a powerful jet of air. The airflow can exceed the speed of sound, directly impacting the blocked area in the coal bunker. Because the compressed air creates a strong impact, this impact destroys the static friction between the coal slag, causing the stored material in the coal bunker to resume falling. The loosened coal slag flows out of the coal bunker along the tapered inner wall at the bottom of the coal bunker. Once the dredging work is completed, the user can directly pull the hose installed behind the pneumatic spear from outside the coal bunker to remove the pneumatic spear from the coal bunker and complete the recovery of the pneumatic spear. The robot transports the pneumatic spear to the coal slag pile and then uses the hoisting mechanism to lift the robot to the top of the coal bunker.

[0022] This coal bunker clearing device breaks up and drops coal slag that has accumulated for a long time due to excessive viscosity, completely resolving the problem of coal bunker blockage. It effectively clears the coal slag that has accumulated in the coal bunker, allowing it to be discharged smoothly, thus resolving the dangerous working environment in the coal bunker. Traditional methods cannot solve the problem of the two sides being too far from the center of the coal bunker. This device relieves workers from heavy physical labor and harsh working environments, protecting their lives and is also a key way to improve coal production and coal washing efficiency. It also features explosion-proof, dustproof, and waterproof features to ensure stable operation in harsh underground environments. Its automated operation improves the efficiency and safety of bunker clearing operations.

[0023] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A cross-sectional view of the coal bunker provided by the prior art;

[0026] Figure 2 A schematic diagram of the structure of a vertical dredging device provided by the prior art;

[0027] Figure 3 A schematic diagram of the arrangement of the lifting mechanism provided by the present invention;

[0028] Figure 4 A schematic structural diagram of the robot provided by the present invention;

[0029] Figure 5 A cross-sectional view of the robot provided by the present invention;

[0030] Figure 6 A schematic diagram of the structure of the mechanical claw provided by the present invention;

[0031] Figure 7 A schematic structural diagram of the lifting mechanism provided by the present invention;

[0032] Figure 8 A schematic diagram of the arrangement of the robot provided by the present invention in a coal bunker;

[0033] Figure 9 This is a schematic diagram of the working status of the robot provided by the present invention.

[0034] Description of reference numerals:

[0035] 1. Robot; 2. Intermediate platform; 3. Impact mechanism; 4. Moving mechanism; 5. Pneumatic motor; 6. Screw propulsion mechanism; 7. Valve box; 8. Pneumatic integrated components; 9. Hoisting mechanism; 10. Coal bunker; 11. Air compressor; 12. Coal slag; 13. Robotic arm; 14. Robotic claw; 15. Base; 16. Main body; 17. Clamp; 18. Hose; 19. Hoisting platform; 20. Spreader; 21. Boom; 22. Steel cable; 23. Clamp; 24. Fixed pulley; 25. Motor; 26. Drum. DETAILED DESCRIPTION

[0036] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0037] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0038] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0039] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0040] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0041] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0042] See also Figures 3 to 9 As shown, the present invention provides a coal bunker blockage clearing device, comprising: a robot 1, the robot 1 comprising an intermediate platform 2 and an impact mechanism 3, moving mechanisms 4 are provided on both sides of the intermediate platform 2, the moving mechanism 4 comprises a pneumatic motor 5 and a screw propulsion mechanism 6, the pneumatic motor 5 is connected to the screw propulsion mechanism 6, the pneumatic motor 5 is connected to the valve box 7 in the intermediate platform 2, and the pneumatic motor 5 is used to drive the screw propulsion mechanism 6 to move; the impact mechanism 3 is arranged on the intermediate platform 2, and a pneumatic integrated component 8 is provided on the impact mechanism 3, and the pneumatic integrated component 8 includes a pneumatic spear and an air cannon integrated into one piece; a hoisting mechanism 9 is provided on the coal bunker 10 and is arranged near the entrance of the coal bunker 10, an air compressor 11 is provided in the hoisting mechanism 9, and the pneumatic integrated component 8 is connected to the air compressor 11; an observation mechanism (not shown in the figure) is provided at the entrance of the coal bunker 10, and the observation mechanism is used to detect the internal situation of the coal bunker 10.

[0043] The hoisting mechanism 9, located at the entrance to the coal bunker 10, facilitates the transport of the robot 1 into the coal bunker 10. This facilitates the operation of the robot 1, thereby clearing the accumulated coal slag 12 in the coal bunker 10. The robot 1 comprises an intermediate platform 2, a moving mechanism 4 disposed on either side of the intermediate platform 2, and an impact mechanism 3. The pneumatic motor 5 within the moving mechanism 4 drives the rotation of the screw propulsion mechanism 6, enabling the robot 1 to navigate the complex environment of the coal bunker 10. At the same time, the robot 1 is adaptively adjusted in conjunction with the observation mechanism. Since the pneumatic assembly 8 includes a pneumatic spear and an air cannon integrated into one piece, the pneumatic spear, under the action of compressed air generated by the air compressor 11, causes the piston inside the pneumatic spear to reciprocate, continuously impacting the spear head, which squeezes the surrounding clogged coal slag 12 and drives the spear body forward. As the pneumatic spear advances, pipelines with a smaller diameter than the spear body can be brought into the coal slag 12 to achieve deeper dredging work. When encountering coal slag 12 that cannot be broken and dredged by conventional impact, the air cannon dredging device is used to achieve a greater impact on the accumulated coal slag 12, thereby dredging the clogged coal slag 12. The air cannon is powered by compressed gas. When the air cannon contacts the accumulated coal slag 12, the compressed gas is suddenly released through the air impact device, forming a strong jet of air. The air flow speed can exceed the speed of sound and directly impact the clogged area in the coal bin 10. Since the airflow formed by the compressed air has a great impact force, this impact destroys the static friction between the coal slag 12, causing the materials stored in the coal bin 10 to resume falling, and the loosened coal slag 12 flows out of the coal bin 10 along the conical inner wall at the bottom of the coal bin 10. After the dredging work is completed, the user can directly pull the hose 18 installed behind the pneumatic spear outside the coal bin 10 to make the pneumatic spear leave the coal bin 10 and realize the recovery of the pneumatic spear. The robot 1 transports the pneumatic spear to the pile of coal slag 12, and then uses the lifting mechanism 9 to lift the robot 1 to the top of the coal bin 10.

[0044] This coal bunker blockage clearing device breaks up and drops coal slag 12 that has accumulated for a long time due to excessive viscosity, completely resolving the problem of coal bunker blockage. It also clears the coal slag 12 accumulated in the coal bunker 10, allowing it to be smoothly discharged from the coal bunker 10, thereby resolving the dangerous working environment in the coal bunker 10. The device also relieves workers from heavy physical labor and harsh working environments, protecting their lives. It is also an important way to improve coal production and coal washing efficiency. It also features explosion-proof, dustproof, and waterproof features to ensure stable operation in harsh underground environments. Its automated operation improves the efficiency and safety of bunker clearing operations.

[0045] Air cannons, also known as air flow aids, are specialized devices used to prevent and eliminate material arching, silo blockage, wall sticking, and retention at various types of silos, hoppers, and pipeline bifurcations. They are suitable for various cylindrical silos, hoppers, pipelines, and flat-bottomed stockpiles made of steel, concrete, and other materials. They are widely used in thermal power generation, coal mines, and underground coal bunkers.

[0046] In some optional embodiments, the impact mechanism 3 includes a robotic arm 13 and a robotic claw 14 , wherein the robotic arm 13 is rotatably disposed on the intermediate platform 2 , and the robotic claw 14 is disposed on the robotic arm 13 , and the robotic claw 14 is used to clamp the pneumatic integrated component 8 .

[0047] The mechanical arm 13 is rotatably arranged on the middle platform 2 , that is, the mechanical arm 13 can rotate relative to the middle platform 2 , and at the same time, the mechanical claw 14 on the mechanical arm 13 is driven to rotate, so that the pneumatic integrated component 8 moves, which can produce an impact on the coal slag 12 .

[0048] In some optional embodiments, the mechanical claw 14 includes a base 15 and a main body 16, and a clamp 17, the base 15 is arranged at one end of the mechanical arm 13, the main body 16 is arranged on the base 15, the clamp 17 is arranged on the main body 16, and the clamp 17 is used to clamp the pneumatic integrated component 8.

[0049] The clamping jaw 17 is composed of two half clamping jaws 17 , which are clamped by gear meshing in the middle, thereby achieving the clamping and release of the pneumatic spear.

[0050] Specifically, the pneumatic motor 5 is connected to the valve box 7 via a hose 18. Through the arrangement of the hose 18, the other end of the hose 18 is connected to the valve box 7 in the middle platform 2, and the pneumatic motor 5 transmits power to the screw propulsion mechanism 6, causing the screw propulsion mechanism 6 to rotate, enabling the robot 1 to walk in the complex environment of the coal bunker 10.

[0051] In some optional embodiments, the hoisting mechanism 9 includes a hoisting platform 19, a sling 20, and a drive unit. The sling 20 and the drive unit are both mounted on the hoisting platform 19. A boom 21 is provided at one end of the sling 20, and a steel cable 22 is mounted on the boom 21. One end of the steel cable 22 is connected to the drive unit, and the other end is connected to the robot 1. A clamp 23 is provided at the other end of the steel cable 22 for clamping the robot 1. Furthermore, a fixed pulley 24 is provided on the boom 21, and the steel cable 22 is mounted on the fixed pulley 24.

[0052] The driving component includes a motor 25 and a drum 26 . The motor 25 is connected to the drum 26 , and one end of the steel cable 22 is wound around the drum 26 .

[0053] The sling 20 is a sling 20 that can rotate relative to the lifting platform 19. One end of the boom 21 is installed on the lifting platform 19. A steel cable 22 is installed above the head of the boom 21 to control the rotation height of the boom 21. A fixed pulley 24 is installed on the lower side of the head of the boom 21. Another steel cable 22 is passed around the upper side of the fixed pulley 24. The other end of the steel cable 22 is connected to the clamp 23 to clamp the robot 1 to the top of the coal pile in the coal bin 10. After the operation is completed, the clamping robot 1 is recovered to the lifting platform 19. A motor 25 and a reel 26 are installed on the lifting platform 19. The motor 25 is used to generate a certain pulling force on the steel cable 22 on the boom 21, and the reel 26 is used to store the steel wire.

[0054] The air compressor 11 is installed on the hoisting platform 19 and connected to the hose 18 behind the pneumatic spear to supply high-pressure gas to the pneumatic spear.

[0055] In some optional embodiments, the observation mechanism includes a depth camera and a fill light. The depth camera is used to acquire color and depth images, detect the accumulation of coal slag 12, detect obstacles, measure distance, and perform path planning and automatic control during robot 1 operation. The observed data is transmitted to a remote control system via WiFi. The fill light is used to increase the brightness within the coal bunker 10, thereby facilitating image acquisition by the depth camera.

[0056] The present invention also provides an operating method of a coal bunker blockage clearing device, comprising: a sling 20 is arranged above the entrance of the coal bunker 10, a clamp 23 is aligned with the entrance of the coal bunker 10, a robot 1 is clamped with the clamp 23 and aligned with the entrance above the coal bunker 10, a motor 25 drives the steel cable 22 to drop the robot 1 clamped by the clamp 23 onto the coal slag 12 accumulated in the center of the coal bunker 10, and then the clamp 23 is released, an observation mechanism for observing downward is arranged at the entrance of the coal bunker 10, and the observed data information is transmitted to the remote control system via WiFi, the computer of the external remote control system issues a command, the robot 1 starts working, and walks to the position where the coal slag 12 is accumulated and blocked with the pneumatic spear, the robotic arm 13 rotates and falls, so that the spear head of the pneumatic spear is against the surface of the blocked coal slag 12, the pneumatic spear starts working, the spear head of the pneumatic spear penetrates into the accumulated coal slag 12 and impacts the coal slag 12, so that the accumulated coal The slag 12 is broken. If the viscosity of the coal slag 12 is high due to excessive humidity and ordinary impact cannot break the coal slag 12, an air cannon is used to release the impact gas to directly impact the accumulated coal slag 12, thereby destroying the static friction between the coal slag 12 and restoring the coal slag 12 to a state of gravity sliding. The loosened coal slag 12 flows out of the coal bin 10 along the conical inner wall at the bottom of the coal bin 10. After the dredging work is completed, the user can directly pull the hose installed behind the pneumatic spear outside the coal bin 10 to make the pneumatic spear leave the coal bin 10 and realize the recovery of the pneumatic spear. After the robot 1 transports the pneumatic spear to the pile of coal slag 12, the external computer sends a command to make the robot 1 return to the position below the clamp 23, so that the clamp 23 re-clamps the robot 1, and the sling 20 drives the steel cable 22 to rise, and the robot 1 is lifted away from the coal bin 10 from the entrance of the coal bin 10 to realize the recovery of the robot 1.

[0057] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A coal bunker blockage clearing device, characterized in that: include: A robot (1) comprising an intermediate platform (2) and an impact mechanism (3), wherein a moving mechanism (4) is provided on both sides of the intermediate platform (2), wherein the moving mechanism (4) comprises an air motor (5) and a screw propulsion mechanism (6), wherein the air motor (5) is connected to the screw propulsion mechanism (6), and the air motor (5) is connected to a valve box (7) in the intermediate platform (2), and the air motor (5) is used to drive the screw propulsion mechanism (6) to move; wherein the impact mechanism (3) is provided on the intermediate platform (2), and a pneumatic integrated component (8) is provided on the impact mechanism (3), and the pneumatic integrated component (8) comprises an air spear and an air cannon integrated into one piece; A hoisting mechanism (9) is provided on the coal bunker (10) and is arranged near the entrance of the coal bunker (10); an air compressor (11) is provided in the hoisting mechanism (9); and the pneumatic integrated component (8) is connected to the air compressor (11); An observation mechanism is provided at the entrance of the coal bunker (10), and the observation mechanism is used to detect the internal conditions of the coal bunker (10); The impact mechanism (3) includes a mechanical arm (13) and a mechanical claw (14), wherein the mechanical arm (13) is rotatably disposed on the intermediate platform (2), and the mechanical claw (14) is disposed on the mechanical arm (13), and the mechanical claw (14) is used to clamp the pneumatic integrated component (8); The mechanical claw (14) includes a base (15), a main body (16), and a clamping claw (17), wherein the base (15) is provided at one end of the mechanical arm (13), the main body (16) is provided on the base (15), and the clamping claw (17) is provided on the main body (16), and the clamping claw (17) is used to clamp the pneumatic integrated component (8); The hoisting mechanism (9) includes a hoisting platform (19), a hoisting device (20), and a driving member, wherein the hoisting device (20) and the driving member are both arranged on the hoisting platform (19), a hoisting arm (21) is provided at one end of the hoisting device (20), a steel cable (22) is provided on the hoisting arm (21), one end of the steel cable (22) is connected to the driving member, and the other end is connected to the robot (1); The other end of the steel cable (22) is provided with a clamp (23), and the clamp (23) is used to clamp the robot (1).

2. A coal bunker blockage clearing device according to claim 1, characterized in that: The pneumatic motor (5) is connected to the valve box (7) via a hose (18).

3. A coal bunker blockage clearing device according to claim 2, characterized in that: A fixed pulley (24) is provided on the boom (21), and the steel cable (22) is provided on the fixed pulley (24).

4. A coal bunker blockage clearing device according to claim 3, characterized in that: The driving member comprises a motor (25) and a drum (26), wherein the motor (25) is connected to the drum (26), and one end of the steel cable (22) is wound around the drum (26).

5. The coal bunker blockage clearing device according to claim 1, characterized in that: The observation mechanism includes a depth camera and a fill light. The depth camera is used to obtain color images and depth images, detect the accumulation of coal slag (12), detect obstacles, measure distance, and plan and automatically control the path of the robot (1) during operation. The observed data information is transmitted to the remote control system via WiFi.

6. An operating method using the coal bunker blockage clearing device according to any one of claims 1 to 5, characterized in that: include: The hoist (20) is arranged above the entrance of the coal bunker (10), and the clamp (23) is aligned with the entrance of the coal bunker (10). The robot (1) is clamped by the clamp (23) and aligned with the entrance above the coal bunker (10). The motor (25) drives the steel cable (22) to drop the robot (1) clamped by the clamp (23) and put it down on the coal slag (12) accumulated in the center of the coal bunker (10) and then releases the clamp (23). An observation mechanism for observing downward is arranged at the entrance of the coal bunker (10). The observed data The information is transmitted to the remote control system via WiFi. The computer of the external remote control system issues a command, and the robot (1) starts working, carrying the pneumatic spear to the location where the coal slag (12) is accumulated and blocked. The robot arm (13) rotates and falls, so that the spear head of the pneumatic spear hits the surface of the blocked coal slag (12). The pneumatic spear starts working, and the spear head of the pneumatic spear penetrates into the accumulated coal slag (12) and impacts the coal slag (12), so that the accumulated coal slag (12) is broken. If the coal slag (12 ) When the viscosity is high due to excessive humidity and ordinary impact cannot break the coal slag (12), an air cannon is used to release the impact gas to directly impact the accumulated coal slag (12), destroying the static friction between the coal slag (12) and making the coal slag (12) return to the state of gravity sliding. The loosened coal slag (12) flows out of the coal bin (10) along the conical inner wall at the bottom of the coal bin (10). After the dredging work is completed, the user can directly pull the hose installed behind the pneumatic spear outside the coal bin (10) to make the pneumatic spear leave the coal bin (10) and realize the recovery of the pneumatic spear. After the robot (1) transports the pneumatic spear to the pile of coal slag (12), the external computer sends a command to make the robot (1) return to the position below the clamp (23), so that the clamp (23) re-clamps the robot (1), and the hoist (20) drives the steel cable (22) to rise, and the robot (1) is lifted from the coal bin (10) entrance and away from the coal bin (10), realizing the recovery of the robot (1).

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