Slag cleaning robot

Abstract

The utility model discloses a slag cleaning robot which comprises a walking machine body, a transition machine body and a crushing machine body. The bottom of the walking machine body is provided with an electromagnet attracted and fixed to the mine wall face, and the two sides of the walking machine body are provided with walking wheel sets; one end of the transition machine body is fixedly connected with the walking machine body; the crusher body comprises a drill bit group, a driving mechanism and a drill bit mounting seat; the drill bit mounting seat is movably connected with the other end of the transition machine body; the drill bit set is rotationally connected with the drill bit mounting base, and the driving mechanism is in transmission connection with the drill bit set and used for driving the drill bit set to rotate. The slag cleaning device can replace manual slag cleaning operation on the wall face of equipment, the slag is ground and drilled down in a drill bit grinding mode, large slag blocks are prevented from collapsing, and meanwhile the situation that the service life of the equipment is affected by large-amplitude vibration of the equipment is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to special operation robot equipment technical field especially relates to a slag cleaning robot. BACKGROUND

[0002] In the smelting process of iron ore, gold ore and other ores, large raw material bins, smelting furnaces, cleaning tanks, settling tanks and other process smelting equipment are needed. After long-term use, the ore material will be hardened on the metal wall surface of the equipment, and a large amount of slag will be left. The existence of these slags not only affects the work efficiency of ore smelting, but also causes waste of resources. In order to improve production efficiency, workers need to clean the residues on the wall surface, and then transport the residues to the designated position for collection and reuse by the ore transport device.

[0003] However, the traditional cleaning method basically adopts manual high-altitude operation to perform knocking and hammering cleaning means. The vibration generated during manual cleaning process makes the slag on the ore wall easy to loosen, form blocks and fall off, and collapse, resulting in safety accidents and serious safety hazards. At the same time, the knocking and hammering cleaning means can easily damage the metal wall surface of the equipment, and the strong vibration can also affect the sealing of the pipe connection of some equipment. Therefore, in order to solve the above technical problems, the slag cleaning robot is provided. UTILITY MODEL CONTENT

[0004] The slag cleaning robot provided by the utility model can replace manual operation to perform slag cleaning operation on the wall surface of the equipment, and can grind and drill the slag to avoid collapse of large pieces of slag and avoid causing large vibration of the equipment to affect the service life of the equipment.

[0005] In order to achieve the above purpose, the utility model adopts the technical scheme of:

[0006] A slag cleaning robot, comprising a walking body, a transition body and a crushing body; the bottom of the walking body is provided with an electromagnet fixedly adsorbed with the ore wall surface, and the two sides of the walking body are provided with walking wheels; one end of the transition body is fixedly connected with the walking body; the crushing body comprises a drill bit group, a driving mechanism and a drill bit mounting seat; the other end of the transition body is movably connected with the drill bit mounting seat; the drill bit group is rotatably connected with the drill bit mounting seat, and the driving mechanism is drivingly connected with the drill bit group for driving the drill bit group to rotate.

[0007] Further, the drill bit set comprises a roller bit and a connecting shaft; the connecting shaft is rotatably connected with the drill bit mounting seat in the vertical direction; the top of the roller bit is detachably connected with the bottom of the connecting shaft; the driving mechanism is a driving motor fixedly connected with the drill bit mounting seat and drivingly connected with the top of the connecting shaft through a coupling to drive the roller bit to rotate.

[0008] Further, the driving mechanism further comprises a vibration sensor mounted on the driving motor.

[0009] Further, in another embodiment, the number of drill bit sets is several, each of which is arranged in parallel and spaced apart in the vertical direction; each of the connecting shafts is rotatably connected with the drill bit mounting seat, and the top of each of the connecting shafts is provided with a transmission gear, each of which is drivingly connected through a transmission chain; the driving motor is fixedly connected with the drill bit mounting seat; and the driving motor is drivingly connected with one of the connecting shafts through a coupling to drive the several roller bits to rotate.

[0010] Further, the roller bit comprises a bit body and three rollers; the top of the bit body is detachably connected with the connecting shaft through a thread; the bottom of the bit body is provided with three circumferentially spaced apart pads, each of the rollers is rotatably connected with the inner side of one of the pads, and the three rollers are arranged in an inclined manner, the inner sides of the three rollers are provided with a conical structure, and the center lines of the three rollers intersect with the center line of the bit body; a plurality of arrayed protrusions are arranged on each of the rollers; and the outer side of each of the pads is also provided with a plurality of protrusions.

[0011] Further, the transition body comprises a connecting body, a servo lifting module, and two organ type protective covers; the connecting body is fixedly connected with one end of the traveling body in the vertical direction; the servo lifting module is mounted on the connecting body in the vertical direction, one side of the drill bit mounting seat is connected with the servo lifting module, and the drill bit mounting seat moves up and down along the connecting body through the servo lifting module; the two sides of the two organ type protective covers are connected with the two sides of the connecting body one by one to wrap the servo lifting module; the upper and lower ends of one of the organ type protective covers are connected with the top of the connecting body and the top of the drill bit mounting seat, respectively; the upper and lower ends of the other organ type protective cover are connected with the top of the drill bit mounting seat and the bottom of the connecting body, respectively; and the two organ type protective covers are folded and telescoped with the drill bit mounting seat moving up and down.

[0012] Further, the walking body comprises an electric control bin, a walking wheel set, a battery, an electromagnet, a controller and an ultrasonic flaw detection instrument; the walking wheel set is distributed on both sides of the electric control bin; the electric control bin is internally provided with a cavity structure; the electromagnet is arranged at the bottom of the electric control bin; the battery and the controller are arranged in the electric control bin; the electromagnet, the battery, the servo lifting module and the driving mechanism are electrically connected with the controller; the connecting body is fixedly connected to one end of the electric control bin in the vertical direction; one end of the ultrasonic flaw detection instrument is movably connected to the tail end of the electric control bin; the probe of the ultrasonic flaw detection instrument faces downward.

[0013] Further, the bottom of the electric control bin is inwardly recessed to form a walking wheel mounting portion, and each walking wheel set is arranged in the corresponding walking wheel mounting portion; each walking wheel set comprises two tracks, four driving sprockets, four driving motors and four groups of elastic telescopic driven sprockets; the four driving motors are distributed at the four corners of the bottom of the electric control bin, each driving sprocket is connected with the output shaft of the driving motor, and each track is distributed and sleeved on the two driving sprockets on the same side.

[0014] Further, each elastic telescopic driven sprocket comprises an elastic telescopic rod, two driven sprockets, two driven adjusting beams and an adjusting cross beam; the two driven adjusting beams are oppositely arranged, one end of the two driven adjusting beams is hingedly connected to one side of the electric control bin, and the two ends of the adjusting cross beam close to one side of the electric control bin are respectively hingedly connected to the other end of the driven adjusting beam; the top of the elastic telescopic rod is hingedly connected to the upper end face of the corresponding walking wheel mounting portion, and the bottom of the elastic telescopic rod is hingedly connected to the middle part of the adjusting cross beam; the two ends of the adjusting cross beam away from one side of the electric control bin are respectively rotationally connected with the driven sprocket; the outer peripheral walls of the two driven sprockets abut against the inner side of the corresponding track.

[0015] Further, an electric signal output electrode line and a potential measurement electrode line are further arranged between the controller and the drill bit mounting seat; the controller outputs electric signals to the drill bit mounting seat and the drill bit set through the electric signal output electrode line, and the potential measurement electrode line is used for measuring the electric potential signals on the drill bit mounting seat and the drill bit set.

[0016] The beneficial effects of the utility model are as follows:

[0017] 1) Compared with the prior art, the slag cleaning robot is used to clean slag instead of manual cleaning, and the drill bit grinding method is used to grind and fall the slag, so that the slag loosening or collapse during manual cleaning of the device wall surface is avoided, the device is prevented from being greatly vibrated to affect the service life of the device, the safety hazard is reduced, and the safety during the slag cleaning process is improved; meanwhile, the slag is directly ground and crushed, which is beneficial to improving the efficiency of slag recovery work.

[0018] 2) The connecting shaft is rotated by the driving motor, so as to drive the roller bit to rotate and grind and crush the slag, and the convex points arranged on the plurality of rollers are matched, so that the crushing capacity is effectively improved, the slag is directly ground and crushed during the slag cleaning process, knocking and impact are not needed, the working efficiency of the slag cleaning robot is improved, and the damage to the device is reduced.

[0019] 3) By simultaneously rotating the plurality of drill bit groups, the unit area of slag cleaning can be improved, the splashed slag can still be ground and crushed by the convex points arranged on the outer side of the toothed yoke even if the splashed slag enters the gap between the adjacent drill bit groups, so that the crushing capacity of the drill bit group is increased, and the slag cleaning efficiency is improved.

[0020] 4) The vibration sensor can sense the vibration threshold value of the motor, and utilize the hardness difference between the device wall surface and the slag, so that whether the drill bit has contacted the device wall surface can be effectively identified according to the vibration value difference in the rotating process, so as to timely stop the rotating grinding operation or replace the working position, and the device wall surface can be prevented from being damaged.

[0021] 5) The crushing machine body is controlled by the servo lifting module to reciprocate in the direction close to or away from the mine wall surface, so as to adjust the distance between the drill bit group and the device wall surface, and cooperate with the vibration sensor on the driving mechanism, so that the slag cleaning robot can more comprehensively clean the slag on the wall surface, and the cleaning efficiency of the slag cleaning robot is effectively improved; the two organ type protective covers can effectively prevent the slag from entering the servo lifting module to affect the displacement accuracy of the servo lifting module.

[0022] 6) The elastic telescopic driven wheels can adapt to the shape of the device wall surface, and when passing through the convex blocks, each adjusting cross beam can automatically adjust the positions of the corresponding two driven wheels, so that the walking machine body is prevented from greatly fluctuating during the walking process, and the stability of the walking machine body is ensured.

[0023] 7) The controller detects the potential difference on the drill bit seat and drill bit group through the electric signal output electrode line and the potential measuring electrode line, and the potential change on the drill bit seat is caused when the drill bit group contacts the equipment wall surface, and the vibration sensor on the driving mechanism is matched, so that the controller quickly makes a shutdown response when the drill bit group contacts the equipment wall surface, and the drill bit group is prevented from damaging the equipment wall surface; after the robot finishes cleaning the slag, it can drive to some specific positions, and the ultrasonic flaw detector is lowered to abut on the equipment wall surface by using the micro electric push rod, and metal flaw detection is performed on the point. BRIEF DESCRIPTION OF DRAWINGS

[0024] The specific embodiments of the utility model will be further described in detail below in combination with the drawings, wherein:

[0025] Figure 1 It is the perspective view of the overall structure of the utility model;

[0026] Figure 2 It is the side view of the overall structure in the utility model;

[0027] Figure 3 It is the perspective view of the internal structure of the crusher body and the transition body in the utility model;

[0028] Figure 4 It is the perspective view of the internal structure of the walking body in the utility model;

[0029] Figure 5 It is the perspective view of the crusher body in the utility model;

[0030] Figure 6 It is the bottom view of the crusher body in the utility model;

[0031] Figure 7 It is the front view of the drill bit group in the utility model;

[0032] Figure 8 It is the perspective view of the roller bit in the utility model;

[0033] Drawing identification:

[0034] 1 - walking body, 2 - transition body, 3 - crushing body, 31 - drill bit set, 32 - driving mechanism, 33 - drill bit mounting seat, 311 - roller bit, 312 - connecting shaft, 313 - coupling, 314 - transmission gear, 315 - transmission chain, 3111 - drill bit main body, 3112 - roller, 3113 - palm, 3114 - convex point, 21 - connecting body, 22 - servo lifting module, 23 - organ type protective cover, 11 - electric control bin, 12 - walking wheel set, 13 - battery, 14 - controller, 15 - sealed terminal, 16 - drag chain, 121 - track, 122 - driving sprocket, 123 - driving motor, 124 - elastic telescopic driven sprocket, 1241 - elastic telescopic rod, 1242 - driven wheel, 1243 - driven adjusting beam, 1244 - adjusting cross beam. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] It should be noted that when a component is referred to as "fixed" to another component, it can be directly on the other component or there can be a middle component. When a component is referred to as "connected" to another component, it can be directly connected to the other component or there can be a middle component. When a component is referred to as "disposed" on another component, it can be directly disposed on the other component or there can be a middle component, and when a component is referred to as "disposed" in the middle, it is not only disposed in the middle position, but also disposed within the range defined by the middle. The terms "vertical", "horizontal", "left", "right" and the like used in this paper are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] Reference Figures 1 to 8As shown, a kind of slag cleaning robot, including walking body 1, transition body 2 and crushing body 3;The walking body 1 bottom is equipped with with the wall surface adsorption fixed electromagnet of mine, walking wheel group 12 is equipped with in the walking body 1 both sides;The transition body 2 one end is fixedly connected with the walking body 1;The crushing body 3 includes drill bit group 31, drive mechanism 32 and drill bit mounting seat 33;The drill bit mounting seat 33 is movably connected with the other end of the transition body 2;The drill bit group 31 is rotatably connected with the drill bit mounting seat 33, the drive mechanism 32 is drivingly connected with the drill bit group 31, for driving the drill bit group 31 rotation.Compared with prior art, the slag cleaning robot of the utility model is used to clean slag to replace manual cleaning, and the drill bit group 31 is used to grind and mill the slag, so that the slag is loosened or collapsed when the slag is cleaned on the wall surface of equipment, the safety hazard is avoided, the safety in the process of slag cleaning is improved, the slag is directly ground and crushed, and the efficiency of slag recovery work is improved.

[0039] In one embodiment, the drill bit group 31 includes a roller bit 311 and a connecting shaft 312;The connecting shaft 312 is rotatably connected with the drill bit mounting seat 33 along the vertical direction;The top of the roller bit 311 is detachably connected with the bottom of the connecting shaft 312;The drive mechanism 32 is a drive motor, and the drive motor 32 is fixedly connected to the drill bit mounting seat 33 and is drivingly connected to the top of the connecting shaft 312 through a shaft coupling 313 to drive the roller bit 311 to rotate.The drive mechanism 32 further includes a vibration sensor, and the vibration sensor is installed on the drive motor, and the vibration sensor can sense the vibration threshold of the motor, and the hardness difference between the wall surface of the equipment and the slag is utilized, so that the contact between the drill bit and the wall surface of the equipment can be effectively identified according to the vibration value difference in the rotation process, and the rotation grinding operation is stopped in time or the working position is replaced, so that the wall surface of the equipment can be prevented from being damaged.

[0040] The roller bit 311 comprises a bit body 3111 and three rollers 3112; the top of the bit body 3111 is detachably connected with the connecting shaft 312 through threads, so that the convenience of the bit body 3111 and the connecting shaft 312 in the replacement process is improved; the bottom of the bit body 3111 is provided with three circumferentially spaced toothed legs 3113; each roller 3112 is rotationally connected with the inner side of a toothed leg 3113, and the three rollers 3112 are all arranged in an inclined manner; the inner sides of the three rollers 3112 are provided in a conical structure, and the center lines of the three rollers 3112 intersect with the center line of the bit body 3111; a plurality of convex points 3114 are arranged in an array on each roller 3111; the outer side of each toothed leg 3113 is also provided with a plurality of convex points 3114; while the bit body 3111 rotates, the three rollers 3112 rotate drivenly against the slag; in the process of rotation, the large pieces of slag fall into the three rollers 3112 and are ground and crushed by the convex points 3114. The connecting shaft 312 is rotated by the driving motor, so as to drive the roller bit 311 to rotate and grind and crush the slag; through the cooperation of the convex points 3114 arranged in an array on the plurality of rollers 3112, the crushing capacity is effectively improved; in the process of cleaning the slag, the slag is directly ground and crushed without knocking and impacting, so that the working efficiency of the slag cleaning robot is improved, and the damage to the equipment is reduced.

[0041] In order to improve the efficiency of cleaning the slag, another embodiment is provided, which is different from the first embodiment in that the number of the bit groups 31 can be set to be multiple, for example, five in the embodiment, and the five bit groups 31 are arranged in two rows in front and back, two in front and three in back, staggered arrangement, and together form an isosceles trapezoidal operation area; each bit group 31 is arranged in parallel and spaced apart along the vertical direction; each connecting shaft 312 is rotationally connected with the bit mounting seat 33; the top of each connecting shaft 312 is provided with a transmission gear 314, and each transmission gear 314 is drivingly connected through a transmission chain 315; the driving motor is fixedly connected on the bit mounting seat 33; the driving motor and one of the connecting shafts 312 are drivingly connected through a shaft coupling 313 to drive the five rollers 311 to rotate simultaneously. It should be noted that the transmission mode between multiple bit groups 31 is not limited to gear and chain transmission, but can also directly adopt gear meshing transmission to obtain greater torque. By setting multiple bit groups 31 to rotate simultaneously, the unit area of slag cleaning can be improved, and the splashed slag can still be ground and crushed by the convex points 3114 arranged on the outer side of the toothed leg 3113 even if it enters the gap between adjacent bit groups 31, so that the crushing capacity of the bit group 31 is increased, and the slag cleaning efficiency is improved.

[0042] Please refer to Figures 1 to 3As shown, the transition body 2 includes a connecting body 21, a servo lifting module 22 and two organ type protective covers 23; the connecting body 21 is fixedly connected with one end of the walking body 1 in the vertical direction; the servo lifting module 22 can be realized by the technical solutions of the servo motor, the ball screw and the slide rail in the prior art, and the specific structure is not described here again, the servo lifting module 22 is installed on the connecting body 1 in the vertical direction, one side of the drill bit mounting seat 33 is connected with the servo lifting module 22, and the servo lifting module 22 is lifted along the connecting body 21; two sides of the two organ type protective covers 23 are connected with two sides of the connecting body 21 one by one, and the servo lifting module 22 is wrapped inside; the upper and lower ends of one of the organ type protective covers 23 are connected with the top of the connecting body 21 and the top of the drill bit mounting seat 33 respectively; the upper and lower ends of the other organ type protective cover 23 are connected with the top of the drill bit mounting seat 33 and the bottom of the connecting body 21 respectively; the two organ type protective covers 23 are folded and telescoped with the lifting of the drill bit mounting seat 33, and the two organ type protective covers 23 can effectively prevent the slag from entering the servo lifting module 22 to affect the displacement accuracy of the servo lifting module 22. The crusher body 3 is controlled by the servo lifting module 22 to reciprocate in the direction close to or away from the mine wall surface, so as to adjust the distance between the drill bit group 31 and the equipment wall surface, cooperate with the vibration sensor on the driving mechanism 32, so that the slag cleaning robot can more comprehensively clean the slag on the wall surface, and effectively improve the cleaning efficiency of the slag cleaning robot.

[0043] Please refer to Figure 1 , Figure 2 and Figure 4As shown, the walking body 1 comprises an electric control bin 11, a walking wheel set 12, a storage battery 13, an electromagnet (not shown in the figure), a controller 14 and an ultrasonic flaw detection instrument 17; the walking wheel set 12 is distributed on both sides of the electric control bin 11; the electric control bin 11 is internally provided with a hollow structure; the electromagnet is arranged at the bottom of the electric control bin 11; the storage battery 13 and the controller 14 are arranged in the electric control bin 11; the electromagnet, the storage battery 13, the servo lifting module 22 and the driving mechanism 32 are all electrically connected with the controller 14; the controller 14 and the drill bit mounting seat are further provided with an electric signal output electrode line (not shown in the figure) and a potential measuring electrode line (not shown in the figure); the controller 14 outputs electric signals to the drill bit mounting seat 33 and the drill bit set 31 through the electric signal output electrode line, and the potential measuring electrode line is used for measuring the potential electric signal on the drill bit mounting seat and the drill bit set; when the drill bit set 31 contacts the wall surface of the equipment, the potential electric potential on the drill bit mounting seat 33 changes, and the vibration sensor on the driving mechanism 32 is matched, so that the controller 14 sends a stop command at the moment when the drill bit set 31 contacts the wall surface of the equipment, thereby preventing the drill bit set 31 from damaging the wall surface of the equipment; the feedback signal received by the controller when the drill bit set 31 contacts the wall surface of the equipment needs to have both the potential electric potential signal and the vibration signal, and such a design can avoid the situation that the vibration signal is generated due to the collision of the drill bit set with hard slag lumps, and the controller can effectively identify that the drill bit set continues to clean up the work, and the slag contains aluminum ore metal, which can also cause the potential electric potential to change, but if there is no large vibration signal at the same time, the stop will not be triggered, so through the cooperation of the potential electric potential measurement and the vibration measurement, the misjudgment situation can be avoided, that is, the slag can be completely cleaned up without damaging the wall surface of the equipment, thereby achieving the purpose of improving the cleaning effect. The driving mechanism 32 and the electric control bin 11 are further provided with a sealed junction head 15 and a drag chain 16, the sealed junction head 16 is used for connecting the cables between the power supply components, and the drag chain 16 is used for accommodating the cables connected between the sealed junction head and the power supply components, which helps to arrange the cables neatly; the connecting body 21 is fixedly connected to one end of the electric control bin 11 in the vertical direction; one end of the ultrasonic flaw detection instrument 17 is movably connected to the tail end of the electric control bin through a micro electric push rod; the probe of the ultrasonic flaw detection instrument 17 faces downward, and after the robot finishes cleaning the slag, it can be driven to some specific location, and the micro electric push rod is used to lower the ultrasonic flaw detection instrument 17 to abut against the wall surface of the equipment, so as to perform a metal flaw detection operation on the point. The walking body 1 is tightly fixed to the wall surface of the equipment through the suction force of the electromagnet, and is moved on the wall surface of the equipment through the walking wheel set 12.

[0044] The bottom of the two sides of the electric control bin 11 is inwardly recessed to form a walking wheel mounting portion, and each walking wheel set 12 is arranged at a corresponding walking wheel mounting portion; each walking wheel set 12 comprises two tracks 121, four drive sprockets 122, four drive motors 123, and four sets of elastic telescopic driven sprockets 124; the four drive motors 123 are distributed at the four corners of the bottom of the electric control bin 11, each drive sprocket 122 is connected with the output shaft of a drive motor 123, and each track 121 is distributed and sleeved on two drive sprockets 122 located at the same side; two sets of elastic telescopic driven sprockets 124 are arranged at the two sides of the electric control bin 11, and the two sets of elastic telescopic driven sprockets 124 are movably abutted at the inner side of the lower end of a corresponding track 121. Each elastic telescopic driven sprocket 124 comprises an elastic telescopic rod 1241, two driven sprockets 1242, two driven adjusting beams 1243, and an adjusting cross beam 1244; the two driven adjusting beams 1243 are oppositely arranged, one end of each driven adjusting beam 1243 is hingedly connected with one side of the electric control bin 11, and the two ends of the adjusting cross beam 1244 close to one side of the electric control bin 11 are respectively hingedly connected with the other end of a driven adjusting beam 1243; the top of the elastic telescopic rod 1241 is hingedly connected with the upper end surface of a corresponding walking wheel mounting portion, and the bottom of the elastic telescopic rod 1241 is hingedly connected with the middle part of the adjusting cross beam 1244; the two ends of the adjusting cross beam 1244 away from one side of the electric control bin 11 are respectively rotationally connected with a driven sprocket 1242; the outer peripheral wall of each driven sprocket 1242 is abutted against the inner side of a corresponding track 121. The elastic telescopic driven sprocket 124 can adapt to the shape of the wall of the device, and when passing through a protrusion, each adjusting cross beam 1244 can automatically adjust the position of the corresponding two driven sprockets 1242, thereby avoiding the walking machine body from greatly fluctuating during the walking process, and thus the stability of the walking machine body 1 is ensured.

[0045] The above embodiments are only used to illustrate the technical solutions of the present application and not to limit them, and any modification or equivalent replacement within the spirit and scope of the present application should be covered in the scope of the technical solutions of the present application.

Claims

1. A slag cleaning robot, characterized by The application relates to a walking machine body, a transition machine body and a crusher body; the bottom of the walking machine body is provided with electromagnets for adsorbing and fixing a mine wall surface, and both sides of the walking machine body are provided with walking wheel sets; one end of the transition machine body is fixedly connected with the walking machine body; the crusher body comprises a drill bit set, a driving mechanism and a drill bit mounting seat; the drill bit mounting seat is movably connected with the other end of the transition machine body; the drill bit set is rotatably connected with the drill bit mounting seat, and the driving mechanism is drivingly connected with the drill bit set for driving the drill bit set to rotate.

2. The slag cleaning robot according to claim 1, characterized in that The drill bit set comprises a roller bit and a connecting shaft; the connecting shaft is rotatably connected with the drill bit mounting seat in the vertical direction; the top of the roller bit is detachably connected with the bottom of the connecting shaft; the driving mechanism is a driving motor which is fixedly connected on the drill bit mounting seat and drivingly connected with the top of the connecting shaft through a shaft coupling to drive the roller bit to rotate.

3. The slag cleaning robot according to claim 2, characterized in that The driving mechanism further comprises a vibration sensor which is mounted on the driving motor.

4. The slag cleaning robot according to claim 3, characterized in that The number of the drill bit sets is several, each of which is arranged in parallel and at intervals in the vertical direction; each of the connecting shafts is rotatably connected with the drill bit mounting seat, the top of each of the connecting shafts is provided with a transmission gear, and each of the transmission gears is drivingly connected through a transmission chain; the driving motor is fixedly connected on the drill bit mounting seat; the driving motor is drivingly connected with one of the connecting shafts through a shaft coupling to drive the several roller bits to rotate.

5. The slag cleaning robot according to any one of claims 2 or 4, characterized in that, The roller bit comprises a drill bit main body and three roller bits; the top of the drill bit main body is detachably connected with the connecting shaft through screw threads; the bottom of the drill bit main body is provided with three gudgeons which are distributed at intervals in a circle; each of the roller bits is rotatably connected with the inner side of one of the gudgeons, and the three roller bits are arranged in an inclined mode; the inner sides of the three roller bits are provided with a conical structure, and the center lines of the three roller bits intersect with the center line of the drill bit main body; a plurality of convex points are arranged in an array on each of the roller bits; and the outer sides of the gudgeons are also provided with a plurality of convex points.

6. The slag cleaning robot according to claim 2, characterized in that The transition machine body comprises a connecting body, a servo lifting module and two organ type protective covers; the connecting body is fixedly connected with one end of the walking machine body in the vertical direction; the servo lifting module is mounted on the connecting body in the vertical direction, one side of the drill bit mounting seat is connected with the servo lifting module and moves up and down along the connecting body through the servo lifting module; the two sides of the two organ type protective covers are correspondingly connected with the two sides of the connecting body, and the servo lifting module is wrapped in the organ type protective covers; the upper end and the lower end of one of the organ type protective covers are correspondingly connected with the top of the connecting body and the top of the drill bit mounting seat respectively; the upper end and the lower end of the other organ type protective cover are correspondingly connected with the top of the drill bit mounting seat and the bottom of the connecting body respectively; and the two organ type protective covers are folded and telescoped along with the up-and-down movement of the drill bit mounting seat.

7. The slag cleaning robot according to claim 6, characterized in that The walking machine body comprises an electric control bin, walking wheel sets, a storage battery, electromagnets, a controller and an ultrasonic flaw detection instrument; the walking wheel sets are distributed on both sides of the electric control bin. The electric control bin is internally provided with a cavity structure; the electromagnet is arranged at the bottom of the electric control bin; the battery and the controller are arranged in the electric control bin; the electromagnet, the battery, the servo lifting module and the driving mechanism are electrically connected with the controller; the connecting body is fixedly connected to the head end outside of the electric control bin in the vertical direction; one end of the ultrasonic flaw detector is movably connected to the tail end of the electric control bin; the probe of the ultrasonic flaw detector faces downward.

8. The slag cleaning robot according to claim 7, characterized in that The bottom of the electric control bin is inwardly recessed to form a walking wheel mounting portion, and each walking wheel set is arranged in the corresponding walking wheel mounting portion; each walking wheel set comprises two tracks, four driving sprockets, four driving motors and four groups of elastic extension driven sprockets. The four driving motors are distributed at the four corners of the bottom of the electric control bin, each driving sprocket is connected with the output shaft of the driving motor, and each track is distributed and sleeved on the two driving sprockets located on the same side; the electric control bin is provided with two groups of elastic extension driven sprockets on both sides, and the two groups of elastic extension driven sprockets movably abut on the inner side of the lower end of the corresponding track.

9. The slag cleaning robot according to claim 8, characterized in that Each elastic extension driven sprocket comprises an elastic extension rod, two driven wheels, two driven adjusting beams and an adjusting cross beam; the two driven adjusting beams are oppositely arranged, one end of each driven adjusting beam is hingedly connected to one side of the electric control bin, and the two ends of the adjusting cross beam close to one side of the electric control bin are respectively hingedly connected to the other end of each driven adjusting beam; the top of the elastic extension rod is hingedly connected to the upper end surface of the corresponding walking wheel mounting portion, and the bottom of the elastic extension rod is hingedly connected to the middle part of the adjusting cross beam; the two ends of the adjusting cross beam away from one side of the electric control bin are respectively rotationally connected to the driven wheels; the outer circumferential walls of the two driven wheels abut on the inner side of the corresponding track.

10. The slag cleaning robot according to claim 7, characterized in that The controller and the drill bit mounting seat are further provided with an electric signal output electrode wire and a potential measurement electrode wire; the controller outputs electric signals to the drill bit mounting seat and the drill bit set through the electric signal output electrode wire, and the potential measurement electrode wire is used for measuring the potential electric signal on the drill bit mounting seat and the drill bit set.

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