CN109944288B - Underground coal mine sump dredging robot and dredging method - Google Patents
Underground coal mine sump dredging robot and dredging method Download PDFInfo
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- CN109944288B CN109944288B CN201910318371.7A CN201910318371A CN109944288B CN 109944288 B CN109944288 B CN 109944288B CN 201910318371 A CN201910318371 A CN 201910318371A CN 109944288 B CN109944288 B CN 109944288B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 140
- 238000004140 cleaning Methods 0.000 claims abstract description 119
- 239000002002 slurry Substances 0.000 claims abstract description 47
- 238000004062 sedimentation Methods 0.000 claims abstract description 43
- 239000011362 coarse particle Substances 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 18
- 239000010419 fine particle Substances 0.000 claims abstract description 12
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- 230000002265 prevention Effects 0.000 description 2
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model relates to a cleaning robot for underground water bins of coal mines and a cleaning method, which belong to the technical field of coal mine machinery, after the underground water bins and slime water are treated by PAM flocculant and PAC coagulant aid, coarse particle materials are directly discharged onto a raw coal belt conveyor after being treated by an inclined plate sedimentation device and an intelligent automatic cleaning machine, overflow water automatically flows to a sedimentation tank from an overflow port of the intelligent automatic cleaning machine, the overflow water is settled by the sedimentation tank and then flows to the water bins, paste slurry settled in the bottoms of the water bins automatically enters the bins for cleaning by the cleaning robot, and the slurry in a stirring collection barrel is pumped to a ground water treatment system by a pump III. The cleaning process method starts to treat the water sump from the source, coarse particles and fine particles are treated separately, the process is simple, the effect is good, the cleaning robot automatically enters the sump, the cleaning robot automatically cleans the water sump, and the cleaning problem of the water sump is thoroughly solved.
Description
Technical Field
The utility model relates to the technical field of cleaning and excavating treatment of underground water sump coal slime of a coal mine, in particular to an underground water sump cleaning and excavating robot and a cleaning and excavating method of the underground water sump coal slime of the coal mine.
Background
The national coal mine safety supervision bureau bulletins (2019, no. 1) and the key research and development catalogue of the coal mine robot define the research and development direction of the underground water sump cleaning robot, and the underground water sump cleaning mechanization, the intellectualization and the unmanned are development trends in future, especially factors such as the increase of labor cost, the requirement of coal mine safety and the like, and the requirement on the intelligent water sump cleaning is also higher and higher; the water sump has various forms, the structure of the water sump is complex, the shape difference is large, the width of the water sump has different bending degree, the length and the width are different, the gradient is different, and the granularity of peat is different; the peat is covered at the bottom of the water bin and very smooth, and potential safety hazards exist in manual cleaning and digging; the paste coal slime is resolved in water passing through by water flow and becomes turbid fluid or semi-fluid, so that the cleaning and digging are very difficult; when the water burst of the mine suddenly increases or the water burst of the mine suddenly increases due to the heavy rain in a long time, the coarse particle coal slime at the bottom of the ditch is flushed into the water sump, so that the effective volume of the water sump is reduced, meanwhile, the coarse particle material brings great trouble to the conventional cleaning equipment, the cleaning work of the water sump is very difficult, and the normal drainage is influenced; how to reduce the frequency of water sump cleaning, shorten the disposable cleaning time, improve the quality of cleaning, automatic water inlet sump automatic cleaning, constantly cleaning, reduce the potential safety hazard, unattended or less attended is the technical problem that the colliery urgent need solve.
At present, the underground water sump cleaning process and equipment for the coal mine mainly comprise the following steps:
(1) The main disadvantages of the manual shovel cleaning method and the loader cleaning method are that the labor intensity is high, the working efficiency is low, the cleaning frequency is high, the cleaning time is long, and the pollution of the coal slime to the environment in the transportation process is serious.
(2) The main defects of the scraper machine cleaning method and the chain bucket machine cleaning method are that the leakage of a transportation mine car is serious, the working efficiency is low, the cleaning frequency is high, the cleaning time is long, and the pollution of coal slime to the environment in the transportation process is serious.
(3) The patent number 200610166877.3 discloses a mine sump dredging machine, and the main defects of the patent are that the bottom of a sump is an inclined plane, peat is slippery, a crawler is slippery, potential safety hazards exist, and after clear water in the sump is required to be discharged, the equipment is used for dredging materials at the bottom of the sump, so that a transportation mine car is seriously leaked and has low working efficiency.
(4) The utility model patent with the patent number 200420092004.9 discloses a water sump coal slime cleaning machine, the utility model patent with the patent number 200920163415.5 discloses a cleaning conveyor, which realizes the mechanization of water sump cleaning, reduces the labor intensity of workers and improves the working efficiency, but has high cleaning frequency, long cleaning time and serious pollution to the environment in the transportation process of coal slime.
(5) The utility model patent of publication day 2005, 10 and 5, patent number 200510038944.9 discloses an automatic cleaning and processing method and equipment for fine coal slime in a mine sump, and the main defects of the utility model are that the slurry in the underground sump of the coal mine has large particles and the filter cloth is seriously worn; the sediment is pumped into a filter press through a pump, so that the feeding concentration is low and uneven, and the filtering effect is poor; the frequency of cleaning is high, and the time of cleaning is long.
(6) The utility model patent with patent number 200920233847.9 discloses an improved water sump coal slime loading machine, which mainly has the defects that the position far from the inlet of a water sump is a jellied bean curd paste material, and a spiral conveying member is difficult to collect the material and has no practicability.
(7) The patent No. CN2809221Y discloses an automatic mine sump fine coal slime cleaning and disposal device, which has the main defects that the pumping and discharging device is fixed at one position and has certain limitation.
(8) The utility model patent with patent number 201720519020.9 discloses an automatic cleaning and excavating treatment method and equipment for fine coal slime in a mine sump, which mainly has the defects that the slurry in the underground sump of a coal mine has large particles and a silt pumping pump is seriously worn; the bottom of the water bin is an inclined plane, peat is relatively smooth, the wheels are not provided with brakes, and potential safety hazards exist; after the clear water in the water sump is discharged, the coarse particles at the bottom of the water sump are excavated by the equipment; because coarse particles exist, the accumulation at the bottom of the water sump is compact, and the sludge pump cannot pump up; has no practicability.
The cleaning equipment for the water sump treatment in the prior art has the advantages that two water sumps are needed no matter in a wheeled type or a crawler type, one water sump works, the other water sump is cleaned, clear water at the upper part in the water sump is discharged during cleaning, and the equipment enters the water sump to clean sludge, so that the equipment has certain limitation.
The utility model patent with patent number 200920227327.7 discloses a coal mine underground self-moving dredging device, which realizes that clear water at the upper part in a water sump is not required to be discharged, and the clear water automatically enters the water sump through a portal frame and a guide rail, so that the clear water is automatically dredged, but the following defects are mainly caused: 1) Because coarse particles exist, the accumulation at the bottom of the water sump is compact, and the sludge pump cannot pump up; 2) The water sump tunnel has a camber, even within 90 degrees, and the water sump tunnel is dark, and the self-shifting dredging device can not be seen by eyes, and the self-shifting dredging function can not be realized.
The utility model patent with patent number 201810038543.0 discloses a coal mine underground water sump cleaning process and equipment thereof, wherein cleaning equipment is arranged in a sedimentation tank at the front end of the water sump, pretreatment is carried out by the cleaning equipment before coal slime water enters the water sump, most particles are separated, and small particles enter the water sump, so that the water sump is cleaned indirectly, but the fine particles in the water sump cannot be treated.
At present, the mine construction is more and more important for the relative production safety because the minerals are dug more deeply, particularly, the gas contained in the coal is inevitably mixed with oxygen breathed by constructors in the underground coal, the gas concentration is high, the explosion is easy to occur, and great potential safety hazards exist; because of the existence of underground gas of a coal mine, strict explosion-proof requirements are provided for underground equipment, electrical elements, a control system, a power supply, electric sparks and the like, but the existing disclosed underground robot is not mentioned, and no countermeasure is provided; the phenomena of water seepage and collapse of deep well operation also occur frequently, the life safety of constructors is seriously dangerous, and robots are adopted to replace manual operation in dangerous environments, so that the deep well operation is a development trend.
The underground robot is rarely researched due to the influence of factors such as underground gas, light, power supply, explosion resistance, dust prevention, water prevention, uneven ground, changeable and irregular environment of a coal mine, is a current domestic and foreign problem, simplifies the structure and the function of the robot, solves a single problem, has low investment, low failure rate, is safe and reliable, and is a large research and development direction.
The present utility model has been made in view of the above problems.
Disclosure of Invention
The utility model aims to provide a cleaning robot and a cleaning method for underground water bins of a coal mine.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the underground coal mine water bin cleaning robot comprises a cabin and a propeller arranged outside the cabin, wherein one end of the upper end face of the cabin is provided with a telescopic arm I with one telescopic end, the other end of the upper end face of the cabin is provided with a telescopic arm II with the same structure as the telescopic arm I, the telescopic end of the telescopic arm I is connected with a detection device for detecting the concentration of the coal slime water, and the telescopic end of the telescopic arm II is connected with a discharging device;
the discharging device comprises a mounting seat, a slurry pump, a guide sleeve I, a telescopic cylinder II and a connecting seat, wherein the slurry pump is fixed on the mounting seat, the mounting seat is fixed at the lower end of the guide sleeve I, the upper end of the telescopic cylinder II is connected with the connecting seat, and the front end of a piston rod of the telescopic cylinder II is connected with the lower end of the guide sleeve I;
the cabin is internally provided with a control system and a hydraulic system, the hydraulic system is respectively communicated with the control system, the telescopic cylinder I and the telescopic cylinder II, and the detection device and the slurry pump are both communicated with the control system.
Preferably, the detection device comprises an inductor, a telescopic arm, a mounting bracket and a telescopic cylinder I, wherein the inductor is mounted at the lower end of the telescopic arm, the upper end of the telescopic arm is connected with the front end of a piston rod of the telescopic cylinder I, the telescopic cylinder I is fixed on the mounting bracket, and the telescopic cylinder I is communicated with the hydraulic system.
Preferably, the inductor comprises an inductor I and an inductor II, and the inductor I and the inductor II are respectively arranged at the lower end of the telescopic boom.
Preferably, the telescopic boom I comprises a connecting flange, a guide sleeve II, an oil cylinder and a support, wherein the connecting flange is fixed at one end of the guide sleeve II, the oil cylinder is arranged on the support, the support is arranged on the upper end face of the cabin, a piston rod of the oil cylinder is arranged in the guide sleeve II, the front end of the piston rod of the oil cylinder is connected with one end of the guide sleeve II, which is connected with the connecting flange, and the oil cylinder is communicated with the hydraulic system.
Preferably, the telescopic boom I and the telescopic boom II are respectively arranged on the upper end face of the cabin in the opposite directions, the detection devices and the discharging devices are respectively arranged on 3, two detection devices are arranged at the telescopic end of the telescopic boom I, the other one is fixedly arranged at the end part of one end of the telescopic boom I arranged on the upper end face of the cabin, two discharging devices are arranged at the telescopic end of the telescopic boom II, and the other one is fixedly arranged at the end part of one end of the telescopic boom II arranged on the upper end face of the cabin.
Preferably, a remote controller is further arranged in the cabin, the control system is interlocked with the remote controller, and ground remote control is achieved through an optical cable.
Preferably, a plurality of floating balls or a plurality of groups of floating pipes are arranged on the discharging pipe of the slurry pump.
A method for cleaning underground water bins of a coal mine by using a cleaning robot comprises the following steps:
(1) Adding PAM flocculant into underground sump slime water in a trench at a certain distance, adding PAC coagulant aid into the trench, treating by an inclined plate sedimentation device, automatically flowing fine particle slurry to an intelligent automatic dredging machine, and directly discharging coarse particle materials to a raw coal belt conveyor;
(2) After the fine particle slurry is processed by the intelligent automatic cleaning machine, coarse particle materials settled at the bottom of the tank of the intelligent automatic cleaning machine are directly discharged onto a raw coal belt conveyor through a scraper of the intelligent automatic cleaning machine, and overflow water automatically flows to a sedimentation tank from an overflow port of the intelligent automatic cleaning machine;
(3) The overflow water is precipitated by a sedimentation tank, the clear water at the upper part flows to a water sump, when the sedimentation tank is treated, the sedimentation material at the bottom is pumped to an inclined plate sedimentation device by a pump II after being stirred by blast of an air pipe;
(4) The clean water at the upper part in the water sump is pumped to a ground water treatment system through a pump I, paste slurry settled at the bottom in the water sump is pumped to a stirring collecting barrel through a slurry pump of a cleaning robot, the cleaning robot is the underground water sump cleaning robot for the coal mine, and the cleaning robot automatically enters the water sump, automatically detects and automatically starts;
(5) The slurry in the stirring collecting barrel is pumped to a ground water treatment system through a pump III.
Preferably, a plurality of inclined plate sedimentation devices are arranged in the sedimentation tank to collect coarse-grained coal slime, and the coarse-grained coal slime is lifted through an electric hoist after being fully collected, transported to the ground or an intelligent automatic cleaning and digging machine, and an empty inclined plate sedimentation device is replaced again.
Compared with the prior art, the utility model has the following beneficial effects:
(1) The process is simple and practical, the operation is reliable, the operation and management are convenient, and the problem of dredging the sump from the source is solved.
(2) The best use condition and advantages of various devices are comprehensively adopted, and the best functions and effects are exerted.
(3) Solves the problem of manual cleaning and digging of the ditch, reduces the labor intensity of workers and avoids secondary pollution of accessories of the ditch.
(4) Solves the problem of manual cleaning of the sedimentation tank and the water sump, and reduces the labor intensity of workers.
(5) The intelligent automatic cleaning machine is equivalent to a first-stage sedimentation tank, and more than 70% of coarse particle materials are automatically cleaned and treated, so that the water storage time of the water sump is prolonged.
(6) The cleaning robot automatically enters the bin, automatically cleans and digs from time to time, and thoroughly solves the problem of cleaning the water bin.
(7) The frequency of water sump dredging is reduced, the one-time dredging time is shortened, the dredging quality is improved, no secondary pollution is caused, the operation effect is good, and the water sump dredging device has certain popularization and application values.
Drawings
In order to more clearly illustrate the novel embodiments or the technical solutions in the prior art, the drawings that are required in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings described below are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view of a coal mine underground water sump dredging robot of the present utility model.
Fig. 2 is a top view of the underground water sump dredging robot for the coal mine.
Fig. 3 is a front view of the detection device of the underground water sump dredging robot for the coal mine.
Fig. 4 is a front view of the telescopic arm i of the underground water sump dredging robot for the coal mine.
Fig. 5 is a front view of the discharging device of the underground water sump dredging robot for the coal mine.
Fig. 6 is a schematic view showing the extension limit positions of the telescopic arm I and the telescopic arm II of the present utility model.
Fig. 7 is a schematic view showing the downward extending limit position of the detecting device and the discharging device.
FIG. 8 is a flow chart of a method of cleaning a water sump downhole in a coal mine using a cleaning robot in accordance with the present utility model.
In the figure: 01-detecting device, 0101-inductor I, 0102-inductor II, 0103-telescopic arm, 0104-installing support, 0105-telescopic cylinder, 02-telescopic arm I, 0201-flange, 0202-uide bushing, 0203-hydro-cylinder, 0204-support, 03-control system, 04-remote controller, 05-cabin, 06-hydraulic system, 07-discharging device, 0701-installing seat, 0702-slurry pump, 0703-uide bushing, 0704-telescopic cylinder, 0705-connecting seat, 08-telescopic arm II, 09-screw.
Detailed Description
The utility model has the core of providing the underground water sump cleaning robot for the coal mine, which reduces the cleaning frequency of the water sump, shortens the one-time cleaning time, improves the cleaning quality, and can automatically enter the water sump, detect in real time and automatically clean in real time.
In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments herein, other similar embodiments obtained by those of ordinary skill in the art without making any inventive effort shall fall within the scope of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, which are used in the following embodiments, are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the utility model.
As shown in fig. 1 to 7, the underground water sump dredging robot for coal mines provided in this embodiment includes a detection device 01, a cabin 05, a discharging device 07 and a propeller 09, the propeller 09 is arranged outside the cabin 05, a telescopic arm i 02 with one telescopic end is arranged on the left end of the cabin 05, a telescopic arm ii 08 with the same structure as the telescopic arm i 02 is arranged on the right end of the cabin, the telescopic arms i 02 and the telescopic arm ii 08 are all arranged to be 2, the 2 telescopic arms i 02 and the 2 telescopic arms ii 08 are all installed on the upper end face of the cabin 05 in opposite directions, the telescopic arm i 02 comprises a connecting flange 0201, a guide sleeve ii 0202, an oil cylinder 0203 and a support 0204, the connecting flange 0201 is fixed at one end of the guide sleeve ii 0202, the oil cylinder 0203 is installed on the support 0204, a piston rod of the oil cylinder 0203 is arranged in the guide sleeve ii 0202, and the front end of the piston rod of the oil cylinder 0203 is connected with one end of the connecting flange 0201 of the guide sleeve ii 0202. The telescopic arm I02 realizes concentration detection at any position on two sides of the cabin 05 on the tunnel section through the telescopic operation of the oil cylinder 0203.
The discharging device 07 comprises a mounting seat 0701, a slurry pump 0702, a guide sleeve I0703, a telescopic cylinder II 0704 and a connecting seat 0705, wherein the slurry pump 0702 is fixed on the mounting seat 0701, the mounting seat 0701 is fixed at the lower end of the guide sleeve I0703, the upper end of the telescopic cylinder II 0704 is connected with the connecting seat 0705, and the front end of a piston rod of the telescopic cylinder II 0704 is connected with the lower end of the guide sleeve I0703. The number of the discharging devices 07 is 3, wherein the connecting seats 0705 of the two discharging devices 07 are respectively arranged at the front ends of piston rods of the cylinders of the telescopic arms II 08, and the other discharging device is fixedly arranged above the right end of the cabin 05. The telescopic arm II 08 realizes that the slurry pump 0702 pumps and discharges slurry at any position on two sides of the cabin 05 on the section of the roadway through telescopic. The discharge pipe of the slurry pump 0702 is provided with a plurality of floating balls or a plurality of groups of floating pipes, and the plurality of floating balls or the plurality of groups of floating pipes float on the water surface to prevent the slurry from falling due to the weight of the slurry, so that the slurry pump 0702 is convenient to observe on the water surface.
The detection device 01 comprises an inductor I0101, an inductor II 0102, a telescopic arm 0103, a mounting bracket 0104 and a telescopic cylinder I0105, wherein the inductor I0101 and the inductor II 0102 are respectively arranged at the lower end of the telescopic arm 0103, the upper end of the telescopic arm 0103 is connected with the front end of a piston rod of the telescopic cylinder I0105, and the telescopic cylinder I0105 is fixed on the mounting bracket 0104. The number of the detection devices 01 is 3, wherein the mounting brackets 0104 of two detection devices 01 are respectively and fixedly arranged at the front ends of piston rods of the oil cylinders 0203 of the telescopic arms I02, and the mounting bracket 0104 of the other detection device 01 is fixedly arranged above the left end of the cabin 05. The detection device 01 detects the concentration of the slime water through the sensor I0101 and the sensor II 0102 and transmits the concentration to the control system 03, and the automatic start and stop of the slurry pump 0702 are realized according to the concentration condition.
The hydraulic system 06 comprises a hydraulic pump station, a motor, a vane pump, an electric contact proportional valve, a pipeline system and the like, wherein the hydraulic system 06 is respectively communicated with the control system 03, a telescopic cylinder I0105, a telescopic cylinder II 0704 and an oil cylinder 0203, and the detection device 01 and a slurry pump 0702 are respectively communicated with the control system 03.
The cabin 05 is also internally provided with a remote controller 04, the control system 03 is interlocked with the remote controller 04, remote control is realized, ground remote control is realized through an optical cable, underground personnel are reduced, unmanned or less personnel are on duty, and national safety requirements and safety policies are met.
The hydraulic system 06 adopted by the utility model can also be replaced by a pneumatic system or a hydraulic system, the power supply system adopts a 36-volt low-voltage power supply, and all electric elements, control systems and the like used by the utility model have strict explosion-proof requirements, so that the underground electricity safety is ensured.
As shown in fig. 8, the embodiment also provides a method for cleaning the underground water sump of the coal mine by using the cleaning robot, which comprises the following steps:
(1) Adding PAM flocculant into underground sump slime water in a trench at a certain distance, adding PAC coagulant aid into the trench, treating by an inclined plate sedimentation device, automatically flowing fine particle slurry to an intelligent automatic dredging machine, and directly discharging coarse particle materials to a raw coal belt conveyor;
(2) After the fine particle slurry is processed by the intelligent automatic cleaning machine, coarse particle materials settled at the bottom of the tank of the intelligent automatic cleaning machine are directly discharged onto a raw coal belt conveyor through a scraper of the intelligent automatic cleaning machine, and overflow water automatically flows to a sedimentation tank from an overflow port of the intelligent automatic cleaning machine;
(3) The overflow water is precipitated by a sedimentation tank, the clear water at the upper part flows to a water sump, when the sedimentation tank is treated, the sedimentation material at the bottom is pumped to an inclined plate sedimentation device by a pump II after being stirred by blast of an air pipe;
(4) The clear water at the upper part in the water sump is pumped to a ground water treatment system through a pump I, paste slurry settled at the bottom in the water sump is pumped to a stirring collecting barrel through a slurry pump 0702 2 of a cleaning robot, and the cleaning robot is the underground water sump cleaning robot for the coal mine, which is described in the specific embodiment, and the cleaning robot automatically enters the sump, automatically detects and automatically starts;
(5) The slurry in the stirring collecting barrel is pumped to a ground water treatment system through a pump III.
The cleaning process method introduces a cleaning robot, the cleaning robot automatically enters a bin, automatically detects and automatically starts, paste slurry settled in the bottom of a water bin is pumped to a stirring collection barrel through a slurry pump 0702 of the cleaning robot, the water bin is not required to be used for one time, and the cleaning is realized when one water bin works normally.
From the view of underground coal slime granularity and coal slime density, finer materials are difficult to settle, the thought of solving the problem from the source is that PAM flocculating agents are added in the trench source to enable finer ore pulp to form floccules, the settlement of the ore pulp is accelerated, a proper amount of PAC coagulant aids are added at intervals, and the settlement speed of the ore pulp is further accelerated. Coarse particle materials settle at the bottom of a trench, are fully manually excavated, have high labor intensity and low efficiency, and are collected and concentrated by adopting an inclined plate settlement device, so that the labor intensity of workers can be necessarily reduced. Adopting a sedimentation principle of a sedimentation tank to further sediment coarser particles, and further reducing the amount of coal slime entering a water sump; the sedimentation tank is internally provided with a plurality of inclined plate sedimentation devices, coarse particle coal slime is naturally collected, and after the sedimentation tank is fully collected, the coarse particle coal slime is lifted through the electric hoist and transported to the ground or an intelligent automatic dredging machine, and an empty inclined plate sedimentation device is replaced again, so that the labor intensity of manual dredging is reduced.
The most remarkable characteristic of the cleaning process method is that the water sump is treated from the source, coarse particles and fine particles are treated separately, 70% -80% of the coarse particles are directly discharged onto a raw coal belt conveyor through an inclined plate sedimentation device and an intelligent automatic cleaning machine, and the water sump is cleaned from time to time by directly feeding the cleaning robot.
The process is characterized in that the water sump is treated from the source, coarse particles are treated firstly, then fine particles are treated, and only the coarse particles are treated firstly, the fine particles enter the water sump and are pasty like jellied bean curd, so that the slurry is not precipitated, the slurry is conveniently and directly discharged to a stirring collecting barrel through a slurry pump 0702 of a cleaning robot, and the slurry is pumped to a ground water treatment system through a pump III, so that the aim of thoroughly cleaning the water sump is fulfilled.
The inclined plate sedimentation device adopted by the utility model is a sedimentation tank, a plurality of inclined plates with the inclination angle of 60 degrees are arranged in the sedimentation tank, and the sedimentation of materials is accelerated by adopting the inclined plane sedimentation principle; the intelligent automatic cleaning and excavating machine can adopt cleaning and excavating equipment for underground water bins of coal mines disclosed in China patent application No. CN201820073469.1, wherein the inclined plates I, the inclined plates II and the inclined plates III are arranged on the inner side of a horizontal tank body of the intelligent automatic cleaning and excavating machine, and the inclined plane sedimentation principle is utilized to accelerate the downward sliding of ore pulp and improve the treatment efficiency; the slime water enters the horizontal tank body from the feeding device, and is controlled and detected by the PLC control cabinet, and when the height of sediment at the bottom of the inner side of the horizontal tank body exceeds the high-concentration liquid level, the transmission device is started; according to 200m of coal slime water entering the horizontal tank body per hour 3 The intelligent automatic dredging machine 004 runs once every four hours and only runs for two minutes each time, so that the dredging frequency and time of the water sump are reduced, the energy consumption is reduced, and the treatment capacity of the water sump is indirectly reduced.
The pump I adopts an MD280 self-balancing multistage pump; pump III 010 adopts the high-lift slurry pump, the current largest high-lift slurry pump in China has a lift of 1000 meters and a flow of 200 meters 3 And/h, the fine particle slurry is directly discharged to a ground water treatment system to replace the traditional filter press system, so that the process is simple, the failure rate is low, and the efficiency is high.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (8)
1. The method for cleaning and excavating the underground water sump of the coal mine by using the cleaning and excavating robot is characterized by comprising the following steps of:
(1) Adding PAM flocculant into underground sump slime water in a trench at a certain distance, adding PAC coagulant aid into the trench, treating by an inclined plate sedimentation device, automatically flowing fine particle slurry to an intelligent automatic dredging machine, and directly discharging coarse particle materials to a raw coal belt conveyor;
(2) After the fine particle slurry is processed by the intelligent automatic cleaning machine, coarse particle materials settled at the bottom of the tank of the intelligent automatic cleaning machine are directly discharged onto a raw coal belt conveyor through a scraper of the intelligent automatic cleaning machine, and overflow water automatically flows to a sedimentation tank from an overflow port of the intelligent automatic cleaning machine;
(3) The overflow water is precipitated by a sedimentation tank, the clear water at the upper part flows to a water sump, when the sedimentation tank is treated, the sedimentation material at the bottom is pumped to an inclined plate sedimentation device by a pump II after being stirred by blast of an air pipe;
(4) The clean water at the upper part in the water sump is pumped to a ground water treatment system through a pump I, paste slurry settled at the bottom of the water sump is pumped to a stirring collection barrel through a slurry pump (0702) of a coal mine underground water sump cleaning robot, and the coal mine underground water sump cleaning robot is automatically fed into the sump, automatically detected and automatically started;
(5) The slurry in the stirring collecting barrel is pumped to a ground water treatment system through a pump III;
be used for colliery underground sump to dig robot, its characterized in that includes cabin (05) and sets up in the outside screw (09) of cabin (05), the one end of cabin (05) up end is provided with telescopic arm I (02) of one end telescopic, and the other end is provided with flexible arm II (08) that the structure is the same with flexible arm I (02), and the flexible end of flexible arm I (02) is connected with detection device (01) that are used for detecting slime water concentration, and the flexible end of flexible arm II (08) is connected with discharging device (07);
the discharging device (07) comprises a mounting seat (0701), a slurry pump (0702), a guide sleeve I (0703), a telescopic cylinder II (0704) and a connecting seat (0705), wherein the slurry pump (0702) is fixed on the mounting seat (0701), the mounting seat (0701) is fixed at the lower end of the guide sleeve I (0703), the upper end of the telescopic cylinder II (0704) is connected with the connecting seat (0705), and the front end of a piston rod of the telescopic cylinder II (0704) is connected with the lower end of the guide sleeve I (0703);
the hydraulic system (06) is installed in the middle of the left end of the cabin (05), the hydraulic system (06) is installed in the middle of the cabin (05), the hydraulic system (06) is respectively communicated with the control system (03) and the telescopic cylinder II (0704), and the detection device (01) and the slurry pump (0702) are both communicated with the control system (03).
2. The method for cleaning and excavating a water sump under a coal mine by utilizing the cleaning and excavating robot according to claim 1, wherein the detection device (01) comprises an inductor, a telescopic arm (0103), a mounting bracket (0104) and a telescopic cylinder I (0105), the inductor is arranged at the lower end of the telescopic arm (0103), the upper end of the telescopic arm (0103) is connected with the front end of a piston rod of the telescopic cylinder I (0105), the telescopic cylinder I (0105) is fixed on the mounting bracket (0104), the mounting bracket (0104) is connected with the telescopic end of the telescopic arm I (02), and the telescopic cylinder I (0105) is communicated with the hydraulic system (06).
3. The method for cleaning and excavating a water sump under a coal mine by utilizing the cleaning and excavating robot according to claim 2, wherein the sensor comprises a sensor I (0101) and a sensor II (0102), and the sensor I (0101) and the sensor II (0102) are respectively arranged at the lower end of the telescopic arm (0103).
4. A method for cleaning a water sump under a coal mine by using a cleaning robot according to claim 1, 2 or 3, wherein the telescopic arm i (02) comprises a connecting flange (0201), a guide sleeve ii (0202), an oil cylinder (0203) and a support (0204), the connecting flange (0201) is fixed at one end of the guide sleeve ii (0202), the oil cylinder (0203) is mounted on the support (0204), the support (0204) is mounted on the upper end surface of the cabin (05), a piston rod of the oil cylinder (0203) is arranged in the guide sleeve ii (0202) and the front end of the piston rod of the oil cylinder (0203) is connected with one end of the guide sleeve ii (0201), and the oil cylinder (0203) is communicated with the hydraulic system (06).
5. The method for cleaning and excavating a water sump under a coal mine by utilizing a cleaning robot according to claim 4, wherein the number of the telescopic arms I (02) and the number of the telescopic arms II (08) are 2, the number of the 2 telescopic arms I (02) and the number of the 2 telescopic arms II (08) are installed on the upper end face of the cabin (05) in opposite directions, the number of the detection devices (01) and the number of the discharge devices (07) are 3, wherein the two detection devices (01) are installed at the telescopic end of the telescopic arms I (02), the other one is installed and fixed at the end part of one end of the telescopic arms I (02) arranged on the upper end face of the cabin (05), the other one is installed and fixed at the telescopic end part of one end of the telescopic arms II (08) arranged on the upper end face of the cabin (05).
6. The method for cleaning and excavating the underground water sump of the coal mine by utilizing the cleaning and excavating robot according to claim 5, wherein a remote controller (04) is further arranged in the cabin (05), the control system (03) is interlocked with the remote controller (04), and ground remote control is realized through an optical cable.
7. The method for cleaning and excavating a water sump in a coal mine by utilizing a cleaning and excavating robot according to claim 5, wherein a plurality of floating balls or a plurality of groups of floating pipes are arranged on a discharging pipe of the slurry pump (0702).
8. The method for cleaning and excavating underground water bins of coal mines by utilizing the cleaning and excavating robot according to claim 1, wherein a plurality of inclined plate sedimentation devices are arranged in the sedimentation tank to collect coarse-grained coal slime, and the coarse-grained coal slime is lifted by an electric hoist after being fully collected, transported to the ground or an intelligent automatic cleaning and excavating machine, and an empty inclined plate sedimentation device is replaced again.
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| CN110565716B (en) * | 2019-11-06 | 2020-02-18 | 山东海普欧环保设备科技有限公司 | Sludge cleaning machine |
| CN111111268A (en) * | 2019-12-20 | 2020-05-08 | 山东唐口煤业有限公司 | Automatic cleaning robot for mine sump |
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