Accumulated coal cleaning robot for coal conveying system

Abstract

To provide an accumulated coal cleaning robot for a coal conveying system which reduces workloads of an operator, and can improve work efficiency of work for cleaning the accumulated coal.SOLUTION: An accumulated coal cleaning robot for a coal conveying system includes: a driving unit 100 which comprises a driving member 101, a storage vehicle 102 provided above the driving member 101, a protective member 103 provided on one end of the storage vehicle 102, and two sets of interlock members 104 provided on both sides of the protective member 103; and a crushing unit which comprises a mounting member which is arranged in the protective member 103, and has both ends penetrating into both-side exteriors of the protective member 103, and a plurality of sets of crushing members which are provided on the mounting member and uniformly distributed around the axial direction of the mounting member.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to the technical field of coal washing, and particularly to a robot for cleaning coal accumulated in a coal conveying system.

Background Art

[0002] The coal conveying system of a power plant refers to a series of facilities for conveying coal from a coal storage area such as a coal yard to a combustion furnace or boiler in the power plant. The system usually includes coal conveying facilities (belt conveyors, grab elevators, scraper conveyors, etc.). The design and operation of the coal conveying system in a power plant have an important impact on the safety, efficiency, and environmental protection of power generation.

[0003] When coal is conveyed in a coal conveying system, due to the large particle size of the coal and the low connectivity between the stacked coals, the friction between the coal and the coal conveying system during conveying becomes insufficient, and a part of the coal cannot stably stay in the coal conveying system. A part of this coal will accidentally fall off from the coal conveying system during conveying and accumulate on the ground outside the coal conveying system. In order to ensure the tidying up of the working environment of the conveying system and the recycling of this part of the coal, in addition, the working place of the coal transportation system is more complex, and large coal cleaning equipment (such as shovels) cannot be operated therein. Therefore, the existing technology uses a manual method for coal recycling and cleaning. The manual cleaning method not only increases the workload of the staff, wastes precious human resources, but also, since coal contains a certain amount of moisture, when coal is stacked, the coal will solidify, making it impossible to use the coal in a cleaner way. At the same time, since coal contains a certain amount of moisture, when coal is stacked, an agglomeration phenomenon occurs between the coals, and at the same time, the coal particles in contact with the ground also adhere to the ground, making cleaning very difficult and leading to poor cleaning efficiency. In order to solve such problems, a robot for cleaning coal accumulated in a coal conveying system is provided.

Summary of the Invention

[0004] In view of the problems of the robot for cleaning the coal accumulated in the existing coal conveying system, the present invention is proposed.

[0005] Therefore, an object of the present invention is to provide a robot for cleaning the coal accumulated in the coal conveying system, and the object is to provide a highly efficient cleaning device for the accumulated coal that can reduce the workload of the operator and improve the cleaning work efficiency of the accumulated coal.

[0006] To solve the above technical problems, the present invention provides the following technical solutions. The robot for cleaning the coal accumulated in the coal conveying system includes a drive unit composed of a drive member, a storage vehicle provided above the drive member, a protection member provided at one end of the storage vehicle, and two sets of linkage members provided on both sides of the protection member, a crushing unit composed of a mounting member disposed in the protection member and having both ends penetrating to the outside of both sides of the protection member, and a plurality of sets of crushing members provided on the mounting member and uniformly distributed around the axial direction of the mounting member, a shovel pin assembly disposed below the inside of the protection member and directly above which the crushing unit is located, and a shovel pin unit composed of two sets of pressing members provided at both ends of the shovel pin assembly and symmetrically and rotatably connected to both sides of the protection member, a conveyor belt obliquely disposed inside the protection member, drive shafts provided at both ends of the conveyor belt, a plurality of sets of digging hoppers uniformly distributed around the periphery of the conveyor belt, and a driven wheel provided outside the drive shaft at the top end of the conveyor belt, and the top end of the conveyor belt is close to the storage vehicle, and includes a lead lift unit.

[0007] As a preferred solution for the robot to clean the coal accumulated in the coal conveying system according to the present invention, the driving member includes a driving base located below the storage vehicle and containing a control module inside, two sets of crawler belts provided on both sides of the driving base, two sets of axle bars provided on both sides of the driving base and having both ends of the two sets of crawler belts respectively fitted at one end on the same side, electric motors provided inside both ends of the axle bars, and driving disks provided outside the electric motors.

[0008] As a preferred solution for the robot to clean the coal accumulated in the coal conveying system according to the present invention, the protection member includes two sets of symmetrically provided side plates with the inner sides fixedly connected to the storage vehicle, a first protection assembly provided between the side plates, a second protection assembly provided on one side of the first protection assembly and having one end extending to the inside of the first protection assembly, and a third protection assembly provided outside the side plates.

[0009] As a preferred solution for the robot to clean the coal accumulated in the coal conveying system according to the present invention, the first protection assembly includes an outer fixed plate provided between the side plates and having both ends fixedly connected to the two sets of side plates respectively, an inner fixed plate provided inside the outer fixed plate and having the central position fixedly connected to the outer fixed plate, two sets of arc-shaped grooves opened between the outer fixed plate and the inner fixed plate and symmetrically distributed around the fixed connection positions of the two, and reset springs located in the arc-shaped grooves.

[0010] As a preferred solution for a robot to clean the coal accumulated in the coal conveying system described in the present invention, the second protection assembly is located on one side of the first protection assembly, and includes an arc-shaped plate with one end extending into the arc-shaped groove, two sets of side fixing plates provided at both ends of the outer fixing plate, an arc-shaped plate with both ends of the mounting member passing through the side fixing plates and extending to the outside of the side plates, a retraction groove provided at the central position of the arc-shaped plate and matching the dimension of the fixed connection position between the outer fixing plate and the inner fixing plate, and a roller shaft rotatably connected to the other end of the arc-shaped plate.

[0011] As a preferred solution for a robot to clean the coal accumulated in the coal conveying system described in the present invention, the linkage member includes a main driving member rotatably connected to the outside of the side plate, a transmission rod provided between the main driving member and the driving disk and having both ends rotatably connected to the outside of the main driving member and the driving disk respectively, and a transmission belt provided between the main driving member and the driven wheel and having both ends fitted to the main driving member and the driven wheel respectively.

[0012] As a preferred solution for a robot to clean the coal accumulated in the coal conveying system described in the present invention, the mounting member includes a mounting shaft rotatably connected between two sets of the side plates and having both ends passing through the side plates, three sets of reinforcing plates provided on the mounting shaft and distributed at both ends and the center of the mounting shaft respectively, a first bevel gear fixedly provided at both ends of the mounting shaft and meshing with the main driving member, and four sets of reinforcing rods provided around the outside of the mounting shaft and fixedly connected between the first bevel gears.

[0013] As a preferred solution for a robot to clean the coal accumulated in the coal conveying system described in the present invention, the crushing member includes a crushing assembly rotatably connected to the reinforcing rod, and a reset assembly provided on the crushing assembly. One end of the reset assembly is rotatably connected to the crushing assembly, and the other end extends through the reinforcing rod.

[0014] As a preferred solution for the robot to clean the coal accumulated in the coal conveying system according to the present invention, the shovel pin assembly includes a shovel pin knife with a wedge-shaped structure located between two sets of the side plates, and push rods provided on both sides of the shovel pin knife, and the push rods extend into the pressing member.

[0015] As a preferred solution for the robot to clean the coal accumulated in the coal conveying system according to the present invention, the pressing member includes a second bevel gear located outside the side plate, a second meshing surface located outside the second bevel gear and meshing with the main driving member, a deformed block provided inside the second bevel gear, a limiting rotating shaft fixedly provided inside the deformed block and extending to be rotatably connected to the side plate, and a deformed groove located between the second bevel gear and the deformed block, and the push rod extends into the deformed groove.

[0016] The present invention has the following beneficial effects. By providing a robot for performing the operations of collecting and cleaning the coal accumulated in a complex environment, the coal that has fallen from the coal conveying system can be uniformly cleaned and collected, ensuring the tidying up of the working environment, while reducing the working burden of the operator and improving the working efficiency of the operation of cleaning the accumulated coal.

Brief Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly describes the attached drawings that need to be used in the description of the embodiments. Obviously, the attached drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these attached drawings without creative labor.

Figure 1

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Figure 9

Embodiments for Carrying Out the Invention

[0018] In order to make the above objects, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings of the specification.

[0019] In the following description, more details are provided to fully understand the present invention. However, the present invention can also be implemented in other forms different from those described here. Those skilled in the art can also promote the present invention without infringing on the meaning of the present invention. Therefore, the present invention is not limited by the specific examples disclosed below.

[0020] Next, the "one embodiment" or "embodiment" referred to herein includes specific features, structures, or characteristics that can be included in at least one implementation aspect of the present invention. The phrase "in one embodiment" that appears in various places in this specification does not refer to all the same embodiments, nor does it refer to embodiments that are separate from or selectively mutually exclusive of other embodiments.

[0021] Furthermore, the present invention is described in detail in conjunction with schematic diagrams. When describing embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device may be locally enlarged without following the general scale, and the schematic diagrams are merely illustrative and do not limit the protection scope of the present invention. Also, in actual production, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0022] Embodiment 1 Referring to FIGS. 1 to 3, the first embodiment of the present invention provides a robot for cleaning coal accumulated in a coal conveying system. This device includes the following units. The driving unit 100 consists of a driving member 101, a storage vehicle 102 provided above the driving member 101, a protection member 103 provided at one end of the storage vehicle 102, and two sets of linkage members 104 provided on both sides of the protection member 103. The driving member 101 is used to provide the moving power of the device, the storage vehicle 102 is used to provide a place for storing coal particles, and the protection member 103 is fixedly connected to the side surface of the storage vehicle 102.

[0023] The crushing unit 200 is arranged inside the protection member 103 and consists of a mounting member 201 whose both ends penetrate to the outside of both sides of the protection member 103, and a plurality of sets of crushing members 202 provided on the mounting member 201 and uniformly distributed around the axial direction of the mounting member 201. The mounting member 201 is rotatably connected between the protection members 103. The crushing members 202 are used to knock and extrude coal particles. The plurality of sets of crushing members 202 are uniformly distributed in a staggered pattern on the mounting member 201 to increase the contact points with the coal pile. Furthermore, the uniform distribution of the crushing members 202 can improve the knocking and crushing efficiency of coal lumps and expand the extraction range. The shovel pin unit 300 consists of a shovel pin assembly 301 disposed below the interior of the protection member 103 with the crushing unit 200 positioned directly above it, and two sets of pressing members 302 provided at both ends of the shovel pin assembly 301 and symmetrically and rotatably connected to both sides of the protection member 103. The shovel pin assembly 301 has a wedge-shaped structure, its bottom surface is parallel to the ground, and it can scrape out the coal particles accumulated from the bottom, cut off the coal lumps from the ground, and make it easier to collect and clean the accumulated coal. The lead lift unit 400 consists of a conveyor belt 401 obliquely disposed inside the protection member 103, drive shafts 402 provided at both ends of the conveyor belt 401, multiple sets of digging hoppers 403 uniformly distributed around the conveyor belt 401, and a driven wheel 404 provided outside the drive shaft 402 at the top end of the conveyor belt 401. The top end of the conveyor belt 401 is close to the storage vehicle 102, the bottom end of the obliquely provided conveyor belt 401 is close to the rear of the shovel pin assembly 301, the top end is close to the top side surface of the storage vehicle 102. The two sets of drive shafts 402 are respectively located at the bottom end and the top end of the conveyor belt 401, and the two sets of drive shafts 402 are rotatably connected to the protection member 103. Similarly, both ends of the drive shaft 402 at the top end penetrate through the outside of the protection member 103 and extend, and the driven wheel 404 is fixedly connected to the extended part. The digging hopper 403 is an arc-shaped sheet with an arc-shaped structure, and one end of it is fixedly connected to the conveyor belt 401.

[0024] During use, the driving member 101 drives the device to move to the position of the accumulated coal to be cleaned, and causes the crushing unit 200 and the shovel pin unit 300 to perform the cleaning operation through the linkage member 104. The crushing unit 200 drives the crushing member 202 to rotate by the mounting member 201. The rotating crushing member 202 knocks above the coal pile to perform the extraction operation, extracts the upper coal into the protection member 103, and the lower shovel pin unit 300 separates the bottom end of the accumulated coal pile from the ground through the shovel pin assembly 301. Due to the continuous pressing of the driving member 101, the coal at the bottom of the accumulated coal pile is scraped into the protection member 103. Since the crushing unit 200 and the shovel pin unit 300 are arranged inside the protection member 103, the working environments of both are located inside the protection member 103. Thus, when the protection member 103 cleans the accumulated coal, it avoids the scattering of coal particles. When the coal particles enter the protection member 103, they are lifted by the driving shaft 402 through the conveyor belt 401 and transported above the storage vehicle 102, and finally discarded into the storage vehicle 102 through the overturned driving shaft 402, achieving the cleaning and unified recovery of the accumulated coal.

[0025] Embodiment 2 Referring to FIGS. 3 to 6, the second embodiment of the present invention is different from the first embodiment in that the recovery operation of cleaning the accumulated coal is limited within a specified range, and when cleaning the accumulated coal, the occurrence of the phenomenon of scattering of coal particles is avoided, ensuring construction safety.

[0026] When compared with Example 1, further, the driving member 101 is located below the housing vehicle 102 and includes a driving base 101a with a control module inside, two sets of crawler belts 101b provided on both sides of the driving base 101a, two sets of axle bars 101c provided on both sides of the driving base 101a with both ends of the two sets of crawler belts 101b respectively fitted at one end on the same side, electric motors 101d provided inside both ends of the axle bar 101c, and a driving disk 101e provided outside the electric motor 101d. The entire driving member 101 has a hydraulic crawler belt chassis structure. The hydraulic crawler belt chassis can change the height of the vehicle body by adjusting the tension degree of the crawler belt to adapt to different terrains or special needs. The control module inside the driving base 101a receives a wireless control signal and can remotely control the operation of the entire driving member 101 from the outside through a remote device matched thereto, or realize an automated operation by installing a fixed program in the control module inside the driving base 101a. The crawler belt 101b has a crawler belt type structure, and the shovel pin assembly 301 can enhance the stabilization ability of the device when excavating coal. The axle bar 101c is used to fixedly mount the electric motor 101d. The electric motor 101d is fixedly connected to both ends of the axle bar 101c. The electric motor 101d drives the driving disk 101e to rotate, and a first fixed shaft 101e-1 is fixedly provided on the outer edge of the driving disk 101e.

[0027] Here, the protection member 103 includes two sets of symmetrically provided side plates 103a with the inner side fixedly connected to the housing vehicle 102, a first protection assembly 103b provided between the side plates 103a, a second protection assembly 103c provided on one side of the first protection assembly 103b with one end extending into the inside of the first protection assembly 103b, and a third protection assembly 103d provided outside the side plates 103a. Both ends of the first protection assembly 103b are fixedly connected to the side plates 103a.

[0028] In use, the first protection assembly 103b and the second protection assembly 103c are both arc-shaped structures, and the two can form a semi-circular roof structure, so that the upper half of the protection member 103 is isolated from the outside. The two sets of side plates 103a, together with the storage vehicle 102, can isolate both sides and the rear of the protection member 103 from the outside. As a whole, the protection member 103 has a semi-circular roof structure with an open front end. Since the crushing unit 200 and the shovel pin unit 300 are arranged inside this structure, the coal cleaning ranges of both are surrounded by the protection member 103, avoiding the problem of coal scattering around and ensuring construction safety.

[0029] Furthermore, a receiving groove 103a-1 is opened at the front end of the side plate 103a. One end of the third protection assembly 103d extends into the receiving groove 103a-1. A limiting block 103a-2 is provided at a position near the shovel pin assembly 301 below the side plate 103a. The top end of the limiting block 103a-2 is pressed against the top end of the shovel pin assembly 301, and its side surface is fixed to the side surface of the shovel pin assembly 301. By the clamping between the limiting block 103a-2 and the ground, the shovel pin assembly 301 is restricted to move only back and forth in a direction parallel to the ground. The space between the two sets of side plates 103a is called a recovery bin 103a-3. The entire lead lift unit 400 is located within the recovery bin 103a-3. Below the side plate 103a, limiting grooves 103a-4 are opened at positions near both ends of the shovel pin assembly 301.

[0030] Here, the first protection assembly 103b is provided between the side plates 103a, and includes an outer fixed plate 103b-1 fixedly connected to the two sets of side plates 103a at both ends respectively, an inner fixed plate 103b-2 provided inside the outer fixed plate 103b-1 with its central position fixedly connected to the outer fixed plate 103b-1, two sets of arc-shaped grooves 103b-3 opened between the outer fixed plate 103b-1 and the inner fixed plate 103b-2 and symmetrically distributed around the fixed connection positions of the two, and a reset spring 103b-4 located in the arc-shaped grooves 103b-3. One end of the second protection assembly 103c extends into the arc-shaped groove 103b-3, and the top end of the reset spring 103b-4 inside it abuts against the edge of the second protection assembly 103c. With the elastic support of the reset spring 103b-4, the telescopic reset function of the protection member 103 in the arc-shaped groove 103b-3 can be realized.

[0031] Here, the second protection assembly 103c is located on one side of the first protection assembly 103b, and includes an arc-shaped plate 103c-1 with one end extending into the arc-shaped groove 103b-3, two sets of side fixed plates 103c-2 provided at both ends of the outer fixed plate 103b-1, where the two ends of the mounting member 201 penetrate through the side fixed plates 103c-2 and extend to the outside of the side plates 103a, a retraction groove 103c-3 provided at the central position of the arc-shaped plate 103c-1 and matching the dimension of the fixed connection position between the outer fixed plate 103b-1 and the inner fixed plate 103b-2, and a roller shaft 103c-4 rotatably connected to the other end of the arc-shaped plate 103c-1. The arc-shaped plate 103c-1 achieves the function of adjusting the opening size of the entire protection member 103 by freely expanding and contracting in the arc-shaped groove 103b-3, and the second protection assembly 103c is rotatably connected to both ends of the mounting member 201 by the side fixed plates 103c-2 at both ends.

[0032] Furthermore, the third protection assembly 103d includes a side baffle 103d-1 located outside the side plate 103a, a contraction groove 103d-2 formed in the side baffle 103d-1, a limiting rod 103d-3 provided inside the contraction groove 103d-2 and extending outward into the accommodation groove 103a-1, and a limiting spring 103d-4 fitted on the limiting rod 103d-3 with one end abutted against the inside of the side baffle 103d-1. One end of the limiting rod 103d-3 is fixedly connected to the inside of the accommodation groove 103a-1, and the other end is slidably connected to the inside of the contraction groove 103d-2. The limiting spring 103d-4 elastically supports the side baffle 103d-1 to protrude outside the accommodation groove 103a-1.

[0033] During use, since the coal naturally falls and accumulates, the structure of the accumulated coal mountain is mostly in a conical state. The roller shaft 103c-4 is rotatably connected to the edge of the arc-shaped plate 103c-1, which is the part that first directly contacts the accumulated coal mountain in the second protection assembly 103c. The roller shaft 103c-4 is pressed by the conical surface of the accumulated coal mountain. According to the law of force balance, the roller shaft 103c-4 converts part of the pressing force into its own rotational force and converts the other force into a pressing force on the arc-shaped plate 103c-1. When the arc-shaped plate 103c-1 is pressed, it is pushed and compressed into the arc-shaped groove 103b-3. At this time, the reset spring 103b-4 is pressed and contracts, changing the opening size of the entire protection member 103, and the purpose of adjusting the opening according to the size of the accumulated coal mountain can be achieved, making it more flexible to apply to the cleaning operation of the accumulated coal. Similarly, when the side baffle 103d-1 outside the side plate 103a contacts the accumulated coal mountain, it is pressed. At this time, the side baffle 103d-1 is compressed to limit the contraction of the spring 103d-4, and the entire third protection assembly 103d slides into and is accommodated in the accommodation groove 103a-1. Similarly, the purpose of adjusting the length of the openings on both sides of the entire protection member 103 can be achieved. Conversely, when the pressing force between the arc-shaped plates 103c-1 and 104d-1 disappears, the reset spring 103b-4 and the limiting spring 103d-4 expand and open outward, pushing the arc-shaped plate 103c-1 and the side baffle 103d-1 out of the arc-shaped groove 103b-3 and the accommodation groove 103a-1 respectively, achieving the purpose of resetting.

[0034] Here, the linkage member 104 is composed of a main drive member 104a rotatably connected to the outside of the side plate 103a, a transmission rod 104b provided between the main drive member 104a and the drive disk 101e, with both ends rotatably connected to the outside of the main drive member 104a and the drive disk 101e respectively, and a transmission belt 104c provided between the main drive member 104a and the driven wheel 404, with both ends fitted to the main drive member 104a and the driven wheel 404 respectively. Both ends of the transmission belt 104c are respectively fitted on the main drive member 104a and the driven wheel 404.

[0035] In use, the entire main drive member 104a has a conical structure, and a first meshing surface 104a-1 is formed inside it. The main drive member 104a meshes with the mounting member 201 and the pressing member 302 through the first meshing surface 104a-1. A second fixed shaft 104a-2 is provided at the outer edge of the main drive member 104a. Both ends of the transmission rod 104b are respectively fitted on the second fixed shaft 104a-2 and the first fixed shaft 101e-1. When the drive disk 101e rotates, the main drive member 104a is pressed by the transmission rod 104b and rotates. The rotating main drive member 104a meshes through the first meshing surface 104a-1 to rotate the mounting member 201 and the pressing member 302, driving to perform the cleaning operation of the coal accumulated in the crushing unit 200 and the shovel pin unit 300. At the same time, the rotating main drive member 104a synchronously rotates the driven wheel 404 through the transmission belt 104c, and further drives to perform the lifting and transporting operation of the coal particles accumulated in the lead lift unit 400.

[0036] Other structures are the same as those in Embodiment 1.

[0037] Embodiment 3 Referring to FIGS. 7-9, the third embodiment of the present invention is different from the second embodiment as follows. It performs the operation of knocking and discharging the accumulated coal lumps from both sides up and down simultaneously, ensuring the stability of the cleaning operation of the accumulated coal, and thus ensuring the cleaning effect.

[0038] Compared with Embodiment 2, further, the mounting member 201 is rotatably connected between two sets of side plates 103a, and has a mounting shaft 201a whose both ends penetrate the side plates 103a, three sets of reinforcing plates 201b provided on the mounting shaft 201a and distributed at both ends and the center of the mounting shaft 201a respectively, a first bevel gear 201c fixedly provided at both ends of the mounting shaft 201a and meshing with the main drive member 104a, and four sets of reinforcing rods 201d provided around the outside of the mounting shaft 201a and fixedly connected between the first bevel gears 201c. The outside of the first bevel gear 201c meshes with the first meshing surface 104a-1, and a plurality of sets of reinforcing rods 201d are provided on the reinforcing rods 201d.

[0039] Here, the crushing member 202 consists of a crushing assembly 202a rotatably connected to the reinforcing rod 201d and a reset assembly 202b provided on the crushing assembly 202a. One end of the reset assembly 202b is rotatably connected to the crushing assembly 202a, and the other end extends through the reinforcing rod 201d. The crushing assembly 202a has a T-shaped structure, and its bottom end is rotatably connected to the reinforcing rod 201d. The plurality of sets of crushing assemblies 202a distributed uniformly knock the accumulated coal mountain at different positions and different times, causing independent physical reactions at multiple positions, and enabling better decomposition and washing of coal lumps.

[0040] Furthermore, the crushing assembly 202a consists of a hammer rod 202a-1, a limiting ring 202a-2 located at the end of the hammer rod 202a-1 and rotatably connected to the reinforcing rod 201d, and a hammer head 202a-3 provided horizontally at the top end of the hammer rod 202a-1. The hammer head 202a-3 is formed of a hard material. When the entire crushing unit 200 rotates, the crushing assembly 202a is thrown to strike the accumulated coal mountain, thereby knocking and performing a crushing process.

[0041] Furthermore, the reset assembly 202b consists of a limiting metal wire 202b-1 located between the reinforcing rod 201d and the hammer rod 202a-1, a limiting ball 202b-2 located at the end of the limiting metal wire 202b-1, and a buffer spring 202b-3 fitted on the limiting metal wire 202b-1. One end of the limiting metal wire 202b-1 is rotatably connected to the hammer rod 202a-1, and the other end passes through the limiting hole 201d-1. The size of the limiting ball 202b-2 is larger than that of the limiting hole 201d-1, which restricts the metal wire 202b-1 and prevents their separation. The buffer spring 202b-3 is located between the crushing assembly 202a and the reinforcing rod 201d.

[0042] During use, the mounting shaft 201a rotates, driving a plurality of sets of crushing members 202 mounted on the reinforcing rod 201d to bounce up. Under the action of centrifugal force, the bounced crushing assembly 202a knocks the accumulated coal mountain, crushes coal particles. If there are coal lumps that cannot be crushed in one go, the crushing assembly 202a contracts backward and drives the reset assembly 202b to slide along the limiting hole 201d-1 to retract, avoiding being caught by the lump coal. After the crushing assembly 202a bypasses the coal lump, the buffer spring 202b-3 elastically supports and resets the crushing assembly 202a. At this time, the crushing assembly 202a in the vertical state knocks and pushes the coal particles that have fallen above the shovel pin assembly 301 into the limiting block 103a-2. The operation is repeated in this order, and the stubborn coal lump is knocked several times until it is finally crushed, ensuring the normal operation of the cleaning work.

[0043] Here, the shovel pin assembly 301 consists of a wedge-shaped shovel pin knife 301a located between two sets of side plates 103a and push rods 301b provided on both sides of the shovel pin knife 301a. The push rod 301b extends into the second bevel gear 302a. The shovel pin knife 301a moves back and forth only in a direction parallel to the ground due to the limitation of the position and the limiting block 103a-2. The push rod 301b penetrates the collection bin 103a-3 and extends into the inner side of the pressing member 302.

[0044] Here, the pressing member 302 consists of a second bevel gear 302a located outside the side plate 103a, a second meshing surface 302b located outside the second bevel gear 302a and meshing with the main driving member 104a, a deformed block 302c provided inside the second bevel gear 302a, a limiting rotating shaft 302d fixedly provided inside the deformed block 302c and extending to be rotatably connected to the side plate 103a, and a deformed groove 302e located between the second bevel gear 302a and the deformed block 302c. The push rod 301b extends into the deformed groove 302e.

[0045] During use, the irregular groove 302e has an elliptical annular structure. One end close to the center of the ellipse is called the proximal end 302e-1, and the far end is called the distal end 302e-2. In the normal state, the push rod 301b is at the position of the proximal end 302e-1. When the entire pressing member 302 rotates with the restricted rotation axis 302d as the center of the circle, the irregular groove 302e changes its position accordingly. Since the push rod 301b in the irregular groove 302e can only move in a parallel state due to the restriction of the collection bin 103a-3, the rotating pressing member 302 presses the push rod 301b through the edge of the irregular block 302c to move within the irregular groove 302e. When the distal end 302e-2 moves to the position of the push rod 301b, the push rod 301b presses the shovel pin knife 301a to extend outward to perform a forward shovel operation. When the proximal end 302e-1 moves to the push rod 301b, the shovel pin knife 301a performs a retraction operation, and the pressing member 302 presses the shovel pin assembly 301 to repeat the above operations to separate the coal lumps adhering to the ground from the bottom. By continuously pressing the driving member 101, the coal at the bottom of the accumulated coal pile is scraped into the protection member 103 to complete the coal washing and recovery operations.

[0046] Other structures are the same as those in Embodiment 2.

[0047] Note that the structures and arrangements of the present application illustrated in a plurality of different exemplary embodiments are merely illustrative. Although only some embodiments have been described in detail in this disclosure, those who refer to the content of this disclosure can make many modifications without departing from the novel teachings and advantages of the subject matter described in this application (for example, the size, scale, structure, shape and ratio of each component, and parameters (such as temperature and pressure), mounting arrangements, material usage, color, changes in orientation, etc.). For example, an integrally formed component may be composed of a plurality of parts or components, the position of the component may be reversed or changed in other ways, and the nature, number or position of the separate components may be changed or varied. Therefore, all such changes shall be considered to be included within the scope of the present invention. It is possible to change or rearrange the order or sequence of any process or method steps according to alternative embodiments. In the claims, the "apparatus + function" clause is intended to cover not only structurally equivalent but also equivalent structures, the structures that perform the functions described herein. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions can be made in the design, operating conditions and arrangements of the exemplary embodiments. Therefore, the present invention is not limited to specific embodiments and is intended to cover many changes still included within the scope of the appended claims.

[0048] Furthermore, in order to provide a concise description of the exemplary embodiments, it is also possible not to describe all the features of the actual embodiments (i.e., features not related to the currently best mode of implementing the present invention or features not related to the realization of the present invention).

[0049] Furthermore, the above examples only illustrate the technical solutions of the present invention and do not limit them. Although the present invention has been described in detail with reference to the preferred examples, it should be understood by those skilled in the art that any modifications or equivalent substitutions added to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention are all included in the scope of the claims of the present invention.

Claims

1. a drive unit (100) including a drive member (101), a storage car (102) provided above the drive member (101), a protective member (103) provided at one end of the storage car (102), and two sets of interlocking members (104) provided on both sides of the protective member (103); a crushing unit (200) including an attachment member (201) disposed within the protective member (103) and having both ends penetrating to both sides of the protective member (103) and a plurality of sets of crushing members (202) provided on the attachment member (201) and uniformly distributed around the axial direction of the attachment member (201); a shovel pin assembly (301) disposed inside and below the protective member (103) with the crushing unit (200) located directly above it, and a shovel pin unit (300) including two sets of pressing members (302) provided at both ends of the shovel pin assembly (301) and rotatably connected symmetrically to both sides of the protective member (103); a lead lift unit (400) including a conveyor belt (401) disposed obliquely inside the protective member (103), drive shafts (402) provided at both ends of the conveyor belt (401), a plurality of sets of digging hoppers (403) uniformly distributed around the periphery of the conveyor belt (401), and driven wheels (404) provided outside the drive shafts (402) at the top end of the conveyor belt (401), the top end of the conveyor belt (401) being adjacent to the storage car (102).

2. 2. The robot for cleaning coal accumulated in a coal conveying system according to claim 1, wherein the driving member (101) is composed of a driving base (101a) located below the storage car (102) and including a control module therein, two sets of crawler belts (101b) provided on both sides of the driving base (101a), two sets of axle bars (101c) provided on both sides of the driving base (101a) and having both ends of the two sets of crawler belts (101b) fitted into one end on the same side, electric motors (101d) provided inside both ends of the axle bars (101c), and a driving disk (101e) provided outside the electric motors (101d).

3. 3. The robot for cleaning coal accumulated in a coal conveying system according to claim 2, wherein the protective member (103) comprises: two sets of side plates (103a) symmetrically arranged with their inner sides fixedly connected to the storage car (102); a first protective assembly (103b) arranged between the side plates (103a); a second protective assembly (103c) arranged on one side of the first protective assembly (103b) and having one end extending to the inside of the first protective assembly (103b); and a third protective assembly (103d) arranged on the outer side of the side plates (103a).

4. The robot for cleaning coal accumulated in a coal conveying system according to claim 3, characterized in that the first protection assembly (103b) comprises: an outer fixed plate (103b-1) provided between the side plates (103a) and fixedly connected at both ends to the two sets of side plates (103a), an inner fixed plate (103b-2) provided inside the outer fixed plate (103b-1) and fixedly connected at a center position to the outer fixed plate (103b-1), two sets of arc-shaped grooves (103b-3) opened between the outer fixed plate (103b-1) and the inner fixed plate (103b-2) and distributed symmetrically around a fixed connection position between the outer fixed plate (103b-1) and the inner fixed plate (103b-2), and a reset spring (103b-4) located in the arc-shaped groove (103b-3).

5. The second protection assembly (103c) is located on one side of the first protection assembly (103b), and includes an arc-shaped plate (103c-1) having one end extending into the arc-shaped groove (103b-3), and two sets of side fixing plates (103c-2) provided at both ends of the outer fixing plate (103b-1), and both ends of the mounting member (201) pass through the side fixing plate (103c-2) and extend to the outside of the side plate (103a).

5. The robot for cleaning coal accumulated in a coal conveying system according to claim 4, further comprising: a groove (103c-1) for removing coal from the outer fixed plate (103b-1) and the inner fixed plate (103b-2) at a center position of the arc-shaped plate (103c-1) and a roller shaft (103c-4) rotatably connected to the other end of the arc-shaped plate (103c-1).

6. 6. The robot for cleaning coal accumulated in a coal conveying system according to claim 5, wherein the interlocking member (104) comprises a main driving member (104a) rotatably connected to the outer side of the side plate (103a), a transmission rod (104b) provided between the main driving member (104a) and the driving disk (101e) and both ends of the transmission rod (104b) rotatably connected to the outer side of the main driving member (104a) and the driving disk (101e), respectively, and a transmission belt (104c) provided between the main driving member (104a) and the driven wheel (404) and both ends of the transmission belt (104c) are fitted to the main driving member (104a) and the driven wheel (404), respectively.

7. 7. The robot for cleaning coal accumulated in a coal conveying system according to claim 6, characterized in that the mounting member (201) comprises: a mounting shaft (201a) rotatably connected between two sets of the side plates (103a) and having both ends penetrating the side plates (103a); three sets of reinforcing plates (201b) provided on the mounting shaft (201a) and distributed at both ends and a center of the mounting shaft (201a), respectively; first bevel gears (201c) fixedly provided on both ends of the mounting shaft (201a) and meshing with the main driving member (104a); and four sets of reinforcing rods (201d) provided around the outside of the mounting shaft (201a) and fixedly connected between the first bevel gears (201c).

8. 8. The robot for cleaning coal accumulated in a coal conveying system according to claim 7, wherein the crushing member (202) comprises a crushing assembly (202a) rotatably connected to the reinforcing rod (201d) and a reset assembly (202b) provided on the crushing assembly (202a), one end of the reset assembly (202b) being rotatably connected on the crushing assembly (202a) and the other end extending through the reinforcing rod (201d).

9. The robot for cleaning coal accumulated in a coal conveying system according to claim 8, characterized in that the shovel pin assembly (301) comprises a shovel pin knife (301a) having a wedge-shaped structure located between two sets of the side plates (103a), and push rods (301b) provided on both sides of the shovel pin knife (301a), and the push rods (301b) extend into the pressing member (302).

10. 10. The robot for cleaning coal accumulated in a coal conveying system according to claim 9, wherein the pressing member (302) comprises a second bevel gear (302a) located on the outside of the side plate (103a), a second meshing surface (302b) located on the outside of the second bevel gear (302a) and meshing with the main driving member (104a), a deformed block (302c) provided inside the second bevel gear (302a), a limiting rotation shaft (302d) fixedly provided inside the deformed block (302c), extending and rotatably connected to the side plate (103a), and a deformed groove (302e) located between the second bevel gear (302a) and the deformed block (302c), and the push rod (301b) extends into the deformed groove (302e).

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