A robot for cleaning coal accumulated in a 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 in particular to a robot for cleaning coal accumulated in a coal conveying system. [Background technology]

[0002] A power plant's coal conveying system refers to a series of facilities that transport coal from coal storage areas such as coal yards to the power plant's combustion furnaces and boilers. The system typically includes coal conveying equipment (belt conveyors, grab elevators, scraper conveyors, etc.). The design and operation of a power plant's coal conveying system have a significant impact on the safety, efficiency, and environmental protection of power generation.

[0003] When coal is transported using a coal transport system, the coal particle size is large and the connectivity between the stacked coals is not high. This results in insufficient friction between the coal and the coal transport system during transport, and some of the coal cannot remain stable within the coal transport system. This part of the coal may accidentally fall off the coal transport system during transport and be piled on the ground outside the coal transport system. In order to ensure the tidy working environment of the transport system and the recycling of this coal part, in addition, the working location of the coal transport system is more complex and large coal cleaning equipment (such as excavators) cannot be operated within it, so existing technologies rely on manual labor. Coal is cleaned using a coal recycling method, but manual cleaning methods not only increase the workload of staff but also waste valuable human resources. At the same time, because coal contains a certain amount of moisture, when the coal is piled up, it hardens, making it impossible to use the coal in a cleaner way. At the same time, because coal contains a certain amount of moisture, when the coal is piled up, a clumping phenomenon occurs between the coal particles, and at the same time, the coal particles that come into contact with the ground also adhere to the ground, making cleaning very difficult and resulting in poor cleaning efficiency. To solve these problems, a robot is provided for cleaning coal accumulated in a coal conveying system. Summary of the Invention

[0004] In view of the problems with robots for cleaning coal accumulated in the existing coal transport systems, the present invention is proposed.

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

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A robot for cleaning coal accumulated in a coal conveying system includes a drive unit consisting of a drive member, a storage car provided above the drive member, a protective member provided at one end of the storage car, and two sets of interlocking members provided on both sides of the protective member; a mounting member disposed within the protective member, both ends of which penetrate to the outside of the protective member on both sides, and a crushing unit consisting of multiple sets of crushing members disposed on the mounting member and uniformly distributed around the axial direction of the mounting member; and a shattering unit disposed below the interior of the protective member, directly above which the crushing unit is located. The device is equipped with a shovel pin unit consisting of a bell pin assembly and two sets of pressing members provided at both ends of the shovel pin assembly and rotatably connected symmetrically to both sides of the protective member, and a lead lift unit consisting of a conveyor belt arranged diagonally inside the protective member, drive shafts provided at both ends of the conveyor belt, multiple sets of digging hoppers uniformly distributed around the conveyor belt, and driven wheels provided outside the drive shafts at the top end of the conveyor belt, with the top end of the conveyor belt close to the storage car.

[0007] In a preferred solution for the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the driving member comprises a driving base located below the storage car and including a control module therein, 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, each with both ends of the two sets of crawler belts fitted into one end on the same side, electric motors provided inside both ends of the axle bars, and driving disks provided on the outside of the electric motors.

[0008] In a preferred solution for a robot for cleaning coal accumulated in a coal conveying system described in the present invention, the protective member comprises two sets of symmetrically arranged side plates whose inner sides are fixedly connected to the storage car, a first protective assembly arranged between the side plates, a second protective assembly arranged on one side of the first protective assembly and one end of which extends to the inside of the first protective assembly, and a third protective assembly arranged on the outer side of the side plates.

[0009] In a preferred solution for the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the first protective assembly comprises an outer fixed plate disposed between the side plates and fixedly connected at both ends to each of the two sets of side plates, an inner fixed plate disposed inside the outer fixed plate and fixedly connected at its center to the outer fixed plate, two sets of arc-shaped grooves opened between the outer fixed plate and the inner fixed plate and distributed symmetrically around the fixed connection position between the two, and a reset spring located in the arc-shaped groove.

[0010] As a preferred solution for the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the second protection assembly comprises: an arc-shaped plate located on one side of the first protection assembly, one end of which extends into the arc-shaped groove; two sets of side fixing plates provided at both ends of the outer fixing plate, with both ends of the mounting member passing through the side fixing plates and extending outward from the side plates; a retreat groove provided at the center of the arc-shaped plate, the groove matching the dimensions of the fixed connection position of 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] In a preferred solution of the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the interlocking member comprises: a main driving member rotatably connected to the outside of the side plate; a transmission rod disposed between the main driving member and the driving disc, with both ends rotatably connected to the main driving member and the outside of the driving disc, respectively; and a transmission belt disposed between the main driving member and the driven wheel, with both ends fitted to the main driving member and the driven wheel, respectively.

[0012] In a preferred solution of the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the mounting member comprises a mounting shaft rotatably connected between the two sets of side plates and both ends of which pass 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, first bevel gears fixedly provided on both ends of the mounting shaft and meshing with the main drive member, and four sets of reinforcing rods provided around the outside of the mounting shaft and fixedly connected between the first bevel gears.

[0013] In a preferred solution of the robot for cleaning coal accumulated in a coal conveying system described in the present invention, the crushing member comprises a crushing assembly rotatably connected to the reinforcing rod, and a reset assembly provided on the crushing assembly, one end of the reset assembly being rotatably connected on the crushing assembly and the other end extending through the reinforcing rod.

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

[0015] In a preferred solution of the robot for cleaning coal accumulated in the coal conveying system described in the present invention, the pressing member comprises a second bevel gear located on the outside of the side plate, a second meshing surface located on the outside of the second bevel gear and meshing with the main driving member, a profiled block provided inside the second bevel gear, a limiting rotation shaft fixedly provided inside the profiled block, extending and rotatably connected to the side plate, and a profiled groove located between the second bevel gear and the profiled block, and the push rod extends into the profiled groove.

[0016] The present invention has the following beneficial effects: By providing a robot that can perform the task of collecting and cleaning piled coal in a complex environment, it can uniformly clean and collect coal that has fallen from the coal conveying system, ensure a tidy working environment, and at the same time, reduce the workload of the operator and improve the work efficiency of cleaning piled coal. [Brief explanation of the drawings]

[0017] In order to more clearly describe the technical solutions of the embodiments of the present invention, the following will briefly describe the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these accompanying drawings without any creative work. [Figure 1] 1 is a schematic diagram of the overall structure of a robot for cleaning coal accumulated in a coal conveying system of the present invention; FIG. [Figure 2] FIG. 1 is a plan view of a left-view structure of a robot for cleaning coal accumulated in the coal transport system of the present invention. [Figure 3]1 is a schematic diagram of the internal structure of a robot for cleaning coal accumulated in a coal conveying system of the present invention; FIG. [Figure 4] FIG. 2 is a structural schematic diagram of the driving member of the robot for cleaning coal accumulated in the coal conveying system of the present invention. [Figure 5] 1 is a cross-sectional structural schematic diagram of a protective member of a robot for cleaning coal accumulated in a coal transport system of the present invention. FIG. [Figure 6] FIG. 10 is a structural schematic diagram of the second protection assembly of the robot for cleaning coal accumulated in the coal conveying system of the present invention. [Figure 7] 1 is a structural schematic diagram of a crushing unit of a robot for cleaning coal accumulated in a coal conveying system of the present invention; FIG. [Figure 8] 1 is a structural schematic diagram of a shovel pin unit of a robot for cleaning coal accumulated in a coal conveying system of the present invention; FIG. [Figure 9] 1 is a schematic diagram of the cross-sectional structure of a robot pressing member for cleaning coal accumulated in the coal conveying system of the present invention; FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] In order to make the above objects, features and advantages of the present invention more clear and understandable, 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, many details are described to fully understand the present invention, but the present invention can be implemented in other forms different from those described herein, and those skilled in the art can similarly promote the present invention without violating the meaning of the present invention, so the present invention is not limited to the specific examples disclosed below.

[0020] As used herein, "one embodiment" or "embodiment" includes a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in various places in this specification do not all refer to the same embodiment, nor do they refer to an embodiment that is separate or mutually exclusive from other embodiments.

[0021] Furthermore, the present invention will be described in detail in conjunction with schematic drawings, and when describing the embodiments of the present invention in detail, for the convenience of explanation, cross-sectional views showing the apparatus may be locally enlarged without following a general scale, and the schematic drawings are merely illustrative and do not limit the scope of protection of the present invention, and should include three-dimensional spatial dimensions of length, width, and depth in actual fabrication.

[0022] Example 1 1 to 3, a first embodiment of the present invention provides a robot for cleaning coal accumulated in a coal conveying system, and the device includes the following units: a drive unit 100 consisting of 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, the drive member 101 being used to provide power for moving the device, the storage car 102 being used to provide a place to store coal particles, and the protective member 103 being fixedly connected to the side of the storage car 102.

[0023] The crushing unit 200 is comprised of a mounting member 201 disposed within the protective member 103, both ends of which penetrate to the exterior of the protective member 103, and a plurality of sets of crushing members 202 mounted 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 protective members 103, and the crushing members 202 are used to knock and push out coal particles. The plurality of sets of crushing members 202 are uniformly distributed in a staggered pattern on the mounting member 201, which increases the number of contact points with the coal pile. Furthermore, the uniform distribution of the crushing members 202 can improve the knocking and crushing efficiency of the coal lumps and expand the extraction range. The shovel pin unit 300 is arranged below the interior of the protective member 103 and includes a shovel pin assembly 301 with the crushing unit 200 located directly above it, and 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. The shovel pin assembly 301 has a wedge-shaped structure with its bottom surface parallel to the ground, allowing it to scrape out accumulated coal particles from the bottom and separate coal lumps from the ground, making it easy to collect and clean the accumulated coal. The lead lift unit 400 is composed of a conveyor belt 401 arranged diagonally inside the protective member 103, drive shafts 402 provided on 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 on the outside of 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 car 102, and the bottom end of the diagonally arranged conveyor belt 401 is connected to a shovel pin a. The digging hopper 403 is located close to the rear of the assembly 301, and its top end is close to the top side of the storage car 102. Two sets of drive shafts 402 are respectively located at the bottom end and top end of the conveyor belt 401. The two sets of drive shafts 402 are rotatably connected to the protective member 103. Similarly, both ends of the top drive shaft 402 extend through the outside of the protective member 103, 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] In use, the driving member 101 drives the device to move to the piled coal position to be cleaned, and the linking member 104 drives the crushing unit 200 and the shovel pin unit 300 to perform the cleaning work, the crushing unit 200 drives the mounting member 201 to rotate the crushing member 202, the rotating crushing member 202 knocks on the top of the coal pile to perform the extraction work, and extracts the upper coal into the protection member 103, and the lower shovel pin unit 300 cuts off the bottom end of the piled coal from the ground through the shovel pin assembly 301, and the piled coal is removed by the continuous pressing of the driving member 101. The coal at the bottom of the pile is shoveled into the protective member 103, and the crushing unit 200 and the shovel pin unit 300 are arranged inside the protective member 103, so that their working environment is both located inside the protective member 103, thereby preventing coal particles from scattering when the protective member 103 cleans the piled coal. Once the coal particles enter the protective member 103, they are scooped up by the drive shaft 402 via the conveyor belt 401 and transported above the storage vehicle 102, and finally dumped into the storage vehicle 102 via the overturned drive shaft 402, thereby achieving the cleaning and unified recovery of the piled coal.

[0025] Example 2 Referring to Figures 3 to 6, the second embodiment of the present invention differs from the first embodiment in that the collection work for cleaning accumulated coal is limited to a specified range, and the phenomenon of coal particles scattering when cleaning accumulated coal is avoided, thereby ensuring the safety of the work.

[0026] Compared with the first embodiment, the driving member 101 is further configured to include a driving base 101a located below the storage vehicle 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, each with both ends of the two sets of crawler belts 101b fitted into one end of the same side, electric motors 101d provided inside both ends of the axle bars 101c, and driving discs 101e provided outside the electric motors 101d. The entire driving member 101 is a hydraulic crawler belt chassis structure, and the hydraulic crawler belt chassis can change the height of the vehicle body by adjusting the tension of the crawler belts to accommodate different terrains or special needs. The driving base The control module inside 101a receives a wireless control signal, and the operation of the entire driving member 101 can be remotely controlled from the outside through a matching remote device, or a fixed program can be installed in the control module inside the driving base 101a to achieve automated operation. The crawler belt 101b has a crawler belt structure, which can enhance the stabilization ability of the equipment when the shovel pin assembly 301 is digging coal. The axle bar 101c is used to fixedly mount the electric motor 101d, which 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 mounted on the outer edge of the driving disk 101e.

[0027] Here, the protective member 103 consists of two sets of side plates 103a arranged symmetrically, with the insides fixedly connected to the storage vehicle 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 one end extending to the inside of the first protective assembly 103b, and a third protective assembly 103d arranged on the outside of the side plates 103a, and both ends of the first protective assembly 103b are fixedly connected to the side plates 103a.

[0028] During use, the first protective assembly 103b and the second protective assembly 103c all have an arc-shaped structure, and together they can form a semicircular roof structure, isolating the upper half of the protective member 103 from the outside, and the two sets of side panels 103a, together with the storage vehicle 102, can isolate the two sides and rear of the protective member 103 from the outside, so that the protective member 103 as a whole forms a semicircular roof structure with an open front end, and the crushing unit 200 and the shovel pin unit 300 are arranged inside this structure, so that the coal cleaning ranges of both units are surrounded by the protective member 103, preventing the problem of coal scattering around and ensuring construction safety.

[0029] Furthermore, an accommodating 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 accommodating groove 103a-1, a limiting block 103a-2 is provided below the side plate 103a near the shovel pin assembly 301, the top end of the limiting block 103a-2 is pressed against the top end of the shovel pin assembly 301, and its side is fixed to the side of the shovel pin assembly 301. By clamping the limiting block 103a-2 between the ground, the shovel pin assembly 301 is restricted to moving back and forth only in a direction parallel to the ground, the space between the two sets of side plates 103a is called a recovery bin 103a-3, and the entire lead lift unit 400 is located within the recovery bin 103a-3, and limiting grooves 103a-4 are opened below the side plate 103a 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 fixing plate 103b-1, both ends of which are fixedly connected to the two sets of side plates 103a, an inner fixing plate 103b-2, which is provided inside the outer fixing plate 103b-1 and has a center position fixedly connected to the outer fixing plate 103b-1, and two sets of arc-shaped grooves 103b-1-1-2, which are opened between the outer fixing plate 103b-1 and the inner fixing plate 103b-2 and are distributed symmetrically around the fixed connection position between the two. 3b-3, and a reset spring 103b-4 located in the arc-shaped groove 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. The elastic support of the reset spring 103b-4 can achieve the expansion and contraction reset function of the protection member 103 inside the arc-shaped groove 103b-3.

[0031] Here, the second protection assembly 103c is located on one side of the first protection assembly 103b and comprises an arc-shaped plate 103c-1, one end of which extends into the arc-shaped groove 103b-3, 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 penetrate the side fixing plate 103c-2 and extend outside the side plate 103a; The second protection assembly 103c is rotatably connected to both ends of the mounting member 201 by the side fixing plates 103c-2 at both ends.

[0032] Furthermore, the third protection assembly 103d comprises a side baffle 103d-1 located on the outside of the side plate 103a, a contraction groove 103d-2 opened in the side baffle 103d-1, a limiting rod 103d-3 located inside the contraction groove 103d-2 and extending outward into the accommodating groove 103a-1, and a limiting spring 103d-4 fitted into the limiting rod 103d-3 and having one end abutting the inside of the side baffle 103d-1, one end of the limiting rod 103d-3 being fixedly connected to the inside of the accommodating groove 103a-1 and the other end being slidably connected within the contraction groove 103d-2, and the limiting spring 103d-4 elastically supports the side baffle 103d-1 to jut outward from the accommodating groove 103a-1.

[0033] During use, coal naturally falls and piles up, so the pile of coal has an almost conical shape. The roller shaft 103c-4 is rotatably connected to the edge of the arc-shaped plate 103c-1 and is the first part of the second protection assembly 103c to come into direct contact with the pile of coal. The roller shaft 103c-4 is pressed by the conical surface of the pile of coal. According to the law of balance of forces, the roller shaft 103c-4 converts part of the pressing force into its own rotational force and the other force into pressing force against the arc-shaped plate 103c-1. When the arc-shaped plate 103c-1 is pressed, it is compressed into the arc-shaped groove 103b-3. At this time, the reset spring 103b-4 is pressed and contracted, changing the opening size of the entire protection member 103, thereby achieving the purpose of adjusting the opening size according to the size of the pile of coal. Similarly, when the side baffle 103d-1 on the outside of the side plate 103a comes into contact with the pile of accumulated coal, it is pressed, and the side baffle 103d-1 is compressed, restricting the contraction of the spring 103d-4, so that the entire third protection assembly 103d slides into and is accommodated in the receiving groove 103a-1, similarly achieving the purpose of adjusting the length of the openings on both sides of the entire protection member 103. Conversely, when the pressing force of the arc-shaped plates 103c-1 and 104d-1 is released, the reset spring 103b-4 and the limiting spring 103d-4 bulge outward and are released, pushing the arc-shaped plate 103c-1 and the side baffle 103d-1 out of the arc-shaped groove 103b-3 and the receiving groove 103a-1, respectively, thereby achieving the purpose of resetting.

[0034] Here, the interlocking member 104 comprises a main driving member 104a rotatably connected to the outside of the side plate 103a, a transmission rod 104b provided between the main driving member 104a and the driving disk 101e, with both ends rotatably connected to the outside 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, with both ends fitted onto the main driving member 104a and the driven wheel 404, respectively, and both ends of the transmission belt 104c fitted onto the main driving member 104a and the driven wheel 404, respectively.

[0035] In use, the main driving member 104a has a conical structure, and a first meshing surface 104a-1 is formed on the inside thereof. The main driving 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 on the outer edge of the main driving member 104a. Both ends of the transmission rod 104b are fitted onto the second fixed shaft 104a-2 and the first fixed shaft 101e-1, respectively. When the driving disc 101e rotates, the transmission rod 104b drives the main driving member 104a. 4a is pressed and rotated, and the rotating main driving member 104a engages with the mounting member 201 and the pressing member 302 via the first meshing surface 104a-1 to rotate the mounting member 201 and the pressing member 302, driving the crushing unit 200 and the shovel pin unit 300 to perform the cleaning work of the coal accumulated in the crushing unit 200 and the shovel pin unit 300, and at the same time, the rotating main driving member 104a rotates the driven wheel 404 in synchronization with the rotation of the driven wheel 404 via the transmission belt 104c, and further drives the lead lift unit 400 to perform the lifting and transporting work of the coal particles accumulated in the lead lift unit 400.

[0036] The other structures are the same as those of the first embodiment.

[0037] Example 3 7 to 9, the third embodiment of the present invention differs from the second embodiment in the following ways: the accumulated coal lumps are knocked from both the top and bottom sides simultaneously to be scraped out, thereby ensuring stability in the cleaning work of the accumulated coal and ultimately ensuring cleaning effectiveness.

[0038] Compared with Example 2, the mounting member 201 further comprises a mounting shaft 201a rotatably connected between two pairs of side plates 103a, both ends of which pass through the side plates 103a; three pairs of reinforcing plates 201b mounted on the mounting shaft 201a and distributed at both ends and the center of the mounting shaft 201a; first bevel gears 201c fixedly mounted on both ends of the mounting shaft 201a and meshing with the main driving member 104a; and four pairs of reinforcing rods 201d mounted around the outside of the mounting shaft 201a and fixedly connected between the first bevel gears 201c, the outside of which meshes with the first meshing surface 104a-1, and multiple pairs of reinforcing rods 201d are opened on the reinforcing rods 201d.

[0039] Here, the crushing member 202 comprises a crushing assembly 202a rotatably connected to a reinforcing rod 201d, and a reset assembly 202b mounted 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, the bottom end of which is rotatably connected to the reinforcing rod 201d. The multiple sets of crushing assemblies 202a, which are uniformly distributed, knock the accumulated coal pile at different positions and at different times, causing independent physical reactions at multiple positions, which can better break down and clean the coal lumps.

[0040] Furthermore, the crushing assembly 202a is composed 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 laterally provided at the top end of the hammer rod 202a-1, the hammer head 202a-3 being made of a hard material, and when the entire crushing unit 200 rotates, the crushing assembly 202a is thrown and hits the pile of accumulated coal, thereby knocking and crushing it.

[0041] Furthermore, the reset assembly 202b comprises a restricting metal wire 202b-1 located between the reinforcing rod 201d and the hammer rod 202a-1, a restricting ball 202b-2 located at the end of the restricting metal wire 202b-1, and a buffer spring 202b-3 fitted into the restricting metal wire 202b-1. One end of the restricting metal wire 202b-1 is rotatably connected to the hammer rod 202a-1, and the other end passes through the restricting hole 201d-1. The dimensions of the restricting ball 202b-2 are larger than those of the restricting hole 201d-1, so as to restrict the metal wire 202b-1 and prevent the two from detaching. 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 the multiple sets of crushing elements 202 mounted on the reinforcing rods 201d to spring up. The raised crushing assemblies 202a knock on the pile of accumulated coal under the action of centrifugal force, crushing the coal particles. If there are any coal lumps that cannot be crushed in one go, the crushing assembly 202a retracts backward, driving the reset assembly 202b to slide along the restricting hole 201d-1 to retreat, avoiding being caught on the lump of coal. After the crushing assembly 202a has bypassed the coal lumps, the buffer spring 202b-3 elastically supports and resets the crushing assembly 202a. At this time, the crushing assembly 202a is knocked in a vertical position, pushing the coal particles that have fallen above the shovel pin assembly 301 into the restricting block 103a-2. This sequence is repeated until the stubborn coal lumps are finally crushed, ensuring 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 pairs of side plates 103a, and push rods 301b provided on both sides of the shovel pin knife 301a, the push rods 301b extending into the second bevel gear 302a, the shovel pin knife 301a being restricted by the point and limiting block 103a-2 and only moving back and forth in a direction parallel to the ground, and the push rods 301b extending into the pressing member 302 through the collection bin 103a-3.

[0044] Here, 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 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, and the push rod 301b extends into the deformed groove 302e.

[0045] In use, the profiled groove 302e has an elliptical ring structure, and one end closest to the center of the elliptical circle is called the proximal end 302e-1, and the other end farther away is called the distal end 302e-2. In a normal state, the push rod 301b is located at the proximal end 302e-1. When the entire pressing member 302 rotates around the restricted rotation axis 302d as the center of the circle, the profiled groove 302e changes position accordingly. The push rod 301b in the profiled groove 302e can only move in a parallel state due to the restriction of the collection bin 103a-3. Therefore, the rotating pressing member 302 presses the push rod 301b through the edge of the profiled block 302c to move in the profiled 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, extending it outward and performing a forward shoveling operation, and when the proximal end 302e-1 moves to the push rod 301b, the shovel pin knife 301a performs a retreating operation, and the pressing member 302 presses the shovel pin assembly 301, and by repeating the above operation, the coal lumps adhering to the ground at the bottom are cut off, and by the continuous pressing of the driving member 101, the coal at the bottom of the pile of accumulated coal is shoveled into the protective member 103, thereby completing the coal washing and recovery operation.

[0046] The other structures are the same as those of the second embodiment.

[0047] It should be noted that the structure and arrangement of the present application as illustrated in several different exemplary embodiments are merely exemplary. While only a few embodiments have been described in detail in this disclosure, those reading the contents of this disclosure will recognize that numerous modifications are possible without departing from the novel teachings and advantages of the subject matter described herein (e.g., variations in the size, scale, structure, shape, and proportions of each component, as well as parameters (e.g., temperature, pressure, etc.), mounting arrangements, material use, color, orientation, etc.). For example, a single-piece component may be composed of multiple parts or components, the position of components may be reversed or otherwise altered, and the nature, number, or location of separate components may be altered or varied. Accordingly, all such modifications are intended to be within the scope of the present invention. The order or sequence of any process or method steps may be varied or rearranged according to alternative embodiments. In the claims, the term "apparatus plus function" is intended to cover structures that perform the functions described herein that are not only structurally equivalent but also structurally equivalent. Other substitutions, modifications, changes, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, it is intended that the present invention not be limited to a particular embodiment, but that it cover many modifications that will still fall within the scope of the appended claims.

[0048] Furthermore, in order to provide a concise description of exemplary embodiments, it is possible not to describe all of the features of an actual embodiment (i.e., features that are not relevant to the currently best mode of carrying out the invention or that are not relevant to the implementation of the invention).

[0049] Furthermore, the above embodiments are only for illustrating the technical solutions of the present invention, and are not intended to be limiting. Although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that any modifications or equivalent replacements made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention shall all fall within the scope of the claims of the present invention.

Claims

1. a drive unit (100) consisting of 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), both ends of which penetrate to the exterior of 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) positioned directly above it, and a shovel pin unit (300) comprising 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) comprising a conveyor belt (401) arranged 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 vehicle (102); the protective member (103) comprises two sets of symmetrically arranged side plates (103a) whose inner sides are 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 into the inside of the first protective assembly (103b), and a third protective assembly (103d) arranged on the outer side of the side plates (103a).

2. 2. The robot for cleaning coal accumulated in a coal conveying system according to claim 1, wherein the driving member (101) comprises: 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), each having one end of the same side into which both ends of the two sets of crawler belts (101b) are fitted; electric motors (101d) provided inside both ends of the axle bars (101c); and driving disks (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 first protection assembly (103b) comprises: an outer fixed plate (103b-1) provided between the side plates (103a) and having both ends fixedly connected to each of the two sets of side plates (103a); an inner fixed plate (103b-2) provided inside the outer fixed plate (103b-1) and having a center 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 distributed symmetrically around the 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).

4. The second protection assembly (103c) is located on one side of the first protection assembly (103b), and includes an arc-shaped plate (103c-1) whose one end extends 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) penetrate the side fixing plate (103c-2) and extend to the outside of the side plate (103a). 103c-1), an evacuation groove (103c-3) provided at the center position of the arc-shaped plate (103c-1) and matching the dimensions of the fixed connection position of 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).

5. 5. The robot for cleaning coal accumulated in a coal conveying system according to claim 4, wherein the interlocking member (104) comprises: a main driving member (104a) rotatably connected to the outside of the side plate (103a); a transmission rod (104b) provided between the main driving member (104a) and the driving disk (101e), with both ends rotatably connected to the main driving member (104a) and the outside of the driving disk (101e), respectively; and a transmission belt (104c) provided between the main driving member (104a) and the driven wheel (404), with both ends fitted to the main driving member (104a) and the driven wheel (404), respectively.

6. 6. The robot for cleaning coal accumulated in a coal conveying system according to claim 5, wherein the mounting member (201) comprises: a mounting shaft (201a) rotatably connected between the two sets of 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 the 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 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).

7. 7. The robot for cleaning coal accumulated in a coal conveying system according to claim 6, 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).

8. 8. The robot for cleaning coal accumulated in a coal conveying system according to claim 7, wherein the shovel pin assembly (301) comprises a shovel pin knife (301a) having a wedge-shaped structure located between the two sets of 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).

9. 9. The robot for cleaning coal accumulated in a coal conveying system according to claim 8, wherein the pressing member (302) comprises: 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 profiled block (302c) provided inside the second bevel gear (302a); a limiting rotation shaft (302d) fixedly provided inside the profiled block (302c), extending and rotatably connected to the side plate (103a); and a profiled groove (302e) located between the second bevel gear (302a) and the profiled block (302c), and the push rod (301b) extends into the profiled groove (302e).

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