Coal mine sump cleaning robot

Abstract

The invention relates to the technical field of mine machinery, in particular to a coal mine sump cleaning robot. Comprising a bin cleaning machine and mud collecting mechanisms arranged on the two sides of the front end of the bin cleaning machine, mud collecting bins are fixedly connected between the bin cleaning machine and the mud collecting mechanisms, mud stirring plates are arranged at the close ends of the mud collecting mechanisms on the two sides, connecting mechanisms elastically connected with the mud stirring plates on the two sides are arranged in the mud stirring plates, and reduction gear assemblies are arranged in the connecting mechanisms. A guide mechanism is arranged on the surface of the connecting mechanism on the top of the reduction gear assembly. The rear guide plates on the two sides rotate along the connecting positions of the rear guide plates and the front guide plate, so that the far ends of the rear guide plates contract inwards to shorten the distance between the ends of the rear guide plates on the two sides, coal slime is guided by the rear guide plates to approach the feeding port, and the rear guide plates are adjusted to enable the coal slime to be separated from the feeding port when the coal slime passes through the rear guide plates. And the coal slime can be more accurately guided to the feeding hole, so that the conveying efficiency and accuracy of the coal slime are improved.

Description

Technical Field

[0001] The invention relates to the technical field of mine machinery, in particular to a coal mine water bunker clearing robot. Background Art

[0002] The underground water tank of a coal mine is an important infrastructure to ensure safe production in the mine and prevent potential flood hazards. With the continuous extension of the mining scope of the mine, the amount of water inflow in the mine has gradually increased, making it difficult for the drainage pump to discharge all the water to the ground in time, and the excess water will accumulate in the underground water tank. At the same time, a large amount of solid particles carried by the water enter the water tank and gradually settle to form coal slime, which significantly reduces the effective water storage capacity of the water tank. In order to ensure the normal water storage capacity of the water tank, the accumulated coal slime must be cleaned regularly.

[0003] At present, there are various types of equipment for cleaning underground water tanks in coal mines. For example, some cleaning equipment uses cleaning robots, including a walking chassis, a coal sludge transport device, and a mixing and collecting device. Among them, the mixing and collecting device has the feature of adjustable width, which can adapt to water tanks of different widths. However, the existing equipment still has significant limitations in actual use.

[0004] Specifically, a feed port leading to the coal slime transport device is usually provided in the middle of the fixed shell of the cleaning equipment, and the size of the feed port is fixed. When the telescopic shell of the stirring and collecting device is telescopically adjusted to adapt to water bins of different widths, the internal spiral reamer expands the cleaning range by adjusting the contact width with the coal slime. However, when the spiral reamer moves to both sides, the distance between the two sides increases, and the width of the mud paddle also increases accordingly. At this time, the width of the mud paddle may exceed the width of the feed port, resulting in the following problems: the amount of coal slime delivered to the feed port increases each time the mud paddle rotates, but the part of the coal slime that exceeds the width of the feed port will accumulate on the upper surface of the mud paddle and be blocked by the fixed shell, hindering the normal transportation of the coal slime. This situation not only reduces the cleaning efficiency, but may also cause equipment operation failure. Summary of the invention

[0005] The purpose of the present invention is to provide a coal mine water tank cleaning robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention aims to provide a coal mine water bin cleaning robot, including a bin cleaning machine and mud collecting mechanisms arranged on both sides of the front end of the bin cleaning machine, a mud collecting bin is fixedly connected between the bin cleaning machine and the mud collecting mechanism, mud paddles are arranged at the ends of the mud collecting mechanisms on both sides that are close to each other, the mud paddles have a connecting mechanism elastically connected to the mud paddles on both sides, a reduction gear assembly is arranged inside the connecting mechanism, and a guide mechanism is arranged on the surface of the connecting mechanism located at the top of the reduction gear assembly, the guide mechanism is used to use the connecting mechanism to contact the reduction gear assembly when the connecting mechanisms on both sides are away from each other, so that the reduction gear assembly drives the guide mechanism to rotate, and the ends of the guide mechanisms on both sides shrink inwardly to guide the coal slime on the edge of the guide mechanism surface, so that the connecting mechanism cooperates with the mud paddle and the guide mechanism to paddle the coal slime transported by the mud collecting mechanism into the mud collecting bin.

[0007] As a further improvement of the present technical solution, the mud collecting mechanism includes a spiral plate, one end of the spiral plate passes through the inner telescopic shell and is rotatably connected to the inner telescopic shell, the inner telescopic shell is sleeved inside the outer fixed shell, and a motor for driving the spiral plate to rotate is also fixedly connected to the edge of the inner telescopic shell, and a hydraulic cylinder connected to the edge of the inner telescopic shell is fixedly provided on the outer fixed shell, and the inner telescopic shell is expanded outward by means of the hydraulic cylinder.

[0008] As a further improvement of the present technical solution, a mud paddle is fixedly connected to the end of the spiral plate, the mud collecting bin is fixedly connected to the external fixed shell, and a feed port for feeding materials is opened in the middle of the external fixed shell. When the mud paddles on both sides are matched, the sum of the widths of the mud paddles on both sides is equal to the width of the feed port. When the mud paddles are rotating, the mud paddles are used to transport the coal slime into the mud collecting bin.

[0009] As a further improvement of the present technical solution, the connecting mechanism includes a connecting plate slidably connected to the mud paddles on both sides, and racks fixed at both ends of the connecting plate, the racks extending into the spiral plate, and when the mud paddles on both sides move away from each other, the mud paddles are used to fill the vacant parts, and the bottom of the connecting plate has a protrusion, which matches the slide groove opened inside the mud paddle to limit the connecting plate, and a number of tension springs are elastically connected between the lateral ends of the connecting plate and the inner wall of the mud paddle.

[0010] As a further improvement of the present technical solution, the reduction gear assembly includes a driving gear, a synchronous gear and a driven gear located inside the fender, wherein a synchronous gear is coaxially connected to the upper end of the driving gear, the synchronous gear is meshed with the driven gear, the driven gear has the same size as the driving gear, the driven gear is coaxially connected to the connection between the rear guide plate and the front guide plate, the driving gear is larger than the radius of the synchronous gear, and the driving gear is meshed with the rack.

[0011] As a further improvement of the present technical solution, the guide mechanism includes a rear guide plate longitudinally arranged on the upper surface of the mud paddle, and a front guide plate rotatably connected to the end of the rear guide plate, the front guide plate extends outwardly to the side of the mud paddle away from the end connected to the rear guide plate, and is used to guide the coal slime between the rear guide plates on both sides when the mud paddle rotates, and the front guide plate is fixedly connected to the mud paddle. Under normal circumstances, the rear guide plates on both sides are in a parallel state.

[0012] As a further improvement of the present technical solution, the bottom of the rear guide plate is in contact with the surface of the mud paddle, and a plurality of through grooves are provided at intervals in the longitudinal direction of the rear guide plate. A feeding area is formed between the connection between the mud paddle and the spiral plate and the rear guide plate. During the rotation of the mud paddle, the spiral plate is used to limit the transported coal slime, and the mud paddle squeezes the coal slime, so that the coal slime passes through the through grooves through the feeding area and moves toward the feed port under the guidance of the rear guide plate.

[0013] As a further improvement of the technical solution, a dividing plate is fixedly connected in the through groove, and the dividing plate has a tip pointing in the direction of the feeding area under normal conditions, so that the coal slime in the feeding area is divided when the coal slime passes through.

[0014] As a further improvement of the technical solution, a baffle plate rotatably connected to the rear guide plate is further provided in the through groove. Under normal conditions, the baffle plate is in contact with the dividing plate. The baffle plate is used to apply pressure to the baffle plate using the coal slime passing through the through groove from the feeding area, so that the baffle plate compresses the coal slime on the inner side of the rear guide plate to guide the coal slime to the middle of the connecting plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] In the coal mine water tank cleaning robot, the rear guide plates on both sides are rotated along the connection with the front guide plates, so that the far ends of the rear guide plates are retracted inward to reduce the distance between the ends of the rear guide plates on both sides, so that the coal slime approaches the feed port under the guidance of the rear guide plates. By adjusting the rear guide plates, the coal slime can be more accurately guided to the feed port when passing through the rear guide plates, thereby improving the transportation efficiency and accuracy of the coal slime. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a right side view of the mud collecting mechanism of the present invention;

[0019] Figure 3 It is a schematic diagram of the connection structure between the outer fixed shell and the inner telescopic shell of the present invention;

[0020] Figure 4 It is a right view of the cut-away internal structure of the outer fixed shell and the mud collecting bin of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the mud paddle, the connecting mechanism and the guiding mechanism of the present invention;

[0022] Figure 6 It is a schematic diagram of the explosion structure of the mud paddle and the connecting plate of the present invention;

[0023] Figure 7 A top view of the internal structure of the mud paddle of the present invention is cut away;

[0024] Figure 8 It is a schematic diagram of the flipping structure of the rear guide plate of the present invention;

[0025] Fig. 9 It is a schematic diagram of the connection structure between the rear guide plate and the front guide plate of the present invention;

[0026] Fig.10 The figure is a top view of the internal structure of the rear guide plate of the present invention.

[0027] The meaning of each number in the figure is:

[0028] 100, bin cleaning machine; 110, mud collecting mechanism; 111, spiral plate; 112, outer fixed shell; 113, inner telescopic shell; 114, motor; 120, hydraulic cylinder; 115, mud collecting bin; 116, feed port;

[0029] 130. Mud paddle;

[0030] 140. Connecting mechanism; 141. Connecting plate; 142. Rack; 143. Extension spring;

[0031] 150, guide mechanism; 151, rear guide plate; 152, front guide plate; 153, through slot; 154, baffle plate; 155, dividing plate;

[0032] 160, driving gear; 161, synchronous gear; 162, driven gear. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings 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.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] like Figure 1 , Figure 2 , Figure 3 As shown, a coal mine water tank cleaning robot is provided, including a tank cleaning machine 100 and a mud collecting mechanism 110 arranged on both sides of the front end of the tank cleaning machine 100, a mud collecting bin 115 is fixedly connected between the tank cleaning machine 100 and the mud collecting mechanism 110, wherein the mud collecting mechanism 110 includes a spiral plate 111, one end of the spiral plate 111 passes through an inner telescopic shell 113 and is rotatably connected to the inner telescopic shell 113, the inner telescopic shell 113 is sleeved inside an outer fixed shell 112, and a device for driving the spiral plate 111 is also fixedly connected on the edge of the inner telescopic shell 113 (the rotation direction of the spiral plate 111 is as shown in FIG. 1 ). Figure 3 The motor 114 is connected to the driving wheel at the end of the spiral plate 111 through a chain or a belt. The outer fixed shell 112 is fixedly provided with a hydraulic cylinder 120 connected to the edge of the inner telescopic shell 113. The hydraulic cylinder 120 is used to expand the inner telescopic shell 113 outward to adapt to water tanks of different widths.

[0036] Therefore, when adjusting the coverage of the spiral plate 111, the hydraulic cylinder 120 is used to push the edge of the inner telescopic shell 113 to move outward. During this process, since the motor 114 is fixed on the bracket, the bracket is fixedly connected to the edge of the inner telescopic shell 113. In this way, the spiral plate 111 and the motor 114 move synchronously with the inner telescopic shell 113, that is, the spiral plates 111 on both sides move away from each other, so that the spiral plate 111 covers a larger range of coal slime to adapt to water tanks of different widths.

[0037] To solve the above problems, next we will build on the above foundation and combine Figure 4 , Figure 5 , Figure 7 , Figure 8As shown, mud paddles 130 are provided at the ends close to the mud collecting mechanisms 110 on both sides, and connecting mechanisms 140 elastically connected to the mud paddles 130 on both sides are provided inside the mud paddles 130. A reduction gear assembly is provided inside the connecting mechanism 140, and a guide mechanism 150 is provided on the surface of the connecting mechanism 140 located on the top of the reduction gear assembly. The guide mechanism 150 is used to make the reduction gear assembly drive the guide mechanism 150 to rotate by utilizing the connecting mechanism 140 to contact the reduction gear assembly when the connecting mechanisms 140 on both sides are away from each other, and the ends of the guide mechanisms 150 on both sides are contracted inwardly to guide the coal slime on the edge of the surface of the guide mechanism 150, so that the connecting mechanism 140 cooperates with the mud paddles 130 and the guide mechanism 150 to pry the coal slime transported by the mud collecting mechanism 110 into the mud collecting bin 115.

[0038] In addition, a mud paddle 130 is fixedly connected to the end of the spiral plate 111, the mud collecting bin 115 is fixedly connected to the outer fixed shell 112, and a feed port 116 for feeding is opened in the middle of the outer fixed shell 112. When the mud paddles 130 on both sides are matched, the sum of the widths of the mud paddles 130 on both sides is equal to the width of the feed port 116. When the mud paddles 130 are rotating, the mud paddles 130 are used to transport the coal slime into the mud collecting bin 115. That is to say, when the spiral plate 111 rotates, the outer fixed shell 112 is pushed forward by the bin cleaning machine 100, and the spiral plate 111 uses its own blades to transport the coal slime on both sides to the middle. Every time the mud paddle 130 rotates one circle, the coal slime transported by the spiral plate 111 is transported to the mud collecting bin 115 through the feed port 116, and the coal slime transported to the mud collecting bin 115 is discharged to the outside through the pump body and the pipeline. For details, please refer to Figure 5 shown.

[0039] Considering that after the mud paddles 130 on both sides move outward, in order to ensure that the mud paddles 130 on both sides can be connected, the vacant positions formed between the mud paddles 130 on both sides can also be filled. Therefore, on the basis of the above structure, by Figure 6 The specific structure of the connecting mechanism 140 is further disclosed. The connecting mechanism 140 includes a connecting plate 141 slidably connected to the mud paddles 130 on both sides, and racks 142 fixed at both ends of the connecting plate 141. The racks 142 extend into the spiral plate 111. When the mud paddles 130 on both sides move away from each other, the mud paddles 130 are used to fill the vacant positions. The bottom of the connecting plate 141 has a protrusion, which matches the slide groove provided inside the mud paddle 130 to limit the connecting plate 141 (the reason for preventing the connecting plate 141 from moving longitudinally is that when the spiral plate 111 rotates, the connecting plate 141 will be affected by centrifugal force. When the connecting plate 141 rotates to the vacant position of the outer fixed shell 112, the connecting plate 141 will be thrown outward), and a plurality of tension springs 143 are elastically connected between the lateral ends of the connecting plate 141 and the inner wall of the mud paddle 130.

[0040] During operation, the mud paddles 130 gradually move away from each other. During this process, the movement of the mud paddles 130 needs to overcome the elastic potential energy of the tension spring 143. As the mud paddles 130 move away from each other, a gap is formed between the mud paddles 130 on both sides. Figure 3 The vacant part corresponding to the middle feed port 116 will cause the coal slime in the vacant part to be unable to be pushed toward the feed port 116, thereby affecting the efficiency of coal slime transportation. Therefore, the vacant part is filled with the connecting plate 141 arranged as above, and the coal slime transported by the spiral plate 111 is jointly pushed by the mud plates 130 on both sides, which not only increases the coal slime transportation amount, but also maintains the connection synchronization of the mud plates 130 on both sides, thereby ensuring the stability of the rotation of the spiral plate 111.

[0041] Moreover, it can be known from the above that when the mud paddle 130 is adjusted to fit the width of the water tank, the mud paddles 130 on both sides are moved away from each other, and the guide mechanism 150 is driven to rotate by the reduction gear assembly. Figure 7 The reduction gear assembly is shown as being openly described, and the reduction gear assembly includes a driving gear 160, a synchronous gear 161 and a driven gear 162 located inside the fender 130, wherein the upper end of the driving gear 160 is coaxially connected with the synchronous gear 161, the synchronous gear 161 is meshed with the driven gear 162, the driven gear 162 has the same size as the driving gear 160, the driven gear 162 is coaxially connected to the connection between the rear guide plate 151 and the front guide plate 152, the driving gear 160 is larger than the radius of the synchronous gear 161, and the driving gear 160 is meshed with the rack 142.

[0042] In this way, both ends of the connecting plate 141 are connected to the fender plate 130 respectively through the tension spring 143. Then, during the movement of the fender plate 130, with the connecting plate 141 as a reference, the driving gear 160 rolls on the rack 142 and drives the synchronous gear 161 to rotate through the synchronous gear 161, so that the driven gear 162 drives the rear guide plate 151 to rotate counterclockwise (reference Figure 8 As shown in the figure, in this process, the above operation can slow down the rotation speed of the rear guide plate 151 during the movement of the mud paddle 130, so that the rotation angle of the rear guide plate 151 corresponds to the distance of movement of the mud paddle 130, so that the coal slime transported from the end of the rear guide plate 151 is adapted to the feed port 116. The rear guide plates 151 on both sides are rotated along the connection with the front guide plate 152, so that the far ends of the rear guide plates 151 are contracted inward to reduce the distance between the ends of the rear guide plates 151 on both sides, so that the coal slime approaches the feed port 116 under the guidance of the rear guide plates 151. By adjusting the rear guide plates 151, the coal slime can be more accurately guided to the feed port 116 when passing through the rear guide plates 151, thereby improving the transportation efficiency and accuracy of the coal slime.

[0043] Although the above operation increases the coal slime conveying amount, when the spiral plate 111 moves to both sides, the distance between the spiral plates 111 on both sides increases, and the position of the mud paddle 130 at the feed port 116 moves, that is, the edge of the mud paddle 130 exceeds the width of the feed port 116, and the coal slime on the upper surface of the mud paddle 130 exceeding the feed port 116 is blocked by the outer fixed shell 112, which affects the normal conveying of the coal slime and causes part of the coal slime to fall from the edge of the mud paddle 130.

[0044] To solve this problem, we return to Figure 5 Combined with Fig. 9 As shown, the structure of the guide mechanism 150 is openly described. The guide mechanism 150 includes a rear guide plate 151 longitudinally arranged on the upper surface of the mud paddle 130, and a front guide plate 152 rotatably connected to the end of the rear guide plate 151. The front guide plate 152 extends outwardly to the side of the mud paddle 130 away from the end connected to the rear guide plate 151, and is used to guide the coal slime to between the rear guide plates 151 on both sides when the mud paddle 130 rotates. The front guide plate 152 is fixedly connected to the mud paddle 130. Under normal conditions, the rear guide plates 151 on both sides are in a parallel state, that is, Figure 6 On the other hand, Figure 8 Based on and combined with Fig. 9 As shown, the bottom of the rear guide plate 151 is in contact with the surface of the mud paddle 130, and the rear guide plate 151 is provided with a plurality of through grooves 153 at intervals in the longitudinal direction. A feeding area is formed between the connection between the mud paddle 130 and the spiral plate 111 and the rear guide plate 151. During the rotation of the mud paddle 130, the spiral plate 111 is used to limit the transported coal slime, and the mud paddle 130 squeezes the coal slime, so that the coal slime passes through the through grooves 153 through the feeding area, and moves toward the feed port 116 under the guidance of the rear guide plate 151.

[0045] Working principle: Process 1: When the rear guide plates 151 on both sides are in a parallel state, at this time, under the cooperation of the spiral plate 111 and the mud paddle 130, the coal slime transported by the spiral plate 111 moves from between the rear guide plates 151 on both sides, and the mud paddle 130 at this time plays a supporting role for the coal slime, while the coal slime on the opposite side of the rear guide plate 151, that is, the coal slime in the feeding area, is mixed with the coal slime between the rear guide plates 151 through the through groove 153 under the action of extrusion, and is transported to the feed port 116 together;

[0046] Process 2: After the rear guide plates 151 on both sides are adjusted, the distance between the ends of the rear guide plates 151 on both sides is reduced and corresponds to the width of the feed port 116, and then the coal slime is guided to the rear guide plate 151 by the front guide plate 152, and the rear guide plate 151 guides the coal slime to the feed port 116, so that the coal slime passes through the feed port 116 under the pushing of the mud plate 130 and the connecting plate 141.

[0047] Furthermore, considering that during the transportation of coal slime, the state of coal slime is usually semi-solid particles formed by water, if the water content in the coal slime is high, coal lumps will be formed, and the formed coal lumps are not conducive to passing through the wire mesh set at the feed port 116, and are a mixture of coal slime particles and coal lumps during transportation, therefore, a dividing plate 155 is fixedly connected in the through groove 153, and the dividing plate 155 is pointed in the direction of the feed zone under normal conditions (refer to Fig.10 As shown in the figure, when the coal slime in the feeding area passes through, the coal slime is divided so that it can pass through the wire mesh more easily, and a baffle 154 rotatably connected to the rear guide plate 151 is also provided in the through groove 153. Under normal conditions, the baffle 154 is fitted with the dividing plate 155. The baffle 154 is used to use the coal slime in the feeding area passing through the through groove 153 to apply pressure to the baffle 154, so that the baffle 154 compresses the coal slime on the inner side of the rear guide plate 151 to guide the coal slime to the middle of the connecting plate 141.

[0048] In essence, when the coal slime in the feeding area passes through the through groove 153, the coal blocks are divided into blocks by the dividing plate 155, so that they can smoothly pass through the wire mesh in the feed port 116. At the same time, the mixture of coal slime particles and coal blocks on the inner side of the rear guide plate 151 moves toward the feed port 116 under the guidance of the rear guide plate 151. The coal blocks in the feeding area can also provide support for the baffle 154, so that the coal block particles passing through the baffle 154 are compressed, and the coal slime particles and coal blocks are further gathered to the middle of the connecting plate 141, thereby reducing the falling of coal slime and coal blocks from the end of the rear guide plate 151, thereby improving the efficiency and quality of coal slime processing.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Coal mine water tank cleaning robot, characterized by: The invention comprises a bin cleaning machine (100) and mud collecting mechanisms (110) arranged at both sides of the front end of the bin cleaning machine (100); a mud collecting bin (115) is fixedly connected between the bin cleaning machine (100) and the mud collecting mechanism (110); mud paddles (130) are arranged at the ends of the mud collecting mechanism (110) on both sides close to each other; the mud paddles (130) have connection mechanisms (140) elastically connected to the mud paddles (130) on both sides; a reduction gear assembly is arranged inside the connection mechanism (140); the connection mechanism (140) is located at the top of the reduction gear assembly. A guide mechanism (150) is provided on the surface. The guide mechanism (150) is used to, when the connecting mechanisms (140) on both sides are away from each other, utilize the connecting mechanism (140) to contact with the reduction gear assembly, so that the reduction gear assembly drives the guide mechanism (150) to rotate, and the ends of the guiding mechanisms (150) on both sides are retracted inwardly to guide the coal slime on the edge of the surface of the guiding mechanism (150), so that the connecting mechanism (140) cooperates with the mud paddle (130) and the guide mechanism (150) to pry the coal slime transported by the mud collecting mechanism (110) into the mud collecting bin (115).

2. The coal mine water tank cleaning robot according to claim 1, characterized in that: The mud collecting mechanism (110) comprises a spiral plate (111), one end of which passes through an inner telescopic shell (113) and is rotatably connected to the inner telescopic shell (113); the inner telescopic shell (113) is sleeved inside an outer fixed shell (112); a motor (114) for driving the spiral plate (111) to rotate is also fixedly connected to the edge of the inner telescopic shell (113); a hydraulic cylinder (120) connected to the edge of the inner telescopic shell (113) is fixedly arranged on the outer fixed shell (112); and the inner telescopic shell (113) is expanded outward by using the hydraulic cylinder (120).

3. The coal mine water tank cleaning robot according to claim 2, characterized in that: The end of the spiral plate (111) is fixedly connected with a mud paddle (130), the mud collecting bin (115) is fixedly connected with the outer fixed shell (112), and a feeding port (116) for feeding materials is provided in the middle of the outer fixed shell (112). When the mud paddles (130) on both sides are matched, the sum of the widths of the mud paddles (130) on both sides is equal to the width of the feeding port (116). When the mud paddles (130) are rotating, the mud paddles (130) are used to transport the coal mud into the mud collecting bin (115).

4. The coal mine water tank cleaning robot according to claim 2, characterized in that: The connecting mechanism (140) comprises a connecting plate (141) slidably connected to the mud paddles (130) on both sides, and racks (142) fixed at both ends of the connecting plate (141), the racks (142) extending into the spiral plate (111), and when the mud paddles (130) on both sides move away from each other, the mud paddles (130) are used to fill the vacant parts, the bottom of the connecting plate (141) has a protrusion, the protrusion matches with the slide groove provided inside the mud paddle (130) to limit the connecting plate (141), and a plurality of tension springs (143) are elastically connected between the lateral ends of the connecting plate (141) and the inner wall of the mud paddle (130).

5. The coal mine water silo cleaning robot according to claim 3, characterized in that: The reduction gear assembly comprises a driving gear (160), a synchronous gear (161) and a driven gear (162) located inside the fender (130), wherein the upper end of the driving gear (160) is coaxially connected with the synchronous gear (161), the synchronous gear (161) is meshed with the driven gear (162), the driven gear (162) and the driving gear (160) have the same size, the driven gear (162) is coaxially connected to the connection between the rear guide plate (151) and the front guide plate (152), the driving gear (160) is larger than the radius of the synchronous gear (161), and the driving gear (160) and the rack (142) are meshed with each other.

6. The coal mine water silo cleaning robot according to claim 5, characterized in that: The guide mechanism (150) comprises a rear guide plate (151) longitudinally arranged on the upper surface of the mud paddle (130), and a front guide plate (152) rotatably connected to the end of the rear guide plate (151); the front guide plate (152) extends outwardly to the side of the mud paddle (130) away from the end connected to the rear guide plate (151) and is used to guide the coal slime to between the rear guide plates (151) on both sides when the mud paddle (130) rotates; the front guide plate (152) is fixedly connected to the mud paddle (130); in a normal state, the rear guide plates (151) on both sides are in a parallel state.

7. The coal mine water tank cleaning robot according to claim 6, characterized in that: The bottom of the rear guide plate (151) is in contact with the surface of the mud paddle (130). The rear guide plate (151) is provided with a plurality of through grooves (153) at intervals in the longitudinal direction. A feeding area is formed between the connection between the mud paddle (130) and the spiral plate (111) and the rear guide plate (151). During the rotation of the mud paddle (130), the spiral plate (111) is used to restrict the transported coal slime, and the mud paddle (130) squeezes the coal slime, so that the coal slime passes through the through grooves (153) through the feeding area and moves toward the feed port (116) under the guidance of the rear guide plate (151).

8. The coal mine water tank cleaning robot according to claim 7, characterized in that: A dividing plate (155) is fixedly connected in the through groove (153). The dividing plate (155) has a tip pointing in the direction of the feeding area under normal conditions, and divides the coal slime when the coal slime in the feeding area passes through.

9. The coal mine water silo cleaning robot according to claim 8, characterized in that: A baffle (154) rotatably connected to the rear guide plate (151) is also arranged in the through groove (153). In a normal state, the baffle (154) is in contact with the partition plate (155). The baffle (154) is used to apply pressure to the baffle (154) by using the coal slime in the feeding area passing through the through groove (153), so that the baffle (154) compresses the coal slime inside the rear guide plate (151) to guide the coal slime to the middle of the connecting plate (141).

Images