CN113074019A - Automatic cruise dust removal robot for coal mine and control method thereof - Google Patents

Automatic cruise dust removal robot for coal mine and control method thereof Download PDF

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Publication number
CN113074019A
CN113074019A CN202110458519.4A CN202110458519A CN113074019A CN 113074019 A CN113074019 A CN 113074019A CN 202110458519 A CN202110458519 A CN 202110458519A CN 113074019 A CN113074019 A CN 113074019A
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dust removal
water
dust
coal mine
robot
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CN202110458519.4A
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CN113074019B (en
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郝宇
吴立军
赵丽群
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Chongqing Vocational Institute of Engineering
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Chongqing Vocational Institute of Engineering
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F5/00Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
    • E21F5/20Drawing-off or depositing dust
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01DSEPARATION
    • B01D46/00Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
    • B01D46/0027Filters or filtering processes specially modified for separating dispersed particles from gases or vapours with additional separating or treating functions
    • B01D46/0036Filters or filtering processes specially modified for separating dispersed particles from gases or vapours with additional separating or treating functions by adsorption or absorption
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01DSEPARATION
    • B01D46/00Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
    • B01D46/30Particle separators, e.g. dust precipitators, using loose filtering material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B01PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01DSEPARATION
    • B01D46/00Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
    • B01D46/56Filters or filtering processes specially modified for separating dispersed particles from gases or vapours with multiple filtering elements, characterised by their mutual disposition
    • B01D46/62Filters or filtering processes specially modified for separating dispersed particles from gases or vapours with multiple filtering elements, characterised by their mutual disposition connected in series
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Mining & Mineral Resources (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the technical field of dust removal devices, in particular to an automatic cruise dust removal robot for a coal mine and a control method thereof. The device comprises a control system, a mobile device and a dust removal device, wherein the dust removal device is arranged above the mobile device, the mobile device is used for carrying the dust removal device to move in a coal mine tunnel, and the dust removal device is used for removing dust in the coal mine tunnel; the moving device comprises an obstacle crossing trolley and a plurality of sensors, the sensors are installed on the periphery of the trolley and are electrically connected with a control system for detecting the environment in a coal mine roadway, the control system is used for controlling the obstacle crossing trolley to move in the coal mine roadway, and the obstacle crossing trolley comprises a storage rack and a driving device symmetrically arranged below the storage rack. The technical scheme is used for solving the problems that the water consumption of the spray dust removal device is large and the resource waste is caused in the prior art, the mobility of the spray dust removal device in a coal mine tunnel is poor, and the dust removal effect cannot meet the dust removal requirement in the coal mine tunnel.

Description

Automatic cruise dust removal robot for coal mine and control method thereof
Technical Field
The invention relates to the technical field of dust removal devices, in particular to an automatic cruise dust removal robot for a coal mine and a control method thereof.
Background
In the working environment of the underground coal mine, the dust removal work is an essential link for underground production. If the dust is not removed according to the regulations, light persons can influence the sight of workers working in the pit, heavy persons harm the physical and mental health of the workers, and the potential safety hazard of the mine is caused.
At present, most of coal mines adopt a spray dust removal system, but the spray dust removal system in the prior art mainly comprises the following defects: (1) the water consumption of spray dust removal is large, and great waste is caused to the resources. (2) The effect of spray dust removal is relatively poor, and the dust removal requirement in a coal mine roadway cannot be met. (3) The large size of the spray dust removal device is inconvenient to move in a coal mine roadway.
Disclosure of Invention
The invention aims to provide a coal mine automatic cruise dust removal robot and a control method thereof, aiming at solving the problems that a spray dust removal device in the prior art is large in water consumption and causes resource waste, and the spray dust removal device is poor in mobility in a coal mine tunnel and cannot meet the dust removal requirement in the coal mine tunnel.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the automatic cruising dust removal robot for the coal mine comprises a control system, a moving device and a dust removal device, wherein the dust removal device is arranged above the moving device, the moving device is used for carrying the dust removal device to move in the coal mine tunnel, and the dust removal device is used for removing dust in the coal mine tunnel;
the moving device comprises an obstacle crossing trolley and a plurality of sensors, the sensors are mounted on the periphery of the trolley and are electrically connected with a control system and used for detecting the environment in a coal mine roadway, the control system is used for controlling the obstacle crossing trolley to move in the coal mine roadway, the obstacle crossing trolley comprises a storage rack and driving devices symmetrically arranged below the storage rack, a sliding table is arranged on the lower surface of the storage rack, a mounting seat of the sliding table is fixedly connected onto the storage rack, a sliding block of the sliding table is fixedly connected with the driving devices, and the driving devices can adjust the distance between the two symmetrically arranged driving devices under the action of the sliding table;
the dust removal device comprises a dust collection port, a dust removal mechanism, a water return mechanism and a fan, wherein the water return mechanism is arranged above the dust removal mechanism, the water return mechanism and the fan are connected in series through a pipeline, a water return pipe which communicates the dust removal mechanism and the water return mechanism is further arranged between the water return mechanism and the dust removal mechanism, a water suction pipe which is obliquely arranged is arranged at the bottom of the dust removal mechanism, one end of the water suction pipe is communicated with the bottom of the dust removal mechanism, the other end of the water suction pipe is communicated with the pipeline between the dust removal mechanism and the water return mechanism, the dust removal mechanism is used for intercepting and removing dust in the air, and the water return mechanism is used for intercepting moisture in the air and flows into the dust.
Further inject, the four corners department of supporter is equipped with elevator motor, elevator motor's the vertical installation downwards of output, and elevator motor's output is located drive arrangement's the outside, the lift cylinder is used for upwards promoting the supporter, and its beneficial part lies in, when the sensor detects the relatively narrower road surface of marcing of the dolly of hindering more, control system stretches out downwards through control elevator motor's output, upwards promotes the supporter, can reduce the slip table and drag drive mechanism to the middle resistance of drawing close, and when enabling drive mechanism to be close to, guarantees the steadiness ability of this device.
Further inject, lift motor's tip is equipped with flexible end plate, and its beneficial part lies in to be more for the cinder in the coal mine tunnel, flexible end plate can adapt to the shape of cinder when pressurizeing downwards, makes the contact of lift cylinder and ground more steady.
Further inject, drive arrangement includes first link and second link, the tip of first link and second link all is equipped with the gyro wheel, and first link and second link are articulated, and are equipped with the rotating electrical machines at the connecting portion of first link and second link, the rotating electrical machines is used for controlling the rotation angle of first link to climb and hinder more, and its beneficial effect lies in, when the sensor detects that there is the obstacle on the road surface, with information transfer to control system, control system control rotating electrical machines rotates, makes first link rotatory to the upper portion of advancing direction, raises the height of gyro wheel to the gyro wheel overturns the obstacle.
Further inject, dust removal mechanism includes the box, inside first baffle and the second baffle that is equipped with detachable connection of box, first baffle and second baffle divide into three cavity with the box inside, are upper portion cavity, middle part cavity and lower part cavity respectively, be equipped with a plurality of filter layers between first baffle and the second baffle, the outside that is close to the filter layer on first baffle and the second baffle is equipped with washes the mouth, the upper end of box is equipped with the end cover, the wet return passes the middle part and the inside intercommunication of box of end cover.
Further inject, the return mechanism includes the return water room, the indoor baffling board that is equipped with of return water, the projection of the tip of return water room both ends pipeline is located the middle part of baffling board.
To sum up, the theory of operation that dust removal mechanism and return water mechanism cooperation were used does: the fan inhales the air that contains the dust, the air is when passing through dust removal mechanism, the moisture on the filter layer in the most can be by box middle part cavity adsorbs, the air is when flowing into the return water indoor, because the inside of box is the negative pressure state, the pipe that absorbs water can be with the water suction of the indoor water suction of box lower part cavity to the return water indoor, steam in the air loses kinetic energy under the blockking of baffling board, collect to the bottom of return water room, then flow into the box through the return water pipe, the in-process that water flows to the lower part cavity from the washing mouth of the first baffle of box, can wash the surface of filter layer, simultaneously can also continuously carry out moisture supply for the filter layer, make the filter layer keep moist all the time, promote the adsorption effect to the dust, the indoor water of lower part has formed a usage cycle, the use amount of water resource has been reduced.
Further inject, the filter layer is the sponge layer, the bottom outside of box is equipped with the drain pipe, be equipped with the drain valve on the drain pipe, its beneficial part lies in, the price on sponge layer is low, and it is good to absorb water and ventilation effect, can promote the adsorption effect to the dust, and the drain valve is convenient for discharge the sewage in the lower part cavity.
Further inject, the outside of return water room is equipped with the inlet tube, be equipped with the water intaking valve on the inlet tube, its beneficial part lies in, is convenient for to the inside water injection of box, and the dry sponge to not yet using simultaneously carries out moist, guarantees the dust removal effect of this device during the beginning work.
Further limit, be equipped with the control valve on the connecting tube of dust absorption mouth and dust removal mechanism, its beneficial part lies in, is convenient for fill water with the box inside and makes the washing to the box inside.
In conclusion, the dust removal device also has a back washing function, specifically, the control valve is closed, then the fan is rotated reversely under the action of the control system, gas is injected into the box body, meanwhile, the control system opens the water inlet valve and the water discharge valve, the sponge can be washed by the flow of water flow from top to bottom, dust on the surface of the sponge is washed into the lower cavity and discharged, meanwhile, the wind flow flows in the reverse direction of the sponge, the dust in the sponge can be swept, and the cleaning effect on the sponge is further improved.
The control method of the automatic cruise dust removal robot for the coal mine is also disclosed:
(1) the robot is transported to a position appointed by a coal mine tunnel, and meanwhile, a special charging pile and a special water adding pipe are installed in the coal mine tunnel;
(2) before dust removal work is carried out, cruise time and charging pile position information are input in advance in a control system of the robot;
(3) the control system opens the water inlet valve, controls the robot to move, enables the water inlet pipe and the pipe orifice of the water adding pipe to be in butt joint, injects water into the dust removing mechanism through the water inlet pipe until the lower cavity of the box body of the dust removing mechanism is filled with water, and then closes the water inlet valve;
(4) under the action of information collection and feedback of the sensor, the control system controls the robot to perform self-cruise dust removal in the coal mine tunnel;
(5) when the set cruising time is up, the control system controls the robot to return to the position of the charging pile for charging, the end parts of the water inlet pipe and the water adding pipe are communicated at the moment, the control system controls the water inlet valve and the water discharge valve to be opened, the control valve is closed, the fan is reversely rotated at the same time, and gas is sent into the dust removal mechanism for backwashing;
(6) after the set backwashing duration is reached, the control system controls the drain valve to be closed, the control valve to be opened, the fan is powered off, water is injected into the dust removing mechanism in the step (3), and when the water injection amount meets the requirement, the water inlet valve is closed to wait for the completion of charging;
(7) and (4) after the charging is finished, the control system controls the robot to repeat the steps (4) to (6).
The working principle of the technical scheme is as follows:
the principle of automatic cruising: the sensor transmits the collected information to the control system, the control system judges the surrounding environment, when the road surface is narrow, the control system sends the information to the sliding table, the sliding table moves towards the middle part, the distance between the driving devices can be shortened, the trolley can pass through the relatively narrow ground, after the information passes through the sliding table, the sensor collects the information of the wide road surface, the control system controls the driving devices to reset at the moment, and therefore the stability of the obstacle-crossing trolley in the moving process is guaranteed. Meanwhile, when the sensor detects the obstacle, the information is transmitted to the control system, the control system can control the rotating motor to rotate, the height of the front-end roller is never increased, the roller can conveniently roll over the obstacle, and the obstacle crossing effect is further improved. Meanwhile, the movement time of the obstacle crossing trolley can be set in the control system, when the time is up, the obstacle crossing trolley moves to a specified position under the action of the control system to be charged, meanwhile, the water inlet pipe is in butt joint with the external water pipe stack, then, the water discharge valve of the water inlet valve is opened, the control valve is closed, and the fan is controlled to perform backwashing action.
The principle of the dust removing device is as follows: under the action of a fan, dust enters a middle cavity of the dust removal mechanism from a dust suction port, the dust is captured by wet sponge arranged in the middle cavity and flows into a lower cavity of the box body along with water flow of an upper cavity, meanwhile, when air flows into the backwater chamber, because the inside of the box body is in a negative pressure state, the water in the lower cavity of the box body can be sucked out into the backwater chamber by the water suction pipe, kinetic energy in the air is lost under the blocking of the baffle plate and is collected to the bottom of the backwater chamber, then the air flows into the box body through the backwater pipe, in the process that the water flows from a flushing port of a first baffle plate of the box body to the lower cavity, the surface of the filter layer can be flushed, meanwhile, moisture can be continuously supplied to the filter layer, the filter layer is always kept wet, the adsorption effect on the dust is improved, and meanwhile, water in the lower cavity forms, the usage amount of water resources is reduced.
The invention has the following technical effects:
(1) the invention can carry out self-cruising dust removal in the coal mine tunnel, ensures the dust removal effect of the coal mine, and can be applied to the dust removal condition of the coal mine which can not be entered by some special personnel. (2) The water source in the dust removing device can be recycled, the water is saved, and meanwhile, the dust removing device is not limited by a water injection pipe for continuously injecting water in the traditional mode, so that the flexibility of the dust removing device in practical use is greatly enhanced. (3) The obstacle crossing trolley can pass through a narrow ground in a coal mine under the auxiliary action of the control system and the sensor, and has certain obstacle crossing capability, so that the flexibility of the obstacle crossing trolley in a coal mine roadway is ensured, and the dust removal effect of the obstacle crossing trolley in the coal mine roadway is ensured through phase change. (4) The dust removal device has a back washing function, and the sponge in the dust removal device can be cleaned through the back washing function, so that the service life of the sponge is prolonged, and the use effect of the sponge after a long time is enhanced.
Drawings
Fig. 1 is a schematic perspective view of an automatic cruise dedusting robot for a coal mine according to an embodiment of the invention.
Fig. 2 is a schematic perspective view of a dust removing device according to an embodiment of the present invention.
FIG. 3 is a schematic front view of a dust removing apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic front sectional view of a dust removing device according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of a mobile device according to an embodiment of the invention.
Fig. 6 is a schematic top view of a mobile device according to an embodiment of the invention.
Fig. 7 is a schematic bottom view of a mobile device according to an embodiment of the invention.
Reference numerals
The dust collecting device comprises a storage rack 1, a second connecting rack 11, a first connecting rack 12, a roller 13, a lifting motor 14, an end plate 15, a sliding table 16, a dust suction port 2, a dust inlet pipe 21, a box body 22, a first partition 221, a second partition 222, a filter layer 223, a water suction pipe 224, a water vapor inlet pipe 23, a water return chamber 24, a baffle plate 241, an exhaust pipe 25, a mounting rack 26, a drain pipe 27, a water inlet pipe 28, a bottom plate 29, a fan 291 and a water return pipe 292.
Detailed Description
The following is further detailed by way of specific embodiments:
the specific implementation process is as follows:
as shown in figure 1, the automatic cruising dust removal robot for the coal mine is mainly used for removing dust in a coal mine tunnel and mainly comprises two parts, wherein one part comprises a moving device which automatically cruises in the coal mine tunnel and a dust removal device which removes dust in the coal mine tunnel, and the dust removal device is arranged above the moving device.
As shown in fig. 5, 6 and 7, the moving device mainly includes an obstacle crossing trolley and a plurality of sensors, the sensors are mounted around the trolley and electrically connected to the control system for detecting the environment in the coal mine roadway, the sensor control system is used for controlling the movement and cruising of the obstacle crossing trolley in the coal mine roadway, in this embodiment, the sensors are a combination of a laser sensor, an image sensor and a radar sensor, the sensor obstacle crossing trolley includes a rack 1 and a driving device symmetrically arranged below the rack 1, the driving device includes a first connecting frame 12 and a second connecting frame 11, the first connecting frame 12 is located in the advancing direction of the trolley, the first connecting frame 12 is right-angled, and rollers 13 are arranged at both ends of the first connecting frame 12 and at one end of the second connecting frame 11, one end of the second connecting frame 11 is hinged to the right-angled portion of the first connecting frame 12, and the connecting part of the first connecting frame 12 and the second connecting frame 11 is provided with a rotating motor, the rotating motor is used for controlling the rotating angle of the first connecting frame 12, so as to climb and cross obstacles, the sensor has the advantages that when the sensor detects that the road surface has obstacles, the rotating motor transmits information to a control system, the control system controls the rotating motor to rotate, so that the first connecting frame 12 rotates towards the upper part of the advancing direction, the height of the roller 13 is raised, so that the roller 13 turns over the lower surface of the obstacle sensor object placing frame 1 and is provided with a sliding table 16, a mounting seat of the sensor sliding table 16 is fixedly connected on the object placing frame 1, a sliding block of the sensor sliding table 16 is fixedly connected with a driving device, the sensor driving device can shorten the distance between two symmetrically arranged driving devices under the action of the sliding table 16, and the driving and the steering of the obstacle crossing trolley in the implementation adopt the prior art, in this embodiment, more details are not described.
Preferably, the four corners department of supporter 1 is equipped with elevator motor 14, elevator motor 14's the vertical downward installation of output, and elevator motor 14's output is located drive arrangement's outside, the lift cylinder is used for promoting supporter 1 upwards, its beneficial part lies in, when the sensor detects the relatively narrower road surface of marcing of obstacle crossing dolly, control system stretches out downwards through control elevator motor 14's output, promote supporter 1 upwards, can reduce the slip table 16 and drag the resistance that actuating mechanism drawn close to the centre, and when enabling actuating mechanism to be close to, guarantee this device's steadiness ability. Meanwhile, the end part of the lifting motor 14 is provided with the flexible end plate 15, and the lifting motor has the beneficial effects that more coal cinder is contained in a coal mine roadway, and the flexible end plate 15 can adapt to the shape of the coal cinder when being pressed downwards, so that the lifting cylinder is more stably contacted with the ground.
As shown in fig. 2, 3 and 4, the dust removing device mainly comprises a dust suction port 2, a dust removing mechanism, a water return mechanism and a fan 291, wherein the dust suction port 2 is horn-shaped, the water return mechanism is arranged above the dust removing mechanism, the water return mechanism and the fan 291 are connected in series through pipelines, specifically, a dust inlet pipe 21 is arranged between the dust suction port 2 and the dust removing mechanism, the dust inlet pipe 21 is connected to the middle part of the side surface of the dust removing mechanism, the pipeline communicated with the side surface of the water return mechanism and the side surface of the dust removing mechanism is a water vapor inlet pipe 23, the tail end of the fan 291 is connected with an exhaust pipe 25, a water return pipe 292 communicated with the water return mechanism and the dust removing mechanism is arranged between the upper ends of the water return mechanism and the dust removing mechanism, a water suction pipe 224 arranged obliquely is arranged at the bottom of the dust removing mechanism, one end, the dust removal mechanism is used for intercepting and removing dust in the air, and the water return mechanism is used for intercepting moisture in the air and flows into the dust removal mechanism through the water return pipe 292. The dust removing device further comprises a bottom plate 29 convenient for installation of the dust removing mechanism and a mounting frame 26 arranged on the bottom plate 29, the dust removing mechanism is arranged on the bottom plate 29, and the fan 291 is fixed at the upper end of the mounting frame 26.
The structure of dust removal mechanism specifically does, dust removal mechanism includes box 22, box 22 is inside to be equipped with first baffle 221 and the second baffle 222 of detachable connection, first baffle 221 and second baffle 222 divide into three cavity with box 22 is inside, be the upper portion cavity respectively, middle part cavity and lower part cavity, be equipped with a plurality of filter layers 223 between first baffle 221 and the second baffle 222, in this embodiment, filter layer 223 is the sponge layer, its beneficial effect lies in, the price on sponge layer is low, it is good to absorb water and ventilation effect, can promote the adsorption effect to the dust, be close to the filter layer 223 outside on first baffle 221 and the second baffle 222 and be equipped with the mouth of washing, the length of mouth of washing slightly is less than the length of filter layer 223, promote and wash the area, the upper end of box 22 is equipped with the end cover, return pipe 292 passes the middle part and the inside intercommunication of box 22 of end cover. The water return mechanism comprises a water return chamber 24, a baffle plate 241 is arranged in the water return chamber 24, and the projections of the end parts of the pipelines at the two ends of the water return chamber 24 are positioned in the middle of the baffle plate 241. In the device, most of dust is adsorbed by the filter layer 223, and a small part of dust enters the water return chamber 24 through the flushing port, is captured by water vapor in the water return chamber 24 and then flows back to the dust removal device together with water.
In order to realize the back washing function of the device, a drain pipe 27 is arranged on the outer side of the bottom of the box body 22, and a drain valve is arranged on the drain pipe 27, so that sewage in the lower cavity can be conveniently discharged. The water inlet pipe 28 is arranged on the outer side of the water return chamber 24, and the water inlet valve is arranged on the water inlet pipe 28, so that water can be conveniently injected into the box body 22, and meanwhile, unused dry sponge is moistened, and the dust removal effect of the device in the working process is guaranteed. The control valves are arranged on the dust inlet pipe 21 of the dust suction port 2 and the dust removing mechanism, and the dust removing mechanism has the advantage that the inside of the box body 22 is convenient to be filled with water so as to clean the inside of the box body 22. The water inlet valve, the water discharge valve and the control valve are all electrically connected with the control system.
The control method of the automatic cruise dust removal robot for the coal mine is also disclosed:
(1) the robot is transported to a position appointed by a coal mine tunnel, and meanwhile, a special charging pile and a special water adding pipe are installed in the coal mine tunnel;
(2) before dust removal work is carried out, cruise time and charging pile position information are input in advance in a control system of the robot;
(3) the control system opens the water inlet valve, controls the robot to move, enables the water inlet pipe 28 to be in butt joint with the pipe orifice of the water adding pipe, injects water into the dust removing mechanism until the lower cavity of the box body 22 of the dust removing mechanism is filled with water, and then closes the water inlet valve;
(4) under the action of information collection and feedback of the sensor, the control system controls the robot to perform self-cruise dust removal in the coal mine tunnel;
(5) when the set cruising time is up, the control system controls the robot to return to the position of the charging pile for charging, at the moment, the end parts of the water inlet pipe 28 and the water adding pipe are communicated, the control system controls the water inlet valve and the water discharge valve to be opened, the control valve is closed, the fan 291 is reversely rotated at the same time, and gas is sent into the dust removing mechanism for backwashing;
(6) after the set backwashing duration is reached, the control system controls the drain valve to be closed, the control valve to be opened, the fan 291 is powered off, water is injected into the dust removing mechanism in the step (3), and when the water injection amount meets the requirement, the water inlet valve is closed to wait for the completion of charging;
(7) and (4) after the charging is finished, the control system controls the robot to repeat the steps (4) to (6).
It should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used broadly in the present invention, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (10)

1. The automatic cruising dust removal robot for the coal mine is used for removing dust in a coal mine tunnel and comprises a control system and is characterized by further comprising a moving device and a dust removal device, wherein the dust removal device is arranged above the moving device, the moving device is used for carrying the dust removal device to move in the coal mine tunnel, and the dust removal device is used for removing dust in the coal mine tunnel;
the moving device comprises an obstacle crossing trolley and a plurality of sensors, the sensors are mounted on the periphery of the trolley and are electrically connected with a control system and used for detecting the environment in a coal mine roadway, the control system is used for controlling the obstacle crossing trolley to move in the coal mine roadway, the obstacle crossing trolley comprises a storage rack and driving devices symmetrically arranged below the storage rack, a sliding table is arranged on the lower surface of the storage rack, a mounting seat of the sliding table is fixedly connected onto the storage rack, a sliding block of the sliding table is fixedly connected with the driving devices, and the driving devices can adjust the distance between the two symmetrically arranged driving devices under the action of the sliding table;
the dust removal device comprises a dust collection port, a dust removal mechanism, a water return mechanism and a fan, wherein the water return mechanism is arranged above the dust removal mechanism, the water return mechanism and the fan are connected in series through a pipeline, a water return pipe which communicates the dust removal mechanism and the water return mechanism is further arranged between the water return mechanism and the dust removal mechanism, a water suction pipe which is obliquely arranged is arranged at the bottom of the dust removal mechanism, one end of the water suction pipe is communicated with the bottom of the dust removal mechanism, the other end of the water suction pipe is communicated with the pipeline between the dust removal mechanism and the water return mechanism, the dust removal mechanism is used for intercepting and removing dust in the air, and the water return mechanism is used for intercepting moisture in the air and flows into the dust.
2. The automatic cruising dust removal robot for coal mines as claimed in claim 1, wherein: the four corners department of supporter is equipped with elevator motor, elevator motor's the vertical installation downwards of output, and elevator motor's output is located drive arrangement's the outside, the lift cylinder is used for upwards promoting the supporter.
3. The automatic cruising dust removal robot for coal mines as claimed in claim 2, wherein: the end of the lifting motor is provided with a flexible end plate.
4. The automatic cruising dust removal robot for coal mines as claimed in claim 3, wherein: the driving device comprises a first connecting frame and a second connecting frame, the end portions of the first connecting frame and the second connecting frame are respectively provided with a roller, the first connecting frame and the second connecting frame are hinged, a rotating motor is arranged at the connecting portion of the first connecting frame and the second connecting frame, and the rotating motor is used for controlling the rotating angle of the first connecting frame.
5. The automatic cruising dust removal robot for coal mines as claimed in claim 1, wherein: dust removal mechanism includes the box, inside first baffle and the second baffle that is equipped with detachable connection of box, first baffle and second baffle divide into three cavity with the box is inside, are upper portion cavity, middle part cavity and lower part cavity respectively, be equipped with a plurality of filter layers between first baffle and the second baffle, the outside that is close to the filter layer on first baffle and the second baffle is equipped with washes the mouth, the upper end of box is equipped with the end cover, the wet return passes the middle part and the inside intercommunication of box of end cover.
6. The automatic cruising dust removal robot for coal mines as claimed in claim 1, wherein: the water return mechanism comprises a water return chamber, a baffle plate is arranged in the water return chamber, and the projections of the end parts of the pipelines at the two ends of the water return chamber are positioned in the middle of the baffle plate.
7. The automatic cruising dust removal robot for coal mines as claimed in claim 5, wherein: the filter layer is a sponge layer, a drain pipe is arranged on the outer side of the bottom of the box body, and a drain valve is arranged on the drain pipe.
8. The automatic cruising dust removal robot for coal mines as claimed in claim 6, wherein: and a water inlet pipe is arranged on the outer side of the water return chamber, and a water inlet valve is arranged on the water inlet pipe.
9. The automatic cruising dust removal robot for coal mines as claimed in claim 1, wherein: and a control valve is arranged on a connecting pipeline between the dust suction port and the dust removal mechanism.
10. The control method of the automatic cruise dedusting robot for the coal mine according to any one of claims 1 to 9, characterized by comprising the following steps: the method comprises an automatic cruise control method and a backwashing control method, and comprises the following specific steps:
(1) the robot is transported to a position appointed by a coal mine tunnel, and meanwhile, a special charging pile and a special water adding pipe are installed in the coal mine tunnel;
(2) before dust removal work is carried out, cruise time and charging pile position information are input in advance in a control system of the robot;
(3) the control system opens the water inlet valve, controls the robot to move, enables the water inlet pipe and the pipe orifice of the water adding pipe to be in butt joint, injects water into the dust removing mechanism through the water inlet pipe until the lower cavity of the box body of the dust removing mechanism is filled with water, and then closes the water inlet valve;
(4) under the action of information collection and feedback of the sensor, the control system controls the robot to perform self-cruise dust removal in the coal mine tunnel;
(5) when the set cruising time is up, the control system controls the robot to return to the position of the charging pile for charging, the end parts of the water inlet pipe and the water adding pipe are communicated at the moment, the control system controls the water inlet valve and the water discharge valve to be opened, the control valve is closed, the fan is reversely rotated at the same time, and gas is sent into the dust removal mechanism for backwashing;
(6) after the set backwashing duration is reached, the control system controls the drain valve to be closed, the control valve to be opened, the fan is powered off, water is injected into the dust removing mechanism in the step (3), and when the water injection amount meets the requirement, the water inlet valve is closed to wait for the completion of charging;
(7) and (4) after the charging is finished, the control system controls the robot to repeat the steps (4) to (6).
CN202110458519.4A 2021-04-27 2021-04-27 Automatic cruise dust removal robot for coal mine and control method thereof Active CN113074019B (en)

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