Cylindrical coal bunker pipe wall cleaning robot

Abstract

The invention discloses a cylindrical coal bunker pipe wall cleaning robot, which relates to the technical field of coal bunker cleaning robots, and is characterized by comprising two groups of crawling assemblies which are connected through a first hydraulic rod and are used for supporting the inner wall of a coal bunker to enable the robot to crawl and walk up and down in the coal bunker; wherein a general control mechanism which provides power for the whole robot and controls the robot is hung on the lower crawling assembly, and a cleaning arm which rotates in the circumferential direction and is used for polishing the inner wall of the coal bunker is arranged on the general control mechanism. When the robot walks to the hopper-shaped part at the bottom of the coal bunker, the general control mechanism controls the cleaning arm to change the state so as to adapt to the change of the inner diameter of the coal bunker. By arranging the crawling assembly, the robot can achieve automatic crawling work in the coal bunker, meanwhile, by arranging the cleaning arm rotating in the circumferential direction, the robot can polish and clean the inner wall of the coal bunker in the crawling process, then automatic cleaning work of the coal bunker is achieved, the manual cleaning cost is reduced, and the working efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of coal bunker cleaning robot technology, specifically to a cylindrical coal bunker pipe wall cleaning robot. Background Technology

[0002] In longwall mining, underground coal bunkers are required between various stages of mine transportation and hoisting, and are also installed in areas with large coal storage volumes. Due to factors such as moisture content, impurities in the coal, and coal compaction, coal bunker walls are prone to adhesion, reducing storage capacity and hindering coal flow. Therefore, bunker cleaning has become crucial for achieving effective bunker volume and facilitating production and transportation. However, the large height of the bunker makes it difficult for workers to clean the walls outside the top and bottom openings, leading to challenging cleaning operations, high labor costs, and low efficiency.

[0003] Therefore, this invention was designed to solve the above-mentioned problems.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is the closest prior art. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a cylindrical coal bunker wall cleaning robot.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The cylindrical coal bunker wall cleaning robot includes two sets of crawling components connected by a first hydraulic rod to support the inner wall of the coal bunker, enabling the robot to crawl up and down inside the bunker. The lower set of crawling components is equipped with a central control mechanism that provides power and control to the entire robot. The central control mechanism is equipped with a circumferentially rotating cleaning arm for polishing the inner wall of the coal bunker. When the robot walks to the bucket-shaped part at the bottom of the coal bunker, the central control mechanism controls the cleaning arm to change its state to adapt to the change in the inner diameter of the coal bunker.

[0007] Furthermore, the crawling assembly includes a mounting plate, multiple sets of second hydraulic rods evenly distributed on the mounting plate and electrically connected to the main control mechanism, and support feet disposed at the telescopic ends of the second hydraulic rods for abutting against the inner wall of the coal bunker.

[0008] Furthermore, the main control mechanism includes a chassis with a control board and a main motor installed inside, a first drive shaft mounted on the main motor and movably passing through the lower surface of the chassis, and a secondary control component mounted outside the chassis for changing the state of the cleaning arm. The cleaning arm is mounted on the first drive shaft.

[0009] Furthermore, the cleaning arm includes a fixed arm fixed on the first drive shaft, a movable arm hinged to the fixed arm and connected to the sub-control component, a grinding unit disposed on the movable arm for grinding the inner wall of the coal bunker, and a trigger switch disposed on the grinding unit. When the trigger switch is pressed, the secondary control component drives the movable arm to rotate.

[0010] Furthermore, the movable arm is shaped like a "door" and has first limiting grooves on both sides. The fixed arm has snap-fit ​​shafts on both sides at the end away from the first drive shaft that limit sliding within the first limiting groove. The secondary control component includes a longitudinal limiting ring that slides vertically and horizontally on the outside of the chassis, a transverse limiting ring that slides within an annular groove on the longitudinal limiting ring, a connector mounted on the transverse limiting ring and hinged to the end of the movable arm, and a third hydraulic rod mounted on the mounting plate for driving the longitudinal limiting ring to move up and down.

[0011] Furthermore, the grinding unit includes a mounting cylinder disposed at the end of the movable arm away from the fixed arm, a small motor disposed inside the mounting cylinder, a second drive shaft mounted on the small motor and movably passing through the mounting cylinder, and a grinding head disposed at the end of the second drive shaft away from the small motor.

[0012] Furthermore, a third limiting groove is provided on the inner wall of the mounting cylinder, and a limiting plate is provided on the small motor to limit sliding within the third limiting groove. A spring is provided between the small motor and the inner wall of the mounting cylinder.

[0013] Furthermore, the horizontal limiting ring is connected to a dust collection cylinder for collecting coal dust by a suspension arm. A third drive shaft is provided at the bottom of the first drive shaft. Drawer blades are evenly distributed on the third drive shaft. The end of the drawer blades away from the third drive shaft is fitted with a blade ring that slides against the inner wall of the dust collection cylinder. The dust collection cylinder is equipped with a filter screen for filtering coal dust in the portion located below the exhaust fan blades.

[0014] Furthermore, the dust collection cylinder includes a side wall and a bottom plate that can be separated from each other, wherein the side wall is connected to the dust collection cylinder, the bottom plate is connected to the third drive shaft, and the upper surface of the bottom plate is set to be conical. The filter screen is located on the side wall near the bottom plate.

[0015] Furthermore, impact plates are evenly distributed on the grinding head, and a freely movable ball bearing is embedded at the end of the grinding head away from the second drive shaft.

[0016] Compared with the prior art, the beneficial effects of this solution are: by setting up the crawling component, the robot can realize automatic crawling work in the coal bunker. At the same time, by setting up a circumferentially rotating cleaning arm, it can grind and clean the inner wall of the coal bunker during the crawling process, thereby realizing automatic cleaning of the coal bunker, reducing the cost of manual cleaning and greatly improving work efficiency.

[0017] Meanwhile, the robot, through the central control mechanism, can automatically adjust the grinding state to adapt to the grinding of the bucket-shaped part at the bottom of the coal bunker, and it has a high degree of adaptability to the cleaning work of the coal bunker wall. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the state of the present invention installed in a coal bunker according to an embodiment; Figure 2 This is a three-dimensional schematic diagram of an embodiment of the present invention; Figure 3 This is a schematic diagram of the combined structure of the central control mechanism and the cleaning arm in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall control mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram of the combined structure of the longitudinal limiting ring and the transverse limiting ring in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the separation of the longitudinal limiting ring and the transverse limiting ring in an embodiment of the present invention; Figure 7 This is a schematic diagram of the combination relationship between the horizontal limiting ring and the dust collection cylinder in an embodiment of the present invention; Figure 8 This is a schematic diagram of the cleaning arm in an embodiment of the present invention; Figure 9 This is a schematic diagram of the grinding unit in an embodiment of the present invention; Figure 10 This is a schematic diagram of the internal structure of the mounting cylinder in an embodiment of the present invention; Figure 11 This is a schematic diagram of the combined state of the sidewall and the bottom plate in an embodiment of the present invention; Figure 12 This is a schematic diagram of the separation state of the sidewall and the bottom plate in an embodiment of the present invention.

[0019] In the diagram: 1. First hydraulic rod; 11. Crawling assembly; 12. Cleaning arm; 2. Mounting plate; 21. Second hydraulic rod; 22. Support leg; 3. Chassis; 31. First drive shaft; 4. Fixed arm; 41. Movable arm; 42. Trigger switch; 43. First limit groove; 44. Snap-fit ​​shaft; 5. Longitudinal limit ring; 51. Annular groove; 52. Transverse limit ring; 53. Connector; 54. Third hydraulic rod; 55. Second limit groove; 56. Limiting block; 6. Mounting cylinder; 61. Small motor; 62. Second drive shaft; 63. Grinding head; 64. Third limit groove; 65. Limiting plate; 66. Spring; 7. Suspension arm; 71. Dust collection cylinder; 72. Third drive shaft; 73. Exhaust fan blade; 74. Blade ring; 75. Filter screen; 8. Side wall; 81. Base plate; 9. Impact plate; 91. Ball bearing. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1-12 The illustrated cylindrical coal bunker wall cleaning robot includes two sets of crawling components 11 connected by a first hydraulic rod 1 to support the inner wall of the coal bunker. The lower set of crawling components 11 is equipped with a central control mechanism that provides power and control to the entire robot. This central control mechanism has a circumferentially rotating cleaning arm 12 for polishing the inner wall of the coal bunker. When the robot reaches the bucket-shaped section at the bottom of the coal bunker, the central control mechanism controls the cleaning arm 12 to change its position to adapt to changes in the inner diameter of the coal bunker. When lowering the robot, the operator first cleans the upper wall of the coal bunker, which is easier to clean. After partial cleaning, the robot is lowered. The robot supports the inner wall of the coal bunker through the crawling component 11, allowing it to maintain suspension stability inside the bunker. When crawling is required, it controls one set of crawling components 11 to support the wall while the other set of crawling components 11 does not provide support. Then, it controls the extension and retraction of the first hydraulic rod 1 to alternately drive the unsupported crawling components 11 to move, achieving a creeping up and down movement. During this process, the cleaning arm 12 at the lower end will continuously rotate and work, thereby cleaning the coal blocks on the wall of the coal bunker during the crawling process.

[0022] In one embodiment, the crawling component 11 includes a mounting plate 2, multiple sets of second hydraulic rods 21 evenly distributed on the mounting plate 2 and electrically connected to the main control mechanism, and support feet 22 provided at the telescopic ends of the second hydraulic rods 21 for supporting against the inner wall of the coal bunker. The support feet 22 can preferably be made of rubber with high friction to provide stable support against the cylinder wall, while its elastic structure can avoid damage to the cylinder wall.

[0023] In one embodiment, the main control mechanism includes a housing 3 with a control board and a main motor installed inside, a first drive shaft 31 mounted on the main motor and movably passing through the lower surface of the housing 3, and a secondary control component mounted outside the housing 3 for changing the state of the cleaning arm 12. The cleaning arm 12 is mounted on the first drive shaft 31. The main motor drives the first drive shaft 31 to rotate, thereby driving the cleaning arm 12 to rotate and clean the inner wall of the coal bunker. When the robot moves to the bucket-shaped part at the bottom of the coal bunker, the secondary control component can drive the cleaning arm 12 to change its state so that it adapts to the inner wall of the bucket-shaped part, so as to continue cleaning.

[0024] In one embodiment, the cleaning arm 12 includes a fixed arm 4 fixed on the first drive shaft 31, a movable arm 41 hinged to the fixed arm 4 and connected to the sub-control component, a grinding unit disposed on the movable arm 41 for grinding the inner wall of the coal bunker, and a trigger switch 42 disposed on the grinding unit. The grinding unit continuously grinds and cleans the inner wall of the coal bunker when the cleaning arm 12 rotates as a whole. When the robot moves to the bottom bucket-shaped part, the trigger switch 42 on it will abut against the bucket-shaped inclined surface and be triggered, thereby transmitting a signal to the control board in the chassis 3, so that the control board controls the sub-control component to drive the movable arm 41 to rotate, so as to drive the front grinding unit to adjust the angle to adapt to the bucket-shaped inclined surface, so as to facilitate grinding and cleaning of a part of the bucket-shaped inclined surface.

[0025] In one embodiment, the movable arm 41 is shaped like a "door" and has first limiting grooves 43 on both sides. The fixed arm 4, at its end away from the first drive shaft 31, has locking shafts 44 on both sides that are limited and slide within the first limiting grooves 43. The secondary control assembly includes a longitudinal limiting ring 5 that slides vertically and vertically on the outside of the housing 3, a transverse limiting ring 52 that slides within an annular groove 51 on the longitudinal limiting ring 5, a connector 53 mounted on the transverse limiting ring 52 and hinged to the end of the movable arm 41, and a third hydraulic rod 54 mounted on the mounting plate 2 for driving the longitudinal limiting ring 5 to move vertically and vertically. The housing 3 has a second limiting groove 55, and the longitudinal limiting ring 5 has a limiting block 56 that slides within the second limiting groove 55, so that the longitudinal limiting ring 5 can only slide vertically and vertically outside the housing 3. When the first drive shaft... When the first drive shaft 31 rotates, it drives the fixed arm 4 to rotate, which in turn drives the movable arm 41 and the grinding unit to rotate synchronously. At the same time, the movable arm 41 drives the horizontal limit ring 52 to rotate through the connector 53. When it is necessary to change the angle of the grinding unit, the third hydraulic rod 54 is driven to retract, which in turn drives the longitudinal limit ring 5 to move upward, so that the horizontal limit ring 52 rotating in the annular groove 51 moves upward as well. This, in turn, drives the end of the movable arm 41 to move upward through the connector 53. Since the fixed arm 4 is fixed on the first drive shaft 31 and remains horizontal, the snap-fit ​​shaft 44 on it will slide in the first limit groove 43, so that the movable arm 41 will retract backward while rotating to change the angle, so that the grinding unit can adapt to the grinding of the inner wall of the coal bunker hopper by adjusting its position and angle.

[0026] In one embodiment, the grinding unit includes a mounting cylinder 6 disposed at the end of the movable arm 41 away from the fixed arm 4, a small motor 61 disposed inside the mounting cylinder 6, a second drive shaft 62 mounted on the small motor 61 and movably passing through the mounting cylinder 6, and a grinding head 63 disposed at the end of the second drive shaft 62 away from the small motor 61. A third limiting groove 64 is provided on the inner wall of the mounting cylinder 6, and a limiting plate 65 is provided on the small motor 61 to limit sliding within the third limiting groove 64. A spring 66 is provided between the small motor 61 and the inner wall of the mounting cylinder 6, and the grinding head 63 is evenly distributed with springs. An impact plate 9 is provided, and a freely movable ball bearing 91 is embedded at the end of the grinding head 63 away from the second drive shaft 62. The impact plate 9 and the ball bearing 91 are preferably made of non-metallic wear-resistant material to avoid sparks generated during grinding. The small motor 61 drives the grinding head 63 to rotate through the second drive shaft 62, and the impact plate 9 on it grinds and breaks up the coal lumps adhering to the inner wall of the coal bunker. The ball bearing 91 assists the grinding head 63 to slide on the inner wall of the coal bunker. At the same time, the setting of the spring 66 provides space for the grinding head 63 to move back and forth, thereby avoiding jamming during the grinding process.

[0027] In one embodiment, the horizontal limiting ring 52 is connected to a dust collection cylinder 71 hanging at its lower end for collecting coal dust via a suspension arm 7. A third drive shaft 72 is provided at the bottom of the first drive shaft 31, and suction fan blades 73 are evenly distributed on the third drive shaft 72. The end of the suction fan blades 73 away from the third drive shaft 72 is fitted with a blade ring 74 that slides against the inner wall of the dust collection cylinder 71. A filter screen 75 for filtering coal dust is provided on the part of the dust collection cylinder 71 below the suction fan blades 73. During the cleaning process of the cleaning arm 12, the coal blocks on it will be broken. Larger particles will fall directly to the bottom, while smaller particles will be suspended in the air as coal dust. Therefore, the suction fan blades 73 are provided on the robot. When the first When the drive shaft 31 drives the cleaning arm 12 to perform cleaning work, it drives the suction fan blade 73 to rotate through the third drive shaft 72, thereby drawing air in and causing the coal dust suspended at the top to be sucked into the dust collection cylinder 71 for collection, so as to reduce the dust concentration in the coal bunker. At the same time, the suspension arm 7 is fixed on the horizontal limit ring 52, so when the cleaning arm 12 rotates, the dust collection cylinder 71 and the suspension arm 7 will rotate with it without interfering with the movement of the cleaning arm 12. The suspension arm 7 will also drive the dust collection cylinder 71 to rotate synchronously, so that the dust inside accumulates on the inner wall under centrifugal force. In addition, the blade ring 74 is set to block the upper edge of the dust collection cylinder 71, making it difficult for the dust to escape from the dust collection cylinder 71, thus ensuring the stability of collection.

[0028] In one embodiment, the dust collection cylinder 71 includes a side wall 8 and a bottom plate 81 that are separable from each other. The side wall 8 is connected to the dust collection cylinder 71, and the bottom plate 81 is connected to the third drive shaft 72. The upper surface of the bottom plate 81 is tapered. A filter screen 75 is disposed on the side of the side wall 8 near the bottom plate 81. In the initial state, the side wall 8 and the bottom plate 81 are tightly closed together. The robot moves downward while grinding, collecting the suspended coal powder in the dust collection cylinder 71. The coal powder slides down the tapered slope on the bottom plate 81 and accumulates at the edge corner. When the robot moves to the bucket-shaped part at the bottom of the coal bunker, the horizontal limit ring 52 moves upward to drive the movable arm 41 to change its angle shape. The side wall 8 is connected to the horizontal limiting ring 52 via the suspension arm 7, and then it will move upward with the horizontal limiting ring 52. The bottom plate 81 is fixed on the first drive shaft 31 via the third drive shaft 72, and its position remains unchanged, so that the side wall 8 and the bottom plate 81 are separated and opened. At this time, the coal powder accumulated at the junction of the side wall 8 and the bottom plate 81 will slide down the conical inclined surface of the bottom plate 81 and fall to the bottom of the coal bunker. At this time, the robot's cleaning work on the inclined surface of the hopper-shaped part of the coal bunker is also completed. The remaining part of the inclined surface at the bottom is cleaned manually by the staff, and all the coal slag and coal powder that have fallen to the bottom are treated together, thus completing the cleaning work of the entire inner wall of the coal bunker.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A cylindrical coal bunker wall cleaning robot, characterized in that: It includes two sets of crawling components (11) connected by a first hydraulic rod (1) to support the inner wall of the coal bunker so that the robot can crawl up and down in the coal bunker. The lower set of crawling components (11) is equipped with a central control mechanism that provides power and control to the robot as a whole. The central control mechanism is equipped with a cleaning arm (12) that rotates circumferentially to polish the inner wall of the coal bunker. When the robot walks to the bucket-shaped part at the bottom of the coal bunker, the main control mechanism controls the cleaning arm (12) to change its state to adapt to the change in the inner diameter of the coal bunker.

2. The cylindrical coal bunker wall cleaning robot according to claim 1, characterized in that: The crawling assembly (11) includes a mounting plate (2), multiple sets of second hydraulic rods (21) evenly distributed on the mounting plate (2) and electrically connected to the main control mechanism, and support feet (22) provided at the telescopic ends of the second hydraulic rods (21) for abutting against the inner wall of the coal bunker.

3. The cylindrical coal bunker wall cleaning robot according to claim 1, characterized in that: The main control mechanism includes a chassis (3) with a control board and a main motor installed inside, a first drive shaft (31) installed on the main motor and movably passing through the lower surface of the chassis (3), and a secondary control component installed outside the chassis (3) for changing the state of the cleaning arm (12). The cleaning arm (12) is mounted on the first drive shaft (31).

4. The cylindrical coal bunker wall cleaning robot according to claim 3, characterized in that: The cleaning arm (12) includes a fixed arm (4) fixed on the first drive shaft (31), a movable arm (41) hinged to the fixed arm (4) and connected to the sub-control component, a grinding unit on the movable arm (41) for grinding the inner wall of the coal bunker, and a trigger switch (42) on the grinding unit. When the trigger switch (42) is pressed, the sub-control component drives the movable arm (41) to rotate.

5. The cylindrical coal bunker wall cleaning robot according to claim 4, characterized in that: The movable arm (41) is in the shape of a "door" and has a first limiting groove (43) on both sides. The fixed arm (4) has a locking shaft (44) on both sides at one end away from the first drive shaft (31) that limits sliding within the first limiting groove (43). The sub-control assembly includes a longitudinal limiting ring (5) that slides vertically and horizontally on the outside of the chassis (3), a transverse limiting ring (52) that slides within an annular groove (51) on the longitudinal limiting ring (5), a connector (53) that is mounted on the transverse limiting ring (52) and hinged to the end of the movable arm (41), and a third hydraulic rod (54) mounted on the mounting plate (2) for driving the longitudinal limiting ring (5) to move up and down.

6. The cylindrical coal bunker wall cleaning robot according to claim 5, characterized in that: The grinding unit includes a mounting cylinder (6) located at one end of the movable arm (41) away from the fixed arm (4), a small motor (61) located inside the mounting cylinder (6), a second drive shaft (62) mounted on the small motor (61) and movably passing through the mounting cylinder (6), and a grinding head (63) located at one end of the second drive shaft (62) away from the small motor (61).

7. The cylindrical coal bunker wall cleaning robot according to claim 6, characterized in that: The inner wall of the mounting cylinder (6) is provided with a third limiting groove (64), and the small motor (61) is provided with a limiting plate (65) that slides within the third limiting groove (64). A spring (66) is provided between the small motor (61) and the inner wall of the mounting cylinder (6).

8. The cylindrical coal bunker wall cleaning robot according to any one of claims 5-7, characterized in that: The horizontal limiting ring (52) is connected to a dust collection cylinder (71) hanging at its lower end for collecting coal dust via a suspension arm (7). A third drive shaft (72) is provided at the bottom end of the first drive shaft (31). Drainage fan blades (73) are evenly distributed on the third drive shaft (72). The end of the drainage fan blades (73) away from the third drive shaft (72) is fitted with a blade ring (74) that slides against the inner wall of the dust collection cylinder (71). The dust collection cylinder (71) is equipped with a filter screen (75) for filtering coal powder in the part located below the exhaust fan blade (73).

9. The cylindrical coal bunker wall cleaning robot according to claim 5, characterized in that: The dust collection cylinder (71) includes a side wall (8) and a bottom plate (81) that can be separated from each other, wherein the side wall (8) is connected to the dust collection cylinder (71), the bottom plate (81) is connected to the third drive shaft (72), and the upper surface of the bottom plate (81) is set as conical; The filter screen (75) is located on the side of the side wall (8) near the bottom plate (81).

10. The cylindrical coal bunker wall cleaning robot according to claim 6, characterized in that: Impact plates (9) are evenly distributed on the grinding head (63), and a freely movable ball bearing (91) is embedded at the end of the grinding head (63) away from the second drive shaft (62).

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