Coal bunker inspection and cleaning robot
By combining the AGV chassis and multi-degree-of-freedom robotic arm with a collection box that integrates sensor recognition and separation functions, the safety hazards of coal block cleaning in the coal bunker have been solved, achieving efficient and accurate coal block collection and improving the reliability of equipment operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HENAN MENGYUN INTELLIGENT TECH CO LTD
- Filing Date
- 2026-03-11
- Publication Date
- 2026-06-09
AI Technical Summary
Existing technologies are insufficient for efficiently and accurately cleaning scattered coal blocks in coal bunker environments, especially in high-altitude and narrow areas, posing safety hazards and making it difficult for traditional equipment to effectively clean them, resulting in a high risk of equipment failure.
The system uses an AGV chassis equipped with a multi-degree-of-freedom robotic arm and a gas collection component. It combines an RGB camera and a 3D LiDAR for environmental recognition and path planning. The multi-degree-of-freedom robotic arm controls the pipe head components for precise picking, and the collection box with separation function achieves the separation of coal blocks and coal dust.
It enables efficient and precise coal cleaning within the coal bunker, reduces equipment safety hazards, improves equipment operational reliability, avoids high-risk manual operations, and achieves intelligent coal collection.
Smart Images
Figure CN122165360A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of coal bunker maintenance and management, and particularly relates to a coal bunker inspection and cleaning robot. Background Technology
[0002] Currently, bar coal bunkers, as core coal storage facilities in power plants, ports, and the metallurgical industry, commonly employ bucket wheel stacker-reclaimers for coal stacking operations. During long-term operation, due to factors such as belt conveyor material discharge deviation, bucket wheel stacker-reclaimer spillage, and overflow from transfer station discharge pipes, a large amount of scattered coal inevitably occurs. These coal chunks not only scatter on the ground but also frequently splash and accumulate on critical facilities such as the bucket wheel stacker-reclaimer's running track surface, track beam supports, electrical equipment platforms, and steel structure trusses.
[0003] To address the aforementioned loose coal chunks, existing technologies primarily rely on two methods. The first is manual labor, where operators use shovels, rakes, and other tools to enter the coal bunker for cleaning. However, the environment inside the coal bunker is harsh, with high dust concentrations, and the bucket wheel stacker-reclaimer is enormous; its track perimeter and elevated platform are high-risk operating areas, posing significant risks of mechanical injury and falls from height. The second method involves using traditional industrial sweepers or forklifts for ground cleaning. However, such equipment can only handle coal chunks piled up in open areas; it is completely ineffective at dealing with coal chunks that have fallen into track grooves, at the bucket wheel's hinge points, or on elevated steel beams.
[0004] Furthermore, while some existing negative pressure dust collection devices can pick up materials through suction tubes, their application in the complex environment of coal bunkers has significant shortcomings. On the one hand, ordinary dust collection devices can only perform large-scale indiscriminate cleaning, easily sucking up coal dust and coal chunks from the ground, making subsequent separation difficult and causing the filter element to clog easily. On the other hand, their suction tubes are mostly fixed or manually handheld, unable to flexibly reach into the narrow structural gaps of the bucket wheel excavator, let alone accurately locate and pick up coal chunks that have fallen to various positions on the equipment in three-dimensional space. As a result, if the coal chunks remaining on the track are not cleaned up in time, they can easily cause serious safety accidents such as track wear and derailment after being crushed by the bucket wheel stacker-reclaimer's traveling wheels. Summary of the Invention
[0005] The purpose of this invention is to provide a coal bunker inspection and cleaning robot, which aims to solve the problems mentioned in the background art.
[0006] The present invention is implemented as follows: a coal bunker inspection and cleaning robot, including an AGV chassis, and further comprising: The mounting platform is fixedly installed on the AGV chassis, and a collection box with separation function is set on the mounting platform; A multi-degree-of-freedom robotic arm, which is mounted on a platform; A gas collection assembly for collecting scattered coal pieces in a coal bunker includes a fan component installed on a collection box and a pipe head component installed at the end of a multi-degree-of-freedom robotic arm. The collection box, fan component, and pipe head component are connected by a pipeline component.
[0007] Preferably, the AGV chassis is equipped with a sensor module, which includes an RGB camera and a 3D LiDAR. The sensor module is used to control the robot to pick up coal blocks, and the specific steps include: Image data and point cloud data of the coal bunker environment are collected by sensor modules, and a color point cloud map with global pose information is generated using real-time positioning and mapping technology. Based on a color point cloud map, a deep learning network is used to identify coal blocks from image data, and the identification results are mapped to the point cloud space for cluster analysis to obtain the three-dimensional coordinates and surface normal vectors of the coal blocks in the global coordinate system. Based on the three-dimensional coordinates, surface normal vectors, and environmental obstacle models obtained from point cloud data, the collision-free motion trajectory of the multi-degree-of-freedom robotic arm to the target point and the approach posture of the tube head component are generated by inverse kinematics calculation. Based on the calculation results, drive commands are generated and sent to the AGV chassis and the multi-degree-of-freedom robotic arm, which causes the AGV chassis to move and controls the multi-degree-of-freedom robotic arm to move the pipe head component to the designated position and then start the fan component.
[0008] Preferably, a partition assembly is installed inside the collection box, which divides the inside of the collection box into a separation chamber and a storage chamber. A cover plate is fixedly connected to the top of the separation chamber, and a folding plate hinged to the cover plate is installed on the top of the storage chamber. The separation chamber is connected to the fan assembly and the pipe head assembly through a pipeline assembly.
[0009] Preferably, the partition assembly includes a vertical partition installed vertically inside the collection box. A swing plate is provided at the top of the vertical partition and rotatably connected to the collection box. When the swing plate is in a vertical state, the bottom of the swing plate contacts the top of the vertical partition. A separation mesh plate inclined towards the storage chamber is installed at the joint between the vertical partition and the swing plate. The separation mesh plate is sealed to the inner wall of the separation chamber. The separation mesh plate divides the separation chamber into a top chamber and a bottom chamber. The pipeline component is used to transport the coal blocks sucked by the pipe head component to the top chamber of the separation chamber and to exhaust the air in the bottom chamber through the fan component.
[0010] Preferably, the piping components include a telescopic flexible pipe connecting the top chamber to the pipe head component, and a rigid pipe connecting the bottom chamber to the fan component, and a sealing gasket with a sealing function is fixedly connected to the edge of the swing plate.
[0011] Preferably, the rigid pipe is located outside the collection box, and a cyclone separator capable of separating dust is installed on the rigid pipe, and the cyclone separator itself is in a vertical position.
[0012] Preferably, the tube head component includes a tube frame installed at the end of a multi-degree-of-freedom robotic arm, a straight tube fixedly connected to the tube frame, one end of the straight tube being connected to a pipeline component, and an elephant trunk-type suction head being installed at the other end of the straight tube.
[0013] Preferably, the diameter of the end of the elephant trunk-shaped suction head is larger than the diameter of the end connected to the straight tube, and its inner wall is a continuous curved surface. The elephant trunk-shaped suction head is made of a deformable flexible material.
[0014] Preferably, an air extraction hole is provided on the side of the elephant trunk-shaped suction head near its end, and the inner wall of the air extraction hole is treated with a rigid inner lining support.
[0015] The coal bunker inspection and cleaning robot provided in this embodiment of the invention has the following advantages: This robot, through the collaboration of an AGV chassis and a multi-degree-of-freedom robotic arm, can not only clean up scattered coal on the coal bunker floor, but also clean high-altitude and narrow working surfaces such as bucket wheel excavator platforms, steel beam structures, and track surfaces, completely solving the problems of safety blind spots in manual cleaning and inaccessibility by traditional equipment. This effectively reduces the probability of equipment safety hazards in the coal bunker's mechanical devices. By controlling the pipe head components with the multi-degree-of-freedom robotic arm, it can selectively pick up scattered coal in critical areas such as track grooves, equipment hinge points, and electrical platform gaps, preventing long-term accumulation of coal on moving parts that could lead to jamming, wear, or even malfunctions and shutdowns, thus improving equipment reliability. Furthermore, the collection box with separation function allows the sucked-in coal and coal dust to be separated within the box, eliminating the need for cumbersome post-processing screening and achieving efficient, accurate, and inherently safe collection of scattered coal in the complex environment of the coal bunker. In summary, this robot transforms traditional high-risk manual cleaning operations into intelligent, autonomous maintenance, playing a positive role in ensuring the continuous and stable operation of the coal bunker. Attached Figure Description
[0016] Figure 1 A three-dimensional structural diagram of a coal bunker inspection and cleaning robot provided in an embodiment of the present invention; Figure 2 A front view of a coal bunker inspection and cleaning robot provided in an embodiment of the present invention; Figure 3 A three-dimensional structural diagram of the collection box provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the collection box provided in an embodiment of the present invention; Figure 5This is a three-dimensional structural diagram of the pipe head component provided in an embodiment of the present invention; Figure 6 This is a flowchart illustrating the process of a robot picking up coal blocks, as provided in an embodiment of the present invention.
[0017] In the attached diagram: 1. AGV chassis; 2. Mounting platform; 3. Multi-degree-of-freedom robotic arm; 4. Fan assembly; 5. Collection box; 6. Pipe head assembly; 601. Pipe rack; 602. Straight pipe; 603. Elephant trunk suction head; 7. Partition assembly; 701. Vertical partition; 702. Swinging plate; 8. Separation chamber; 801. Top compartment; 802. Bottom compartment; 9. Storage chamber; 10. Cover plate; 11. Folding plate; 12. Separation mesh plate; 13. Telescopic flexible pipe fitting; 14. Rigid pipe fitting; 15. Cyclone separator; 16. Exhaust port. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0019] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.
[0020] like Figure 1 and Figure 2 As shown, a coal bunker inspection and cleaning robot provided in one embodiment of the present invention includes an AGV chassis 1, and further includes: The mounting platform 2 is fixedly installed on the AGV chassis 1, and the mounting platform 2 is equipped with a collection box 5 with separation function; A multi-degree-of-freedom robotic arm 3 is mounted on a mounting platform 2; A gas collection assembly for collecting scattered coal pieces in a coal bunker includes a fan component 4 installed on a collection box 5 and a pipe head component 6 installed at the end of a multi-degree-of-freedom robotic arm 3. The collection box 5, the fan component 4, and the pipe head component 6 are connected by a pipeline component.
[0021] In one embodiment of the present invention, this robot, through the collaboration of the AGV chassis 1 and the multi-degree-of-freedom robotic arm 3, can not only clean up scattered coal blocks on the coal bunker floor, but also clean high-altitude and narrow working surfaces such as bucket wheel excavator platforms, steel beam structures, and track surfaces, completely solving the problems of safety blind spots in manual cleaning and inaccessibility of traditional equipment. This effectively reduces the probability of equipment safety hazards in the mechanical devices within the coal bunker. By controlling the pipe head component 6 with the multi-degree-of-freedom robotic arm 3, scattered coal blocks can be selectively picked up from key areas such as track grooves, equipment hinge points, and electrical platform gaps, preventing long-term accumulation of coal blocks on the moving parts of the equipment, which can lead to jamming, wear, or even malfunctions and shutdowns, thus improving the reliability of equipment operation. Furthermore, the collection box 5 with separation function allows the sucked-in coal blocks and coal dust to be separated within the box, eliminating the cumbersome screening process at the back end and achieving efficient, accurate, and inherently safe collection of scattered coal blocks in the complex environment of the coal bunker. In summary, this robot transforms the traditional high-risk cleaning operation relying on manual labor into intelligent, autonomous machine maintenance.
[0022] In one embodiment of the present invention, the AGV chassis 1 is equipped with a sensor module, which includes an RGB camera and a 3D LiDAR. The sensor module is used to control the robot to pick up coal blocks, such as... Figure 6 As shown, the specific steps include: S1 collects image data and point cloud data of the coal bunker environment through sensor modules, and generates a color point cloud map with global pose information using real-time positioning and mapping technology. S2, based on a color point cloud map, uses a deep learning network to identify coal blocks from image data, and maps the identification results to the point cloud space for cluster analysis to obtain the three-dimensional coordinates and surface normal vectors of the coal blocks in the global coordinate system. S3, based on the three-dimensional coordinates, surface normal vectors and environmental obstacle models obtained through point cloud data, generates the collision-free motion trajectory of the multi-degree-of-freedom robotic arm 3 to the target point and the approach posture of the tube head component 6 through inverse kinematics calculation. S4. Based on the calculation results, a drive command is generated and sent to the AGV chassis 1 and the multi-degree-of-freedom robotic arm 3, so that the AGV chassis 1 moves and controls the multi-degree-of-freedom robotic arm 3 to drive the pipe head component 6 to the designated position and then start the fan component 4.
[0023] In the specific implementation process, the color point cloud map contains the three-dimensional structure of the coal bunker environment, providing a visual semantic foundation for subsequent recognition. Then, by using the dual analysis of images and point clouds, the scattered coal blocks can be accurately located, even in complex locations such as track grooves, equipment gaps, or high-altitude steel beams. Combined with environmental obstacle models and collision-free path planning, the robot can move safely and autonomously in the complex coal bunker environment, avoiding the risk of collisions with equipment such as bucket wheel excavators and tracks. Finally, automated operation is achieved through precise command control. It should be noted that when the pipe head component 6 approaches the target, visual servo fine-tuning is performed using sensors, and suction monitoring and visual verification are also required to confirm the absorption results and update the environmental map.
[0024] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown in the preferred embodiment of the present invention, a partition assembly 7 is installed inside the collection box 5, which divides the interior of the collection box 5 into a separation chamber 8 and a storage chamber 9. A cover plate 10 is fixedly connected to the top of the separation chamber 8, and a folding plate 11 hinged to the cover plate 10 is installed on the top of the storage chamber 9. When it is necessary to empty the coal in the storage chamber 9, the operator only needs to lift the folding plate 11 to achieve rapid unloading. The separation chamber 8 is connected to the blower assembly 4 and the pipe head assembly 6 through pipeline components. The partition assembly 7 includes a vertical partition 701 installed vertically inside the collection box 5. A swing plate 702 is provided on the top of the vertical partition 701 and is rotatably connected to the collection box 5. When the swing plate 702 is in a vertical state, the bottom of the swing plate 702 is in contact with the top of the vertical partition 701. A separation mesh plate 12 is installed at the joint between the vertical partition 701 and the swing plate 702 and is inclined toward the storage chamber 9. The separation mesh plate 12 is sealed to the inner wall of the separation chamber 8. The separation mesh plate 12 divides the separation chamber 8 into a top chamber 801 and a bottom chamber 802. The pipeline component is used to transport the coal blocks sucked by the pipe head component 6 into the top chamber 801 of the separation chamber 8, and to exhaust the air in the bottom chamber 802 through the fan component 4.
[0025] In one embodiment, the piping components include a telescopic flexible pipe 13 (e.g., a steel wire skeleton telescopic hose or a PU steel wire telescopic pipe) connecting the top chamber 801 to the pipe head component 6, and a rigid pipe 14 (e.g., a stainless steel pipe or a UPVC pipe) connecting the bottom chamber 802 to the fan component 4 (e.g., a high-speed turbine fan or a centrifugal fan). A sealing gasket with a sealing function is fixedly connected to the edge of the swing plate 702. The rigid pipe 14 is located outside the collection box 5, and a cyclone separator 15 capable of separating impurities (e.g., coal dust, coal shavings, dust, etc.) is installed on the rigid pipe 14, and the cyclone separator 15 itself is in a vertical state. During actual operation, when the fan component 4 is working, the air in the bottom chamber 802 is continuously drawn in, creating a negative pressure state in the entire separation chamber 8. This negative pressure acts on the swing plate 702, causing it to adhere tightly to the vertical partition plate 701. At this time, the coal blocks and dust-laden airflow drawn in by the pipe head component 6 enter the top chamber 801 through the telescopic flexible pipe 13. Under the action of gravity, the coal blocks fall onto the inclined separation screen plate 12 and roll down along the screen plate, but do not fall into the storage chamber 9. Meanwhile, the dust-laden airflow passes through the separation screen plate 12 and enters the bottom chamber. The airflow from chamber 802 flows through rigid pipe 14 to cyclone separator 15, where dust is separated and collected. Clean air is then discharged through fan component 4. During the interval when fan component 4 stops working, the negative pressure in separation chamber 8 disappears, and swing plate 702 resumes its free swing state. At this time, the coal blocks accumulated on separation screen plate 12 are pushed by gravity, causing swing plate 702 to swing towards storage chamber 9. The coal blocks roll into storage chamber 9. When the fan starts again, swing plate 702 is re-adsorbed and pressed tightly by negative pressure. Through the above structure, this scheme realizes the unidirectional conveying of coal blocks by automatically controlling the start and stop of the fan. It ensures the sealing of separation chamber 8 during the suction process and automatically completes the transfer of coal blocks during the stop interval. The whole process does not require additional power to drive swing plate 702. The structure is simple and reliable. At the same time, the setting of cyclone separator 15 effectively protects fan component 4 from dust wear, significantly improving the continuous operation capability and operational stability of the equipment.
[0026] like Figure 2 and Figure 5 As shown, in a preferred embodiment of the present invention, the tube head component 6 includes a tube frame 601 installed at the end of the multi-degree-of-freedom robotic arm 3. A straight tube 602 is fixedly connected to the tube frame 601. One end of the straight tube 602 is connected to the pipeline component, and the other end of the straight tube 602 is equipped with an elephant trunk suction head 603.
[0027] In one embodiment, the diameter of the end of the elephant trunk-shaped suction head 603 is larger than the diameter of the end connected to the straight tube 602, and its inner wall is a continuous curved surface. The elephant trunk-shaped suction head 603 is made of a deformable flexible material (e.g., TPU, natural rubber). An air extraction hole 16 is provided on the side of the elephant trunk-shaped suction head 603 near its end, and the inner wall of the air extraction hole 16 is rigidly lined for support. The ingenious design of the special structure of the tube head component 6 lies in the following two aspects: Firstly, traditional rigid suction heads struggle to effectively adhere to the irregular shape and rough surface of coal blocks, leading to air leakage and insufficient suction. However, the flexible elephant-nose suction head 603, when approaching a coal block, can adaptively deform through the micro-motion control of the multi-degree-of-freedom robotic arm 3. The edges of the elephant-nose suction head 603 actively wrap around the irregular contours of the coal block, significantly increasing the probability of the coal completely blocking the end of the suction head 603. When the elephant-nose suction head 603 is completely blocked by the coal block, a maximum pressure difference is created inside and outside the suction head 603, thus achieving stable and reliable suction of the coal block.
[0028] Secondly, the design of the side air extraction port 16 addresses two typical risks of jamming when the end of the elephant trunk-type suction head 603 comes into contact with a flat surface. The first scenario occurs when the end of the elephant trunk-type suction head 603 accidentally comes into complete contact with a flat surface (such as an equipment platform or track surface), and there is no coal on that surface. If the elephant trunk-type suction head 603 is completely blocked, it will be firmly adhered to the surface by negative pressure and unable to move. The second scenario occurs when the coal itself is on a flat surface, and the end of the elephant trunk-type suction head 603 comes into contact with the surface. When the suction head 603 is used to pick up coal, even if it deforms to fit the coal block to the inner wall, the complete seal between the suction head 603 and the plane prevents external air from entering. The entire interior of the suction head 603 and the pipeline are under continuous negative pressure. The coal block is adsorbed onto the plane and difficult to pump and transport. No matter how the suction head 603 deforms, as long as external air cannot enter, the adsorption force between the coal block and the plane cannot be broken, and the coal block cannot be smoothly sucked into the pipeline. To solve this problem, an air extraction hole 16 is provided on the side near its end of the suction head 603, and the inner wall of the air extraction hole 16 is rigidly lined to prevent the flexible suction head 603 from blocking the air extraction hole 16 when it deforms under negative pressure. The function of the air extraction hole 16 is as follows: when the end of the elephant trunk suction head 603 is attached to the plane, even if its opening is completely blocked by coal or the plane, air can still be continuously introduced through the small hole on the side, which breaks the dead seal between the elephant trunk suction head 603 and the plane. The presence of the air extraction hole 16 allows the elephant trunk suction head 603 to move freely and reposition itself to the position of the coal. It also provides an air intake channel so that the airflow inside the elephant trunk suction head 603 can flow continuously, forming a negative pressure zone around the coal, breaking the adsorption force between the coal and the plane, and allowing the coal to be smoothly sucked into the pipeline.
[0029] Through the above structure, this tube head component 6 achieves highly adaptable and close suction of coal blocks, while effectively solving the engineering problems of traditional suction heads getting stuck on flat surfaces and the difficulty in suctioning coal blocks on flat surfaces due to double sealing.
[0030] 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 its spirit or essential characteristics. 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, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.
[0032] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A coal bunker inspection and cleaning robot, comprising an AGV chassis (1), characterized in that, Also includes: The mounting platform (2) is fixedly installed on the AGV chassis (1), and a collection box (5) with separation function is provided on the mounting platform (2); A multi-degree-of-freedom robotic arm (3) is mounted on a mounting platform (2); A gas collection assembly for collecting scattered coal pieces in a coal bunker, the gas collection assembly includes a fan component (4) installed on a collection box (5) and a pipe head component (6) installed at the end of a multi-degree-of-freedom robotic arm (3), the collection box (5), the fan component (4) and the pipe head component (6) are connected by a pipeline component.
2. The coal bunker inspection and cleaning robot according to claim 1, characterized in that, The AGV chassis (1) is equipped with a sensor module, which includes an RGB camera and a three-dimensional LiDAR. The sensor module is used to control the robot to pick up coal blocks. The specific steps include: Image data and point cloud data of the coal bunker environment are collected by sensor modules, and a color point cloud map with global pose information is generated using real-time positioning and mapping technology. Based on a color point cloud map, a deep learning network is used to identify coal blocks from image data, and the identification results are mapped to the point cloud space for cluster analysis to obtain the three-dimensional coordinates and surface normal vectors of the coal blocks in the global coordinate system. Based on the three-dimensional coordinates, surface normal vectors, and environmental obstacle models obtained through point cloud data, the collision-free motion trajectory of the multi-degree-of-freedom robotic arm (3) to the target point and the approach posture of the tube head component (6) are generated by inverse kinematics calculation. Based on the calculation results, drive commands are generated and sent to the AGV chassis (1) and the multi-degree-of-freedom robotic arm (3), so that the AGV chassis (1) moves and controls the multi-degree-of-freedom robotic arm (3) to drive the pipe head component (6) to the designated position and then start the fan component (4).
3. The coal bunker inspection and cleaning robot according to claim 1, characterized in that, The collection box (5) is equipped with a partition assembly (7), which divides the inside of the collection box (5) into a separation chamber (8) and a storage chamber (9). The top of the separation chamber (8) is fixedly connected to a cover plate (10), and the top of the storage chamber (9) is equipped with a folding plate (11) hinged to the cover plate (10). The separation chamber (8) is connected to the fan assembly (4) and the pipe head assembly (6) through a pipeline assembly.
4. The coal bunker inspection and cleaning robot according to claim 3, characterized in that, The partition assembly (7) includes a vertical partition (701) installed vertically inside the collection box (5). The top of the vertical partition (701) is provided with a swing plate (702) rotatably connected to the collection box (5). When the swing plate (702) is in a vertical state, the bottom of the swing plate (702) contacts the top of the vertical partition (701). A separation mesh plate (12) inclined towards the storage chamber (9) is installed at the joint between the vertical partition (701) and the swing plate (702). The separation mesh plate (12) is sealed to the inner wall of the separation chamber (8). The separation mesh plate (12) divides the separation chamber (8) into a top chamber (801) and a bottom chamber (802). The pipeline component is used to transport the coal blocks sucked by the pipe head component (6) to the top chamber (801) of the separation chamber (8) and to discharge the air in the bottom chamber (802) through the fan component (4).
5. The coal bunker inspection and cleaning robot according to claim 4, characterized in that, The piping components include a telescopic flexible pipe (13) that connects the top chamber (801) to the pipe head component (6), and a rigid pipe (14) that connects the bottom chamber (802) to the fan component (4). A sealing gasket with a sealing function is fixedly connected to the edge of the swing plate (702).
6. The coal bunker inspection and cleaning robot according to claim 5, characterized in that, The rigid pipe (14) is located outside the collection box (5), and a cyclone separator (15) capable of separating dust is installed on the rigid pipe (14), and the cyclone separator (15) itself is in a vertical state.
7. The coal bunker inspection and cleaning robot according to claim 1, characterized in that, The tube head component (6) includes a tube frame (601) installed at the end of the multi-degree-of-freedom robotic arm (3). A straight tube (602) is fixedly connected to the tube frame (601). One end of the straight tube (602) is connected to the pipeline component, and the other end of the straight tube (602) is equipped with an elephant trunk suction head (603).
8. The coal bunker inspection and cleaning robot according to claim 7, characterized in that, The elephant trunk-shaped suction head (603) has a larger end diameter than the diameter of the end connected to the straight tube (602), and its inner wall is a continuous curved surface. The elephant trunk-shaped suction head (603) is made of a deformable flexible material.
9. The coal bunker inspection and cleaning robot according to claim 7, characterized in that, The elephant trunk-shaped suction head (603) has an air extraction hole (16) on its side near its end, and the inner wall of the air extraction hole (16) is treated with a rigid inner lining support.