Robot for crushing ice and coal in cabin

Abstract

The utility model discloses a cabin ice and coal crushing robot which comprises a base fixedly arranged on a moving device, a rotation adjusting device is arranged on the base and comprises a first electric jacking cylinder arranged in a rotating mode, and a second electric jacking cylinder is arranged at the extending end of the first electric jacking cylinder. A rotating seat is arranged at the extending end of the second electric top cylinder, a translation unit is arranged on the rotating seat, a lifting unit is arranged on the translation unit, a smashing mechanism is arranged on the lifting unit, and the smashing mechanism comprises a reciprocating motor fixedly arranged on the lifting unit and a loosening unit connected with the reciprocating motor; and the loosening unit is in transmission connection with a shoveling unit. The moving device is arranged to drive the base and the rotation adjusting device to reach the corresponding positions in the ship cargo hold, the rotation adjusting device is started to synchronously drive the translation unit and the lifting unit which are connected with the rotation base to stretch out to approach the cargo hold wall, and then the loosening unit and the shoveling unit are started to shovel ice coal blocks adhered to the cargo hold wall. Transmission is efficient, and operation is flexible.

Description

Technical Field

[0001] The utility model relates to the technical field of coal bunker transportation, in particular to a cabin ice-crushing coal robot. Background Art

[0002] The cargo holds of large ships are large in volume and deep. After the cargo holds are loaded with coal, especially the coal contains moisture, and due to climatic reasons, it is easy for ice to form and stick to the inner wall of the cargo hold in winter, and it is not easy to be collected and transported, which requires high labor intensity. In addition, the deep hold structure of the ship easily creates a hot, stuffy, dusty and noisy working environment at the bottom of the hold, which is very detrimental to the health of the operator. Utility Model Content

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a cabin ice and coal crushing robot which is convenient for removing ice and coal blocks adhering to the cargo hold wall.

[0004] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a cabin ice-crushing coal robot, comprising a base fixed on a moving device, a rotation adjustment device is provided on the base, the rotation adjustment device comprises a first electric top cylinder which is rotatably arranged, a second electric top cylinder is provided at the protruding end of the first electric top cylinder, a rotating seat is provided at the protruding end of the second electric top cylinder, a lifting unit is provided on the rotating seat, a translation unit is provided on the lifting unit, a crushing mechanism is provided on the lifting unit, the crushing mechanism comprises a reciprocating motor fixed on the lifting unit and a loosening unit connected to the reciprocating motor, the loosening unit is transmission-connected with a shoveling unit; when in use, the loosening unit loosens the coal blocks, and at the same time, the shoveling unit shovels away the loosened coal blocks.

[0005] With the above structure, the moving device synchronously drives the base and the rotating adjustment device to reach the corresponding positions in the cargo hold of the ship, and starts the rotating adjustment device to rotate and lift the first electric top cylinder, and then starts the second electric top cylinder. The output end of the second electric top cylinder synchronously drives the translation unit and the lifting unit connected to the rotating seat to extend close to the cargo hold wall, and then starts the reciprocating motor to drive the loosening unit to loosen the ice coal. At the same time, the shoveling unit reciprocates to shovel the loosened ice coal; in the meantime, according to the position and adhesion state of the coal blocks, the rotating seat, the translation unit and the lifting unit can be synchronously started to control the operating position and operating angle of the loosening unit and the shoveling unit in a linkage manner, so as to smoothly remove the residual coal blocks on the bulkhead. The structure is simple and compact, occupies little space, and is flexible to use.

[0006] In order to simplify the structure and facilitate installation, preferably, a first electric rotary cylinder is fixedly provided on the base, a bottom plate is provided on the first electric rotary cylinder, a drive motor is provided on one side of the bottom plate, a first screw rod is provided at the output end of the drive motor, a fixed block which is arranged in contact with the bottom plate is screwed on the first screw rod, and a rotation adjustment device is provided on the fixed block.

[0007] In order to facilitate the rotation, lifting and folding of the first electric top cylinder and simplify the installation structure, preferably, the rotation adjustment device includes a bracket connected to the fixed block and a third electric top cylinder hingedly connected to one side of the bracket, the protruding end of the third electric top cylinder is hingedly provided with a chassis connected to the bottom of the first electric top cylinder, a connecting block is provided on the chassis, and a connecting shaft rotatably sleeved on the bracket is provided on the connecting block.

[0008] In order to simplify the installation structure, preferably, the rotating seat includes a second electric rotating cylinder fixedly connected to the extending end of the robotic arm, and the lifting unit includes a first fixed plate connected to the output end of the second electric rotating cylinder, a first power motor is provided on one side of the first fixed plate, a second screw rod is provided at the output end of the first power motor, and a connecting frame that is fitted with the first fixed plate is screwed on the second screw rod; a first support plate is provided on one side of the first fixed plate, and a first guide rod that horizontally passes through the connecting frame is provided on the first support plate.

[0009] In order to avoid movement interference and simplify the installation structure, preferably, the translation unit includes a second fixed plate fixedly connected to the connecting frame and a second power motor fixedly connected to the second fixed plate, the output end of the second power motor is provided with a third screw screwed to the connecting frame, a second support plate is provided on one side of the second fixed plate, and a second guide rod vertically passing through the connecting frame is provided on the second support plate.

[0010] In order to simplify the installation structure and improve the efficiency of ice loosening, preferably, a cover body is fixedly connected to the second fixed plate, the reciprocating motor is fixed on the cover body, and the loosening unit includes a driving tooth connected to the output end of the reciprocating motor, a first reduction tooth meshing with the driving tooth and arranged on the cover body, and a first driven tooth meshing with the first reduction tooth, a first transmission shaft is concentrically arranged on the first driven tooth, a first spiral blade is arranged on one side of the first transmission shaft, and a second spiral blade is arranged on the other side, and the spiral directions of the two spiral blades are arranged in opposite directions.

[0011] In order to facilitate the shoveling of ice and coal in both moving directions, preferably, the scraping unit includes a second driven tooth arranged on the cover body and a second transmission shaft arranged concentrically with the second driven tooth, the second driven tooth is meshingly connected with the first driven tooth, and a first connecting block and a second connecting block are movably sleeved on the second transmission shaft, and each of the connecting blocks is provided with a first shovel block and a second shovel block extending obliquely outward, and the first shovel block and the second shovel block are arranged in opposite positions.

[0012] In order to simplify the installation structure, preferably, a spiral groove is provided at the position corresponding to the first connecting block and the second connecting block on the second transmission shaft, and the two sections of the spiral groove are arranged in opposite directions; the first connecting block and the second connecting block are provided with a through hole sleeved on the outer wall of the second transmission shaft, and a guide rod extending into the through hole is threadedly provided on the connecting block, and the extending end of the guide rod at the corresponding position is inserted into the spiral groove. With the synchronous rotation of the second transmission shaft and the spiral groove, the movement of the guide rod in the spiral groove drives the connecting block at the corresponding end to move along the axial direction of the second transmission shaft.

[0013] In order to improve the transmission efficiency, preferably, a second reduction tooth meshing with the first driven tooth is provided on the cover body, and one side of the second reduction tooth is also meshing with the second driven tooth.

[0014] In order to ensure the contact surface for scraping and reduce the resistance for scraping, preferably, the extending ends of the first shovel block and the second shovel block are both provided with a "V"-shaped notch.

[0015] Beneficial effects: The utility model arranges a moving device to drive the base and the rotating adjustment device to the corresponding positions in the cargo hold of the ship, and starts the rotating adjustment device to synchronously drive the translation unit and the lifting unit connected to the rotating seat to extend close to the cargo hold wall, and then starts the loosening unit and the scraping unit to scrape off the ice and coal blocks adhered to the cargo hold wall, with efficient transmission and flexible operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is a schematic diagram of the structure of the utility model.

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the utility model.

[0019] Figure 3 Schematic diagram of the connection structure between the bracket and the chassis.

[0020] Figure 4 It is a structural diagram of the crushing mechanism.

[0021] Figure 5 for Figure 4 Rear view of.

[0022] Figure 6 It is a schematic diagram of the structure of the second electric rotary cylinder.

[0023] Figure 7 It is a schematic diagram of the installation structure of the first transmission shaft.

[0024] Figure 8 It is a schematic structural diagram of the second transmission shaft.

[0025] Fig. 9 It is a structural schematic diagram of the first connection block.

[0026] Fig.10 This is a usage status diagram of the first connection block and the second connection block.

[0027] Fig.11 It is a schematic diagram of the transmission structure of the loosening unit and the scraping unit.

[0028] Fig.12 This is a schematic diagram of the utility model in use state 1.

[0029] Fig.13 This is a schematic diagram of the second usage state of the utility model.

[0030] Fig.14 This is a schematic diagram of the third use state of the utility model.

[0031] The meanings of the symbols in the accompanying drawings are:

[0032] Base-1; first electric rotary cylinder-10; bottom plate-2; driving motor-20; first screw rod-21; fixing block-22; bracket-23; third electric top cylinder-24; chassis-25; connecting block-26; connecting shaft-27; first electric top cylinder-31; second electric top cylinder-32;

[0033] The second electric rotary cylinder-4; the first fixed plate-41; the first support plate-411; the first guide rod-412; the first power motor-51; the second screw rod-52; the connecting frame-53; the second fixed plate-6; the second support plate-60; the second guide rod-601; the second power motor-61; the third screw rod-62;

[0034] Reciprocating motor-7; cover-70; first transmission shaft-71; first spiral blade-72; second spiral blade-73; second transmission shaft-74; first connecting block-75; second connecting block-76; first shovel block-77; second shovel block-78; spiral groove-79;

[0035] Driving tooth-8; first reduction tooth-81; first driven tooth-82; second reduction tooth-83; second driven tooth-84; guide rod-85. DETAILED DESCRIPTION

[0036] Depend on Figures 1 to 14 As shown, the utility model includes a base 1 fixedly mounted on a mobile device, a rotation adjustment device is provided on the base 1, the rotation adjustment device includes a first electric top cylinder 31 which is rotatably arranged, a second electric top cylinder 32 is provided at the protruding end of the first electric top cylinder 31, a rotating seat is provided at the protruding end of the second electric top cylinder 32, a lifting unit is provided on the rotating seat, a translation unit is provided on the lifting unit, a crushing mechanism is provided on the lifting unit, the crushing mechanism includes a reciprocating motor 7 fixedly mounted on the lifting unit and a loosening unit connected to the reciprocating motor 7, the loosening unit is transmission-connected with a shoveling unit; when in use, the loosening unit loosens the coal blocks, and at the same time, the shoveling unit removes the loosened coal blocks.

[0037] Specifically, a first electric rotary cylinder 10 is fixedly provided on the base 1, a bottom plate 2 is provided on the first electric rotary cylinder 10, a driving motor 20 is provided on one side of the bottom plate 2, a first screw rod 21 is provided at the output end of the driving motor 20, a fixing block 22 which is arranged in close contact with the bottom plate 2 is screwed on the first screw rod 21, and a rotation adjustment device is provided on the fixing block 22; the rotation adjustment device comprises a bracket 23 connected to the fixing block 22 and a third electric top cylinder 24 which is hingedly connected to one side of the bracket 23, a chassis 25 which is connected to the bottom of the first electric top cylinder 31 is hingedly provided at the protruding end of the third electric top cylinder 24, a connecting block 26 is provided on the chassis 25, and a connecting shaft 27 which is rotatably sleeved on the bracket 23 is provided on the connecting block 26.

[0038] The rotating seat includes a second electric rotating cylinder 4 fixedly connected to the extending end of the robot arm, and the lifting unit includes a first fixed plate 41 connected to the output end of the second electric rotating cylinder 4, a first power motor 51 is provided on one side of the first fixed plate 41, a second screw rod 52 is provided at the output end of the first power motor 51, and a connecting frame 53 that is closely arranged with the first fixed plate 41 is screwed on the second screw rod 52; a first support plate 411 is provided on one side of the first fixed plate 41, and a first guide rod 412 that horizontally passes through the connecting frame 53 is provided on the first support plate 411.

[0039] The translation unit includes a second fixed plate 6 fixedly connected to the connecting frame 53 and a second power motor 61 fixedly connected to the second fixed plate 6, the output end of the second power motor 61 is provided with a third screw rod 62 threadedly connected to the connecting frame 53, a second support plate 60 is provided on one side of the second fixed plate 6, and a second guide rod 601 vertically passing through the connecting frame 53 is provided on the second support plate 60.

[0040] A cover body 70 is fixedly connected to the second fixed plate 6, the reciprocating motor 7 is fixed on the cover body 70, the loosening unit includes a driving tooth 8 connected to the output end of the reciprocating motor 7, a first reduction tooth 81 meshing with the driving tooth 8 and arranged on the cover body 70, and a first driven tooth 82 meshing with the first reduction tooth 81, a first transmission shaft 71 is concentrically arranged on the first driven tooth 82, a first spiral blade 72 is arranged on one side of the first transmission shaft 71, and a second spiral blade 73 is arranged on the other side, and the spiral directions of the two spiral blades are arranged in opposite directions.

[0041] The scraping unit includes a second driven tooth 84 arranged on the cover body 70 and a second transmission shaft 74 arranged concentrically with the second driven tooth 84. The second driven tooth 84 is meshed and connected with the first driven tooth 82. A first connecting block 75 and a second connecting block 76 are movably sleeved on the second transmission shaft 74. A first shovel block 77 and a second shovel block 78 extending obliquely outward are arranged on each of the connecting blocks. The first shovel block 77 and the second shovel block 78 are arranged in reverse dislocation. A spiral groove 79 is provided at the position of the connecting block 76, and the two sections of the spiral groove 79 are arranged in opposite directions; a through hole is provided on the first connecting block 75 and the second connecting block 76 and is sleeved on the outer wall of the second transmission shaft 74, and a guide rod 85 extending into the through hole is screwed on the connecting block, and the extending end of the guide rod 85 at the corresponding position is inserted into the spiral groove 79. With the synchronous rotation of the second transmission shaft 74 and the spiral groove 79, the movement of the guide rod 85 in the spiral groove 79 drives the connecting block at the corresponding end to move along the axial direction of the second transmission shaft 74.

[0042] The cover body 70 is provided with a second reduction tooth 83 meshing with the first driven tooth 82, and one side of the second reduction tooth 83 is also meshing with the second driven tooth 84; the protruding ends of the first shovel block 77 and the second shovel block 78 are both provided with a "V"-shaped notch.

[0043] The operating principle of the utility model is as follows:

[0044] like Figure 1 to Figure 2 As shown, before use, the first electric top cylinder 31 is placed horizontally, the second electric top cylinder 32 is placed vertically, and the output end of the second electric top cylinder 32 is at the lower end and connected to the cover body 70 provided with the crushing mechanism.

[0045] When using, Figures 1 to 3 as well as Fig.12 As shown, the moving device is started to drive the base 1 close to the inner wall of the cargo hold. The moving device is preferably a tracked vehicle, which is convenient for moving on uneven ground. After the tracked vehicle moves into place, the third electric top cylinder 24 is started first. The extended end of the third electric top cylinder 24 drives the hinged chassis 25 to rotate in a counterclockwise direction, and drives the first electric top cylinder 31 connected to the chassis 25 to flip and lift in a counterclockwise direction. Since the third electric top cylinder 24 is hingedly connected to the bracket 23, as the third electric top cylinder 24 is extended and the position of the chassis 25 rises and changes, the non-extended end of the third electric top cylinder 24 can also be adaptively rotated and adjusted to avoid movement interference.

[0046] At the same time, if Figure 1 , Figure 2 , Figures 4 to 6 As shown, combined with the position of the ice and coal, the first electric rotating cylinder 10 is started in time to drive the base plate 2 to rotate in the horizontal direction, so as to quickly adjust the crushing mechanism to the direction of the operation target without adjusting the direction of the crawler vehicle; if the extension length of the second electric top cylinder 32 reaches the limit and still needs to be extended, it is necessary to start the drive motor 20. Since the fixed block 22 fits with the base plate 2, the fixed block 22 screwed on the first screw rod 21 moves in the horizontal direction, and synchronously drives the second electric top cylinder 32 to move horizontally, so as to achieve the purpose of driving the crushing mechanism to continue to extend.

[0047] like Figure 4 , Figure 5 as well as Fig.13 As shown, after the first electric top cylinder 31 is rotated and lifted into place, the second electric top cylinder 32 is started, and the second electric rotating cylinder 4 and the connected translation unit and lifting unit are synchronously moved close to the inner wall of the cargo hold. After the output end of the second electric top cylinder 32 moves into place, according to the specific position of the target coal block, the second power motor 61 is started again to make the threaded connecting frame 53 move in the horizontal direction along the third screw rod 62, and synchronously drive the cover body 70 and the loosening unit and the scraping unit provided on the cover body 70 to move. Then, the first power motor 51 is started to make the threaded connecting frame 53 move in the vertical direction along the second screw rod 52, and also synchronously drive the cover body 70 and the loosening unit and the scraping unit provided on the cover body 70 to move.

[0048] Then, if Figure 5 , Figure 7 , Fig.10 as well as Fig.11As shown, the reciprocating motor 7 is turned on, driving the active tooth 8 and the meshing first driven tooth 82 to rotate synchronously, and synchronously driving the first transmission shaft 71, the first spiral blade 72 and the second spiral blade 73 to rotate. Since the two spiral blades are set in opposite directions, combined with the drive of the reciprocating motor 7, the two spiral blades reciprocate to cut the ice and coal blocks at the corresponding positions. Under the influence of the spiral rotation, the ice and coal blocks are spirally cut into blocks, which show signs of loosening under the action of gravity, or directly fall from the cargo hold wall.

[0049] At the same time, if Figure 5 , Figure 8 , Fig. 9 as well as Fig.11 As shown, the first driven tooth 82 is connected by the meshing transmission of the second reduction tooth 83 and the second driven tooth 84, that is, it drives the concentrically arranged second transmission shaft 74 to rotate synchronously. When the spiral groove 79 rotates, the movement of the guide rod 85 in the spiral groove 79 is converted into the movement of the first connecting block 75 and the second connecting block 76 along the axial direction of the second transmission shaft 74. Since the two sections of the spiral groove 79 are arranged in opposite directions, driven by the reciprocating motor 7, the movement of the first connecting block 75 and the second connecting block 76 is presented as simultaneously approaching the center, or simultaneously moving toward the upper end and the lower end in the vertical direction, respectively, and moving back and forth in this way. That is, while the spiral cutting loosens the ice and coal blocks, the first shovel block 77 moves downward in the vertical direction and the second shovel block 78 moves upward in the vertical direction to achieve the action of shoveling away the attached ice and coal, so as to shovel away the coal blocks on the inner wall of the cargo hold that are adhered to the cargo hold wall due to ice formation; since the structures of the first connecting block 75 and the second connecting block 76 are the same, only the structure of the first connecting block 75 is shown (as shown in FIG. Fig. 9 shown).

[0050] In this embodiment, each second transmission shaft 74 is provided with two first connection blocks 75 and a second connection block 76, and four spiral grooves 79 are symmetrically provided. The two spiral grooves on each side are arranged in a variable pitch spiral shape. The two connection blocks at the same end gather together when moving inward, and are spaced apart when moving outward (such as Fig.10 Figure a and Figure b in Fig.11 The number of spiral grooves 79 and connecting blocks should be based on actual use requirements, and this embodiment is not unique.

[0051] During use, according to the shoveling situation, the first power motor 51 or the second power motor 61 should be started in time to drive the cover body 70 to move in the vertical direction or horizontal direction respectively, so as to achieve the use requirements of continuous loosening and shoveling of coal and improve the coal shoveling efficiency.

[0052] It should be noted that due to the wide distribution of the remaining coal blocks, some coal blocks in the corners may not be removed during the initial shoveling of coal. Figures 3 to 5 as well as Fig.14As shown, at this time, the second electric rotary cylinder 4 can be started to drive the translation unit, the lifting unit and the cover body 70 to rotate synchronously in the vertical direction to fit the residual position of the coal block for shoveling operation.

[0053] In addition, in order to improve the use efficiency and ensure the use stability, two second transmission shafts 74 are arranged in the present embodiment, which are symmetrically arranged on the left and right sides of the first transmission shaft 21; in addition, in order to ensure the normal use of the above-mentioned electronic components, a power supply (not marked) should be arranged on the robot arm, and the power supply is preferably a battery; in order to facilitate the use and operation, a camera (not marked) and a PLC controller (not marked) connected to each motor should be arranged on the robot arm, and then a remote control with a display function wirelessly connected to the camera and the PLC controller should be arranged for remote operation to improve the accuracy of the ice and coal shoveling operation.

[0054] This application does not involve the control principle of the PLC controller and is a direct use of the existing technology, so the specific connection settings of the PLC controller will not be repeated here.

Claims

1. A cabin ice and coal crushing robot, characterized in that: The invention comprises a base (1) fixed on a moving device, a rotation adjustment device is provided on the base (1), the rotation adjustment device comprises a first electric top cylinder (31) which is rotatably arranged, a second electric top cylinder (32) is provided at the protruding end of the first electric top cylinder (31), a rotating seat is provided at the protruding end of the second electric top cylinder (32), a lifting unit is provided on the rotating seat, a translation unit is provided on the lifting unit, a crushing mechanism is provided on the lifting unit, the crushing mechanism comprises a reciprocating motor (7) fixed on the lifting unit and a loosening unit connected to the reciprocating motor (7), the loosening unit is transmission-connected with a shoveling unit; when in use, the loosening unit loosens the coal blocks, and at the same time, the shoveling unit removes the loosened coal blocks.

2. The cabin ice-crushing coal robot according to claim 1, characterized in that: A first electric rotary cylinder (10) is fixedly arranged on the base (1), a bottom plate (2) is arranged on the first electric rotary cylinder (10), a driving motor (20) is arranged on one side of the bottom plate (2), a first screw rod (21) is arranged at the output end of the driving motor (20), a fixing block (22) which is arranged in close contact with the bottom plate (2) is screwed on the first screw rod (21), and a rotation adjustment device is arranged on the fixing block (22).

3. The cabin ice-crushing coal robot according to claim 2, characterized in that: The rotation adjustment device comprises a bracket (23) connected to a fixed block (22) and a third electric top cylinder (24) hingedly connected to one side of the bracket (23); the extended end of the third electric top cylinder (24) is hingedly provided with a chassis (25) connected to the bottom of the first electric top cylinder (31); a connecting block (26) is provided on the chassis (25); and a connecting shaft (27) rotatably sleeved on the bracket (23) is provided on the connecting block (26).

4. The cabin ice-crushing coal robot according to claim 1, characterized in that: The rotating seat comprises a second electric rotating cylinder (4) fixedly connected to the protruding end of the second electric top cylinder (32); the lifting unit comprises a first fixed plate (41) connected to the output end of the second electric rotating cylinder (4); a first power motor (51) is provided on one side of the first fixed plate (41); a second screw rod (52) is provided at the output end of the first power motor (51); a connecting frame (53) is screwed on the second screw rod (52) and is arranged in contact with the first fixed plate (41); a first support plate (411) is provided on one side of the first fixed plate (41); a first guide rod (412) is provided on the first support plate (411) and is horizontally passed through the connecting frame (53).

5. The cabin ice-crushing coal robot according to claim 4, characterized in that: The translation unit comprises a second fixing plate (6) fixedly connected to the connecting frame (53) and a second power motor (61) fixedly connected to the second fixing plate (6); an output end of the second power motor (61) is provided with a third screw rod (62) threadedly connected to the connecting frame (53); a second support plate (60) is provided on one side of the second fixing plate (6); and a second guide rod (601) vertically passing through the connecting frame (53) is provided on the second support plate (60).

6. The cabin ice-crushing coal robot according to claim 5, characterized in that: A cover body (70) is fixedly connected to the second fixed plate (6), the reciprocating motor (7) is fixedly arranged on the cover body (70), the loosening unit comprises a driving tooth (8) connected to the output end of the reciprocating motor (7), a first reduction tooth (81) meshingly connected with the driving tooth (8) and arranged on the cover body (70), and a first driven tooth (82) meshingly connected with the first reduction tooth (81), a first transmission shaft (71) is concentrically arranged on the first driven tooth (82), a first spiral blade (72) is arranged on one side of the first transmission shaft (71), and a second spiral blade (73) is arranged on the other side, and the spiral directions of the two spiral blades are arranged in opposite directions.

7. The cabin ice-crushing coal robot according to claim 6, characterized in that: The scraping unit comprises a second driven tooth (84) arranged on the cover body (70) and a second transmission shaft (74) arranged concentrically with the second driven tooth (84); the second driven tooth (84) is meshingly connected with the first driven tooth (82); a first connecting block (75) and a second connecting block (76) are movably sleeved on the second transmission shaft (74); each of the connecting blocks is provided with a first shovel block (77) and a second shovel block (78) extending obliquely outward; the first shovel block (77) and the second shovel block (78) are arranged in opposite directions.

8. The cabin ice-crushing coal robot according to claim 7, characterized in that: A section of spiral groove (79) is provided at a position corresponding to the first connecting block (75) and the second connecting block (76) on the second transmission shaft (74), and the two sections of the spiral groove (79) are arranged in opposite directions; a through hole is provided on the first connecting block (75) and the second connecting block (76) and is sleeved on the outer wall of the second transmission shaft (74); a guide rod (85) is threadedly provided on the connecting block and extends into the through hole; the extending end of the guide rod (85) at the corresponding position is inserted into the spiral groove (79); as the second transmission shaft (74) and the spiral groove (79) rotate synchronously, the guide rod (85) moves in the spiral groove (79), driving the connecting block at the corresponding end to move along the axial direction of the second transmission shaft (74).

9. The cabin ice-crushing coal robot according to claim 7, characterized in that: The cover body (70) is provided with a second deceleration tooth (83) meshingly connected with the first driven tooth (82), and one side of the second deceleration tooth (83) is also meshingly connected with the second driven tooth (84).

10. The cabin ice-crushing coal robot according to claim 7, characterized in that: The protruding ends of the first shovel block (77) and the second shovel block (78) are both provided with a "V"-shaped notch.

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