Coal bunker cleaning robot

Abstract

The utility model discloses a coal bunker cleaning robot which comprises a power system and an operation system, the power system comprises a hydraulic pump station and a cutting head, the operation system comprises a lifting rotating platform mechanical arm, a video monitoring system and a remote operation system, the lifting rotating platform mechanical arm comprises a mechanical arm extending into a coal bunker, and the video monitoring system comprises a video monitoring system and a remote operation system. The mechanical arm is fixedly installed on a fixed base of a coal bunker opening through a rotating platform, the mechanical arm is an L-shaped mechanical arm, the vertical section and the horizontal section of the L-shaped mechanical arm are of a hinged structure, the horizontal section of the L-shaped mechanical arm is of a telescopic sleeve structure, and a liftable cutting head used for cleaning the bunker wall is installed at the front end of the horizontal section of the L-shaped mechanical arm. Safe and efficient unmanned bunker cleaning is achieved, the utilization rate of the coal bunker is improved, safety risks and cleaning cost are reduced, remarkable safety benefits and economic benefits are brought to a mine, a large amount of cost expenditure can be saved every year, and the coal bunker cleaning device is an important step for intelligent development of the coal production industry.

Description

Technical Field

[0001] The utility model relates to the technical field of equipment structures for coal bunker cleaning, in particular to a coal bunker cleaning robot. Background Art

[0002] During use, coal bunkers in production mines often require regular cleaning due to the adhesion and accumulation of coal rock on the bunker walls, which reduces the bunker radius, volume, and effective coal storage capacity. Traditional manual cleaning methods are not only inefficient but also pose safety risks. Especially when dealing with hard coal rock, blasting is required, further extending the cleaning cycle. Therefore, the development of coal bunker cleaning robots is particularly urgent. Coal bunker cleaning robots are designed to solve the problem of coal bunker gathering in production mines.

[0003] With the development of mechanical automation, intelligent coal bunker cleaning has become a development trend. The patent publication number is: CN214289533 U, which discloses an intelligent coal bunker cleaning robot, including an annular ring beam fixed on a tabletop, a mobile trolley on the annular ring beam, a lifting device for controlling the lifting of a rectangular frame fixed on the mobile trolley, and the rectangular frame is composed of an upper crossbeam, a lower crossbeam and two left and right vertical guide beams. A coal bunker cleaning robot that can move up and down is provided in the rectangular frame, and the two ends of the coal bunker cleaning robot are respectively slidably connected to the two vertical guide beams. A traction machine is fixed on the upper end of the coal bunker cleaning robot, and two fixed pulleys are fixed on the upper crossbeam. Two steel wire ropes are separated from the traction machine and pass through the two fixed pulleys and are fixed at both ends of the coal bunker cleaning robot.

[0004] Although the above patent can be applied to the cleaning process requirements of coal bunkers of different sizes and effectively solve the shortcomings of manual and equipment cleaning in the existing technology; however, in actual use, the space required for operation is large, and the reciprocating movement is cumbersome, the efficiency will also be affected, the cleaning period is long, and there is only lifting and moving during the cleaning process, and the correspondence of its orientation requires manual assistance. Moreover, when adjusting the orientation, it is not easy to operate, and it takes a long time to align. In addition, there are certain errors in manual alignment, and there are also certain safety hazards when manual alignment. Utility Model Content

[0005] The purpose of the utility model is to overcome the defects and shortcomings of the existing technology and provide a coal bunker cleaning robot to solve various problems existing in the existing technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A coal bunker cleaning robot comprises a power system and a control system, wherein the power system comprises a hydraulic pump station and a cutting head, and the control system comprises a lifting and rotating platform robotic arm, a video monitoring system and a remote operating system, wherein the lifting and rotating platform robotic arm comprises a robotic arm extending into the coal bunker, and the robotic arm is fixedly mounted on a fixed base at the coal bunker opening through a rotating platform, and the robotic arm is an L-shaped robotic arm, wherein the vertical section and the horizontal section of the L-shaped robotic arm are hinged structures, and the horizontal section of the L-shaped robotic arm is a telescopic sleeve structure, which is extended and retracted by gravity and a steel wire rope passing through the middle, and a liftable cutting head for cleaning the bunker wall is installed at the front end of the horizontal section of the L-shaped robotic arm.

[0008] The hydraulic pump station includes an explosion-proof motor and an axial piston pump oil tank that provide power source for the equipment. The explosion-proof motor and the axial piston pump oil tank are located at the coal bunker opening outside the fixed base.

[0009] The middle parts of the rotating platform and the fixed base are both hollow structures. The rotating platform is installed in the middle part of the fixed base through a bearing. The outer ring of the bearing is fixedly installed on the fixed base, and the rotating inner ring is rotatably installed with the rotating platform.

[0010] The vertical section and the horizontal section of the robotic arm are both hollow square tube structures. The upper end of the robotic arm is fixed on the robotic arm fixing seat, and a guide wheel for guiding the wire rope is installed on the top. A wire winch is fixedly installed on one side of the rotating platform. The wire rope is wound on the wire winch, and the rotation of the wire winch is driven by a hydraulic motor at the end.

[0011] A guide pulley is installed on the pin shaft at the hinge of the vertical section and the horizontal section of the L-shaped mechanical arm. The horizontal section of the L-shaped mechanical arm is composed of a multi-section sleeve assembly, and the wire rope is connected and fixed to the tail of the frontmost sleeve.

[0012] The sleeve assembly includes sleeves that are sequentially installed, wherein a first limiting block is provided on the inner side of the front end of the outer sleeve, and a second limiting block is provided on the outer side of the inner rear end of the inner sleeve, and the first limiting block and the second limiting block are matched with each other.

[0013] A mechanical arm telescopic oil cylinder is hingedly installed between the vertical section and the horizontal section of the L-shaped mechanical arm.

[0014] The cutting head is a pendulum hydraulic motor that provides power for breaking up accumulated coal gangue. The pendulum hydraulic motor is installed in a fixed housing. The pendulum hydraulic motor is supplied with oil through a high-pressure hose and is suspended at the end of the high-pressure hose. A rotating disk is installed at the output shaft end of the pendulum hydraulic motor, and a copper pendulum is installed at the base of the rotating disk through a vertical chain.

[0015] The spatial position of the high-pressure hose is guided by a high-pressure hose winch, and the high-pressure hose is guided by a guide assembly during movement. The rotation of the high-pressure hose winch is driven by a hydraulic motor and a reduction unit. The vertical section of the L-shaped robotic arm is provided with a pressure wheel on the high-pressure hose side, and the front end of the sleeve is provided with a fixed pulley for guiding the high-pressure hose.

[0016] A 360-degree explosion-proof high-definition camera extending into the coal bunker is installed on the inner side of the rotating platform.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The utility model adopts the structural design of the rotating platform, and the hydraulic motor automatically drives the rotating platform to rotate, synchronously drives the mechanical arm to rotate the azimuth, the telescopic wire rope drives the adjustment of the horizontal position of the mechanical wall, and the mechanical arm telescopic cylinder controls the adjustment of the vertical position, thereby meeting the adjustment of the spatial position of the hammer head assembly. At the same time, during the whole process, the rotation, the telescopic wire rope and the driving of the hydraulic mechanical arm telescopic cylinder are independent of each other, complementary and interfering, and can be carried out synchronously, which is convenient for alignment and operation, thereby improving the cleaning efficiency.

[0019] The high-pressure hose is installed on a rotating platform and its position is adjusted synchronously. In order to meet the requirements of high-pressure hose guidance and oil supply in different positions of the cutting head, the high-pressure hose is adjusted by a winch. No manual intervention is required during the adjustment process, which reduces labor, shortens the construction period, and increases efficiency. At the same time, it effectively reduces safety risks and has great safety and economic benefits.

[0020] In summary, this application achieves safe and efficient unmanned bunker clearance, improves coal bunker utilization, reduces safety risks and cleaning costs, brings significant safety and economic benefits to the mine, and saves a large amount of cost expenditure every year. It is an important step for the coal production industry to develop intelligently. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the present utility model.

[0022] Figure 2 for Figure 1 A magnified view of the local structure at point A.

[0023] Figure 3 for Figure 1 A magnified view of the local structure at point B in the middle.

[0024] Reference numerals:

[0025] 1. Fixed base; 2. Rotating platform; 3. Robotic arm; 31. Vertical section; 32. Horizontal section; 4. Wire rope; 6. Cutting head; 61. Fixed housing; 62. Pendulum hydraulic motor; 63. Rotating disk; 64. Vertical chain; 65. Hammer; 7. Bearing; 8. Robotic arm fixed seat; 9. Guide wheel; 10. Wire capstan; 11. Guide pulley; 12. Limit block 1; 13. Limit block 2; 14. Robotic arm telescopic cylinder; 15. High-pressure hose; 16. High-pressure hose capstan; 17. Pressure wheel; 18. Fixed pulley; 19. 360-degree explosion-proof high-definition camera. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] See attached Figure 1-3 ;

[0028] A coal bunker cleaning robot comprises a power system and a control system. The power system comprises a hydraulic pump station and a cutting head. The control system comprises a lifting and rotating platform robotic arm, a video monitoring system and a remote operating system. The lifting and rotating platform robotic arm comprises a robotic arm 3 extending into the coal bunker. The robotic arm 3 is fixedly mounted on a fixed base 1 at the coal bunker opening through a rotating platform 2. The robotic arm 3 is an L-shaped robotic arm. The vertical section 31 and the horizontal section 32 of the L-shaped robotic arm are hinged structures. The horizontal section 32 of the L-shaped robotic arm is a telescopic sleeve structure, which is extended and retracted by gravity and a steel wire rope 4 passing through the middle. A liftable cutting head 6 for cleaning the bunker wall is installed at the front end of the horizontal section of the L-shaped robotic arm.

[0029] Furthermore, both the rotating platform 2 and the fixed base 1 are hollow in the middle. The rotating platform 2 is mounted in the middle of the fixed base 1 via a bearing 7. The outer ring of the bearing 7 is fixedly mounted on the fixed base 1, while the rotating inner ring is rotatably mounted with the rotating platform 2. The bearing 7 serves as a transitional connection, ensuring that the rotating platform 2 is fixed to the base 1 while also ensuring that the rotating movement of the rotating platform 2 is not affected. The rotation of the rotating inner ring is driven by a rotary motor on the rotating platform. The output shaft end of the rotary motor is equipped with a drive gear that meshes with the teeth of the rotating inner ring.

[0030] Furthermore, the vertical section 31 and horizontal section 32 of the robotic arm 3 are both hollow square tube structures. The upper end of the robotic arm 3 is fixed to the robotic arm fixing base 8, and a guide wheel 9 is installed on the top to guide the wire rope 4. A wire winch 10 is fixedly installed on one side of the rotating platform 2. The wire rope 4 is wound around the wire winch 10, and the rotation of the wire winch 10 is driven by a hydraulic motor at the end. The structure of the robotic arm 3 made of square tubes acts as a telescopic limiter, ensuring its relative stability and preventing relative rotation during telescopic or other spatial movements, which would affect its performance.

[0031] A guide pulley 11 is mounted on the pin at the hinge of the vertical section 31 and the horizontal section 32 of the L-shaped robotic arm. The horizontal section 32 of the L-shaped robotic arm is composed of a multi-section sleeve assembly, with the wire rope 4 connected and fixed to the tail end of the frontmost sleeve. The pin is used to articulate the vertical section 31 and the horizontal section 32 of the L-shaped robotic arm 3. On the other hand, a guide pulley is mounted in the middle to guide the wire rope through the vertical section 31 and the horizontal section 32 of the L-shaped robotic arm 3. The sleeve assembly includes sleeves that are sequentially mounted. The front end of the outer sleeve is provided with a limit block 12 on the inside, and the rear end of the inner sleeve is provided with a limit block 2 13 on the outside. The limit blocks 12 and 13 correspond to each other. Through the structure of the limit block 12 and the limit block 13 between the sleeves, the wire rope 4 can be smoothly retracted when the sleeve is pulled, thereby adjusting the length of the horizontal section 32 of the robot arm, and then adjusting the hammering and cleaning position; when the sleeve needs to be extended, the horizontal section 32 of the robot arm needs to be directly driven to the vertical direction by the robot arm telescopic cylinder, and the sleeves will be extended in turn according to the action of gravity, thereby achieving the purpose of extension.

[0032] Furthermore, the arm telescopic cylinder 14 is hingedly mounted between the vertical section 31 and the horizontal section 32 of the L-shaped manipulator. Through the structural design of the rotating platform, the hydraulic motor automatically drives the rotating platform to rotate, synchronously driving the manipulator to rotate the azimuth. The telescopic wire rope drives the adjustment of the mechanical wall's lateral position, and the manipulator's telescopic cylinder controls the adjustment of the vertical position, thereby meeting the spatial position adjustment of the hammer assembly. At the same time, throughout the entire process, the rotation, the extension and retraction of the wire rope, and the drive of the hydraulic manipulator's telescopic cylinder are independent of each other, complementary to each other, and can be carried out synchronously, facilitating alignment and operation, thereby improving cleaning efficiency.

[0033] Furthermore, the cutting head 6 is a pendulum hydraulic motor 62 that provides power for rotating and breaking up the accumulated coal gangue. The pendulum hydraulic motor 62 is installed in a fixed housing 61. The pendulum hydraulic motor 62 is supplied with oil through a high-pressure hose 15 and is suspended at the end of the high-pressure hose 15. A rotating disk 63 is installed at the output shaft end of the pendulum hydraulic motor 62, and a copper pendulum 65 is installed at the base of the rotating disk 63 through a vertical chain 64.

[0034] The retraction and extension of the high-pressure hose 15 is driven by a high-pressure hose capstan 16. During movement, the hose 15 is guided by a guide assembly. The rotation of the high-pressure hose capstan 16 is driven by a hydraulic motor and a reduction unit. The vertical section 31 of the L-shaped robotic arm is equipped with a pressure roller 17 located on the side of the high-pressure hose 15. A fixed pulley 18 is mounted on the front end of the sleeve to guide the high-pressure hose 15. The high-pressure hose capstan 16 is driven by a hydraulic motor, allowing the hose 15 to be retracted and released. Release of the high-pressure hose 15 allows the cutting head 6 to reach a certain depth. During rotation, the hose 15 is guided by the pressure roller 17 and fixed pulley 18. The high-pressure hose is mounted on a rotating platform for synchronous position adjustment. To meet the requirements of high-pressure hose guidance and oil supply at different depths and orientations of the cutting head, the high-pressure hose is adjusted using a capstan. No manual intervention is required during the adjustment process, resulting in minimal labor, a short construction period, and high efficiency. This effectively reduces safety risks and offers significant safety and economic benefits.

[0035] Further, the inside of the rotating platform 2 is equipped with a 360-degree explosion-proof high-definition camera 19 that extends into the coal bunker. Through the 360-degree explosion-proof high-definition camera 19, it is convenient to observe and clean every corner in the coal bunker.

[0036] During use, the above structure is equipped with a hydraulic pump station on one side above the coal bunker for use in conjunction with the robot; the pressure oil provided by the hydraulic pump station is used as the power source, and under the control of the control system, each cylinder and hydraulic motor is activated to complete the coal bunker inner wall cleaning operation.

[0037] For example: in actual use: the structure mainly includes hydraulic pump station, lifting platform, rotating platform, operating platform, electronic control system, video monitoring system, robotic arm, cutting head and various fixed frames, high-pressure hoses, joints, lighting and other components.

[0038] Hydraulic pump station: consists of a 22KW explosion-proof motor (660 / 1140V), an axial piston pump, an oil tank, an oil suction filter, a cooler assembly and an electro-hydraulic control valve group.

[0039] Lifting platform: consists of roller, hydraulic motor, reduction gear, high-pressure center rotary joint, fixed base, high-pressure hose and joints, etc.

[0040] Rotating platform: It consists of a slewing support bearing with an internal gear ring, a hydraulic motor and a reduction device.

[0041] Operation platform: consists of power box, driver, controller, electric control valve, etc.

[0042] Electronic control system: including (660 / 1140V) explosion-proof vacuum magnetic starter, start-stop control button, etc.

[0043] Video surveillance system: consists of explosion-proof display screen, 360-degree explosion-proof high-definition camera and transmission lines.

[0044] Mechanical arm: It is composed of hydraulic wire rope winch (drum, hydraulic motor and wire rope), square tubes of different specifications, hydraulic cylinder, guide pulley and fixed base.

[0045] Cutting head: consists of hydraulic motor, pendulum, pendulum fixing plate, shell, etc.

[0046] Assembly Instructions: Secure the rotating platform above the coal bunker to be cleaned. Bolt the lifting platform to the inner ring of the rotating platform's slewing bearing. Connect the cutting head to the high-pressure hose on the lifting platform. Pass the cutting head through the inner ring of the slewing bearing and lower it into the coal bunker.

[0047] Pass the robotic arm through the inner ring of the slewing support bearing and fix the fixed base to the inner ring of the slewing support bearing with screws.

[0048] The connected 360-degree explosion-proof high-definition camera and lighting are fixed at a suitable position above the coal bunker. The explosion-proof display screen is placed in a position that is convenient for operators to monitor.

[0049] Place the hydraulic pump station around the coal bunker that needs to be cleaned.

[0050] Connect the electro-hydraulic control valve group to the various motors and cylinder high-pressure pipelines that need to be controlled, and connect the hydraulic pump station cooling system pipelines and other accessories.

[0051] Working principle: Start the hydraulic pump station system, the oil pump draws oil from the oil tank, and the pressurized oil enters the electro-hydraulic control multi-way valve group, and the action of each function is controlled by manual or remote control operation;

[0052] By precisely driving each functional component through the remote control and rotating the rotating platform, the position of the hydraulic motor can be adjusted 360°, thereby realizing the cleaning of different spatial directions of the pendulum, starting the hydraulic motor of the high-pressure hose winch 16 and releasing the high-pressure hose, the depth below the cutting head can be adjusted to 35 meters, and the up and down function of the cutting head can be controlled; the wire rope winch of the mechanical arm can be adjusted in length, and the maximum walking radius of the hydraulic motor is controlled to be 6 meters; the angle can be changed (0-90 degrees) by telescoping the cylinder of the mechanical arm telescopic cylinder 14, and the position of the cutting head can be changed at the same time, so that the hammer head can be closely attached to the warehouse wall to be cleaned; turning on the liquid supply switch of the cutting head, and the rotating disk is rotating, which quickly drives the pendulum to rotate, so that the pendulum can rotate quickly, effectively clearing the coal and rock that are sticky and accumulated on the warehouse wall.

[0053] Although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0054] Therefore, the above description is only a preferred embodiment of the present application and is not intended to limit the scope of implementation of the present application; that is, all equivalent modifications made according to the scope of the claims of the present application are within the scope of protection of the claims of the present application.

Claims

1. A coal bunker cleaning robot, comprising a power system and a control system. The power system includes a hydraulic pump station and a cutting head. The control system includes a lifting and rotating platform mechanical arm, a video monitoring system, and a remote operating system. The robot is characterized by: The lifting and rotating platform mechanical arm includes a mechanical arm (3) extending into the coal bunker, the mechanical arm (3) is fixedly mounted on a fixed base (1) at the coal bunker opening via a rotating platform (2), the mechanical arm (3) is an L-shaped mechanical arm, the vertical section (31) and the horizontal section (32) of the L-shaped mechanical arm are hinged structures, the horizontal section (32) of the L-shaped mechanical arm is a telescopic sleeve structure, and its telescopic movement is driven by gravity and a steel wire rope (4) passing through the middle, and a lifting and lowering cutting head (6) for cleaning the bunker wall is installed at the front end of the horizontal section of the L-shaped mechanical arm.

2. The coal bunker cleaning robot according to claim 1, characterized in that: The hydraulic pump station includes an explosion-proof motor and an axial piston pump oil tank that provide power source for the equipment. The explosion-proof motor and the axial piston pump oil tank are located at the coal bunker opening outside the fixed base.

3. The coal bunker cleaning robot according to claim 1, characterized in that: The middle parts of the rotating platform (2) and the fixed base (1) are both hollow structures. The rotating platform (2) is mounted on the middle part of the fixed base (1) via a bearing (7). The outer ring of the bearing (7) is fixedly mounted on the fixed base (1), and the rotating inner ring is rotatably mounted with the rotating platform (2).

4. The coal bunker cleaning robot according to claim 1, characterized in that: The vertical section (31) and the horizontal section (32) of the robotic arm (3) are both hollow square tube structures. The upper end of the robotic arm (3) is fixed on the robotic arm fixing seat (8), and a guide wheel (9) for guiding the wire rope (4) is installed on the top. A wire winch (10) is fixedly installed on one side of the rotating platform (2). The wire rope (4) is wound on the wire winch (10), and the rotation of the wire winch (10) is driven by a hydraulic motor at the end.

5. The coal bunker cleaning robot according to claim 1, characterized in that: A guide pulley (11) is installed on the pin shaft at the hinge of the vertical section (31) and the horizontal section (32) of the L-shaped mechanical arm. The horizontal section (32) of the L-shaped mechanical arm is composed of a plurality of sleeve components. The steel wire rope (4) is connected and fixed to the tail end of the sleeve at the front end.

6. The coal bunker cleaning robot according to claim 5, characterized in that: The sleeve assembly includes sleeves that are sequentially mounted, wherein a first limiting block (12) is provided on the inner side of the front end portion of the outer sleeve, and a second limiting block (13) is provided on the outer side of the inner rear end portion of the inner sleeve, wherein the first limiting block (12) and the second limiting block (13) are matched with each other.

7. The coal bunker cleaning robot according to claim 1, characterized in that: A mechanical arm telescopic oil cylinder (14) is hingedly mounted between the vertical section (31) and the horizontal section (32) of the L-shaped mechanical arm.

8. The coal bunker cleaning robot according to claim 1, characterized in that: The cutting head (6) includes a pendulum hydraulic motor (62) for providing power for rotating and breaking up the accumulated coal gangue. The pendulum hydraulic motor (62) is installed in a fixed housing (61). The pendulum hydraulic motor (62) is supplied with oil through a high-pressure hose (15) and is suspended at the end of the high-pressure hose (15). A rotating disk (63) is installed at the output shaft end of the pendulum hydraulic motor (62). A copper pendulum (65) is installed at the base of the rotating disk (63) through a vertical chain (64).

9. The coal bunker cleaning robot according to claim 8, characterized in that: The guide for retracting and extending the high-pressure hose (15) is driven by a high-pressure hose winch (16), and during the movement, the high-pressure hose (15) is guided by a guide assembly, and the rotation of the high-pressure hose winch (16) is driven by a hydraulic motor and a reduction unit; the vertical section (31) of the L-shaped mechanical arm is located on the side of the high-pressure hose (15) and is provided with a pressure wheel (17), and the front end of the sleeve is installed with a fixed pulley (18) for guiding the high-pressure hose (15).

10. The coal bunker cleaning robot according to claim 1, characterized in that: A 360-degree explosion-proof high-definition camera (19) extending into the coal bunker is installed on the inner side of the rotating platform (2).

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