Integrated robot for cleaning frozen and non-frozen coal in train carriages and its cleaning method

Abstract

This application discloses an integrated robot for cleaning frozen and non-frozen coal in a coal wagon and its cleaning method. The integrated robot includes a main frame with a dust collection box inside. A bottom sweeping roller brush is located at the rear of the main frame, and a front sweeping roller brush assembly and a front de-freezing assembly are located at the front of the main frame. Side sweeping roller brush assemblies and side de-freezing assemblies are symmetrically arranged on both sides. The front sweeping roller brush assembly includes a liftable front sweeping frame, with two front sweeping roller brushes that can move horizontally left and right symmetrically mounted on the front side of the front sweeping frame. The front de-freezing assembly includes a front de-freezing mounting frame that can move back and forth. A liftable front de-freezing frame is mounted at the front end of the front de-freezing mounting frame, and a milling roller that can swing is mounted at the bottom of the front de-freezing frame. The side sweeping roller brush assembly includes a side sweeping roller brush that can move back and forth and can be opened or retracted. The side de-freezing assembly includes a side milling roller that can move up and down and can be opened or retracted, with the side milling roller close to the front side of the side sweeping roller brush. This robot and cleaning method have good cleaning effect and strong adaptability.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning equipment and methods, and in particular to an integrated robot for cleaning frozen and non-frozen coal in train carriages and its cleaning method. Background Technology

[0002] Coal, as an important strategic mineral, holds an irreplaceable position in the global energy system. During coal transportation, a certain amount of residual coal often accumulates in the wagons, and in low temperatures, a certain amount of frozen coal may also accumulate. Therefore, the automated cleaning of residual coal in the wagons presents a significant challenge.

[0003] In the prior art, such as patent publication number CN116371848A, a multi-directional synchronous cleaning and collection device for cleaning and collecting residual coal in a car body is provided. It mainly includes a main side sweeping mechanism, a secondary side sweeping mechanism, and a top sweeping mechanism, which respectively clean the inner walls on both sides of the car body and the bottom of the side walls of the car body in multiple directions, focusing on the effect of cleaning without blind spots. However, in the actual cleaning process, especially at low temperatures, coal residue is easily frozen and firmly attached to the bottom and sides of the car body. In this case, conventional car body residual coal cleaning and collection equipment can no longer quickly and thoroughly clean the coal residue, and the cleaning effect is poor. Although equipment specially designed for cleaning frozen coal can work smoothly, it has problems such as bulky equipment and low cleaning efficiency in the case of high temperature and no frozen coal. Summary of the Invention

[0004] This application provides an integrated robot for cleaning frozen and non-frozen coal in a train carriage and its cleaning method. It can simultaneously handle both frozen coal and ordinary cleaning methods in the carriage. It can quickly and thoroughly clean and collect coal residues in both frozen and non-frozen coal conditions, making it more adaptable.

[0005] The first aspect of this application provides an integrated robot for cleaning frozen and non-frozen coal in a train carriage, including a main frame, a dust collection box inside the main frame, a dust collection fan on the top of the dust collection box, a rotatable bottom sweeping roller brush on the lower rear side of the main frame, the bottom sweeping roller brush being close to the rear side of the dust collection box, a front sweeping roller brush assembly and a front defreezing assembly on the front side of the main frame, and side sweeping roller brush assemblies and side defreezing assemblies symmetrically arranged on both sides of the main frame in the direction of movement; The front sweeping roller brush assembly includes a liftable and movable front sweeping frame, and two front sweeping roller brushes that can move left and right in the horizontal direction are symmetrically installed on the front side of the front sweeping frame. The front defrosting assembly includes a front defrosting mounting frame that can move back and forth. A front defrosting frame that can be lifted and moved is installed at the front end of the front defrosting mounting frame. One or more sets of milling rollers that can swing and rotate are installed at the bottom of the front defrosting frame. The milling rollers are close to the rear side of the front sweeping roller. The side-sweeping roller brush assembly includes a side-sweeping roller brush that can move back and forth and can be extended outward or retracted inward. The side-breaking assembly includes a side milling roller that can be raised and lowered and can be extended outward or retracted inward, the side milling roller being close to the front side of the side sweeping brush.

[0006] In one possible implementation, the front sweeping roller brush assembly includes front sweeping lifting cylinders spaced apart on the front side of the main frame. The front sweeping lifting cylinders extend vertically, and their output ends are connected to the front sweeping frame. The front side of the main frame is provided with at least two front sweeping lifting guide grooves along the height direction, and the rear side of the front sweeping frame is provided with a front sweeping lifting guide rail that slides with the front sweeping lifting guide grooves.

[0007] In one possible implementation, two front sweeping moving cylinders are symmetrically mounted on the front sweeping frame. The two front sweeping moving cylinders extend horizontally to the left and right, and the driving directions of the two front sweeping moving cylinders are opposite. The two front sweeping rollers are respectively connected to the output ends of the two front sweeping moving cylinders through a front sweeping adapter frame. A guide structure extending horizontally is correspondingly provided between the front sweeping adapter frame and the front sweeping frame.

[0008] In one possible implementation, the front defrosting assembly includes front defrosting moving cylinders symmetrically distributed on both sides of the front end of the main frame. The front defrosting moving cylinders extend back and forth in the horizontal direction and are connected to the front defrosting mounting frame through their output ends. Nested sliding-fitting front moving guide tubes are installed between the main frame and the front defrosting mounting frame on the upper and lower sides of the front defrosting moving cylinders, respectively. Two front freezing lifting cylinders are symmetrically installed on the left and right sides of the front freezing mounting frame. The front freezing lifting cylinders extend vertically and are connected to the front freezing frame through their output ends. A swing cylinder is installed on the rear side of the front freezing frame. The swing cylinder is hinged to the rear top of the milling roller through its bottom output end. The milling roller is hinged to the front freezing frame through its top front side.

[0009] In one possible implementation, the milling roller and the yaw cylinder are provided in 3-5 sets respectively. Each set of yaw cylinders drives each set of milling rollers to yaw motion through a hinge frame. The milling roller includes a drum and a hollow motor. The drum includes a first drum, an intermediate drum and a second drum extending coaxially. The hollow motor is located inside the intermediate drum, 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 drum, and the secondary output end extends into the first drum. The first drum and the intermediate drum are respectively sleeved on the secondary output end through a first sleeve and an intermediate sleeve. The surfaces of the first sleeve and the intermediate sleeve are jointly sleeved with a first bearing seat. The second drum is sleeved on the main output end through a second sleeve. The surface of the second sleeve is sleeved with a second bearing seat. The hinge 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.

[0010] In one possible implementation, the side-sweeping roller brush assembly includes a side-sweeping mounting plate, and a side-sweeping moving cylinder extending back and forth in the horizontal direction is mounted on the main frame. The output end of the side-sweeping moving cylinder is connected to the side-sweeping mounting plate, and nested sliding-fitting side-moving guide tubes are installed between the inner side of the side-sweeping mounting plate and the main frame above and below the side-sweeping moving cylinder. The side-sweeping mounting plate has a horizontally extending guide rail and a side-sweeping sway cylinder on its outer side. The output end of the side-sweeping sway cylinder is connected to a sliding plate that slides with the guide rail. The sliding plate is hinged to two shock-absorbing spring rods, which are located on the upper and lower sides of the side-sweeping sway cylinder, respectively. The side-sweeping roller brush is hinged to the outer side of the side-sweeping mounting plate through a side-sweeping bracket and is located on the front side of the sliding plate. The other end of the shock-absorbing spring rod is hinged to the side-sweeping bracket.

[0011] In one possible implementation, the side-breaking assembly includes a side-breaking mounting plate, a side-swinging cylinder, and a parallel linkage structure. Side-breaking lifting cylinders are symmetrically mounted on the left and right sides of the main frame. The output end of each side-breaking lifting cylinder is connected to the side-breaking mounting plate. Nested sliding-fit side-breaking guide tubes are installed between the main frame and the side-breaking mounting plate on both sides of the side-breaking lifting cylinders. The side-breaking mounting plate is connected to a side-breaking mounting seat via the parallel linkage structure. The side-swinging cylinder is hinged to the outside of the side-breaking mounting plate and hinged above the side-breaking mounting seat to drive the side-breaking mounting seat to swing up and down. The side milling roller is mounted on the side-breaking mounting seat.

[0012] In one possible implementation, the parallel linkage structure includes two upper linkages and two lower linkages that are vertically corresponding and parallel to each other; or The parallel link structure includes two parallel upper links and one lower link, with the lower link located directly below the center of the two upper links; or The parallel link structure includes an upper link and two lower links that are distributed in parallel, with the upper link located directly above the center of the two lower links.

[0013] 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 near the center position as the radius, i.e., the rotation radius of the equipment. The bottom sweeping roller, the side sweeping roller in the inward retracted state, the side milling roller, and the milling roller are all located within the virtual circle.

[0014] The second aspect of this application provides a method for cleaning frozen and non-frozen coal in a train carriage using the aforementioned integrated robot for cleaning frozen and non-frozen coal. In the initial state, the integrated robot for cleaning frozen and non-frozen coal in the train carriage is stationary and retracted. In the vertical direction, the front sweeping roller, the milling roller, and the side milling roller are all close to the middle of the main frame. In the horizontal direction, the milling roller is close to the rear side of the front sweeping roller, the side sweeping roller 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. The integrated cleaning method includes the following steps: S10, Confirm the condition of the train carriages to be cleaned, and determine whether the carriages are frozen coal carriages or non-frozen coal carriages; S20, when it is determined that the car is a frozen coal car, 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, the front freezing mounting frame is controlled to extend forward, and the milling roller is controlled to rotate, wherein the milling roller is driven by the sway cylinder and can sway downward away from the main frame. S30, control the side milling roller to descend, then control the side milling roller to spread outward away from the main frame, and control the side milling roller to rotate; S40, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S50, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S51, control the side milling roller to retract in the reverse direction; S52, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S53, control the side sweeping roller brush to retract to its original position, and control the side sweeping roller brush to retract inward to its original position; S54, control the milling roller to retract to its rearward position, and then control the front defrosting frame to rise and reset; S55, control the front sweeping roller to descend, and control the front sweeping roller to move back and forth horizontally 3-6 times. S56, control the front sweeping roller brush to move to the center position of the main frame, and then control the front sweeping roller brush to rise and reset; S57. After steps S51-S56 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S20-S50 to cycle until the frozen coal in the car body is cleaned. When the car is determined to be a non-frozen coal car, the non-frozen coal cleaning mode is executed, and the following steps are performed: S60, control the front sweeping roller brush to descend, and control the front sweeping roller brush to move back and forth horizontally. S70, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S80, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S81, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S82, control the side sweeping roller brush to retract to its original position, and control the side sweeping roller brush to retract inward to its original position; S83, control the front sweeping roller brush to move to the center position of the main frame, and then control the front sweeping roller brush to rise and reset; S84. After steps S81-S83 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S60-S80 to cycle through the operation until the non-frozen coal in the car body is cleaned.

[0015] In one possible implementation, the integrated cleaning method for cleaning frozen and non-frozen coal in the carriage further includes an integrated cleaning mode. The integrated robot for cleaning frozen and non-frozen coal in the carriage performs cleaning in the non-frozen coal mode. During the cleaning process, when frozen coal is detected, the frozen coal cleaning mode is executed, the front sweeping roller 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 executed again. When the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, if the robot is currently in frozen coal cleaning mode, then step S50 is executed; if the robot is currently in non-frozen coal cleaning mode, then step S80 is executed.

[0016] Beneficial effects: Compared with the prior art, the integrated robot and cleaning method for cleaning frozen and non-frozen coal in the car body provided in this application can quickly and thoroughly clean frozen coal in the car body and also quickly and thoroughly clean non-frozen coal residue in the car body through the cooperation of front sweeping roller brush, milling roller, side sweeping roller brush and side milling roller. It can also flexibly switch during the cleaning process, thereby simultaneously completing the quick and thorough cleaning of both frozen and non-frozen coal in the car body. It has good cleaning effect and strong adaptability. When the equipment (i.e., the integrated robot for cleaning frozen and non-frozen coal in the carriage) needs to turn around at the end of the carriage, the front sweeping roller, side sweeping roller, milling roller, and side milling roller can all retract back to their original positions and retract into the rotation radius of the equipment, so that the equipment can turn around quickly and flexibly, which can further improve cleaning efficiency. The milling roller is powered internally, which greatly reduces the space occupied by the milling roller, making the overall structure of the equipment more compact and enabling it to work more flexibly within a relatively limited carriage space.

[0017] These and other objects, features and advantages of the present invention will become fully apparent from the following detailed description. Attached Figure Description

[0018] Figure 1 A three-dimensional structural schematic diagram of the integrated robot for cleaning frozen and non-frozen coal in the carriage of this application is shown.

[0019] Figure 2 The diagram shows a top view of the integrated robot for cleaning frozen and non-frozen coal in the carriage of this application.

[0020] Figure 3 A schematic diagram of the mainframe structure in this application is shown.

[0021] Figure 4 A schematic diagram of the front sweeping roller brush assembly in this application is shown.

[0022] Figure 5 A partial structural schematic diagram of the front sweeping roller brush assembly in this application is shown.

[0023] Figure 6 A schematic diagram of the structure of the pre-defrost breaking component in this application is shown.

[0024] Figure 7 A partial structural schematic diagram of the pre-defrostbite assembly in this application is shown.

[0025] Figure 8 A schematic diagram of the milling roller in this application is shown.

[0026] Figure 9 A cross-sectional view of the milling roller in this application is shown.

[0027] Figure 10 A schematic diagram of the side-sweeping roller brush assembly in this application is shown.

[0028] Figure 11 A schematic diagram of the side-breaking component in this application is shown.

[0029] Figure 12 A side view of the side-breaking assembly in this application is shown. Detailed Implementation

[0030] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0031] Those skilled in the art should understand that, in the disclosure of this specification, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0032] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0033] refer to Figures 1 to 12 This application provides a first aspect of an integrated robot for cleaning frozen and non-frozen coal in a coal compartment, including a main frame 10. The main frame 10 houses a dust collection box 20, and a dust collection fan 21 is mounted on the top of the dust collection box 20. The operation of the dust collection fan 21 creates a negative pressure suction environment in the dust collection box 20, thereby continuously sucking up residual coal material from below through the dust collection channels at the bottom or side of the dust collection box 20. The main frame 10 has a rotatable bottom sweeping brush 30 at its lower rear side, located near the rear of the dust collection box 20, which continuously rotates and pushes the residual coal material to the opening of the dust collection channel during cleaning. The main frame 10 has a front sweeping brush assembly 40 and a front defreezing assembly 50 on its front side, and symmetrically arranged side sweeping brush assemblies 60 and side defreezing assemblies 70 on both sides of the moving direction. The front sweeping roller brush assembly 40 includes a liftable and movable front sweeping frame 41. Two front sweeping roller brushes 42 that can move horizontally are symmetrically installed on the front side of the front sweeping frame 41. When cleaning frozen coal, the front sweeping frame 41 moves the front sweeping roller brushes 42 closer to the middle or upper part of the main frame 10, rather than closer to the lower part, so as to reserve enough working space for the front defreezing assembly 50 and avoid damage to the front sweeping roller brushes 42 by frozen coal. When cleaning non-frozen coal, the front sweeping frame 41 moves the front sweeping roller brushes 42 down to clean the bottom of the car body. The horizontal movement of the two front sweeping roller brushes 42 is mainly to continuously clean the remaining non-frozen coal within the range of movement. The front defreezing assembly 50 includes a front defreezing mounting frame 51 that can move back and forth. A liftable front defreezing frame 52 is mounted at the front end of the front defreezing mounting frame 51, and one or more sets of milling rollers 53 that can swing and rotate are mounted at the bottom of the front defreezing frame 52. The milling rollers 53 are located near the rear side of the front sweeping brush 42. In this application, the front side of the moving direction of the integrated robot for cleaning frozen and non-frozen coal in the cargo compartment is called the front side, and the rear side is called the rear side. For ease of description, the integrated robot for cleaning frozen and non-frozen coal in the cargo compartment can be referred to as the device, or this device, or this equipment. Since the front sweeping roller 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 of the milling roller 53 in the width direction of the carriage is significantly larger than the sum of the diameters of the two front sweeping rollers 42. Therefore, the milling roller 53 needs to be close to the rear side of the front sweeping roller 42, rather than the front side or directly below it. This makes 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 the relatively limited carriage environment. When the equipment cleans 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 de-freezing mounting frame 51 descends first, and then the front de-freezing frame 52 extends forward to avoid the front sweeping roller brush 42. Subsequently, the milling roller 53 rotates. If necessary, the milling roller 53 swings downwards and then cleans the frozen coal. It is acceptable for the milling roller 53 to rotate or swing downwards first, or it can rotate directly after descending to the position for cleaning. This is a common practice in the industry and is not limited here. When the equipment cleans non-frozen coal, the front de-freezing mounting frame 51, the front de-freezing frame 52, and the milling roller 53 are all retracted back to their original positions, or they are all removed. Then the front sweeping roller brush 42 descends for cleaning.

[0034] The side-sweeping roller brush assembly 60 includes a side-sweeping roller brush 61 that can move back and forth and can be extended outward or retracted inward. Extending outward or retracting inward refers to extending or retracting in the width direction of the carriage. When extended, it can clean the side walls of the carriage. When retracted, it can make the overall structure more compact and does not affect the flexible turning of the equipment. The back-and-forth movement of the side-sweeping roller brush 61 is mainly used when cleaning the end of the carriage. The front sweeping roller brush 42 abuts against the end of the carriage, while the side sweeping roller brush 61 is still a certain distance away from the end of the carriage. The side sweeping roller brush 61 can clean the side wall from the position of the side sweeping roller brush 61 to the end of the carriage. This allows the equipment to thoroughly clean the bottom and side walls of the carriage, whether it is moving normally in the carriage or turning around. The cleaning range is comprehensive and the cleaning effect is better. The side-breaking assembly 70 includes a side milling roller 71 that can be raised and lowered and can be extended outward or retracted inward. The side milling roller 71 is located near the front of the side sweeping roller brush 61. When cleaning frozen coal, the side milling roller 71 descends to a certain position and then extends outward to clean the side wall of the car. When cleaning non-frozen coal, the side milling roller 71 rises to reset and retracts inward, or the side milling roller 71 can be removed directly without affecting the equipment's ability to turn around inside the car.

[0035] Therefore, the integrated robot for cleaning frozen and non-frozen coal in the carriage provided in this application can independently, quickly and thoroughly clean frozen coal in the carriage, independently, quickly and thoroughly clean non-frozen coal residue in the carriage, and simultaneously clean carriages containing both frozen and non-frozen coal residue. It is highly adaptable and has a good cleaning effect.

[0036] In one embodiment, combined Figure 2 With the longitudinal central axis of the main frame 10 as the center and the outer edge of the brush cylinder 421 of the front sweeping roller brush 42 near the center as the radius, i.e., the rotation radius of the equipment, a virtual circle a is constructed. The bottom sweeping roller brush 30, the side sweeping roller brush 61 in the inward retracted state, the side milling roller 71 and the milling roller 53 are all located within the range of the virtual circle a. Thus, the equipment can quickly and effectively clean frozen or non-frozen coal residue in the carriage, and at the same time, it can quickly turn 180 degrees at the end of the carriage to clean frozen or non-frozen coal residue again. It can effectively ensure cleaning efficiency while ensuring cleaning effect, and the overall cleaning efficiency can be improved by more than 30%.

[0037] In one embodiment, combined Figures 3 to 5The front sweeping roller brush assembly 40 includes front sweeping lifting cylinders 43 spaced apart on the front side of the main frame 10. The front sweeping lifting cylinders 43 extend vertically, and their output ends are connected to the front sweeping frame 41. The front side of the main frame 10 is provided with at least two front sweeping lifting guide grooves 101 along the height direction. Correspondingly, the rear side of the front sweeping frame 41 is provided with a front sweeping lifting guide rail 411 that slides with the front sweeping lifting guide grooves 101. Thus, under the guiding action of the front sweeping lifting guide grooves 101 and the front sweeping lifting guide rail 411, the front sweeping frame 41 can be moved up and down by the front sweeping lifting cylinders 43, thereby moving the front sweeping roller brush 42 up and down.

[0038] More preferably, two front-sweeping moving cylinders 44 are symmetrically mounted on the front sweeping frame 41, extending horizontally to the left and right, and their driving directions are opposite. The two front-sweeping roller brushes 42 are connected to the output ends of the two front-sweeping moving cylinders 44 via a front-sweeping adapter frame 45. This allows the corresponding front-sweeping roller brushes 42 to move left and right via the front-sweeping moving cylinders 44. The two front-sweeping roller brushes 42 can move synchronously towards or away from each other, or move asynchronously left and right. Furthermore, a guide structure 412 extending horizontally is provided between the front-sweeping adapter frame 45 and the front sweeping frame 41. This guide structure could be a guide groove cooperating with a guide rail, a nested guide tube structure, or a guide rail cooperating with a slider, etc.

[0039] In one embodiment, the front freezing assembly 50 includes front freezing moving cylinders 54 symmetrically distributed on both sides of the front end of the main frame 10. The front freezing moving cylinders 54 extend back and forth in the horizontal direction and are connected to the front freezing mounting frame 51 through their output ends, so as to synchronously extend and retract to drive the front freezing mounting frame 51 to move back and forth. At the same time, the main frame 10 and the front freezing mounting frame 51 are respectively installed with nested sliding cooperation front moving guide tubes 55 on the upper and lower sides of the front freezing moving cylinders 54, so as to play a guiding role during the movement of the front freezing mounting frame 51. At the same time, when it is not necessary to clean the frozen coal, the front freezing mounting frame 51 can be removed, so that the front freezing frame 52, milling roller 53 and other components installed on the front freezing mounting frame 51 can be removed as a whole, making the equipment structure simpler, lighter, easier to move, and easier to maintain. When it is necessary to clean the frozen coal, the front freezing mounting frame 51 can be directly installed on the main frame 10, which is convenient to use. Two front freezing lifting cylinders 56 are symmetrically mounted on the front freezing mounting frame 51. Each cylinder extends vertically and is connected to the front freezing frame 52 via its output end, allowing the frame to move up and down. Additionally, a sway cylinder 57 is mounted on the rear side of the front freezing frame 52. This sway cylinder 57 is hinged to the rear top of the milling roller 53 via its bottom output end, while the milling roller 53 is hinged to the front freezing frame 52 via its front top. Thus, the sway cylinder 57 can drive the corresponding milling roller 53 to sway. Typically, one sway cylinder 57 drives one or more milling rollers 53 to sway.

[0040] During operation, especially during the cleaning of frozen coal, frozen coal at different heights will push the milling roller 53 to move in the extension and retraction direction of the sway cylinder 57 in the opposite direction. Correspondingly, the sway cylinder 57 can automatically extend or retract based on changes in internal oil pressure. The change in oil pressure reflects the change in the height of the frozen coal, thereby accurately calculating the height information of the frozen coal. This height information can be used for background evaluation and analysis, such as analyzing the quality of coal and the freezing status of different coals at different temperatures. In addition, when the oil pressure of the sway cylinder 57 is kept within a predetermined range, such as 4-8 MPa, it will conversely limit the sway height range of the milling roller 53, thereby quickly and effectively cleaning the removable frozen coal, greatly improving the frozen coal cleaning efficiency of the equipment, and achieving good cleaning results.

[0041] In one embodiment, 3-5 sets of milling rollers 53 and yaw cylinders 57 are provided, and each set of yaw cylinders 57 drives each set of milling rollers 53 to yaw motion via a hinge frame 58. The milling roller 53 includes a drum 531 and a hollow motor 532. The drum 531 includes a first drum 5311, an intermediate drum 5312, and a second drum 5313 extending coaxially. The hollow motor 532 is located inside the intermediate drum 5312, and its output shaft 5321 at the central axis has a main output end and a secondary output end. The main output end extends into the second drum 5313, and the secondary output end extends into the first drum 5311. The cylinder 5311 and the intermediate roller 5312 are respectively sleeved on the auxiliary output end through the first sleeve 5331 and the intermediate sleeve 5332, while the second roller 5313 is sleeved on the main output end through the second sleeve 5333, so as to synchronously drive the first roller 5311, the intermediate roller 5312 and the second roller 5313 to rotate. In addition, the surface of the first sleeve 5331 and the intermediate sleeve 5332 are jointly sleeved with the first bearing seat 534, and the surface of the second sleeve 5333 is sleeved with the second bearing seat 535. 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. The first connecting plate 581 is sleeved on the first bearing seat 534, and 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. Compared with conventional externally powered milling rollers, this can greatly save the space occupied by the equipment, and the overall structure is more compact. In particular, it is of great help to enable 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 external frozen coal or non-frozen coal residue during operation, resulting in less maintenance frequency and longer service life. It should also be noted that the second connecting plate 582 connects to the hollow motor 532 on one hand and to the outer ring of the second bearing seat 535 on the other. This allows the second bearing seat 535 to be further stabilized through the second connecting plate 582, making the rotation of the main output end of the output shaft 5321 more stable and the cleaning effect better.

[0042] In one embodiment, the side-sweeping roller brush assembly 60 includes a side-sweeping mounting plate 62. A side-sweeping moving cylinder 11 extending back and forth in the horizontal direction is mounted on the main frame 10, wherein the output end of the side-sweeping moving cylinder 11 is connected to the side-sweeping mounting plate 62, and nested sliding guide tubes 12 are correspondingly installed above and below the side-sweeping moving cylinder 11 between the inner side of the side-sweeping mounting plate 62 and the main frame 10, thereby providing a guiding function when the side-sweeping moving cylinder 11 drives the side-sweeping mounting plate 62 to move; The side-sweeping mounting plate 62 has a horizontally extending guide rail 63 and a side-sweeping sway cylinder 64 on its outer side. The output end of the side-sweeping sway cylinder 64 is connected to a sliding plate 641 that slides with the guide rail 63. The sliding plate 641 is hinged to two shock-absorbing spring rods 642, which are located on the upper and lower sides of the side-sweeping sway cylinder 64. The side-sweeping roller brush 61 is hinged to the outer side of the side-sweeping mounting plate 62 via a side-sweeping bracket 65 and is located in front of the sliding plate 641. The other end of the shock-absorbing spring rod 642 is hinged to the side-sweeping bracket 65. Thus, the sliding plate 641 can be moved back and forth in a directional manner by the side-sweeping sway cylinder 64. Under the action of the shock-absorbing spring rods 642, the sliding plate causes the side-sweeping bracket 65 to sway on the side-sweeping mounting plate 62, moving closer to or away from the side-sweeping mounting plate 62. That is, the side-sweeping bracket 65 causes the side-sweeping roller brush 61 to retract inward or expand outward.

[0043] In one embodiment, the side-breaking assembly 70 includes a side-breaking mounting plate 72, a side-tilting cylinder 73, and a parallel connecting rod structure. Simultaneously, side-breaking lifting cylinders 13 are symmetrically mounted on the left and right sides of the main frame 10. The output end of the side-breaking lifting cylinder 13 is connected to the side-breaking mounting plate 72, used to drive the side-breaking mounting plate 72 to move vertically in a directional manner. Furthermore, nested sliding side-breaking guide tubes 14 are correspondingly installed between the main frame 10 and the side-breaking mounting plate 72 on both sides of the side-breaking lifting cylinder 13, on the one hand... The side-breaking guide pipe 14 guides the side-breaking mounting plate 72. Furthermore, when cleaning frozen coal is not required, the side-breaking mounting plate 72 and the side-breaking lifting cylinder 13 can be removed from the main frame 10. Simultaneously, all components installed on the side-breaking mounting plate 72 (as described later), such as the parallel linkage structure, the side-breaking mounting seat 74, and the side milling roller 71, are removed, significantly reducing the overall weight of the equipment. This allows for easier cleaning and turning operations, simplifying the equipment structure and making maintenance easier. The side-breaking mounting plate 72 is connected to the side-breaking mounting seat 74 via the parallel linkage structure. The side-swing cylinder 73 is hinged to the outside of the side-breaking mounting plate 72 and hinged above the side-breaking mounting seat 74, enabling it to drive the side-breaking mounting seat 74 to swing up and down. The side milling roller 71 is mounted on the side-breaking mounting seat 74. Both the side-breaking mounting plate 72 and the side-breaking mounting base 74 have a large connection area between their opposing surfaces. A parallel linkage structure provides a stable connection force to the side-breaking mounting base 74. Under the action of the side-swinging cylinder 73, the side milling roller 71 can be driven to swing stably, expanding outwards or retracting inwards. Similar to the feedback effect between the swinging cylinder 57 and the milling roller 53, the side-swinging cylinder 73 and the side milling roller 71 also have a feedback effect on the change in frozen coal height through changes in oil pressure. On the one hand, the height information of the frozen coal can be accurately calculated, which can be used for background evaluation and analysis, such as analyzing the quality of the coal and the freezing conditions of different coals at different temperatures. On the other hand, when the oil pressure of the swinging cylinder 73 is kept within a predetermined range, such as 4-8 MPa, it will conversely directly limit the swing height range of the side milling roller 71, thereby quickly and effectively cleaning the removable frozen coal, greatly improving the frozen coal cleaning efficiency of the equipment and achieving good cleaning results.

[0044] In one embodiment, the parallel linkage structure includes two upper linkages and two lower linkages that are vertically corresponding and parallel to each other; or The parallel link structure includes two parallel upper links 75 and one lower link 76, wherein the lower link 76 is located directly below the center of the two upper links 75; or The parallel link structure includes an upper link and two lower links distributed in parallel, wherein the upper link is located directly above the center of the two lower links.

[0045] The second aspect of this application provides a method for cleaning frozen and non-frozen coal in a train carriage using the aforementioned integrated robot for cleaning frozen and non-frozen coal. In the initial state, the integrated robot is stationary and retracted. In the vertical direction, the front sweeping roller, the milling roller, and the side milling roller are all close to the middle of the main frame. In the horizontal direction, the milling roller is close to the rear side of the front sweeping roller, the side sweeping roller 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. At this time, the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all located within the same radius of rotation. The radius of rotation 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 near the center as the radius. The integrated cleaning method includes the following steps: S10, Confirm the condition of the train carriage to be cleaned, and determine whether the carriage is a frozen coal carriage or a non-frozen coal carriage. The condition of the carriage to be cleaned can be confirmed by visual inspection or by video equipment installed on or around the carriage. S20, when the car is determined to be a frozen coal car, the frozen coal cleaning mode is executed, the front freezing frame is lowered, and after the position of the front freezing frame is lower than the front sweeping roller, the front freezing mounting frame is extended forward and the milling roller is rotated. The milling roller is driven by the sway cylinder and can sway 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 by the change of oil pressure in the sway cylinder. This height information can be used for background evaluation and analysis, such as analyzing the quality of the coal and the freezing of different coals at different temperatures. In addition, when the oil pressure range of the sway cylinder is kept within a predetermined range, such as 4-8MPa, it will conversely limit the sway height range of the milling roller, 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 the cleaning effect is good. S30, control the side milling roller to descend, then control the side milling roller to spread outward away from the main frame, and control the side milling roller to rotate. Similarly, the side milling roller is driven by the side sway cylinder to sway downward away from the main frame. When the side milling roller cleans frozen coal, the height of the frozen coal can be directly fed back by the change of oil pressure in the side sway cylinder. This height information can be used for background evaluation and analysis, such as analyzing the quality of coal and the freezing of different coals at different temperatures. In addition, when the oil pressure range of the side sway cylinder is kept within a predetermined range, such as 4-8 MPa, it will conversely limit the sway height range of the side milling roller, thereby quickly and effectively cleaning the frozen coal that can be removed, which can greatly improve the frozen coal cleaning efficiency of the equipment and the cleaning effect is good. S40, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S50, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S51, control the side milling roller to retract and return to its original position in the reverse direction, including retracting inward and rising to reset; S52, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush, repeat once or several times to clean the side wall area between the side wall of the carriage and the inner wall of the carriage end corresponding to the side sweeping roller brush. S53, control the side sweeping roller to retract to its original position, ensuring that the side sweeping roller is kept in the middle position of the main frame, and control the side sweeping roller to retract to its original position inward; S54, control the milling roller to retract to its rearward position, and then control the front defrosting frame to rise and reset; S55, control the front sweeping roller to descend, and control the front sweeping roller to move back and forth horizontally 3-6 times. S56, control the front sweeping roller to move to the center position of the main frame, then control the front sweeping roller to rise and reset, and stop rotating; S57. After steps S51-S56 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S20-S50 to cycle through the operation until the frozen coal in the car body is cleaned. Generally, the equipment is larger in the width of the carriage but relatively smaller in the length. When turning the equipment around, it is usually necessary to use external force to lift the entire equipment before rotating it, which not only affects the cleaning efficiency but also requires additional equipment costs. This application creatively proposes the concept of rotation radius. By controlling the retraction and reset of each roller brush, milling roller, and other equipment, they can all be located within this rotation radius. This allows the equipment to rotate directly inside 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 suspension equipment, making it more practical. When the car is determined to be a non-frozen coal car, the non-frozen coal cleaning mode is executed, and the following steps are performed: S60, control the front sweeping roller brush to descend, and control the front sweeping roller brush to move back and forth horizontally. S70, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S80, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S81, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S82, control the side sweeping roller brush to retract to its original position, and control the side sweeping roller brush to retract inward to its original position; S83, control the front sweeping roller brush to move to the center position of the main frame, and then control the front sweeping roller brush to rise and reset; S84. After steps S81-S83 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S60-S80 to continue the cycle until the non-frozen coal in the car body is cleaned. This step is similar to step S57 and has the same effect.

[0046] In one embodiment, the integrated cleaning method for cleaning frozen and non-frozen coal in the carriage further includes an integrated cleaning mode. The integrated cleaning robot for cleaning frozen and non-frozen coal in the carriage performs cleaning in the non-frozen coal mode. During the cleaning process, when frozen coal is detected, the frozen coal cleaning mode is executed, the front sweeping roller 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 executed. The identification of frozen coal can be based on the camera attached to the equipment to identify it by video recording, or it can be based on the camera in the carriage or around the carriage to identify it by video recording, or it can be directly judged as frozen coal by manual intervention. When the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, if the robot is currently in frozen coal cleaning mode, then step S50 is executed; if the robot is currently in non-frozen coal cleaning mode, then step S80 is executed. Therefore, when cleaning the carriage, the robot can directly clean without considering whether the coal is frozen or not, and has a very strong automatic adaptability. It can ensure both cleaning efficiency and cleaning effect at the same time, and can also flexibly turn around and operate directly in the carriage.

[0047] In the accompanying drawings of this application, neither the front sweeping roller brush 42 nor the side sweeping roller brush 61 shows the bristles on the surface of the brush cylinder.

[0048] It should be noted that the terms "first" and "second" used in this application are for descriptive purposes only and do not indicate any order. They should not be construed as indicating or implying relative importance, and can be interpreted as names.

[0049] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the invention. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments; any variations or modifications can be made to the implementation of the present invention without departing from these principles.

Claims

1. A robot for cleaning frozen and non-frozen coal in a coal carriage, comprising a main frame, a dust collection box inside the main frame, a dust collection fan on the top of the dust collection box, and a rotatable bottom sweeping brush located on the lower rear side of the main frame, the bottom sweeping brush being close to the rear side of the dust collection box, characterized in that... The main frame is provided with a front sweeping roller brush assembly and a front defreezing assembly on the front side, and the main frame is provided with a side sweeping roller brush assembly and a side defreezing assembly symmetrically on both sides of the moving direction. The front sweeping roller brush assembly includes a liftable and movable front sweeping frame, and two front sweeping roller brushes that can move left and right in the horizontal direction are symmetrically installed on the front side of the front sweeping frame. The front defrosting assembly includes a front defrosting mounting frame that can move back and forth. A front defrosting frame that can be lifted and moved is installed at the front end of the front defrosting mounting frame. One or more sets of milling rollers that can swing and rotate are installed at the bottom of the front defrosting frame. The milling rollers are close to the rear side of the front sweeping roller. The side-sweeping roller brush assembly includes a side-sweeping roller brush that can move back and forth and can be extended outward or retracted inward. The side-breaking assembly includes a side milling roller that can be raised and lowered and can be opened outward or retracted inward, the side milling roller being close to the front side of the side sweeping brush; The front defrosting assembly includes front defrosting moving cylinders symmetrically distributed on both sides of the front end of the main frame. The front defrosting moving cylinders extend back and forth in the horizontal direction and are connected to the front defrosting mounting frame through their output ends. Nested sliding cooperation front moving guide tubes are installed between the main frame and the front defrosting mounting frame on the upper and lower sides of the front defrosting moving cylinders. Two front freezing lifting cylinders are symmetrically installed on the left and right sides of the front freezing mounting frame. The front freezing lifting cylinders extend vertically and are connected to the front freezing frame through their output ends. A swing cylinder is installed on the rear side of the front freezing frame. The swing cylinder is hinged to the rear top of the milling roller through its bottom output end. The milling roller is hinged to the front freezing frame through its top front side.

2. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 1, characterized in that, The front sweeping roller brush assembly includes front sweeping lifting cylinders spaced apart on the front side of the main frame. The front sweeping lifting cylinders extend vertically and their output ends are connected to the front sweeping frame. The front side of the main frame is provided with at least two front sweeping lifting guide grooves along the height direction, and the rear side of the front sweeping frame is provided with a front sweeping lifting guide rail that slides with the front sweeping lifting guide grooves.

3. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 2, characterized in that, Two front sweeping moving cylinders are symmetrically installed on the front sweeping frame. The two front sweeping moving cylinders extend horizontally to the left and right, and the driving directions of the two front sweeping moving cylinders are opposite. The two front sweeping rollers are respectively connected to the output ends of the two front sweeping moving cylinders through a front sweeping adapter frame. A guide structure extending horizontally is provided between the front sweeping adapter frame and the front sweeping frame.

4. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 1, characterized in that, The milling roller and the sway cylinder are provided in 3-5 sets respectively. Each set of sway cylinders drives each set of milling rollers to sway through a hinge frame. The milling roller includes a drum and a hollow motor. The drum includes a first drum, an intermediate drum and a second drum that extend coaxially. The hollow motor is located inside the intermediate drum, and the output shaft of the hollow motor located at the central axis has a main output end and a secondary output end. The main output end extends into the second drum, and the secondary output end extends into the first drum. The first drum and the intermediate drum are respectively sleeved on the secondary output end through a first sleeve and an intermediate sleeve. The surfaces of the first sleeve and the intermediate sleeve are jointly sleeved with a first bearing seat. The second drum is sleeved on the main output end through a second sleeve. The surface of the second sleeve is sleeved with a second bearing seat. The hinge 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.

5. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 1, characterized in that, The side-sweeping roller brush assembly includes a side-sweeping mounting plate. A side-sweeping moving cylinder extending back and forth in the horizontal direction is mounted on the main frame. The output end of the side-sweeping moving cylinder is connected to the side-sweeping mounting plate. Nested sliding-fit side-moving guide tubes are installed on the inner side of the side-sweeping mounting plate and the main frame, corresponding to the top and bottom of the side-sweeping moving cylinder. The side-sweeping mounting plate has a horizontally extending guide rail and a side-sweeping sway cylinder on its outer side. The output end of the side-sweeping sway cylinder is connected to a sliding plate that slides with the guide rail. The sliding plate is hinged to two shock-absorbing spring rods, which are located on the upper and lower sides of the side-sweeping sway cylinder, respectively. The side-sweeping roller brush is hinged to the outer side of the side-sweeping mounting plate through a side-sweeping bracket and is located on the front side of the sliding plate. The other end of the shock-absorbing spring rod is hinged to the side-sweeping bracket.

6. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 1, characterized in that, The side-breaking assembly includes a side-breaking mounting plate, a side-swinging cylinder, and a parallel connecting rod structure. Side-breaking lifting cylinders are symmetrically mounted on the left and right sides of the main frame. The output end of the side-breaking lifting cylinder is connected to the side-breaking mounting plate. Nested sliding side-breaking guide tubes are installed between the main frame and the side-breaking mounting plate on both sides of the side-breaking lifting cylinder. The side-breaking mounting plate is connected to a side-breaking mounting seat through the parallel connecting rod structure. The side-swinging cylinder is hinged to the outside of the side-breaking mounting plate and hinged to the side-breaking mounting seat above it, so as to drive the side-breaking mounting seat to swing up and down. The side milling roller is mounted on the side-breaking mounting seat.

7. The integrated robot for cleaning frozen and non-frozen coal in a train carriage as described in claim 1, characterized in that, 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 near the center as the radius, i.e. the rotation radius of the equipment, a virtual circle is constructed. The bottom sweeping roller, the side sweeping roller in the inward retracted state, the side milling roller and the milling roller are all located within the range of the virtual circle.

8. A method for cleaning frozen and non-frozen coal in a train carriage using the integrated robot for cleaning frozen and non-frozen coal as described in any one of claims 1 to 7, characterized in that, In the initial state, the integrated robot for cleaning frozen and non-frozen coal in the carriage is stationary and retracted. In the vertical direction, the front sweeping roller, the milling roller, and the side milling roller are all close to the middle of the main frame. In the horizontal direction, the milling roller is close to the rear side of the front sweeping roller, the side sweeping roller 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. The integrated cleaning method includes the following steps: S10, Confirm the condition of the train carriages to be cleaned and determine whether the carriages are frozen coal carriages or non-frozen coal carriages; S20, when it is determined that the car is a frozen coal car, 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, the front freezing mounting frame is controlled to extend forward, and the milling roller is controlled to rotate, wherein the milling roller is driven by the sway cylinder and can sway downward away from the main frame. S30, control the side milling roller to descend, then control the side milling roller to spread outward away from the main frame, and control the side milling roller to rotate; S40, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S50, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S51, control the side milling roller to retract in the reverse direction; S52, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S53, control the side sweeping roller brush to retract to its original position, and control the side sweeping roller brush to retract inward to its original position; S54, control the milling roller to retract to its rearward position, and then control the front defrosting frame to rise and reset; S55, control the front sweeping roller to descend, and control the front sweeping roller to move back and forth horizontally 3-6 times. S56, control the front sweeping roller brush to move to the center position of the main frame, and then control the front sweeping roller brush to rise and reset; S57. After steps S51-S56 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S20-S50 to cycle until the frozen coal in the car body is cleaned. When the car is determined to be a non-frozen coal car, the non-frozen coal cleaning mode is executed, and the following steps are performed: S60, control the front sweeping roller brush to descend, and control the front sweeping roller brush to move back and forth horizontally. S70, control the side sweeping roller to rotate and control the side sweeping roller to open outward, while controlling the bottom sweeping roller to rotate the remaining material in the carriage to the dust collection box. S80, when the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, the following steps are executed in sequence: S81, control the side sweeping roller brush to move forward until it is flush with the front sweeping roller brush; S82, control the side sweeping roller brush to retract to its original position, and control the side sweeping roller brush to retract inward to its original position; S83, control the front sweeping roller brush to move to the center position of the main frame, and then control the front sweeping roller brush to rise and reset; S84. After steps S81-S83 are completed, ensure that the side milling roller, the side sweeping roller, the milling roller, the front sweeping roller, and the bottom sweeping roller are all within the same rotation radius. 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 near the center as the radius. Then, control the integrated robot for cleaning frozen and non-frozen coal in the car body to rotate 180 degrees to complete the turnaround. Repeat steps S60-S80 to cycle through the operation until the non-frozen coal in the car body is cleaned.

9. The integrated cleaning method for cleaning frozen and non-frozen coal in a train carriage as described in claim 8, characterized in that, It also includes an integrated cleaning mode, wherein the integrated robot for cleaning frozen coal and non-frozen coal in the carriage performs non-frozen coal cleaning mode. During the cleaning process, when frozen coal is detected, the frozen coal cleaning mode is executed, the front sweeping roller 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 executed again. When the integrated robot for cleaning frozen and non-frozen coal in the carriage moves to the end of the carriage, if the robot is currently in frozen coal cleaning mode, then step S50 is executed; if the robot is currently in non-frozen coal cleaning mode, then step S80 is executed.

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