CN217440095U - Mine filling operation device - Google Patents

Abstract

The utility model relates to a mine fills technical field, discloses a mine fills operation device, include: the walking mechanism comprises a rack, a crawler and driving equipment, wherein the crawler is arranged at the lower end of the rack, and the driving equipment is arranged on the rack and can drive the crawler to rotate; one end of the discharging pipe is connected with the front end of the rack; one end of the conveying pipe is communicated with the discharging pipe, and the other end of the conveying pipe is connected with a filling material; and the clamping mechanism is provided with a clamp arranged at the tail end of the rack and used for clamping and fixing the material conveying pipe. The mine filling operation device can carry the conveying pipe to move in the area to be filled in the mine so as to complete filling operation of different areas.

Description

Mine filling operation device

Technical Field

The utility model relates to a mine fills technical field, and is concrete, relates to a mine fills operation device.

Background

In the production process of mines, the goaf can be filled to prevent collapse. During filling, the whole tailings or the graded tailings are added with a certain proportion of cementing materials, water and the like, and then the mixture is uniformly stirred to prepare a material with similar high concentration or paste shape to backfill the goaf. During filling operation, the conveying pipe is basically transported to the tail end of a road in a mine by a transport vehicle, then a pipeline is manually erected in a mine field, and finally filling operation is carried out by utilizing the manually laid pipeline. When partial filling in the mine field is completed, the pipeline needs to be manually moved and laid again, the labor intensity in the whole operation process is high, and the operation efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a solve above-mentioned technical problem and make, its purpose provides a mine and fills operation device, can carry the conveying pipeline to wait to fill the district in the mine and remove to accomplish the operation of filling in different regions.

In order to achieve the above object, the utility model provides a mine fills operation device, include: the walking mechanism comprises a rack, a crawler and driving equipment, wherein the crawler is arranged at the lower end of the rack, and the driving equipment is arranged on the rack and can drive the crawler to rotate; one end of the discharging pipe is connected with the front end of the rack; one end of the conveying pipe is communicated with the discharging pipe, and the other end of the conveying pipe is connected with a filling material; and the clamping mechanism is provided with a clamp arranged at the tail end of the rack and used for clamping and fixing the material conveying pipe.

Preferably, the drive apparatus comprises an engine and a hydraulic station.

Preferably, the method further comprises the following steps: one end of the first hydraulic cylinder is connected to the side surface of the discharge pipe, and the other end of the first hydraulic cylinder is connected with a hydraulic pump in the hydraulic station; wherein the first hydraulic cylinder can drive the discharge pipe to swing when stretching out and drawing back.

Preferably, the method further comprises the following steps: one end of the second hydraulic cylinder is connected to the clamping mechanism, and the other end of the second hydraulic cylinder is connected with a hydraulic pump in the hydraulic station; the second hydraulic cylinder can drive the clamping mechanism to expand/contract when stretching.

Preferably, the crawler is connected to a hydraulic pump in the hydraulic station via a speed reducer, a hydraulic motor.

Preferably, the method further comprises the following steps: and the guide mechanism is arranged between the clamping mechanism and the discharge pipe and used for controlling the direction of the conveying pipe.

Preferably, the guide mechanism is a plurality of rollers arranged at two sides of the conveying pipe.

According to the above description and practice, the mine filling operation device of the present invention, through the crawler-type traveling mechanism, has a large contact area with the ground, a small ground pressure, a good obstacle crossing performance, and is adaptable to muddy filling operation sites; one end of the conveying pipe can be fixed on the rack by arranging the clamping mechanism on the rack, so that the mine filling operation device can drag the conveying pipe to move in an operation field, further complete the filling operation of the whole operation field, effectively reduce the manual workload during the filling operation and improve the filling operation efficiency.

Drawings

Fig. 1 is a side view of a mine filling work apparatus according to an embodiment of the present invention.

Fig. 2 is a plan view of the mine filling work device according to the embodiment of the present invention.

Fig. 3 is a schematic configuration diagram of a mine filling operation device according to an embodiment of the present invention, in which attitude positioning is performed.

Fig. 4 is a control flowchart of the mine filling operation device according to an embodiment of the present invention.

The reference numbers in the figures are:

1. a discharge pipe; 2. a monitoring mechanism; 3. a guide mechanism; 4. a hydraulic station; 5. a clamping mechanism; 6. a delivery pipe; 7. a control system; 8. a crawler belt; 9. an engine; 10. a link mechanism; 11. a driven wheel; 12. a first hydraulic cylinder; 13. and a frame.

Detailed Description

Exemplary embodiments will now be described more fully with reference to the accompanying drawings. The exemplary embodiments, however, may be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted. In the present disclosure, the terms "include", "arrange", "disposed" and "disposed" are used to mean open-ended inclusion, and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," and the like are used merely as labels, and are not limiting as to the number or order of their objects; the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In this embodiment, a mine filling work apparatus is disclosed, and fig. 1 shows a side structure of the mine filling work apparatus; fig. 2 shows a plan view of the mine filling work apparatus; fig. 3 is a view showing the structure of the mine filling work apparatus at the time of attitude positioning, and the view is intended to assist in explaining the principle of the attitude positioning process, and therefore the respective structures of the mine filling work apparatus are shown only as a block diagram; fig. 4 shows a control flow of the mine filling work device.

Referring to fig. 1 to 4, in the embodiment, the mine filling operation apparatus includes: the device comprises a traveling mechanism, a discharge pipe 1, a material conveying pipe 6 and a clamping mechanism 5. The walking mechanism comprises a frame 13, a crawler 8 and a driving device, the crawler 8 is arranged at the lower end of the frame 13, and the driving device is arranged on the frame 13 and can drive the crawler 8 to rotate through a transmission structure, so that the mine filling operation device can walk. The discharge pipe 1 is arranged at the front end of the frame 13, the tail end of the discharge pipe 1 is connected with the conveying pipe 6, the tail end of the conveying pipe 6 is connected with filling materials, and when the filling material pump works, the filling materials with certain pressure are pumped into the conveying pipe 6 and are finally sprayed to an area to be filled in a mine through the discharge pipe 1. The crawler-type traveling mechanism enables the contact area of the filling operation device and the ground to be large, the ground pressure to be small, the obstacle crossing performance is good, and the filling operation device can adapt to muddy filling operation sites.

The clamping mechanism 5 has a clamp provided at the rear end of the frame 13 for clamping and fixing the feed conveyor 6 so that the front end of the feed conveyor 6 can be firmly connected to the discharge pipe 1. When the filling operation device travels, the clamping mechanism 5 can drive the material conveying pipe 6 to move synchronously, so that the material conveying pipe 6 is prevented from being separated from the discharge pipe 1. Traditional conveying pipelines all adopt flexible materials, are coiled together through a rotating support in a filling operation site, and can rotate the rotating support to increase the length of the conveying pipelines when the front end needs to change the position, but the conveying pipelines made of the flexible materials are easy to break and cannot bear larger pressure. Through setting up clamping mechanism 5, conveying pipeline 6 in this embodiment can adopt the tubular product of multiple material, for example when adopting the tubular product of hard material, because of conveying pipeline 6 is fixed by this clamping mechanism 5, so should fill the operation device and can drag conveying pipeline 6 and remove in the operation place, need not to coil it, and conveying pipeline 6 is inside to bear great pressure, improves the jet distance of filling.

In this embodiment, the driving apparatus comprises an engine 9 and a hydraulic station 4, the engine 9 is connected to a hydraulic motor through a hydraulic pump in the hydraulic station 4, and power is transmitted to the crawler belt 8 through the hydraulic motor to drive the crawler belt 8 to rotate, so that the filling work device can travel. The technology for transmitting power externally through the hydraulic pump and the hydraulic motor is mature, stable and reliable, and the service life of the filling operation device can be prolonged. In addition, a speed reducer is arranged between the hydraulic motor and the crawler 8, and is connected with a driven wheel 11 in the crawler 8 through the speed reducer so as to drive the crawler 8 to rotate, and the rotating speed of the crawler 8 can be better controlled.

Furthermore, in this embodiment, a first hydraulic cylinder 12 is provided for adjusting the orientation of the discharge duct 1. Specifically, one end of the first hydraulic cylinder 12 is connected to the side surface of the discharge pipe 1, the other end of the first hydraulic cylinder 12 is connected with a hydraulic pump in the hydraulic station 4, the hydraulic station 4 controls the amount of hydraulic oil pumped into the first hydraulic cylinder 12 to control the expansion and contraction of the first hydraulic cylinder 12, so that the discharge pipe 1 can swing to form a fan-shaped working surface, and a large filling area can be covered when the travelling mechanism is not moved. In this embodiment, all set up first pneumatic cylinder 12 in the both sides of arranging material pipe 1, through increasing or reducing the oil pressure in the first pneumatic cylinder 12 of unilateral, can realize arranging the swing of material pipe 1, still can increase the stability of this function.

In addition, the clamping mechanism 5 has two clamping rods, which are close to each other to firmly clamp the feeding pipe 6, and in this embodiment, the power source for driving the clamping rods to move also adopts a hydraulic cylinder, i.e. a second hydraulic cylinder is also arranged on the frame 13. One end of the second hydraulic cylinder is connected with the clamping rod of the clamping mechanism 5, the other end of the second hydraulic cylinder is connected with the hydraulic pump in the hydraulic station 4, the amount of hydraulic oil pumped into the second hydraulic cylinder is controlled through the hydraulic station 4 to control the extension and contraction of the second hydraulic cylinder, so that the clamping rod is moved, the clamping mechanism 5 is opened or contracted, and the conveying pipe 6 is fixed or released.

In addition, in this embodiment, a guide mechanism 3 is further provided between the clamping mechanism 5 and the discharge pipe 1 for controlling the direction of the feed pipe 6 above the frame 13, and when the discharge pipe 1 swings, the feed pipe 6 can move along with the guide mechanism 3, so that the moving range of the discharge pipe 1 can be limited, and the front end can be prevented from being separated from the discharge pipe 1 due to contact with other structures. Specifically, the guiding mechanism 3 is a plurality of rollers arranged at two sides of the material conveying pipe 6, so that the material conveying pipe 6 can swing along with the material discharging pipe 1, and the guiding effect is further improved.

In addition, the mine filling operation device in this embodiment is provided with a monitoring mechanism 2 and a control system 7. Wherein the monitoring means 2 is arranged on the frame 13 for monitoring the position and attitude of the mine filling work device and its surrounding environment, thereby facilitating the control system 7 to further operate the mine filling work device, e.g. to adjust its trajectory, the orientation of the discharge pipe 1, etc. In other words, the control system 7 can control the operation of the travelling mechanism, the discharge pipe 1 and the clamping mechanism 5 according to the data collected by the monitoring mechanism 2. This mine fills operation device can gather self operation and surrounding environment's relevant data through monitoring mechanism 2, can formulate the route of removal and the direction of spouting the material according to these data again, through crawler-type running gear, can drive conveying pipeline 6 and accomplish the work of filling in whole operation place, has reduced the manual work volume when filling the operation effectively, has improved and has filled the operating efficiency.

In this embodiment, the control system 7 includes a front-end controller and a back-end controller. The front-end controller is arranged on the frame 13 and is connected with the travelling mechanism, the discharge pipe 1 and the clamping mechanism 5 through a CAN (controller area network) for realizing control of the structures, thereby completing filling operation. The rear end controller is in communication connection with the monitoring mechanism 2, after data collected by the monitoring mechanism 2 are received, data analysis can be carried out according to preset logic, corresponding instructions issued to the front end controller are made, the front end controller controls the running mechanism, the discharging pipe 1 and the clamping mechanism 5 to run according to the instructions, and finally filling operation is achieved. For example, after the monitoring mechanism 2 acquires the image of the surroundings of the filling operation device, the rear-end controller can make a topographic map, distinguish filled areas from unfilled areas, and further make a traveling path, and finally cover all areas to be filled in the mine. For example, the swing direction and angle of the discharge pipe 1 are determined, and the filling operation in a local area is completed. The controller can be realized by adopting a PLC, a computer and other equipment with the functions of executing logical operation, sequence control, timing, counting, arithmetic operation and the like, and the specific process is not described any more.

The monitoring mechanism 2 comprises an attitude monitoring module and an image monitoring module, wherein the attitude monitoring module is used for measuring the position attitude of the mine filling operation device and the walking mechanism, the discharging pipe 1 and the clamping mechanism 5 in the mine filling operation device; the image monitoring module is used for measuring the environment around the mine filling operation device, and for example, a 360-degree camera can be used for acquiring a video image around the mine filling operation device. The monitoring mechanism 2 is connected with the rear-end controller in a wireless communication mode to provide collected data for the rear-end controller, so that the rear-end controller can conveniently make corresponding operation instructions.

Specifically, the attitude monitoring module comprises a gyroscope, an angular displacement sensor, a distance measuring sensor and a photoelectric encoder. The position and the attitude of each structure in the mine filling operation device can be measured through a gyroscope, an angular displacement sensor and a photoelectric encoder; the position of the mine filling operation device in the mine can be measured through a distance measuring sensor and a photoelectric encoder. Through the dynamic parameters, a motion model based on a filling operation surface can be established, and the autonomous operation of the mine filling operation device can be realized through the motion model. As shown in fig. 3, the frame 13 is connected to the driven wheel 11 of the crawler 8 via a link mechanism 10, one end of the link mechanism 10 is connected to the output end of the reducer, and the other end is connected to the driven wheel 11. In the figure, an angle α is an angle between a speed direction of the frame 13 and a horizontal plane, an angle β is an angle between the link mechanism 10 and a normal direction of the plane of the frame 13, and an angle δ is an angle between a central speed direction of the driven wheel 11 and the horizontal direction. By measuring the numerical values of the angles alpha, beta and delta, the rear-end controller can continuously calculate the track path of the travelling mechanism in real time, and adjust the travelling instruction of the travelling mechanism in real time by combining the set planned path, so that the travelling mechanism travels according to the preset path, and finally the autonomous operation of the mine filling operation device is realized.

As shown in fig. 4, the control flow of the mine filling work apparatus is: the rear end controller sends an instruction to the front end controller in a wireless transmission mode, the front end controller controls the engine 9 and the hydraulic pump through a CAN bus, and further controls the rotating speed of the hydraulic motors on the left side and the right side to control the rotating speed of the crawler belts 8 on the left side and the right side, controls the oil pressure in the first hydraulic cylinder 12 to control the swinging mode of the discharge pipe 1, and controls the oil pressure in the second hydraulic cylinder to control the opening and the contraction of the clamping mechanism 5, and finally, the filling operation in a mine field is realized.

It should be noted that the rear-end controller may automatically set the operation command of the mine filling operation device according to the data of the monitoring mechanism 2 through a preset program, and in other embodiments, the operation command of the mine filling operation device may be automatically set by a user according to the data of the monitoring mechanism 2, and the operation state of the mine filling operation device may be monitored through the monitoring mechanism.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (7)

1. A mine filling operation device, comprising:

the walking mechanism comprises a rack, a crawler and driving equipment, wherein the crawler is arranged at the lower end of the rack, and the driving equipment is arranged on the rack and can drive the crawler to rotate;

one end of the discharging pipe is connected to the front end of the rack;

one end of the conveying pipe is communicated with the discharging pipe, and the other end of the conveying pipe is connected with a filling material;

and the clamping mechanism is provided with a clamp arranged at the tail end of the rack and used for clamping and fixing the material conveying pipe.

2. The mine filling work apparatus according to claim 1,

the drive apparatus includes an engine and a hydraulic station.

3. The mine filling work apparatus according to claim 2, further comprising:

one end of the first hydraulic cylinder is connected to the side surface of the discharge pipe, and the other end of the first hydraulic cylinder is connected with a hydraulic pump in the hydraulic station; wherein

The first hydraulic cylinder can drive the discharge pipe to swing when stretching.

4. The mine filling work apparatus according to claim 2, further comprising:

one end of the second hydraulic cylinder is connected to the clamping mechanism, and the other end of the second hydraulic cylinder is connected with a hydraulic pump in the hydraulic station; wherein

The second hydraulic cylinder can drive the clamping mechanism to expand/contract when stretching.

5. The mine filling work apparatus according to claim 2,

the crawler belt is connected with a hydraulic pump in the hydraulic station through a speed reducer and a hydraulic motor.

6. The mine filling work apparatus of claim 1, further comprising:

and the guide mechanism is arranged between the clamping mechanism and the discharge pipe and used for controlling the direction of the conveying pipe.

7. The mine filling work apparatus of claim 6,

the guide mechanism is a plurality of rollers arranged on two sides of the conveying pipe.

Images