CN215165917U - Underground sump cleaning robot - Google Patents
Underground sump cleaning robot Download PDFInfo
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- CN215165917U CN215165917U CN202023004666.4U CN202023004666U CN215165917U CN 215165917 U CN215165917 U CN 215165917U CN 202023004666 U CN202023004666 U CN 202023004666U CN 215165917 U CN215165917 U CN 215165917U
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Abstract
The utility model relates to a sump clearing robot in pit, including running gear, dig dress mechanism, pumping mechanism, driving system, electric control system, hydraulic control system and conveyer pipe assembly, running gear includes crawler attachment, rises and tightly installs, frame and hydraulic motor, the spiral mud collecting device and the sprocket feed that dig dress mechanism was equipped with are installed in the frame, are used for collecting the coal slime in the sump in pit and transmission transportation; the hydraulic control system comprises an oil tank assembly and a valve block assembly, and the conveying pipe assembly is provided with an explosion-proof type sewage pump; the utility model discloses an underwater work, the machine people of clearing away the storehouse is for dredging collect, breakage, mud discharging, transportation integral type structure, has better clearance ability to the bold coal slime, and the clearance work efficiency is high, sustainably, steadily clear up the sump automatically, improve sump clearance progress, improve the operation environment.
Description
Technical Field
The utility model belongs to the technical field of the robot that clears up the storehouse, concretely relates to sump cleaning robot in pit.
Background
At present, coal mine production is more and more efficient mechanized, but in the excavation process, due to the existence of coal drilling cuttings formed by construction and underground water, silted coal is stored in a water sump, the water inflow of a mine is gradually increased along with the extension of mining, the number of the silted coal in the water sump is more and more, and in order to ensure underground safe production and prevent the flood of the mine, the water sump needs to be ensured to have enough effective water storage capacity, and the timely cleaning of the silted coal in the sump is important. At present, the mine sump is cleaned mainly by adopting a manual cleaning and digging mode, water in the sump is drained firstly, and then workers enter sludge for cleaning. Under the condition, the working efficiency is low, the working environment is severe, the labor intensity is high, the cleaning effect is poor, the consumed time is long, and the cost consumption is high. And the cleaning period is longer, and the volume of the water sump cannot be brought into play.
The regular and efficient cleaning of the silt coal in the mine water sump is an important guarantee for improving the safety and the economy of a mine drainage system. The clearance in sump at present still stops in the state of tradition, laggard manual work dredging, tank car shipment, and the research and development of cleaning robot in storehouse can provide one set of practical mechanized sump desilting system in the pit, improves the efficiency of sump silt clearance.
At present, a plurality of available water sump cleaning technologies exist in China, each technology has advantages, but the technology has certain defects and limitations, for example, a QCJ-22 full-hydraulic self-propelled cleaning machine integrates functions of dredging, sludge discharging and transporting, a cleaning device can be heightened or horizontally swung according to actual working conditions in the dredging process, the cleaning device is suitable for places with different road widths and coal slurry heights, can clean coal slurries with different heights in a rail sump, meets the requirement of cleaning the coal slurries along with production, can ensure the effective water storage capacity of the water sump, can prolong the service life of a main drainage pump, and can enable a main drainage system of a mine to achieve the best running state while improving the disaster resistance of the mine. The defects are that the unloading tipping bucket process is slow in action during cleaning and the unloading is not clean; a spiral roller conveying type bin cleaner is disclosed, which is characterized in that a spiral collecting device and a closed spiral feeding device are arranged on a chassis assembly, a double-shaft stirrer works through a stirring hydraulic system to continuously extrude coal slime into the spiral conveyor, and the coal slime is conveyed to a main conveying belt or other loading points through a concrete conveying pump and can be conveyed remotely, wherein the application number 201920076754.3 is taken as an example. Install on the support and excavate the work arm, the end is installed and is taken off the fill, can realize grabbing the function to the coal slime, effectively improves coal slime width of gathering materials and material loading efficiency. The device has the disadvantages that the sludge suction pipe, the delivery pump and the sludge discharge pipe are required to be completely emptied when the device is stopped every time, and the cleaning efficiency of the coal slime with high water content is low; taking application number 200510038944.9 as an example, by means of methods such as pump drainage, buffering, dehydration, loading and the like, pump drainage equipment, buffering equipment and dehydration equipment required for completing all processes are adopted, so that automatic dredging treatment of fine coal slime water mixtures in a coal mine underground water sump is realized, and the defects that the problem cannot be solved for coal slime with a large diameter and equipment is damaged due to blockage of the large coal slime exist.
Disclosure of Invention
An object of the utility model is to provide a sump cleaning robot in pit adopts cleaning work under water, work efficiency is high and has the sump cleaning robot of collecting mud dredging, breakage, mud discharging, transportation integral type.
The utility model provides a technical scheme that its technical problem adopted is: a robot for cleaning an underground sump, which comprises a traveling mechanism, an excavating mechanism, a pumping mechanism, a power system, an electrical control system, a hydraulic control system and a conveying pipe assembly,
the walking mechanism comprises a crawler device, a tensioning device, a rack and a hydraulic motor and is used for driving the robot to walk;
the spiral sludge collecting device and the chain wheel transmission device arranged on the digging and loading mechanism are arranged on the rack and used for collecting coal slime in the underground sump and transmitting and transporting the coal slime;
the pumping mechanism is provided with a crushing device, a hopper assembly, an S valve assembly and a pumping assembly, the hopper assembly is arranged below the rear end of the chain transmission device and used for conveying coal slime in the conveying groove into the hopper assembly, the crushing device is arranged at the upper part in the hopper assembly and used for crushing large particles in the coal slime, the spiral stirring device is arranged in the hopper assembly and used for preventing the coal slime from being accumulated, and the pumping assembly is arranged at the lower part of the hopper assembly and used for discharging the coal slime in the hopper assembly;
the power system comprises an explosion-proof three-phase asynchronous motor, a connecting flange, a cooling pump, an oil delivery pump and a main oil pump, and is used for connecting the driving travelling mechanism, the digging mechanism and the pumping mechanism;
the electrical control system comprises a control module and an integrated module, and is used for connecting electrical equipment on the robot to perform data centralized monitoring and centralized control;
the hydraulic control system comprises an oil tank assembly and a valve block assembly, is connected with the electrical control system, the traveling mechanism, the digging and installing mechanism and the pumping mechanism, and is used for converting electric energy into hydraulic energy and controlling the traveling mechanism, the digging and installing mechanism and the pumping mechanism through the valve block assembly;
the conveying pipe assembly is provided with an explosion-proof type sewage pump.
The crawler device is provided with two crawler belts, the two crawler belts are independently driven by two hydraulic motors respectively, the crawler belts are connected with a crawler belt frame in a sliding mode, and the crawler belt frame is provided with groove guide for preventing the crawler belts from derailing.
The spiral sludge collecting device is provided with a collecting device arranged at the front end of the frame, two spiral wheel shafts are arranged on the left and right sides in the collecting device, the coal slime in a downhole sump is collected, the collecting device is arranged on the frame through a front frame, a conveying groove is arranged between the two spiral wheel shafts, the rear end of the conveying groove is connected with a transmission device arranged on a chain wheel transmission device, the transmission device is connected and driven through a connected driving device, the driving device drives a main chain wheel through a hydraulic motor, the main chain wheel is connected with a double-row circular chain, the double-row circular chain is used for driving the spiral wheel shafts to rotate, the rear end of the conveying groove is arranged on a tailstock, the upper part of the tailstock is arranged above the hopper assembly, a scraper is arranged on the circular chain, and the coal slime is scraped and transported into the hopper assembly.
Specifically, a lifting device is arranged on the front support and used for lifting the material collecting device according to the thickness of the coal slime.
Specifically, a high-pressure water gun is mounted at the front end of the spiral wheel shaft.
Specifically, the conveying pipe assembly comprises a sludge suction pipeline from the spiral sludge collecting device to the inlet of the explosion-proof type sewage pump and a sludge discharge pipeline from the outlet of the explosion-proof type sewage pump to the terminal.
The utility model discloses following beneficial effect has: the utility model discloses an underground sump clearance robot adopts underwater work, need not clear up the water in the sump when using the clearance silt coal, the sump clearance robot is collected, breakage, row's mud, transportation integral type structure for the mud digging, has better cleaning capacity to the bold coal slime, the clearance work efficiency is high, sustainably, steadily clear up the sump automatically, reduce workman intensity of labour by a wide margin, improve sump clearance progress, improve the operation environment, provide the powerful guarantee for mine safety in production.
Drawings
Fig. 1 is a schematic perspective view of the robot of the present invention.
Fig. 2 is a schematic side view of the robot of the present invention.
Fig. 3 is a front view of the robot according to the present invention.
Fig. 4 is a schematic top view of the robot of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-4, a robot for cleaning an underground sump to pump and discharge coal slurry in the underground sump comprises a traveling mechanism 1, an excavating mechanism 2, a pumping mechanism 3, a power system 4, an electrical control system 5, a hydraulic control system 6 and a conveying pipe assembly 7.
The walking mechanism 1 is a moving mechanism for walking of the warehouse cleaning robot, is also a foundation for connecting and supporting the whole machine, and mainly comprises a crawler device, a tensioning device, a rack and a hydraulic motor. The two tracks are independently driven by the two hydraulic motors respectively, the tracks are in sliding contact with the track frame, and the track frame is provided with a groove for guiding, so that the tracks are prevented from derailing.
The digging and loading mechanism 2 adopts a spiral mud collecting device 2-1 and a chain wheel transmission device 2-2 as a loading mechanism to be arranged on the frame, can adapt to the coal slime with larger viscosity and the loose materials, and has 2 cantilevers which can be lifted, large mud collecting range and high efficiency. The structure of the robot mainly comprises a collecting device, a front bracket, a tail bracket, a transmission device and a driving device, and the first step of the work of the warehouse cleaning robot is realized. The working principle is as follows: the driving device is driven by a hydraulic motor to drive a main chain wheel, a double-row round-link chain drives a spiral wheel shaft to rotate, the coal slime is dug and turned over and extruded to the front end of a conveying groove in the middle of the spiral wheel shaft, a scraper is arranged on the round-link chain, and the coal slime is scraped and conveyed into a hopper to complete digging and loading work. In order to adapt to the change of the thickness of the coal slime, the digging and loading part can move up and down, the spiral wheel shaft consists of a left spiral wheel shaft and a right spiral wheel shaft, the conveying groove consists of a front section and a rear section, the front section is installed between the two spiral wheel shafts, the rear end is installed on the tail frame, and the front section and the rear end are detachable above the hopper assembly when going into a well. Tension bolts are arranged on two sides of the driving chain wheel, and the tightness of the chain in work can be adjusted according to needs. The front end of the spiral is provided with a high-pressure water gun, and water and pulp can be quantitatively fed according to the requirement.
The pumping mechanism 3 mainly includes: the device comprises a crushing device, a hopper assembly 3-2, an S valve assembly and a pumping assembly 3-1. The pumping mechanism 3 is a main mechanism for conveying materials by the warehouse cleaning robot. The hopper assembly 3-2 is arranged below the rear end of the chain transmission device and used for conveying coal slime in the conveying groove into the hopper assembly 3-2, the crushing device is arranged at the upper portion in the hopper assembly 3-2 and used for crushing large particles in the coal slime, the spiral stirring device is arranged inside the hopper assembly 3-2 and used for preventing the coal slime from being accumulated, and the pumping assembly 3-1 is arranged at the lower portion of the hopper assembly 3-2 and used for discharging the coal slime in the hopper assembly 3-2. Pressure oil output by the power part is controlled and distributed by the pipe assembly to enter the main oil cylinder to drive the piston of the main oil cylinder to work: the piston rod of the main oil cylinder is connected with the piston of the inner cylinder of the conveying cylinder to drive the piston to work: one end of the conveying cylinder is connected with the hopper assembly 3-2 and is communicated with the hopper assembly 3-2 through the control of the S valve assembly; during normal pumping operation, the coal slime pressure-fed when the cylinder piston moves forward is pumped out through the S valve assembly, and the coal slime in the hopper assembly 3-2 is sucked into the conveying cylinder when the concrete piston moves backward. The main oil cylinder is reversed by controlling the hydraulic reversing valve, so that the circulating reciprocating continuous pumping is realized. When the pump is reversed, the conveying cylinder formed by suction is communicated with the S pipe distribution valve through the operation of the reverse pump, and the conveying cylinder formed by pushing is communicated with the hopper assembly 3-2. Thereby pumping the coal slime in the conveying pipeline back to the hopper assembly 3-2.
The power system 4 mainly includes: the explosion-proof type three-phase asynchronous motor comprises an explosion-proof type three-phase asynchronous motor, a connecting flange, a cooling pump, an oil transfer pump and a main oil pump. The power system 4 provides power for the warehouse cleaning robot. The main oil pump set is driven by the explosion-proof three-phase asynchronous motor, hydraulic oil is sucked from the hydraulic oil tank, pressure oil pumped by the main oil pump enters the hydraulic valve set through the high-pressure oil pipe, is controlled and distributed by the hydraulic valve set to enter the pumping main oil cylinder to complete pumping operation, and pressure oil pumped by the auxiliary oil pump enters the walking hydraulic motor, the digging hydraulic motor and the lifting oil cylinder through the multi-way valve and drives the walking hydraulic motor and the digging hydraulic motor and the lifting oil cylinder to work. The pressure oil pumped by the cooling pump drives the cooling fan to work.
The electric control system 5 mainly comprises control modules and integrated modules of all systems, and realizes centralized monitoring and centralized control of data.
The hydraulic control system 6 is formed by integrating an oil tank assembly and each valve block assembly, converts electric energy into hydraulic energy, and controls the reversing valves of all paths to realize the action control of the travelling mechanism and the digging and installing mechanism.
The conveying pipe assembly 7 takes the explosion-proof type sewage pump as a main part, and comprises a sludge suction pipeline from the conveying pipe assembly to the inlet of the explosion-proof type sewage pump and a sludge discharge pipeline from the outlet of the explosion-proof type sewage pump to a terminal, wherein the sludge suction pipeline and the sludge discharge pipeline use 10 meters/piece of high-strength wear-resistant steel wire rubber pipe, and the sludge suction pipeline and the sludge discharge pipeline are connected quickly.
The concrete working mode of the underground sump cleaning robot is as follows:
the hydraulic system of the traveling mechanism 1 of S1 works as follows: the electric control system 5 gives an electric signal, the motor drives the gear pump to act, oil is absorbed from the oil tank and is supplied to the hydraulic control system 6, electric energy is converted into hydraulic energy in the process, then the hydraulic energy is distributed to the two-side walking motors through the valve bank modules, and straight-going and steering actions in the walking process are completed through proportional control over the electromagnetic valves, and the hydraulic energy is converted into kinetic energy in the process.
The working process of the hydraulic system of the digging and installing mechanism 2 of S2 is as follows: the electric control system 5 gives an electric signal, the motor drives the gear pump to act, oil is absorbed from the oil tank and is supplied to the hydraulic control system 6, electric energy is converted into hydraulic energy in the process, the electric energy is distributed to the excavating and loading motor through each valve group module, the reciprocating action of the spiral sludge collection and the oil cylinder of the excavating and loading mechanism is completed through the proportional control of the electromagnetic valve, and the lifting rotation and the sludge collection conveying of the excavating and loading mechanism are realized.
The utility model discloses not be limited to above-mentioned embodiment, anybody should learn the structural change who makes under the teaching of the utility model, all with the utility model discloses have the same or close technical scheme, all fall into the utility model discloses an within the protection scope.
The technology, shape and construction parts which are not described in detail in the present invention are all known technology.
Claims (6)
1. A robot for cleaning underground water sump is characterized by comprising a walking mechanism, an excavating and loading mechanism, a pumping mechanism, a power system, an electric control system, a hydraulic control system and a conveying pipe assembly,
the walking mechanism comprises a crawler device, a tensioning device, a rack and a hydraulic motor and is used for driving the robot to walk;
the spiral sludge collecting device and the chain wheel transmission device arranged on the digging and loading mechanism are arranged on the rack and used for collecting coal slime in the underground sump and transmitting and transporting the coal slime;
the pumping mechanism is provided with a crushing device, a hopper assembly, an S valve assembly and a pumping assembly, the hopper assembly is arranged below the rear end of the chain transmission device and used for conveying coal slime in the conveying groove into the hopper assembly, the crushing device is arranged at the upper part in the hopper assembly and used for crushing large particles in the coal slime, the spiral stirring device is arranged in the hopper assembly and used for preventing the coal slime from being accumulated, and the pumping assembly is arranged at the lower part of the hopper assembly and used for discharging the coal slime in the hopper assembly;
the power system comprises an explosion-proof three-phase asynchronous motor, a connecting flange, a cooling pump, an oil delivery pump and a main oil pump, and is used for connecting the driving travelling mechanism, the digging mechanism and the pumping mechanism;
the electrical control system comprises a control module and an integrated module, and is used for connecting electrical equipment on the robot to perform data centralized monitoring and centralized control;
the hydraulic control system comprises an oil tank assembly and a valve block assembly, is connected with the electrical control system, the traveling mechanism, the digging and installing mechanism and the pumping mechanism, and is used for converting electric energy into hydraulic energy and controlling the traveling mechanism, the digging and installing mechanism and the pumping mechanism through the valve block assembly;
the conveying pipe assembly is provided with an explosion-proof type sewage pump.
2. The robot for cleaning a sump in a well as recited in claim 1, wherein the crawler means is provided with two crawler belts, the two crawler belts are independently driven by two hydraulic motors, the crawler belts are slidably connected to the crawler frame, and the crawler frame is provided with a groove guide for preventing the crawler belts from derailing.
3. The robot for cleaning the underground sump according to claim 1, wherein the spiral sludge collecting device is provided with a collecting device installed at the front end of the frame, the collecting device is internally provided with a left spiral wheel shaft and a right spiral wheel shaft for collecting the coal sludge in the underground sump, the collecting device is installed on the frame through the front frame, a conveying trough is installed between the two spiral wheel shafts, the rear end of the conveying trough is connected with a transmission device provided with a chain wheel transmission device, the transmission device is connected and driven through a connected driving device, the driving device drives a main chain wheel through a provided hydraulic motor, the main chain wheel is connected with a double-row circular chain for driving the spiral wheel shafts to rotate, the rear end of the conveying trough is installed on a tail frame, the upper part of the tail frame is installed above the hopper assembly, and the circular chain is provided with a scraper for scraping and conveying the coal sludge into the hopper assembly.
4. The downhole sump cleaning robot according to claim 3, wherein a lifting device is mounted on the front bracket for lifting the aggregate device according to a thickness of the coal slurry.
5. The robot for cleaning a downhole sump according to claim 3, wherein a high pressure water gun is installed at a front end of the spiral wheel shaft.
6. The downhole sump cleaning robot of claim 1, wherein the delivery pipe assembly comprises a sludge suction line from the spiral sludge collection device to an inlet of the explosion-proof type dredge pump and a sludge discharge line from an outlet of the explosion-proof type dredge pump to a terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023004666.4U CN215165917U (en) | 2020-12-14 | 2020-12-14 | Underground sump cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023004666.4U CN215165917U (en) | 2020-12-14 | 2020-12-14 | Underground sump cleaning robot |
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| CN215165917U true CN215165917U (en) | 2021-12-14 |
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| CN202023004666.4U Active CN215165917U (en) | 2020-12-14 | 2020-12-14 | Underground sump cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654481A (en) * | 2022-04-20 | 2022-06-24 | 广州市泰昌机械设备有限公司 | Cleaning robot for storage silo |
| CN115559376A (en) * | 2022-11-01 | 2023-01-03 | 辽宁工程技术大学 | Coal mine sump cleaning robot suitable for multiple working conditions and use method thereof |
-
2020
- 2020-12-14 CN CN202023004666.4U patent/CN215165917U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654481A (en) * | 2022-04-20 | 2022-06-24 | 广州市泰昌机械设备有限公司 | Cleaning robot for storage silo |
| CN115559376A (en) * | 2022-11-01 | 2023-01-03 | 辽宁工程技术大学 | Coal mine sump cleaning robot suitable for multiple working conditions and use method thereof |
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