CN112845217A - Intelligent coal bunker cleaning robot - Google Patents
Intelligent coal bunker cleaning robot Download PDFInfo
- Publication number
- CN112845217A CN112845217A CN202110029927.8A CN202110029927A CN112845217A CN 112845217 A CN112845217 A CN 112845217A CN 202110029927 A CN202110029927 A CN 202110029927A CN 112845217 A CN112845217 A CN 112845217A
- Authority
- CN
- China
- Prior art keywords
- fixed
- cleaning robot
- lifting
- guide rail
- vertical guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 239000003245 coal Substances 0.000 title claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 241000273930 Brevoortia tyrannus Species 0.000 description 25
- 241001417527 Pempheridae Species 0.000 description 7
- 230000007547 defect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B08B1/10—
-
- B08B1/30—
Abstract
The invention discloses an intelligent coal bunker cleaning robot, which comprises an annular ring beam fixed on a platen, wherein a movable trolley is arranged on the annular ring beam, a lifting device used for controlling the lifting of a rectangular frame is fixed on the movable trolley, the rectangular frame consists of an upper cross beam, a lower cross beam and a left vertical guide rail beam and a right vertical guide rail beam, a cleaning robot capable of moving up and down is arranged in the frame of the rectangular frame, two ends of the cleaning robot are respectively connected with the two vertical guide rail beams in a sliding manner, a traction machine is fixed at the upper end of the cleaning robot, the upper cross beam is fixed with two fixed pulleys, two steel wire ropes separated from the traction machine respectively penetrate through the two fixed pulleys and then are fixed at two ends of the cleaning robot.
Description
Technical Field
The invention relates to the field of coal mining, in particular to an intelligent coal bunker cleaning robot.
Background
The underground coal bunker is a raw coal storage device in the underground coal mine, in the underground coal mine mining process, new raw coal is continuously added into the underground coal bunker, and meanwhile, the raw coal in the bunker flows out of the belt conveyor through the coal discharge port. After the underground coal bunker is used for a long time, a certain amount of raw coal concretions can be coagulated on the wall surface of the coal bunker, and due to the existence of the concretions, on one hand, the coal flow is retarded, and on the other hand, the storage capacity of the underground coal bunker is greatly reduced. And the presence of these condensates presents a significant safety hazard.
At present, most of domestic coal bunker cleaning is manual coal bunker cleaning, constructors need to enter the coal bunker cleaning system, and the coal bunker cleaning system has the advantages of complex construction procedures, low efficiency, high danger coefficient and high cost and working hours. In recent years, along with the development of science and technology, a mining coal bunker cleaning robot appears. The robot overcomes the defect of manual warehouse cleaning to a great extent. Meanwhile, the robot has many defects, for example, most of the robots have complex structure, high price and high failure rate, and most of the robots can only be used for small-size coal bunkers.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide an intelligent coal bunker cleaning robot which can meet the requirements of coal bunker cleaning processes of different sizes and effectively overcome the defects of manual and equipment bin cleaning in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides an intelligent coal bunker cleaning robot which comprises an annular ring beam fixed on a bedplate, wherein a movable trolley capable of walking along the annular ring beam is arranged on the annular ring beam, a lifting device used for controlling a rectangular frame to lift is fixed on the movable trolley, the rectangular frame consists of an upper cross beam, a lower cross beam and a left vertical guide rail beam and a right vertical guide rail beam, the rectangular frame is internally provided with the cleaning robot capable of moving up and down, two ends of the cleaning robot are respectively connected with the two vertical guide rail beams in a sliding mode, the upper end of the cleaning robot is fixed with a tractor, two fixed pulleys are fixed on the upper cross beam, and two steel wire ropes divided from the tractor respectively penetrate through the two fixed pulleys and then are fixed at two ends of the cleaning robot.
Preferably, the lifting device comprises a universal shaft, two lifting drums are fixed at two ends of the universal shaft, two lifting plates rotatably connected with the universal shaft are arranged on two sides of each lifting drum, the upper end of each lifting rod is fixed on the movable trolley, a lifting driving motor used for controlling one lifting drum to rotate is fixed on the movable trolley, a steel wire rope is fixedly wound on each lifting drum, and the other end of each steel wire rope is fixed at two ends of the upper cross beam of the rectangular frame.
Preferably, the storehouse cleaning robot comprises a power station, two ends of the power station are respectively fixedly connected with two sleeves through a plurality of supporting rods, the sleeves are nested in the vertical guide rail beams and are in sliding connection with the vertical guide rail beams, and a cleaning device for cleaning the storehouse wall is further arranged below the power station.
Preferably, the sweeping device comprises a rotating shaft, the middle of the rotating shaft is fixedly provided with a sweeper, rotating wheels are respectively fixed at two ends of the rotating shaft, a second hanging plate is further rotatably connected at two ends of the rotating shaft, the upper end of the second hanging plate is fixed on the power station, a second driving motor is fixed on the power station, and the second driving motor is in chain transmission connection with one of the rotating shafts.
Preferably, the power station provides power for the moving trolley, the lifting driving motor, the traction machine and the second driving motor.
Preferably, the lower end of the vertical guide rail beam is connected with a short beam.
The invention has the beneficial effects that: the vertical guide rail beam in the device is flexibly connected with the lifting device, the working force of the bin cleaning robot to the bin wall can be changed along with the thickness of the coal adhered to the bin wall, and the coal adhered to the bin wall is thick, large in force, thin and small in force; the vertical guide rail beam in the device can be lifted up and down, so that the working of cleaning the bin wall is prevented from being influenced by the height of the coal surface in the bin; the device has simple system configuration, small overall weight, convenient installation and small influence on the bedplate, and is suitable for coal bunkers of various specifications.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic working position diagram of an intelligent coal bunker cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intelligent coal bunker cleaning robot according to an embodiment of the present invention.
Description of reference numerals:
1. a platen; 2. an annular ring beam; 3. moving the trolley; 4. a fixed pulley; 5. a lifting device; 5-1, lifting a winding drum; 5-2, a cardan shaft; 5-3, a lifting driving motor; 6. a vertical guide rail beam; 7. a bin cleaning robot; 7-1, a traction machine; 7-2, a power station; 7-3, a second driving motor; 7-4, a sweeper; 7-5 parts of rotating wheel, 8 parts of sleeve, 9 parts of short beam.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 2, the intelligent bunker cleaning robot comprises an annular ring beam 2 fixed on a bedplate 1, wherein a moving trolley 3 capable of walking along the annular ring beam is arranged on the annular ring beam 2, a lifting device 5 used for controlling a rectangular frame to lift is fixed on the moving trolley 3, the rectangular frame is composed of an upper cross beam, a lower cross beam and a left vertical guide rail beam 6 and a right vertical guide rail beam 6, a bunker cleaning robot 7 capable of moving up and down is arranged in the frame of the rectangular frame, two ends of the bunker cleaning robot 7 are respectively in sliding connection with the two vertical guide rail beams 6, a tractor 7-1 is fixed at the upper end of the bunker cleaning robot 7, two fixed pulleys 4 are fixed on the upper cross beam, and two steel wire ropes divided from the tractor 7-1 are respectively fixed at two ends of the bunker cleaning robot 7 after passing through the two fixed pulleys 4.
The lifting device 5 comprises a universal shaft 5-2, two lifting drums 5-1 are fixed at two ends of the universal shaft 5-2, two lifting plates rotatably connected with the universal shaft 5-2 are arranged at two sides of the lifting drums 5-1, the upper end of each lifting rod is fixed on the movable trolley 3, a lifting driving motor 5-3 used for controlling one lifting drum 5-1 to rotate is fixed on the movable trolley 3, a steel wire rope is fixedly wound on the lifting drum 5-1, and the other end of the steel wire rope is fixed at two ends of an upper cross beam of the rectangular frame.
The bin cleaning robot 7 comprises a power station 7-2, two ends of the power station 7-2 are fixedly connected with two sleeves 8 through a plurality of supporting rods respectively, the sleeves 8 are nested in the vertical guide rail beams 6 and are in sliding connection with the vertical guide rail beams, and a cleaning device for cleaning the bin wall is further arranged below the power station 7-2.
The sweeping device comprises a rotating shaft, wherein a sweeper 7-4 is fixed in the middle of the rotating shaft, rotating wheels 7-5 are respectively fixed at two ends of the rotating shaft, a second hanging plate is further rotatably connected at two ends of the rotating shaft, the upper end of the second hanging plate is fixed on a power station 7-2, a second driving motor 7-3 is fixed on the power station 7-2, and the second driving motor 7-3 is in chain transmission connection with one of the rotating shafts.
The power station 7-2 provides power for the movable trolley 3, the lifting driving motor 5-3, the traction machine 7-1 and the second driving motor 7-3.
When the cleaning machine is used, after the movable trolley 3 moves to a station along the annular ring beam 2, the lifting device 5 controls the vertical guide rail beam 6 to move to a station (in the height direction), the bin cleaning robot 7 moves up and down along the vertical guide rail beam 6, and meanwhile, the second driving motor 7-3 controls the cleaner 7-4 to rotate to clean the bin wall; after the cleaning of the station area is completed, the movable trolley 3 moves to the next station along the annular ring beam 2, the warehouse cleaning robot 7 is controlled to repeat the work until the movable trolley 3 travels a circle along the annular ring beam 2, and at the moment, the warehouse cleaning robot 7 cleans the whole coal warehouse wall to complete the height of one station; then the lifting device 5 releases the guide rail beam 6 to a second station (in the height direction), and the wall of the silo is continuously cleaned in the same working mode until the wall of the silo is completely cleaned. The sweeper 7-4 is always rotating, even during the movement of the trolley 3 along the ring beam 2, the sweeper 7-4 is always rotating.
Referring to fig. 1, the lower end of the vertical guide rail beam 6 is connected with a short beam 9, and when the movable trolley 3 moves on the annular ring beam 2, the short beam 9 cleans the sticky coal below the sweeper 7. Therefore, the sleeve 8 can move to the lowest end smoothly along the vertical guide rail beam 6, and the lower cross beam of the rectangular frame is prevented from bearing on the coal wall, so that the sweeper 7-4 cannot contact the coal wall to work.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. The utility model provides an intelligence coal bunker cleaning robot which characterized in that: the automatic lifting device comprises an annular ring beam (2) fixed on a bedplate (1), wherein a movable trolley (3) capable of walking along the annular ring beam is arranged on the annular ring beam (2), a lifting device (5) used for controlling a rectangular frame to lift is fixed on the movable trolley (3), the rectangular frame is composed of an upper cross beam, a lower cross beam and a left vertical guide rail beam and a right vertical guide rail beam (6), a bin cleaning robot (7) is arranged in the frame of the rectangular frame, two ends of the bin cleaning robot (7) are respectively in sliding connection with the two vertical guide rail beams (6), a tractor (7-1) is fixed at the upper end of the bin cleaning robot (7), two fixed pulleys (4) are fixed on the upper cross beam, and two steel wire ropes are divided from the tractor (7-1) and respectively penetrate through the two fixed pulleys (4) and then are fixed at two ends of the bin cleaning robot (7).
2. The intelligent bunker cleaning robot of claim 1, wherein: the lifting device (5) comprises a universal shaft (5-2), two lifting drums (5-1) are fixed at two ends of the universal shaft (5-2), two lifting plates rotatably connected with the universal shaft (5-2) are arranged on two sides of the lifting drums (5-1), the upper end of each lifting rod is fixed on the trolley (3), a lifting driving motor (5-3) used for controlling one lifting drum (5-1) to rotate is fixed on the trolley (3), a steel wire rope is fixedly wound on the lifting drum (5-1), and the other end of the steel wire rope is fixed at two ends of an upper cross beam of the rectangular frame.
3. The intelligent bunker cleaning robot of claim 2, wherein: the storehouse cleaning robot (7) comprises a power station (7-2), two ends of the power station (7-2) are respectively fixedly connected with two sleeves (8) through a plurality of supporting rods, the sleeves (8) are nested in vertical guide rail beams (6) and are in sliding connection with the vertical guide rail beams, and a cleaning device used for cleaning the storehouse wall is further arranged below the power station (7-2).
4. The intelligent bunker cleaning robot of claim 3, wherein: the cleaning device comprises a rotating shaft, wherein a cleaner (7-4) is fixed in the middle of the rotating shaft, rotating wheels (7-5) are respectively fixed at two ends of the rotating shaft, second hanging plates are further rotatably connected at two ends of the rotating shaft, the upper ends of the second hanging plates are fixed on a power station (7-2), a second driving motor (7-3) is fixed on the power station (7-2), and the second driving motor (7-3) is in chain transmission connection with one of the rotating shafts.
5. The intelligent bunker cleaning robot of claim 4, wherein: the power station (7-2) provides power for the mobile trolley (3), the lifting driving motor (5-3), the traction machine (7-1) and the second driving motor (7-3).
6. The intelligent bunker cleaning robot of claim 1, wherein: the lower end of the vertical guide rail beam (6) is connected with a short beam (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110029927.8A CN112845217A (en) | 2021-01-11 | 2021-01-11 | Intelligent coal bunker cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110029927.8A CN112845217A (en) | 2021-01-11 | 2021-01-11 | Intelligent coal bunker cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112845217A true CN112845217A (en) | 2021-05-28 |
Family
ID=76002276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110029927.8A Pending CN112845217A (en) | 2021-01-11 | 2021-01-11 | Intelligent coal bunker cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112845217A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401522A (en) * | 2021-06-16 | 2021-09-17 | 华能左权煤电有限责任公司 | Automatic cleaning equipment of feed bin |
| CN114274135A (en) * | 2021-11-22 | 2022-04-05 | 北京华能新锐控制技术有限公司 | Driving mechanism of silo cleaning robot |
-
2021
- 2021-01-11 CN CN202110029927.8A patent/CN112845217A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401522A (en) * | 2021-06-16 | 2021-09-17 | 华能左权煤电有限责任公司 | Automatic cleaning equipment of feed bin |
| CN114274135A (en) * | 2021-11-22 | 2022-04-05 | 北京华能新锐控制技术有限公司 | Driving mechanism of silo cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112845217A (en) | Intelligent coal bunker cleaning robot | |
| CN103771196A (en) | Cable coiling, uncoiling and cleaning integrated device | |
| CN201190045Y (en) | Electric telescopic dust-free loading apparatus | |
| CN205933017U (en) | Electric block's track ash removal device | |
| CN214289533U (en) | Intelligent coal bunker cleaning robot | |
| CN110255226A (en) | A kind of gantry type bucket unloader | |
| CN207434594U (en) | A kind of cantilevered windrow machine equipment | |
| CN210530771U (en) | Power catwalk steel wire rope and hydraulic cylinder cooperative lifting system | |
| CN214933584U (en) | Conveying device for coal mine | |
| CN208932541U (en) | A kind of stacking material frame automatic conveying device | |
| CN207659020U (en) | A kind of direction-changing conveying device | |
| CN102514945A (en) | Semi-portal scraper reclaimer | |
| CN202492198U (en) | Semi-gate-type scraper-blade material-taking machine | |
| CN202670975U (en) | Loading platform of mining elevator | |
| CN206232037U (en) | A kind of removable colliery conveying equipment | |
| CN109572628B (en) | Vehicle upper cleaning equipment | |
| CN210213524U (en) | Full-automatic intelligent warehouse cleaning equipment | |
| CN101412913B (en) | Improved powdered coke scraper conveyor | |
| CN207072583U (en) | Towed equipment for storaging and transportation of garbage | |
| CN209426732U (en) | A kind of side board cleaning equipment | |
| CN207129615U (en) | Sealing-tape machine zone face clearing apparatus | |
| CN210546857U (en) | Full-automatic interior decompression of storehouse awl clean-up equipment | |
| CN220011992U (en) | Bucket elevator equipment for animal fat | |
| CN203033319U (en) | Steel ball conveying equipment | |
| CN108149641B (en) | Inclined float blocking system and float blocking method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |