CN112936238A - Ground coal bunker cleaning robot and using method thereof - Google Patents
Ground coal bunker cleaning robot and using method thereof Download PDFInfo
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- CN112936238A CN112936238A CN202110253957.7A CN202110253957A CN112936238A CN 112936238 A CN112936238 A CN 112936238A CN 202110253957 A CN202110253957 A CN 202110253957A CN 112936238 A CN112936238 A CN 112936238A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 182
- 239000003245 coal Substances 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 title claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
- 239000010959 steel Substances 0.000 claims abstract description 14
- 238000005452 bending Methods 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
- B08B7/026—Using sound waves
- B08B7/028—Using ultrasounds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
A ground coal bunker cleaning robot and a using method thereof are provided, the robot comprises a lifting winch, a power rotary table, two supporting arms and two bunker cleaning arms; the hoisting winch is positioned in the cabin top machine room, and the power rotary table is horizontally hung on a hoisting steel wire rope of the hoisting winch; two support arms are symmetrically connected to the power rotary table, and each support arm is connected with a bin cleaning arm. The method comprises the following steps: the robot in a folded state is put down to a specified height in the ground coal bunker; the supporting arms are unfolded to support the bin wall; the bin clearing arm is unfolded to clear away the wall-hanging coal; the supporting arm and the bin cleaning arm are far away from the bin wall; the power rotary table rotates for a set angle and then the wall-hung coal is removed repeatedly; after the power rotary table rotates for a full circle, the wall coal at the designated height is removed; controlling the robot to descend for a set distance, and repeatedly removing the circumferential wall-hung coal; continuously descending the height, and removing the wall-hanging coal from top to bottom until the wall-hanging coal at the bottom of the silo is removed; the robot restores to the folded state; and lifting the robot in the folded state to the outside of the ground coal bunker.
Description
Technical Field
The invention belongs to the technical field of coal mine machinery, and particularly relates to a ground coal bunker cleaning robot.
Background
The ground coal bunker is a main facility for storing raw coal and product coal in a coal preparation plant, and is generally of an upper and lower necking structure, and a lower necking at the bottom is a discharge opening. The ground coal bunker can be continuously added with raw coal in the using process, the raw coal in the bunker continuously flows out of the discharge opening, a layer of wall-hanging coal can be formed on the inner surface of the bunker wall along with long-term use, the wall-hanging coal can block the discharge opening, the storage capacity of the coal bunker can be reduced, the coal discharging efficiency of the coal bunker can be influenced, the wall-hanging coal is retained on the bunker wall for a long time, spontaneous combustion can possibly occur, and serious threat can be caused to safety.
Therefore, the ground coal bunker must be cleaned regularly, the prior cleaning operation still mainly adopts manual cleaning, but the manual cleaning has the defects of high labor intensity and low cleaning efficiency, because the coal bunker usually contains a large amount of dust and toxic and harmful gas, the cleaning operation personnel are in the severe environment for a long time, the physical health is inevitably damaged, and the manual cleaning operation belongs to overhead suspension operation, and the operation danger is high. Therefore, the development of a robot warehouse cleaning mode is imperative.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a ground coal bunker cleaning robot and a using method thereof, which can comprehensively replace manual bunker cleaning operation, thereby avoiding a series of problems caused by manual bunker cleaning.
In order to achieve the purpose, the invention adopts the following technical scheme: a ground coal bunker cleaning robot comprises a lifting winch, a power rotary table, a first supporting arm, a second supporting arm, a first coal bunker cleaning arm and a second coal bunker cleaning arm; the lifting winch is arranged in a bin top machine room of the ground coal bin, and the power rotary table is horizontally hung on a lifting steel wire rope of the lifting winch; the rear end part of the first support arm is connected to the power rotary table, and the front end part of the first support arm is a free end; the rear end part of the second supporting arm is connected to the power rotary table, and the front end part of the second supporting arm is a free end; the first supporting arm and the second supporting arm form an included angle of 180 degrees relative to the circle center of the power rotary table; the rear end part of the first bin cleaning arm is connected to the first supporting arm, and the front end part of the first bin cleaning arm is a free end; the rear end part of the second warehouse cleaning arm is connected to the second supporting arm, and the front end part of the second warehouse cleaning arm is a free end; the first bunker cleaning arm and the second bunker cleaning arm are used for cleaning wall-hanging coal on the inner surface of the wall of the ground bunker.
The first supporting arm and the second supporting arm have the same structure and respectively comprise a large supporting arm, a small supporting arm, a top supporting leg, a first power joint and a second power joint; the large support arm and the small support arm have the same structure and adopt power telescopic structures; the rear end part of the large supporting arm is connected with the power rotary table through a first power joint, the front end part of the large supporting arm is connected with the rear end part of the small supporting arm through a second power joint, and the jacking support leg is coaxially and fixedly connected with the front end part of the small supporting arm; a power linear sliding table is arranged on the outer cylinder body of the large support arm, and a sliding rail of the power linear sliding table is parallel to the large support arm; the rear end parts of the first bin cleaning arm/the second bin cleaning arm are connected to a sliding block of the power linear sliding table.
The first bin cleaning arm and the second bin cleaning arm are identical in structure and respectively comprise a bin cleaning big arm, a bin cleaning middle arm, a bin cleaning small arm, a third power joint, a fourth power joint, a fifth power joint and an ultrasonic vibration hammer; the rear end part of the large storehouse cleaning arm is connected with a sliding block of the power linear sliding table through a third power joint, the front end part of the large storehouse cleaning arm is connected with the rear end part of the middle storehouse cleaning arm through a fourth power joint, the front end part of the middle storehouse cleaning arm is connected with the rear end part of the small storehouse cleaning arm through a fifth power joint, and the ultrasonic vibration hammer is coaxially installed at the front end part of the small storehouse cleaning arm.
The large bin cleaning arm, the middle bin cleaning arm and the small bin cleaning arm are of the same structure and adopt rigid-flexible coupling structures, and each rigid-flexible coupling structure comprises a rear rigid arm, a middle flexible arm and a front rigid arm; the rear rigid arm, the middle flexible arm and the front rigid arm are sequentially and coaxially fixedly connected together; the rear end part of the rear rigid arm of the large bin cleaning arm is connected with a sliding block of the power linear sliding table through a third power joint, the front end part of the front rigid arm of the large bin cleaning arm is connected with the rear end part of the rear rigid arm of the middle bin cleaning arm through a fourth power joint, the front end part of the front rigid arm of the middle bin cleaning arm is connected with the rear end part of the rear rigid arm of the small bin cleaning arm through a fifth power joint, and the ultrasonic vibration hammer is coaxially installed at the front end part of the front rigid arm of the small bin cleaning arm.
The middle flexible arm comprises a front adapter, a middle adapter, a rear adapter, a spherical hinge universal joint and a flexible arm bending driving air bag; a corrugated protective sleeve is sleeved on the outer side of the middle flexible arm; the number of the middle adapter joints, the number of the spherical hinge universal joints and the number of the flexible arm bending driving airbags are all a plurality, the middle adapter joints are uniformly distributed between the front adapter joint and the rear adapter joint, and the spherical hinge universal joints and the flexible arm bending driving airbags are respectively arranged between the front adapter joint and the middle adapter joint, between the adjacent middle adapter joints and between the rear adapter joint and the middle adapter joint; the flexible arm bending driving air bags are arranged on the outer peripheral side of the spherical hinge universal joints, each spherical hinge universal joint is correspondingly provided with two flexible arm bending driving air bags, the two flexible arm bending driving air bags form an included angle of 180 degrees relative to the circle center of the spherical hinge universal joint, all the flexible arm bending driving air bags are distributed on the middle flexible arm in two rows along the axial direction, and the bending degree of the middle flexible arm is controlled by the inflation and deflation of the flexible arm bending driving air bags at different positions; the middle flexible arm is connected with the front rigid arm through the front adapter joint, and the middle flexible arm is connected with the rear rigid arm through the rear adapter joint.
And an in-bin auxiliary monitoring mechanism consisting of a camera, a laser scanner and a multifunctional sensor is arranged on the front rigid arm of the small bin cleaning arm.
The use method of the ground coal bunker cleaning robot comprises the following steps:
the method comprises the following steps: starting a lifting winch, putting the robot in a folded state into a bin through a lifting steel wire rope through a bin opening at the top of the ground coal bin, and hovering the robot at a specified height in the ground coal bin;
step two: starting a first power joint in the first support arm and a second power joint in the second support arm until a large support arm and a small support arm in the first support arm and a large support arm and a small support arm in the second support arm are unfolded to be in a horizontal state, and at the moment, the first support arm and the second support arm are positioned on the same straight line;
step three: controlling the large supporting arm and the small supporting arm in the first supporting arm and the large supporting arm and the small supporting arm in the second supporting arm to extend until the top supporting legs at the front ends of the first supporting arm and the second supporting arm are supported on the inner surface of the bin wall of the ground coal bin, and fixing the position of the power revolving platform in a suspension state;
step four: starting a third power joint, a fourth power joint and a fifth power joint in the first bin cleaning arm and a third power joint, a fourth power joint and a fifth power joint in the second bin cleaning arm, and simultaneously adjusting the bending degree of middle flexible arms in the bin cleaning big arm, the bin cleaning middle arm and the bin cleaning small arm so as to adjust the spatial positions of ultrasonic vibration hammers in the first bin cleaning arm and the second bin cleaning arm and further enable the ultrasonic vibration hammers to be in contact with wall-hanging coal on the inner surface of the bin wall of the ground coal bin;
step five: scanning the wall-hung coal on the inner surface of the wall of the ground coal bunker by a laser scanner in the auxiliary monitoring mechanism in the bunker so as to analyze the distribution condition of the wall-hung coal; acquiring a real-time image in the ground coal bunker by a camera in the auxiliary monitoring mechanism in the bunker; acquiring real-time environmental parameter data in the ground coal bunker by a multifunctional sensor in the auxiliary monitoring mechanism in the bunker;
step six: starting the ultrasonic vibration hammer, enabling wall-hung coal attached to the inner surface of the wall of the ground coal bunker to fall off under the action of vibration impact, and adjusting the spatial position of the ultrasonic vibration hammer by the first bunker cleaning arm and the second bunker cleaning arm until the wall-hung coal in a specified area is removed;
step seven: closing the ultrasonic vibration hammer, and adjusting the spatial position of the ultrasonic vibration hammer through the first bin cleaning arm and the second bin cleaning arm to enable the ultrasonic vibration hammer to be far away from the inner surface of the wall of the ground coal bin;
step eight: controlling the large supporting arm and the small supporting arm in the first supporting arm and the large supporting arm and the small supporting arm in the second supporting arm to retract, so that the top supporting support legs at the front end parts of the first supporting arm and the second supporting arm are separated from the inner surface of the bin wall of the ground coal bin;
step nine: starting the power rotary table, and enabling the power rotary table to rotate in the circumferential direction for a set angle, so that the first support arm, the second support arm, the first bin cleaning arm and the second bin cleaning arm synchronously rotate for a set angle;
step ten: repeating the third step to the ninth step until all the wall-hanging coal on the inner surface of the wall of the ground coal bunker at the specified height is removed;
step eleven: starting a lifting winch, and adjusting the suspension height of the robot downwards through a lifting steel wire rope until the robot hovers at the next-stage specified height in the ground coal bunker;
step twelve: repeating the third step and the eleventh step until the wall-hung coal cleaning work of the bottommost layer of the ground coal bunker is finished;
step thirteen: after all the wall-mounted coal on the inner surface of the wall of the ground coal bunker is removed, the first support arm, the second support arm, the first bunker cleaning arm and the second bunker cleaning arm of the robot are adjusted to be in the initial state, so that the whole robot is restored to the initial folded state;
fourteen steps: and starting the lifting winch, and lifting the robot in a folded state from the bottommost layer of the ground coal bunker to the outside of the ground coal bunker through a lifting steel wire rope.
The invention has the beneficial effects that:
the ground coal bunker cleaning robot and the use method thereof can comprehensively replace manual cleaning operation, thereby avoiding a series of problems caused by manual cleaning.
Drawings
FIG. 1 is a schematic view of a ground bunker cleaning robot of the present invention (in an extended state) in use within a ground bunker;
FIG. 2 is a schematic view of a ground bunker cleaning robot of the present invention (in a collapsed state) in use within a ground bunker;
FIG. 3 is a schematic structural view of a ground bunker cleaning robot of the present invention;
FIG. 4 is a schematic view of the first/second support arm of the present invention;
FIG. 5 is a schematic view of the first/second arms of the present invention (with the intermediate flexible arm in a flat position);
FIG. 6 is a schematic view of the first/second purge arm (with the intermediate flexible arm in a flexed state) of the present invention;
FIG. 7 is a schematic structural view of the large/middle warehouse cleaning arm according to the present invention;
FIG. 8 is a schematic structural view of the bin clearing arm of the present invention;
FIG. 9 is a schematic diagram of the construction of an intermediate flexible arm of the present invention;
FIG. 10 is an exploded view of the intermediate flexible arm (flexible arm bending actuation bladder not shown) of the present invention;
in the figure, 1-lifting winch, 2-power rotary table, 3-first supporting arm, 4-second supporting arm, 5-first cleaning arm, 6-second cleaning arm, 7-ground coal bunker, 8-warehouse top machine room, 9-lifting steel wire rope, 10-wall coal, 11-supporting large arm, 12-supporting small arm, 13-top supporting leg, 14-first power joint, 15-second power joint, 16-power linear sliding table, 17-warehouse cleaning large arm, 18-warehouse cleaning middle arm, 19-warehouse cleaning small arm, 20-third power joint, 21-fourth power joint, 22-fifth power joint, 23-ultrasonic vibration hammer, 24-rear rigid arm, 25-middle flexible arm, 26-front rigid arm, 27-front rotary joint, 28-middle rotary joint, 29-rear rotary joint, 30-spherical hinge universal joint, 31-flexible arm bending driving air bag and 32-flexible corrugated pipe protecting sleeve.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 10, a ground coal bunker cleaning robot comprises a lifting winch 1, a power rotary table 2, a first support arm 3, a second support arm 4, a first coal bunker cleaning arm 5 and a second coal bunker cleaning arm 6; the lifting winch 1 is arranged in a bin top machine room 8 of a ground coal bin 7, and the power rotary table 2 is horizontally hung on a lifting steel wire rope 9 of the lifting winch 1; the rear end part of the first support arm 3 is connected to the power rotary table 2, and the front end part of the first support arm 3 is a free end; the rear end part of the second support arm 4 is connected to the power rotary table 2, and the front end part of the second support arm 4 is a free end; the first supporting arm 3 and the second supporting arm 4 form an included angle of 180 degrees relative to the circle center of the power rotary table 2; the rear end part of the first bin cleaning arm 5 is connected to the first supporting arm 3, and the front end part of the first bin cleaning arm 5 is a free end; the rear end part of the second warehouse cleaning arm 6 is connected to the second supporting arm 4, and the front end part of the second warehouse cleaning arm 6 is a free end; the first bunker cleaning arm 5 and the second bunker cleaning arm 6 are used for cleaning wall-hung coal 10 on the inner surface of the bunker wall of the ground bunker 7.
The first supporting arm 3 and the second supporting arm 4 have the same structure and respectively comprise a large supporting arm 11, a small supporting arm 12, a top supporting leg 13, a first power joint 14 and a second power joint 15; the large support arm 11 and the small support arm 12 have the same structure and adopt power telescopic structures; the rear end part of the large support arm 11 is connected with the power rotary table 2 through a first power joint 14, the front end part of the large support arm 11 is connected with the rear end part of the small support arm 12 through a second power joint 15, and the top support supporting leg 13 is coaxially and fixedly connected with the front end part of the small support arm 12; a power linear sliding table 16 is arranged on the outer cylinder body of the large support arm 11, and a sliding rail of the power linear sliding table 16 is parallel to the large support arm 11; the rear end parts of the first and second bin cleaning arms 5 and 6 are connected to a sliding block of the power linear sliding table 16.
The first bin cleaning arm 5 and the second bin cleaning arm 6 are identical in structure and respectively comprise a bin cleaning large arm 17, a bin cleaning middle arm 18, a bin cleaning small arm 19, a third power joint 20, a fourth power joint 21, a fifth power joint 22 and an ultrasonic vibration hammer 23; the rear end part of the large storehouse cleaning arm 17 is connected with a sliding block of the power linear sliding table 16 through a third power joint 20, the front end part of the large storehouse cleaning arm 17 is connected with the rear end part of the middle storehouse cleaning arm 18 through a fourth power joint 21, the front end part of the middle storehouse cleaning arm 18 is connected with the rear end part of the small storehouse cleaning arm 19 through a fifth power joint 22, and the ultrasonic vibration hammer 23 is coaxially installed at the front end part of the small storehouse cleaning arm 19.
The large bin cleaning arm 17, the middle bin cleaning arm 18 and the small bin cleaning arm 19 are identical in structure and adopt rigid-flexible coupling structures, and each rigid-flexible coupling structure comprises a rear rigid arm 24, a middle flexible arm 25 and a front rigid arm 26; the rear rigid arm 24, the middle flexible arm 25 and the front rigid arm 26 are sequentially and coaxially fixedly connected together; the rear end part of a rear rigid arm 24 of the large warehouse cleaning arm 17 is connected with a sliding block of the power linear sliding table 16 through a third power joint 20, the front end part of a front rigid arm 26 of the large warehouse cleaning arm 17 is connected with the rear end part of the rear rigid arm 24 of the middle warehouse cleaning arm 18 through a fourth power joint 21, the front end part of the front rigid arm 26 of the middle warehouse cleaning arm 18 is connected with the rear end part of a rear rigid arm 24 of the small warehouse cleaning arm 19 through a fifth power joint 22, and the ultrasonic vibration hammer 23 is coaxially installed at the front end part of the front rigid arm 26 of the small warehouse cleaning arm 19.
The middle flexible arm 25 comprises a front adapter joint 27, a middle adapter joint 28, a rear adapter joint 29, a spherical hinge universal joint 30 and a flexible arm bending driving air bag 31; a corrugated protective sleeve 32 is sleeved outside the middle flexible arm 25; the number of the middle adapter joints 28, the number of the spherical hinge universal joints 30 and the number of the flexible arm bending driving airbags 31 are all a plurality, the middle adapter joints 28 are uniformly distributed between the front adapter joint 27 and the rear adapter joint 29, and the spherical hinge universal joints 30 and the flexible arm bending driving airbags 31 are respectively arranged between the front adapter joint 27 and the middle adapter joint 28, between the adjacent middle adapter joints 28 and between the rear adapter joint 29 and the middle adapter joint 28; the flexible arm bending driving airbags 31 are arranged on the outer peripheral side of the ball joint universal joints 30, each ball joint universal joint 30 is correspondingly provided with two flexible arm bending driving airbags 31, the two flexible arm bending driving airbags 31 form an included angle of 180 degrees relative to the circle center of the ball joint universal joint 30, all the flexible arm bending driving airbags 31 are distributed on the middle flexible arm 25 in two rows along the axial direction, and the bending degree of the middle flexible arm 25 is controlled by inflation and deflation of the flexible arm bending driving airbags 31 at different positions; the intermediate flexible arm 25 is connected to the front rigid arm 26 by a front adapter joint 27 and the intermediate flexible arm 25 is connected to the rear rigid arm 24 by a rear adapter joint 29.
An in-bin auxiliary monitoring mechanism consisting of a camera, a laser scanner and a multifunctional sensor is arranged on a front rigid arm 26 of the small bin cleaning arm 19.
The use method of the ground coal bunker cleaning robot comprises the following steps:
the method comprises the following steps: starting the lifting winch 1, putting the robot in a folded state into a bin through a bin opening at the top of the ground coal bin 7 through a lifting steel wire rope 9, and hovering the robot at a specified height in the ground coal bin 7;
step two: starting a first power joint 14 in the first support arm 3 and a second power joint 15 in the second support arm 4 until a large support arm 11 and a small support arm 12 in the first support arm 3 and a large support arm 11 and a small support arm 12 in the second support arm 4 are unfolded to be in a horizontal state, and at the moment, the first support arm 3 and the second support arm 4 are positioned on the same straight line;
step three: controlling the large support arm 11 and the small support arm 12 in the first support arm 3 and the large support arm 11 and the small support arm 12 in the second support arm 4 to extend until the top support legs 13 at the front ends of the first support arm 3 and the second support arm 4 are supported on the inner surface of the wall of the ground coal bunker 7, and fixing the position of the power rotary table 2 in a suspension state;
step four: starting a third power joint 20, a fourth power joint 21 and a fifth power joint 22 in the first bin cleaning arm 5, and a third power joint 20, a fourth power joint 21 and a fifth power joint 22 in the second bin cleaning arm 6, and simultaneously adjusting the bending degree of a middle flexible arm 25 in the bin cleaning big arm 17, the bin cleaning middle arm 18 and the bin cleaning small arm 19 so as to adjust the spatial positions of ultrasonic vibration hammers 23 in the first bin cleaning arm 5 and the second bin cleaning arm 6, so that the ultrasonic vibration hammers 23 are in contact with the wall-hanging coal 10 on the inner surface of the bin wall of the ground coal bin 7;
step five: scanning the wall-hung coal 10 on the inner surface of the wall of the ground coal bunker 7 by a laser scanner in the auxiliary monitoring mechanism in the bunker so as to analyze the distribution condition of the wall-hung coal 10; acquiring a real-time image in a ground coal bunker 7 through a camera in the auxiliary monitoring mechanism in the bunker; acquiring real-time environmental parameter data in a ground coal bunker 7 through a multifunctional sensor in an auxiliary monitoring mechanism in the bunker;
step six: starting the ultrasonic vibration hammer 23, enabling the wall-hung coal 10 attached to the inner surface of the bin wall of the ground coal bin 7 to fall off under the action of vibration impact, and adjusting the spatial position of the ultrasonic vibration hammer 23 by the first bin cleaning arm 5 and the second bin cleaning arm 6 until the wall-hung coal 10 in the designated area is removed;
step seven: closing the ultrasonic vibration hammer 23, and adjusting the spatial position of the ultrasonic vibration hammer 23 through the first bin cleaning arm 5 and the second bin cleaning arm 6 to enable the ultrasonic vibration hammer 23 to be far away from the inner surface of the bin wall of the ground coal bin 7;
step eight: controlling the large support arm 11 and the small support arm 12 in the first support arm 3 and the large support arm 11 and the small support arm 12 in the second support arm 4 to retract, so that the top support legs 13 at the front ends of the first support arm 3 and the second support arm 4 are separated from the inner surface of the bin wall of the ground coal bin 7;
step nine: starting the power rotary table 2, enabling the power rotary table 2 to rotate in the circumferential direction for a set angle, and further enabling the first support arm 3, the second support arm 4, the first bin cleaning arm 5 and the second bin cleaning arm 6 to rotate synchronously for a set angle;
step ten: repeating the third step to the ninth step until all the wall-hanging coal 10 on the inner surface of the bin wall of the ground coal bin 7 at the specified height is removed;
step eleven: starting the hoisting winch 1, and adjusting the suspension height of the robot downwards through a hoisting steel wire rope 9 until the robot hovers at the next level of specified height in the ground coal bunker 7;
step twelve: repeating the third step and the eleventh step until the wall-hung coal 10 at the bottommost layer of the ground coal bunker 7 is removed;
step thirteen: after all the wall-hung coals 10 on the inner surface of the wall of the ground coal bunker 7 are removed, the first support arm 3, the second support arm 4, the first bunker cleaning arm 5 and the second bunker cleaning arm 6 of the robot are adjusted to be in the initial state, so that the robot is integrally restored to be in the initial folded state;
fourteen steps: and starting the lifting winch 1, and lifting the robot in a folded state from the bottommost layer of the ground coal bunker 7 to the outside of the ground coal bunker 7 through a lifting steel wire rope 9.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. The utility model provides a ground coal bunker cleaning robot which characterized in that: the device comprises a lifting winch, a power rotary table, a first supporting arm, a second supporting arm, a first bin cleaning arm and a second bin cleaning arm; the lifting winch is arranged in a bin top machine room of the ground coal bin, and the power rotary table is horizontally hung on a lifting steel wire rope of the lifting winch; the rear end part of the first support arm is connected to the power rotary table, and the front end part of the first support arm is a free end; the rear end part of the second supporting arm is connected to the power rotary table, and the front end part of the second supporting arm is a free end; the first supporting arm and the second supporting arm form an included angle of 180 degrees relative to the circle center of the power rotary table; the rear end part of the first bin cleaning arm is connected to the first supporting arm, and the front end part of the first bin cleaning arm is a free end; the rear end part of the second warehouse cleaning arm is connected to the second supporting arm, and the front end part of the second warehouse cleaning arm is a free end; the first bunker cleaning arm and the second bunker cleaning arm are used for cleaning wall-hanging coal on the inner surface of the wall of the ground bunker.
2. The ground bunker cleaning robot of claim 1, wherein: the first supporting arm and the second supporting arm have the same structure and respectively comprise a large supporting arm, a small supporting arm, a top supporting leg, a first power joint and a second power joint; the large support arm and the small support arm have the same structure and adopt power telescopic structures; the rear end part of the large supporting arm is connected with the power rotary table through a first power joint, the front end part of the large supporting arm is connected with the rear end part of the small supporting arm through a second power joint, and the jacking support leg is coaxially and fixedly connected with the front end part of the small supporting arm; a power linear sliding table is arranged on the outer cylinder body of the large support arm, and a sliding rail of the power linear sliding table is parallel to the large support arm; the rear end parts of the first bin cleaning arm/the second bin cleaning arm are connected to a sliding block of the power linear sliding table.
3. The ground bunker cleaning robot of claim 2, wherein: the first bin cleaning arm and the second bin cleaning arm are identical in structure and respectively comprise a bin cleaning big arm, a bin cleaning middle arm, a bin cleaning small arm, a third power joint, a fourth power joint, a fifth power joint and an ultrasonic vibration hammer; the rear end part of the large storehouse cleaning arm is connected with a sliding block of the power linear sliding table through a third power joint, the front end part of the large storehouse cleaning arm is connected with the rear end part of the middle storehouse cleaning arm through a fourth power joint, the front end part of the middle storehouse cleaning arm is connected with the rear end part of the small storehouse cleaning arm through a fifth power joint, and the ultrasonic vibration hammer is coaxially installed at the front end part of the small storehouse cleaning arm.
4. The ground bunker cleaning robot of claim 3, wherein: the large bin cleaning arm, the middle bin cleaning arm and the small bin cleaning arm are of the same structure and adopt rigid-flexible coupling structures, and each rigid-flexible coupling structure comprises a rear rigid arm, a middle flexible arm and a front rigid arm; the rear rigid arm, the middle flexible arm and the front rigid arm are sequentially and coaxially fixedly connected together; the rear end part of the rear rigid arm of the large bin cleaning arm is connected with a sliding block of the power linear sliding table through a third power joint, the front end part of the front rigid arm of the large bin cleaning arm is connected with the rear end part of the rear rigid arm of the middle bin cleaning arm through a fourth power joint, the front end part of the front rigid arm of the middle bin cleaning arm is connected with the rear end part of the rear rigid arm of the small bin cleaning arm through a fifth power joint, and the ultrasonic vibration hammer is coaxially installed at the front end part of the front rigid arm of the small bin cleaning arm.
5. The ground bunker cleaning robot of claim 4, wherein: the middle flexible arm comprises a front adapter, a middle adapter, a rear adapter, a spherical hinge universal joint and a flexible arm bending driving air bag; a corrugated protective sleeve is sleeved on the outer side of the middle flexible arm; the number of the middle adapter joints, the number of the spherical hinge universal joints and the number of the flexible arm bending driving airbags are all a plurality, the middle adapter joints are uniformly distributed between the front adapter joint and the rear adapter joint, and the spherical hinge universal joints and the flexible arm bending driving airbags are respectively arranged between the front adapter joint and the middle adapter joint, between the adjacent middle adapter joints and between the rear adapter joint and the middle adapter joint; the flexible arm bending driving air bags are arranged on the outer peripheral side of the spherical hinge universal joints, each spherical hinge universal joint is correspondingly provided with two flexible arm bending driving air bags, the two flexible arm bending driving air bags form an included angle of 180 degrees relative to the circle center of the spherical hinge universal joint, all the flexible arm bending driving air bags are distributed on the middle flexible arm in two rows along the axial direction, and the bending degree of the middle flexible arm is controlled by the inflation and deflation of the flexible arm bending driving air bags at different positions; the middle flexible arm is connected with the front rigid arm through the front adapter joint, and the middle flexible arm is connected with the rear rigid arm through the rear adapter joint.
6. The ground bunker cleaning robot of claim 4, wherein: and an in-bin auxiliary monitoring mechanism consisting of a camera, a laser scanner and a multifunctional sensor is arranged on the front rigid arm of the small bin cleaning arm.
7. The method of using the ground bunker cleaning robot of claim 1, comprising the steps of:
the method comprises the following steps: starting a lifting winch, putting the robot in a folded state into a bin through a lifting steel wire rope through a bin opening at the top of the ground coal bin, and hovering the robot at a specified height in the ground coal bin;
step two: starting a first power joint in the first support arm and a second power joint in the second support arm until a large support arm and a small support arm in the first support arm and a large support arm and a small support arm in the second support arm are unfolded to be in a horizontal state, and at the moment, the first support arm and the second support arm are positioned on the same straight line;
step three: controlling the large supporting arm and the small supporting arm in the first supporting arm and the large supporting arm and the small supporting arm in the second supporting arm to extend until the top supporting legs at the front ends of the first supporting arm and the second supporting arm are supported on the inner surface of the bin wall of the ground coal bin, and fixing the position of the power revolving platform in a suspension state;
step four: starting a third power joint, a fourth power joint and a fifth power joint in the first bin cleaning arm and a third power joint, a fourth power joint and a fifth power joint in the second bin cleaning arm, and simultaneously adjusting the bending degree of middle flexible arms in the bin cleaning big arm, the bin cleaning middle arm and the bin cleaning small arm so as to adjust the spatial positions of ultrasonic vibration hammers in the first bin cleaning arm and the second bin cleaning arm and further enable the ultrasonic vibration hammers to be in contact with wall-hanging coal on the inner surface of the bin wall of the ground coal bin;
step five: scanning the wall-hung coal on the inner surface of the wall of the ground coal bunker by a laser scanner in the auxiliary monitoring mechanism in the bunker so as to analyze the distribution condition of the wall-hung coal; acquiring a real-time image in the ground coal bunker by a camera in the auxiliary monitoring mechanism in the bunker; acquiring real-time environmental parameter data in the ground coal bunker by a multifunctional sensor in the auxiliary monitoring mechanism in the bunker;
step six: starting the ultrasonic vibration hammer, enabling wall-hung coal attached to the inner surface of the wall of the ground coal bunker to fall off under the action of vibration impact, and adjusting the spatial position of the ultrasonic vibration hammer by the first bunker cleaning arm and the second bunker cleaning arm until the wall-hung coal in a specified area is removed;
step seven: closing the ultrasonic vibration hammer, and adjusting the spatial position of the ultrasonic vibration hammer through the first bin cleaning arm and the second bin cleaning arm to enable the ultrasonic vibration hammer to be far away from the inner surface of the wall of the ground coal bin;
step eight: controlling the large supporting arm and the small supporting arm in the first supporting arm and the large supporting arm and the small supporting arm in the second supporting arm to retract, so that the top supporting support legs at the front end parts of the first supporting arm and the second supporting arm are separated from the inner surface of the bin wall of the ground coal bin;
step nine: starting the power rotary table, and enabling the power rotary table to rotate in the circumferential direction for a set angle, so that the first support arm, the second support arm, the first bin cleaning arm and the second bin cleaning arm synchronously rotate for a set angle;
step ten: repeating the third step to the ninth step until all the wall-hanging coal on the inner surface of the wall of the ground coal bunker at the specified height is removed;
step eleven: starting a lifting winch, and adjusting the suspension height of the robot downwards through a lifting steel wire rope until the robot hovers at the next-stage specified height in the ground coal bunker;
step twelve: repeating the third step and the eleventh step until the wall-hung coal cleaning work of the bottommost layer of the ground coal bunker is finished;
step thirteen: after all the wall-mounted coal on the inner surface of the wall of the ground coal bunker is removed, the first support arm, the second support arm, the first bunker cleaning arm and the second bunker cleaning arm of the robot are adjusted to be in the initial state, so that the whole robot is restored to the initial folded state;
fourteen steps: and starting the lifting winch, and lifting the robot in a folded state from the bottommost layer of the ground coal bunker to the outside of the ground coal bunker through a lifting steel wire rope.
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