CN214272209U - Intelligent dredging robot for mine sump - Google Patents
Intelligent dredging robot for mine sump Download PDFInfo
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- CN214272209U CN214272209U CN202023235589.3U CN202023235589U CN214272209U CN 214272209 U CN214272209 U CN 214272209U CN 202023235589 U CN202023235589 U CN 202023235589U CN 214272209 U CN214272209 U CN 214272209U
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- 239000010802 sludge Substances 0.000 claims abstract description 93
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 61
- 238000000926 separation method Methods 0.000 claims abstract description 29
- 239000010865 sewage Substances 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000003825 pressing Methods 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 16
- 238000005065 mining Methods 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- Treatment Of Sludge (AREA)
Abstract
The utility model provides a mine sump intelligence desilting robot relates to mining engineering and robotic equipment technical field, has solved mine sump silt viscosity big and clear up inconvenient technical problem. The robot comprises a robot body, a driving mechanism, a bucket mechanism, a sludge conveying mechanism, a detection mechanism and a storage mechanism, wherein the robot body runs or turns in a water sump under the matching of the driving mechanism, a sludge digging bucket of the bucket mechanism is connected with the robot body through a hydraulic rod, the sludge conveying mechanism is installed on the robot body, the detection mechanism comprises a cloud camera and a radar device, the camera is installed on the robot body and rotates along an installation part, the sludge conveying mechanism is connected with the robot body, and a sludge-water separation device of the sludge conveying mechanism separates sludge and sewage and stores the sludge and the sewage to the storage mechanism respectively. After the robot enters the mine sump, muddy water is absorbed by the bucket and is separated from sludge and sewage by the sludge storage mechanism, so that the cleaning efficiency is improved, and the labor intensity is reduced.
Description
Technical Field
The utility model belongs to the technical field of mining engineering and robotic equipment technique and specifically relates to a mine sump intelligence desilting robot.
Background
With the exploitation of shallow coal resources, coal mining has shifted to deep, which puts new requirements on the safety and intellectualization of coal mining. In deep mining, especially under the soft rock geological conditions of western regions, the drainage energy requirement of the underground ditch of the coal mine is higher. Especially, when deep mining is carried out, the water inflow for mines is increased, silt and broken stones in water can cause ditch blockage and influence drainage, and in addition, the accumulation of the silt in the water sump can also cause the water storage capacity of the water sump to be reduced. At present, for small and medium-sized water bins, water is generally required to be pumped and dried for cleaning, and then the water bins are cleaned, and the cleaning mode is complex in construction, low in efficiency and high in labor intensity. Because the restriction of the topography of sump and size in the pit, generally can't use large-scale engineering machine tool to carry out mechanized operation, also some cleaning equipment set up on floating platform, and these equipment mostly need manual operation, clean inefficiency, and with high costs, still have the potential safety hazard.
Therefore, the intelligent mining requirements are met, the cleaning efficiency of the water sump is improved, the cleaning cost of the water sump is reduced, manual operation is reduced, and the existing mine water sump dredging equipment is further improved.
SUMMERY OF THE UTILITY MODEL
In order to solve the big inconvenient technical problem of clearance of mine sump silt viscosity, reduce artifical intensity of labour, improve clean efficiency, reduce the clearance cost, guarantee sump clearance safety, the utility model provides a mine sump intelligence desilting robot, specific technical scheme is as follows.
An intelligent dredging robot for a mine sump comprises a vehicle body, a driving mechanism, a bucket mechanism, a sludge conveying mechanism, a detection mechanism and a storage mechanism, wherein a crawler-type mechanism of the driving mechanism drives the vehicle body to walk and turn, a sludge digging bucket of the bucket mechanism is connected with the vehicle body through a hydraulic rod, and the sludge conveying mechanism is installed on the vehicle body; the detection mechanism comprises a cloud camera and a radar device, and the camera is mounted on the vehicle body and rotates along the camera mounting part; the sludge conveying mechanism is connected with the storage mechanism, the storage mechanism is arranged in the vehicle body, the sludge-water separation device of the sludge conveying mechanism separates sludge and sewage, and the sludge and the sewage are respectively stored in the storage mechanism; the scraper bowl mechanism sets up in the place ahead of automobile body traffic direction, and silt conveying mechanism's silt delivery board both sides are provided with a plurality of high-pressure squirts, and the high-pressure squirt passes through high-pressure cable and links to each other with the storage water tank, and the play water direction and the silt direction of delivery of high-pressure squirt are the same.
Preferably, the hydraulic rod controls the movement of the bucket, the hydraulic rod is fixed on the vehicle body through a hydraulic steering device, and the hydraulic steering device controls the hydraulic rod to swing.
Preferably, the mud digging bucket comprises a bucket, a movable baffle and a fixed baffle, the fixed baffle is arranged on two sides of the bucket, and the movable baffle is arranged at the opening of the bucket.
Preferably, the mud-water separation device comprises a separator, a separation pressing plate, a filter screen, a dirt storage box and a sludge conveying pipeline, the sludge conveying pipeline is connected with the separator, the separation pressing plate moves up and down along a separation chamber of the separator, a movable baffle and the filter screen are arranged at the lower part of the separator, and a sewage outlet is formed in the dirt storage box.
Still preferably, the separator and the separation pressing plate are both provided with ultrasonic vibration devices, and the separation pressing plate is connected with the vehicle body through a compression oil cylinder.
Preferably, the storage mechanism comprises a water storage tank and a sludge storage tank, a sludge conveying channel is arranged between the sludge storage tank and the bottom of the separator of the sludge-water separation device, and a bottom plate of the separator is provided with a sludge pushing plate; the water storage tank is connected with a sewage outlet on the sewage storage box through a water pipe.
Preferably, the vehicle body is internally sealed, the vehicle body is provided with an air outlet and an air inlet, the vehicle body is internally provided with an air pump, an outlet of the air pump is connected with the air inlet on the vehicle body, and the air outlet is provided with a one-way valve.
It is further preferred that a thermometer, a hygrometer and a barometer are arranged in the vehicle body, the thermometer, the hygrometer and the barometer transmit monitoring information to the control device, and the control device controls an air pump in the vehicle body to work so as to maintain the stability of the temperature, the humidity and the air pressure in the vehicle body.
The utility model provides a pair of mine sump intelligence desilting robot's beneficial effect includes: the intelligent dredging robot cleans the sludge by adopting a mud-water mixture pump suction mode, so that the dredging is more convenient, and the high-pressure water gun discharges water to convey the sludge, so that the cleaning efficiency and the cleaning safety are ensured; the sludge conveying mechanism is used for separating sludge and sewage, the sludge and the sewage can be quickly separated through extrusion, and the arrangement of the ultrasonic vibration device is convenient for separating viscous sludge; the vehicle body uses a crawler-type traveling mechanism, the moving performance is enhanced, and the camera and the control device are matched to facilitate control. In addition, the robot utilizes gas circulation to ensure the stability of the humidity and the air pressure in the vehicle body in the cleaning process, and the storage mechanism can timely discharge slag, thereby realizing automatic intelligent cleaning.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent dredging robot for a mine sump;
FIG. 2 is a schematic illustration of a configuration of a dredge bucket;
FIG. 3 is a schematic view of the arrangement of the mud-water separating device and the storage mechanism;
FIG. 4 is a schematic view of a mud-water separation device;
FIG. 5 is a schematic structural view of a sludge conveying mechanism;
in the figure: the method comprises the following steps of 1-a vehicle body, 2-a cloud camera, 3-a hydraulic steering device, 4-a hydraulic rod, 5-a mud digging bucket, 6-a sludge conveying plate, 7-a high-pressure pipe cable, 8-a crawler-type mechanism, 9-a high-pressure water gun, 10-a separator, 11-a separating pressing plate, 12-a filter screen, 13-a dirt storage box, 14-a sludge conveying pipeline, 15-a water storage tank, 16-a mud storage tank, 17-a shovel hopper, 18-a movable baffle, 19-a fixed baffle and 20-a compression oil cylinder.
Detailed Description
The following describes a specific embodiment of the intelligent dredging robot for the mine sump provided by the present invention with reference to fig. 1 to 5.
An intelligent dredging robot for a mine sump comprises a vehicle body, a driving mechanism, a bucket mechanism, a sludge conveying mechanism, a detecting mechanism and a storage mechanism, wherein the driving mechanism can provide moving power for the vehicle body; the sludge conveying mechanism and the storage mechanism are combined to convey and separate sludge-water mixture, and the detection mechanism is matched with the bucket mechanism and the driving mechanism to work to ensure normal walking motion of the robot. The crawler-type mechanism of actuating mechanism drives the automobile body walking and turns to, specifically is that the differential of the crawler-type mechanism 1 of automobile body both sides turns to, and the mud digging scraper bowl 5 of scraper bowl mechanism links to each other with the automobile body through the hydraulic stem, and the scraper bowl can realize going up and down, shrink and rotatory, and silt conveying mechanism installs on the automobile body. Detection mechanism includes cloud camera 2 and radar installations, and the camera is installed on the automobile body and is rotated along the camera installation department, and radar installations disposes in each side of automobile body, and environment in the mine sump is surveyed to cloud camera 2, and the safety of automobile body walking is guaranteed to radar installations, surveys the environment around the automobile body. The sludge conveying mechanism is connected with the storage mechanism, the storage mechanism is arranged in the vehicle body, the sludge-water separation device of the sludge conveying mechanism separates sludge and sewage, and the sludge and the sewage are stored in the storage mechanism respectively, so that the vehicle body can be utilized to transport the sludge and the sewage. The scraper bowl mechanism sets up in the place ahead of automobile body traffic direction, and 6 both sides of silt delivery board of silt conveying mechanism are provided with a plurality of high-pressure squirts 9, and high-pressure squirt 9 links to each other through high-pressure pipe cable 7 and storage water tank 15, and the play water direction and the silt direction of delivery of high-pressure squirt 9 are the same, and high-pressure squirt 9 sprays and forms mud, and silt conveying mechanism pumps this mud to accomplish the desilting in sump.
The hydraulic stem 4 control scraper bowl removes, and hydraulic stem 4 turns to the device through hydraulic pressure and fixes on the automobile body, and hydraulic pressure turns to 3 control hydraulic stem 4 swings of device, and the swing of scraper bowl, quick clearance sump silt can be realized to hydraulic stem 4 and hydraulic pressure turn to the cooperation of device 3. The excavating shovel hopper comprises a shovel hopper 17, a movable baffle 18 and a fixed baffle 19, the fixed baffles are arranged on two sides of the shovel hopper 17, and the movable baffle is arranged at the opening of the shovel hopper.
The mud-water separation device comprises a separator 10, a separation pressing plate 11, a filter screen 12, a sludge storage box 13 and a sludge conveying pipeline 14, wherein the separator 10 can be square, a fence is arranged on the inner side of the separator, the shape of the separation pressing plate 11 is the same as the shape of the cross section of the separator, the sludge conveying pipeline 14 is connected with the separator 10, the separation pressing plate 11 moves up and down along a separation chamber of the separator, a movable baffle and the filter screen are arranged on the lower portion of the separator 10, and a sewage outlet is formed in the sludge storage box 13. The mud-water separation device filters out water by means of the filter cloth through extrusion, and the mechanism is simple. The separator 10 and the separating pressure plate 11 are both provided with ultrasonic vibration devices, and the separating pressure plate is connected with the vehicle body 1 through a compression oil cylinder 20.
The storage mechanism comprises a water storage tank 15 and a sludge storage tank 16, a sludge conveying channel is arranged between the sludge storage tank 15 and the bottom of the separator 10 of the sludge-water separation device, a sludge pushing plate is arranged on the bottom plate of the separator 10, and sludge is pushed into the sludge storage tank from the sludge conveying channel by the movement of the sludge pushing plate. The sensor can be arranged in the sludge storage tank 16, so that the sludge amount in the sludge storage tank can be accurately determined, and the sludge can be cleaned in time. The water storage tank is connected with a sewage outlet on the sewage storage box through a water pipe, so that the sewage is stored.
The vehicle body 1 is internally sealed, an air outlet and an air inlet are arranged on the vehicle body 1, an air pump is arranged in the vehicle body 1, an outlet of the air pump is connected with the air inlet on the vehicle body, and a one-way valve is arranged at the position of the air outlet. The air circulation system in the vehicle body consists of the air inlet and outlet one-way valve and the air pump, so that the air pressure, the humidity and the temperature in the vehicle body are all maintained in a stable state, and the reliability of the integral operation of the machine is kept.
The intelligent dredging robot for the mine sump pumps mud with the mud-water mixture in the sump through the sludge conveying mechanism, the mud is filtered, classified and compacted in the vehicle body, in addition, the sewage is secondarily utilized, and when the sludge in the vehicle body reaches a limit amount, the mud is timely transported away from the sump. The intelligent dredging robot can efficiently, safely and conveniently clean sludge, effectively reduces manual labor force used in the process of cleaning the water sump, improves the safety factor in the cleaning process, and improves the water capacity of the water sump to the maximum extent.
In order to explain the use and beneficial effect of the robot only by a bar, the intelligent dredging method for the mine sump is provided, the intelligent dredging robot for the mine sump is utilized, and the steps comprise:
s1, after the intelligent dredging robot for the mine sump enters the mine sump, the driving mechanism drives the vehicle body to move in the sump. The crawler-type mechanism is favorable for increasing the ground gripping force of the vehicle body and improving the anti-skid capacity of the machine.
S2, the detection structure rotates the camera to detect the position of the sludge in the mine sump, and the sludge is fed back to the control device.
And S3, the control device sends an instruction to the driving mechanism, the vehicle body moves to the position of the sludge, and the bucket mechanism works.
And S4, the excavating bucket of the bucket mechanism is moved to work under the control of the hydraulic steering device and the hydraulic rod.
And S5, the sludge is shoveled by the sludge digging bucket and taken into a sludge conveying plate of the sludge conveying mechanism, a movable baffle of the bucket mechanism is opened, and a high-pressure water gun works. Utilize the high-pressure squirt can fully dilute the silt of following the scraper bowl and pouring, prevent effectively that to glue thick silt adhesion on silt delivery board to improve the whole work efficiency of robot.
And S6, the sludge conveying mechanism conveys the sludge-water mixture to a sludge-water separation device, and a separation pressing plate of the sludge-water separation device moves up and down to separate sludge and sewage.
And S7, conveying the separated sludge to a sludge storage tank of a storage mechanism through a sludge conveying channel, and feeding sewage into the water storage tank through a water pipe.
S8, the driving mechanism drives the vehicle body to drive away from the mine sump, and the intelligent dredging robot for the mine sump discharges sludge.
And the driving mechanism drives the vehicle body to drive the vehicle body to leave the mine sump after the volume of the sludge in the sludge storage tank is more than 80 percent of the total volume of the sludge storage tank. Be provided with thermometer, hygrometer and barometer in the automobile body, thermometer, hygrometer and barometer transmit monitoring information to controlling means, and controlling means controls the work of the internal air pump of automobile, maintains the stability of internal temperature of automobile, humidity and atmospheric pressure.
In addition, the intelligent dredging robot adopts a mud-water mixture pumping mode to clean the sludge, so that the dredging is more convenient, and the high-pressure water gun discharges water to convey the sludge, so that the cleaning efficiency and the cleaning safety are ensured; the sludge conveying mechanism is used for separating sludge and sewage, the sludge and the sewage can be quickly separated through extrusion, and the arrangement of the ultrasonic vibration device is convenient for separating viscous sludge; the vehicle body uses a crawler-type traveling mechanism, the moving performance is enhanced, and the camera and the control device are matched to facilitate control. In addition, the robot utilizes gas circulation to ensure the stability of the humidity and the air pressure in the vehicle body in the cleaning process, and the storage mechanism can timely discharge slag, thereby realizing automatic intelligent cleaning.
Of course, the above description is not intended to limit the present invention, and is not intended to be limited to the above examples, and variations, modifications, additions and substitutions within the spirit and scope of the present invention may be made by those skilled in the art.
Claims (8)
1. An intelligent dredging robot for a mine sump is characterized by comprising a vehicle body, a driving mechanism, a bucket mechanism, a sludge conveying mechanism, a detecting mechanism and a storage mechanism, wherein a crawler-type mechanism of the driving mechanism drives the vehicle body to walk and turn, a sludge digging bucket of the bucket mechanism is connected with the vehicle body through a hydraulic rod, and the sludge conveying mechanism is installed on the vehicle body; the detection mechanism comprises a cloud camera and a radar device, and the camera is mounted on the vehicle body and rotates along the camera mounting part; the sludge conveying mechanism is connected with the storage mechanism, the storage mechanism is arranged in the vehicle body, the sludge-water separation device of the sludge conveying mechanism separates sludge and sewage, and the sludge and the sewage are respectively stored in the storage mechanism; the scraper bowl mechanism sets up in the place ahead of automobile body traffic direction, and silt conveying mechanism's silt delivery board both sides are provided with a plurality of high-pressure squirts, and the high-pressure squirt passes through high-pressure cable and links to each other with the storage water tank, and the play water direction and the silt direction of delivery of high-pressure squirt are the same.
2. The intelligent dredging robot for the mine sump according to claim 1, wherein the hydraulic rod controls the bucket to move, the hydraulic rod is fixed on the vehicle body through a hydraulic steering device, and the hydraulic steering device controls the hydraulic rod to swing.
3. The intelligent dredging robot for the mine sump according to claim 1, wherein the sludge digging bucket comprises a bucket, a movable baffle and a fixed baffle, the fixed baffle is arranged on two sides of the bucket, and the movable baffle is arranged at the opening of the bucket.
4. The intelligent dredging robot for the mine sump according to claim 1, wherein the mud-water separation device comprises a separator, a separation pressing plate, a filter screen, a sewage storage box and a sludge conveying pipeline, the sludge conveying pipeline is connected with the separator, the separation pressing plate moves up and down along a separation chamber of the separator, a movable baffle and the filter screen are arranged at the lower part of the separator, and a sewage outlet is arranged on the sewage storage box.
5. The mine sump intelligent dredging robot of claim 4, wherein the separator and the separation pressing plate are both provided with ultrasonic vibration devices, and the separation pressing plate is connected with the vehicle body through a compression oil cylinder.
6. The intelligent dredging robot for the mine sump according to claim 1, wherein the storage mechanism comprises a water storage tank and a sludge storage tank, a sludge conveying channel is arranged between the sludge storage tank and the bottom of the separator of the sludge-water separation device, and a sludge pushing plate is arranged on the bottom plate of the separator; the water storage tank is connected with a sewage outlet on the sewage storage box through a water pipe.
7. The intelligent dredging robot for the mine sump according to claim 1, wherein the interior of the vehicle body is sealed, an air outlet and an air inlet are arranged on the vehicle body, an air pump is installed in the vehicle body, an outlet of the air pump is connected with the air inlet on the vehicle body, and a check valve is arranged at the position of the air outlet.
8. The intelligent dredging robot for the mine sump according to claim 1, wherein a thermometer, a hygrometer and a barometer are arranged in the vehicle body, the thermometer, the hygrometer and the barometer transmit monitoring information to the control device, and the control device controls an air pump in the vehicle body to work so as to maintain the stability of the temperature, the humidity and the air pressure in the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023235589.3U CN214272209U (en) | 2020-12-28 | 2020-12-28 | Intelligent dredging robot for mine sump |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023235589.3U CN214272209U (en) | 2020-12-28 | 2020-12-28 | Intelligent dredging robot for mine sump |
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| Publication Number | Publication Date |
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| CN214272209U true CN214272209U (en) | 2021-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023235589.3U Expired - Fee Related CN214272209U (en) | 2020-12-28 | 2020-12-28 | Intelligent dredging robot for mine sump |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114293610A (en) * | 2021-11-24 | 2022-04-08 | 淮北矿业股份有限公司 | Coal mine bottom sump sludge cleaning equipment |
-
2020
- 2020-12-28 CN CN202023235589.3U patent/CN214272209U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114293610A (en) * | 2021-11-24 | 2022-04-08 | 淮北矿业股份有限公司 | Coal mine bottom sump sludge cleaning equipment |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210924 |