Mechanical arm and coal bunker cleaning robot

Abstract

The invention relates to the technical field of coal cleaning, and discloses a mechanical arm and a coal bunker cleaning robotic.The mechanical arm comprises a connecting arm (1), a working arm (101), a crushing head, a moving assembly and a driver (4), one end of the working arm (101) is connected with the connecting arm (1), and the other end of the working arm (101) is connected with the crushing head; and the driver (4) is arranged on the working arm (101) and is in transmission connection with the crushing head through the movement assembly, so that the movement assembly drives the crushing head to rotate around the axial direction of the crushing head and / or reciprocate in the length direction of the working arm (101). According to the mechanical arm, combination of rotary cutting and impact crushing can be achieved, and the crushing capacity of coal in a coal bunker can be improved.

Description

Technical Field

[0001] This invention relates to the field of coal cleaning technology, and in particular to a robotic arm and a coal bunker cleaning robot. Background Technology

[0002] Coal bunkers are important infrastructure used in industries such as thermal power plants, coal transfer stations, coal washing plants, and mines for storing and transferring raw coal.

[0003] Because raw coal typically contains a certain amount of moisture and viscosity, under the influence of long-term stockpiling, gravity compaction, and temperature changes, it is highly susceptible to forming an uneven, hard, and sticky layer on the inner wall of the coal bunker (commonly known as "wall adhesion"), or forming an arch-shaped blockage above the bottom coal outlet (commonly known as "coal bridging"). These problems not only severely hinder the normal descent of coal, reduce conveying efficiency, and greatly reduce the effective storage capacity of the coal bunker, but also, if the blockage is handled improperly, can easily lead to serious safety accidents such as personnel burial.

[0004] However, most existing cleaning robotic arms only have a single rotary cutting function. When facing the inner wall of the coal bunker and its hard, hardened, and severely caking old coal seams, simple rotary milling often fails to cut into the coal seam. This can easily lead to the cutter head slipping on the coal seam surface, causing severe friction and heat generation, and excessive wear. Furthermore, its rock-breaking and hard-breaking capabilities are insufficient, resulting in low cleaning efficiency.

[0005] To address the aforementioned technical shortcomings, a solution is proposed. Summary of the Invention The technical problem to be solved by the first aspect of the present invention is to provide a robotic arm that can combine rotary cutting and impact crushing, thereby improving the crushing capacity of coal in a coal bunker.

[0006] The technical problem to be solved by the second aspect of the present invention is to provide a coal bunker cleaning robot that can improve the crushing capacity of coal materials in the coal bunker.

[0007] To address the aforementioned technical problems, the first aspect of the present invention provides a robotic arm, comprising a connecting arm, a working arm, a crushing head, a motion component, and a driver. One end of the working arm is connected to the connecting arm, and the other end is connected to the crushing head. The driver is mounted on the working arm and is connected to the crushing head via the motion component, so as to drive the crushing head to rotate around its own axis and / or reciprocate along the length direction of the working arm via the motion component.

[0008] Preferably, the working arm is provided with a sliding groove extending along the length direction of the working arm, a sliding block is provided in the sliding groove, the sliding block can reciprocate along the sliding groove, and the crushing head is rotatably mounted on the sliding block; The driver is connected to the sliding block and the crushing head via the motion component, so as to drive the sliding block to reciprocate along the sliding groove and the crushing head to rotate via the motion component.

[0009] More preferably, the motion component includes a drive shaft, a moving rod, and an adjustment component; The drive shaft is connected to the driver so as to drive the drive shaft to rotate via the driver; The movable rod is connected to the sliding block and is also connected to the crushing head and the drive shaft for transmission, so as to drive the crushing head to rotate when the drive shaft drives the movable rod to rotate; The drive shaft and the moving rod are also connected via the adjustment assembly, so that when the adjustment assembly is in the first working state, the drive shaft drives the moving rod to rotate, and when the adjustment assembly is in the second working state, the drive shaft drives the moving rod to rotate and drives the moving rod to reciprocate along the length direction of the working arm.

[0010] Preferably, the adjusting assembly includes a sleeve shaft, a reversing shaft, and a clutch; The reversing shaft is connected to the drive shaft and rotates synchronously with the drive shaft; The sleeve shaft is sleeved on the drive shaft and the reversing shaft; The sleeve shaft and the reversing shaft are connected via the clutch. When the clutch is in the first working position, the reversing shaft drives the sleeve shaft to rotate. When the clutch is in the second working position, the reversing shaft drives the sleeve shaft to rotate and reciprocate along the length direction of the working arm.

[0011] Preferably, the outer surface of the reversing shaft is provided with a reciprocating groove, and a slider is provided at one end of the sleeve shaft that cooperates with the reversing shaft. The slider cooperates with the reciprocating groove, and when the slider moves in the reciprocating groove, the sleeve shaft reciprocates along the length direction of the working arm.

[0012] More preferably, the clutch is provided with a transverse groove, and a limiting plate is installed on the inner wall of the working arm. The limiting plate has a limiting groove extending along the length direction of the working arm at a position facing the reversing shaft. The clutch can be disposed in the limiting groove and slide along the limiting groove. The inner wall of the clutch is provided with a transverse groove that can match the slider. An electric telescopic rod is provided on the limiting plate, and the telescopic end of the electric telescopic rod is connected to the clutch to drive the clutch to slide along the limiting groove. When the clutch is in the limiting groove, it is the second working state, in which the slider is in the transverse groove. When the clutch is outside the limiting groove, it is the first working state, in which the slider is outside the transverse groove.

[0013] Preferably, the movable rod is sleeved inside the drive shaft, and a limiting block is provided on the outer surface of the end of the movable rod sleeved inside the drive shaft. The inner wall of the end of the drive shaft that is sleeved with the movable rod is provided with a limiting groove extending along the length direction of the working arm. The limiting block can be placed in the limiting groove and move along the limiting groove. It also includes a transmission sleeve, one end of which is connected to the sleeve shaft and the other end of which is connected to the moving rod; The moving rod is provided with a connecting protrusion, the outer surface of the drive shaft is provided with a displacement groove extending along the length direction of the working arm, the inner wall of the transmission sleeve is fixedly installed with a transmission bearing, and the connecting protrusion passes through the displacement groove and connects with the transmission bearing.

[0014] Preferably, it further includes a drive assembly, wherein the driver is disposed on the outer surface of the working arm, a main shaft is mounted on the output end of the driver, a first helical gear is mounted on the output end of the main shaft, and a second helical gear meshing with the first helical gear is fixedly mounted on one end of the drive shaft; The output end of the moving rod is provided with a driving helical gear, and the sliding block is provided with a driven helical gear that matches the driving helical gear. The driven helical gear is connected to the transmission rod and is connected to the crushing head via the transmission rod. The crushing head includes a rotating wheel and a plurality of crushing teeth disposed on the circumference of the rotating wheel.

[0015] The second aspect of this application provides a coal bunker cleaning robot, including the robotic arm described in the above technical solution, as well as a tracked chassis and a power battery; The tracked chassis is equipped with an adjusting arm, a first hydraulic rod, and a second hydraulic rod. The robotic arm is connected to the adjusting arm. One end of the first hydraulic rod is connected to the tracked chassis, and the other end is connected to the adjusting arm to drive the adjusting arm to rotate up and down. One end of the second hydraulic rod is connected to the adjusting arm, and the other end is connected to the robotic arm to drive the robotic arm to rotate up and down.

[0016] Preferably, the system further includes a visual monitoring system, a signal transceiver, and a controller. The visual monitoring system is used to monitor the surrounding environment of the coal bunker cleaning robot and send the environmental information to the control terminal via the signal transceiver. The signal transceiver is also able to receive control commands from the control terminal and control the coal bunker cleaning robot via the controller.

[0017] Through the above technical solution, the robotic arm provided by the first aspect of the present invention has a crushing head that can both rotate and reciprocate along the length of the working arm, realizing the free switching between the crushing head and the dual modes of pure rotation and rotational composite axial impact. This overcomes the problem that the simple rotary milling of the prior art often has difficulty cutting into the coal seam, and is prone to slipping on the coal seam surface, severe frictional heat generation and excessive wear. It can improve the rock breaking and hard breaking capabilities, as well as the cleaning efficiency.

[0018] The coal bunker cleaning robot provided in the second aspect of the present invention has the same technical effects as the robotic arm in the above-mentioned technical solution, and is electrically driven, so it is less likely to cause an explosion of combustible gas or dust in the coal bunker.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall external structure of the present invention is shown; Figure 2 A schematic diagram of the top structure of the present invention is shown; Figure 3 A schematic diagram of the external structure of the working arm of the present invention is shown; Figure 4 A schematic diagram of the external structure of the working arm of the present invention at another angle is shown; Figure 5 A schematic diagram of the internal structure of the working arm of the present invention is shown; Figure 6 A schematic diagram of another angle structure inside the working arm of the present invention is shown; Figure 7 A schematic diagram of the external structure of the drive shaft of the present invention is shown; Figure 8 A schematic diagram of the internal side cross-section structure of the drive shaft of the present invention is shown; Figure 9 A schematic diagram of the internal structure of the drive shaft of the present invention is shown; Figure 10 A schematic diagram of the drive roller structure of the present invention is shown; Figure 11A schematic diagram of the movable rod structure of the present invention is shown; Figure 12 The present invention is shown. Figure 6 Enlarged schematic diagram of the structure at point A in the middle.

[0021] Explanation of reference numerals in the attached figures 1. Connecting arm; 101. Working arm; 102. Sliding groove; 103. Sliding block; 104. Driven helical gear; 105. Driving helical gear; 106. Transmission rod; 107. Rotating wheel; 108. Crushing tooth; 2. Moving rod; 201. Limiting block; 202. Drive shaft; 203. Limiting groove; 204. Displacement groove; 205. Transmission sleeve; 206. Transmission bearing; 3. Adjusting assembly; 301. Sliding... 302. Reversing shaft; 303. Reciprocating groove; 304. Limiting plate; 305. Limiting groove; 306. Clutch; 307. Lateral groove; 309. Sleeve shaft; 310. Electric telescopic rod; 4. Driver; 401. Main shaft; 402. First helical gear; 403. Second helical gear; 5. Tracked chassis; 501. Adjusting arm; 502. First hydraulic rod; 503. Second hydraulic rod; 6. Power battery. Detailed Implementation

[0022] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0023] The terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include one or more of the stated features.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0026] like Figures 1 to 12 As shown, one embodiment of the robotic arm of the present invention includes a connecting arm 1, a working arm 101, a crushing head motion assembly, and a driver 4. One end of the working arm 101 is connected to the connecting arm 1, and the other end is connected to the crushing head. The driver 4 is disposed on the working arm 101 and is connected to the crushing head via the motion assembly, so as to drive the crushing head to rotate around its own axis and / or reciprocate along the length direction of the working arm 101 via the motion assembly.

[0027] Based on the above design, the robotic arm of the present invention has a crushing head that can both rotate and reciprocate along the length of the working arm 101, realizing free switching between pure rotation and rotational composite axial impact modes. This overcomes the problem that the existing simple rotary milling technology often has difficulty cutting into the coal seam, and is prone to slipping on the coal seam surface, severe frictional heat generation, and excessive wear. It can improve rock breaking and hard breaking capabilities, as well as cleaning efficiency.

[0028] As a specific embodiment of the robotic arm of the present invention, such as Figure 6-8 As shown, the working arm 101 is provided with a sliding groove 102 extending along the length direction of the working arm 101. A sliding block 103 is provided in the sliding groove 102. The sliding block 103 can reciprocate along the sliding groove 102. The crushing head is rotatably mounted on the sliding block 103. The driver 4 is connected to the sliding block 103 and the crushing head via a motion component, so that the motion component drives the sliding block 103 to reciprocate along the sliding groove 102 and the crushing head to rotate.

[0029] As a specific embodiment of the robotic arm of the present invention, such as Figure 6-8 As shown, the motion assembly can be specifically configured to include a drive shaft 202, a moving rod 2, and an adjustment assembly 3. The drive shaft 202 is driven by a driver 4 to rotate the drive shaft 202. The moving rod 2 is connected to a sliding block 103 and is driven by a crushing head and the drive shaft 202 to drive the crushing head to rotate when the drive shaft 202 drives the moving rod 2 to rotate. The drive shaft 202 and the moving rod 2 are also driven by the adjustment assembly 3 so that when the adjustment assembly 3 is in a first working state, the drive shaft 202 drives the moving rod 2 to rotate, and when the adjustment assembly 3 is in a second working state, the drive shaft 202 drives the moving rod 2 to rotate and drive the moving rod 2 to reciprocate along the length direction of the working arm 101.

[0030] Specifically, such as Figure 7-10 As shown, the adjustment assembly 3 includes a sleeve shaft 309, a reversing shaft 302, and a clutch; the reversing shaft 302 is fixedly connected to the drive shaft 202 so as to rotate synchronously with the drive shaft 202; the sleeve shaft 309 is sleeved on the drive shaft 202 and the reversing shaft 302; the sleeve shaft 309 and the reversing shaft 302 are connected via a clutch 306.

[0031] A reciprocating groove 303 is provided on the outer surface of the reversing shaft 302. A slider 301 is provided on one end of the sleeve shaft 309 that cooperates with the reversing shaft 302. The slider 301 cooperates with the reciprocating groove 303. When the slider 301 moves in the reciprocating groove 303, the sleeve shaft 309 can reciprocate along the length direction of the working arm 101. Two sliders 301 can be provided. The two sliders 301 are provided on the outer circumferential surface of the connecting sleeve shaft and are evenly distributed along the circumferential direction of the connecting sleeve shaft. The sliders 301 slide in contact with the inner wall of the reciprocating groove 303. The two sliders 301 can make the force required for each slider 301 smaller, thus making it less prone to damage and extending its service life.

[0032] The clutch 306 is provided with a transverse groove 307, and a limiting plate 304 is installed on the inner wall of the working arm 101. The limiting plate 304 is provided with a limiting groove 305 extending along the length direction of the working arm 101 at the position facing the reversing shaft 302. The clutch 306 can be located in the limiting groove 305 and slide along the limiting groove 305. The inner wall of the clutch 306 is provided with a transverse groove 307 that can match the slider 301. The limiting plate 304 is provided with an electric telescopic rod 310, and the telescopic end of the electric telescopic rod 310 is connected to the clutch 306 to drive the clutch 306 to slide along the limiting groove 305, so that the clutch 306 can be located inside or outside the limiting groove 305. The limiting plate 304 can be provided as two, respectively distributed on the top and bottom inner walls of the working arm 101. Each limiting plate 304 is provided with a corresponding limiting groove 305. Each limiting plate 304 is provided with an electric telescopic rod 310 to improve the stability of the movement of the clutch 306.

[0033] When the clutch 306 is in the limiting groove 305, it is in the second working state. At this time, the clutch 306 will not rotate, and the slider 301 is in the transverse groove 307. The clutch 306 can limit the slider 301 to rotate in the circumferential direction of the reversing shaft 302, so that the slider 301 slides along the trajectory of the limiting groove 305, thereby driving the sleeve shaft 309 to reciprocate along the length direction of the working arm 101. At the same time, the drive shaft 202 will also drive the moving rod 2 to rotate. When the clutch 306 is outside the limiting groove 305, it is in the first working state. At this time, the slider 301 is outside the transverse groove 307. The clutch 306 will not restrict the slider 301 from rotating along the circumference of the reversing shaft 302, so that the slider 301 will not slide along the trajectory of the limiting groove 305. The drive shaft 202 only drives the moving rod 2 to rotate. There are two transverse grooves 307. The transverse grooves 307 are located on the inner wall of the clutch 306 and are evenly distributed along the circumference of the clutch 306. The inner wall of the transverse groove 307 slides in contact with the outer surface of the two sliders 301.

[0034] As a specific embodiment of the robotic arm of the present invention, such as Figure 9 As shown, the movable rod 2 is sleeved inside the drive shaft 202, and a limit block 201 is provided on the outer surface of the end of the movable rod 2 sleeved inside the drive shaft 202. The inner wall of the end of the drive shaft 202 that is sleeved with the movable rod 2 is provided with a limit groove 203 extending along the length direction of the working arm 101. The limit block 201 can be placed in the limit groove 203 and move along the limit groove 203, so that the drive shaft 202 can drive the movable rod 2 to rotate through the cooperation of the limit groove 203 and the limit block 201, and can ensure that the movable rod 2 can maintain a stable transmission connection with the drive shaft 202 when it moves axially. It also includes a transmission sleeve 205, one end of which is connected to the sleeve shaft 309 and the other end is connected to the moving rod 2. The moving rod 2 is provided with a connecting protrusion. The outer surface of the drive shaft 202 is provided with a displacement groove 204 extending along the length direction of the working arm 101. A transmission bearing 206 is fixedly installed on the inner wall of the transmission sleeve 205. The connecting protrusion passes through the displacement groove 204 and connects to the inner ring of the transmission bearing 206. The outer ring of the transmission bearing 206 is connected to the inner wall of the transmission sleeve 205. The transmission bearing 206 can be an angular contact ball bearing to have the characteristic of bearing strong lateral loads. There can be two transmission bearings 206, which are evenly distributed along the axial direction of the transmission sleeve 205. In another specific embodiment of the robotic arm of the present invention, the driver 4 is disposed on the outer surface of the working arm 101. The driver 4 can be a drive motor. The output end of the driver 4 is equipped with a main shaft 401, and the output end of the main shaft 401 is equipped with a first helical gear 402. One end of the drive shaft 202 is fixedly equipped with a second helical gear 403 that meshes with the first helical gear 402. It should be noted that the drive motor should be a motor with a relatively fine rotation angle adjustment, such as a stepper motor with a step angle less than or equal to 1.8°, to ensure that the drive shaft 202 can be rotated to such that the reversing shaft 302 drives the reversing shaft 302. The movable slider 301 moves to a position corresponding to the limiting groove 305, so that when the clutch 306 moves into the limiting groove 305, the slider 301 can match the transverse groove 307 on the clutch 306; the output end of the moving rod 2 is provided with a driving helical gear 105, and the sliding block 103 is provided with a driven helical gear 104 that matches the driving helical gear 105. The driven helical gear 104 is connected to the transmission rod 106 and is connected to the crushing head via the transmission rod 106; the crushing head includes a rotating wheel 107 and a plurality of crushing teeth 108 provided on the circumferential surface of the rotating wheel 107.

[0035] The second aspect of this application provides a coal bunker cleaning robot, including the robotic arm described in the above technical solution, as well as a tracked chassis 5 and a power battery 6; the tracked chassis 5 is provided with an adjusting arm 501, a first hydraulic rod 502 and a second hydraulic rod 503, the robotic arm is connected to the adjusting arm 501, one end of the first hydraulic rod 502 is connected to the tracked chassis 5 and the other end is connected to the adjusting arm 501 to drive the adjusting arm 501 to rotate up and down, one end of the second hydraulic rod 503 is connected to the adjusting arm 501 and the other end is connected to the robotic arm to drive the robotic arm to rotate up and down, the use of electric drive makes it less likely to cause an explosion of combustible gas or dust in the coal bunker.

[0036] In some embodiments of the coal bunker cleaning robot of the present invention, such as Figure 2 and Figure 11 As shown, it also includes a visual monitoring system, a signal transceiver device, and a controller. The visual monitoring system is used to monitor the surrounding environment of the coal bunker cleaning robot and send the environmental information to the control terminal via the signal transceiver device. The signal transceiver device can receive control commands from the control terminal and control the coal bunker cleaning robot via the controller, so as to realize remote control of the coal bunker cleaning robot.

[0037] In the description of this invention, references to terms such as "one embodiment," "some embodiments," and "a specific embodiment" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0038] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. A robotic arm, characterized in that, It includes a connecting arm (1), a working arm (101), a crushing head, a motion component, and a driver (4). One end of the working arm (101) is connected to the connecting arm (1), and the other end is connected to the crushing head. The driver (4) is mounted on the working arm (101) and is connected to the crushing head via the motion component, so as to drive the crushing head to rotate around its own axis and / or reciprocate along the length direction of the working arm (101) via the motion component.

2. The robotic arm according to claim 1, characterized in that, The working arm (101) is provided with a sliding groove (102) extending along the length direction of the working arm (101), and a sliding block (103) is provided in the sliding groove (102). The sliding block (103) can reciprocate along the sliding groove (102), and the crushing head is rotatably mounted on the sliding block (103). The driver (4) is connected to the sliding block (103) and the crushing head via the motion component to drive the sliding block (103) to reciprocate along the sliding groove (102) and the crushing head to rotate via the motion component.

3. The robotic arm according to claim 2, characterized in that, The motion assembly includes a drive shaft (202), a moving rod (2), and an adjustment assembly (3); The drive shaft (202) is connected to the driver (4) for driving the drive shaft (202) to rotate via the driver (4); The moving rod (2) is connected to the sliding block (103) and is connected to the crushing head and the drive shaft (202) in a transmission connection, so as to drive the crushing head to rotate when the drive shaft (202) drives the moving rod (2) to rotate; The drive shaft (202) and the moving rod (2) are also connected via the adjustment assembly (3) so that when the adjustment assembly (3) is in the first working state, the drive shaft (202) drives the moving rod (2) to rotate, and when the adjustment assembly (3) is in the second working state, the drive shaft (202) drives the moving rod (2) to rotate and drive the moving rod (2) to reciprocate along the length direction of the working arm (101).

4. The robotic arm according to claim 3, characterized in that, The adjustment assembly (3) includes a sleeve shaft (309), a reversing shaft (302), and a clutch (306). The reversing shaft (302) is connected to the drive shaft (202) and rotates synchronously with the drive shaft (202); The sleeve shaft (309) is sleeved on the drive shaft (202) and the reversing shaft (302); The sleeve shaft (309) is connected to the reversing shaft (302) via the clutch (306). When the clutch (306) is in the first working position, the reversing shaft (302) drives the sleeve shaft (309) to rotate. When the clutch (306) is in the second working position, the reversing shaft (302) drives the sleeve shaft (309) to rotate and reciprocate along the length direction of the working arm (101).

5. The robotic arm according to claim 4, characterized in that, The outer surface of the reversing shaft (302) is provided with a reciprocating groove (303). The end of the sleeve shaft (309) that cooperates with the reversing shaft (302) is provided with a slider (301). The slider (301) cooperates with the reciprocating groove (303), and when the slider (301) moves in the reciprocating groove (303), the sleeve shaft (309) reciprocates along the length direction of the working arm (101).

6. The robotic arm according to claim 5, characterized in that, The clutch (306) is provided with a transverse groove (307), and a limiting plate (304) is installed on the inner wall of the working arm (101). The limiting plate (304) is provided with a limiting groove (305) extending along the length direction of the working arm (101) at a position facing the reversing shaft (302). The clutch (306) can be disposed in the limiting groove (305) and slide along the limiting groove (305). The inner wall of the clutch (306) is provided with a transverse groove (307) that can match the slider (301). The limiting plate (304) The device is equipped with an electric telescopic rod (310), and the telescopic end of the electric telescopic rod (310) is connected to the clutch (306) to drive the clutch (306) to slide along the limiting groove (305). When the clutch (306) is in the limiting groove (305), it is in the second working state. At this time, the slider (301) is in the transverse groove (307). When the clutch (306) is outside the limiting groove (305), it is in the first working state. At this time, the slider (301) is outside the transverse groove (307).

7. The robotic arm according to claim 6, characterized in that, The movable rod (2) is sleeved inside the drive shaft (202), and a limiting block (201) is provided on the outer surface of one end of the movable rod (2) sleeved inside the drive shaft (202). A limiting groove (203) extending along the length direction of the working arm (101) is provided on the inner wall of the end of the drive shaft (202) sleeved with the movable rod (2). The limiting block (201) can be placed in the limiting groove (203) and move along the limiting groove (203). It also includes a transmission sleeve (205), one end of which is connected to the sleeve shaft (309), and the other end is connected to the moving rod (2); The moving rod (2) is provided with a connecting protrusion, and the outer surface of the drive shaft (202) is provided with a displacement groove (204) extending along the length direction of the working arm (101). The inner wall of the transmission sleeve (205) is fixedly installed with a transmission bearing (206), and the connecting protrusion passes through the displacement groove (204) and connects with the transmission bearing (206).

8. The robotic arm according to claim 7, characterized in that, The driver (4) is located on the outer surface of the working arm (101). The output end of the driver (4) is equipped with a spindle (401). The output end of the spindle (401) is equipped with a first helical gear (402). One end of the drive shaft (202) is fixedly equipped with a second helical gear (403) that meshes with the first helical gear (402). The output end of the moving rod (2) is provided with a driving helical gear (105), and the sliding block (103) is provided with a driven helical gear (104) that matches the driving helical gear (105). The driven helical gear (104) is connected to the transmission rod (106) and is connected to the crushing head via the transmission rod (106). The crushing head includes a rotating wheel (107) and a plurality of crushing teeth (108) disposed on the circumferential surface of the rotating wheel (107).

9. A coal bunker cleaning robot, characterized in that, Includes a robotic arm according to any one of claims 1-8, a tracked chassis (5), and a power battery (6). The tracked chassis (5) is provided with an adjusting arm (501), a first hydraulic rod (502) and a second hydraulic rod (503). The robotic arm is connected to the adjusting arm (501). One end of the first hydraulic rod (502) is connected to the tracked chassis (5) and the other end is connected to the adjusting arm (501) to drive the adjusting arm (501) to rotate up and down. One end of the second hydraulic rod (503) is connected to the adjusting arm (501) and the other end is connected to the robotic arm to drive the robotic arm to rotate up and down.

10. The coal bunker cleaning robot according to claim 9, characterized in that, It also includes a visual monitoring system, a signal transceiver device, and a controller. The visual monitoring system is used to monitor the surrounding environment of the coal bunker cleaning robot and send the environmental information to the control terminal via the signal transceiver device. The signal transceiver device can receive control commands from the control terminal and control the coal bunker cleaning robot via the controller.

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