Compartment frozen coal cleaning integrated robot and cleaning method thereof

Abstract

The invention discloses a carriage frozen coal and cleaning integrated robot and a cleaning method thereof, and belongs to the technical field of cleaning equipment and cleaning methods. The robot comprises a main rack, a dust collecting box is arranged in the main rack, a bottom sweeping rolling brush is arranged on the rear side of the main rack, a front sweeping rolling brush assembly and a front freezing assembly are arranged on the front side of the main rack, and side sweeping rolling brush assemblies and side freezing assemblies are symmetrically arranged on the two sides of the main rack; the front sweeping rolling brush assembly comprises a liftable front sweeping frame, and two front sweeping rolling brushes capable of horizontally moving left and right are symmetrically installed on the front side of the front sweeping frame. The front freezing-breaking assembly comprises a front freezing-breaking mounting frame capable of moving back and forth, a liftable front freezing-breaking frame is mounted at the front end of the front freezing-breaking mounting frame, and a milling roller capable of deflecting and moving is mounted at the bottom of the front freezing-breaking frame; the side sweeping rolling brush assembly comprises a side sweeping rolling brush which can move front and back and can be unfolded or retracted. The side freezing breaking assembly comprises a side milling roller which can move in a lifting mode and can be expanded or retracted, the side milling roller is close to the front side of the side sweeping rolling brush, and the robot and the cleaning method are good in cleaning effect and high in adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment and cleaning methods, and in particular to a frozen coal cleaning integrated robot for carriages and a cleaning method thereof. Background Art

[0002] As an important strategic mineral, coal plays an irreplaceable role in the global energy system. During the coal transportation process, a certain amount of coal residue often accumulates in the carriage, and a certain amount of frozen coal will accumulate under low temperature conditions. Therefore, the automated cleaning of the residual coal in the carriage faces great challenges.

[0003] In the prior art, for example, patent publication number CN116371848A provides a carriage residual material cleaning and collecting device with multi-directional synchronous cleaning, which mainly includes a main side sweeping mechanism, a secondary side sweeping mechanism and a top sweeping mechanism, which respectively perform multi-directional cleaning on the inner walls on both sides of the carriage and the bottom of the side walls of the carriage, focusing on the effect of cleaning without blind spots. However, in the actual cleaning process, especially under low temperature conditions, coal residues are easily frozen and firmly attached to the bottom and sides of the carriage. In this case, conventional carriage residual material cleaning and collecting equipment can no longer quickly and thoroughly clean the coal residues, and the cleaning effect is not good. Although the equipment specially used to clean frozen coal can work smoothly, it has problems such as bloated equipment and low cleaning efficiency when the temperature is high and there is no frozen coal. Summary of the invention

[0004] The embodiments of the present application provide an integrated robot for cleaning frozen coal in a carriage and a cleaning method thereof, which can take into account both cleaning methods of frozen coal in the carriage and ordinary cleaning of the carriage. It can quickly and thoroughly clean and collect coal residues in both the case of frozen coal and the case of non-frozen coal residues, and has better adaptability.

[0005] The first aspect of the embodiment of the present application provides a car compartment frozen coal and cleaning integrated robot, comprising a main frame, a dust box is arranged in the main frame, a dust collecting fan is arranged on the top of the dust box, a rotatable bottom sweeping roller brush is arranged at the lower part of the rear side of the main frame, the bottom sweeping roller brush is close to the rear side of the dust box, a front sweeping roller brush assembly and a front defrosting assembly are arranged at the front side of the main frame, and side sweeping roller brush assemblies and side defrosting assemblies are symmetrically arranged on both sides of the main frame in the moving direction;

[0006] The front sweeping roller brush assembly comprises a front sweeping frame which can be lifted and moved, and two front sweeping roller brushes which can be moved left and right in the horizontal direction are symmetrically installed on the front side of the front sweeping frame;

[0007] The front defrosting assembly comprises a front defrosting mounting frame that can move forward and backward, a front defrosting frame that can be lifted and lowered is installed at the front end of the front defrosting mounting frame, and one or more sets of milling rollers that can be swung and rotated are installed at the bottom of the front defrosting frame, and the milling rollers are close to the rear side of the front sweeping roller brush;

[0008] The side sweeping roller brush assembly comprises a side sweeping roller brush that can move forward and backward and can be expanded outward or retracted inward;

[0009] The side defreezing assembly comprises a side milling roller which can be lifted and moved and can be expanded outward or retracted inward, and the side milling roller is close to the front side of the side sweeping roller brush.

[0010] In a possible implementation, the front sweep roller brush assembly includes front sweep lifting cylinders spaced apart on the front side of the main frame, the front sweep lifting cylinders extend in a vertical direction, the output ends of the front sweep lifting cylinders are connected to the front sweep frame, at least two front sweep lifting guide grooves are provided on the front side of the main frame in a height direction, and a front sweep lifting guide rail that slides with the front sweep lifting guide groove is provided on the rear side of the front sweep frame.

[0011] In a possible implementation, two front-sweeping movable cylinders are symmetrically installed on the front sweeping frame, the two front-sweeping movable cylinders extend left and right in the horizontal direction, and the driving directions of the two front-sweeping movable cylinders are opposite, the two front-sweeping roller brushes are respectively connected to the output ends of the two front-sweeping movable cylinders through the front-sweeping adapter frame, and a guide structure extending in the horizontal direction is correspondingly provided between the front-sweeping adapter frame and the front sweeping frame.

[0012] In a possible implementation, the front defrosting assembly includes front defrosting movable oil cylinders symmetrically distributed on both sides of the front end of the main frame, the front defrosting movable oil cylinders extend forward and backward in the horizontal direction, and are connected to the front defrosting mounting frame through their output ends, and nested sliding front moving guide tubes are correspondingly installed between the main frame and the front defrosting mounting frame on the upper and lower sides of the front defrosting movable oil cylinders;

[0013] Two front defrosting lifting cylinders are symmetrically installed on the front defrosting mounting frame. The front defrosting lifting cylinders extend in the vertical direction and are simultaneously connected to the front defrosting frame through their output ends. A sway cylinder is installed on the rear side of the front defrosting frame. The sway cylinder is hinged to the top rear side of the milling roller through the bottom output end, and the milling roller is hinged to the front defrosting frame through the top front side.

[0014] In a possible implementation, the milling roller and the sway cylinder are provided with 3-5 groups correspondingly, and each group of sway cylinders drives the sway movement of each group of milling rollers through an articulated frame. The milling roller includes a roller and a hollow motor, and the roller includes a first roller, an intermediate roller and a second roller extending coaxially. The hollow motor is located in the intermediate roller, and the output shaft of the hollow motor located at the central axis has a main output end and a secondary output end opposite to each other, the main output end extends into the second roller, and the secondary output end extends into the first roller, the first roller and the intermediate roller are respectively sleeved on the secondary output end through a first sleeve and an intermediate sleeve, and the surfaces of the first sleeve and the intermediate sleeve are jointly sleeved with a first bearing seat, the second roller is sleeved on the main output end through a second sleeve, and the surface of the second sleeve is sleeved with a second bearing seat;

[0015] The articulated frame includes a first connecting plate distributed between the first roller and the intermediate roller and a second connecting plate distributed between the second roller and the intermediate roller. The first connecting plate is sleeved on the first bearing seat, and the second connecting plate is fixedly sleeved on the end step of the hollow motor and connected to the outer ring of the second bearing seat.

[0016] In a possible implementation, the side sweep roller brush assembly includes a side sweep mounting plate, a side sweep moving cylinder extending forward and backward in the horizontal direction is mounted on the main frame, an output end of the side sweep moving cylinder is connected to the side sweep mounting plate, and a nested sliding side moving guide tube is correspondingly mounted above and below the side sweep moving cylinder between the inner side of the side sweep mounting plate and the main frame;

[0017] The outer side of the side sweep mounting plate is provided with a guide rail and a side sweep sway cylinder extending in the horizontal direction. The output end of the side sweep sway cylinder is connected to a slide plate that slides with the guide rail. The slide plate is hingedly connected to two shock-absorbing spring rods. The two shock-absorbing spring rods are respectively located on the upper and lower sides of the side sweep sway cylinder. The side sweep roller brush is hingedly connected to the outer side of the side sweep mounting plate through a side sweep bracket and is located on the front side of the slide plate. The other end of the shock-absorbing spring rod is hinged to the side sweep bracket.

[0018] In a possible implementation, the side defrosting assembly includes a side defrosting mounting plate, a side sway cylinder and a parallel connecting rod structure. The side defrosting lifting cylinders are symmetrically installed on the left and right sides of the main frame. The output ends of the side defrosting lifting cylinders are connected to the side defrosting mounting plates. Nested sliding side defrosting guide tubes are correspondingly installed between the main frame and the side defrosting mounting plate on both sides of the side defrosting lifting cylinders. The side defrosting mounting plate is connected to the side defrosting mounting seat through the parallel connecting rod structure. The side sway cylinder is hingedly installed on the outside of the side defrosting mounting plate and is hingedly connected to the side defrosting mounting seat at the top to drive the side defrosting mounting seat to swing up and down. The side milling roller is installed on the side defrosting mounting seat.

[0019] In a possible implementation, the parallel link structure includes two upper links and two lower links that correspond to each other and are distributed in parallel; or

[0020] The parallel connecting rod structure comprises two upper connecting rods and a lower connecting rod distributed in parallel, and the lower connecting rod is located directly below the center position of the two upper connecting rods; or

[0021] The parallel connecting rod structure comprises an upper connecting rod and two lower connecting rods which are distributed in parallel, and the upper connecting rod is located directly above the center positions of the two lower connecting rods.

[0022] In one possible implementation, a virtual circle is constructed with the longitudinal central axis of the main frame as the center and the outer edge of the brush cylinder of the front sweeping roller brush close to the center position as the radius, that is, the rotation radius of the equipment. The bottom sweeping roller brush, the side sweeping roller brush in the inwardly retracted state, and the side milling roller and the milling roller are all located within the virtual circle.

[0023] A second aspect of the embodiment of the present application provides a method for cleaning frozen coal and cleaning in a carriage using the aforementioned integrated robot for cleaning frozen coal and cleaning in a carriage, wherein in an initial state, the integrated robot for cleaning frozen coal and cleaning in a carriage is in a stationary and retracted state, wherein in the height direction, the front sweeping roller brush, the milling roller and the side milling roller are all close to the middle of the main frame, wherein in the horizontal direction, the milling roller is close to the rear side of the front sweeping roller brush, the side sweeping roller brush is close to the middle of the main frame, and the side milling roller is close to the front side of the side sweeping roller brush;

[0024] The integrated cleaning method comprises the following steps:

[0025] S10, confirming the condition of the train carriage to be cleaned, and determining whether the carriage is a frozen coal carriage or a non-frozen coal carriage;

[0026] S20, when it is determined that the carriage is a frozen coal carriage, executing the frozen coal cleaning mode, controlling the front freeze-breaking frame to descend, and after the position of the front freeze-breaking frame is lower than the front sweeping roller brush, controlling the front freeze-breaking mounting frame to extend forward, and controlling the milling roller to rotate, wherein the milling roller is driven by the yaw cylinder to be able to yaw and move obliquely downward away from the main frame;

[0027] S30, controlling the side milling roller to descend, then controlling the side milling roller to expand toward the outside away from the main frame, and controlling the side milling roller to rotate;

[0028] S40, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box;

[0029] S50, when the compartment coal freezing and cleaning integrated robot moves to the end of the compartment, the following steps are performed in sequence:

[0030] S51, controlling the side milling roller to retract in the reverse direction;

[0031] S52, controlling the side sweeping roller brush to move toward the front side until it is flush with the front sweeping roller brush;

[0032] S53, controlling the side sweeping roller brush to retract and return to its original position, and controlling the side sweeping roller brush to retract and return to its original position inward;

[0033] S54, controlling the milling roller to retract to the rear side and then controlling the front defrosting rack to rise and reset;

[0034] S55, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in the horizontal direction for 3-6 times;

[0035] S56, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset;

[0036] S57, after the completion of steps S51 to S56, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, wherein the rotation radius is the radius of a virtual circle formed by taking the longitudinal central axis of the main frame as the center and taking the outer edge of the brush cylinder of the front sweeping roller brush close to the center position as the radius, and then control the carriage frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the steps S20 to S50 again until the frozen coal in the carriage is cleaned;

[0037] When the carriage is determined to be a non-frozen coal carriage, the non-frozen coal cleaning mode is executed, and the following steps are performed:

[0038] S60, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in a horizontal direction;

[0039] S70, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box;

[0040] S80, when the carriage coal freezing and cleaning integrated robot moves to the end of the carriage, the following steps are performed in sequence:

[0041] S81, controlling the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush;

[0042] S82, controlling the side sweeping roller brush to retract and return to its original position, and controlling the side sweeping roller brush to retract and return to its original position inward;

[0043] S83, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset;

[0044] S84, after the completion of step S81-step S83, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, and the rotation radius is the radius of a virtual circle formed with the longitudinal central axis of the main frame as the center and the outer edge of the brush barrel of the front sweeping roller brush close to the center position as the radius, and then control the car frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the action according to steps S60-S80 again until the frozen coal in the car is cleaned.

[0045] In a possible implementation, the carriage frozen coal and cleaning integrated cleaning method further includes an integrated cleaning mode, wherein the carriage frozen coal and cleaning integrated robot performs a non-frozen coal mode to clean the carriage, and during the cleaning process, when frozen coal is identified, the frozen coal cleaning mode is executed, the front sweeping roller brush is controlled to rise and reset, and then steps S20-S40 are executed, after the frozen coal is cleaned, or after the milling roller is cleaned for a predetermined time, the milling roller and the side milling roller are controlled to reset, and steps S60 and S70 are continued to be executed;

[0046] When the carriage frozen coal and cleaning integrated robot moves to the end of the carriage, if the carriage frozen coal and cleaning integrated robot is currently executing the frozen coal cleaning mode, step S50 is executed; if the carriage frozen coal and cleaning integrated robot is currently executing the non-frozen coal cleaning mode, step S80 is executed.

[0047] Beneficial effects: Compared with the prior art, the frozen coal and cleaning integrated robot and the cleaning method provided by the present application can complete the rapid and thorough cleaning of the frozen coal in the carriage and the non-frozen coal residue in the carriage through the cooperation of the front sweeping roller brush, the milling roller, the side sweeping roller brush and the side milling roller, and can also complete the rapid and thorough cleaning of the frozen coal and non-frozen coal in the carriage at the same time, and can also be flexibly switched during the cleaning process, thereby completing the rapid and thorough cleaning of the frozen coal and non-frozen coal in the carriage at the same time, with good cleaning effect and strong adaptability;

[0048] Among them, when the equipment (i.e. the carriage coal freezing and cleaning integrated robot) moves to the end of the carriage and needs to turn around, the front sweeping roller brush, the side sweeping roller brush, the milling roller, and the side milling roller can all be retracted and returned to their original positions, and all retracted within the rotation radius of the equipment, so that the equipment can turn around quickly and flexibly, which can further improve the cleaning efficiency;

[0049] Among them, the power of the milling roller comes from the inside, which can greatly reduce the space occupied by the milling roller, thereby making the overall structure of the equipment more compact, enabling it to work more flexibly within the relatively limited compartment space.

[0050] These and other objects, features and advantages of the present invention will be fully reflected in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A three-dimensional structural schematic diagram of the all-in-one robot for freezing and cleaning coal in a carriage of the present application is shown.

[0052] Figure 2 A schematic diagram of the top view of the structure of the all-in-one robot for freezing and cleaning coal in a carriage of the present application is shown.

[0053] Figure 3 A schematic structural diagram of the main frame in this application is shown.

[0054] Figure 4 A structural schematic diagram of the front sweeping roller brush assembly in the present application is shown.

[0055] Figure 5 A partial structural schematic diagram of the front sweeping roller brush assembly in the present application is shown.

[0056] Figure 6 The schematic diagram of the structure of the front defrosting component in the present application is shown.

[0057] Figure 7 A partial structural schematic diagram of the front defrosting component in the present application is shown.

[0058] Figure 8 A schematic structural diagram of the milling roller in the present application is shown.

[0059] Fig. 9A schematic cross-sectional structure diagram of the milling roller in the present application is shown.

[0060] Fig.10 A schematic structural diagram of the side-sweeping roller brush assembly in the present application is shown.

[0061] Fig.11 A schematic structural diagram of the side defrosting assembly in the present application is shown.

[0062] Fig.12 A side structural schematic diagram of the side defrosting assembly in the present application is shown. DETAILED DESCRIPTION

[0063] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0064] Those skilled in the art should understand that, in the disclosure of the specification, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0065] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0066] refer to Figures 1 to 12According to a first aspect of an embodiment of the present application, there is provided a car compartment coal freezing and cleaning integrated robot, comprising a main frame 10. A dust box 20 is provided in the main frame 10, and a dust collecting fan 21 is provided on the top of the dust box 20. The operation of the dust collecting fan 21 forms a negative pressure suction environment for the dust box 20, and then the residual coal below is continuously sucked through the dust collecting channel at the bottom or side of the dust box 20. The main frame 10 is provided with a rotatable bottom sweeping roller brush 30 at the lower part of the rear side, wherein the bottom sweeping roller brush 30 is close to the rear side of the dust box 20, so that the residual coal can be continuously rotated and pushed to the opening of the dust collecting channel of the dust box 20 during the cleaning process. The main frame 10 is provided with a front sweeping roller brush assembly 40 and a front defrosting assembly 50 on the front side, and the main frame 10 is symmetrically provided with side sweeping roller brush assemblies 60 and side defrosting assemblies 70 on both sides of the moving direction;

[0067] The front sweeping roller brush assembly 40 includes a front sweeping frame 41 that can be lifted and moved, and two front sweeping roller brushes 42 that can move left and right in the horizontal direction are symmetrically installed on the front side of the front sweeping frame 41. When cleaning frozen coal, the front sweeping frame 41 drives the front sweeping roller brush 42 to approach the middle or upper part of the main frame 10, rather than the lower part, so that sufficient working space can be reserved for the front defrosting assembly 50, and the front sweeping roller brush 42 can be prevented from being damaged by frozen coal. When cleaning non-frozen coal, the front sweeping frame 41 drives the front sweeping roller brush 42 to descend to clean the bottom of the carriage, and the two front sweeping roller brushes 42 move left and right in the horizontal direction mainly to continuously clean non-frozen coal residues within the moving range;

[0068] The front defrosting assembly 50 includes a front defrosting mounting frame 51 that can move forward and backward, and a front defrosting frame 52 that can be lifted and lowered is installed at the front end of the front defrosting mounting frame 51, and one or more groups of milling rollers 53 that can be swung and rotated are installed at the bottom of the front defrosting frame 52, wherein the milling rollers 53 are close to the rear side of the front sweeping roller brush 42; in this application, the front side of the moving direction of the compartment frozen coal and cleaning integrated robot is the front side, and the rear side of its moving direction is the rear side. For the convenience of description, the compartment frozen coal and cleaning integrated robot can be referred to as a device or the device or this device. Since the front sweeping roller brush 42 can move left and right in the horizontal direction, while the milling roller 53 cannot move left and right, in order to make the two have the same or similar cleaning range, the length dimension of the milling roller 53 in the width direction of the carriage is obviously larger than the sum of the diameter dimensions of the two front sweeping roller brushes 42. Therefore, the milling roller 53 needs to be close to the rear side of the front sweeping roller brush 42, rather than the front side or directly below. This can make the overall structure of the equipment more compact, especially when the equipment reaches the end of the carriage, it can turn around flexibly and work more flexibly in a relatively limited carriage environment. When the device is cleaning frozen coal, the front sweeping roller brush 42 remains in the middle or upper part of the main frame 10 and does not descend. The front defrosting mounting frame 51 descends first, and then the front defrosting frame 52 extends to the front side to avoid the front sweeping roller brush 42. Then the milling roller 53 rotates, and when necessary, the milling roller 53 swings diagonally downward to clean the frozen coal after it is in place. The milling roller 53 can rotate or swing first, or it can be directly rotated for cleaning after it is lowered into place. This is a common practice in the industry and is not limited here. When the device is cleaning non-frozen coal, the front defrosting mounting frame 51, the front defrosting frame 52 and the milling roller 53 are all retracted and returned to their original positions, or they are all removed, and then the front sweeping roller brush 42 descends for cleaning.

[0069] The side sweep roller brush assembly 60 includes a side sweep roller brush 61 that can move forward and backward and can be expanded outward or retracted inward, wherein expanding outward or retracting inward refers to expanding or retracting in the width direction of the compartment, and can clean the side walls of the compartment when expanded, and can make the overall structure more compact when retracted, without affecting the flexible turning of the equipment, wherein the forward and backward movement of the side sweep roller brush 61 is mainly when cleaning the end of the compartment, the front sweep roller brush 42 abuts against the end position of the compartment, and the side sweep roller brush 61 is still a certain distance away from the end of the compartment, and the side sweep roller brush 61 moves forward to clean the side wall position of the distance from the side sweep roller brush 61 to the end of the compartment, so that the equipment can fully clean the compartment bottom and both side walls of the compartment whether it is moving normally in the compartment or turning around, with a comprehensive cleaning range and better cleaning effect;

[0070] The side defrosting assembly 70 includes a side milling roller 71 which can be raised and lowered and can be expanded outward or retracted inward. At the same time, the side milling roller 71 is close to the front side of the side sweeping roller brush 61. When cleaning frozen coal, the side milling roller 71 descends to a certain position and then expands outward to clean the side wall of the carriage. When cleaning non-frozen coal, the side milling roller 71 rises and resets and retracts inward, or the side milling roller 71 is directly removed without affecting the turning of the equipment in the carriage.

[0071] Therefore, the integrated robot for cleaning frozen coal in the carriage provided by the present application can, on the one hand, independently, quickly and thoroughly clean the frozen coal in the carriage, and on the other hand, can independently, quickly and thoroughly clean the non-frozen coal residues in the carriage, and thirdly, can also clean carriages with frozen coal and non-frozen coal residues at the same time, and has strong adaptability and good cleaning effect.

[0072] In one embodiment, in combination Figure 2 , with the longitudinal central axis of the main frame 10 as the center of the circle and the outer edge of the brush cylinder 421 of the front sweeping roller brush 42 close to the center position as the radius, that is, the rotation radius of the equipment, a virtual circle a is constructed, wherein the bottom sweeping roller brush 30, the side sweeping roller brush 61 in the inwardly retracted state, and the side milling roller 71 and the milling roller 53 are all located within the range of the virtual circle a, thereby enabling the equipment to quickly and effectively clean the frozen coal or non-frozen coal residues in the carriage, and at the same time, it can quickly turn 180 degrees at the end of the carriage and clean the frozen coal or non-frozen coal residues in the carriage again, which can effectively ensure the cleaning efficiency on the basis of ensuring the cleaning effect, and the overall cleaning efficiency can be improved by more than 30%.

[0073] In one embodiment, in combination Figures 3 to 5 The front sweep roller brush assembly 40 includes front sweep lifting cylinders 43 that are spaced apart on the front side of the main frame 10, wherein the front sweep lifting cylinders 43 extend in the vertical direction, and the output end of the front sweep lifting cylinders 43 is connected to the front sweep frame 41, and at least two front sweep lifting guide grooves 101 are provided on the front side of the main frame 10 in the height direction, and correspondingly, a front sweep lifting guide rail 411 that is slidably matched with the front sweep lifting guide groove 101 is provided on the rear side of the front sweep frame 41, thereby the front sweep frame 41 can be driven to move up and down by the front sweep lifting cylinder 43 under the guiding cooperation of the front sweep lifting guide groove 101 and the front sweep lifting guide rail 411, thereby driving the front sweep roller brush 42 to move up and down.

[0074] Further preferably, two front sweep moving cylinders 44 are symmetrically installed on the front sweep frame 41, and the two front sweep moving cylinders 44 extend left and right in the horizontal direction, and the driving directions of the two front sweep moving cylinders 44 are opposite, wherein the two front sweep roller brushes 42 are connected to the output ends of the two front sweep moving cylinders 44 through the front sweep adapter frame 45, respectively, thereby the corresponding front sweep roller brushes 42 can be driven to move left and right by the front sweep moving cylinder 44, wherein the two front sweep roller brushes 42 can move synchronously toward or away from each other, or can move left and right asynchronously. In addition, a guide structure 412 extending in the horizontal direction is correspondingly provided between the front sweep adapter frame 45 and the front sweep frame 41, such as a guide structure in which a guide groove cooperates with a guide rail, or a nested guide tube structure, or a guide structure in which a guide rail cooperates with a slider, etc.

[0075] In one embodiment, the front defrosting assembly 50 includes front defrosting moving oil cylinders 54 symmetrically distributed on both sides of the front end of the main frame 10, wherein the front defrosting moving oil cylinders 54 extend forward and backward in the horizontal direction, and are connected to the front defrosting mounting frame 51 through their output ends, so as to synchronously extend and retract to drive the front defrosting mounting frame 51 to move forward and backward. At the same time, nested sliding front moving guide tubes 55 are correspondingly installed between the main frame 10 and the front defrosting mounting frame 51 on the upper and lower sides of the front defrosting moving oil cylinders 54, so that they can play a guiding role in the movement of the front defrosting mounting frame 51. At the same time, the front defrosting mounting frame 51 can be removed when there is no need to clean the frozen coal. In this way, the front defrosting frame 52, the milling roller 53 and other parts installed on the front defrosting mounting frame 51 can be removed as a whole, making the equipment structure simpler, lighter, more convenient to move, and also convenient to maintain. When it is necessary to clean the frozen coal, the front defrosting mounting frame 51 only needs to be directly installed on the main frame 10, which is convenient to use.

[0076] Two front defrosting lifting cylinders 56 are symmetrically installed on the front defrosting mounting frame 51, wherein the front defrosting lifting cylinders 56 extend in the vertical direction and are simultaneously connected to the front defrosting frame 52 through their output ends, so as to drive the front defrosting frame 52 to move up and down. In addition, a sway cylinder 57 is installed on the rear side of the front defrosting frame 52, and the sway cylinder 57 is hinged to the top rear side of the milling roller 53 through the output end at the bottom, and the milling roller 53 is hinged to the front defrosting frame 52 through the top front side, so that the corresponding milling roller 53 can be driven to sway through the sway cylinder 57. Generally, one sway cylinder 57 drives a group or one milling roller 53 to sway.

[0077] During the working process, especially in the process of cleaning frozen coal, frozen coal of different heights will push the milling roller 53 in the opposite direction to move in the extension and retraction direction of the yaw cylinder 57. Correspondingly, the yaw cylinder 57 can automatically extend or retract based on the change of internal oil pressure. The change of oil pressure reflects the change of the height of the frozen coal, so that the height information of the frozen coal can be accurately calculated, and the height information can be used for background evaluation and analysis, such as analyzing the quality of coal, analyzing the freezing conditions of different coals at different temperatures, etc. In addition, when the oil pressure range of the yaw cylinder 57 is maintained within a predetermined range, such as 4-8MPa, it will in turn directly limit the yaw height range of the milling roller 53, so that the frozen coal that can be removed can be quickly and effectively cleaned, which can greatly improve the frozen coal cleaning efficiency of the equipment and achieve good cleaning effect.

[0078] In one embodiment, the milling roller 53 and the sway cylinder 57 are provided with 3-5 groups respectively, and each group of sway cylinders 57 drives each group of milling rollers 53 to sway through the articulated frame 58. The milling roller 53 includes a roller 531 and a hollow motor 532, wherein the roller 531 includes a first roller 5311, an intermediate roller 5312 and a second roller 5313 extending coaxially, wherein the hollow motor 532 is located in the intermediate roller 5312, and the output shaft 5321 of the hollow motor 532 located at the central axis has a main output end and a secondary output end opposite to each other, wherein the main output end extends into the second roller 5313, wherein the secondary output end extends into the first roller 5311, and the first roller The cylinder 5311 and the intermediate cylinder 5312 are respectively sleeved on the auxiliary output end through the first sleeve 5331 and the intermediate sleeve 5332, and the second cylinder 5313 is sleeved on the main output end through the second sleeve 5333 to synchronously drive the first cylinder 5311, the intermediate cylinder 5312 and the second cylinder 5313 to rotate. In addition, the surfaces of the first sleeve 5331 and the intermediate sleeve 5332 are jointly sleeved with a first bearing seat 534, and the surface of the second sleeve 5333 is sleeved with a second bearing seat 535;

[0079] The articulated frame 58 includes a first connecting plate 581 distributed between the first roller 5311 and the intermediate roller 5312 and a second connecting plate 582 distributed between the second roller 5313 and the intermediate roller 5312, wherein the first connecting plate 581 is sleeved on the first bearing seat 534, wherein the second connecting plate 582 is fixedly sleeved on the end step of the hollow motor 532 and connected to the outer ring of the second bearing seat 535. In this way, the first roller 5311, the intermediate roller 5312 and the third roller 5313 can be driven to rotate synchronously by the internal hollow motor 532, which can greatly save the occupied space of the equipment compared with the conventional external power milling roller, and the overall structure is more compact, especially for the purpose of enabling the equipment to quickly turn around at the end of the carriage based on the overall layout of the equipment. In addition, the hollow motor 532 is located inside the roller 531, and is not easily affected by the external frozen coal or non-frozen coal residue during the working process, and the maintenance frequency is less and the service life is longer;

[0080] It should also be noted that the second connecting plate 582 is connected to the hollow motor 532 on the one hand, and is also connected to the outer ring of the second bearing seat 535 on the other hand. In this way, the second bearing seat 535 can be further stabilized by the second connecting plate 582, so that the rotation of the main output end of the output shaft 5321 is more stable and the cleaning effect is better.

[0081] In one embodiment, the side sweep roller brush assembly 60 includes a side sweep mounting plate 62. A side sweep moving cylinder 11 extending forward and backward in the horizontal direction is mounted on the main frame 10, wherein the output end of the side sweep moving cylinder 11 is connected to the side sweep mounting plate 62, and a nested sliding side moving guide tube 12 is correspondingly mounted above and below the side sweep moving cylinder 11 between the inner side of the side sweep mounting plate 62 and the main frame 10, thereby providing a guiding effect when the side sweep moving cylinder 11 drives the side sweep mounting plate 62 to move;

[0082] The outer side of the side sweep mounting plate 62 is provided with a guide rail 63 and a side sweep deflection cylinder 64 extending in the horizontal direction, wherein the output end of the side sweep deflection cylinder 64 is connected to a slide plate 641 that slides with the guide rail 63, and the slide plate 641 is hingedly connected to two shock-absorbing spring rods 642, wherein the two shock-absorbing spring rods 642 are respectively located on the upper and lower sides of the side sweep deflection cylinder 64, wherein the side sweep roller brush 61 is hingedly connected to the outer side of the side sweep mounting plate 62 through a side sweep bracket 65, and is located on the front side of the slide plate 641, and the other end of the shock-absorbing spring rod 642 is hinged to the side sweep bracket 65, thereby the slide plate 641 can be driven by the side sweep deflection cylinder 64 to move forward and backward in a directional manner, and under the action of the shock-absorbing spring rod 642, the slide plate drives the side sweep bracket 65 to deflect and move on the side sweep mounting plate 62, relatively approaching or moving away from the side sweep mounting plate 62, that is, the side sweep bracket 65 drives the side sweep roller brush 61 to retract inward or spread outward.

[0083] In one embodiment, the side defrosting component 70 includes a side defrosting mounting plate 72, a side sway cylinder 73 and a parallel connecting rod structure, and the side defrosting lifting cylinders 13 are symmetrically installed on the left and right sides of the main frame 10, wherein the output end of the side defrosting lifting cylinder 13 is connected to the side defrosting mounting plate 72, which is used to drive the side defrosting mounting plate 72 to move up and down in a directional manner. In addition, nested sliding side defrosting guide tubes 14 are correspondingly installed between the main frame 10 and the side defrosting mounting plate 72 on both sides of the side defrosting lifting cylinder 13. On the one hand, through The side defrosting guide tube 14 can guide the side defrosting mounting plate 72. On the other hand, when there is no need to clean the frozen coal, the side defrosting mounting plate 72 and the side defrosting lifting cylinder 13 can be removed from the main frame 10 as a whole. At the same time, the parallel connecting rod structure (as described later), the side defrosting mounting seat 74, the side milling roller 71 and other components installed on the side defrosting mounting plate 72 can be removed, which can greatly reduce the overall weight of the equipment, and make cleaning and turning operations easier, making the equipment structure simpler and easier to maintain. The side defrosting mounting plate 72 is connected to the side defrosting mounting seat 74 through the parallel connecting rod structure. At the same time, the side deflection cylinder 73 is hingedly installed on the outside of the side defrosting mounting plate 72 and is hingedly connected to the side defrosting mounting seat 74 at the top, so as to drive the side defrosting mounting seat 74 to deflect and move up and down. At the same time, the side milling roller 71 is installed on the side defrosting mounting seat 74. There is a large connection area between the opposing surfaces of the side defreezing mounting plate 72 and the side defreezing mounting seat 74. The parallel connecting rod structure can provide a stable connection force to the side defreezing mounting seat 74. Under the action of the side deflection oil cylinder 73, the side milling roller 71 can be driven to deflect stably, and expand outward or retract inward. Similar to the mutual feedback between the deflection oil cylinder 57 and the milling roller 53, there is also a function of feedback of the change of the height of the frozen coal through the oil pressure change between the side deflection oil cylinder 73 and the side milling roller 71. On the one hand, the height information of the frozen coal can be accurately calculated, and the height information can be used for background evaluation and analysis, such as analyzing the quality of coal and the freezing conditions of different coals at different temperatures. On the other hand, when the oil pressure range of the deflection oil cylinder 73 is maintained within a predetermined range, such as 4-8MPa, the deflection height range of the side milling roller 71 will be directly limited in turn, so that the frozen coal that can be removed can be quickly and effectively cleaned, which can greatly improve the efficiency of the frozen coal cleaning of the equipment and achieve good cleaning effect.

[0084] In one embodiment, the parallel connecting rod structure includes two upper connecting rods and two lower connecting rods corresponding to each other and distributed in parallel; or

[0085] The parallel connecting rod structure includes two upper connecting rods 75 and a lower connecting rod 76 distributed in parallel, wherein the lower connecting rod 76 is located directly below the center position of the two upper connecting rods 75; or

[0086] The parallel connecting rod structure comprises an upper connecting rod and two lower connecting rods which are distributed in parallel, wherein the upper connecting rod is located directly above the center positions of the two lower connecting rods.

[0087] A second aspect of an embodiment of the present application provides a method for cleaning frozen coal and cleaning integrated in a carriage using the aforementioned frozen coal and cleaning integrated robot, wherein in an initial state, the frozen coal and cleaning integrated robot is in a stationary and retracted state, wherein in the height direction, the front sweeping roller brush, the milling roller and the side milling roller are all close to the middle of the main frame, wherein in the horizontal direction, the milling roller is close to the rear side of the front sweeping roller brush, the side sweeping roller brush is close to the middle of the main frame, and the side milling roller is close to the front side of the side sweeping roller brush, at this time, the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, and the rotation radius is the radius of a virtual circle formed with the longitudinal central axis of the main frame as the center and the outer edge of the brush cylinder of the front sweeping roller brush close to the center as the radius;

[0088] The integrated cleaning method comprises the following steps:

[0089] S10, confirming the condition of the train carriage to be cleaned, and determining whether the carriage is a frozen coal carriage or a non-frozen coal carriage, wherein the condition of the carriage to be cleaned can be confirmed by human naked eye judgment, or by a camera installed on or around the carriage;

[0090] S20, when it is determined that the carriage is a frozen coal carriage, the frozen coal cleaning mode is executed, the front freezing frame is controlled to descend, and after the position of the front freezing frame is lower than the front sweeping roller brush, the front freezing mounting frame is controlled to extend toward the front side, and the milling roller is controlled to rotate, wherein the milling roller is driven by the sway cylinder to be able to sway and move obliquely downward away from the main frame. When the milling roller cleans the frozen coal, the height of the frozen coal can be directly fed back through the change of the oil pressure in the sway cylinder. The height information can be used for background evaluation and analysis, such as analyzing the quality of coal, analyzing the freezing conditions of different coals at different temperatures, etc. In addition, when the oil pressure range of the sway cylinder is maintained within a predetermined range, such as 4-8MPa, the sway height range of the milling roller will be directly limited in turn, so that the frozen coal that can be removed can be quickly and effectively cleaned, which can greatly improve the frozen coal cleaning efficiency of the equipment and achieve good cleaning effect;

[0091] S30, control the side milling roller to descend, then control the side milling roller to open toward the outside away from the main frame, and control the side milling roller to rotate. Similarly, the side milling roller is driven by the side swing cylinder to be able to swing obliquely downward away from the main frame. When the side milling roller cleans the frozen coal, the height of the frozen coal can be directly fed back through the change of the oil pressure in the side swing cylinder. This height information can be used for background evaluation and analysis, such as analyzing the quality of coal, analyzing the freezing conditions of different coals at different temperatures, etc. In addition, when the oil pressure range of the side swing cylinder is maintained within a predetermined range, such as 4-8MPa, the swing height range of the side milling roller will be directly limited in turn, so that the frozen coal that can be removed can be cleaned quickly and effectively, which can greatly improve the frozen coal cleaning efficiency of the equipment and achieve good cleaning effect;

[0092] S40, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box;

[0093] S50, when the compartment coal freezing and cleaning integrated robot moves to the end of the compartment, the following steps are performed in sequence:

[0094] S51, controlling the side milling roller to retract and reset in the reverse direction, including retracting inward and ascending and resetting;

[0095] S52, controlling the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush, reciprocating once or several times to clean the side wall range between the side wall of the carriage corresponding to the side sweeping roller brush and the inner wall of the end of the carriage;

[0096] S53, controlling the side sweeping roller brush to retract and return to its original position, ensuring that the side sweeping roller brush remains in the middle of the main frame, and controlling the side sweeping roller brush to retract and return to its original position inward;

[0097] S54, controlling the milling roller to retract to the rear side and then controlling the front defrosting rack to rise and reset;

[0098] S55, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in the horizontal direction for 3-6 times;

[0099] S56, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset, and stop rotating;

[0100] S57, after the completion of step S51-step S56, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, and the rotation radius is the radius of a virtual circle formed with the longitudinal central axis of the main frame as the center and the outer edge of the brush barrel of the front sweeping roller brush close to the center position as the radius, and then control the car frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the action according to steps S20-S50 again until the frozen coal in the car is cleaned. Generally, the size of the equipment in the width direction of the carriage is large, while the size in the length direction of the carriage is relatively small. When the equipment turns around, it is usually necessary to lift the equipment as a whole with the help of external force, and then rotate it, which not only affects the cleaning efficiency, but also requires additional equipment costs. The present application creatively proposes the concept of rotation radius, and controls the retraction and reset of various roller brushes, milling rollers and other equipment so that they can all be located within the range of this rotation radius, thereby allowing the equipment to rotate directly in the carriage and complete a quick turn. On the one hand, it can greatly improve the cleaning efficiency of the carriage, and on the other hand, it can greatly save the cost of the suspension equipment, which is more practical.

[0101] When the carriage is determined to be a non-frozen coal carriage, the non-frozen coal cleaning mode is executed, and the following steps are performed:

[0102] S60, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in a horizontal direction;

[0103] S70, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box;

[0104] S80, when the carriage coal freezing and cleaning integrated robot moves to the end of the carriage, the following steps are performed in sequence:

[0105] S81, controlling the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush;

[0106] S82, controlling the side sweeping roller brush to retract and return to its original position, and controlling the side sweeping roller brush to retract and return to its original position inward;

[0107] S83, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset;

[0108] S84, after the completion of step S81-step S83, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, and the rotation radius is the radius of a virtual circle formed with the longitudinal central axis of the main frame as the center and the outer edge of the brush barrel of the front sweeping roller brush close to the center position as the radius, and then control the car frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the action according to steps S60-S80 again until the frozen coal in the car is cleaned. This step is similar to step S57 and has basically the same effect.

[0109] In one embodiment, the carriage frozen coal and cleaning integrated cleaning method further includes an integrated cleaning mode, wherein the carriage frozen coal and cleaning integrated robot executes a non-frozen coal mode to clean the carriage, and during the cleaning process, when frozen coal is identified, the frozen coal cleaning mode is executed, the front sweeping roller brush is controlled to rise and reset, and then steps S20-S40 are executed, after the frozen coal is cleaned, or after the milling roller is cleaned for a predetermined time, the milling roller and the side milling roller are controlled to reset, and steps S60 and S70 are continued to be executed, wherein the identification of the frozen coal situation can be based on the camera attached to the device in a video recording manner, or can be based on the camera in the carriage or the surrounding area of ​​the carriage in a video recording manner, or can be directly determined as a frozen coal situation by manual intervention;

[0110] When the carriage frozen coal and cleaning integrated robot moves to the end of the carriage, if the carriage frozen coal and cleaning integrated robot is currently executing the frozen coal cleaning mode, step S50 is executed; if the carriage frozen coal and cleaning integrated robot is currently executing the non-frozen coal cleaning mode, step S80 is executed. Therefore, when the equipment cleans the carriage, it is not necessary to consider the frozen coal situation or the non-frozen coal residue situation, and cleaning can be carried out directly. The automatic adaptability is very strong, and the cleaning efficiency and cleaning effect can be ensured at the same time. At the same time, it can also flexibly turn around and operate directly in the carriage.

[0111] In the drawings of the present application, the bristles on the surface of the brush cylinder of the front sweeping roller brush 42 and the side sweeping roller brush 61 are not shown.

[0112] It should be noted that the terms "first, second" in the present application are only used for descriptive purposes and do not indicate any order. They cannot be understood as indicating or implying relative importance. These terms can be interpreted as names.

[0113] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A car compartment coal freezing and cleaning integrated robot, comprising a main frame, a dust box is arranged inside the main frame, a dust collecting fan is arranged on the top of the dust box, a rotatable bottom sweeping roller brush is arranged at the lower part of the rear side of the main frame, and the bottom sweeping roller brush is close to the rear side of the dust box, characterized in that: The main frame is provided with a front sweeping roller brush assembly and a front defrosting assembly at the front side, and the main frame is symmetrically provided with side sweeping roller brush assemblies and side defrosting assemblies on both sides of the moving direction; The front sweeping roller brush assembly comprises a front sweeping frame which can be lifted and moved, and two front sweeping roller brushes which can be moved left and right in the horizontal direction are symmetrically installed on the front side of the front sweeping frame; The front defrosting assembly comprises a front defrosting mounting frame that can move forward and backward, a front defrosting frame that can be lifted and lowered is installed at the front end of the front defrosting mounting frame, and one or more sets of milling rollers that can be swung and rotated are installed at the bottom of the front defrosting frame, and the milling rollers are close to the rear side of the front sweeping roller brush; The side sweeping roller brush assembly comprises a side sweeping roller brush that can move forward and backward and can be expanded outward or retracted inward; The side defreezing assembly comprises a side milling roller which can be lifted and moved and can be expanded outward or retracted inward, and the side milling roller is close to the front side of the side sweeping roller brush.

2. The all-in-one robot for freezing and cleaning coal in a carriage as claimed in claim 1, characterized in that: The front sweep roller brush assembly includes front sweep lifting cylinders that are spaced apart on the front side of the main frame. The front sweep lifting cylinders extend in a vertical direction. The output ends of the front sweep lifting cylinders are connected to the front sweep frame. At least two front sweep lifting guide grooves are provided on the front side of the main frame in a height direction. The rear side of the front sweep frame is provided with a front sweep lifting guide rail that slides with the front sweep lifting guide groove.

3. The integrated robot for freezing and cleaning coal in a carriage as claimed in claim 2, characterized in that: Two front-sweeping movable cylinders are symmetrically installed on the front sweeping frame, and the two front-sweeping movable cylinders extend left and right in the horizontal direction, and the driving directions of the two front-sweeping movable cylinders are opposite. The two front-sweeping roller brushes are respectively connected to the output ends of the two front-sweeping movable cylinders through the front-sweeping adapter frame, and a guide structure extending in the horizontal direction is correspondingly provided between the front-sweeping adapter frame and the front sweeping frame.

4. The integrated robot for freezing and cleaning coal in a carriage as claimed in claim 1, characterized in that: The front defrosting assembly includes front defrosting movable oil cylinders symmetrically distributed on both sides of the front end of the main frame, the front defrosting movable oil cylinders extend forward and backward in the horizontal direction, and are connected to the front defrosting mounting frame through their output ends, and nested sliding front moving guide tubes are correspondingly installed on the upper and lower sides of the front defrosting movable oil cylinders between the main frame and the front defrosting mounting frame; Two front defrosting lifting cylinders are symmetrically installed on the front defrosting mounting frame. The front defrosting lifting cylinders extend in the vertical direction and are simultaneously connected to the front defrosting frame through their output ends. A sway cylinder is installed on the rear side of the front defrosting frame. The sway cylinder is hinged to the top rear side of the milling roller through the bottom output end, and the milling roller is hinged to the front defrosting frame through the top front side.

5. The integrated robot for freezing and cleaning coal in a carriage as claimed in claim 4, characterized in that: The milling roller and the sway cylinder are provided with 3-5 groups correspondingly, and each group of sway cylinders drives the sway movement of each group of milling rollers through an articulated frame. The milling roller includes a roller and a hollow motor, and the roller includes a first roller, an intermediate roller and a second roller extending coaxially. The hollow motor is located in the intermediate roller, and the output shaft of the hollow motor located at the central axis has a main output end and a secondary output end opposite to each other, the main output end extends into the second roller, and the secondary output end extends into the first roller, the first roller and the intermediate roller are respectively sleeved on the secondary output end through a first sleeve and an intermediate sleeve, and the surfaces of the first sleeve and the intermediate sleeve are jointly sleeved with a first bearing seat, the second roller is sleeved on the main output end through a second sleeve, and the surface of the second sleeve is sleeved with a second bearing seat; The articulated frame includes a first connecting plate distributed between the first roller and the intermediate roller and a second connecting plate distributed between the second roller and the intermediate roller. The first connecting plate is sleeved on the first bearing seat, and the second connecting plate is fixedly sleeved on the end step of the hollow motor and connected to the outer ring of the second bearing seat.

6. The all-in-one robot for freezing and cleaning coal in a carriage as claimed in claim 1, characterized in that: The side sweep roller brush assembly comprises a side sweep mounting plate, a side sweep moving oil cylinder extending forward and backward in the horizontal direction is mounted on the main frame, an output end of the side sweep moving oil cylinder is connected to the side sweep mounting plate, and a nested sliding side moving guide tube is correspondingly mounted above and below the side sweep moving oil cylinder between the inner side of the side sweep mounting plate and the main frame; The outer side of the side sweep mounting plate is provided with a guide rail and a side sweep sway cylinder extending in the horizontal direction. The output end of the side sweep sway cylinder is connected to a slide plate that slides with the guide rail. The slide plate is hingedly connected to two shock-absorbing spring rods. The two shock-absorbing spring rods are respectively located on the upper and lower sides of the side sweep sway cylinder. The side sweep roller brush is hingedly connected to the outer side of the side sweep mounting plate through a side sweep bracket and is located on the front side of the slide plate. The other end of the shock-absorbing spring rod is hinged to the side sweep bracket.

7. The integrated robot for freezing and cleaning coal in a carriage as claimed in claim 1, characterized in that: The side defrosting assembly includes a side defrosting mounting plate, a side sway cylinder and a parallel connecting rod structure. The side defrosting lifting cylinders are symmetrically installed on the left and right sides of the main frame. The output ends of the side defrosting lifting cylinders are connected to the side defrosting mounting plates. Nested and sliding side defrosting guide tubes are correspondingly installed between the main frame and the side defrosting mounting plate on both sides of the side defrosting lifting cylinders. The side defrosting mounting plate is connected to the side defrosting mounting seat through the parallel connecting rod structure. The side sway cylinder is hingedly installed on the outside of the side defrosting mounting plate and is hingedly connected to the side defrosting mounting seat at the top to drive the side defrosting mounting seat to swing up and down. The side milling roller is installed on the side defrosting mounting seat.

8. The integrated robot for freezing and cleaning coal in a carriage as claimed in claim 1, characterized in that: A virtual circle is constructed with the longitudinal central axis of the main frame as the center and the outer edge of the brush barrel of the front sweeping roller brush close to the center position as the radius, that is, the rotation radius of the equipment. The bottom sweeping roller brush, the side sweeping roller brush in the inwardly retracted state, the side milling roller and the milling roller are all located within the virtual circle.

9. A method for cleaning frozen coal and cleaning a carriage using the integrated cleaning robot for frozen coal and cleaning a carriage according to any one of claims 1 to 8, characterized in that: In the initial state, the compartment coal freezing and cleaning integrated robot is in a stationary and retracted state, wherein in the height direction, the front sweeping roller brush, the milling roller and the side milling roller are all close to the middle of the main frame, wherein in the horizontal direction, the milling roller is close to the rear side of the front sweeping roller brush, the side sweeping roller brush is close to the middle of the main frame, and the side milling roller is close to the front side of the side sweeping roller brush; The integrated cleaning method comprises the following steps: S10, confirming the condition of the train carriage to be cleaned, and determining whether the carriage is a frozen coal carriage or a non-frozen coal carriage; S20, when it is determined that the carriage is a frozen coal carriage, executing the frozen coal cleaning mode, controlling the front freeze-breaking frame to descend, and after the position of the front freeze-breaking frame is lower than the front sweeping roller brush, controlling the front freeze-breaking mounting frame to extend forward, and controlling the milling roller to rotate, wherein the milling roller is driven by the yaw cylinder to be able to yaw and move obliquely downward away from the main frame; S30, controlling the side milling roller to descend, then controlling the side milling roller to expand toward the outside away from the main frame, and controlling the side milling roller to rotate; S40, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box; S50, when the compartment coal freezing and cleaning integrated robot moves to the end of the compartment, the following steps are performed in sequence: S51, controlling the side milling roller to retract in the reverse direction; S52, controlling the side sweeping roller brush to move toward the front side until it is flush with the front sweeping roller brush; S53, controlling the side sweeping roller brush to retract and return to its original position, and controlling the side sweeping roller brush to retract and return to its original position inward; S54, controlling the milling roller to retract to the rear side and then controlling the front defrosting rack to rise and reset; S55, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in the horizontal direction for 3-6 times; S56, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset; S57, after the completion of steps S51 to S56, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, wherein the rotation radius is the radius of a virtual circle formed by taking the longitudinal central axis of the main frame as the center and taking the outer edge of the brush cylinder of the front sweeping roller brush close to the center position as the radius, and then control the carriage frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the steps S20 to S50 again until the frozen coal in the carriage is cleaned; When the carriage is determined to be a non-frozen coal carriage, the non-frozen coal cleaning mode is executed, and the following steps are performed: S60, controlling the front sweeping roller brush to descend, and controlling the front sweeping roller brush to reciprocate left and right in a horizontal direction; S70, controlling the side sweeping roller brush to rotate, and controlling the side sweeping roller brush to open outward, and controlling the bottom sweeping roller brush to rotate, so as to rotate the residual material in the compartment to the dust collecting box; S80, when the carriage coal freezing and cleaning integrated robot moves to the end of the carriage, the following steps are performed in sequence: S81, controlling the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S82, controlling the side sweeping roller brush to retract and return to its original position, and controlling the side sweeping roller brush to retract and return to its original position inward; S83, controlling the front sweeping roller brush to move to the center position of the main frame, and then controlling the front sweeping roller brush to rise and reset; S84, after the completion of step S81-step S83, ensure that the side milling roller, the side sweeping roller brush, the milling roller, the front sweeping roller brush and the bottom sweeping roller brush are all located within the same rotation radius, and the rotation radius is the radius of a virtual circle formed with the longitudinal central axis of the main frame as the center and the outer edge of the brush barrel of the front sweeping roller brush close to the center position as the radius, and then control the car frozen coal and cleaning integrated robot to rotate 180 degrees as a whole to complete the U-turn, and repeat the action according to steps S60-S80 again until the frozen coal in the car is cleaned.

10. The integrated cleaning method for frozen coal in a carriage as claimed in claim 9, characterized in that: It also includes an integrated cleaning mode, wherein the compartment frozen coal and cleaning integrated robot performs a non-frozen coal mode to clean the compartment. During the cleaning process, when frozen coal is identified, the frozen coal cleaning mode is executed, the front sweeping roller brush is controlled to rise and reset, and then steps S20-S40 are executed. After the frozen coal is cleaned, or after the milling roller has been cleaned for a predetermined time, the milling roller and the side milling roller are controlled to reset, and steps S60 and S70 are continued to be executed; When the carriage frozen coal and cleaning integrated robot moves to the end of the carriage, if the carriage frozen coal and cleaning integrated robot is currently executing the frozen coal cleaning mode, step S50 is executed; if the carriage frozen coal and cleaning integrated robot is currently executing the non-frozen coal cleaning mode, step S80 is executed.

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