CN101526007B - Underground coal bunker cleaning robot - Google Patents

Abstract

The invention discloses an underground coal bunker clearing robot, which includes: a suspension mechanism used to connect with the traction cable of the hoisting device outside the bunker; a driving mechanism used to drive the following upper mechanism and lower mechanism to rotate and swing respectively; The upper mechanism for positioning the warehouse wall, the upper mechanism is provided with at least two retractable lateral support arms, and the free end of the lateral support arms is provided with a contact portion with a pointed object; the lower mechanism for removing the condensation on the warehouse wall, The lower mechanism is provided with at least two telescopic horizontal working arms, and the free end of the horizontal working arms is provided with a coal shovel that can reciprocate up and down; at least one camera for capturing the scene of the warehouse wall, and the camera is connected with the monitor outside the warehouse. The operator only needs to operate the underground coal bunker cleaning robot through the electronic control system outside the warehouse, and can complete the cleaning task of the entire underground coal bunker vertical wall and the lower shrinkage, which can reduce manpower and material resources and realize the mechanization of underground coal bunker cleaning.

Description

Underground Coal Bunker Clearance Robot

technical field

The invention relates to a warehouse clearing device for cleaning underground coal bunkers (underground gangue bins), in particular to an underground coal bunker clearing robot.

Background technique

The underground coal bunker is a raw coal storage device used in coal mines. It is generally a cylindrical structure with upper and lower necks, the upper structure is an upper neck, and the bottom structure is a lower neck. During the underground mining process of coal mines, new raw coal is continuously added to the underground coal bunker. At the same time, the raw coal in the bunker flows out to the belt conveyor through the coal discharge port, and is transported by the belt conveyor to the vertical shaft hoist, and the coal is lifted to the ground coal bunker, and then discharged from the ground. Coal bunkers are loaded into trains or automobiles for transportation to all walks of life in the national economy. After long-term use of the underground coal bunker, a certain amount of raw coal condensation will condense on the wall of the coal bunker. The existence of these condensates, on the one hand, leads to the blockage of coal flow, which greatly reduces the storage capacity of the underground coal bunker; Crusher, loader and other equipment for maintenance. In this way, the underground coal bunker must be manually cleaned regularly to remove the coal wall condensate. Manual warehouse clearance is not only low labor efficiency, but also coal dust endangers construction workers; underground coal warehouses are generally 18-30 meters deep, and the air in the warehouse is thin and very dark. In addition to labor-intensive cleaning of coal walls, there are serious safety hazards. Similarly, underground gangue bins also need to be cleaned regularly like underground coal bunkers, which is more difficult to clean than coal bunkers. There is no clearing equipment (device) for cleaning the walls of underground coal bunkers (gangue bins) in the prior art.

Contents of the invention

The present invention aims to overcome the above-mentioned technical defects in the existing manual cleaning technology, and provides an underground coal bunker cleaning robot, whose mechanical components can meet the needs of cleaning underground coal bunkers (gangue bins).

Its technical solutions are:

An underground coal bunker clearing robot, comprising:

Suspension mechanism for connection with the traction cable of the hoisting device outside the warehouse;

The driving mechanism used to drive the following upper mechanism and lower mechanism to rotate and swing respectively;

An upper mechanism used to support the warehouse wall for positioning; the above-mentioned upper mechanism is provided with three telescopic horizontal support arms, and the free ends of the horizontal support arms are provided with contact parts with pointed objects;

The lower mechanism used to remove the condensate on the warehouse wall; the lower mechanism is provided with two telescopic and symmetrically arranged transverse working arms, and the free end of the transverse working arm is provided with a coal shovel capable of reciprocating up and down;

At least one camera is used to capture the situation on the warehouse wall, and the camera is connected to the monitor outside the warehouse.

The above three horizontal support arms are evenly distributed at 120° in the circumferential direction. Each horizontal support arm includes a telescopic support arm body and a support arm hydraulic cylinder. The support arm body adopts a rod structure composed of multi-section parallelogram articulated units. The support arm The piston rod end of the hydraulic cylinder is connected to a suitable hinge rod in the first articulated unit, and the support arm hydraulic cylinder drives the main body of the support arm to extend and retract; each of the above-mentioned horizontal working arms includes a telescopic working arm main body and a working arm. Arm hydraulic cylinder, the main body of the working arm adopts a rod structure composed of multi-section parallelogram articulated units, the piston rod end of the working arm hydraulic cylinder is connected with a suitable hinge rod of the first articulated unit, and the working arm hydraulic cylinder drives the work The main body of the arm is extended and retracted; the free end of the horizontal working arm is provided with a coal shovel hydraulic cylinder, and the coal shovel is fixedly connected to the piston rod end of the coal shovel hydraulic cylinder; the above-mentioned horizontal support arm and the horizontal working arm are each equipped with a disconnecting device , the disconnecting device enables the arm body to rotate around a fixed axis and be lowered vertically.

Above-mentioned camera includes the camera on the first position and/or the camera on the second position; position; the camera is a rotatable camera.

There is a flat plate at the bottom of the lower mechanism, and the flat plate can be used as the upright base body of the clearing robot, and can also be used as the striking body for large coal blocks in the crushing bin and leading to the coal discharge port.

A limiting device is also arranged at the free end of the above-mentioned transverse working arm, and the end of the transverse contact rod of the limiting device is equipped with a touch switch for judging whether it touches the warehouse wall.

The driving mechanism includes an explosion-proof motor, an explosion-proof gear pump and a swing hydraulic cylinder. The swing hydraulic cylinder is equipped with a rotation angle sensor for measuring the rotation angle; the above-mentioned transverse working arm is equipped with a telescopic position sensor for judging the telescopic position of the arm; The cylinder is equipped with a detection position sensor for judging the telescoping state of the piston rod of the hydraulic cylinder.

The driving mechanism is connected to the upper mechanism through the first transmission shaft, and connected to the lower mechanism through the second transmission shaft; the first transmission shaft is a longitudinal hollow shaft, and the second transmission shaft passes through the first transmission shaft.

Between the above-mentioned upper mechanism and the lower mechanism, there is a holding mechanism, which includes a holding hydraulic cylinder, a transmission connecting rod, and a brake part, wherein the holding hydraulic cylinder is fixed on the first transmission shaft of the upper mechanism through a fixing body. The lower part, the brake part is set on the upper part of the central shaft of the lower mechanism, and the hydraulic cylinder is held tightly to control the action of the brake part through the transmission link; the hydraulic cylinders of the support arm are controlled by their respective electromagnetic reversing valves, and the piston chamber is equipped with a one-way lock and safety valve.

The above-mentioned underground coal bunker clearing robot is equipped with a hydraulic pump station. The hydraulic pump station is located outside the warehouse mouth and is connected to the hydraulic actuators in the above-mentioned mechanisms through the inlet and return fluid lines. The hydraulic actuators are equipped with explosion-proof solenoid valves, hydraulic locks and safety valves.

The present invention can be realized by configuring the corresponding explosion-proof electric control system, hydraulic system and hoisting device (winch system), etc.: the top-to-bottom incremental increase in the axial length of the coal bunker (waste bunker) is controlled by the dispatching winch system ; Use the hydraulic energy provided by the hydraulic station to drive and realize the rotation and position selection of the upper mechanism, and the support and positioning of the warehouse wall by the lateral expansion and contraction of the control support arm, and the rotation position selection of the lower working mechanism, the horizontal expansion and contraction of the working arm and the coal shovel Reciprocating motion shoveling etc. in the longitudinal direction. The operator only needs to operate the underground coal bunker clearing robot through the electronic control system outside the warehouse, and can complete the cleaning task of the entire underground coal bunker (gangue bin) vertical wall and its shrinkage opening, which can reduce manpower and material resources and realize underground warehouse clearance. mechanization.

Description of drawings

The figure is a schematic diagram of the structural principle of an embodiment of the present invention.

The present invention is described below in conjunction with accompanying drawing:

Detailed ways

In conjunction with the accompanying drawings, an underground coal bunker clearing robot includes: a suspension mechanism 1 used to connect with the traction cable of the hoisting device outside the bunker; a drive mechanism 2 used to drive the following upper mechanism and lower mechanism to rotate and swing respectively; The upper mechanism 3 used to support the warehouse wall for positioning, the upper mechanism 3 is provided with three telescopic horizontal support arms 4, and the free end of the lateral support arms 4 is provided with a contact part 5 with a pointed object; it is used for eradicating the warehouse wall The lower mechanism 6 of the condensate, the lower mechanism is provided with two telescopic horizontal working arms 7, and the free end of the horizontal working arms is provided with a coal shovel 8 that can reciprocate up and down; The last camera 9, the camera 9 is connected with the monitor outside the warehouse. The specific instructions are as follows:

The driving mechanism 2 includes an explosion-proof motor, an explosion-proof gear pump and a swing hydraulic cylinder; the driving mechanism 2 is connected to the upper mechanism 3 through the first transmission shaft, and connected to the lower mechanism 6 through the second transmission shaft. The first transmission shaft is a longitudinal hollow shaft. The second transmission shaft passes through the first transmission shaft. The upper mechanism 3 is provided with three transverse support arms 4, and the three transverse support arms 4 are uniformly distributed at 120° in the circumferential direction. Each transverse support arm includes a telescopic support arm main body 401 and a support arm hydraulic cylinder 402. The support arm main body 401 adopts The rod body structure composed of multi-section parallelogram articulated units, the piston rod end of the support arm hydraulic cylinder 402 is connected with a suitable hinge rod in the first joint articulated unit, and the support arm hydraulic cylinder 402 drives the support arm main body 401 to extend and retract. The lower mechanism 6 is provided with two transverse working arms 7, and the two transverse working arms 7 are symmetrically arranged. Each transverse working arm 7 includes a telescopic working arm main body 701 and a working arm hydraulic cylinder 702. The working arm main body 701 is made of multi-section parallel The rod body structure composed of quadrilateral articulated units, the piston rod end of the working arm hydraulic cylinder 702 is connected with a suitable hinge rod of the first joint articulated unit, and the working arm hydraulic cylinder 702 drives the main body of the working arm to extend and retract; The free end of the working arm 7 is provided with a coal shovel hydraulic cylinder 10, and the coal shovel 8 is fixedly connected to the piston rod end of the coal shovel hydraulic cylinder 10; a flat plate 11 is arranged at the bottom of the lower mechanism, and the flat plate 11 can be used as a clearing robot to stand upright The basic body of the broken bin can also be used as a large coal block in the crushing bin and the striking body that leads to the coal outlet; a limit device is also installed at the free end of the above-mentioned transverse working arm, and the end of the transverse contact rod of the limit device is installed to judge whether it is touched. The touch switch on the warehouse wall. Between the above-mentioned upper mechanism 3 and the lower mechanism 6, a gripping mechanism is arranged, and the gripping mechanism includes a gripping hydraulic cylinder 12, a transmission connecting rod 13 and a brake part, wherein the gripping hydraulic cylinder is fixed on the upper mechanism through a fixing body. A lower part of the transmission shaft, the brake part is arranged on the upper part of the central shaft of the lower mechanism, and the action of the brake part is controlled by the transmission connecting rod to hold the hydraulic cylinder tightly.

In the above embodiments, the transverse working arm can be equipped with a telescopic position sensor for judging the telescopic position of the arm, and the coal shovel hydraulic cylinder is equipped with a detection position sensor for judging the telescopic state of the piston rod of the hydraulic cylinder. In the above embodiment, the support arm hydraulic cylinders are controlled by their respective electromagnetic reversing valves, and the piston chamber is provided with a one-way lock and a safety valve; when the suspension is not centered, the horizontal support arm and the coal bunker wall can be adjusted and protected.

In the above embodiment, the upper mechanism 3 can also be provided with a liquid medium storage box 14, and the above-mentioned relevant hydraulic cylinders are connected to the liquid medium storage box 14 through corresponding control pipelines.

In the above embodiment, the camera further includes a camera at the first position, and the camera at the first position is arranged on the pulling cable. Above-mentioned camera all can select rotatable camera for use. The above setting method is convenient for all-round observation of the relative position between the cleaning robot body and the coal bunker.

In the above embodiment, each telescopic arm such as the three transverse support arms and the two transverse working arms is provided with a disconnecting device. It has a vertical axis of the coal bunker when it is working. When the telescopic arm is damaged by a landslide accident or the hydraulic system fails to retract, the disconnecting device can make the telescopic arm rotate around the fixed axis and drop down vertically (drooping), which is convenient for the robot body to be lifted out. Cangkou.

A further description of the above agencies is as follows:

1. Suspension mechanism

According to the manual clearance, the spiral ladder is lowered in a top-down order, and a dispatching winch is required to cooperate with the work. The underground coal bunker clearance robot generally has a self-weight of about 2 tons. Bolt the bolt on the roadway wall in the middle of the coal bunker, and set a pulley under the bolt, and connect the winch traction cable (wire rope) to the suspension mechanism through the pulley to realize the underground coal bunker clearing robot along the axis of the coal bunker. Manual or automatic lowering.

When the inner wall of the warehouse is uneven or some parts collapse, the underground coal bunker clearance robot can use the lower mechanism for temporary support, and the horizontal support arm of the upper mechanism retracts under the corresponding drive of the hydraulic cylinder of the support arm to drive the contact part away from the wall, driving the upper The mechanism rotates and breaks away from the collapsed part, and then the horizontal support arm of the upper mechanism is stretched under the corresponding drive of the hydraulic cylinder of the support arm to drive the contact part to grasp the warehouse wall for support, and the lower mechanism can return to the working state.

2. Driving mechanism

The power of each movement of the underground coal bunker clearing robot comes from the hydraulic pump station outside the bunker mouth, which is connected to the hydraulic actuators in each mechanism through the inlet and return fluid lines. The hydraulic actuators are equipped with explosion-proof solenoid valves, hydraulic locks and safety valves. The working medium used in the hydraulic system can choose wear-resistant hydraulic oil that meets the requirements of downhole equipment.

Third, the upper body

The telescopic variation range of the lateral support arm can be selected from 2500mm to 5000mm. When the coal shovel of the lower mechanism removes the condensation on the coal wall, the upper mechanism can realize reliable support. When there is a pit on the wall of the coal bunker that is difficult to support, the lower mechanism suspends the eradication action and converts it to temporary support, and the upper mechanism selects other suitable support parts through rotation. After the selected support position is reliably supported, the lower mechanism resumes the eradication action. The camera is an extension of the function of the human eye. The operator can judge the exact location of the condensate on the wall through the monitor at the wellhead, and then remove the condensate by automatic/manual. The camera can rotate 90 degrees around the axis, and the monitor can also See clearly the operation process of the upper institution and the lower institution. The three horizontal support arms are evenly distributed at 120 degrees, which can realize reliable support and prevent the fuselage from twisting and affecting the working stability.

4. Lower institutions

After the above-mentioned upper mechanism is in place and supported, the lower mechanism rotates to select the removal station, and the entrance and exit of the swing cylinder can be controlled by a two-way lock. In order to more effectively prevent the lower mechanism from vibrating after rotation and affecting the work of the working mechanism, a tightening mechanism is adopted. Coordinated control. The horizontal working arm sends the coal shovel to the shoveling station through telescoping, and the coal shovel reciprocates up and down through the coal shovel hydraulic cylinder to remove the condensate on the warehouse wall. In order to prevent the lower mechanism from colliding with the bin wall and damaging the coal shovel part, a limit device is set up, which can protect the coal shovel part by controlling the power-off of the solenoid valve of the coal shovel hydraulic cylinder.

In the present invention, the main body of the telescopic lateral support arm and the telescopic lateral working arm can adopt other suitable telescopic rod structures in the prior art.

Under the teaching of this specification, obvious changes such as replacement, addition, reduction, etc. that can be made by those skilled in the art should be considered to also fall within the protection scope of the present invention.

Claims (9)

1. An underground coal bunker clearing robot is characterized in that it comprises: Suspension mechanism for connection with the traction cable of the hoisting device outside the warehouse; The driving mechanism used to drive the following upper mechanism and lower mechanism to rotate and swing respectively; An upper mechanism used to support the warehouse wall for positioning; the above-mentioned upper mechanism is provided with three telescopic horizontal support arms, and the free ends of the horizontal support arms are provided with contact parts with pointed objects; The lower mechanism used to remove the condensate on the warehouse wall; the lower mechanism is provided with two telescopic and symmetrically arranged transverse working arms, and the free end of the transverse working arm is provided with a coal shovel capable of reciprocating up and down; At least one camera is used to capture the situation on the warehouse wall, and the camera is connected to the monitor outside the warehouse. 2. The underground coal bunker clearing robot according to claim 1, characterized in that: the upper mechanism is provided with three transverse support arms, and the three transverse support arms are uniformly distributed at 120° in the circumferential direction, and each transverse support arm includes a The main body of the telescopic support arm and the hydraulic cylinder of the support arm. The main body of the support arm adopts a rod structure composed of multi-section parallelogram articulated units. The piston rod end of the support arm hydraulic cylinder is connected with a suitable hinge rod in the first articulated unit. , the hydraulic cylinder of the support arm drives the extension and retraction of the main body of the support arm; the above-mentioned lower mechanism is provided with two horizontal working arms, and the two horizontal working arms are evenly distributed at 180° in the circumferential direction, and each horizontal working arm includes a telescopic working arm The main body and the hydraulic cylinder of the working arm. The main body of the working arm adopts a rod structure composed of multi-section parallelogram articulated units. The cylinder drives the main body of the working arm to extend and retract; a coal shovel hydraulic cylinder is arranged at the free end of the horizontal working arm, and the coal shovel is fixedly connected to the piston rod end of the coal shovel hydraulic cylinder; the horizontal support arm and the horizontal working arm are respectively set There is a disconnecting device which enables the arm body to be rotated about a fixed axis and lowered vertically. 3. The underground coal bunker clearing robot according to claim 2, characterized in that: the camera includes a camera on the first position and/or a camera on the second position; the camera on the first position is arranged on On the traction cable, the camera on the second position is fixed on a suitable part of the upper mechanism or the lower mechanism; the camera is a rotatable camera. 4. The underground coal bunker clearing robot according to claim 1, characterized in that: a flat plate is provided at the bottom of the lower mechanism, and the flat plate can be used as the upright base of the clearing robot, and can also be used as a large coal block in the crushing bin , Conducting the striking body of the coal discharge port. 5. The underground coal bunker clearing robot according to claim 1, characterized in that: a limit device is also arranged at the free end of the horizontal working arm, and the end of the transverse contact rod of the limit device is equipped with a device for judging whether it touches the warehouse wall. Touch the switch. 6. The underground coal bunker clearing robot according to claim 1, characterized in that: the driving mechanism includes an explosion-proof motor, an explosion-proof gear pump and a swing hydraulic cylinder, and the swing hydraulic cylinder is equipped with a rotation angle sensor for measuring the rotation angle; The horizontal working arms are all equipped with a telescopic position sensor for judging the telescopic position of the arm; the coal shovel hydraulic cylinder is equipped with a detection position sensor for judging the telescopic state of the piston rod of the hydraulic cylinder. 7. The underground coal bunker clearing robot according to claim 1, characterized in that: the driving mechanism is connected to the upper mechanism through the first transmission shaft, and connected to the lower mechanism through the second transmission shaft; the first transmission shaft is longitudinally hollow shaft, the second drive shaft passes through the first drive shaft. 8. The underground coal bunker clearing robot according to claim 1, characterized in that: a clamping mechanism is provided between the upper mechanism and the lower mechanism, and the clamping mechanism includes a clamping hydraulic cylinder, a transmission connecting rod, and a brake part , wherein the holding hydraulic cylinder is fixed on the lower part of the first transmission shaft in the upper mechanism through the fixing body, the braking part is arranged on the upper part of the central shaft of the lower mechanism, and the holding hydraulic cylinder controls the action of the braking part through the transmission connecting rod; the support The arm hydraulic cylinders are controlled by their respective electromagnetic reversing valves, and their piston chambers are equipped with one-way locks and safety valves. 9. The underground coal bunker clearing robot according to claim 1, characterized in that: the underground coal bunker clearing robot is equipped with a hydraulic pump station, and the hydraulic pump station is located outside the coal bunker mouth, and is connected with the above-mentioned mechanisms through the inlet and return liquid path The hydraulic actuator is connected, and the hydraulic actuator is equipped with explosion-proof solenoid valve, hydraulic lock and safety valve.

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