Clearing actuator of probing-clearing integrated specialized robot

Abstract

The utility model relates to the field of coal bunker detecting and cleaning equipment, in particular to a bunker cleaning actuator of a specialized robot integrating detecting and cleaning. The utility model solves the problem that the existing bin cleaning actuator cannot efficiently clean hardened materials under the condition of arbitrary movement in the bin body space. A universal rotating hanging ring is installed on a four-corner stable support, a rope driving system is connected with the universal rotating hanging ring and drives the four-corner stable support to move at any position under the adjustment of the rope driving system, a rotary disc is installed on the lower end face of the four-corner stable support, and a rotary driving piece is installed in the rotary disc. The power head support is connected with the output end of the rotation driving piece, the bin cleaning driving piece is installed on the power head support, the output end of the bin cleaning driving piece is connected with the right-angle rotation angle transmission device through a coupler, and bin cleaning harrow knives are installed on the two sides of the right-angle rotation angle transmission device. The automatic cleaning device is used for automatically cleaning hardened positions of coal briquettes in the coal bunker.

Description

Technical Field

[0001] The utility model relates to the technical field of coal bunker detection and cleaning equipment, and in particular to a bunker cleaning actuator of a special integrated detection and cleaning robot, which is used for automatically cleaning the compacted coal blocks in the coal bunker and is a bunker cleaning actuator that moves in the bunker space to clean the compacted materials. Background Art

[0002] With the continuous development of the coal industry, coal bunkers, as important facilities for coal storage and transportation, play a vital role in coal production and supply chain. Traditional coal bunker cleaning operations usually rely on manual labor or simple mechanical equipment.

[0003] Most of the existing bunker cleaning equipment are static machines. For example, the announcement number is CN210282300U, and the patent name is a utility model for a cleaning manipulator used in conjunction with a coal bunker blockage clearing robot. It discloses a manipulator that can replace manual entry into the coal bunker to clean compacted coal seams. It is safe, convenient and efficient to use, and all drives are driven by pneumatic motors, which not only meets the load capacity but is also suitable for the flammable and explosive working environment inside the coal bunker. The coal bunker cleaning manipulator in this utility model adopts a cutter disc with a rotating structure, and cleaning heads are evenly arranged on the cutter disc, which can efficiently clean compacted coal seams.

[0004] Although the aforementioned manipulator can clean compacted coal from a coal bunker, it is only capable of horizontal movement due to its connection to the bunker roof. This means that the manipulator's position during coal seam cleaning is too limited. In particular, it cannot achieve flexible movement in vertical and horizontal positions. Different coal properties require different cleaning methods, especially reciprocating and single-point cleaning methods. Therefore, existing manipulators are unable to flexibly adapt to different coal bunker structures and coal properties, resulting in low bunker cleaning efficiency and an inability to meet the needs of modern production.

[0005] In addition, the clearance actuators of other existing clearance equipment cannot meet the requirements of the special integrated detection and clearance robot to efficiently remove material compaction when it moves arbitrarily in the warehouse space.

[0006] In summary, the existing bin clearing actuator has the problem of being unable to efficiently clear material compaction while moving arbitrarily in the bin space. Utility Model Content

[0007] The purpose of this utility model is to address the problem that existing bin-clearing actuators cannot efficiently remove compacted material while moving freely within the bin space, and to provide a bin-clearing actuator that is a special robot that integrates exploration and clearing. The bin-clearing actuator of the present invention can achieve spatial movement driven by a rope drive system and can stably and efficiently remove compacted material from the coal bunker walls during movement.

[0008] The technology of the utility model The utility model is:

[0009] A warehouse clearing actuator of a special integrated exploration and warehouse clearing robot includes a universal rotating ring, four-corner stable brackets, a turntable, a rotary drive, a power head bracket, a warehouse clearing drive, a coupling, a right-angle corner transmission and a warehouse clearing rake. The universal rotating ring is installed on the four-corner stable bracket, the rope drive system is connected to the universal rotating ring, and drives the four-corner stable bracket to move to any position under the adjustment of the rope drive system, the turntable is installed on the lower end surface of the four-corner stable bracket, the rotary drive is installed in the turntable, the power head bracket is connected to the output end of the rotary drive, the warehouse clearing drive is installed on the power head bracket, the output end of the warehouse clearing drive is connected to the right-angle corner transmission through a coupling, and warehouse clearing rakes are installed on both sides of the right-angle corner transmission.

[0010] Furthermore, the universal rotating lifting ring includes a ring body and a rotating seat. The rotating seat is installed on the four corner stable brackets, and the lower part of the ring body is rotatably installed in the rotating seat.

[0011] Furthermore, the four-corner stabilizing bracket includes an upper four-corner bracket, a lower four-corner bracket and multiple support beams. The upper four-corner bracket and the lower four-corner bracket are arranged in parallel up and down and connected by multiple support beams, and the outer contour size of the upper four-corner bracket is smaller than the outer contour size of the lower four-corner bracket.

[0012] Preferably, the power head bracket is a shell with an opening at the bottom, wherein an inclined mounting plate is provided on the shell.

[0013] Furthermore, the warehouse clearing rake includes a rotating shaft and a plurality of blade bodies, one end of the rotating shaft is connected to the right-angle transmission, and the plurality of blade bodies are annularly mounted on the rotating shaft.

[0014] Preferably, the shape of the blade body is "L"-shaped, and the vertical section of the blade body is fixedly connected to the rotating shaft.

[0015] Furthermore, two adjacent blade bodies are arranged axially symmetrically with the rotating shaft as the center to form a group of rake blades, and the two adjacent groups of rake blades are arranged in a staggered manner.

[0016] Preferably, the rotary drive member is a rotary hydraulic motor or an electric motor.

[0017] Preferably, the bin clearing drive is a rotary hydraulic motor or an electric motor.

[0018] Furthermore, it also includes an oil pipe holder, which is installed on the four corner stabilizing brackets.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] The warehouse clearing actuator of the utility model is adapted to the rope drive system of a special integrated exploration and warehouse clearing robot. In the suspended state, due to the special installation position and method of the universal rotating lifting ring, the special warehouse clearing actuator can maintain a relatively stable state, thereby improving the accuracy and efficiency of the warehouse clearing operation.

[0021] The hydraulic drive mechanism of this utility model effectively ensures the powerful force required to remove hardened materials. The hydraulic rotary disc installed on the specially designed clearing actuator ensures that the clearing rakes can operate 360 ​​degrees around the specially designed clearing actuator, greatly improving the operation accuracy and clearing hardened materials without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] in:

[0024] 1. Universal rotating ring, 1-1. Ring body, 1-2. Rotating seat, 2. Four-corner stable bracket, 2-1. Upper four-corner bracket, 2-2. Lower four-corner bracket, 2-3. Support beam, 3. Oil pipe holder, 4. Turntable, 5. Rotary drive, 6. Power head bracket, 7. Clearing drive, 8. Coupling, 9. Right-angle drive, 10. Clearing rake, 10-1. Rotating shaft, 10-2. Cutter body, 11. Mounting plate. DETAILED DESCRIPTION

[0025] Specific implementation method 1: Combination Figure 1 Describe this embodiment, this embodiment includes a universal rotating ring 1, a four-corner stable bracket 2, a turntable 4, a rotary drive 5, a power head bracket 6, a clearing drive 7, a coupling 8, a right-angle corner transmission 9 and a clearing rake 10. The universal rotating ring 1 is installed on the four-corner stable bracket 2, the rope drive system is connected to the universal rotating ring 1, and drives the four-corner stable bracket 2 to realize movement to any position under the adjustment of the rope drive system, the turntable 4 is installed on the lower end surface of the four-corner stable bracket 2, the rotary drive 5 is installed in the turntable 4, the power head bracket 6 is connected to the output end of the rotary drive 5, the clearing drive 7 is installed on the power head bracket 6, the output end of the clearing drive 7 is connected to the right-angle corner transmission 9 through the coupling 8, and the clearing rake 10 is installed on both sides of the right-angle corner transmission 9.

[0026] The universal rotating ring in this embodiment is connected to the wire rope of the rope drive system of the special integrated exploration and cleaning robot. The universal rotating ring is installed on the four corner stable brackets of the cleaning actuator. The four corner stable brackets have an upper and lower structure. The universal rotating ring and the oil pipe fixer are installed on the upper layer of the four corner stable brackets.

[0027] A universal rotating lifting ring and a hydraulic slewing plate are also installed on the lower layer of the four-corner stable bracket. The hydraulic slewing plate is driven by a rotary hydraulic motor. The upper and lower parts of the hydraulic slewing plate can rotate relative to each other. The upper part of the hydraulic slewing plate is fixedly installed on the lower layer of the four-corner stable bracket by bolts. The lower part of the hydraulic slewing plate is fixedly installed with a power head bracket by bolts. A cleaning drive hydraulic motor is installed inside the power head bracket. The cleaning drive hydraulic motor is connected to the transmission shaft through a coupling. The other end of the transmission shaft is connected to a right-angle transmission. Cleaning rakes are installed on the shafts at both ends of the right-angle transmission. The cleaning rakes can rotate under the drive of the angle transmission shaft to remove the compacted material on the coal bin wall.

[0028] Specific implementation method 2: Combination Figure 1 To illustrate this embodiment, the universal rotating ring 1 of this embodiment includes a ring body 1-1 and a rotating base 1-2. The rotating base 1-2 is installed on the four-corner stable brackets 2, and the lower part of the ring body 1-1 is rotatably installed in the rotating base 1-2.

[0029] In this arrangement, the rotating base 2 is mounted on the four corners of the upper and lower layers of the four corner stabilizing brackets 2. A semicircular hook body is provided on the upper portion of the rotating base 1-2. The ring body 1-1 is rotatably mounted on the semicircular hook body, and the semicircular hook body is rotatably mounted on the rotating base 1-2. In other words, the universal rotating ring 1 in this embodiment has at least two degrees of rotational freedom. The other components and connection relationships are the same as those in the first embodiment.

[0030] In addition, as an alternative implementation of this embodiment, a connecting hinge is provided at the lower part of the ring body 1-1, which is hinged in the rotating seat 2, so as to realize the adjustment of the universal rotating ring 1 to any angle, making the rotation of the entire clearance actuator more flexible.

[0031] Specific implementation method three: Combination Figure 1 To illustrate this embodiment, the four-corner stabilizing bracket 2 of this embodiment includes an upper four-corner bracket 2-1, a lower four-corner bracket 2-2 and multiple support beams 2-3. The upper four-corner bracket 2-1 and the lower four-corner bracket 2-2 are arranged parallel to each other and are connected by multiple support beams 2-3, and the outer contour size of the upper four-corner bracket 2-1 is smaller than the outer contour size of the lower four-corner bracket 2-2.

[0032] In this arrangement, the steel wire rope passes through the universal rotating ring 1 on the upper quadrilateral bracket 2-1, and the end of the steel wire rope is fixed to the lower quadrilateral bracket 2-2. Other components and connection relationships are the same as those of the specific embodiment 1 or 2.

[0033] The cross-sectional shape of the support beam 2-3 in this embodiment is preferably rectangular, and the number of support beams 2-3 is 8, two adjacent support beams 2-3 form a group, and four groups of support beams 2-3 are installed at the four corners. The upper parts of the two support beams 2-3 are close to each other, and the lower parts are far apart, making the connection more secure.

[0034] Specific implementation method four: Combination Figure 1 To describe this embodiment, the power head bracket 6 of this embodiment is a shell with an opening at the bottom, wherein an obliquely arranged mounting plate 11 is provided on the shell.

[0035] In this configuration, the mounting plate 11 is used to mount the bin-clearing drive member 7. Other components and connection relationships are the same as those in any one of the first to third specific embodiments.

[0036] Specific implementation method five: Combination Figure 1 To describe this embodiment, the warehouse cleaning rake 10 comprises a rotating shaft 10-1 and multiple blades 10-2. One end of the rotating shaft 10-1 is connected to the quarter-turn actuator 9, and the multiple blades 10-2 are mounted in a ring around the rotating shaft 10-1. This arrangement provides a simple structure and facilitates the removal of compacted material using the blades 10-2. The remaining components and connections are the same as those in any of the first to fourth embodiments.

[0037] During the installation process, the multiple blades 10-2 in this embodiment can also be installed on the rotating shaft 10-1 in a spiral manner, and during the rotation of the blade 10-2, the four-corner stable brackets 2 can achieve movement at any angle under the drive of the wire rope, thereby driving the blade 10-2 to clean the compaction.

[0038] Specific implementation method six: combination Figure 1 To explain this embodiment, the blade body 10-2 is L-shaped, with the vertical section of the blade body 10-2 fixedly connected to the rotating shaft 10-1. This arrangement allows the horizontal section to be used for striking and removing hardened material. The remaining components and connections are identical to any of the embodiments 1 through 5.

[0039] The shape of the blade body 10-2 of this embodiment can also be a blade body with an impact head, which can crush the plate-bound material and thus achieve cleaning.

[0040] Specific implementation method seven: combination Figure 1 To illustrate this embodiment, two adjacent blade bodies 10 - 2 of this embodiment are arranged axially symmetrically with the rotating shaft 10 - 1 as the center to form a group of rake blades, and the two adjacent groups of rake blades are arranged in a staggered manner.

[0041] With such a configuration, the cleaning of compaction is more thorough and there is no dead corner. The other components and connection relationships are the same as any one of the specific embodiments 1 to 6.

[0042] Specific implementation method eight: combination Figure 1 In this embodiment, the rotary drive element 5 is a rotary hydraulic motor or electric motor. This configuration provides a simple and reliable drive system with high power. The remaining components and connections are the same as those in any of the first to seventh embodiments.

[0043] Specific implementation method nine: combination Figure 1 In this embodiment, the cleaning drive element 7 is a rotary hydraulic motor or electric motor. The drive method is simple, reliable, and has high driving power. The other components and connections are the same as those in any of the first to eighth embodiments.

[0044] Specific implementation method ten: Combination Figure 1 This embodiment also includes oil pipe holders 3 mounted on the four corner stabilizing brackets 2. This arrangement facilitates securing the oil lines on the rotary drive 5 and the clearance drive 7. The remaining components and connections are identical to those of any of the first through ninth embodiments.

[0045] The rotary drive member 5 of this embodiment can be replaced by an electric motor, or a pneumatic motor. The clearing drive member 7 can be replaced by an electric motor, or a pneumatic motor.

[0046] Combine Figure 1 Explain the working principle of this utility model:

[0047] Universal rotating eyelets 1 are mounted on the upper and lower levels of the four corner stabilization brackets 2, arranged at four points. The wire rope of the rope drive system for a special integrated exploration and clearance robot passes through the universal rotating eyelets 1 on the upper level of the four corner stabilization brackets 2, and the end of the wire rope is fixed to the universal rotating eyelets 1 on the lower level of the four corner stabilization brackets 2. The upper level of the four corner stabilization brackets 2 is smaller than the lower level, which improves the stability of the special clearance actuator during suspension. The four corner stabilization brackets 2 are equipped with oil pipe holders 3, through which the oil supply system oil pipes are fixed to the four corner stabilization brackets 2. The lower level of the four corner stabilization brackets 2 is equipped with a rotating disk 4. This rotating disk 4 is driven by a rotating drive 5 and can rotate freely within a range of 360 degrees. A power head bracket 6 is bolted to the lower end surface of the rotating disk 4, which can rotate freely within a range of 360 degrees along with the rotating disk 4. The power head bracket 6 is internally mounted with a cleaning drive 7, and the cleaning drive hydraulic motor is connected to a quarter-turn transmission 9 via a coupling 8. The quarter-turn transmission 9 has hexagonal rotating shafts at both ends, on which are mounted cleaning blades 10. The cleaning blades 10 can be rotated by the above device to cut and remove the compacted material on the coal bunker wall.

[0048] The above embodiments are only used to illustrate the technical invention of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical invention recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical invention to deviate from the spirit and scope of the technical invention of the various embodiments of the present invention.

Claims

1. A warehouse clearance actuator for a special robot that integrates exploration and clearance, characterized by: It includes a universal rotating ring (1), four-corner stable brackets (2), a rotary plate (4), a rotary drive member (5), a power head bracket (6), a warehouse cleaning drive member (7), a coupling (8), a right-angle transmission (9) and a warehouse cleaning rake (10). The universal rotating ring (1) is installed on the four-corner stable bracket (2), the rope drive system is connected to the universal rotating ring (1), and drives the four-corner stable bracket (2) to move to any position under the adjustment of the rope drive system, the turntable (4) is installed on the lower end surface of the four-corner stable bracket (2), the rotary drive member (5) is installed in the turntable (4), the power head bracket (6) is connected to the output end of the rotary drive member (5), the clearing drive member (7) is installed on the power head bracket (6), the output end of the clearing drive member (7) is connected to the right-angle transmission device (9) through a coupling (8), and clearing rakes (10) are installed on both sides of the right-angle transmission device (9).

2. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 1, characterized in that: The universal rotating hoist ring (1) comprises a ring body (1-1) and a rotating seat (1-2). The rotating seat (1-2) is mounted on four corner stable brackets (2). The lower part of the ring body (1-1) is rotatably mounted in the rotating seat (1-2).

3. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 2, characterized in that: The four-corner stabilizing bracket (2) comprises an upper four-corner bracket (2-1), a lower four-corner bracket (2-2) and a plurality of support beams (2-3); the upper four-corner bracket (2-1) and the lower four-corner bracket (2-2) are arranged in parallel up and down and connected by the plurality of support beams (2-3); and the outer contour dimensions of the upper four-corner bracket (2-1) are smaller than the outer contour dimensions of the lower four-corner bracket (2-2).

4. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 3, characterized in that: The power head bracket (6) is a shell with an opening at the bottom, wherein an obliquely arranged mounting plate (11) is provided on the shell.

5. The warehouse clearing actuator of the special robot for integrated exploration and clearing according to claim 4, characterized in that: The warehouse clearing rake (10) comprises a rotating shaft (10-1) and a plurality of blade bodies (10-2). One end of the rotating shaft (10-1) is connected to a right-angle transmission (9), and the plurality of blade bodies (10-2) are annularly mounted on the rotating shaft (10-1).

6. The warehouse clearing actuator of the special robot for integrated exploration and clearing according to claim 5, characterized in that: The shape of the blade body (10-2) is an "L" shape, and the vertical section of the blade body (10-2) is fixedly connected to the rotating shaft (10-1).

7. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 6, characterized in that: Two adjacent blade bodies (10-2) are arranged axially symmetrically with the rotating shaft (10-1) as the center to form a group of rake blades, and the two adjacent groups of rake blades are arranged in a staggered manner.

8. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 7, characterized in that: The rotary drive member (5) is a rotary hydraulic motor or an electric motor.

9. The warehouse clearance actuator of the special robot for integrated exploration and clearance according to claim 1 or 8, characterized in that: The bin clearing driving member (7) is a rotary hydraulic motor or an electric motor.

10. The warehouse clearing actuator of the special robot for integrated exploration and clearing according to claim 1, characterized in that: It also includes an oil pipe fixer (3), which is mounted on the four-corner stabilizing brackets (2).

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