储煤筒仓在我国应用广泛、现存量巨大，储煤筒仓的粘壁、蓬煤、堵塞现象，长期以来一直给煤矿、电厂等企业带来困扰。储煤筒仓内部呈圆柱体，底部有多个方锥形落料口，落料口通常为一米见方远小于煤仓内径，原煤自上而下靠自重下落，这种结构形式决定了锥形落料口附近原煤流速变缓、受挤压、易粘壁蓬堵，再遇上煤料颗粒细、含水量高、存煤时间长等情况，粘壁更易发生，粘壁使煤料流动通道更为狭窄、流速更慢，进而逐渐发展为堵塞，这种情况很难完全避免；在冬季气温很低的地区，含水量较高的煤料还会形成冻粘壁，进而逐渐发展为冻堵，更加难以疏通。目前煤矿解决粘壁蓬堵是靠人工巡检发现蓬堵、定期人工清理粘壁、人工疏通堵塞，人员须钻入煤仓中手动清理，环境恶劣劳动强度大、耗时长效果差，且存在极大的安全隐患，每年都有因人工煤仓清堵而导致的人身伤亡事故；而且对于放小炮也无效的冻堵只能等待来年回暖，使煤仓使用率降低，给煤矿及电厂的正常生产带来影响。为解决上述问题，运用特种工业机器人技术和控制算法，针对储煤筒仓研发了一套煤仓全方位智能清理机器人系统，在不改变储煤筒仓现有结构的情况下，在每个落煤口内部安装一套以液压为动力、可往复移动、捶打破煤的机器人执行单元，由机器人集群控制软件操控，根据每个落煤口布置的堵煤监测传感器及其他传感器的信号，实现自动监测判断蓬堵情况，自动选择最优的清理措施、操控相关机器人协调动作，使落煤口迅速恢复畅通。整个系统全自动无人值守运行，可迅速有效解决储煤筒仓中的蓬煤、粘壁、冻煤等落煤不畅和阻塞的情况，以成体系的技术化手段安全有效地替代人工高危工作，避免了因人工清堵而导致伤亡的可能，解决了长期困扰煤矿、电厂的痛点，提高储煤系统运行安全性。详细说明了煤仓清理机器人的运行机理、安装布局、样机试验测试、煤矿企业应用效果等情况，证明了煤仓清理机器人是解决煤仓粘壁、蓬煤、冻煤等落煤不畅和煤仓阻塞情况的有效手段。

The coalbunkers are widely used in China and the existing quantity of coal is huge.. Caked coals, blocked coals and frozen coals have been a problem for coal mining enterprises and power plants for long. The interior of the coalbunker is a cylinder, and there are multiple square cone-shaped blanking openings at the bottom. The blanking openings are usually one meter square, which is much smaller than the inner diameter of the coalbunker. The raw coal falls from top to bottom by its own weight. This structural determines that the flow rate of raw coal near the cone-shaped blanking opening is slow, squeezed and easy to be blocked by the wall. In addition, in case of fine coal particles, with high water content and long storage time, the wall sticking is more likely to occur, and the wall sticking makes the coal flow channel narrower and the flow rate slower, and then it gradually develops into blocked coals, which is difficult to completely avoid. In areas with very low temperature in wall, the coal with high water content will also form a frozen wall, which will gradually develop into a frozen block, which is more difficult to dredge. At present, coal mines rely on manual inspection to find the blockage, regular manual cleaning of the wall, and manual dredging. Personnel must drill into the coal bunker to manually clean it. The work environment is harsh, labor-intensive, time-consuming, and ineffective. Every year, there are casualties caused by manual coal bunker cleaning. Furthermore, the freezing and blocking coal that are ineffective for small shots can only wait for the next year to warm up, which will reduce the utilization rate of the coal bunker and affect the normal production of the coal mine enterprises and the power plant. In order to solve the above problems, a set of all-round intelligent cleaning robot system for coal storage silos has been developed with special industrial robot technology and control algorithm. A set of robotic execution units powered by hydraulic pressure, capable of reciprocating movement, and breaking coal are installed inside the coal mouth, controlled by the robot cluster control software. According to the signals of the blocked coal monitoring sensor and other sensors arranged at each blanking openings, it can automatically monitor and judge the state of blocked coals in the coalbunker, automatically selecting the optimal cleaning measures to control the relevant robots and to coordinate the action, and quickly restore the smoothness of the blanking openings. The whole system is fully automatic and unattended, which can quickly and effectively solve the problems of poor coal falling and blocking in the coalbunker, such as caked coals, blocked coals, frozen coals, and so on. It avoids the possibility of casualties caused by manual blockage removal, solves the pain points that have plagued coal mines and power plants for a long time, and improves the operational safety of coal storage systems. This paper describes the operation mechanism, installation layout, prototype test and application effect of the coalbunker blocks clearing robot in details, and proves that the coalbunker blocks clearing robot is an effective means to solve the problems of poor coal falling and blocking in the coalbunker, such as caked coals, blocked coals, frozen coals, etc.