Cleaning robot for coal mining

Abstract

The invention provides a cleaning robot for coal mining, and belongs to the technical field of mining equipment, the cleaning robot comprises a machine body, inlet and outlet mechanisms are arranged in the left side and the right side of the machine body, each inlet and outlet mechanism comprises a first double-shaft motor, and the first double-shaft motors are arranged at the inner bottom of the machine body; the device comprises a double-shaft motor I, two power output ends of the double-shaft motor I are in transmission connection with rotating shafts I, rotating gears are arranged on the circumferential surfaces of the two rotating shafts I, the upper ends of the two rotating gears are in meshed connection with toothed plates, and hollow mounting plates are arranged at the outer ends of the two toothed plates. Side surface cleaning mechanisms are arranged in the two hollow mounting plates on the left side; according to the I-shaped steel rail cleaning device, the upper surface and the two side faces of an I-shaped steel rail can be cleaned together through the arranged upper cleaning mechanism and the arranged side face cleaning mechanism, water flow can be sprayed out of a water outlet in the cleaning process, stubborn stains on the surface of the rail can be removed through a cleaning brush, and the cleaning effect is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mining equipment, and in particular relates to a cleaning robot used in coal mine mining. Background Art

[0002] In order to ensure the smooth progress of underground work, inspection robots are often used for inspection, and most of the inspection robots are track-based. Due to the harsh underground environment, there is a lot of dust in the air, and the I-beam tracks are exposed to the outside for a long time, which will be covered with a lot of dust over time. Spray dust removal is often used underground. The water mist falls and often condenses with the dust to form sludge attached to the I-beam track. In addition, during the mining and transportation of coal mines, some granular impurities such as small stones will also fall into the side wall of the I-beam track. When the inspection robot passes through the I-beam track with sludge or stones, it is easy to cause the robot to get stuck or damaged, resulting in the forced termination of the inspection task.

[0003] In the prior art, although there are robots that can clean the tracks, most of the cleaning robots are not comprehensive enough and cannot adapt to more processing directions. For example, a cleaning robot that combines a high-pressure water gun with a dust suction device uses high-pressure water flow to flush gravel and sludge on the track. However, when the gravel is stuck tightly in the gap of the track, the high-pressure water flow cannot flush the stone out, resulting in an unsatisfactory cleaning effect, and then the track surface cleaning effect cannot be achieved. Moreover, the interior of the mine tunnel is relatively humid, and moisture is likely to remain on the track surface after water cleaning. If the moisture is not dried in time, it will corrode and rust the track, affecting the service life of the track.

[0004] Therefore, we propose a cleaning robot for coal mine mining to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that most cleaning robots are not comprehensive enough and cannot adapt to more processing directions. For example, a cleaning robot that combines a high-pressure water gun with a dust suction device uses a high-pressure water flow to flush gravel and sludge on the track. However, when the gravel is stuck tightly in the gap of the track, the high-pressure water flow cannot flush the stone out, resulting in an unsatisfactory cleaning effect, and then the track surface cleaning effect cannot be achieved. In addition, the interior of the mine is relatively humid, and moisture is likely to remain on the track surface after water cleaning. If the moisture is not dried in time, it will corrode and rust the track, affecting the service life of the track. Therefore, a cleaning robot for coal mine mining is proposed.

[0006] The object of the present invention can be achieved by the following technical scheme: comprising a machine body, wherein both left and right sides of the machine body are provided with an entry and exit mechanism, wherein the entry and exit mechanism comprises a dual-axis motor 1, and the dual-axis motor 1 is arranged at the inner bottom of the machine body, and both power output ends of the dual-axis motor 1 are transmission-connected with a rotating shaft 1, and the circumferential surfaces of the two rotating shafts 1 are provided with rotating gears, and the upper ends of the two rotating gears are meshingly connected with tooth plates, and the outer ends of the two tooth plates are provided with hollow mounting plates, and the insides of the two left hollow mounting plates are provided with side cleaning mechanisms;

[0007] The side cleaning mechanism includes a sliding block, and the sliding block is movably inserted into the interior of the hollow mounting plate on the left side, a square cleaning brush is provided at the outer end of the sliding block, a limiting connecting plate is provided at the inner end of the sliding block, a C-shaped connecting block is provided on the other side of the limiting connecting plate, a circular rotating block is provided inside the C-shaped connecting block, semicircular protrusions are provided on the upper and lower side surfaces of the circular rotating block, and a plurality of semicircular protrusions are provided in a circular array, and the semicircular protrusions on the upper and lower sides are respectively abutted against the upper and lower ends of the C-shaped connecting block.

[0008] As a preferred embodiment of the present invention, both left and right side walls of the machine body are provided with side through grooves, and there are four side through grooves, and the sizes of the four side through grooves are matched with the four hollow mounting plates.

[0009] As a preferred embodiment of the present invention, a limit block is provided on the inner wall of the hollow mounting plate on the left side, and two groups of limit blocks are symmetrically arranged up and down and are respectively arranged on the upper and lower sides of the limit connecting plate, and a movable groove one is opened inside the two limit blocks, and the upper and lower ends of the limit connecting plate are respectively slidably installed inside the two movable grooves one, and the lower surface of the limit connecting plate is connected to the inside of the limit block at the lower end through a spring.

[0010] As a preferred embodiment of the present invention, a movable groove 2 is opened inside the side of the hollow mounting plate on the left side close to the body, and there are two movable grooves 2 and they are respectively located on the upper and lower sides of the sliding block, and sealing plates are slidably installed inside the two movable grooves 2, and the two sealing plates are respectively arranged on the upper and lower sides of the sliding block.

[0011] As a preferred embodiment of the present invention, the interior of the four hollow mounting plates are all provided with abutment mechanisms, the abutment mechanisms include lifting cylinders, and the lifting cylinders are arranged on the inner top wall of the hollow mounting plates, a lifting plate is arranged at the lower end of the lifting cylinders, a dual-axis motor 2 is arranged in the middle of the interior of the lifting plate, the two power output ends of the dual-axis motor 2 are both transmission-connected with threaded rods, the circumferential surfaces of the two threaded rods are both threadedly connected with moving blocks, and moving plates are arranged at the lower ends of the two moving blocks, and the two groups of side cleaning mechanisms are respectively arranged inside the two left hollow mounting plates.

[0012] As a preferred embodiment of the present invention, an upper cleaning mechanism is arranged inside the two left movable plates, and the upper cleaning mechanism includes a servo motor, and the servo motor is arranged inside the upper end of the movable plate, and the power output end of the servo motor is transmission-connected with a rotating shaft 2, and a belt driving wheel is arranged on the circumferential surface of the rotating shaft 2, and the belt driving wheel is connected to a belt driven wheel through a transmission belt, and a rotating shaft 3 is arranged in the middle of the belt driven wheel, and a circular cleaning brush is arranged at the lower end of the rotating shaft 3, and the rotating shaft 3 and the circular cleaning brush are both arranged on the outside of the movable plate.

[0013] As a preferred embodiment of the present invention, the lower end of the rotating shaft 2 is rotatably connected to a fixed block 2, and the fixed block 2 is fixedly connected to the inner wall of the movable plate. The upper end of the rotating shaft 3 is rotatably connected to a fixed block 1, and the fixed block 1 is fixedly connected to the outer wall of the movable plate.

[0014] As a preferred embodiment of the present invention, a crushing mechanism is provided at the lower end of the rotating shaft 2, and the crushing mechanism includes a worm, the upper end of the worm is fixedly connected to the lower end of the rotating shaft 2, the side of the worm is meshingly connected with a worm wheel, a transmission is provided on the left side of the worm wheel, and the worm wheel is arranged on the input end of the transmission, and the circumferential surface of the output end of the transmission is provided with a bevel gear 1, and the bevel gear 1 is meshingly connected with the bevel gear 2, and an upper rolling roller is provided on the side of the bevel gear 2 close to the machine body, and a driven spur gear 1 is provided on the circumferential surface of the upper rolling roller close to the bevel gear 2, the lower end of the driven spur gear 1 is meshingly connected with the driven spur gear 2, and a lower rolling roller is provided in the middle of the driven spur gear 2, and the upper rolling roller and the lower rolling roller are both arranged on the outside of the hollow mounting plate, and the upper rolling roller and the lower rolling roller are located on the left side of the square cleaning brush.

[0015] As a preferred embodiment of the present invention, the bottom side walls of the two groups of left movable plates and the lower end of the fixed block are both provided with water outlets, the water outlet on the movable plate is located on the right side of the square cleaning brush, and a water tank is provided on the inner top of the body, and the water outlet is connected to the inside of the water tank through a water outlet pipe and a water pump.

[0016] As a preferred embodiment of the present invention, the lower end outer walls of the two groups of right-side movable plates are respectively provided with air outlets, side scrapers and upper scrapers, an air pump is provided on the inner top of the body, and the air pump is connected to the air outlet through a ventilation pipe, the side scraper and upper scraper are both arranged on the left side of the air outlet, and the side scraper is arranged below the upper scraper.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The upper cleaning mechanism and the side cleaning mechanism are provided to clean the upper surface and the two side surfaces of the I-beam rail together, and during the cleaning process, water will be sprayed out from the water outlet, so that the cleaning brush can remove stubborn stains on the rail surface, thereby improving the cleaning effect;

[0019] (2) The crushing mechanism can crush the large and difficult-to-clean stones on the side of the track, making it easier to clean them with the subsequent cleaning brush. The crushed stones can also be carried to the drainage trough by water flow during the cleaning process of the cleaning brush, thereby preventing the residual stones on the track from affecting the use of the equipment;

[0020] (3) By setting the scraper and the air outlet, the track surface can be scraped and air-dried after the cleaning brush has cleaned the track surface once, so that the moisture accumulated on the track surface can be scraped off and quickly air-dried, thus avoiding moisture corrosion of the track and increasing the service life of the track.

[0021] (4) The entry and exit mechanism can facilitate the cleaning mechanism to enter and exit the body, thereby reducing the space occupied by the cleaning robot when not in use, avoiding the protrusion of the cleaning robot's periphery, which is prone to bumps and damage, and increasing the service life of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a front cutaway perspective view of the present invention;

[0025] Figure 3 It is a left cutaway perspective view of the present invention;

[0026] Figure 4 For the present invention Figure 3 A magnified view of the structure at center A;

[0027] Figure 5 It is a three-dimensional structural schematic diagram of the in-and-out mechanism of the present invention;

[0028] Figure 6 It is a three-dimensional structural schematic diagram of the abutment mechanism of the present invention;

[0029] Figure 7 For the present invention Figure 6 A cross-sectional view of

[0030] Figure 8 It is a schematic diagram of the internal structure of the left movable plate;

[0031] Fig. 9 Schematic diagram of the internal structure of the right moving plate.

[0032] In the figure: 1. body; 2. in-and-out mechanism; 201. double-axis motor 1; 202. rotating shaft 1; 203. rotating gear; 204. tooth plate; 205. hollow mounting plate; 3. abutment mechanism; 301. lifting cylinder; 302. lifting plate; 303. double-axis motor 2; 304. threaded rod; 305. moving block; 306. moving plate; 4. upper cleaning mechanism; 401. servo motor; 402. rotating shaft 2; 403. belt driving wheel; 404. belt driven wheel; 405. rotating shaft 3; 406. circular cleaning brush; 407. fixed block 1; 5. crushing mechanism; 501. worm; 502. worm wheel; 503. speed change device; 504, bevel gear one; 505, bevel gear two; 506, upper rolling roller; 507, driven spur gear one; 508, driven spur gear two; 509, lower rolling roller; 6, side cleaning mechanism; 601, circular rotating block; 602, semicircular protrusion; 603, C-type connecting block; 604, limit connecting plate; 605, sliding block; 606, square cleaning brush; 7, side through groove; 8, fixed block two; 9, limit block; 10, movable groove one; 11, spring; 12, movable groove two; 13, sealing plate; 14, water outlet; 15, water tank; 16, air pump; 17, air outlet; 18, side scraper; 19, upper scraper. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example:

[0035] See also Figure 1 - Fig. 9As shown, a cleaning robot used in coal mine development comprises a body 1, and an entry and exit mechanism 2 is arranged inside the left and right sides of the body 1, and the entry and exit mechanism 2 comprises a double-axis motor 201, and the double-axis motor 201 is arranged at the inner bottom of the body 1, and the two power output ends of the double-axis motor 201 are connected to the rotating shaft 202 through a coupling transmission, and the circumferential surfaces of the two rotating shafts 202 are provided with rotating gears 203, and the upper ends of the two rotating gears 203 are meshed and connected with tooth plates 204, and the outer ends of the two tooth plates 204 are provided with hollow mounting plates 205, and the left and right side walls of the body 1 are provided with side through grooves 7, and there are four side through grooves 7, and the sizes of the four side through grooves 7 are matched with the four hollow mounting plates 205, and the setting of the side through grooves 7 provides activity space for the hollow mounting plates 205, so that the hollow mounting plates 205 can smoothly enter and exit the body 1;

[0036] It should be noted that a block is provided below the inner end of the tooth plate 204, and the block can limit the distance that the tooth plate 204 moves outward to prevent the tooth plate 204 from moving outward too much and disengaging from the rotating gear 203, resulting in an inability to reset. The block is provided above the rotating shaft 202, so that when the tooth plate 204 moves in and out of the body 1, the block will not collide with the rotating shaft 202. The two groups of tooth plates 204 on the left are designed as one left and one right, and the two groups of tooth plates 204 on the right are also designed as one left and one right, so that the four groups of tooth plates 204 will not come into contact when moving into the body 1.

[0037] The two left hollow mounting plates 205 are provided with a side cleaning mechanism 6 inside, the side cleaning mechanism 6 includes a sliding block 605, and the sliding block 605 is movably plugged into the inside of the left hollow mounting plate 205, the outer end of the sliding block 605 is provided with a square cleaning brush 606, the inner end of the sliding block 605 is provided with a limit connection plate 604, the other side of the limit connection plate 604 is provided with a C-shaped connection block 603, the inside of the C-shaped connection block 603 is provided with a circular rotating block 601, the upper and lower side surfaces of the circular rotating block 601 are provided with semicircular protrusions 602, and a plurality of semicircular protrusions 602 are provided in a circumferential array, and the upper and lower semicircular protrusions 602 are respectively abutted against the upper and lower ends of the C-shaped connection block 603;

[0038] The inner wall of the left hollow mounting plate 205 is provided with a limit block 9, and the limit blocks 9 are symmetrically arranged in two groups and are respectively arranged on the upper and lower sides of the limit connecting plate 604. The interiors of the two limit blocks 9 are provided with a movable groove 10. The upper and lower ends of the limit connecting plate 604 are respectively slidably installed in the interiors of the two movable grooves 10, and the lower surface of the limit connecting plate 604 is connected to the interior of the lower limit block 9 through a spring 11. The setting of the movable groove 10 provides a movable space for the limit connecting plate 604, and then the setting of the spring 11 allows the limit connecting plate 604 to smoothly perform vertical reciprocating movement. , a movable groove 2 12 is provided inside the side of the left hollow mounting plate 205 close to the body 1, and two movable grooves 2 12 are provided and are respectively located at the upper and lower sides of the sliding block 605, and sealing plates 13 are slidably installed inside the two movable grooves 2 12, and the two sealing plates 13 are respectively arranged at the upper and lower sides of the sliding block 605. The setting of the movable groove 2 12 provides a movable space for the sealing plate 13, so that the sealing plate 13 can smoothly perform vertical reciprocating movement, and at the same time, the movable groove 2 12 can be always closed to prevent dust and water from entering the interior of the movable plate 306 during cleaning and contaminating the components inside the movable plate 306;

[0039] It should be noted that the upper semicircular protrusion 602 and the lower semicircular protrusion 602 are staggered, that is, when the upper semicircular protrusion 602 abuts against the inner top of the C-shaped connecting block 603, the lower semicircular protrusion 602 will not contact the C-shaped connecting block 603. Similarly, when the lower semicircular protrusion 602 abuts against the inner bottom of the C-shaped connecting block 603, the upper semicircular protrusion 602 will not contact the C-shaped connecting block 603, so that the C-shaped connecting block 603, the limiting connecting plate 604, the sliding block 605 and the square cleaning brush 606 can quickly reciprocate vertically, so that the square cleaning brush 606 can vibrate and clean the side surface of the track to improve the cleaning effect.

[0040] The four hollow mounting plates 205 are each provided with an abutment mechanism 3 inside, the abutment mechanism 3 includes a lifting cylinder 301, and the lifting cylinder 301 is provided on the inner top wall of the hollow mounting plate 205, a lifting plate 302 is provided at the lower end of the lifting cylinder 301, a dual-axis motor 303 is provided in the middle of the lifting plate 302, the two power output ends of the dual-axis motor 303 are both connected to threaded rods 304 through coupling transmission, the circumferential surfaces of the two threaded rods 304 are both threadedly connected to moving blocks 305, and the lower ends of the two moving blocks 305 are each provided with a moving plate 306, and two sets of side cleaning mechanisms 6 are respectively provided inside the two left hollow mounting plates 205;

[0041] It should be noted that after the hollow mounting plate 205 moves to the top of the track, the lifting cylinder 301 drives the lifting plate 302 to move downward, so that the movable plate 306 moves downward and is located on both sides of the track, and then the dual-axis motor 2 303 works to drive the two threaded rods 304 to rotate, so that the two movable blocks 305 and the two movable plates 306 are close to each other, and then the two sets of square cleaning brushes 606 respectively abut the left and right sides of the track, so that the square cleaning brushes 606 can clean the sides of the track.

[0042] The upper cleaning mechanism 4 is arranged inside the two left movable plates 306, and the upper cleaning mechanism 4 includes a servo motor 401, and the servo motor 401 is arranged inside the upper end of the movable plate 306, and the power output end of the servo motor 401 is connected to the rotating shaft 2 402 through a coupling transmission, and the lower end of the rotating shaft 2 402 is rotatably connected to the fixed block 2 8, and the fixed block 2 8 is fixedly connected to the inner wall of the movable plate 306. The setting of the fixed block 2 8 can limit the rotating shaft 2 402 without affecting the rotation of the rotating shaft 2 402, and the circumferential surface of the rotating shaft 2 402 is provided with a belt driving wheel 403, the belt driving wheel 403 is connected to the belt driven wheel 404 through the transmission belt, the middle of the belt driven wheel 404 is provided with a rotating shaft 3 405, the lower end of the rotating shaft 3 405 is provided with a circular cleaning brush 406, and the rotating shaft 3 405 and the circular cleaning brush 406 are both arranged on the outside of the movable plate 306, the upper end of the rotating shaft 3 405 is rotatably connected to a fixed block 1 407, and the fixed block 1 407 is fixedly connected to the outer wall of the movable plate 306, and the setting of the fixed block 1 407 can limit the rotating shaft 3 405 without affecting the rotation of the rotating shaft 3 405;

[0043] It should be noted that after the movable plate 306 moves downward to the left and right sides of the track, the lower end of the circular cleaning brush 406 will also be close to the upper surface of the track. Then, when the two movable plates 306 approach each other, so that the square cleaning brush 606 on their sides abuts against the side of the track, the circular cleaning brush 406 will also abut against the upper surface of the track.

[0044] The lower end of the second rotating shaft 402 is provided with a crushing mechanism 5, which includes a worm 501, the upper end of the worm 501 is fixedly connected to the lower end of the second rotating shaft 402, the side of the worm 501 is meshedly connected with a worm wheel 502, a transmission 503 is provided on the left side of the worm wheel 502, and the worm wheel 502 is provided on the input end of the transmission 503, and the circumferential surface of the output end of the transmission 503 is provided with a bevel gear 1 504, and the bevel gear 1 504 is meshedly connected with a bevel gear 2 505, and the bevel gear 2 505 An upper rolling roller 506 is provided on one side close to the machine body 1, a driven spur gear 1 507 is provided on the circumferential surface of the upper rolling roller 506 close to the conical gear 2 505, a driven spur gear 2 508 is meshedly connected to the lower end of the driven spur gear 1 507, a lower rolling roller 509 is provided in the middle of the driven spur gear 2 508, the upper rolling roller 506 and the lower rolling roller 509 are both provided on the outside of the hollow mounting plate 205, and the upper rolling roller 506 and the lower rolling roller 509 are located on the left side of the square cleaning brush 606;

[0045] It should be noted that the setting of the transmission 503 can reduce the transmission speed so that the upper rolling roller 506 and the lower rolling roller 509 rotate at a reasonable speed, avoiding too fast or too slow rotation that affects the quality of the rolled stones, and the design of the upper rolling roller 506 and the lower rolling roller 509 being arranged on the left side of the cleaning brush can crush the larger stones first, so that the cleaning brush can successfully remove the crushed stones later.

[0046] The bottom side walls of the two groups of left movable plates 306 and the lower end of the fixed block 407 are both provided with a water outlet 14. The water outlet 14 on the movable plate 306 is located on the right side of the square cleaning brush 606. A water tank 15 is provided on the inner top of the body 1. The water outlet 14 is connected with the inside of the water tank 15 through a water outlet pipe and a water pump, so that the water outlet 14 can smoothly spray water when the cleaning brush cleans the track surface, thereby improving the cleaning quality. The lower end outer walls of the two groups of right movable plates 306 are respectively provided with an air outlet 17, a side scraper 18 and an upper scraper 19. An air pump 16 is provided at the inner top of the body 1, and the air pump 16 is connected to the air outlet 17 through a ventilation pipe. The side scraper 18 and the upper scraper 19 are both arranged on the left side of the air outlet 17, and the side scraper 18 is arranged below the upper scraper 19. The arrangement of the side scraper 18, the upper scraper 19 and the air outlet 17 can clean the track once in the front, and then the scraper can scrape the upper surface and side of the track again. The air outlet 17 sprays gas to dry the track surface with water scraped off again, so as to avoid water accumulation on the track, which causes the track to rust and affect its use.

[0047] When the present invention is used, the cleaning robot is first placed in the middle of the two sets of tracks, and then the two dual-axis motors 201 are started, and the dual-axis motors 201 drive the rotating shaft 202 and the rotating gear 203 to rotate, so that the tooth plate 204 drives the hollow mounting plate 205 to move out of the body 1, and then the middle part of the hollow mounting plate 205 moves to the top of the track and stops;

[0048] Then, the lifting cylinder 301 is started, and the lifting cylinder 301 drives the lifting plate 302 and the moving plate 306 to move vertically downward, so that the moving plate 306 moves to the side of the track, and then stops moving downward after the circular cleaning brush 406 contacts the upper surface of the track, and then the double-axis motor 303 is started, and the double-axis motor 303 drives the two threaded rods 304 to rotate, so that the two moving blocks 305 drive the two moving plates 306 to approach the track, and after the square cleaning brush 606 abuts against the side wall of the track, the moving plate 306 stops working, and at the same time, the abutment mechanism 3 inside the two hollow mounting plates 205 on the right side drives the side scraper 18 and the upper scraper 19 to contact the side and upper surface of the track respectively;

[0049] Then the servo motor 401 works, driving the second shaft 402, the worm 501 and the circular rotating block 601 to rotate. The second shaft 402 rotates and drives the third shaft 405 and the circular cleaning brush 406 to rotate through the belt driving wheel 403, the belt and the belt driven wheel 404, so that the circular cleaning brush 406 cleans the upper surface of the track. At the same time, the water outlet 14 on the fixed block 1 407 sprays water to further improve the cleaning effect of the circular cleaning brush 406. The rotation of the worm 501 drives the worm wheel 502 and the transmission 503 to rotate, thereby driving the upper rolling roller 506 to rotate through the bevel gear 1 504 and the bevel gear 2 505. , and then the lower rolling roller 509 is driven to rotate through the driven spur gear 1 507 and the driven spur gear 2 508, and then the upper rolling roller 506 and the lower rolling roller 509 cooperate with the track to crush the larger stones, which is convenient for the cleaning work of the cleaning brush. The circular rotating block 601 rotates through the semicircular protrusions 602 on its upper and lower sides to drive the C-shaped connecting block 603 to move back and forth vertically, and then drive the limiting connecting plate 604, the sliding block 605 and the square cleaning brush 606 to vibrate vertically and reciprocately. At the same time, the water outlet 14 on the side of the moving plate 306 sprays water on the square cleaning brush 606, so that the cleaning effect of the square cleaning brush 606 is better;

[0050] Then make the cleaning robot move along the track in a square shape, the cleaning brush on the left side cleans the track surface, the scraper on the right side scrapes off the moisture accumulated on the track, and the air outlet 17 blows air on the track surface to accelerate the air flow rate on the track surface, so that after the scraper scrapes off the track surface, a thin layer of water droplets may remain on the surface of the track, which can be quickly dried to prevent the water droplets from remaining on the track surface for too long and corroding the track.

[0051] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A cleaning robot for coal mining, comprising a body (1), characterized in that: The left and right sides of the machine body (1) are each internally provided with an entry and exit mechanism (2), the entry and exit mechanism (2) comprising a dual-axis motor (201), and the dual-axis motor (201) is arranged at the inner bottom of the machine body (1), the two power output ends of the dual-axis motor (201) are both drivingly connected to a rotating shaft (202), the circumferential surfaces of the two rotating shafts (202) are each provided with a rotating gear (203), the upper ends of the two rotating gears (203) are each meshingly connected to a toothed plate (204), the outer ends of the two toothed plates (204) are each provided with a hollow mounting plate (205), and the interiors of the two left hollow mounting plates (205) are provided with a side cleaning mechanism (6); The side cleaning mechanism (6) comprises a sliding block (605), and the sliding block (605) is movably inserted into the interior of the hollow mounting plate (205) on the left side, a square cleaning brush (606) is arranged at the outer end of the sliding block (605), a limiting connection plate (604) is arranged at the inner end of the sliding block (605), a C-shaped connection block (603) is arranged on the other side of the limiting connection plate (604), a circular rotating block (601) is arranged inside the C-shaped connection block (603), and semicircular protrusions (602) are arranged on the upper and lower side surfaces of the circular rotating block (601), and a plurality of semicircular protrusions (602) are arranged in a circular array, and the semicircular protrusions (602) on the upper and lower sides are respectively abutted against the upper and lower ends of the C-shaped connection block (603).

2. A cleaning robot for coal mining according to claim 1, characterized in that: The left and right side walls of the machine body (1) are both provided with side through grooves (7), and there are four side through grooves (7), and the sizes of the four side through grooves (7) are matched with the four hollow mounting plates (205).

3. A cleaning robot for coal mining according to claim 1, characterized in that: A limit block (9) is arranged on the inner side wall of the hollow mounting plate (205) on the left side, and two groups of limit blocks (9) are symmetrically arranged up and down and are respectively arranged on the upper and lower sides of the limit connecting plate (604), and a movable groove (10) is opened inside the two limit blocks (9), and the upper and lower ends of the limit connecting plate (604) are respectively slidably installed inside the two movable grooves (10), and the lower surface of the limit connecting plate (604) is connected to the inside of the limit block (9) at the lower end through a spring (11).

4. A cleaning robot for coal mining according to claim 1, characterized in that: A movable groove 2 (12) is provided inside the side of the hollow mounting plate (205) on the left side close to the machine body (1), and two movable grooves 2 (12) are provided and are respectively located on the upper and lower sides of the sliding block (605), and sealing plates (13) are slidably installed inside the two movable grooves 2 (12), and the two sealing plates (13) are respectively arranged on the upper and lower sides of the sliding block (605).

5. The cleaning robot for coal mining according to claim 1, characterized in that: The four hollow mounting plates (205) are each provided with an abutment mechanism (3) therein, the abutment mechanism (3) comprising a lifting cylinder (301), and the lifting cylinder (301) is arranged on the inner top wall of the hollow mounting plate (205), a lifting plate (302) is arranged at the lower end of the lifting cylinder (301), a dual-axis motor 2 (303) is arranged in the middle of the internal part of the lifting plate (302), the two power output ends of the dual-axis motor 2 (303) are both transmission-connected with a threaded rod (304), the circumferential surfaces of the two threaded rods (304) are both threadedly connected with a moving block (305), and the lower ends of the two moving blocks (305) are each provided with a moving plate (306), and the two sets of side cleaning mechanisms (6) are respectively arranged inside the two left hollow mounting plates (205).

6. A cleaning robot for coal mining according to claim 5, characterized in that: An upper cleaning mechanism (4) is arranged inside the two left movable plates (306), and the upper cleaning mechanism (4) includes a servo motor (401), and the servo motor (401) is arranged inside the upper end of the movable plate (306), the power output end of the servo motor (401) is drivingly connected to a second rotating shaft (402), the circumferential surface of the second rotating shaft (402) is provided with a belt driving wheel (403), the belt driving wheel (403) is connected to a belt driven wheel (404) through a transmission belt, a rotating shaft (405) is arranged in the middle of the belt driven wheel (404), a circular cleaning brush (406) is arranged at the lower end of the rotating shaft (405), and the rotating shaft (405) and the circular cleaning brush (406) are both arranged on the outer side of the movable plate (306).

7. A cleaning robot for coal mining according to claim 6, characterized in that: The lower end of the second rotating shaft (402) is rotatably connected to a second fixed block (8), and the second fixed block (8) is fixedly connected to the inner wall of the movable plate (306). The upper end of the third rotating shaft (405) is rotatably connected to a first fixed block (407), and the first fixed block (407) is fixedly connected to the outer wall of the movable plate (306).

8. The cleaning robot for coal mining according to claim 6, characterized in that: A grinding mechanism (5) is provided at the lower end of the second rotating shaft (402), and the grinding mechanism (5) comprises a worm (501), the upper end of the worm (501) is fixedly connected to the lower end of the second rotating shaft (402), the side of the worm (501) is meshingly connected with a worm wheel (502), a transmission (503) is provided on the left side of the worm wheel (502), and the worm wheel (502) is provided on the input end of the transmission (503), and a bevel gear (504) is provided on the circumferential surface of the output end of the transmission (503), and the bevel gear (504) is meshingly connected with a bevel gear (505), and the bevel gear (505) is meshingly connected with a bevel gear (506). An upper rolling roller (506) is arranged on the side of the second (505) close to the machine body (1); a driven spur gear one (507) is arranged on the circumferential surface of the upper rolling roller (506) close to the side of the conical gear two (505); the lower end of the driven spur gear one (507) is meshingly connected with the driven spur gear two (508); a lower rolling roller (509) is arranged in the middle of the driven spur gear two (508); the upper rolling roller (506) and the lower rolling roller (509) are both arranged on the outside of the hollow mounting plate (205), and the upper rolling roller (506) and the lower rolling roller (509) are located on the left side of the square cleaning brush (606).

9. A cleaning robot for coal mining according to claim 6, characterized in that: The bottom side walls of the two groups of left movable plates (306) and the lower end of the fixed block (407) are both provided with water outlets (14); the water outlets (14) on the movable plates (306) are located on the right side of the square cleaning brush (606); a water tank (15) is provided on the inner top of the machine body (1); the water outlet (14) is connected to the inside of the water tank (15) through a water outlet pipe and a water pump.

10. A cleaning robot for coal mining according to claim 6, characterized in that: The lower end outer walls of the two groups of right movable plates (306) are respectively provided with an air outlet (17), a side scraper (18) and an upper scraper (19); an air pump (16) is provided at the inner top of the body (1), and the air pump (16) is connected to the air outlet (17) through a ventilation pipe; the side scraper (18) and the upper scraper (19) are both arranged on the left side of the air outlet (17), and the side scraper (18) is arranged below the upper scraper (19).

Images