Slag cleaning robot

Abstract

The invention discloses a slag cleaning robot which comprises a walking machine body, a transition machine body and a crushing machine body. The bottom of the walking machine body is provided with an electromagnet attracted and fixed to the mine wall face, and the two sides of the walking machine body are provided with walking wheel sets; one end of the transition machine body is fixedly connected with the walking machine body; the crusher body comprises a drill bit group, a driving mechanism and a drill bit mounting seat; the drill bit mounting seat is movably connected with the other end of the transition machine body; the drill bit set is rotationally connected with the drill bit mounting base, and the driving mechanism is in transmission connection with the drill bit set and used for driving the drill bit set to rotate. The slag cleaning device can replace manual slag cleaning operation on the wall surface of equipment, the slag is ground and drilled down in a drill bit grinding mode, large slag collapse is avoided, and meanwhile the situation that the service life of the equipment is affected by large-amplitude vibration of the equipment is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robot equipment, and in particular to a slag cleaning robot. Background Art

[0002] In the smelting process of iron ore, gold ore and other ores, large raw material warehouses, smelting furnaces, cleaning tanks, sedimentation tanks and other process smelting equipment are needed. After long-term use, the ore will be hardened on the metal wall of the equipment, and a large amount of slag will remain. The existence of these slags not only affects the efficiency of ore smelting, but also causes a waste of resources. In order to improve production efficiency, workers need to clean the residues on the wall, and then transport the residues to the designated location through the ore transportation device for collection and reuse.

[0003] However, the traditional cleaning method basically uses manual high-level operations to perform cleaning methods such as knocking and hammering. Due to the vibration generated during the manual cleaning process, the slag on the mine wall is prone to loosening, falling into pieces and collapsing, which can lead to safety accidents and serious safety hazards. At the same time, the cleaning method of knocking and hammering can easily damage the metal wall of the equipment, and the strong vibration caused can also easily affect the sealing of the pipeline connections of some equipment. Therefore, in order to solve the above technical problems, the present application provides a slag cleaning robot. Summary of the invention

[0004] The present invention provides a slag cleaning robot, which can replace manual work to perform slag cleaning operations on the wall of equipment. The slag is ground and drilled out by a drill bit to avoid the collapse of large pieces of slag and to avoid large-scale vibration of the equipment that affects the life of the equipment.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A slag cleaning robot comprises a walking body, a transition body and a crushing body; an electromagnet fixed to the mine wall is provided at the bottom of the walking body, and walking wheel groups are provided on both sides of the walking body; one end of the transition body is fixedly connected to the walking body; the crushing body comprises a drill bit group, a driving mechanism and a drill bit mounting seat; the drill bit mounting seat is movably connected to the other end of the transition body; the drill bit group is rotationally connected to the drill bit mounting seat, and the driving mechanism is transmission-connected to the drill bit group for driving the drill bit group to rotate.

[0007] Furthermore, the drill bit group includes a roller drill bit and a connecting shaft; the connecting shaft is rotatably connected to the drill bit mounting seat in the vertical direction; the top of the roller drill bit is detachably connected to the bottom of the connecting shaft; the driving mechanism is configured as a driving motor, the driving motor is fixedly connected to the drill bit mounting seat, and is connected to the top of the connecting shaft through a coupling to drive the roller drill bit to rotate.

[0008] Furthermore, the driving mechanism also includes a vibration sensor, and the vibration sensor is installed on the driving motor.

[0009] Furthermore, in another embodiment, the number of the drill bit groups is set to be several, and each of the drill bit groups is arranged in parallel and spaced apart in the vertical direction; each of the connecting shafts is rotatably connected to the drill bit mounting seat, and a transmission gear is provided on the top of each of the connecting shafts, and each of the transmission gears is connected via a transmission chain; the driving motor is fixedly connected to the drill bit mounting seat; the driving motor is connected to one of the connecting shafts via a coupling to drive the rotation of several of the roller drill bits.

[0010] Furthermore, the roller drill bit includes a drill bit body and three rollers; the top of the drill bit body is detachably connected to the connecting shaft through a thread; three circumferentially spaced teeth are provided at the bottom of the drill bit body, each of the rollers is rotatably connected to the inner side of a tooth palm, and the three rollers are all arranged inclined, the inner sides of the three rollers are set as conical structures, and the center lines of the three rollers intersect with the center line of the drill bit body; each of the rollers is provided with a plurality of array-distributed protrusions; and the outer side of each of the tooth palms is also provided with a plurality of protrusions.

[0011] Furthermore, the transition body includes a connector, a servo lifting module and two accordion-type protective covers; the connector is fixedly connected to one end of the walking body in the vertical direction; the servo lifting module is installed on the connector in the vertical direction, one side of the drill mounting seat is connected to the servo lifting module, and is lifted and lowered along the connector through the servo lifting module; the two sides of the two accordion-type protective covers are connected to the two sides of the connector one by one, wrapping the servo lifting modules inside; the upper and lower ends of one of the accordion-type protective covers are respectively connected to the top of the connector and the top of the drill mounting seat; the upper and lower ends of the other accordion-type protective cover are respectively connected to the top of the drill mounting seat and the bottom of the connector; the two accordion-type protective covers are folded and retracted as the drill mounting seat is lifted and lowered.

[0012] Furthermore, the walking body includes an electric control compartment, a walking wheel group, a battery, an electromagnet, a controller and an ultrasonic flaw detector; the walking wheel group is distributed on both sides of the electric control compartment; the interior of the electric control compartment is set as a cavity structure; the electromagnet is arranged at the bottom of the electric control compartment; the battery and the controller are arranged in the electric control compartment; the electromagnet, the battery, the servo lifting module, and the driving mechanism are all electrically connected to the controller; the connector is fixedly connected to the outside of one end of the electric control compartment in the vertical direction; one end of the ultrasonic flaw detector is movably connected to the tail end of the electric control compartment for lifting and lowering; the probe of the ultrasonic flaw detector faces downward.

[0013] Furthermore, the bottom of both sides of the electric control warehouse are recessed inward to form a walking wheel mounting part, and each of the walking wheel groups is arranged at a corresponding walking wheel mounting part; each of the walking wheel groups includes two tracks, four drive sprockets, four drive motors, and four groups of elastically telescopic driven sprockets; the four drive motors are distributed at the four corners of the bottom of the electric control warehouse, each of the drive sprockets is connected to the output shaft of a drive motor, and each of the tracks is distributed and sleeved on the two drive sprockets located on the same side; two groups of elastically telescopic driven sprockets are provided on both sides of the electric control warehouse, and the two groups of elastically telescopic driven wheels are movably abutted against the inner side of the lower end of the corresponding track.

[0014] Furthermore, each of the elastically telescopic driven wheels comprises an elastically telescopic rod, two driven wheels, two driven adjustment beams and an adjustment beam; the two driven adjustment beams are arranged opposite to each other, one end of the two driven adjustment beams is hinged to one side of the electric control warehouse, and the two ends of the adjustment beam close to the side of the electric control warehouse are respectively hinged to the other end of a driven adjustment beam; the top of the elastically telescopic rod is hinged to the upper end surface of a corresponding walking wheel mounting part, and the bottom of the elastically telescopic rod is hinged to the middle part of the adjustment beam; the two ends of the adjustment beam away from the side of the electric control warehouse are respectively rotatably connected to a driven wheel; the outer peripheral walls of the two driven wheels abut against the inner side of a corresponding track.

[0015] Furthermore, an electrical signal output electrode line and an electric potential measuring electrode line are also arranged between the controller and the drill bit mounting seat; the controller outputs electrical signals to the drill bit mounting seat and the drill bit group through the electrical signal output electrode line, and the electric potential measuring electrode line is used to measure the electric potential electrical signals on the drill bit mounting seat and the drill bit group.

[0016] The beneficial effects of the present invention are:

[0017] 1) Compared with the prior art, the present invention uses a slag cleaning robot to clean the slag instead of manual cleaning, and adopts a drill grinding method to grind the slag and drill it off, thereby avoiding the loosening or collapse of slag when the slag on the wall of the manual cleaning equipment is cleaned, avoiding the large-scale vibration of the equipment that affects the equipment life, and reducing safety hazards, thereby improving the safety of the slag cleaning process; at the same time, the slag is directly ground and crushed, which is beneficial to improving the efficiency of slag recovery work.

[0018] 2) The driving motor drives the connecting shaft to rotate, thereby driving the roller drill to rotate and grind the slag. The combination of the convex points distributed in an array on multiple rollers can effectively improve the crushing capacity. During the slag cleaning process, the slag is directly ground and crushed without knocking or hitting, thereby improving the working efficiency of the slag cleaning robot and reducing damage to the equipment.

[0019] 3) By setting up multiple groups of drill bits to rotate simultaneously, the unit area of ​​slag cleaning can be increased. Even if the splashed slag enters the gap between adjacent drill bits, it can still be ground and crushed by the convex points set on the outside of the tooth palm, thereby increasing the crushing capacity of the drill bit group and accelerating the slag cleaning efficiency.

[0020] 4) The vibration sensor can sense the vibration threshold of the motor and use the hardness difference between the equipment wall and the slag to effectively identify whether the drill bit has contacted the equipment wall based on the difference in vibration values ​​during rotation, thereby stopping the rotation and grinding operation or changing the operation position in time to prevent damage to the equipment wall.

[0021] 5) The servo lifting module is used to control the crushing body to move back and forth in the direction close to or away from the mine wall to adjust the distance between the drill bit group and the equipment wall. In conjunction with the vibration sensor on the driving mechanism, the slag cleaning robot can more comprehensively clean the slag on the wall, effectively improving the cleaning efficiency of the slag cleaning robot; the two accordion-type protective covers can effectively prevent slag from entering the servo lifting module and affecting the displacement accuracy of the servo lifting module.

[0022] 6) The elastically retractable driven wheels can make the track adapt to the shape of the equipment wall. When passing through the bumps, each adjustment beam can automatically adjust the position of the corresponding two driven wheels, thereby avoiding large fluctuations in the walking body during the movement, thereby ensuring the stability of the walking body's adsorption force.

[0023] 7) The controller detects the potential difference between the drill bit mounting base and the drill bit assembly through the electrical signal output electrode line and the potential measurement electrode line. When the drill bit assembly contacts the wall of the equipment, the potential change on the drill bit mounting base is triggered. In conjunction with the vibration sensor on the drive mechanism, the controller can quickly make a shutdown response when the drill bit assembly contacts the wall of the equipment, thereby preventing the drill bit assembly from damaging the wall of the equipment. After the robot has cleaned the slag, it can drive to certain specific locations, use a micro electric push rod to lower the ultrasonic flaw detector to the wall of the equipment, and perform metal flaw detection on that point. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0025] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention;

[0026] Figure 2 It is a side view of the overall structure of the present invention;

[0027] Figure 3 It is a three-dimensional diagram of the internal structure of the crushing body and the transition body in the present invention;

[0028] Figure 4 It is a three-dimensional diagram of the internal structure of the walking machine body in the present invention;

[0029] Figure 5 It is a three-dimensional diagram of the crushing machine body in the present invention;

[0030] Figure 6 A bottom view of the crushing machine body of the present invention;

[0031] Figure 7 is a front view of the drill bit assembly of the present invention;

[0032] Figure 8 is a stereoscopic diagram of a roller drill bit in the present invention;

[0033] Figure ID:

[0034] 1-walking body, 2-transition body, 3-crushing body, 31-drill bit group, 32-driving mechanism, 33-drill bit mounting seat, 311-roller drill bit, 312-connecting shaft, 313-coupling, 314-transmission gear, 315-transmission chain, 3111-drill bit body, 3112-roller, 3113-tooth palm, 3114-bump, 21-connector, 22-servo lifting module, 23-accordion protective cover, 11-electric control compartment, 12-walking wheel group, 13-battery, 14-controller, 15-sealed terminal, 16-drag chain, 121-crawler, 122-driving sprocket, 123-driving motor, 124-elastic telescopic driven sprocket, 1241-elastic telescopic rod, 1242-driven wheel, 1243-driven adjustment beam, 1244-adjustment beam. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0036] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is referred to as being "set in the middle", it does not only mean being set in the middle, as long as it is not set at both ends within the range defined by the middle. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] Reference Figures 1 to 8As shown, a slag cleaning robot comprises a walking body 1, a transition body 2 and a crushing body 3; the bottom of the walking body 1 is provided with an electromagnet adsorbed and fixed to the mine wall, and walking wheel groups 12 are provided on both sides of the walking body 1; one end of the transition body 2 is fixedly connected to the walking body 1; the crushing body 3 comprises a drill group 31, a driving mechanism 32 and a drill mounting seat 33; the drill mounting seat 33 is movably connected to the other end of the transition body 2; the drill group 31 is rotationally connected to the drill mounting seat 33, and the driving mechanism 32 is transmission-connected to the drill group 31 for driving the drill group 31 to rotate. Compared with the prior art, the present invention uses a slag cleaning robot to clean slag instead of manual cleaning, and adopts a rotary grinding method of a drill bit group 31 to grind and drill out the slag, thereby avoiding the loosening or collapse of slag when the slag on the wall of the manual cleaning equipment is cleaned, avoiding large-scale vibration of the equipment that affects the equipment life, and reducing safety hazards, thereby improving the safety of the slag cleaning process; at the same time, the slag is directly ground and crushed, which is beneficial to improving the efficiency of slag recovery work.

[0039] In one embodiment, the drill bit group 31 includes a roller drill bit 311 and a connecting shaft 312; the connecting shaft 312 is rotatably connected to the drill bit mounting seat 33 in the vertical direction; the top of the roller drill bit 311 is detachably connected to the bottom of the connecting shaft 312; the driving mechanism 32 is configured as a driving motor, the driving motor 32 is fixedly connected to the drill bit mounting seat 33, and is transmission-connected to the top of the connecting shaft 312 through a coupling 313 to drive the roller drill bit 311 to rotate. The driving mechanism 32 also includes a vibration sensor, which is mounted on the driving motor. The vibration sensor can sense the vibration threshold of the motor, and utilizes the hardness difference between the equipment wall and the slag, so as to effectively identify whether the drill bit has contacted the equipment wall according to the difference in vibration values ​​during the rotation process, so as to stop the rotation grinding operation in time or change the operation position, so as to prevent damage to the equipment wall.

[0040] The roller drill bit 311 comprises a drill bit body 3111 and three rollers 3112; the top of the drill bit body 3111 is detachably connected to the connecting shaft 312 via a thread, thereby improving the convenience of the drill bit body 3111 and the connecting shaft 312 during replacement; the bottom of the drill bit body 3111 is provided with three tooth palms 3113 distributed at circumferential intervals, each of the rollers 3112 is rotatably connected to the inner side of a tooth palm 3113, and the three rollers 3112 are all arranged obliquely, and the three The inner side of the cone 3112 is set as a conical structure, and the center lines of the three cones 3112 intersect with the center line of the drill body 3111; each of the cones 3111 is provided with a plurality of convex points 3114 distributed in an array; the outer side of each tooth palm 3113 is also provided with a plurality of convex points 3114. When the drill body 3111 rotates, the three cones 3112 are pressed against the slag and rotated. During the rotation, large pieces of slag fall into the three cones 3112 and are ground and crushed by the convex points 3114. The connecting shaft 312 is driven by the driving motor to rotate, thereby driving the cone drill 311 to rotate and grind the slag. Through the cooperation of the convex points 3114 distributed in an array on the multiple cones 3112, the crushing capacity is effectively improved. The slag is directly ground and crushed in the process of cleaning the slag without knocking and hitting, thereby improving the working efficiency of the slag cleaning robot and reducing damage to the equipment.

[0041] In order to improve the efficiency of cleaning slag, the present invention provides another embodiment, which is different from the first embodiment in that the number of the drill bit groups 31 can be set to multiple. As shown in the figure, the number of the drill bit groups 31 in this embodiment is set to five, and the five drill bit groups 31 are arranged in two rows, two in the front row and three in the rear row. The two rows are staggered to form an isosceles trapezoidal working area; each of the drill bit groups 31 is arranged in parallel and spaced in the vertical direction; each of the connecting shafts 312 is rotatably connected to the drill bit mounting seat 33, and a transmission gear 314 is provided on the top of each of the connecting shafts 312, and each of the transmission gears 314 is connected by a transmission chain 315; the drive motor is fixedly connected to the drill bit mounting seat 33; the drive motor is connected to one of the connecting shafts 312 by a coupling 313 to drive the five roller drill bits 311 to rotate simultaneously. It should be noted that the transmission method between multiple groups of drill bit groups 31 is not limited to gear chain transmission, and gear meshing transmission can also be directly adopted to obtain greater torque. By arranging multiple groups of drill bit groups 31 to rotate simultaneously, the unit area of ​​slag cleaning can be increased. Even if the splashed slag enters the gap between adjacent drill bit groups 31, it can still be ground and crushed by the protrusions 3114 set on the outside of the tooth palm 3113, thereby increasing the crushing capacity of the drill bit group 31 and accelerating the slag cleaning efficiency.

[0042] Please refer to Figures 1 to 3As shown, the transition body 2 includes a connector 21, a servo lifting module 22 and two accordion-type protective covers 23; the connector 21 is fixedly connected to one end of the walking body 1 in the vertical direction; the servo lifting module 22 can be implemented by using the technical solutions of servo motor, ball screw and slide rail in the prior art, and the specific structure is not repeated here. The servo lifting module 22 is installed on the connector 1 in the vertical direction, and one side of the drill bit mounting seat 33 is connected to the servo lifting module 22, and is lifted and lowered along the connector 21 through the servo lifting module 22; both sides of the two accordion-type protective covers 23 One-to-one connection is made on both sides of the connector 21, wrapping the servo lifting module 22 inside; the upper and lower ends of one of the accordion-type protective covers 23 are respectively connected to the top of the connector 21 and the top of the drill bit mounting seat 33; the upper and lower ends of the other accordion-type protective cover 23 are respectively connected to the top of the drill bit mounting seat 33 and the bottom of the connector 21; the two accordion-type protective covers 23 are folded and retracted as the drill bit mounting seat 33 is raised and lowered, and the two accordion-type protective covers 23 can effectively prevent slag from entering the servo lifting module 22 and affecting the displacement accuracy of the servo lifting module 22. The servo lifting module 22 controls the crushing body 3 to reciprocate in the direction of approaching or moving away from the mine wall to adjust the distance between the drill bit group 31 and the equipment wall, and cooperates with the vibration sensor on the driving mechanism 32, so that the slag cleaning robot can clean the slag on the wall more comprehensively, effectively improving the cleaning efficiency of the slag cleaning robot.

[0043] Please refer to Figure 1 , Figure 2 and Figure 4As shown, the walking machine body 1 includes an electric control compartment 11, a walking wheel group 12, a battery 13, an electromagnet (not shown in the figure), a controller 14 and an ultrasonic flaw detector 17; the walking wheel group 12 is distributed on both sides of the electric control compartment 11; the interior of the electric control compartment 11 is set as a cavity structure; the electromagnet is arranged at the bottom of the electric control compartment 11; the battery 13 and the controller 14 are arranged in the electric control compartment 11; the electromagnet, the battery 13, the servo lifting module 22, and the driving mechanism 32 are all electrically connected to the controller 14; an electric signal output electrode line (not shown in the figure) and an electric potential measurement electrode line (not shown in the figure) are also arranged between the controller 14 and the drill bit mounting seat; the controller 14 outputs electric signals to the drill bit mounting seat 33 and the drill bit group 31 through the electric signal output electrode line, and the electric potential measurement electrode line is used to measure the electric potential electric signal on the drill bit mounting seat and the drill bit group; when the drill bit The moment the drill bit group 31 contacts the wall of the equipment, the electric potential on the drill mounting seat 33 changes, and cooperates with the vibration sensor on the driving mechanism 32, so that the controller 14 issues a shutdown command at the moment the drill bit group 31 contacts the wall of the equipment, thereby preventing the drill bit group 31 from damaging the wall of the equipment; the feedback signal received by the controller when the drill bit group 31 contacts the wall of the equipment needs to have both an electric potential signal and a vibration signal. This design can avoid the situation where the vibration signal is misjudged when the drill bit group encounters a harder slag agglomerate. Since the electric potential signal has not been triggered at this time, the controller can effectively identify and control the drill bit group to continue cleaning. The slag contains aluminum ore metal, which may also cause electric potential changes. However, if there is no synchronous large vibration signal, it will not cause shutdown. Therefore, through the coordination of electric potential measurement and vibration measurement, misjudgment can be avoided, that is, the slag can be completely cleaned without damaging the wall of the equipment, thereby achieving the purpose of improving the cleaning effect. A sealed terminal 15 and a drag chain 16 are also provided between the driving mechanism 32 and the electric control compartment 11. The sealed terminal 16 is used for connecting cables between power supply components, and the drag chain 16 is used for storing cables connected between the sealed terminal and the power supply components, which helps to arrange the cables neatly. The connector 21 is fixedly connected to the outer side of one end of the electric control compartment 11 in the vertical direction. One end of the ultrasonic flaw detector 17 is connected to the tail end of the electric control compartment through a micro electric push rod. The probe of the ultrasonic flaw detector 17 faces downward. After the robot cleans the slag, it can drive to certain specific locations, and use the micro electric push rod to lower the ultrasonic flaw detector 17 to abut against the wall of the equipment to perform metal flaw detection operations on the point. The walking body 1 is fixed to the wall of the equipment by the suction force of the electromagnet, and the walking body 1 is driven to move on the wall of the equipment by the walking wheel group 12.

[0044] The bottom of both sides of the electric control warehouse 11 are recessed inward to form a walking wheel mounting part, and each of the walking wheel groups 12 is arranged at a corresponding walking wheel mounting part; each of the walking wheel groups 12 includes two tracks 121, four driving sprockets 122, four driving motors 123, and four groups of elastically telescopic driven sprockets 124; the four driving motors 123 are distributed at the four corners of the bottom of the electric control warehouse 11, each of the driving sprockets 122 is connected to the output shaft of a driving motor 123, and each of the tracks 121 is distributed and sleeved on the two driving sprockets 122 located on the same side; two groups of elastically telescopic driven sprockets 124 are provided on both sides of the electric control warehouse 11, and the two groups of elastically telescopic driven wheels 124 are movably abutted against the inner side of the lower end of the corresponding track 121. Each of the elastically telescopic driven wheels 124 includes an elastically telescopic rod 1241, two driven wheels 1242, two driven adjustment beams 1243 and an adjustment beam 1244; the two driven adjustment beams 1243 are arranged opposite to each other, one end of the two driven adjustment beams 1243 is hinged to one side of the electric control warehouse 11, and the two ends of the adjustment beam 1244 close to the side of the electric control warehouse 11 are respectively hinged to the other end of a driven adjustment beam 1243; the top of the elastically telescopic rod 1241 is hinged to the upper end surface of the corresponding walking wheel mounting part, and the bottom of the elastically telescopic rod 1241 is hinged to the middle part of the adjustment beam 1244; the two ends of the adjustment beam 1244 away from the side of the electric control warehouse 11 are respectively rotatably connected to a driven wheel 1242; the outer peripheral walls of the two driven wheels 1242 abut against the inner side of the corresponding crawler 121. The elastically retractable driven wheel 124 can allow the track 121 to adapt to the shape of the equipment wall. When passing through a bump, each adjustment beam 1244 can automatically adjust the position of the corresponding two driven wheels 1242, thereby avoiding large fluctuations in the walking body during movement, thereby ensuring the stability of the adsorption force of the walking body 1.

[0045] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Any modification or equivalent substitution that does not depart from the spirit and scope of the present invention shall be included in the scope of the technical solution of the present invention.

Claims

1. A slag cleaning robot, characterized in that: It includes a walking body, a transition body and a crushing body; an electromagnet fixed to the mine wall is provided at the bottom of the walking body, and walking wheel groups are provided on both sides of the walking body; one end of the transition body is fixedly connected to the walking body; the crushing body includes a drill bit group, a driving mechanism and a drill bit mounting seat; the drill bit mounting seat is movably connected to the other end of the transition body; the drill bit group is rotationally connected to the drill bit mounting seat, and the driving mechanism is transmission-connected to the drill bit group for driving the drill bit group to rotate.

2. A slag cleaning robot according to claim 1, characterized in that: The drill bit group includes a roller drill bit and a connecting shaft; the connecting shaft is rotatably connected to the drill bit mounting seat in the vertical direction; the top of the roller drill bit is detachably connected to the bottom of the connecting shaft; the driving mechanism is configured as a driving motor, the driving motor is fixedly connected to the drill bit mounting seat, and is connected to the top of the connecting shaft through a coupling to drive the roller drill bit to rotate.

3. A slag cleaning robot according to claim 2, characterized in that: The driving mechanism further comprises a vibration sensor, and the vibration sensor is mounted on the driving motor.

4. A slag cleaning robot according to claim 3, characterized in that: The number of the drill bit groups is set to be several, and each of the drill bit groups is arranged in parallel and spaced apart in the vertical direction; each of the connecting shafts is rotatably connected to the drill bit mounting seat, and a transmission gear is provided on the top of each of the connecting shafts, and each of the transmission gears is connected through a transmission chain; the driving motor is fixedly connected to the drill bit mounting seat; the driving motor is connected to one of the connecting shafts through a coupling to drive the rotation of several of the roller drill bits.

5. A slag cleaning robot according to any one of claims 2 or 4, characterized in that: The roller drill bit includes a drill bit body and three rollers; the top of the drill bit body is detachably connected to the connecting shaft through a thread; three circumferentially spaced tooth palms are provided at the bottom of the drill bit body, each of the rollers is rotatably connected to the inner side of a roller palm, and the three rollers are all arranged inclined, the inner sides of the three rollers are set as conical structures, and the center lines of the three rollers intersect with the center line of the drill bit body; each of the rollers is provided with a plurality of array-distributed protrusions; and the outer side of each of the rollers is also provided with a plurality of protrusions.

6. The slag cleaning robot according to claim 2, characterized in that: The transition body includes a connector, a servo lifting module and two accordion-type protective covers; the connector is fixedly connected to one end of the walking body in the vertical direction; the servo lifting module is installed on the connector in the vertical direction, one side of the drill mounting seat is connected to the servo lifting module, and is lifted and lowered along the connector through the servo lifting module; the two sides of the two accordion-type protective covers are connected to the two sides of the connector one by one, wrapping the servo lifting modules inside; the upper and lower ends of one of the accordion-type protective covers are respectively connected to the top of the connector and the top of the drill mounting seat; the upper and lower ends of the other accordion-type protective cover are respectively connected to the top of the drill mounting seat and the bottom of the connector; the two accordion-type protective covers are folded and retracted as the drill mounting seat is lifted and lowered.

7. A slag cleaning robot according to claim 6, characterized in that: The walking machine body includes an electric control compartment, a walking wheel group, a battery, an electromagnet, a controller and an ultrasonic flaw detector; the walking wheel groups are distributed on both sides of the electric control compartment; The interior of the electric control compartment is set as a cavity structure; the electromagnet is arranged at the bottom of the electric control compartment; the battery and the controller are arranged in the electric control compartment; the electromagnet, the battery, the servo lifting module, and the driving mechanism are all electrically connected to the controller; the connector is fixedly connected to the outside of the head end of the electric control compartment in the vertical direction; one end of the ultrasonic flaw detector is movably connected to the rear end of the electric control compartment for lifting; the probe of the ultrasonic flaw detector faces downward.

8. The slag cleaning robot according to claim 7, characterized in that: The bottoms of both sides of the electric control compartment are inwardly recessed to form a walking wheel mounting portion, and each walking wheel group is arranged at a corresponding walking wheel mounting portion; each walking wheel group includes two crawlers, four driving sprockets, four driving motors, and four sets of elastically retractable driven sprockets; The four driving motors are distributed at the four corners of the bottom of the electric control warehouse, each driving sprocket is connected to the output shaft of a driving motor, and each track is distributed and sleeved on the two driving sprockets located on the same side; two groups of elastically telescopic driven sprockets are arranged on both sides of the electric control warehouse, and the two groups of elastically telescopic driven wheels are movably abutted against the inner side of the lower end of the corresponding track.

9. The slag cleaning robot according to claim 8, characterized in that: Each of the elastically telescopic driven wheels comprises an elastically telescopic rod, two driven wheels, two driven adjustment beams and an adjustment beam; the two driven adjustment beams are arranged opposite to each other, one end of the two driven adjustment beams is hinged to one side of the electric control warehouse, and the two ends of the adjustment beam close to the electric control warehouse are respectively hinged to the other end of a driven adjustment beam; the top of the elastically telescopic rod is hinged to the upper end surface of a corresponding walking wheel mounting part, and the bottom of the elastically telescopic rod is hinged to the middle part of the adjustment beam; the two ends of the adjustment beam away from the electric control warehouse are respectively rotatably connected to a driven wheel; the outer peripheral walls of the two driven wheels abut against the inner side of a corresponding track.

10. The slag cleaning robot according to claim 7, characterized in that: An electrical signal output electrode line and an electric potential measuring electrode line are also arranged between the controller and the drill bit mounting seat; the controller outputs electrical signals to the drill bit mounting seat and the drill bit group through the electrical signal output electrode line, and the electric potential measuring electrode line is used to measure the electric potential electrical signals on the drill bit mounting seat and the drill bit group.

Images