CN107366796A - Robot and control method for coal mine main drainage pipeline scale removal - Google Patents

Robot and control method for coal mine main drainage pipeline scale removal Download PDF

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Publication number
CN107366796A
CN107366796A CN201710849955.8A CN201710849955A CN107366796A CN 107366796 A CN107366796 A CN 107366796A CN 201710849955 A CN201710849955 A CN 201710849955A CN 107366796 A CN107366796 A CN 107366796A
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China
Prior art keywords
unit
backup
scale removal
tube wall
robot
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Application number
CN201710849955.8A
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Chinese (zh)
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CN107366796B (en
Inventor
孟国营
张子威
汪爱明
王帅
冯禹
程晓涵
杨杰
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China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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Priority to CN201710849955.8A priority Critical patent/CN107366796B/en
Publication of CN107366796A publication Critical patent/CN107366796A/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/10Treating the inside of pipes
    • F16L2101/12Cleaning
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention discloses a kind of coal mine drainage pipe scale removal robot and control method, pipe robot is based on simulating crawling principle, using 3 section backup units, pass through the alternating elongation and contraction of front and rear 2 section propulsion units so that robot creeps similar to earthworm is the same in pipeline, and each movement step there are 2 section backup units to be clamped with tube wall, often connected between section unit by candan universal joint, turning motion can be realized, backup unit is equipped with the claw foot of drive lacking formula, its effective hook is attached on tube wall.Pipe robot uses hydraulic-driven, small volume, simple in construction, Unit Weight output power, and stepless speed regulation can be achieved, and carries hydraulic station in in-pipe, without using ground hydraulic station, only need to drag cable and be powered.It is pollution-free, cost is low, cleaning efficiency is high using water jet scale removal.

Description

Robot and control method for coal mine main drainage pipeline scale removal
Technical field
The present invention relates to pipeline cleaning field, and in particular to a kind of coal mine main drainage pipeline scale removal robot.
Background technology
Main drainage pipeline is the important component of Coal Mine Drainage System, the pipeline length of main drainage pipeline, and mine water In containing the impurity component such as coal slime, after pipeline draining certain time, impurity in water is gradually formed in inner-walls of duct solidification of depositing Fouling, the internal diameter of pipeline is caused to reduce, hydraulic radius reduces, and reduces through-current capability, the serious meeting blocking pipeline of fouling, influences The safe operation of operation.In order to ensure safe and efficient draining, the fouling in pipeline should be periodically removed.
At present, the method applied to coal mine main drainage pipeline scale removal mainly has:(1) chemical cleaning method, first to dirt composition Detected, tested, be made into reagent filling line, through steps such as overpickling, passivation, flushings, by fouling according to chemical reaction It is changed into solable matter, then discharges it pipeline.The drawbacks of chemical method is the acid corrosion that inner-walls of duct is vulnerable to reagent, simultaneously The waste liquid of outer row can cause environmental pollution, and uneven come off of fouling increases the roughness of tube wall after pickling in addition, can accelerate The formation speed of fouling, chemical reagent is used for multiple times, can also increase danger.(2) wiper scale removal, promotion is used as by the use of back pressure Power makes wiper be moved along pipeline, while friction, the scraping action of itself and tube wall make fouling peel off or broken.Wiper is in movement When, impact or abrasion are easily produced to tube wall, causes to damage, if the flow velocity of sewage can cause scale removal not thorough soon in pipe, clearly Tube efficiency is low, in addition wiper in pipe can not autonomous reducing, the easy blocking at bend pipe or valve.(3) ultrasound wave descaling method, This method makes dirty layer come off using the cavitation and shear action of ultrasound, and the effect of ultrasonic wave can be with the change in tube fluid direction And weaken, therefore the bend pipe of discharge pipe line can weaken scale removal effect.(4) mechanical descaling's device or robot scale removal, such as utility model Patent CN205074304U discloses a kind of underground drainage pipeline of coal mine scale removal cleaning plant, and the device is by rope traction, winch Driving, the roller of body are equipped with 4 groups of wings, and wing can deploy to realize scraping function.Utility model patent CN202366912U discloses a kind of mining drainage pipe automatic descaling apparatus, and the apparatus for eliminating sludge provides driving by the fluid in pipe Power, its scale removal unit include two sets of breakers and removing device, and breaker is made up of magnet coil, spring and crushing rod, Inhale lower crushing rod when magnet coil is powered, spring ejects crushing rod during power-off, the dirty layer in part is crushed by impulsive force, remaining Dirty layer is cut by the scraper of removing device.Above apparatus for eliminating sludge is driven using winch or fluid, and tractive force and translational speed are difficult to Control, kinetic stability is poor, and the scraper carried can cause to damage to tube wall, in addition can not be to in-tube fouling situation and cleaning Effect is detected.
Therefore coal mine main drainage pipeline cleaning need it is a kind of can horizontally and vertically in pipe even running pipe inner machine People, the robot can be by bend pipes, and translational speed is controllable, simple in construction, and tractive force is big, and cleaning effect is good and lossless to tube wall Wound, adapts to the caliber changed within the specific limits, while cleaning effect can be detected.
The content of the invention
It is an object of the invention to overcome the shortcomings of chemically and physically method cleaning colliery main drainpipe dirt, there is provided Yi Zhongmei Ore deposit main drainage pipeline scale removal robot, is realized in pipe using fluid power system and creeped, hydraulic actuating mechanism has commutating speed It hurry up, the features such as being swift in motion;The robot carries water-jet flow generating apparatus, and the low pressure water of ground supply can be converted into one The water jet of constant speed degree;Robot carries hydraulic station movement, without delivery hydraulic pressure oil;The deployable certain angle of robot supporting leg, Can be in minor diameter, level, VERTICAL TUBE and curved in-pipe;Robot foot is hook structure, can effectively be attached to coarse tube wall On, moved with the frictional force of tube wall for robot and the rotation of shower nozzle provides reaction force and the moment of reaction.
Technical scheme is as follows:
As claimed in claim 1, a kind of coal mine main drainage pipeline scale removal robot, by ground installation and in-pipe unit Two parts are formed.
The ground installation includes:Host computer PC, electric power system, water system.The host computer PC real-time reception, processing With the parameters of the slave computer collection of mobile unit in display tube, operating personnel, while operating personnel are fed back information to Control instruction data can be issued on PC guidance panel, data are packaged according to communication protocol, are sent to slave computer, so Slave computer unseals according to communication protocol to data afterwards, performs related command, realizes the control to robot;The power supply system System, powered by cable for the hydraulic power unit and control circuit of in-pipe unit, in in-pipe unit indoor design power supply Change-over circuit, 220V alternating currents are changed into low-voltage DC;The water system, the low pressure water on ground is conveyed by flexible pipe To the water-jet flow generating apparatus in in-pipe unit, low pressure water is changed into the water of certain scale removal pressure by water-jet flow generating apparatus Jet.
The in-pipe unit, including five parts:Flexible holding unit, backup unit, propulsion unit, control detection System, water jet scale removal unit.
The flexible holding unit includes drive end bearing bracket, guide rod, support bar, connecting rod, centre frame, spring, slip cap, rear end Lid, fixed cover;The elongation and contraction of the spring make maintaining body change diameter, are suitable for different calibers, while make mechanism All the time contacted with tube wall, prevent pipe robot from circumferentially rocking;The flexible maintaining body is single with backup unit and propulsion respectively Member is fixedly connected using bolt.
The propulsion unit is divided into preceding propulsion unit and rear propulsion unit, including front apron, propelling hydraulic cylinder and rear baffle; Wherein, with front apron and rear baffle using being threadedly coupled, front baffle board is fixedly connected the propelling hydraulic cylinder with flexible holding unit.
Backup unit, middle backup unit, pusher lean on unit before the backup unit is divided into, and using modularized design, 3 sections are single First mechanism is identical including front apron, rear baffle, retainer, backup mechanism, claw foot mechanism;Described preceding backup unit one end with it is soft Property holding unit is fixedly connected, and the other end is connected with preceding propulsion unit by candan universal joint;The middle backup unit both ends point It is not connected with preceding propulsion unit and rear propulsion unit by candan universal joint;The pusher leads to by unit one end with rear propulsion unit Candan universal joint connection is crossed, the other end is fixedly connected with water jet scale removal unit.
The water jet scale removal unit is made up of shower nozzle rotating mechanism and water-jet flow generating apparatus;The shower nozzle rotating mechanism It is made up of hydraulic motor, circular cone deep groove ball bearing, sealing, power transmission shaft, hold-down support, straight tube, nozzle and nozzle boss etc.;It is described Water-jet flow generating apparatus is made up of hydraulic pump, solenoid directional control valve, high-pressure hose, shower nozzle.
The control detecting system, including power transfer module, master controller, detection module;The power transfer module Electric energy, including the parts such as motor, electromagnetic proportional valve, control detection module are provided for in-pipe robot, using external cable Mode be robot power supply;The master controller application STC89C51 single-chip microcomputers, realize drive control, data receiver and place Reason and upper machine communication;The detection module includes CCD camera and laser range sensor.
Present invention also offers the control method of the above-mentioned robot for coal mine main drainage pipeline scale removal, including it is following Step:
1st, pipe robot is put at mine bottom discharge tube inlet, ground power supply is powered by cable to robot;
2nd, control system is made to perform initialization;
3rd, the rotary rpm of cleaning pressure and shower nozzle is set;
4th, middle backup and pusher extend by the slider-crank mechanism of unit, until robot force transducer for sole of foot detects folder When clamp force is setting value, hydraulic motor stopping action, claw foot and the tube wall reliable grip of two units;Meanwhile preceding propulsion list The hydraulic cylinder elongation of member;
5th, the slider-crank mechanism elongation of preceding backup unit, until the claw foot of preceding backup unit and tube wall reliable grip; Meanwhile the slider-crank mechanism of middle backup unit shrinks, claw foot departs from tube wall;Then, preceding propelling hydraulic cylinder shrinks, pusher Inlet hydraulic cylinder extends;
6th, the slider-crank mechanism elongation of middle backup unit is until the claw foot and tube wall of middle backup unit clamp;Meanwhile Pusher shrinks by the slider-crank mechanism mechanism of unit, and claw foot departs from tube wall;Then, rear propelling hydraulic cylinder shortens;
7th, above-mentioned preceding propelling hydraulic cylinder and alternately elongation and the contraction of rear propelling hydraulic cylinder, you can realize that Robot tube wall is climbed OK.
Compared with prior art, the advantage of the invention is that:
1st, based on simulating crawling principle, using 3 section backup units, extend and receive by the alternating of front and rear 2 section propulsion units Contracting so that robot creeps similar to earthworm is the same in pipeline;Each movement step has 2 section backup units to be clamped with tube wall, Robot is set to be contacted with tube wall more reliable;Often connected between section unit by candan universal joint, it is possible to achieve turning motion;By hard Hook made of matter alloy, its effective hook is set to be attached on tube wall.
2nd, robot foot end installation force sensor so that robot can perceive vola during wall is climbed and be connect with tube wall The size of touch, make robot motion more stable.
3rd, propulsion unit and backup unit are equipped with flexible maintaining body, and flexible maintaining body can keep robot movement Steadily, prevent from swinging.
4th, robot uses hydraulic-driven, small volume, simple in construction, Unit Weight output power, stepless-adjustment can be achieved Speed, hydraulic station is carried in in-pipe, without using ground hydraulic station, only need to drag cable and be powered.
5th, using water jet scale removal, pollution-free, cost is low, cleaning efficiency is high;Using fluid motor-driven Water jet sprayer Rotate in a circumferential direction, the control of rotating speed of shower nozzle is realized by the opening degree control uninterrupted of current regulation electro-hydraulic proportional valve.
6th, water jet scale removal unit is connected with low pressure feed pipe, is changed into height by water-jet flow generating apparatus in robot body Water is pressed, without ground supply water under high pressure.
7th, robot carries CCD camera and realized to tube environment monitoring, bend identification etc., is adjusted and tied according to tube environment The parameter such as structure and speed, make robot smooth excessively curved;Laser range sensor realizes the measurement to internal diameter of the pipeline.
Brief description of the drawings
Fig. 1 is the overall plan figure of the pipe robot control system of the present invention
Fig. 2 is the mobile unit overall structure diagram of the present invention
Fig. 3 is the flexible holding unit schematic diagram of the present invention
Fig. 4 is the backup cellular construction schematic diagram of the present invention
Fig. 5 is the backup structural scheme of mechanism of the present invention
Fig. 6 is the backup mechanism top view of the present invention
Fig. 7 is the claw foot structural scheme of mechanism of the present invention
Fig. 8 is the propulsion unit schematic diagram of the present invention
Fig. 9 is the schematic diagram that surges of the present invention
In figure:10-CCD cameras, 20- flexibility holding units, 210- drive end bearing brackets, 220- guide rods, 230- support bars, 240- Connecting rod, 250- centre frames, 260- springs, 270- slip caps, 280- rear end caps, 290- fixed covers, 30- backup units, 310- Front apron, 320- rear baffles, 330- retainers, 340- backups mechanism, 341- fixed plates, 342- fluid motor-drivens mechanism, 343- cranks, 344- connecting rods, 345- ball bushings, 346- frames, 347- central shafts, 348- pedestals, 350- claw foots mechanism, 351- claw hooks, 352- pedal plates, 353- push rods, 354- pedestals, 355- springs, 356- guide rods, 40- propulsion units, 410- front aprons, 420- propelling hydraulic cylinders, 430- rear baffles, 50- candan universal joints, 60- jet scale removal units, 70- hydraulic circuits, 710- jets The electro-hydraulic proportional valve of scale removal unit, the electro-hydraulic proportional valve of backup unit before 720-, the electro-hydraulic proportional valve of backup unit in 730-, 740- pushers lean on the electro-hydraulic proportional valve of unit, the electro-hydraulic proportional valve of propulsion unit before 750-, the electro-hydraulic ratio of propulsion unit after 760- Example valve, 770- hydraulic pumps, 780- check valves, 790- hydraulic motors.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in figure 1, provided by the present invention for the robot of coal mine main drainage pipeline scale removal, by ground installation and pipe Mobile unit two parts are formed;Ground installation includes host computer PC, electric power system and water system.
The parameters of the slave computer collection of mobile unit in host computer PC real-time reception, processing and display tube, by information Operating personnel are fed back to, while operating personnel can also issue control instruction data on PC guidance panel, according to communication protocol Data are packaged, are sent to slave computer, then slave computer unseals according to communication protocol to data, performs related life Order, realizes the control to robot;Host computer PC is carried out data transmission with slave computer by CAN, and CAN has preferable Real-time and reliable communicating feature, and line arrangement can be simplified.
Electric power system is powered by cable for the hydraulic power unit and control circuit of in-pipe unit, in in-pipe unit Indoor design power-switching circuit, 220V alternating currents are changed into low-voltage DC.
The low pressure water on ground is transported to the water-jet flow generating apparatus in in-pipe unit, water by water system by flexible pipe Low pressure water is changed into the water jet of certain scale removal pressure by jet flow generating apparatus.
As shown in Fig. 2 in-pipe unit includes control detecting system 10, flexible holding unit 20, backup unit 30, pushed away Enter unit 40, candan universal joint 50, water jet scale removal unit 60.
Control detecting system 10, including power transfer module, master controller, detection module.
Power transfer module provides electric energy, including motor, electromagnetic proportional valve, control detection module etc. for in-pipe robot Parts, the mode of external cable is used to be powered for robot.
Master controller application STC89C51 single-chip microcomputers, realize drive control, data receiver and processing and upper machine communication.
Detection module includes CCD camera and laser range sensor;Screen image in pipe is passed through electricity by CCD camera Cable is uploaded to host computer PC, and PC is handled image information, the characteristic information such as extraction bend, then sends information to bottom Machine main controller, main controller make robot pass through bend pipe according to the speed of service and structure of the Character adjustment in pipeline itself; Laser range sensor measures internal diameter of the pipeline in real time, and the thickness of pipeline encrustation, host computer can be calculated by measurement result Thickness value is sent to the hydraulic pump control device of water supply jet flow generating means, pressure of supply water is changed according to different fouling thickness.
As shown in figure 3, flexible holding unit 20 include drive end bearing bracket 210, guide rod 220, support bar 230, connecting rod 240, in Heart frame 250, spring 260, slip cap 270, rear end cap 280, fixed cover 290;240 groups guide rod 220, support bar 230, connection of extension bar Into one group of parallel-crank mechanism, four groups of above-mentioned parallel-crank mechanisms are arranged circumferentially along fixed cover.
Parallel-crank mechanism is connected with fixed cover 290 by bearing pin, forms be hinged revolute pair;Spring 260 and slip cap 270 on guide rod 220, and spring 260 makes support wheel keep being bonded with tube wall all the time;There is feather key on guide rod 220, the feather key It can make to slide over and not circumferentially rotated when being moved on slide bar.
As shown in figure 4, backup unit 30 includes front apron 310, rear baffle 320, retainer 330, backup mechanism 340, pawl Xing Zu mechanisms 350.
As shown in figure 5, backup mechanism 340 includes fixed plate 341, fluid motor-driven mechanism 342, crank 343, connecting rod 344th, ball bushing 345, frame 346, central shaft 347, pedestal 348;Fixed plate 341 is provided with positioning hole, for will push against mechanism 340 position with rear baffle 320, and bolt is tightened into fixation through positioning hole;Frame 346 is fixed on pedestal 348;Ball bushing 345 are connected with connecting rod 344 by anchor, form be hinged revolute pair;Crank 343, connecting rod 344, ball bushing 345 and frame 346 Form slider-crank mechanism;Backup mechanism 340 includes four groups of circumferentially equally distributed slider-crank mechanisms, is pressed from both sides between every group of mechanism Angle is 90 °, and four groups of slider-crank mechanisms are driven by a hydraulic motor by central shaft 347, the anglec of rotation phase of every group of mechanism Together;The rotation of fluid motor-driven mechanism 342 can rotate crank 343, and the rotation of crank is changed into by slider-crank mechanism Ball bushing 345 horizontally slips along frame 346.
As shown in fig. 7, claw foot mechanism 350 includes claw hook 351, pedal plate 352, push rod 353, pedestal 354, spring 355, led Bar 356.
Claw foot mechanism 350 is fixed in the frame of backup mechanism, and each backup unit is equipped with 8 groups of claw foot mechanisms, often 2 groups of claw foot mechanisms are housed in individual frame;Backup unit slider-crank mechanism elongation or shrink make claw foot mechanism compress or Separate tube wall;Spring is housed between the frame of claw foot mechanism and backup mechanism, enable claw hook 351 and pedal plate 352 with it is coarse not Flat tube wall is bonded well, and has cushioning effect;Claw hook 351 is made up of hard alloy, and natural rubber is housed on pedal plate 352 Glue, the frictional force with tube wall can be increased;Contacted in claw foot mechanism with tube wall in compaction process, pedestal is first by pedal plate and tube wall Compress, while spring 355 extends, push rod 353 promotes the pipe scale that claw hook 351 is pierced on inside pipe wall;When mechanism separates lift with tube wall When rising, the vertical movement of mechanism and tube wall is easy to take out hook tip, while spring 355 is shunk, and integrated model is recovered To original position.
As shown in figure 8, propulsion unit 40 includes front apron 410, propelling hydraulic cylinder 420, rear baffle 430;Propelling hydraulic cylinder 420 are threadedly coupled with front apron 410 and the use of rear baffle 420, and front baffle board is fixedly connected with flexible holding unit 20 using bolt.
Water jet scale removal unit 60 is made up of shower nozzle rotating mechanism and water-jet flow generating apparatus;During scale removal operation, hydraulic pump The fluid of certain pressure and flow is input to hydraulic motor, moment of torsion passes to shower nozzle through power transmission shaft and made caused by hydraulic motor Rotation;Flow inlet is provided with the straight tube of shower nozzle, high-pressure hose is connected by this flow inlet with straight tube, and hydraulic pump will be certain The water of pressure flows into shower nozzle by straight tube, is then sprayed by nozzle.
Present invention also offers the control method of the above-mentioned robot for coal mine main drainage pipeline scale removal, including it is following Step:
1st, pipe robot is put at mine bottom discharge tube inlet, ground power supply is powered by cable to robot;
2nd, control system is made to perform initialization;
3rd, cleaning pressure is set, the 3DT of electro-hydraulic proportional valve 710 is powered, and adjusts the aperture amount of this electro-hydraulic proportional valve, hydraulic pump Hydraulic oil is transported to motor 790 by 770 through check valve 780 and electro-hydraulic proportional valve 710, shower nozzle is rotated by the rotating speed of setting;
4th, the 7DT of the electro-hydraulic proportional valve 730 of middle backup unit and pusher are powered by the 9DT of the electro-hydraulic proportional valve 740 of unit, The output shaft rotate counterclockwise of two unit hydraulic motors, slider-crank mechanism elongation is until force transducer for sole of foot detects clamping When power is setting value, hydraulic motor stopping acts, two units and tube wall reliable grip;Meanwhile the electro-hydraulic ratio of preceding propulsion unit The 11DT of example valve 750 is powered, preceding propelling hydraulic cylinder elongation;
5th, the 5DT of the electro-hydraulic proportional valve 720 of preceding backup unit is powered, the output shaft inverse time of the hydraulic motor of preceding backup unit Pin rotates, until preceding backup unit clamps with tube wall;The 8DT of the electro-hydraulic proportional valve 730 of middle backup unit is powered, hydraulic motor Output shaft turns clockwise, and slider-crank mechanism shrinks;The 12DT and rear propulsion unit of the electro-hydraulic proportional valve 750 of preceding propulsion unit The 13DT of electro-hydraulic proportional valve 760 be powered, preceding propelling hydraulic cylinder shortens, rear propelling hydraulic cylinder elongation;
6th, the 7DT of the electro-hydraulic proportional valve 730 of middle backup unit is powered, the output shaft inverse time of the hydraulic motor of middle backup unit Pin rotates, and slider-crank mechanism elongation, middle support unit clamps with tube wall;10DT of the pusher by the electro-hydraulic proportional valve 740 of unit It is powered, the output shaft of hydraulic motor turns clockwise, and slider-crank mechanism shrinks;The electro-hydraulic proportional valve 760 of propulsion unit afterwards 14DT is powered, and rear propelling hydraulic cylinder shortens;
7th, above-mentioned preceding propelling hydraulic cylinder and alternately elongation and the contraction of rear propelling hydraulic cylinder, you can realize that Robot tube wall is climbed OK.

Claims (9)

1. a kind of coal mine main drainage pipeline scale removal robot, it is characterised in that by ground installation, flexible holding unit, backup list Member, propulsion unit, control detecting system, water jet scale removal unit are formed;The backup unit includes preceding backup unit, middle backup Unit, pusher lean on unit, and three groups of backup cellular constructions are identical;The preceding backup unit, middle backup unit, pusher all fill by unit There is the equally distributed bionical drive lacking formula claw foot of eight circumferences;The propulsion unit includes preceding propulsion unit and rear propulsion is single Member, two groups of propulsion unit structures are identical;The flexible holding unit is fixed with three groups of backup units and two groups of propulsion units respectively Connection;Connected between the backup unit and propulsion unit by candan universal joint.
2. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the ground installation includes host computer PC, electric power system and water system.The slave computer collection of mobile unit in the host computer PC real-time reception, processing and display tube Parameters, while operating personnel issue control instruction data to slave computer on PC guidance panel, realize to robot Control;The electric power system, powered by cable for the hydraulic power unit and control circuit of in-pipe unit, in in-pipe Unit indoor design power-switching circuit, is changed into low-voltage DC by alternating current;The water system, by the low pressure water on ground Low pressure water is changed into necessarily by the water-jet flow generating apparatus being transported to by flexible pipe in in-pipe unit, water-jet flow generating apparatus The water jet of scale removal pressure.
3. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that before the flexible holding unit includes End cap, guide rod, support bar, connecting rod, centre frame, spring, slip cap, rear end cap, fixed cover;Guide rod, support bar, connection extension bar One group of parallel-crank mechanism is formed, each flexible holding unit is arranged circumferentially four groups of above-mentioned parallel four sides along fixed cover Shape mechanism.
4. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the backup unit includes front Plate, rear baffle, retainer, backup mechanism, drive lacking formula claw foot mechanism;The backup mechanism includes fixed plate, hydraulic motor Drive mechanism, crank, connecting rod, ball bushing, frame, central shaft, pedestal;Fixed plate is provided with positioning hole, for will push against mechanism Positioned with rear baffle, and bolt is tightened into fixation through positioning hole;Frame is fixed on pedestal;Ball bushing passes through hinge with connecting rod Nail connection, form be hinged revolute pair;Crank, connecting rod, ball bushing and frame form slider-crank mechanism;Backup mechanism includes four Circumferential equally distributed slider-crank mechanism is organized, angle is 90 ° between every group of mechanism, and four groups of slider-crank mechanisms are by a hydraulic pressure Motor is driven by central shaft, and the anglec of rotation of every group of mechanism is identical;The rotation of fluid motor-driven mechanism can turn crank Dynamic, the rotation of crank is changed into ball bushing and horizontally slipped along frame by slider-crank mechanism.
5. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the drive lacking formula claw foot mechanism Including claw hook, pedal plate, push rod, pedestal, spring, guide rod;Claw foot mechanism is fixed in the frame of backup mechanism, each backup list Member is equipped with eight claw foot mechanisms, and Liang Ge claw foots mechanism is housed in each frame;The slider-crank mechanism elongation of backup unit Or shrinking makes claw foot mechanism compress or separate tube wall;Spring is housed between the frame of claw foot mechanism and backup mechanism, makes pawl Hook and pedal plate can be bonded well with hackly tube wall, and have cushioning effect;Claw hook is made up of hard alloy, on pedal plate Equipped with natural rubber, the frictional force with tube wall can be increased;Contacted in claw foot mechanism with tube wall in compaction process, pedestal first will Pedal plate compresses with tube wall, while spring extends, and push rod promotes the pipe scale that claw hook is pierced on inside pipe wall;When mechanism separates lift with tube wall When rising, the vertical movement of mechanism and tube wall is easy to take out hook tip, while spring contraction, and integrated model is returned into original Position.
6. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the propulsion unit includes front Plate, propelling hydraulic cylinder and rear baffle;Wherein, the propelling hydraulic cylinder is used with front apron and rear baffle and is threadedly coupled, front baffle board It is fixedly connected with flexible holding unit.
7. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the water jet scale removal unit is by spraying Head rotating mechanism and water-jet flow generating apparatus composition;The shower nozzle rotating mechanism is close by hydraulic motor, circular cone deep groove ball bearing, axle Envelope, power transmission shaft, hold-down support, straight tube, nozzle and nozzle boss etc. form;The water-jet flow generating apparatus is changed by hydraulic pump, electromagnetism To valve, high-pressure hose, shower nozzle composition;Flow inlet is provided with the straight tube of shower nozzle, high-pressure hose passes through this flow inlet and straight tube The water of certain pressure is flowed into shower nozzle by straight tube, then sprayed by nozzle by connection, hydraulic pump.
8. the coal mine drainage pipe scale removal robot according to right 1, it is characterised in that the control detecting system, including Power transfer module, master controller, detection module;The power transfer module provides electric energy for in-pipe robot;The master control Device application STC89C51 single-chip microcomputers processed, realize drive control, data receiver and processing and upper machine communication;The detection module Including CCD camera and laser range sensor.
A kind of 9. control method of coal mine main drainage pipeline scale removal robot, it is characterised in that including:
Step 1, pipe robot is put at mine bottom discharge tube inlet, ground power supply gives robot to power by cable;
Step 2, control system is set to perform initialization;
The rotary rpm of step 3, setting cleaning pressure and shower nozzle;
Step 4, middle backup and pusher extend by the slider-crank mechanism of unit, until robot force transducer for sole of foot detects folder When clamp force is setting value, hydraulic motor stopping action, claw foot and the tube wall reliable grip of two units;Meanwhile preceding propulsion list The hydraulic cylinder elongation of member;
The slider-crank mechanism elongation of step 5, preceding backup unit, until claw foot and tube wall reliable grip;Meanwhile middle backup list The slider-crank mechanism of member shrinks, and claw foot departs from tube wall;Then, preceding propelling hydraulic cylinder shrinks, rear propelling hydraulic cylinder elongation;
The slider-crank mechanism elongation of step 6, middle backup unit is until claw foot and tube wall clamp;Meanwhile pusher is by unit Slider-crank mechanism mechanism shrinks, and claw foot departs from tube wall;Then, rear propelling hydraulic cylinder shortens;
Step 7, above-mentioned preceding propelling hydraulic cylinder and rear propelling hydraulic cylinder alternately elongation and contraction, you can realize that Robot tube wall is climbed OK.
CN201710849955.8A 2017-09-20 2017-09-20 Robot and control method for coal mine main drainage pipeline scale removal Expired - Fee Related CN107366796B (en)

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