Bunker cleaning mechanical hand and coal bunker blockage cleaning robot

Abstract

The invention discloses a bunker cleaning mechanical hand and a coal bunker blockage cleaning robot. The bunker cleaning mechanical hand comprises a base, a mechanical hand arm and scrabbling devices.The base, the mechanical hand arm and the scrabbling devices are connected in sequence from top to bottom. A first rotation driving mechanism which is used for driving the mechanical hand arm to rotate in the horizontal direction is installed in the base. A second rotation driving mechanism which is used for driving the mechanical hand arm to swing in the vertical plane is arranged at the upper end of the mechanical hand arm in a matched mode. The scrabbling devices are installed at the lower end of the mechanical hand arm and horizontally arranged. Third rotation driving mechanisms which areused for driving the scrabbling devices to rotate around the axes of the scrabbling devices are arranged in the scrabbling devices. Sharp spine portions which are used for cleaning a hardened coal layer away are arranged on the surfaces of the outer sides of the scrabbling devices. The bunker cleaning mechanical hand has three degrees of freedom, is light, exquisite and compact in structure, canrapidly respond to a control instruction, and improves the production efficiency advantageously. The bunker cleaning mechanical hand is utilized and enters a coal bunker to conduct cleaning, and therefore the safety and the high efficiency of the cleaning operation are guaranteed.

Description

technical field [0001] The invention relates to a bin clearing manipulator and a coal bunker clearing robot with the bin clearing manipulator. Background technique [0002] The ground coal bunkers in the prior art often have compaction problems during use, so it is necessary to clean the compacted coal seam in time. There are two commonly used cleaning methods: one is manual cleaning, and the other is cleaning by blasting. [0003] Manual cleaning requires workers to enter the ground coal bunker to clean the hardened coal seam. The cleaning efficiency is low, and due to the relatively high concentration of gas and carbon monoxide in the coal bunker, it is easy to cause staff poisoning, and there is a safety hazard of explosion. [0004] The hardened coal seam can also be cleaned by blasting. However, this method needs to control the amount of explosives. If the amount of explosives is small, the hardened coal seam cannot be cleaned effectively. If the amount of explosives i...

AI Technical Summary

Problems solved by technology

[0003] Manual cleaning requires workers to enter the ground coal bunker to clean up the hardened coal seam. The cleaning efficiency is low, and due to the relatively high concentration of gas and carbon monoxide in the coal bunker, it is easy to cause staff poisoning, and there is a safety hazard of explosion

[0004] The hardened coal seam can also be cleaned by blasting. However, this method needs to control the amount of explosives. If the amount of explosives is small, the hardened coal seam cannot be cleaned effectively. If the amount of explosives is large, the coal bunker on the ground will be easily damaged.

[0005] To sum up, in the existing technology, the cleaning efficiency of the coal formation in the ground coal bunker is low, and there are technical problems such as poor safety.

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