Robot and control method for descaling of coal mine main drainage pipeline

Abstract

The invention discloses a robot for scale removal of a water drainage pipe of a coal mine and a control method. The pipe robot is based on a bionic crawling principle, three pushing and propping units are used, by alternately extension and retracting of a front propelling unit and a rear propelling unit, the robot can crawl in the pipe like an earthworm, two pushing and propping units and a pipe wall are clamped tightly in each movement step, the units are connected with candan universal joints, turning movement can be realized, each pushing and propping unit is provided with an underactuated claw foot, and the underactuated claw feet are effectively hooked and attached to the pipe wall. The pipe robot is driven hydraulically, is small in size, simple in structure and large in unit weight output power, stepless speed regulation can be realized, a hydraulic station of the robot moves in the pipe, a ground hydraulic station is not required, and only a cable needs to be dragged for power supply. The scale is removed by water jet, and therefore, the robot is pollution-free, low in cost and high in cleaning efficiency.

Description

technical field [0001] The invention relates to the field of pipeline cleaning, in particular to a descaling robot for coal mine main drainage pipelines. Background technique [0002] The main drainage pipe is an important part of the coal mine drainage system. The main drainage pipe is long, and the mine water contains impurities such as coal slime. After the pipe is drained for a certain period of time, the impurities in the water will gradually deposit and solidify on the inner wall of the pipe to form scale. As a result, the inner diameter of the pipeline is reduced, the hydraulic radius is reduced, and the flow capacity is reduced. Severe scaling will block the pipeline and affect the safe operation of the operation. To ensure safe and efficient drainage operations, scale should be removed from the pipes on a regular basis. [0003] At present, the methods used in the descaling of the main drainage pipes of coal mines mainly include: (1) chemical descaling method, firs...

AI Technical Summary

Problems solved by technology

When the pig is moving, it is easy to impact or wear the pipe wall, causing damage. If the flow rate of sewage in the pipe is fast, it will lead to incomplete descaling and low pigging efficiency. Jamming at elbows or valves

(3) Ultrasonic descaling method, which uses the cavitation and shearing action of ultrasound to make the scale layer fall off, and the effect of ultrasonic waves will be weakened with the change of the fluid direction in the pipe, so the elbow of the drainage pipeline will weaken the descaling effect

The above descaling devices are driven by winches or fluids, the traction force and moving speed are difficult to control, the movement stability is poor, and the scraper carried will cause damage to the pipe wall. In addition, the scaling situation and cleaning effect in the pipe cannot be detected.

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