CN218563634U

CN218563634U - Shaft deicing robot

Info

Publication number: CN218563634U
Application number: CN202222828569.XU
Authority: CN
Inventors: 梁桂涛; 李鑫; 宋肖男
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-03-03
Anticipated expiration: 2032-10-26

Abstract

The utility model relates to a pit shaft deicing robot, including setting up the track in the well head top, orbital shape and deicing route looks adaptation, the track passes through rail brackets and installs in well head, set up on the track and can follow orbital motion's robot and remove the body, the robot removes the robot deicing body that body below is connected along with its removal, the pit shaft lift can be followed to the robot deicing body, the robot deicing body includes deicing machine case, one side that deicing machine case is close to the pit shaft lateral wall sets up a plurality of telescopic side skates, deicing machine case terminal surface sets up a plurality of telescopic end skates down. The utility model provides a new defroster, this kind of mode is compared with traditional artifical deicing, has reduced the cost of labor, and the deicing has dangerous hidden danger to the workman in the pit shaft, the better human life safety of guarantee of this kind of mode.

Description

Shaft deicing robot

Technical Field

The utility model relates to a mine deicing technical field especially relates to a pit shaft deicing robot.

Background

The temperature is lower in winter in vast areas in the north of China, especially in severe cold areas such as northwest, northeast, when the temperature drops below zero, because the low temperature air flow that leads to in the pit shaft in the pit coal mine meets with the vapor in the air flow and condenses into ice easily, long-time so lead to the pit shaft lateral wall to produce the ice, and the ice is attached to the equipment of the wall of a well and is accumulated day by day, can produce the ice cube, and when the lateral wall adhesive force is not enough to support the ice cube, the damage that can cause the shaft bottom is dropped suddenly to the ice cube. Therefore, the shaft is an important guarantee for the safety production of the coal mine in winter.

In order to solve the problem, some coal mines can arrange special teams to be responsible for deicing and protecting safety, and a large amount of manpower and material resources are consumed. Some methods for melting ice by laying a heating device can prevent the icing condition from occurring and melt the icing or accumulated snow in time. The method has some defects, a large amount of electric energy is still consumed by converting the electric energy into the heat energy, and the construction difficulty is large, so that the method is not beneficial to popularization and implementation.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, a shaft deicing robot is provided to solve the problems in the background art.

In order to achieve the above purpose, the present invention is realized by the following technical solution:

the utility model provides a pit shaft deicing robot, including setting up the track in the well head top, orbital shape and deicing route looks adaptation, the track passes through the track support mounting in well head department, set up on the track and can follow the robot of rail-engaging and remove the body, the robot removes the robot deicing body that the body below is connected and is removed along with it, the robot deicing body can be followed the pit shaft and gone up and down, the robot deicing body includes deicing machine case, one side that deicing machine case is close to the pit shaft lateral wall sets up a plurality of telescopic side ice knives, the terminal surface sets up a plurality of telescopic end ice knives under the deicing machine case.

As a further technical solution of the present invention: the robot removes the body and includes the mainframe box, and the mainframe box upper end articulates through the wheel carrier pivot has running gear, and running gear includes the U-shaped wheel carrier, and two inboard symmetries of U-shaped wheel carrier are provided with the walking wheel, and U-shaped wheel carrier upper end both sides are fixed respectively and are set up the deflector, and the deflector is close to orbital one side and is provided with the leading wheel.

As a further technical solution of the present invention: the robot moving body is connected with the robot deicing body through one or more steel wire ropes, one end of each steel wire rope is wound on a winch, and the winch is arranged in the mainframe box.

As a further technical solution of the present invention: one end of the side ice blade extends to the inner cavity of the deicing machine case and then is fixedly connected with the side ice blade frame, one end of the bottom ice blade extends to the inner cavity of the deicing machine case and then is fixedly connected with the bottom ice blade frame, and the side ice blade frame and the bottom ice blade frame are driven by a driving mechanism to move.

As a further technical solution of the present invention: the driving mechanism comprises an impact cylinder, the impact cylinder is installed on a cylinder seat, and the cylinder seat is fixed on the inner wall of the deicing machine box.

As a further technical solution of the present invention: supporting rods are arranged at four corners of one side face of the deicing cabinet, which is provided with the side ice knives.

As a further technical solution of the present invention: and a side ball machine for observing the deicing condition of the side wall of the shaft is arranged on one side surface of the deicing cabinet provided with the side ice blade, and a bottom ball machine for observing the bottom deicing effect is arranged on the surface of the deicing cabinet provided with the bottom ice blade.

As a further technical solution of the present invention: and the left side surface and the right side surface of the deicing cabinet are also provided with laser ranging sensors for detecting the distance from the robot deicing body to the bottom thick ice layer.

The utility model has the advantages that:

the utility model discloses a set up the robot at the well head and remove the body, the robot removes the body and drives the robot deicing body and remove to needs deicing position, by the flexible impact deicing of this side ice blade of robot deicing and end ice blade. The utility model provides a new defroster, this kind of mode is compared with artifical deicing of tradition, has reduced the cost of labor, and deicing has dangerous hidden danger to the workman in the pit shaft, the better guarantee human life safety of this kind of mode. Compared with the traditional mode of heating through building and melting and icing, the deicing efficiency is faster, and the energy is saved, and simple structure is reliable, and adaptability is wide can satisfy pit shaft detection demand.

Drawings

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a schematic view of a main structure of a robot moving body;

FIG. 3 is a partial enlarged view of A in FIG. 1;

FIG. 4 is a partial enlarged view of B in FIG. 1;

fig. 5 is a main structural schematic diagram of an inner cavity of a robot deicing body.

In the figure: 1-wellhead, 2-track, 3-track support, 4-robot moving body, 41-mainframe box, 42-wheel carrier rotating shaft, 43-walking mechanism, 44-U-shaped wheel carrier, 45-walking wheel, 46-guide plate, 47-guide wheel, 5-robot deicing body, 51-deicing machine box, 52-side ice skate, 53-bottom ice skate, 54-side ice skate frame, 55-bottom ice skate frame, 56-impact cylinder, 57-cylinder seat, 6-steel wire rope, 7-support rod, 8-side ball machine, 9-bottom ball machine and 10-laser ranging sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-5, a shaft deicing robot comprises a track 2 arranged above a wellhead 1, wherein the track 2 is an i-shaped track, the shape of the track 2 is matched with a deicing route, the track 2 is a modular track and can be spliced in sections, and the track 2 in a corresponding shape is spliced according to the deicing route. Track 2 passes through track support 3 to be installed in well head 1 department, and the quantity of building track support 3 at well head 1 is a plurality of, and the even setting in interval is on track 2, and 3 upper ends of track support are connected with track 2, and 3 lower extreme well heads of track support 1 are connected.

The robot moving body 4 capable of walking along the track 2 is arranged on the track 2, the robot moving body 4 comprises a main case 41, the upper end of the main case 41 is hinged with two walking mechanisms 43 through a wheel frame rotating shaft 42, each walking mechanism 43 comprises a U-shaped wheel frame 44, the U-shaped wheel frames 44 are hinged with the wheel frame rotating shaft 42, and the U-shaped wheel frames 44 can freely rotate around the wheel frame rotating shaft 42.

The two inner sides of the U-shaped wheel frame 44 are symmetrically provided with traveling wheels 45, the traveling wheels 45 are hub motors, and the traveling wheels 45 are pressed on the plane below the I-shaped track 2 to provide traveling power for the robot moving body 4. Guide plates 46 are respectively fixedly arranged on two sides of the upper end of the U-shaped wheel frame 44, and guide wheels 47 are arranged on one side, close to the track 2, of each guide plate 46. The two guide plates 46 are respectively positioned at two sides of the track 2, two guide wheels 47 are installed on each guide plate 46, the guide wheels 47 can be attached to the vertical plane of the I-shaped steel track 1, and when the robot turns, under the action of the guide wheels 47, the U-shaped wheel frame 44 and the guide plates 46 can rotate to a proper turning angle around the wheel frame rotating shaft 42, so that the robot can smoothly turn.

The robot deicing body 5 moving along with the robot moving body 4 is connected below the robot moving body 4, and the robot deicing body 5 can lift along a shaft. The robot moving body 4 is connected with the robot deicing body 5 through a steel wire rope 6, one or more steel wire ropes 6 are arranged on the steel wire rope 6, one end of each steel wire rope 6 is wound on a winch, and the winch is arranged in the main case 41. Through the operation of capstan winch, wire rope 6 can realize stretching out and drawing back to drive robot deicing body 5 up-and-down motion in the pit shaft. The robot deicing body 5 is driven to move horizontally in the shaft by the walking of the robot moving body 46 on the track 1.

The robot deicing body 5 comprises a deicing cabinet 51, wherein a plurality of telescopic side ice blades 52 are arranged on one side of the deicing cabinet 51 close to the side wall of the shaft, and a plurality of telescopic bottom ice blades 53 are arranged on the lower end face of the deicing cabinet 51. One end of the side ice blade 52 extends to the inner cavity of the deicing machine case 51 and then is fixedly connected with the side ice blade frame 54, one end of the bottom ice blade 53 extends to the inner cavity of the deicing machine case 51 and then is fixedly connected with the bottom ice blade frame 55, and the side ice blade frame 54 and the bottom ice blade frame 55 move under the drive of a drive mechanism. The driving mechanism comprises an impact cylinder 56, the impact cylinder 56 is arranged on a cylinder seat 57, and the cylinder seat 57 is fixed on the inner wall of the deicing machine box 51. The impact cylinder 56 is telescopic to drive the side ice blade frame 54 or the bottom ice blade frame 55 to move so as to realize the movement of the side ice blade 52 and the bottom ice blade 53, the side ice blade 52 reciprocates to remove thin ice on the side wall of a shaft, and the driving mechanism in the deicing machine box 51 can be telescopic to impact to deice. When the ice on the side wall of the shaft is thick and continuously extends inwards, the bottom ice knife 53 is used for removing thick ice on the side wall of the shaft,

deicing is achieved by telescopic reciprocating impact of a mechanism within the ice bin 56.

Supporting rods 7 are arranged at four corners of one side surface of the deicing cabinet 51 where the side ice blades 52 are arranged. One side surface of the deicing cabinet 51, which is provided with the side ice blade 52, is provided with a side ball machine 8 for observing the deicing condition of the side wall of the shaft, and the surface of the deicing cabinet 51, which is provided with the bottom ice blade 53, is provided with a bottom ball machine 9 for observing the bottom deicing effect. The left side and the right side of the deicing machine case 51 are also provided with laser ranging sensors 10 for detecting the distance from the robot deicing body 5 to the bottom thick ice layer.

The utility model discloses specific embodiment:

a rail bracket 3 is built on the wellhead 1, and the modular rail 1 is installed on the rail bracket 3 according to the shape of the wellhead 1 and the path to be deiced. The robot moving body 4 is mounted on the rail 1. The lower end of the steel wire rope 6 is connected with the deicing machine box 51, and the steel wire rope 65 is driven to stretch by the operation of a winch in the main machine box 41, so that the robot deicing body 5 is driven to move up and down in a shaft.

In the downward movement process of the robot deicing body 5, the supporting rod 7 is tightly attached to the well wall, so that the suspension and shaking of the robot are avoided. Through laser range finding sensor 10, can detect the distance of robot deicing body 5 apart from the thick ice sheet in bottom, avoid the striking to cause the robot damage. Meanwhile, the deicing condition of the side wall of the shaft can be observed through a lateral ball machine 54. In the event of sidewall icing, the side ice blade 52 initiates an impact deicing mode, reciprocating impact deicing. When the ice block on the side wall is large, the ice bottom blade 53 is started to impact for deicing. In the deicing process, the deicing effect is observed through the side ball machine 8 and the bottom ball machine 9, and the ice which is not removed is continuously removed. And after the ice at the position is removed, the robot moving body 4 walks on the track 2 to drive the robot deicing body 5 to move horizontally in the shaft. The next zone is cleared of ice. And circulating in such a way, and gradually removing the ice coated on the side wall of the shaft.

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.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A wellbore de-icing robot, characterized by: including setting up track (2) in well head (1) top, install in well head (1) department through track support (3) track (2), set up robot removal body (4) that can follow track (2) walking on track (2), robot removes robot deicing body (5) of body (4) below connection along with its removal, robot deicing body (5) can be followed the pit shaft and gone up and down, robot deicing body (5) are including deicing machine case (51), one side that deicing machine case (51) are close to the pit shaft lateral wall sets up a plurality of telescopic side skates (52), terminal surface sets up a plurality of telescopic end skates (53) under deicing machine case (51).

2. A wellbore de-icing robot as defined in claim 1, wherein: the robot moving body (4) comprises a main case (41), a traveling mechanism (43) is hinged to the upper end of the main case (41) through a wheel carrier rotating shaft (42), the traveling mechanism (43) comprises a U-shaped wheel carrier (44), traveling wheels (45) are symmetrically arranged on two inner sides of the U-shaped wheel carrier (44), guide plates (46) are fixedly arranged on two sides of the upper end of the U-shaped wheel carrier (44) respectively, and guide wheels (47) are arranged on one side, close to the track (2), of each guide plate (46).

3. A wellbore de-icing robot as recited in claim 2, wherein: the robot moving body (4) is connected with the robot deicing body (5) through a steel wire rope (6), one or more steel wire ropes (6) are arranged, and one end of each steel wire rope (6) is wound on a winch in the main case (41).

4. A wellbore de-icing robot as defined in claim 1, wherein: one end of the side ice blade (52) extends to the inner cavity of the deicing machine box (51) and then is fixedly connected with the side ice blade frame (54), one end of the bottom ice blade (53) extends to the inner cavity of the deicing machine box (51) and then is fixedly connected with the bottom ice blade frame (55), and the side ice blade frame (54) and the bottom ice blade frame (55) move under the drive of a drive mechanism.

5. A wellbore de-icing robot as recited in claim 4, wherein: the driving mechanism comprises an impact cylinder (56), the impact cylinder (56) is installed on a cylinder seat (57), and the cylinder seat (57) is fixed on the inner wall of the deicing machine box (51).

6. A wellbore de-icing robot as defined in claim 1, wherein: supporting rods (7) are arranged at four corners of one side face of the deicing cabinet (51) provided with the side ice blades (52).

7. A wellbore de-icing robot as recited in claim 1, wherein: one side surface of the deicing cabinet (51) provided with the side ice blade (52) is provided with a side ball machine (8) for observing the deicing condition of the side wall of the shaft, and the surface of the deicing cabinet (51) provided with the bottom ice blade (53) is provided with a bottom ball machine (9) for observing the bottom deicing effect.

8. A wellbore de-icing robot as defined in claim 1, wherein: and laser ranging sensors (10) for detecting the distance from the robot deicing body (5) to the bottom thick ice layer are further arranged on the left side and the right side of the deicing cabinet (51).