Collaborative bunker cleaning robot for double-type blockage of coal bunker and working method of collaborative bunker cleaning robot

Abstract

The invention belongs to the technical field of coal bunker unblocking. In order to solve the problems that in the prior art, the efficiency is low, and application limitation exists, the cooperative bunker cleaning robot for coal bunker double-type blockage and the working method of the cooperative bunker cleaning robot are provided, the robot comprises a connecting mechanism, and a positioning mechanism can move along the vertical center line of the connecting mechanism; the bunker cleaning robot is lowered to the designated depth of a coal bunker and located in the center of the coal bunker, the mouse hole drilling mechanism drills the inner wall of a mouse hole of the coal bunker, the blockage cleaning mechanism cleans blockage in the drilled hole, the rotary tunneling mechanism breaks arch blockage of the coal bunker, and the mouse hole is expanded. And the residue cleaning mechanism assists the rotary tunneling mechanism in performing mouse hole expansion operation and cleans residual blockages on the inner wall of the coal bunker after the blockage cleaning mechanism completes blockage cleaning operation. According to the bin cleaning robot, cooperative treatment of arched blockage and mousehole type blockage is achieved, and the bin cleaning efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal bunker unblocking, and particularly relates to a collaborative bunker unblocking robot for double-type blockage of a coal bunker and a working method thereof. BACKGROUND

[0002] As a core equipment for material storage and transportation, the coal bunker has long been facing the problem of blockage caused by coal quality characteristics and environmental factors. When the content of small-particle coal or coal powder in the coal mine reaches a certain proportion, the movement law of the coal in the coal bunker will change into fine particle flow. In the movement process of this type of movement, the large-volume coal blocks in the flowing material move passively, increasing the material movement resistance. This resistance specifically manifests as internal friction. When the internal friction reaches a certain value, the material will stop moving, causing arch blockage. When the water content in the coal mine reaches a certain degree, the viscosity of the coal will significantly increase. In the process of coal falling from the silo, the coal that is relatively fine and has a relatively high water content will adhere to the inner wall of the coal bunker. The higher the water content, the more coal adheres, and the higher the probability of adhesion. With the increase of the use time of the coal bunker, the coal adhering to the wall of the coal bunker gradually increases, directly reducing the size of the conical coal drop opening relative to the inner diameter of the coal bunker, forming a rat-hole type blockage.

[0003] The existing unblocking technologies such as manual unblocking, coal bunker rotation, wall-shaking type bunker unblocking machine, and bin double-placed vibrator can partially alleviate the problem, but generally have limitations. For example, manual operation is low in efficiency and dangerous, the coal bunker rotation device is severely limited by the type of coal bunker, the wall-shaking type bunker unblocking machine is limited by the size of the working space, and the bin double-placed vibrator is limited by the fixed action range, is inconvenient to install, and cannot cope with the random changes of the blockage position. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a collaborative bunker unblocking robot for double-type blockage of a coal bunker and a working method thereof, which has high unblocking efficiency and high applicability.

[0005] The first aspect of the present application provides a collaborative bunker unblocking robot for double-type blockage of a coal bunker, comprising: a connecting mechanism; a positioning mechanism, which is arranged at the top of the connecting mechanism and can move along the vertical center line of the connecting mechanism, and is used for lowering the bunker unblocking robot to a specified depth of the coal bunker and positioning it at the center of the coal bunker; a rat-hole drilling mechanism, which is arranged at the top of the connecting mechanism and is used for drilling holes in the inner wall of the rat-hole of the coal bunker; a rotary excavation mechanism, which is rotationally arranged at the bottom of the connecting mechanism and is used for breaking the arch of the coal bunker and expanding the rat-hole; The unblocking mechanism is located at the top of the connecting mechanism and is used to clean the blockages in the borehole formed by the rat hole drilling mechanism. The residual cleaning mechanism is located on both sides of the connecting mechanism. It is used to assist the rotary tunneling mechanism in expanding the rat hole and to clean the residual blockages on the inner wall of the coal bunker after the unblocking mechanism has completed its unblocking operation.

[0006] Optionally, the positioning mechanism includes a drive unit and multiple telescopic support units; The drive unit is connected to the connecting mechanism, and the drive unit is used to drive the connecting mechanism to adjust its position along the depth direction of the coal bunker. Multiple telescopic support parts are evenly distributed around the drive unit and can extend and retract in the horizontal direction. The end of the telescopic support part facing the inner wall of the coal bunker abuts against the inner wall of the coal bunker.

[0007] Optionally, the top of the drive unit is evenly provided with multiple sling structures for connecting to the cable, and the bottom of the drive unit is connected to the connecting mechanism; The telescopic support includes a horizontal hydraulic cylinder, a first supporting hydraulic cylinder, and a fixing member. One end of the horizontal hydraulic cylinder is hinged to the drive unit, and the other end is connected to the fixing member. One end of the first supporting hydraulic cylinder is hinged to the drive unit. One end of the first supporting hydraulic cylinder and one end of the horizontal hydraulic cylinder are on the same straight line. The other end of the first supporting hydraulic cylinder is hinged to the fixing part of the horizontal hydraulic cylinder. The first supporting hydraulic cylinder is used to lift the horizontal hydraulic cylinder to a horizontal position. The horizontal hydraulic cylinder drives the fixing member to move horizontally until it abuts against the inner wall of the coal bunker.

[0008] Optionally, the area of ​​the fixing element is larger than the area of ​​the end of the horizontal hydraulic cylinder connected to it, and a flexible element is provided on the side of the fixing element facing the inner wall of the coal bunker.

[0009] Optionally, the rat hole drilling mechanism includes a support arm, a working arm, and a drilling execution unit; One end of the support arm is hinged to the top of the connecting mechanism, and the other end is hinged to the working arm. The drilling execution unit is set on the working arm and can be fed along the length of the working arm to perform drilling operations on the inner wall of the rat hole.

[0010] Optionally, the rat hole drilling mechanism also includes a support arm hydraulic cylinder and a working arm hydraulic cylinder. One end of the support arm hydraulic cylinder is hinged to the connecting mechanism, and the other end is hinged to one side of the support arm to drive the support arm to swing around the hinge point. The two ends of the working arm hydraulic cylinder are respectively hinged to the support arm and the working arm to adjust the tilt angle of the working arm.

[0011] Optionally, the rotary tunneling mechanism includes a transmission assembly, blades, an arch-breaking air cannon, and a blade-driven hydraulic cylinder; The transmission component is rotatably mounted at the bottom of the connecting mechanism, and multiple blades are evenly distributed at the bottom of the transmission component. The arch-breaking air cannon is located at the bottom of the transmission assembly and is used to break up arched blockages in the coal bunker. One end of the blade-driven hydraulic cylinder is hinged to the transmission assembly, and the other end is hinged to the blade. It is used to drive the blade to rotate, and the blade is used to clear blockages inside the rat hole.

[0012] Optionally, the unblocking mechanism includes a second support hydraulic cylinder, a support rod, a push hydraulic cylinder, a push rod, and an unblocking assembly; One end of the second support hydraulic cylinder is hinged to the top of the connecting mechanism, and the other end is hinged to one side of the support rod. One end of the support rod is hinged to the top of the connecting mechanism, and the other end is hinged to the push rod. The two ends of the push hydraulic cylinder are respectively hinged to the support rod and the push rod, and are used to adjust the tilt angle of the push rod. The unblocking component is set on the push rod and can be fed along the length of the push rod into the borehole formed by the rat hole drilling mechanism to clear the blockage in the coal bunker.

[0013] Optionally, the residue cleaning mechanism includes a cleaning hydraulic cylinder, a telescopic frame, and a milling cutter; One end of the cleaning hydraulic cylinder is hinged to one side of the connecting mechanism, and the other end is hinged to one end of the telescopic frame. The other end of the telescopic frame is connected to the milling cutter. The cleaning hydraulic cylinder drives the telescopic frame to move toward or away from the inner wall of the coal bunker, thereby driving the milling cutter to move toward or away from the telescopic frame. The milling cutter is used to assist in cleaning when the rotary tunneling mechanism is performing rat hole enlargement operations, and to clean the residual blockages on the inner wall of the coal bunker after the unblocking mechanism has completed the unblocking operation.

[0014] A second aspect of the present invention provides a method for operating a collaborative cleaning robot for dual-type blockages in a coal bunker, based on any one of the aforementioned collaborative cleaning robots for dual-type blockages in a coal bunker, comprising the following steps: S1. Descend the cleaning robot to the designated depth using a cable; S2. The first support hydraulic cylinder drives the horizontal hydraulic cylinder to rotate to a horizontal position. The horizontal hydraulic cylinder drives the fixed part to move in the horizontal direction until the fixed part abuts against the inner wall of the coal bunker, thus fixing the cleaning robot in the center of the coal bunker. S3. The drive unit moves the connecting mechanism to the working depth and determines the type of coal bunker blockage. S4. When the coal bunker blockage is an arch-shaped blockage, the rotary tunneling mechanism is activated. The transmission component rotates under the drive of the connecting mechanism. The transmission component first drives the arch-breaking air cannon to work, which breaks the arch in the blockage area of ​​the coal bunker. The drive unit continues to extend, propelling the rotating rotary tunneling mechanism. The transmission component drives multiple blades to rotate, and the blade drive hydraulic cylinder drives the blades to unfold. The blades assist in clearing the blockage caused by the arch blockage inside the rat hole and perform preliminary enlargement of the rat hole. When the coal bunker blockage is a rat hole type blockage, the rat hole drilling mechanism is activated. The support arm hydraulic cylinder drives the support arm to swing around the hinge point, and the working arm hydraulic cylinder adjusts the tilt angle of the working arm so that the drilling execution unit is aligned with the inner wall of the rat hole in the coal bunker. The drilling execution unit feeds along the length of the working arm to drill into the inner wall of the rat hole. The unblocking mechanism is activated. The second support hydraulic cylinder pushes the support rod to rotate, and the push hydraulic cylinder adjusts the angle of the push rod to push the unblocking component into the drill hole formed by the rat hole drilling mechanism to clear the blockage in the coal bunker. S5. After repeating step S4 multiple times, start the residual cleaning mechanism. The cleaning hydraulic cylinder drives the telescopic frame to move towards the inner wall of the coal bunker. The telescopic frame drives the milling cutter to move towards the inner wall of the coal bunker. This assists in cleaning when the rotary tunneling mechanism is expanding the rat hole, and thoroughly cleans the residual blockages on the inner wall of the coal bunker after the unblocking mechanism has completed the unblocking operation.

[0015] The technical solution provided by the embodiments of the present invention has the following beneficial effects compared with the prior art: This invention provides a collaborative cleaning robot and its working method for dual-type blockages in coal bunkers. The cleaning robot has a rotating tunneling mechanism at the bottom of its connecting mechanism, capable of breaking up arched blockages and expanding rat holes. By incorporating a rat hole drilling mechanism and a blockage clearing mechanism at the top of the connecting mechanism, it achieves drilling into the inner wall of the rat holes in the coal bunker and clearing the blockages within the drilled holes. This cleaning robot integrates the rat hole drilling mechanism, the blockage clearing mechanism, and the rotating tunneling mechanism onto the connecting mechanism, achieving collaborative treatment of both arched and rat hole blockages. This reduces the labor intensity of construction workers, improves cleaning efficiency, and employs a positioning mechanism with multi-point support to achieve stable positioning of the cleaning robot in the center of the coal bunker, preventing construction workers from entering high-risk environments and reducing the probability of accidents. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a collaborative cleaning robot for dual-type blockages in a coal bunker, as described in an embodiment of the present invention. Figure 2 This is a schematic diagram of the positioning mechanism described in an embodiment of the present invention; Figure 3 This is a schematic diagram of the rat hole drilling mechanism described in an embodiment of the present invention; Figure 4 This is a schematic diagram of the rotary tunneling mechanism described in an embodiment of the present invention; Figure 5 This is a schematic diagram of the unblocking mechanism described in an embodiment of the present invention; Figure 6 This is a schematic diagram of the residual cleaning mechanism described in an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection mechanism described in an embodiment of the present invention; Figure 8 This is a structural schematic diagram of the connecting mechanism described in an embodiment of the present invention from another angle.

[0019] Among them, 1. Positioning mechanism; 11. Horizontal hydraulic cylinder; 12. First support hydraulic cylinder; 13. Drive unit; 14. Fixing component; 15. Connecting component; 16. Lifting structure; 2. Mouse hole drilling mechanism; 21. Support arm hydraulic cylinder; 22. Support arm; 23. Working arm hydraulic cylinder; 24. Drill bit feed hydraulic cylinder; 25. Electric motor; 26. Drill bit; 27. Working arm; 3. Rotary tunneling mechanism; 31. Rotary gear; 32. Blade; 33. Blade support frame; 34. Arch-breaking air cannon; 35. Blade drive hydraulic cylinder; 4. 41. Unblocking mechanism; 42. Second support hydraulic cylinder; 43. Support rod; 44. Pushing hydraulic cylinder; 45. Unblocking hydraulic cylinder; 46. Unblocking air cannon; 57. Push rod; 68. Residual cleaning mechanism; 51. Milling cutter; 52. Milling cutter holder; 53. Connecting shaft; 54. Cleaning hydraulic cylinder; 55. Telescopic frame; 69. Connecting mechanism; 60. Groove; 61. Slot; 62. Ear seat; 63. First rotating gear; 64. First motor support frame; 65. First motor; 66. Second motor support frame; 67. Second motor; 68. Second rotating gear. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0022] Reference Figure 1 As shown, the first aspect of this embodiment provides a collaborative cleaning robot for dual-type blockages in a coal bunker, including a positioning mechanism 1, a rat hole drilling mechanism 2, a rotary tunneling mechanism 3, a blockage clearing mechanism 4, a residual cleaning mechanism 5, and a connecting mechanism 6.

[0023] Reference Figure 7 and Figure 8 As shown, the connecting mechanism 6 includes a slot 61, an ear seat 62, a first rotating gear 63, a first motor support frame 64, a first motor 65, a second motor support frame 66, a second motor 67, and a second rotating gear 68. Two slots 61 are provided, symmetrically arranged on both sides of the main frame of the connecting mechanism 6. Two ear seats 62 are provided, symmetrically arranged on the top of the main frame of the connecting mechanism 6, near the edge. The first motor 65 is located on the top of the main frame of the connecting mechanism 6, and the first motor support frame 64 is also located on the top of the main frame of the connecting mechanism 6, forming a stable power output base to ensure that the first motor 65 operates without shaking. A rotating gear 63 is keyed to the output shaft of the first motor 65. After the first motor 65 starts, its output shaft drives the first rotating gear 63 to rotate via the key connection. The rotation of the first rotating gear 63 directly drives the entire connecting mechanism 6 to rotate, thereby ensuring that the rat hole drilling mechanism 2, the blockage clearing mechanism 4, and the residual cleaning mechanism 5 can adjust their angles with the entire connecting mechanism 6 to cover different blockage areas in the coal bunker. The second motor 67 is set at the bottom of the main frame of the connecting mechanism 6, and the second motor support frame 66 is set at the bottom of the main frame of the connecting mechanism 6 to form a stable power output base, ensuring that the second motor 67 does not shake when it is working. The second rotating gear 68 is keyed to the output shaft of the second motor 67.

[0024] Reference Figure 2As shown, the positioning mechanism 1 is located on top of the connecting mechanism 6. The positioning mechanism 1 includes a horizontal hydraulic cylinder 11, a first support hydraulic cylinder 12, a drive unit 13, a fixing member 14, a connecting member 15, and a lifting structure 16. In this embodiment, three horizontal hydraulic cylinders 11, three first support hydraulic cylinders 12, and three lifting structures 16 are provided. The three lifting structures 16 are evenly arranged on top of the connecting member 15 for connection with the cable. One end of each of the three horizontal hydraulic cylinders 11 is evenly arranged along the circumference of the connecting member 15 and is hinged to the connecting member 15. The other end is connected to the fixing member 14. One end of the first support hydraulic cylinder 12 is evenly arranged along the circumference of the connector 15 and is hinged to the connector 15. One end of the first support hydraulic cylinder 12 is on the same straight line as one end of the horizontal hydraulic cylinder 11. The other end of the first support hydraulic cylinder 12 is hinged to the fixed part of the horizontal hydraulic cylinder 11. The first support hydraulic cylinder 12 is used to lift the horizontal hydraulic cylinder 11 to a horizontal position. The horizontal hydraulic cylinder 11 drives the fixed part 14 to move in the horizontal direction until it abuts against the inner wall of the coal bunker. The drive part 13 connects the connector 15 and the connecting mechanism 6 and is used to drive the connecting mechanism 6 to adjust its position in the depth direction of the coal bunker.

[0025] Furthermore, the area of ​​the fixing member 14 is larger than the area of ​​the horizontal hydraulic cylinder 11 and the end connected to it. By increasing the contact area with the inner wall of the coal bunker, the stability of the support is improved. In addition, a flexible member is provided on the side of the fixing member 14 facing the inner wall of the coal bunker. The flexible member can effectively avoid rigid contact between the fixing member 14 and the inner wall of the coal bunker, reduce damage to the inner wall of the coal bunker, and at the same time increase the contact friction force, making the positioning more stable.

[0026] Reference Figure 3 As shown, the rat hole drilling mechanism 2 includes a support arm hydraulic cylinder 21, a support arm 22, a working arm hydraulic cylinder 23, a working arm 27, and a drilling execution unit. The drilling execution unit includes a drill bit feed hydraulic cylinder 24, a motor 25, and a drill bit 26. One end of the support arm hydraulic cylinder 21 is hinged to the first connecting hole of one of the lugs 62, and the other end is hinged to one side of the support arm 22 to drive the support arm 22 to swing around the hinge point. One end of the support arm 22 is hinged to the second connecting hole of one of the lugs 62, and the other end... The hydraulic cylinder 23 of the working arm is hinged to the working arm 27. Both ends of the working arm hydraulic cylinder 23 are hinged to the support arm 22 and the working arm 27 respectively. It is used to adjust the tilt angle of the working arm 27. The drill bit feed hydraulic cylinder 24 is set on the working arm 27 and can move along the length direction of the working arm 27. The motor 25 and the drill bit 26 are set on the piston rod of the drill bit feed hydraulic cylinder 24. The motor 25 is used to drive the drill bit 26 to rotate. The drill bit 26 is connected to the motor 25 through a coupling. The drill bit 26 is used to drill holes in the inner wall of the rat hole.

[0027] Reference Figure 4As shown, the rotary tunneling mechanism 3 includes a transmission assembly, blades 32, an arch-breaking air cannon 34, and a blade-driven hydraulic cylinder 35. The transmission assembly includes a rotating gear 31 and a blade support frame 33. The rotating gear 31 is located on top of the blade support frame 33 and is keyed to it. The rotating gear 31 meshes with a second rotating gear 68. When the second motor 67 starts, its output shaft drives the second rotating gear 68 to rotate, which in turn drives the rotating gear 31 to rotate. The rotating gear 31 then drives the blade support frame 33 to rotate, thereby driving the blades 32. Rotating to clear blockages inside rat holes, the blade support frame 33 is fixed to the bottom of the connecting mechanism 6 by bolts. Multiple blades 32 are evenly arranged at the bottom of the blade support frame 33 and connected to the blade support frame 33 by pins. One end of the blade drive hydraulic cylinder 35 is hinged to the blade support frame 33 and the other end is hinged to the blade 32. The blade drive hydraulic cylinder 35 is used to drive the blade 32 to expand or retract. Expanding the blade 32 can increase the cleaning area. The arch-breaking air cannon 34 is set at the bottom of the blade support frame 33 and is used to break the arch of the coal bunker.

[0028] Reference Figure 5 As shown, the unblocking mechanism 4 includes a second supporting hydraulic cylinder 41, a supporting rod 42, a pushing hydraulic cylinder 43, a pushing rod 46, and an unblocking assembly. The unblocking assembly includes an unblocking hydraulic cylinder 44 and an unblocking air cannon 45. One end of the second supporting hydraulic cylinder 41 is hinged to the third connecting hole on another lug 62, and the other end is hinged to one side of the supporting rod 42. One end of the supporting rod 42 is hinged to the fourth connecting hole on another lug 62, and the other end is hinged to the pushing rod 46. The two ends of the pushing hydraulic cylinder 43 are respectively hinged to the supporting rod 42 and the pushing rod 46, and are used to adjust the tilt angle of the pushing rod 46. The unblocking hydraulic cylinder 44 is mounted on the pushing rod 46, and the unblocking air cannon 45 is mounted on the piston rod of the unblocking hydraulic cylinder 44. The unblocking hydraulic cylinder 44 drives the unblocking air cannon 45 to move along the length of the pushing rod 46 until the unblocking air cannon 45 is fed into the borehole formed by the rat hole drilling mechanism 2 to clear the blockage in the coal bunker.

[0029] Reference Figure 6As shown, the residual cleaning mechanism 5 includes a milling cutter 51, a milling cutter holder 52, a connecting shaft 53, a cleaning hydraulic cylinder 54, and a telescopic frame 55. The telescopic frame 55 includes multiple telescopic plates that are crossed and hinged together. One end of the cleaning hydraulic cylinder 54 is hinged to the slot 61, and the other end is hinged to the end of the telescopic frame 55 near the connecting mechanism 6 via the connecting shaft 53. The connecting shaft 53 is located at the intersection of two telescopic plates on the telescopic frame 55. The other end of the telescopic frame 55 is connected to the milling cutter holder 52. The milling cutter 51 is connected to the milling cutter holder 52 via a bearing. The cleaning hydraulic cylinder 54 drives the telescopic frame 55 to move toward or away from the inner wall of the coal bunker, thereby driving the milling cutter 51 to move toward or away from the telescopic frame 55. The milling cutter 51 is used to assist in cleaning when the rotary tunneling mechanism 3 is performing rat hole enlargement operations, and to clean the residual blockages on the inner wall of the coal bunker after the unblocking mechanism 4 has completed the unblocking operation.

[0030] The second aspect of this embodiment provides a working method for a collaborative cleaning robot for dual-type blockages in a coal bunker, based on the aforementioned collaborative cleaning robot for dual-type blockages in a coal bunker, including the following steps: S1. Descend the cleaning robot to the designated depth using a cable; S2. The first support hydraulic cylinder 12 is driven to rotate the horizontal hydraulic cylinder 11 to a horizontal position. The horizontal hydraulic cylinder 11 drives the fixing part 14 to move in the horizontal direction until the fixing part 14 abuts against the inner wall of the coal bunker, thus fixing the cleaning robot in the center of the coal bunker. S3, the drive unit 13 drives the connecting mechanism 6 to the working depth and determines the type of coal bunker blockage; S4. When the coal bunker is blocked in an arched manner, the rotary tunneling mechanism 3 is started, and the second motor 67 is started. The second motor 67 drives the second rotating gear 68 to rotate, the second rotating gear 68 drives the rotating gear 31 to rotate, the rotating gear 31 drives the blade support frame 33 to rotate, the blade support frame 33 first drives the arch-breaking air cannon 34 to rotate, the arch-breaking air cannon 34 performs arch-breaking work on the arched blockage part of the coal bunker, the drive unit 13 continues to extend, and propels the rotating rotary tunneling mechanism 3, the blade support frame 33 then drives multiple blades 32 to rotate, the blade drive hydraulic cylinder 35 can drive the blades 32 to rotate further to unfold the blades 32. The blades 32 are used to assist in clearing the associated blockage caused by the arched blockage inside the rat hole, and to perform preliminary enlargement work on the rat hole; When the coal bunker is blocked in the form of a rat hole, the rat hole drilling mechanism 2 is activated. The support arm hydraulic cylinder 21 drives the support arm 22 to swing around the hinge point, and the working arm hydraulic cylinder 23 adjusts the tilt angle of the working arm 27 so that the drill bit 26 is aligned with the inner wall of the rat hole in the coal bunker. The motor 25 and the drill bit 26 feed along the length of the working arm 27. The motor 25 drives the drill bit 26 to rotate, and the rotating drill bit 26 drills into the inner wall of the rat hole. The unblocking mechanism 4 is activated. The second support hydraulic cylinder 41 pushes the support rod 42 to rotate, the push hydraulic cylinder 43 adjusts the angle of the push rod 46, and the unblocking hydraulic cylinder 44 drives the unblocking air cannon 45 to move along the length of the push rod 46 until the unblocking air cannon 45 enters the drill hole formed by the rat hole drilling mechanism 2 to clear the blockage in the coal bunker. S5. After repeating step S4 multiple times, start the residual cleaning mechanism 5. The cleaning hydraulic cylinder 54 drives the telescopic frame 55 to move toward the inner wall of the coal bunker. The telescopic frame 55 drives the milling cutter 51 to move toward the inner wall of the coal bunker. This assists in cleaning when the rotary tunneling mechanism 3 is expanding the rat hole, and thoroughly cleans the residual blockages on the inner wall of the coal bunker after the unblocking mechanism 4 has completed the unblocking operation.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0032] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A collaborative cleaning robot for dual-type blockages in coal bunkers, characterized in that, include: Connection mechanism (6); Positioning mechanism (1) is located on the top of connecting mechanism (6) and can move along the vertical center line of connecting mechanism (6). Positioning mechanism (1) is used to lower the cleaning robot to a specified depth in the coal bunker and position it at the center of the coal bunker. The rat hole drilling mechanism (2) is located on top of the connecting mechanism (6) and is used to drill holes in the inner wall of the rat hole in the coal bunker. Rotary tunneling mechanism (3) is rotatably set at the bottom of connecting mechanism (6) for breaking the arch blockage of coal bunker and expanding the rat hole; The unblocking mechanism (4) is located on the top of the connecting mechanism (6) and is used to clean the blockage in the borehole formed by the rat hole drilling mechanism (2). The residual cleaning mechanism (5) is set on both sides of the connecting mechanism (6) to assist the rotary tunneling mechanism (3) in expanding the rat hole and to clean the residual blockages on the inner wall of the coal bunker after the unblocking mechanism (4) has completed the unblocking operation.

2. The collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 1, characterized in that, The positioning mechanism (1) includes a drive unit (13) and multiple telescopic support units; The drive unit (13) is connected to the connecting mechanism (6), and the drive unit (13) is used to drive the connecting mechanism (6) to adjust its position along the depth direction of the coal bunker; Multiple telescopic support parts are evenly distributed around the drive part (13) and can extend and retract in the horizontal direction. The end of the telescopic support part facing the inner wall of the coal bunker abuts against the inner wall of the coal bunker.

3. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 2, characterized in that, The top of the drive unit (13) is evenly provided with multiple suspension structures (16) for connecting to the cable, and the bottom of the drive unit (13) is connected to the connecting mechanism (6). The telescopic support includes a horizontal hydraulic cylinder (11), a first support hydraulic cylinder (12), and a fixing member (14). One end of the horizontal hydraulic cylinder (11) is hinged to the drive unit (13), and the other end is connected to the fixing member (14). One end of the first support hydraulic cylinder (12) is hinged to the drive unit (13). One end of the first support hydraulic cylinder (12) is on the same straight line as one end of the horizontal hydraulic cylinder (11). The other end of the first support hydraulic cylinder (12) is hinged to the fixing part of the horizontal hydraulic cylinder (11). The first support hydraulic cylinder (12) is used to lift the horizontal hydraulic cylinder (11) to a horizontal position. The horizontal hydraulic cylinder (11) drives the fixing member (14) to move in the horizontal direction until it abuts against the inner wall of the coal bunker.

4. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 3, characterized in that, The area of ​​the fixing member (14) is larger than the area of ​​the horizontal hydraulic cylinder (11) and the end connected to it, and the fixing member (14) is provided with a flexible part on the side facing the inner wall of the coal bunker.

5. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 1, characterized in that, The rat hole drilling mechanism (2) includes a support arm (22), a working arm (27), and a drilling execution unit; One end of the support arm (22) is hinged to the top of the connecting mechanism (6), and the other end is hinged to the working arm (27). The drilling execution unit is set on the working arm (27) and can be fed along the length of the working arm (27) for drilling operations on the inner wall of the rat hole.

6. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 5, characterized in that, The rat hole drilling mechanism (2) also includes a support arm hydraulic cylinder (21) and a working arm hydraulic cylinder (23). One end of the support arm hydraulic cylinder (21) is hinged to the connecting mechanism (6), and the other end is hinged to one side of the support arm (22) to drive the support arm (22) to swing around the hinge point. The two ends of the working arm hydraulic cylinder (23) are respectively hinged to the support arm (22) and the working arm (27) to adjust the tilt angle of the working arm (27).

7. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 1, characterized in that, The rotary tunneling mechanism (3) includes a transmission assembly, blades (32), an arch-breaking air cannon (34), and a blade-driven hydraulic cylinder (35). The transmission component is rotatably mounted at the bottom of the connecting mechanism (6), and multiple blades (32) are evenly arranged at the bottom of the transmission component; An arch-breaking air cannon (34) is installed at the bottom of the transmission assembly and is used to break the arch of the coal bunker. One end of the blade-driven hydraulic cylinder (35) is hinged to the transmission assembly, and the other end is hinged to the blade (32) to drive the blade (32) to rotate. The blade (32) is used to clear the blockage inside the rat hole.

8. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 1, characterized in that, The unblocking mechanism (4) includes a second support hydraulic cylinder (41), a support rod (42), a push hydraulic cylinder (43), a push rod (46), and an unblocking assembly; One end of the second support hydraulic cylinder (41) is hinged to the top of the connecting mechanism (6), and the other end is hinged to one side of the support rod (42). One end of the support rod (42) is hinged to the top of the connecting mechanism (6), and the other end is hinged to the push rod (46). The two ends of the push hydraulic cylinder (43) are respectively hinged to the support rod (42) and the push rod (46) to adjust the tilt angle of the push rod (46). The unblocking component is set on the push rod (46) and can be fed along the length of the push rod (46) into the borehole formed by the rat hole drilling mechanism (2) to clear the blockage in the coal bunker.

9. A collaborative cleaning robot for dual-type blockages in coal bunkers according to claim 1, characterized in that, The residual cleaning mechanism (5) includes a cleaning hydraulic cylinder (54), a telescopic frame (55), and a milling cutter (51); One end of the cleaning hydraulic cylinder (54) is hinged to one side of the connecting mechanism (6), and the other end is hinged to one end of the telescopic frame (55). The other end of the telescopic frame (55) is connected to the milling cutter (51). The cleaning hydraulic cylinder (54) drives the telescopic frame (55) to move toward or away from the inner wall of the coal bunker, so as to drive the milling cutter (51) to move toward or away from the telescopic frame (55). The milling cutter (51) is used to assist in cleaning when the rotary tunneling mechanism (3) is performing rat hole enlargement operation, and to clean the residual blockage on the inner wall of the coal bunker after the unblocking mechanism (4) has completed the unblocking operation.

10. A method for operating a collaborative cleaning robot for dual-type blockages in a coal bunker, comprising the collaborative cleaning robot for dual-type blockages in a coal bunker as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Descend the cleaning robot to the designated depth using a cable; S2. The first support hydraulic cylinder (12) drives the horizontal hydraulic cylinder (11) to rotate to a horizontal position. The horizontal hydraulic cylinder (11) drives the fixing part (14) to move in the horizontal direction until the fixing part (14) abuts against the inner wall of the coal bunker, so that the cleaning robot is fixed in the center of the coal bunker. S3, the drive unit (13) drives the connecting mechanism (6) to move to the working depth and determines the type of coal bunker blockage; S4. When the coal bunker blockage is an arched blockage, the rotary tunneling mechanism (3) is started. The transmission component rotates under the drive of the connecting mechanism (6). The transmission component first drives the arch-breaking air cannon (34) to work. The arch-breaking air cannon (34) performs arch-breaking work on the arched blockage part of the coal bunker. The drive unit (13) continues to extend, pushing the rotating rotary tunneling mechanism (3). The transmission component drives multiple blades (32) to rotate. The blades drive the hydraulic cylinder (35) to drive the blades (32) to unfold. The blades (32) assist in clearing the associated blockage caused by the arched blockage inside the rat hole and perform preliminary expansion work on the rat hole. The coal bunker blockage is a rat hole type blockage. When the blockage occurs, the rat hole drilling mechanism (2) is activated. The support arm hydraulic cylinder (21) drives the support arm (22) to swing around the hinge point. The working arm hydraulic cylinder (23) adjusts the tilt angle of the working arm (27) so that the drilling execution unit is aligned with the inner wall of the rat hole in the coal bunker. The drilling execution unit feeds along the length of the working arm (27) to drill the inner wall of the rat hole. The unblocking mechanism (4) is activated. The second support hydraulic cylinder (41) pushes the support rod (42) to rotate. The push hydraulic cylinder (43) adjusts the angle of the push rod (46) to push the unblocking component into the drill hole formed by the rat hole drilling mechanism (2) to clear the blockage in the coal bunker. S5. After repeating step S4 multiple times, start the residual cleaning mechanism (5), clean the hydraulic cylinder (54) to drive the telescopic frame (55) to move toward the inner wall of the coal bunker, the telescopic frame (55) drives the milling cutter (51) to move toward the inner wall of the coal bunker, assist in cleaning when the rotary tunneling mechanism (3) is performing the rat hole enlargement operation, and thoroughly clean the residual blockage on the inner wall of the coal bunker after the unblocking mechanism (4) has completed the unblocking operation.

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