Coal bunker cleaning robot

Abstract

The invention provides a coal bunker cleaning robot, and relates to the technical field of cleaning robots, the coal bunker cleaning robot comprises a mechanical arm, a removing structure, an impact structure, a top plate, a side plate, an adapter plate and a climbing leg; the removing structure comprises a removing bottom plate, a scrap beating groove, a containing groove opening, a sliding sleeve, a sliding column and a connecting column. Each climbing and attaching leg comprises a steering engine A, a steering engine C, a flexion and extension arm, a steering engine B and an adsorption foot; the impact structure comprises a supporting shell, a driving disc, a rotating disc, a rocker arm, a control frame, an impact drill bit and a motor, one end of a motor rotating shaft is connected with a spline in an assembled mode, and one end of the spline is connected with a cushion cover in a pin joint mode. According to the technical scheme, the mechanical arm climbs on the inner wall of the coal bunker through four climbing and attaching legs, the coal hung on the inner wall of the coal bunker is removed through the impact structure, the removing bottom plate on the removing structure is attached to the inner wall of the coal bunker in a matched mode, when the robot moves in the coal bunker, the loose coal hung on the inner wall of the coal bunker can be scraped off, cleaning is comprehensive, efficiency is high, and the coal bunker cleaning efficiency is high. And personnel participation is not needed.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, specifically a coal bunker cleaning robot. Background Art

[0002] The function of a coal bunker is to adjust and buffer the contradiction between the production in the mining area and the main roadway transportation, ensuring the balanced and continuous production in the mining area; shortening the loading time, improving the turnover rate of locomotives and mine cars, and increasing the passing capacity of the yard. Reasonably setting up a coal bunker is an important measure to improve the production capacity of the mining area and ensure the normal production of the mine. Due to different coal qualities, particle size compositions, and flow conditions, to ensure safe production, the design of the coal bunker must meet the following requirements: the coal stored in the coal bunker can be smoothly discharged by relying on its own gravity without the help of external forces, without arching, blocking, accumulating residual coal, or causing coal spillage; it can prevent or reduce the impact, wear, and damage of coal lumps on the bunker wall or bottom, and reduce the degree of coal fragmentation during the coal discharging process; the coal bunker has a large effective volume, few dead corners, a high degree of mechanization in coal unloading, is safe to use, and has facilities for preventing coal bunker failures; the coal bunker has a small engineering quantity, good construction and maintenance conditions, low investment, and can meet the requirements of the service life of the mining area.

[0003] Coal bunkers can be divided into three types according to different inclination angles: vertical, inclined, and mixed. According to different cross-sectional shapes of the coal bunker, they are divided into circular, arched, rectangular, etc. The selection of the coal bunker form should be determined through comprehensive analysis based on factors such as the nature of the surrounding rock, the relative position of the up (down) hill and the main transportation roadway, and the convenience of construction and maintenance. Vertical coal bunkers generally use a circular cross-section, which has a high cross-sectional utilization rate, is convenient for construction, is not easy to block, and is easy to maintain.

[0004] The inspection robot with the patent document No. CN116765068A that can clean the coal adhering to the bunker wall integrates the function of removing the coal adhering to the bunker wall onto the coal bunker inspection robot through improvement and optimization. During the process of using the coal bunker inspection robot to conduct inspections in the coal bunker, according to the actual situation, the positions of the bunker wall where the hanging coal needs to be removed can be cleared in real time, greatly improving the convenience and safety of removing the coal adhering to the bunker wall.

[0005] However, during the implementation of the above technical solution, the following technical problems were found in the above technical solution:

[0006] The inspection robot that can clean the coal adhering to the bunker wall cleans the coal adhering to the bunker wall by rotating inside the coal bunker. In the actual application process, limited by the distribution of the coal adhering to the bunker wall at different heights inside the coal bunker, the overall large volume of the coal bunker, and the harsh internal environment of the coal bunker, it is difficult to preset the inspection robot inside the coal bunker, which is not conducive to comprehensively cleaning the coal adhering to the inner wall of the coal bunker, and the cleaning difficulty is relatively high. Summary of the Invention

[0007] In order to overcome the deficiencies that in the actual application process of existing inspection robots, they are limited by the fact that the adhered coal on the inner wall of the coal bunker is distributed at different heights, the overall volume of the coal bunker is relatively large, and the inspection robot is limited by the harsh internal environment of the coal bunker and is difficult to be preset inside the coal bunker, which is not conducive to comprehensively cleaning the adhered coal on the inner wall of the coal bunker and the cleaning difficulty is relatively high, the embodiment of the present application provides a coal bunker cleaning robot. By energizing a plurality of electromagnets B and one electromagnet A at the bottom of the adsorption feet, the adsorption feet are adsorbed on the inner wall of the coal bunker. With the help of servo motor A, servo motor B, and servo motor C, the robot climbs on the inner wall of the coal bunker. When the motor drives the turntable to rotate inside the driving disk through the spline, two rocker arms are used to control the control frame to swing up and down outside the turntable to loosen the adhered coal on the inner wall of the coal bunker. At the same time, with the help of the gravity received by the removal bottom plate and the guidance of the sliding sleeve to the sliding column, the removal bottom plate moves toward the bottom side, so that the removal bottom plate naturally fits with the inner wall of the coal bunker. Thus, when the robot climbs on the inner wall of the coal bunker, the adhered coal on the inner wall of the coal bunker can be scraped off by means of the edges and corners of the removal structure, which can improve the cleaning of the adhered coal on the inner wall of the coal bunker by the robot, with comprehensive cleaning and high efficiency, and no need for personnel to participate.

[0008] The technical solution adopted by the embodiment of the present application to solve its technical problems is:

[0009] A coal bunker cleaning robot, including a robotic arm, a removal structure, and an impact structure. The removal structure is arranged at the bottom of one end of the robotic arm;

[0010] The impact structure is assembled to the other end of the robotic arm;

[0011] One end of the robotic arm is assembled and connected with a top plate. The bottoms of both sides of the top plate are assembled and connected with side plates. A transfer seat plate is assembled and connected between the bottoms of the two side plates. Both ends of one side of the side plate are assembled and connected with climbing legs;

[0012] Among them, the robotic arm crawls on the inner wall of the coal bunker through four climbing legs, and the impact structure is used to remove the adhered coal on the inner wall of the coal bunker, while the removal structure scrapes the loosened adhered coal on the inner wall of the coal bunker while maintaining a state adapted to the inner wall of the coal bunker.

[0013] In a possible implementation manner, the removal structure includes a removal bottom plate. A chip flushing groove is processed inside the removal bottom plate. A storage groove opening is processed at the center of the top of the removal bottom plate. A sliding sleeve is formed at the center of the inner wall of the bottom of the storage groove opening. A sliding column is slidably connected inside the sliding sleeve. One end of the sliding column is integrally formed with a pin rod, and a connecting column is integrally formed on the surface of the pin rod; the sliding column and the sliding sleeve are inclined. The connecting column is rotatably connected to the inside of the transfer seat plate. When the outer wall of the removal structure fits with the inner wall of the coal bunker, the removal bottom plate is affected by gravity and moves toward the bottom side under the guidance of the sliding sleeve and the sliding column.

[0014] In a possible implementation, a pin rod is internally pin-connected at one end of the sleeve, and a strip groove is processed inside the sliding column; when the sleeve slides outside the sliding column, the pin rod slides inside the strip groove to control the relative movement range of the sleeve and the sliding column.

[0015] In one possible implementation, bearings are embedded in the top and bottom of the adapter plate, and the connecting column passes through the interior of the two bearings and is assembled with a limit plate at one end, so that the limit plate and the pin rod are respectively located against the inner sides of the two bearings, limiting the internal movement of the connecting column along its axial direction within the two bearings.

[0016] In a possible implementation, the side of the adapter plate is assembled and connected with an L-shaped plate seat, the bottom surface of the L-shaped plate seat is assembled and connected with an electric push rod, one end of the electric push rod is assembled and connected with a trapezoidal block, and the surface of the removal base plate is welded and connected with a truss; the bottom of one side of the truss is processed with a bevel, and the side of the truss away from the bevel is processed with a column groove, the inclined surface on the trapezoidal block is in contact with the bevel on the truss, and the electric push rod inside the column groove controls the trapezoidal block to move inside the receiving slot.

[0017] In a possible implementation, the climbing leg includes a servo A, the servo A is drivingly connected to a servo C at its rotating shaft, the servo C is drivingly connected to a flexion and extension arm at its rotating shaft, one end of the flexion and extension arm is assembledly connected to a servo B, one end of the servo B is assembledly connected to an adsorption foot, and an electromagnet A and multiple electromagnets B are provided at the bottom of the adsorption foot; the adsorption foot is assembled to the inside of the side panel, and multiple electromagnets B are evenly spaced around the electromagnet A, and the bottom of the adsorption foot is assembled to connect the protective cover, and the electromagnet A and multiple electromagnets B are encapsulated to the bottom of the adsorption foot.

[0018] In a possible implementation, the multiple electromagnets B and the one electromagnet A both include an iron core excitation winding coil, and the adsorption foot is adsorbed on the inner wall of the coal bin after being energized by the one electromagnet A and the multiple electromagnets B.

[0019] In a possible implementation, the impact structure includes a supporting shell, a driving disk is arranged inside the supporting shell, a turntable is rotatably connected inside the driving disk, rocker arms are hingedly connected at the diagonals of the driving disk, one end of two rocker arms are hingedly connected to a control frame, and an impact drill bit is installed at one end of the control frame; the driving disk is in the shape of a parallelogram, and the rocker arm is connected to a corner of the driving disk at a corner of the control frame across the center of the turntable.

[0020] In a possible implementation, a motor is assembled and connected to the outer wall of the support housing. One end of the motor shaft is assembled and connected with a spline, and one end of the spline is pin-connected with a bush; the spline is eccentrically pin-connected to the inside of the turntable, and the bush and the motor are located on both sides of the control frame. The motor controls the rotation of the turntable inside the drive disc, and two rocker arms are used to control the up-and-down swing of the control frame outside the turntable, so that the control frame drives the impact drill to move inside the support housing and strike the hanging coal on the inner wall of the coal bunker.

[0021] In a possible implementation, a support seat sleeve is assembled and connected to the outer wall at one end of the support housing. A support seat rod is slidably connected to the inside of the support seat sleeve. A spring is supported between one end of the support seat rod and one end of the support seat sleeve. One end of the support seat rod is fixedly assembled with one end of the robotic arm.

[0022] The beneficial effects of this application are as follows:

[0023] First, in this solution, by energizing a plurality of electromagnets B and one electromagnet A at the bottom of the adsorption feet, the adsorption feet are adsorbed on the inner wall of the coal bunker, and with the help of servo motor A, servo motor B, and servo motor C, when the telescopic arms and the electromagnet A on the four adsorption feet are intermittently powered on and off, the robot can climb on the inner wall of the coal bunker, with relatively high flexibility;

[0024] Second, in this solution, by making one end of the impact drill on the impact structure abut against the inner wall of the side plate, when the motor drives the turntable to rotate inside the drive disc through the spline, two rocker arms can be used to control the up-and-down swing of the control frame outside the turntable, so that the control frame drives the impact drill to move inside the support housing and loosen the hanging coal on the inner wall of the coal bunker;

[0025] Third, in this solution, when the four climbing legs climb on the inner wall of the coal bunker, with the help of the gravity received by the removal bottom plate and the guidance of the sliding sleeve on the sliding column, the removal bottom plate moves toward the bottom side, so that the removal bottom plate naturally fits with the inner wall of the coal bunker. Therefore, when the robot climbs on the inner wall of the coal bunker, the hanging coal on the inner wall of the coal bunker can be scraped off by means of the edges and corners of the removal structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is one of the overall structural schematic diagrams of the coal bunker cleaning robot of the present invention;

[0027] Figure 2 is another overall structural schematic diagram of the coal bunker cleaning robot of the present invention;

[0028] Figure 3 is the structural schematic diagram of the removal structure of the coal bunker cleaning robot of the present invention;

[0029] Figure 4Explosion diagram of the rejection structure of the coal bunker cleaning robot of the present invention;

[0030] Figure 5 Cross-sectional view of the rejection bottom plate of the coal bunker cleaning robot of the present invention;

[0031] Figure 6 For the coal bunker cleaning robot of the present invention Figure 5 Enlarged schematic view of part A in

[0032] Figure 7 Schematic diagram of the structure of the rejection structure of the coal bunker cleaning robot of the present invention in contact with the coal bunker;

[0033] Figure 8 Schematic diagram of the structure of the climbing leg of the coal bunker cleaning robot of the present invention;

[0034] Figure 9 Schematic diagram of the structure of the impact structure of the coal bunker cleaning robot of the present invention;

[0035] Figure 10 Cross-sectional view of the support housing of the coal bunker cleaning robot of the present invention.

[0036] Reference numerals:

[0037] 1. Manipulator;

[0038] 2. Impact structure; 201. Support housing; 202. Impact drill bit; 203. Support seat sleeve; 204. Spring; 205. Support seat rod; 206. Rocker arm; 207. Turntable; 208. Motor; 209. Driving disc; 210. Bush; 211. Spline; 212. Control frame;

[0039] 3. Side plate; 4. Top plate;

[0040] 5. Climbing leg; 501. Servo A; 502. Adsorption foot; 503. Protective sleeve; 504. Servo B; 505. Servo C; 506. Flexing and extending arm; 507. Electromagnet A; 508. Electromagnet B;

[0041] 6. Rejection structure; 601. Rejection bottom plate; 602. Stringer; 603. Electric push rod; 604. Sliding sleeve; 605. Sliding column; 606. Connecting column; 607. Limiting disc; 608. Trapezoidal block; 609. Pin rod;

[0042] 7. Adapter seat plate; 8. Chip removal groove; 9. Column groove; 10. L-shaped plate seat; 11. Bearing; 12. Storage notch; 13. Coal bunker; 14. Strip groove. Detailed implementation manners

[0043] The technical solutions in the embodiments of the present application are to solve the problems in the above-mentioned background technology, and the general idea is as follows:

[0044] Embodiment 1:

[0045] This embodiment introduces the specific structure of the coal bunker cleaning robot. Figure 1 and Figure 2 , Figure 7 and Figure 8 As shown, it includes a mechanical arm 1, a rejection structure 6 arranged at the bottom of one end of the mechanical arm 1, and an impact structure 2 assembled to the other end of the mechanical arm 1, one end of the mechanical arm 1 is assembled and connected with a top plate 4, the bottoms of both sides of the top plate 4 are assembled and connected with side plates 3, the bottoms of the two side plates 3 are assembled and connected with a transfer seat plate 7, and both ends of one side of the side plate 3 are assembled and connected with climbing legs 5;

[0046] like Figure 1 , Figure 2 and Figure 8 As shown, the climbing leg 5 includes a steering gear A501, a steering gear C505 is drivingly connected to the rotating shaft of the steering gear A501, a flexion and extension arm 506 is drivingly connected to the rotating shaft of the steering gear C505, one end of the flexion and extension arm 506 is assembled and connected to the steering gear B504, one end of the steering gear B504 is assembled and connected to the adsorption foot 502, and an electromagnet A507 and a plurality of electromagnets B508 are arranged at the bottom of the adsorption foot 502;

[0047] Among them, multiple electromagnets B508 are equally spaced around the electromagnet A507, and the multiple electromagnets B508 and one electromagnet A507 both include an iron core excitation winding coil. When one electromagnet A507 and multiple electromagnets B508 are energized, an electromagnetic field can be formed outside the one electromagnet A507 and multiple electromagnets B508, so that the adsorption foot 502 has a magnetic attraction function. When the robot climbs on the inner wall of the coal bunker 13 through the four climbing legs 5, the climbing stability can be guaranteed (based on the fact that the coal bunker is conventionally made of steel and steel plates, and the magnet is attracted to the steel material);

[0048] Secondly, by assembling the adsorption foot 502 to the inside of the side plate 3, when the bottom of the adsorption foot 502 is connected to the protective cover 503 by the assembled connection, and an electromagnet A507 and a plurality of electromagnets B508 are encapsulated to the bottom of the adsorption foot 502, it is possible to prevent the coal ash from entering the inner side of the protective cover 503 and adhering to the flexion and extension arm 506 and the electromagnet A507 during the cleaning process of the hanging coal;

[0049] Furthermore, when the adsorption foot 502 is energized through an electromagnet A507 and multiple electromagnets B508 and adsorbed on the inner wall of the coal bin 13, based on the characteristics of the angle control work of the servo A501, servo B504, and servo C505, the robot can climb on the inner wall of the coal bin 13, making it more convenient to move.

[0050] Embodiment 2:

[0051] Based on Embodiment 1, this embodiment introduces the specific structure of the impact structure 2, such as Figure 1 , Figure 2 , Figure 9 and Figure 10 As shown, the impact structure 2 includes a support housing 201. Inside the support housing 201, a drive disk 209 is provided. Inside the drive disk 209, a turntable 207 is rotatably connected. At the diagonal corners of the drive disk 209, rocker arms 206 are hingedly connected. At one end of the two rocker arms 206, a control frame 212 is jointly hinged. At one end of the control frame 212, an impact drill bit 202 is assembled;

[0052] On the outer wall of the support housing 201, a motor 208 is assembled and connected. At one end of the rotating shaft of the motor 208, a spline 211 is assembled and connected. At one end of the spline 211, a bush 210 is pin-connected. The bush 210 and the motor 208 are located on both sides of the control frame 212;

[0053] Among them, as Figure 10 shown, the drive disk 209 is in the shape of a parallelogram. By connecting the rocker arm 206 across the center of the turntable 207 at a corner of the control frame 212 to a corner of the drive disk 209, when the eccentric pin is connected to the spline 211 inside the turntable 207 and rotates under the control of the motor 208, the turntable 207 rotates inside the drive disk 209. The two rocker arms 206 can be used to control the control frame 212 to swing up and down outside the turntable 207, facilitating the control frame 212 to drive the impact drill bit 202 to move inside the support housing 201 and strike the hanging coal on the inner wall of the coal bunker 13, so that the hanging coal becomes loose;

[0054] Secondly, in order for the robotic arm 1 to adapt to the vibration of the control frame 212 when the impact drill bit 202 strikes the hanging coal on the inner wall of the coal bunker 13, as Figure 9 shown, on the outer wall at one end of the support housing 201, a support socket 203 is assembled and connected. Inside the support socket 203, a support rod 205 is slidably connected. Between one end of the support rod 205 and one end of the support socket 203, a spring 204 is supported. By fixedly assembling one end of the support rod 205 to one end of the robotic arm 1, when the impact drill bit 202 strikes the hanging coal on the inner wall of the coal bunker 13 and generates an amplitude, the spring 204 compresses and expands to adapt to the vibration change.

[0055] Embodiment 3:

[0056] Based on Embodiment 1 and Embodiment 2, this embodiment introduces the specific structure of the removal structure 6, such as Figures 1 to 7As shown, the removal structure 6 includes a removal base plate 601. A chip discharging groove 8 is machined inside the removal base plate 601. A receiving groove opening 12 is machined at the center of the top of the removal base plate 601. A sliding sleeve 604 is formed at the center of the inner wall of the bottom of the receiving groove opening 12. A sliding column 605 is slidably connected inside the sliding sleeve 604. One end of the sliding column 605 is integrally formed with a pin rod 609. A connecting column 606 is integrally formed on the surface of the pin rod 609;

[0057] Among them, by setting the sliding column 605 and the sliding sleeve 604 obliquely, and the connecting column 606 is rotatably connected to the inside of the adapter seat plate 7. When the robot climbs on the inner wall of the coal bunker 13 through four climbing legs 5, due to the gravity effect, the removal base plate 601 moves downward, and under the guidance of the sliding sleeve 604 and the sliding column 605, it moves to one side at the bottom, so that the outer wall of the removal structure 6 can be attached to the inner wall of the coal bunker 13. When the robot climbs on the inner wall of the coal bunker 13, the hanging coal on the inner wall of the coal bunker 13 can be scraped off by the edges and corners of the removal structure 6;

[0058] Secondly, in order to prevent the sliding sleeve 604 from slipping off the outside of the sliding column 605, as Figure 6 shown, the pin rod 609 is pin-connected to the inside of one end of the sliding sleeve 604. A strip-shaped groove 14 is machined inside the sliding column 605. When the sliding sleeve 604 slides outside the sliding column 605, the pin rod 609 slides inside the strip-shaped groove 14, and the relative movement range of the sliding sleeve 604 and the sliding column 605 can be controlled;

[0059] Furthermore, in order to enable the connecting column 606 to rotate smoothly inside the adapter seat plate 7, as Figures 4 to 6 shown, bearings 11 are embedded at the top and bottom of the adapter seat plate 7. By passing the connecting column 606 through the inside of the two bearings 11 and assembling a limit disk 607 at one end, so that the limit disk 607 and the pin rod 609 are respectively abutted against the inner sides of the two bearings 11, restricting the connecting column 606 from moving inside the two bearings 11 along its axis direction. When the removal base plate 601 drives the sliding sleeve 604 to slide outside the sliding column 605 under the influence of gravity, the adapter seat plate 7 can rotate independently of the connecting column 606 (that is, when the robot climbs on the inner wall of the coal bunker 13 through four climbing legs 5, it can adjust the direction arbitrarily and keep the state where the removal base plate 601 is attached to the inner wall of the coal bunker 13);

[0060] In some examples, an L-shaped plate seat 10 is assembled and connected to the side of the adapter seat plate 7. An electric push rod 603 is assembled and connected to the bottom surface of the L-shaped plate seat 10. A trapezoidal block 608 is assembled and connected to one end of the electric push rod 603. A truss bar 602 is welded and connected to the surface of the removal base plate 601;

[0061] Wherein, a bevel surface is machined at the bottom of one side of the stringer 602. By machining a column groove 9 on the side of the stringer 602 away from the bevel surface, the inclined surface on the trapezoidal block 608 is fitted to the bevel surface on the stringer 602. When the electric push rod 603 controls the trapezoidal block 608 to move inside the receiving slot opening 12 within the column groove 9, the rejection structure 6 can be controlled to approach the adapter seat plate 7. In this state, the sliding sleeve 604 on the rejection bottom plate 601 moves inside the sliding column 605, and the trapezoidal block 608 slides on the bevel surface of the stringer 602, enabling the rejection bottom plate 601 to approach the adapter seat plate 7, thus avoiding interference between the rejection bottom plate 601 and the horizontal plane when the robot walks horizontally.

[0062] Specifically, when using this coal bunker cleaning robot to clean the coal hanging on the inner wall of the coal bunker 13:

[0063] First, when the robot moves on the inner wall of the coal bunker 13:

[0064] By energizing multiple electromagnets B508 and one electromagnet A507 at the bottom of the adsorption foot 502, an electromagnet is formed inside the protective sleeve 503. When the servo motor A501, servo motor B504, and servo motor C505 perform angle control work based on the existing technology, the robot can climb on the inner wall of the coal bunker 13. When the adsorption foot 502 adsorbs on the inner wall of the coal bunker 13, the robot can be suspended on the inner wall of the coal bunker 13;

[0065] During this process, the four adsorption feet 502 intermittently energize and de-energize multiple electromagnets B508 and one electromagnet A507, enabling the robot to walk on the inner wall of the coal bunker 13;

[0066] Then, when the robot impacts the coal hanging on the inner wall of the coal bunker 13 through the robotic arm 1:

[0067] The robotic arm 1 drives one end of the impact drill bit 202 on the impact structure 2 to abut against the inner wall of the side plate 3 based on the existing control technology. When the eccentric pin is connected to the spline 211 inside the turntable 207 and rotates under the control of the motor 208, driving the turntable 207 to rotate inside the drive disk 209, two rocker arms 206 can be used to control the control frame 212 to swing up and down outside the turntable 207, thereby enabling the control frame 212 to drive the impact drill bit 202 to move inside the support housing 201 and strike the coal hanging on the inner wall of the coal bunker 13 to loosen the coal hanging;

[0068] Meanwhile, when one end of the impact drill bit 202 strikes the coal hanging on the inner wall of the coal bunker 13, the spring 204 connected between the support seat sleeve 203 and the support seat rod 205 compresses and expands, and the support seat rod 205 slides inside the support seat sleeve 203, which can adapt to the vibration generated by the control frame 212 when the impact drill bit 202 strikes the coal hanging and satisfy the shaking of the support housing 201 under the amplitude state;

[0069] Next, when the robot scrapes the coal adhering to the inner wall of the coal bunker 13 through the scraping structure 6:

[0070] When the robot climbs on the inner wall of the coal bunker 13 through the four climbing legs 5, by means of the gravity received by the scraping bottom plate 601 and the guidance of the sliding sleeve 604 on the sliding column 605, the scraping bottom plate 601 moves towards the bottom side, so that the scraping bottom plate 601 naturally fits against the inner wall of the coal bunker 13. Thus, when the robot climbs on the inner wall of the coal bunker 13, the coal adhering to the inner wall of the coal bunker 13 can be scraped off by means of the edges and corners of the scraping structure 6;

[0071] At the same time, when the robot crawls left, right, up and down on the inner wall of the coal bunker 13, by means of the connecting column 606 rotating inside the adapter seat plate 7 supported by the two bearings 11, the state where the scraping bottom plate 601 fits against the inner wall of the coal bunker 13 can be maintained, without affecting the movement of the robot inside the coal bunker 13;

[0072] In summary, when the robotic arm 1 crawls on the inner wall of the coal bunker 13 through the four climbing legs 5, the coal adhering to the inner wall of the coal bunker 13 can be removed by means of the impact structure 2, and the scraping bottom plate 601 on the scraping structure 6 fits and adapts to the inner wall of the coal bunker 13. When the robot moves inside the coal bunker 13, the loose coal adhering to its inner wall can be scraped off.

[0073] Finally, it should be noted that: Obviously, the above embodiments are merely examples for clearly explaining the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made on the basis of the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. Coal bunker cleaning robot, characterized in that: include: Robotic arm (1); A rejecting structure (6) disposed at the bottom of one end of the robot arm (1); an impact structure (2) mounted to the other end of the robot arm (1); One end of the mechanical arm (1) is assembled and connected to a top plate (4), the bottoms of both sides of the top plate (4) are assembled and connected to side plates (3), a transfer seat plate (7) is assembled and connected between the bottoms of the two side plates (3), and both ends of one side of the side plate (3) are assembled and connected to climbing legs (5); The mechanical arm (1) crawls on the inner wall of the coal bin (13) through four crawling legs (5), and removes the coal hanging on the inner wall of the coal bin (13) with the help of the impact structure (2), while the removal structure (6) remains in a state of being adapted to the inner wall of the coal bin (13) to scrape off the loose coal hanging on the inner wall of the coal bin (13).

2. The coal bunker cleaning robot according to claim 1, characterized in that: The rejecting structure (6) comprises a rejecting bottom plate (601), the inside of the rejecting bottom plate (601) is processed with a chip removal groove (8), the center of the top of the rejecting bottom plate (601) is processed with a receiving notch (12), the center of the bottom inner wall of the receiving notch (12) is formed with a sliding sleeve (604), the inside of the sliding sleeve (604) is slidably connected with a sliding column (605), one end of the sliding column (605) is integrally formed with a pin rod (609), and the surface of the pin rod (609) is integrally formed with a connecting column (606); The sliding column (605) and the sliding sleeve (604) are arranged at an angle, and the connecting column (606) is rotatably connected to the inside of the transfer seat plate (7). When the outer wall of the rejection structure (6) is in contact with the inner wall of the coal bin (13), the rejection bottom plate (601) is affected by gravity and moves toward one side of the bottom under the guidance of the sliding sleeve (604) and the sliding column (605).

3. The coal bunker cleaning robot according to claim 2, characterized in that: A pin rod (609) is pin-connected to one end of the sliding sleeve (604), and a strip groove (14) is machined inside the sliding column (605); When the sliding sleeve (604) slides outside the sliding column (605), the pin rod (609) slides inside the strip groove (14) to control the relative movement range of the sliding sleeve (604) and the sliding column (605).

4. The coal bunker cleaning robot according to claim 2, characterized in that: The top and bottom of the adapter seat plate (7) are both embedded with bearings (11), and the connecting column (606) passes through the inside of the two bearings (11) and is assembled and connected to a limit plate (607) at one end thereof, so that the limit plate (607) and the pin rod (609) are respectively located against the inner sides of the two bearings (11), thereby limiting the movement of the connecting column (606) along its axial direction inside the two bearings (11).

5. The coal bunker cleaning robot according to claim 2, characterized in that: The side surface of the adapter seat plate (7) is assembled and connected to an L-shaped plate seat (10), the bottom surface of the L-shaped plate seat (10) is assembled and connected to an electric push rod (603), one end of the electric push rod (603) is assembled and connected to a trapezoidal block (608), and the surface of the removal bottom plate (601) is welded and connected to a beam (602); The bottom of one side of the beam (602) is processed with an inclined surface, and the side of the beam (602) away from the inclined surface is processed with a column groove (9), the inclined surface on the trapezoidal block (608) is in contact with the inclined surface on the beam (602), and the electric push rod (603) inside the column groove (9) controls the trapezoidal block (608) to move inside the storage slot (12).

6. The coal bunker cleaning robot according to claim 1, characterized in that: The climbing leg (5) comprises a steering gear A (501), the rotating shaft of the steering gear A (501) is drivingly connected to a steering gear C (505), the rotating shaft of the steering gear C (505) is drivingly connected to a flexion and extension arm (506), one end of the flexion and extension arm (506) is assembled and connected to a steering gear B (504), one end of the steering gear B (504) is assembled and connected to an adsorption foot (502), and the bottom of the adsorption foot (502) is provided with an electromagnet A (507) and a plurality of electromagnets B (508); The adsorption foot (502) is assembled inside the side plate (3), and a plurality of electromagnets B (508) are evenly spaced around the electromagnet A (507). The bottom of the adsorption foot (502) is connected to an assembled protective sleeve (503), and an electromagnet A (507) and a plurality of electromagnets B (508) are encapsulated at the bottom of the adsorption foot (502).

7. The coal bunker cleaning robot according to claim 6, characterized in that: The plurality of electromagnets B (508) and one electromagnet A (507) each include an iron core excitation winding coil, and the adsorption foot (502) is adsorbed on the inner wall of the coal bin (13) after being energized by the electromagnet A (507) and the plurality of electromagnets B (508).

8. The coal bunker cleaning robot according to claim 1, characterized in that: The impact structure (2) comprises a supporting shell (201), a driving disk (209) is arranged inside the supporting shell (201), a rotating disk (207) is rotatably connected inside the driving disk (209), rocker arms (206) are hingedly connected at opposite corners of the driving disk (209), one end of the two rocker arms (206) are hingedly connected to a control frame (212), and one end of the control frame (212) is equipped with an impact drill bit (202); The driving disk (209) is in the shape of a parallelogram, and the rocker arm (206) is connected to a corner of the driving disk (209) at a corner of the control frame (212) across the center of the rotating disk (207).

9. The coal bunker cleaning robot according to claim 8, characterized in that: A motor (208) is assembled and connected to the outer wall of the supporting shell (201); one end of the rotating shaft of the motor (208) is assembled and connected to a spline (211); one end of the spline (211) is pin-connected to a cushion sleeve (210); The spline (211) is eccentrically pin-connected to the inside of the turntable (207), the cushion sleeve (210) and the motor (208) are located on both sides of the control frame (212), the motor (208) controls the turntable (207) to rotate inside the driving disk (209), and the two rocker arms (206) are used to control the control frame (212) to swing up and down outside the turntable (207), so that the control frame (212) drives the impact drill bit (202) to move inside the supporting shell (201) and knock the hanging coal on the inner wall of the coal bunker (13).

10. The coal bunker cleaning robot according to claim 8, characterized in that: A support seat sleeve (203) is assembled and connected to the outer wall of one end of the support shell (201); a support seat rod (205) is slidably connected to the interior of the support seat sleeve (203); a spring (204) is supported between one end of the support seat rod (205) and one end of the support seat sleeve (203); and one end of the support seat rod (205) is assembled and fixed to one end of the mechanical arm (1).

Images