CN209829775U - Fill standpipe clearance robot - Google Patents
Fill standpipe clearance robot Download PDFInfo
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- CN209829775U CN209829775U CN201822199183.0U CN201822199183U CN209829775U CN 209829775 U CN209829775 U CN 209829775U CN 201822199183 U CN201822199183 U CN 201822199183U CN 209829775 U CN209829775 U CN 209829775U
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Abstract
The utility model provides a filling standpipe cleaning robot, which comprises a frame, a tensioning mechanism and a control box, wherein the frame is connected with the control box, and the tensioning mechanism is arranged at the bottom of the frame; be equipped with high definition digtal camera and high pressure water jet in the frame, straining device includes two at least take-up pulleys of motor drive, is equipped with the display screen in the control box, and the display screen is connected with high definition digtal camera. According to the needs of clearance, put into the standpipe with the robot, at first know the distribution condition of the filler that condenses in the standpipe through high definition digtal camera and display screen, then carry out the high pressure through the filler that condenses on the high pressure water shower nozzle to the standpipe pipe wall and wash, wash the operation in the standpipe through the robot, solved the clean inconvenient problem of the filler that condenses in the standpipe, improved the cleaning efficiency to the filler that condenses, reduced the stifled pipe risk of standpipe.
Description
Technical Field
The utility model relates to a mine fills technical field, specifically is a fill standpipe clearance robot.
Background
With the increasing importance of the country on environmental protection, green mine construction is rapidly developed in recent years, and the filling process technology is used as an important carrier for green mine construction and is popularized and applied to more and more mines. The filling vertical pipe is used as an important component of a filling system and plays an irreplaceable role in a filling slurry gravity flow conveying system.
Mine production practices show that the blockage of the filling pipeline is an accident with serious consequences in the slurry conveying process. Due to the change of the proportion of filling materials, the fluctuation of slurry concentration, mechanical faults, human misoperation and other reasons, the vertical filling pipe is blocked, the normal operation of the whole filling system is seriously influenced, the normal production operation of the mine is seriously influenced, and meanwhile, huge loss can be caused.
In order to improve the strength of the filling body, the filling material generally contains cement, fly ash or other cementing materials, and when a pipe blockage accident occurs, if the pipe blockage accident is not timely treated, the cementing materials are condensed on the pipe wall, so that the pipe diameter is reduced, and the risk of pipe blockage again is caused. Therefore, it is very important to remove the slurry condensed on the tube wall in time.
The filling vertical pipe is generally led to the middle section to be filled in the well from an earth surface filling station, and the vertical length of the filling vertical pipe is as large as hundreds of meters, so that the filling vertical pipe cannot be freely disassembled like a horizontal pipeline. The traditional method for cleaning the wall slurry of the vertical pipe is generally a method for flushing the pipeline from the top of the vertical pipe by water, blasting mining explosives to collapse the wall condensed slurry and the like, but the traditional method has the problems of time and labor waste, blindness, low operation safety, high cleaning cost and the like.
Disclosure of Invention
The utility model aims to provide a simple structure, the operation is light, efficient and flexible operation fill standpipe cleaning robot to the defect and not enough of current standpipe clearance means.
The technical scheme of the utility model is that: a filling standpipe cleaning robot comprises a rack, a tensioning mechanism and a control box, wherein the rack is connected with the control box, and the tensioning mechanism is arranged at the bottom of the rack; be equipped with high definition digtal camera and high pressure water jet in the frame, straining device includes two at least take-up pulleys of motor drive, is equipped with the display screen in the control box, and the display screen is connected with high definition digtal camera.
Further, still be equipped with power module, high pressure nozzle switch and the controller of take-up pulley tensioning in the control box, power module is the power supply, and high pressure nozzle switch is used for controlling opening and close and rotatory activity of high pressure water shower nozzle, and the controller of take-up pulley tensioning is used for controlling the activity of take-up pulley.
Further, the display screen is used for controlling the activity of the high-definition camera and storing the video, a USB interface is arranged on the display screen, and the high-definition camera is a wide-angle high-definition camera.
Furthermore, the high-pressure water spray head is driven by the small motor to rotate for 360 degrees, and the high-pressure water spray head is detachably connected with the water pipe.
Furthermore, the tensioning wheel is arranged at one end of the movable shaft, the movable shaft is movably connected with the rack and is distributed at equal intervals, and the movable shaft is driven by the tensioning wheel driving device.
Further, the number of the tension wheels is three; the tensioning wheel driving device is arranged at the bottom of the frame.
Furthermore, a traction rope is arranged on the rack and connected with a traction device, and the traction device is arranged in the control box and used for controlling the lifting of the rack; the hauling cable is a steel wire rope.
Further, high pressure water spray head includes shower nozzle, telescopic link, rotatory pipe, high pressure water spray head pipe and axle sleeve, and the one end of telescopic link is located to the shower nozzle, the other end swing joint of rotatory pipe and telescopic link, rotatory pipe pass through the rotatory swing joint of axle sleeve and water pipe, and the one end of high pressure water spray head pipe is located to the axle sleeve cover, and the other end of high pressure water spray head pipe is equipped with high pressure water pipe connector, and high pressure water pipe connector is connected with the water pipe.
Further, the high-definition camera is connected with the display screen through a cable or in a wireless connection mode.
Furthermore, a protective cover is arranged on the machine frame, and an illuminating lamp is arranged on the protective cover.
Compared with the prior art, the utility model has the following characteristics:
1. according to the needs of clearance, put into the standpipe with the robot, know the distribution condition of the filler that condenses in the standpipe through high definition digtal camera, the filler that condenses on to the standpipe pipe wall through high pressure water nozzle simultaneously carries out the high pressure and washes, wash the operation in the standpipe through the robot, solved the clean inconvenient problem of the filler that condenses in the standpipe, improved the cleaning efficiency to the filler that condenses, reduced the standpipe and carried the jam risk of filling the ground paste, improved the conveying efficiency of standpipe.
2. The setting of high pressure water shower nozzle can extend the frame edge with the shower nozzle is manual when using to the packing standpipe of adaptation different pipe diameters rotates the region to required clearance with the shower nozzle through the drive of small-size motor, is convenient for to the washing of the solidification packing body, and the frame is moistened to the water smoke that can reduce the high pressure when washing simultaneously, improves the protection to electrical components, improves the life of robot.
3. The setting of take-up pulley opens the take-up pulley through take-up pulley drive arrangement and is the tripod, makes take-up pulley and standpipe pipe wall contact play support and stabilizing the effect to the frame, and the robot of being convenient for has reduced the clearance cost to the washing of the obturator that condenses in the standpipe.
4. The utility model discloses simple structure, the setting of camera can with the condition real-time transmission to the display screen of the obturator that condenses in the standpipe, be convenient for master the distribution condition of the obturator that condenses in the standpipe fast, be convenient for wash the obturator that condenses.
The detailed structure of the present invention will be further described with reference to the accompanying drawings and the detailed description.
Drawings
FIG. 1 is a schematic structural view of a filling and standpipe cleaning robot in embodiment 1;
FIG. 2 is a schematic view of the high pressure water jet head of FIG. 1;
FIG. 3 is a schematic structural view of a standpipe filling and cleaning robot in embodiment 2;
the device comprises a control box, a traction device, a traction rope, a small motor, a high-pressure water pipe joint, a machine frame, a tensioning mechanism, a tensioning wheel driving device, a high-pressure water nozzle, a high-definition camera, a protective cover, a display screen, a nozzle, a telescopic rod, a rotating pipe and a shaft sleeve, wherein the control box is 1, the traction device is 2, the traction rope is 3, the small motor is 4, the high-pressure water pipe joint is 5, the machine frame is 6, the tensioning mechanism is.
Detailed Description
Example 1
As shown in fig. 1-2: a filling standpipe cleaning robot comprises a rack 6, a tensioning mechanism 7 and a control box 1, wherein the rack 6 is connected with the control box 1, and the tensioning mechanism 7 is arranged at the bottom of the rack 6; be equipped with high definition digtal camera 10 and high pressure water jet 9 on the frame 6, straining device 7 includes two at least take-up pulleys of motor drive, is equipped with display screen 12 in the control box 1, and display screen 12 is connected with high definition digtal camera 10.
The control box 1 is also internally provided with a power module, a high-pressure spray nozzle 13 switch and a tensioning wheel tensioning controller, the power module is a power source, the high-pressure spray nozzle 13 switch is used for controlling the opening and closing and the rotation of the high-pressure spray nozzle 9, and the tensioning wheel tensioning controller is used for controlling the movement of the tensioning wheel.
Display screen 12 is used for controlling high definition digtal camera 10's activity and saves the video, is equipped with the USB interface on the display screen 12, and high definition digtal camera 10 is wide angle high definition digtal camera 10, makes the visual angle of observation wider, is convenient for observe the inside distribution condition of the packing that condenses of standpipe.
The high-pressure water spray head 9 is driven by the small motor 4 to rotate for 360 degrees, and the high-pressure water spray head 9 is detachably connected with the water pipe.
The one end of loose axle is located to the take-up pulley, 6 swing joint of loose axle and frame, the equidistant distribution of loose axle, the loose axle receives take-up pulley drive arrangement 8's drive, when the clearance robot descends in the standpipe, observe the region that needs the clearance, stop the robot and descend, drive the loose axle simultaneously, make activity axial standpipe pipe wall extension or open, make take-up pulley and standpipe inner wall contact and support the clearance robot, play fixed and balanced effect, open high pressure water jet 9 and begin to treat the clearance region and wash the clearance.
Tensioning wheel drive 8 locates frame 6 in, the preferred middle part of locating frame 6, increase frame 6's weight, make tensioning wheel drive 8 and frame 6's focus on same straight line, make frame 6 more stable at the removal in-process, prevent that frame 6's focus from producing the skew, improve frame 6's stationarity, further reduction frame 6 receives the collision of the obturator that condenses in the standpipe and produces centrobaric big skew when removing in the standpipe, the risk that frame 6 received the striking and dropped has been reduced, the life of frame 6 has been improved simultaneously.
A traction rope 3 is arranged on the frame 6, the traction rope 3 is connected with a traction device 2, and the traction device 2 is arranged in the control box 1 and used for controlling the lifting of the frame 6; the haulage rope 3 is wire rope, adopts draw gear 2 to control the lift of frame 6 and is convenient for frame 6 and clear up the operation in the standpipe, can effectual improvement cleaning efficiency.
The high-pressure water sprayer 9 comprises a sprayer 13, an expansion link 14, a rotating pipe 15, a high-pressure water sprayer pipe and a shaft sleeve 16, wherein the sprayer 13 is arranged at one end of the expansion link 14, the rotating pipe 15 is movably connected with the other end of the expansion link 14, the rotating pipe 15 is movably connected with the water pipe in a rotating mode through the shaft sleeve 16, the shaft sleeve 16 is sleeved at one end of the high-pressure water sprayer pipe, the other end of the high-pressure water sprayer pipe is provided with a high-pressure water pipe joint 5, and the high-pressure water pipe.
The high-definition camera 10 is connected with the display screen 12 through a cable, and may also be wirelessly connected through a network, in this embodiment, a data wireless connection is adopted.
When using, slowly transfer frame 6 from the top of standpipe, observe the inside obturator distribution condition that condenses of standpipe simultaneously to wash the obturator, from the top down, abluent in-process, the washing thing on upper portion falls with water together, and further to condense the obturator on standpipe lower part inner wall and played abluent effect, the effectual cleaning efficiency that has improved, the effectual waste that reduces the water resource.
Example 2
As shown in fig. 3, the filling standpipe cleaning robot comprises a rack 6, a tensioning mechanism 7 and a control box 1, wherein the rack 6 is connected with the control box 1, and the tensioning mechanism 7 is arranged at the bottom of the rack 6; be equipped with high definition digtal camera 10 and high pressure water jet 9 on the frame 6, straining device 7 includes two at least take-up pulleys of motor drive, is equipped with display screen 12 in the control box 1, and display screen 12 is connected with high definition digtal camera 10.
The control box 1 is also internally provided with a power module, a high-pressure spray nozzle 13 switch and a tensioning wheel tensioning controller, the power module is a power source, the high-pressure spray nozzle 13 switch is used for controlling the opening and closing and the rotation of the high-pressure spray nozzle 9, and the tensioning wheel tensioning controller is used for controlling the movement of the tensioning wheel.
Display screen 12 is used for controlling high definition digtal camera 10's activity and saves the video, is equipped with the USB interface on display screen 12, and high definition digtal camera 10 is 360 wide angle high definition digtal cameras, can also set up high definition digtal camera 10 in the bottom of frame 6, and the intraductal condition of observation standpipe at 360 no dead angles of being convenient for is convenient for know the distribution condition of the obturator that condenses in the standpipe.
The high-pressure water spray head 9 is driven by the small motor 4 to rotate for 360 degrees, and the high-pressure water spray head 9 is detachably connected with the water pipe. The high-pressure water sprayer 9 comprises a sprayer 13, an expansion link 14, a rotating pipe 15, a high-pressure water sprayer pipe and a shaft sleeve 16, wherein the sprayer 13 is arranged at one end of the expansion link 14, the rotating pipe 15 is movably connected with the other end of the expansion link 14, the rotating pipe 15 is movably connected with the water pipe in a rotating mode through the shaft sleeve 16, the shaft sleeve 16 is sleeved at one end of the high-pressure water sprayer pipe, the other end of the high-pressure water sprayer pipe is provided with a high-pressure water pipe joint 5, and the high-pressure water pipe.
The tensioning wheel is arranged at one end of a movable shaft, the movable shaft is movably connected with the machine frame 6 and is distributed at equal intervals, and the movable shaft is driven by a tensioning wheel driving device 8.
The tensioning wheel driving device 8 is arranged in the middle of the rack 6, the traction rope 3 is arranged on the rack 6, the traction rope 3 is connected with the traction device 2, and the traction device 2 is arranged in the control box 1 and used for controlling the lifting of the rack 6; the hauling cable 3 is a steel wire rope.
High definition digtal camera 10 passes through the cable with display screen 12 and is connected, can also pass through network wireless connection, and the network wireless connection that this embodiment adopted has reduced the damage to data transmission line, has reduced the equipment cost of maintenance, has improved work efficiency.
Be equipped with the protection casing 11 on the frame 6, be equipped with the light on the protection casing 11, protection casing 11 is used for the protection to high pressure water jet 9 and high definition digtal camera 10, prevent that frame 6 from condensing dropping of obturator when going up and down in the standpipe to frame 6, high pressure water jet 9 and high definition digtal camera 10 cause the damage, the setting up of light improves high definition digtal camera 10 and gathers the distribution condition of the obturator that condenses and provide illumination luminance, be convenient for observe the distribution of the obturator that condenses through display screen 12.
The utility model discloses a theory of operation and application method are: firstly, the length of an expansion link 14 at a high-pressure water nozzle 9 is adjusted according to the diameter of a vertical pipe, then the filling vertical pipe cleaning robot is lowered to a working position through a steel wire rope, in the process that the robot is lowered through the steel wire rope, the image of the wall of the filling vertical pipe is transmitted to a display screen 12 of a control box 1 through a high-definition camera 10 in real time, and the working position is positioned according to the information of the display screen 12. When the filling standpipe cleaning robot works, the control box 1 controls the motor to extend out of the tension wheel and is in a static friction state with the pipe wall. At the moment, the high-pressure water spray head 9 rotates the motor, the high-pressure water spray head 9 is positioned in the working area in the direction of the high-pressure water spray head 10 according to real-time display information of the high-definition camera, high-pressure water is started, water is guided into the high-pressure water spray head 9 through the water pipe to start washing filling slurry condensed on the wall of the vertical pipe, and the operation is stopped until the filling slurry on the pipe wall is washed clean by the high-pressure water, or the filling slurry is continuously transferred to.
After the filling slurry of the stand pipe is cleaned, the water pipe switch is closed, the high-definition camera 10 and the motor power supply are closed through the control box 1, the stand pipe is pulled out of the cleaning robot through the steel wire rope after the tensioning wheel is loosened, and the cleaning work of the stand pipe is completed.
The preferred embodiments of the present invention have been described in detail above, but it is apparent that the present invention is not limited to the above embodiments. The technical idea of the utility model within the scope, can be right the utility model discloses a technical scheme carries out multiple equivalent variant, and these equivalent variants all belong to the utility model discloses a protection scope. In addition, it should be noted that the technical features described in the above embodiments may be separately and independently combined as long as they are within the technical concept of the present invention.
Claims (10)
1. The utility model provides a fill standpipe clearance robot which characterized in that: the tension device comprises a rack, a tension mechanism and a control box, wherein the rack is connected with the control box, and the tension mechanism is arranged at the bottom of the rack; be equipped with high definition digtal camera and high pressure water jet in the frame, straining device includes two at least take-up pulleys of motor drive, is equipped with the display screen in the control box, and the display screen is connected with high definition digtal camera.
2. The fill standpipe cleaning robot of claim 1, wherein: the control box is also internally provided with a power module, a high-pressure spray nozzle switch and a controller tensioned by a tensioning wheel, the power module is a power source, the high-pressure spray nozzle switch is used for controlling the opening and closing and the rotation of the high-pressure spray nozzle, and the controller tensioned by the tensioning wheel is used for controlling the movement of the tensioning wheel.
3. The fill standpipe cleaning robot of claim 1, wherein: the display screen is used for controlling the activity of the high-definition camera and storing the video, a USB interface is arranged on the display screen, and the high-definition camera is a wide-angle high-definition camera.
4. The fill standpipe cleaning robot of claim 1, wherein: the high-pressure water spray head is driven by the small motor to rotate for 360 degrees and is detachably connected with the water pipe.
5. The fill standpipe cleaning robot of claim 1, wherein: the tensioning wheel is arranged at one end of the movable shaft, the movable shaft is movably connected with the rack, the movable shafts are distributed at equal intervals, and the movable shafts are driven by the tensioning wheel driving device.
6. The fill standpipe cleaning robot of claim 5, wherein: the number of the tension wheels is three; the tensioning wheel driving device is arranged at the bottom of the frame.
7. The fill standpipe cleaning robot of claim 1, wherein: the frame is provided with a traction rope, the traction rope is connected with a traction device, and the traction device is arranged in the control box and used for controlling the lifting of the frame; the hauling cable is a steel wire rope.
8. The fill standpipe cleaning robot of claim 4, wherein: the high-pressure water sprayer comprises a sprayer body, a telescopic rod, a rotary pipe, a high-pressure water sprayer pipe and a shaft sleeve, wherein the sprayer body is arranged at one end of the telescopic rod, the rotary pipe is movably connected with the other end of the telescopic rod, the rotary pipe is movably connected with the water pipe in a rotating mode through the shaft sleeve, the shaft sleeve is sleeved at one end of the high-pressure water sprayer pipe, the other end of the high-pressure water sprayer pipe is provided with a high-pressure water pipe joint, and the high-pressure.
9. The fill standpipe cleaning robot of claim 1, wherein: the high-definition camera is connected with the display screen through a cable or in a wireless mode.
10. The fill standpipe cleaning robot of claim 1, wherein: the frame is provided with a protective cover, and the protective cover is provided with an illuminating lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822199183.0U CN209829775U (en) | 2018-12-26 | 2018-12-26 | Fill standpipe clearance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822199183.0U CN209829775U (en) | 2018-12-26 | 2018-12-26 | Fill standpipe clearance robot |
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| Publication Number | Publication Date |
|---|---|
| CN209829775U true CN209829775U (en) | 2019-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822199183.0U Active CN209829775U (en) | 2018-12-26 | 2018-12-26 | Fill standpipe clearance robot |
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| CN (1) | CN209829775U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109570156A (en) * | 2018-12-26 | 2019-04-05 | 长沙矿山研究院有限责任公司 | A kind of filling vertical tube cleaning robot and its application method |
-
2018
- 2018-12-26 CN CN201822199183.0U patent/CN209829775U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109570156A (en) * | 2018-12-26 | 2019-04-05 | 长沙矿山研究院有限责任公司 | A kind of filling vertical tube cleaning robot and its application method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211227 Address after: No. 189, Jinzhu West Road, Lhasa Economic Development Zone, Lhasa City, 850000 Tibet Autonomous Region Patentee after: XIZANG ZHONGKAI MINING INDUSTRY Co.,Ltd. Address before: 410012 room 311, scientific research building, Changsha mine Research Co., Ltd., No. 343, Lushan South Road, Changsha City, Yuelu District, Changsha City, Hunan Province Patentee before: Changsha Institute of Mining Research Co.,Ltd. |
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| TR01 | Transfer of patent right |