Robot for cleaning blocked coal at bottom of coal falling pipe of European silo

Abstract

The invention discloses an European silo coal drop pipe bottom blockage coal cleaning robot which comprises a shell and a self-adaptive abutting mechanism arranged in the shell, the self-adaptive abutting mechanism comprises a driving wheel, a driven wheel, a connecting base and a connecting rod, the driving wheel is rotationally connected to the connecting base, and the connecting base and the driven wheel are both slidably connected to the shell; one end of the connecting rod is connected with the connecting seat, and the other end is connected with the driven wheel; the water gun nozzle is movably arranged on the shell; a driving wheel and a driven wheel which are slidably arranged in the shell are attached to a handrail at the bottom of the European bin, and the shell is driven by the driving wheel to move on the handrail. According to the robot for cleaning blocked coal at the bottom of the European silo coal falling pipe, coal briquettes at the bottom of the European silo can be cleaned through the water gun spray head movably arranged on the shell, the shell is driven to move on the handrail through cooperation with the driving wheel, the coal briquette cleaning range can be enlarged, manual cleaning is replaced with the robot for cleaning the coal briquettes, and the cleaning efficiency is improved. The cleaning efficiency is greatly improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field, and in particular to a robot for cleaning coal blocked at the bottom of a coal drop pipe in a Euro warehouse. Background Art

[0002] Euro warehouse is a coal storage facility with mature technology, large single warehouse capacity, small footprint, good warehouse sealing effect, and basically no pollution to the surrounding environment. However, the coal humidity in the existing domestic environment is relatively high, and it is easy to solidify during storage, causing the bottom outlet of the Euro warehouse to be blocked, and finally causing the coal storage function of the Euro warehouse to stop completely.

[0003] According to the invention patent application with publication number: CN111981244B and publication date of 2022-03-29, a fast-charging and continuously operating coal transportation pipeline cleaning and dredging robot is disclosed, which includes a body, a battery pack, a power generation device, a charging state switching device, a cleaning device and a PLC controller. The body is concentrically arranged in the coal transportation pipeline, and the battery pack, the power generation device, the charging state switching device, the cleaning device and the PLC controller are all fixedly installed on the body. The front side and the rear side of the body are fixedly installed with a driving device. The power generation device is electrically connected to the battery pack through a waterproof charging cable, and the battery pack is electrically connected to the PLC controller, the charging state switching device, the cleaning device and the two sets of driving devices through waterproof power cables. The PLC controller is signal-connected to the charging state switching device, the cleaning device and the two sets of driving devices through waterproof signal cables. Its main technical effects are: through water flow power generation, it can switch to fast charging as needed, and the impurities on the inner wall of the coal transportation pipeline are scraped and cleaned twice, and the cleaning is thorough.

[0004] In the prior art, the coal blocks blocked at the bottom of the euro bin are cleaned manually, which takes a long time and is complicated to operate. Therefore, a robot for cleaning the coal blocked at the bottom of the coal drop pipe of the euro bin is proposed, aiming to solve the problems of long cleaning time and complicated operation in the prior art when manually cleaning the coal blocks at the bottom of the euro bin. Summary of the invention

[0005] The purpose of the present invention is to provide a robot for cleaning coal blocked at the bottom of a coal drop pipe of a euro bin, aiming to solve the problems of long cleaning time and complicated operation in the prior art of manually cleaning coal blocks at the bottom of a euro bin.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A robot for cleaning coal blocked at the bottom of a coal drop pipe in a Euro warehouse, comprising a shell and:

[0008] An adaptive abutment mechanism is arranged inside the housing, the adaptive abutment mechanism comprises a driving wheel, a driven wheel, a connecting seat and a connecting rod, the driving wheel is rotatably connected to the connecting seat, the connecting seat and the driven wheel are both slidably connected to the housing, one end of the connecting rod is connected to the connecting seat, and the other end is connected to the driven wheel;

[0009] A water gun nozzle movably arranged on the outer shell;

[0010] The driving wheel and the passive wheel arranged inside the shell are slidably fitted to the railing at the bottom of the Euro warehouse, and the shell is driven to move on the railing through the driving wheel.

[0011] Preferably, it also includes a wire guide mechanism, which includes a driving motor, an arc-shaped tooth plate, a wire guide hook and a winding rod, the outer shell is fixedly installed with an arc-shaped shell, the arc-shaped tooth plate is slidably connected to the arc-shaped shell, the wire guide hook is installed at the end of the arc-shaped tooth plate, the driving motor is fixedly installed inside the outer shell, the driving motor maintains a transmission connection with the arc-shaped tooth plate, the arc-shaped tooth plate is driven by the driving motor to move along the inner wall of the arc-shaped shell, and the winding rod is fixedly installed on the inner wall of the outer shell.

[0012] Preferably, the wire hook includes a cable gathering mechanism, a clamping joint and a clamping rod, a micro motor is provided on the arc-shaped tooth plate, the clamping joint is connected to the micro motor, the cable gathering mechanism is fixedly installed on the inner wall of the outer shell, a fixing wire is provided inside the cable gathering mechanism, the end of the fixing wire is connected to the clamping rod, and the two ends of the clamping rod are respectively clamped to the clamping joint.

[0013] Preferably, it further comprises an adjusting mechanism, which comprises a bidirectional screw and a slider, wherein the bidirectional screw is rotatably connected in the housing, the slider is slidably connected to the housing, and the slider is connected to the adaptive abutment mechanism.

[0014] Preferably, a water gun driving mechanism is provided on the outer shell, and the water gun driving mechanism includes a first driving motor, a first driving gear and a driven gear. The first driving motor is fixedly mounted on the outer shell, and the first driving motor is installed at the output end of the first driving motor. The driven gear is rotatably connected to the outer shell, and the driven gear is meshed with the first driving gear.

[0015] Preferably, the driven gear is connected to a second drive motor, and the water gun nozzle is fixedly connected to an output end of the second drive motor.

[0016] Preferably, the adaptive abutment mechanism also includes an arc guide rail, a fixed bracket and a fixed plate, the arc guide rail is connected to the bidirectional screw, the fixed plate is connected to the arc guide rail through the fixed bracket, the connecting seat is slidably connected to the arc guide rail, and the passive wheel is slidably connected to the fixed plate.

[0017] In the above technical solution, the present invention provides a robot for cleaning coal blocked at the bottom of a Euro warehouse coal drop pipe, which has the following beneficial effects:

[0018] The invention, through the adaptive abutment mechanism arranged inside the shell, through the cooperation of the active wheel and the passive wheel of the adaptive abutment mechanism, the robot can be fitted as a whole on the railing at the bottom of the Euro warehouse, and the connecting seat and the passive wheel which are slidingly arranged and kept linked by the connecting rod can adapt to the round railing and the square railing, thereby improving the practicality, and the coal blocks at the bottom of the Euro warehouse can be cleaned by the water gun nozzle movably arranged on the shell, and the scope of cleaning the coal blocks can be expanded by cooperating with the active wheel to drive the shell to move on the railing, and the cleaning of the coal blocks by the robot replaces the manual cleaning, which greatly improves the cleaning efficiency, reduces the labor intensity, and can reduce the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structure inside the first cabin provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the sliding position structure of the connecting seat provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the structure of an adaptive abutment mechanism provided by an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the structure of an adaptive square railing provided in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the lead wire mechanism structure provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the rotation position structure of the arc-shaped toothed plate provided in an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of a wire threading structure of a wire hook provided in an embodiment of the present invention;

[0028] Fig. 9 A schematic diagram of a wire hook resetting structure provided by an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Shell; 11. First cabin; 12. Second cabin; 13. Third cabin; 14. First baffle; 15. Second baffle; 16. Mounting block; 2. Adaptive abutment mechanism; 21. Active wheel; 22. Passive wheel; 23. Connecting seat; 24. Connecting rod; 25. Arc guide rail; 26. Fixed bracket; 27. Fixed plate; 28. Wheel motor; 3. Water gun nozzle; 4. Lead wire mechanism; 41. Driving motor; 42. Arc tooth plate; 4 3. Lead hook; 431. Cable gathering mechanism; 432. Card connector; 433. Card rod; 434. First card position; 435. Second card position; 44. Winding rod; 45. Arc shell; 46. Micro motor; 47. Flat gear; 5. Adjustment mechanism; 51. Bidirectional screw; 52. Slider; 6. Water gun driving mechanism; 61. First driving motor; 62. First driving gear; 63. Driven gear; 64. Second driving motor. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] See also Figure 1 —9. A robot for cleaning coal blocked at the bottom of a coal drop pipe in a Euro warehouse, comprising a housing 1, and further comprising:

[0033] An adaptive abutment mechanism 2 is arranged inside the housing 1, and the adaptive abutment mechanism 2 includes a driving wheel 21, a driven wheel 22, a connecting seat 23 and a connecting rod 24, wherein the driving wheel 21 is rotatably connected to the connecting seat 23, the connecting seat 23 and the driven wheel 22 are both slidably connected to the housing 1, and one end of the connecting rod 24 is connected to the connecting seat 23, and the other end is connected to the driven wheel 22;

[0034] A water gun nozzle 3 movably arranged on the housing 1;

[0035] The driving wheel 21 and the driven wheel 22 which are slidably arranged inside the shell 1 are fitted to the railing at the bottom of the Euro warehouse, and the shell 1 is driven to move on the railing by the driving wheel 21.

[0036] Specifically, an arched groove is provided on the shell 1, the arc portion of the arched groove can fit the outer wall of the circular railing, and the lower end of the arched groove can fit the outer wall of the square railing. The shell 1 is modular and is divided into a first cabin 11, a second cabin 12 and a third cabin 13, wherein the first cabin 11 and the third cabin 13 are symmetrically provided with an adaptive abutment mechanism 2, and the robot is mounted on the railing as a whole by the symmetrically provided adaptive abutment mechanism 2 fitting the outer wall of the railing, and the adaptive abutment mechanism 2 includes a driving wheel 21, a passive wheel 22, a connecting seat 23 and a connecting rod 24, wherein the driving wheel 21 is rotatably connected to the connecting seat 23, the connecting seat 23 and the passive wheel 22 are both slidably connected to the inside of the shell 1, and the two ends of the connecting rod 24 are respectively connected to the connecting seat 23 and the passive wheel 22. The connecting seat 23 and the passive wheel 22 are connected by the connecting rod 24, so that when the connecting seat 23 moves inside the shell 1, it can synchronously drive the passive wheel 22 to move inside the shell 1, thereby realizing self-adaptation to square railings or round railings. The active wheel 21 can drive the robot to keep moving on the railing, thereby increasing the cleaning range. A water gun nozzle 3 is connected to the outer wall of the shell 1, and the coal blocks blocked at the bottom of the coal drop pipe can be cleaned through the water gun nozzle 3.

[0037] The invention, through the adaptive abutment mechanism 2 arranged inside the shell 1, and through the cooperation of the active wheel 21 and the passive wheel 22 of the adaptive abutment mechanism 2, the robot can be fitted as a whole on the railing at the bottom of the Euro warehouse. The connecting seat 23 and the passive wheel 22 which are slidingly arranged and kept linked by the connecting rod 24 can adapt to round railings and square railings, thereby improving practicality. The water gun nozzle 3 movably arranged on the shell 1 can be used to clean the coal blocks at the bottom of the Euro warehouse. By cooperating with the active wheel 21 to drive the shell 1 to move on the railing, the scope of cleaning the coal blocks can be expanded. The robot can clean the coal blocks instead of manual cleaning, which greatly improves the cleaning efficiency, reduces the intensity of manual labor, and can reduce labor costs.

[0038] As a further embodiment provided by the present invention, Figure 6As shown, it also includes a lead mechanism 4. Specifically, the lead mechanism 4 is arranged inside the second cabin 12. The lead mechanism 4 includes a driving motor 41, an arcuate tooth plate 42 and a lead hook 43. A first partition 14 and a second partition 15 are installed in the outer shell 1. The outer shell 1 is distributed and divided into a first cabin 11, a second cabin 12 and a third cabin 13 by the first partition 14 and the second partition 15, wherein the arcuate tooth plate 42 is slidably connected to the inside of the second cabin 12, and the number of driving motors 41 is several. The several driving motors 41 are respectively fixedly installed on the first partition 14 and the second partition 15, and the driving motor 41 located on the first partition 14 and the driving motor 41 located on the second partition 15 are symmetrically distributed. The arcuate tooth plate 42 maintains a transmission connection with the driving motor 41, and the arcuate tooth plate 42 is driven by the driving motor 41 to keep moving inside the second cabin 12, and the lead hook 43 is installed at the end of the arcuate tooth plate 42. The winding rod 44 is fixedly mounted on the first partition plate 14 or the second partition plate 15 .

[0039] As a specific embodiment provided by the present invention, the driving motor 41 is fixedly installed on the first partition 14 or the second partition 15. When installed on the first partition 14, the driving motor 41 is located in the first cabin 11. When installed on the second partition 15, the driving motor 41 is located in the second cabin 12. The output end of the driving motor 41 passes through and extends to the interior of the second cabin 12. A flat gear 47 is fixedly installed on the output end of the driving motor 41. The flat gear 47 is meshed with the outer wall of the arc-shaped toothed plate 42. The flat gear 47 is driven by the driving motor 41 to keep rotating, and the arc-shaped toothed plate 42 is driven to keep moving by the rotation of the flat gear 47, thereby driving the lead hook 43 at one end of the arc-shaped toothed plate 42 to move.

[0040] Preferably, the lead-in mechanism 4 also includes an arc-shaped shell 45, which is fixedly installed between the first partition plate 14 and the second partition plate 15, and the arc-shaped tooth plate 42 is slidably connected to the arc-shaped shell 45, and the arc-shaped tooth plate 42 can be driven by the driving motor 41 to move along the arc-shaped shell 45.

[0041] Furthermore, the lead hook 43 includes a cable bundling mechanism 431, a clamping joint 432 and a clamping rod 433. A micro motor 46 is fixedly installed at one end of the arc-shaped tooth plate 42. The clamping joint 432 is connected to the output end of the micro motor 46. The clamping joint 432 can be driven by the micro motor 46 to keep rotating. As an embodiment provided by the present invention, Figure 8 and Fig. 9As shown, the clamping joint 432 is in a "U"-shaped structure as a whole, and a first clamping position 434 and a second clamping position 435 are respectively arranged at both ends of the "U"-shaped structure of the clamping joint 432, wherein the first clamping position 434 is arranged toward the opening position of the "U"-shaped structure of the clamping joint 432, and the second clamping position 435 is arranged away from the opening position of the "U"-shaped structure of the clamping joint 432. The clamping joint 432 is supported by a metal material, and the two end structures of the clamping rod 433 are adapted to the first clamping position 434 and the second clamping position 435, and the two ends of the clamping rod 433 are respectively magnetically connected to the first clamping position 434 and the second clamping position 435, and the cable bundling mechanism 431 is fixedly installed on the outer wall of the first partition 14 or the second partition 15, and a fixed line is arranged inside the cable bundling mechanism 431, and one end of the fixed line is connected to the clamping rod 433, and the flat gear 47 is driven to rotate by the driving motor 41, thereby driving the arc gear plate 42 to keep moving in the arc shell 45.

[0042] As an embodiment provided by the present invention, Figure 3 As shown, it also includes an adjustment mechanism 5, which includes a bidirectional screw 51 and a slider 52. Specifically, a mounting block 16 is symmetrically installed inside the second cabin 12 between the first partition 14 and the second partition 15, and the bidirectional screw 51 is rotatably connected between the two mounting blocks 16. There are two sliders 52, and a guide rod is arranged between the two mounting blocks 16. Both sliders 52 are slidably connected to the guide rod. The two sliders 52 are respectively threadedly connected to both ends of the bidirectional screw 51. By rotating the bidirectional screw 51, the two sliders 52 can be driven to keep moving toward or away from each other, thereby driving the adaptive abutment mechanism 2 connected to the slider 52 to keep moving toward or away from each other, so that the distance between the two adaptive abutment mechanisms 2 located in the first cabin 11 or the third cabin 13 can be synchronously adjusted, so as to adapt to circular railings of different diameters or square railings of different widths.

[0043] As a further embodiment provided by the present invention, Figure 3 and Figure 4As shown, the adaptive abutment mechanism 2 also includes an arc guide rail 25, a fixed bracket 26 and a fixed plate 27. A through groove is opened on the first partition plate 14 and the second partition plate 15. The arc guide rail 25 is connected to the slider 52 through a connecting piece, and then maintains a connection with the bidirectional screw 51. The slider 52 can be driven to keep moving by rotating the bidirectional screw 51, thereby driving the arc guide rail 25 to move. The fixed plate 27 is fixedly connected to the outer wall of the arc guide rail 25 through the fixed bracket 26. When the position of the slider 52 is adjusted by the bidirectional screw 51, the active wheel 21 and the passive wheel 22 can be synchronously adjusted to keep moving with the slider 52, thereby adapting to circular railings of different diameters and square railings of different widths. The connecting seat 23 is slidably connected to the arc guide rail 25, and a wheel motor 28 is fixedly installed on the outer wall of the connecting seat 23. The output end of the wheel motor 28 is connected to the driving wheel 21. The driving wheel 21 can be driven to rotate inside the connecting seat 23 through the wheel motor 28, providing driving force for the robot as a whole. The passive wheel 22 is slidably connected to the outer wall of the fixed plate 27 through a bracket, and the passive wheel 22 abuts against the side wall of the railing to provide lateral support force when the robot moves to prevent the robot from tilting. Preferably, the connecting rod 24 is a tension spring rod, one end of which is connected to the connecting seat 23 and the other end is connected to the bracket of the passive wheel 22. The connecting seat 23 is connected to the passive wheel 22 through the connecting rod 24, and the passive wheel 22 can be driven by the tension of the tension spring rod to always keep moving toward the arched groove, providing a clamping force for the passive wheel 22, ensuring that the passive wheel 22 can always fit the outer wall of the railing.

[0044] As an embodiment provided by the present invention, a water gun driving mechanism 6, a first driving motor 61, a first driving gear 62 and a driven gear 63 are arranged on the housing 1, the first driving motor 61 is fixedly installed on the housing 1, the first driving motor 61 is installed at the output end of the first driving motor 61, the driven gear 63 is rotatably connected to the housing 1, the driven gear 63 is meshed with the first driving gear 62, a mounting rod is fixedly installed on the outer wall of the driven gear 63, a second driving motor 64 is fixedly installed on the outer wall of the mounting rod, and the water gun nozzle 3 is fixedly installed at the output end of the second driving motor 64. The water gun nozzle 3 can be driven to maintain pitch rotation through the first driving motor 61, the first driving gear 62 and the driven gear 63, and the water gun nozzle 3 can be driven to maintain horizontal rotation on the mounting rod through the second driving motor 64. By driving the water gun nozzle 3 to maintain pitch rotation and horizontal rotation respectively, the coal blocks can be cleaned at any angle.

[0045] Working principle:

[0046] First, use a wrench to rotate the bidirectional screw 51 to adjust the distance between the adaptive abutment mechanisms 2 on both sides of the arched groove to ensure that the driving wheel 21 can fit the outer wall;

[0047] When the railing is a circular railing, the robot can be mounted on the railing as a whole by directly contacting the driving wheel 21 and the driven wheel 22 on both sides of the arched groove with the outer wall of the circular railing;

[0048] When the railing is a square railing, the outer wall of the driving wheel 21 abuts against the outer wall of the railing. Since the driving wheel 21 is slidably connected to the arc guide rail 25 through the connecting seat 23, when it abuts against the outer wall of the square railing, the connecting seat 23 can be driven to move upward on the arc guide rail 25, so that the outer wall of the driving wheel 21 is closely attached to the outer wall of the square railing. At the same time, under the tensile effect of the connecting rod 24, the passive wheel 22 is closely attached to the outer wall of the railing.

[0049] Subsequently, the arc-shaped toothed plate 42 is driven by the driving motor 41 of the wire guide mechanism 4 to move in the arc-shaped shell 45, and the arc-shaped toothed plate 42 is used to drive the clamping joint 432 to move along an arc-shaped trajectory. When the clamping joint 432 moves, the end of the fixed line is pulled out from the cable tightening mechanism 431. Driven by the arc-shaped toothed plate 42, the clamping rod 433 on the clamping joint 432 is abutted against the winding rod 44 fixed on the first partition 14 or the second partition 15. When the clamping rod 433 abuts against the winding rod 44, since the two ends of the clamping rod 433 are respectively abutted at the first clamping position 434 and the second clamping position 435, it can be When the clamping rod 433 is in contact with the winding rod 44, it is driven to rotate with the second clamping position 435 as the center of the circle, and one end of the clamping rod 433 is separated from the first clamping position 434, so that the clamping joint 432 can pass through the winding rod 44. When the winding rod 44 is located inside the clamping joint 432 and one end of the clamping rod 433 passes through the winding rod 44, since the end of the clamping rod 433 away from the second clamping position 435 is magnetically connected with the first clamping position 434, one end of the clamping rod 433 is reset under the action of the magnetic force and clamped with the first clamping position 434, and one end of the fixed line is located at the other side of the winding rod 44.

[0050] Then, the driving motor 41 drives the arc-shaped toothed plate 42 to reset, so that the clamping rod 433 abuts against the other side of the winding rod 44, and drives one end of the clamping rod 433 to rotate and open with the first clamping position 434 as the center, and cooperates with the reset of the arc-shaped toothed plate 42 to make the other end of the clamping rod 433 pass through the winding rod 44 and finally make one end of the fixed wire pass through the winding rod 44, that is, the fixed wire is wound around the outer wall of the winding rod 44. After the clamping rod 433 is separated from the winding rod 44, the end of the clamping rod 433 is magnetically clamped with the second clamping position 435;

[0051] The arc-shaped tooth plate 42 is reset, and the pulling force of the cable-binding mechanism 431 on the fixed wire and the arc-shaped shell 45 fix the robot as a whole on the railing, so that the robot does not separate from the railing during driving;

[0052] The coal blocks are cleaned by driving the water gun nozzle 3 to maintain pitch rotation and horizontal rotation respectively;

[0053] After cleaning, the entire robot needs to be removed from the railing. At this time, the driving motor 41 drives the arc-shaped tooth plate 42 to rotate again. When the card joint 432 moves over the winding rod 44, the micro motor 46 drives the card joint 432 to rotate, so that the fixed line is separated from the winding rod 44, and then the arc-shaped tooth plate 42 is reset. At this time, the entire robot can be removed.

[0054] The elastic coefficient of the tension spring inside the connecting rod 24 mentioned in the article meets the technical requirements of the technical solution of the present invention.

[0055] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0056] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot for cleaning coal blocked at the bottom of a Euro warehouse coal drop pipe, comprising a housing (1), characterized in that: Also includes: An adaptive abutment mechanism (2) is arranged inside the housing (1), the adaptive abutment mechanism (2) comprising a driving wheel (21), a driven wheel (22), a connecting seat (23) and a connecting rod (24), the driving wheel (21) is rotatably connected to the connecting seat (23), the connecting seat (23) and the driven wheel (22) are both slidably connected to the housing (1), one end of the connecting rod (24) is connected to the connecting seat (23), and the other end is connected to the driven wheel (22); A water gun nozzle (3) movably arranged on the housing (1); The driving wheel (21) and the driven wheel (22) which are slidably arranged inside the housing (1) are fitted to the railing at the bottom of the Euro warehouse, and the housing (1) is driven to move on the railing by the driving wheel (21).

2. The robot for cleaning coal blocked at the bottom of the Euro warehouse coal drop pipe according to claim 1, characterized in that: The invention also comprises a wire guide mechanism (4), wherein the wire guide mechanism (4) comprises a driving motor (41), an arc-shaped tooth plate (42), a wire guide hook (43) and a winding rod (44); an arc-shaped shell (45) is fixedly installed inside the housing (1); the arc-shaped tooth plate (42) is slidably connected to the arc-shaped shell (45); The wire guide hook (43) is mounted on the end of the arc-shaped toothed plate (42), the driving motor (41) is fixedly mounted inside the housing (1), the driving motor (41) is in transmission connection with the arc-shaped toothed plate (42), and the driving motor (41) drives the arc-shaped toothed plate (42) to move along the inner wall of the arc-shaped housing (45). The winding rod (44) is fixedly mounted on the inner wall of the outer shell (1).

3. The robot for cleaning coal blocked at the bottom of the Euro warehouse coal drop pipe according to claim 2, characterized in that: The lead hook (43) comprises a cable collecting mechanism (431), a clamping joint (432) and a clamping rod (433); a micro motor (46) is provided on the arc-shaped tooth plate (42); the clamping joint (432) is connected to the micro motor (46); the cable collecting mechanism (431) is fixedly mounted on the inner wall of the housing (1); a fixing wire is provided inside the cable collecting mechanism (431); an end of the fixing wire is connected to the clamping rod (433); and two ends of the clamping rod (433) are respectively clamped to the clamping joint (432).

4. The robot for cleaning coal blocked at the bottom of the coal drop pipe of Euro warehouse according to claim 1, characterized in that: The invention also comprises an adjusting mechanism (5), wherein the adjusting mechanism (5) comprises a bidirectional screw (51) and a slider (52), wherein the bidirectional screw (51) is rotatably connected to the housing (1), the slider (52) is slidably connected to the housing (1), and the slider (52) is connected to the adaptive abutment mechanism (2).

5. The robot for cleaning coal blocked at the bottom of the Euro warehouse coal drop pipe according to claim 1, characterized in that: The housing (1) is provided with a water gun driving mechanism (6), the water gun driving mechanism (6) comprising a first driving motor (61), a first driving gear (62) and a driven gear (63), the first driving motor (61) being fixedly mounted on the housing (1), the first driving motor (61) being mounted on an output end of the first driving motor (61), the driven gear (63) being rotatably connected to the housing (1), and the driven gear (63) being meshed with the first driving gear (62).

6. The robot for cleaning coal blocked at the bottom of the Euro warehouse coal drop pipe according to claim 5, characterized in that: The driven gear (63) is connected to a second drive motor (64), and the water gun nozzle (3) is fixedly connected to an output end of the second drive motor (64).

7. The robot for cleaning coal blocked at the bottom of the Euro warehouse coal drop pipe according to claim 4, characterized in that: The adaptive abutment mechanism (2) further comprises an arc-shaped guide rail (25), a fixed bracket (26) and a fixed plate (27); the arc-shaped guide rail (25) is connected to the bidirectional screw (51); the fixed plate (27) is connected to the arc-shaped guide rail (25) via the fixed bracket (26); the connecting seat (23) is slidably connected to the arc-shaped guide rail (25); and the passive wheel (22) is slidably connected to the fixed plate (27).

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