Environment-friendly and energy-saving filter tank mechanical material digging and filtering system and process method

Abstract

The present application relates to filter tank loading and unloading filter material technical field, the present application discloses a kind of environment-friendly energy-saving type filter tank mechanical loading and unloading filter material system and process method, including filter tank, hydraulic station being located at the outside of the filter tank and filter material loading vehicle, the robot is equipped in the filter tank, hydraulic tube bundle is installed at the output end of the hydraulic station, self-adjusting screw conveyor assembly is installed in the filter tank.The present application is compact in structure, can be widely used in explosion-proof restricted space.Full-hydraulic robot is used to load and unload filter material, which changes the traditional manual loading and unloading filter material mode.The control and power system of tracked robot are placed outside the tank, so that the robot meets the explosion-proof use condition.The shell of screw conveyor is designed in two-piece structure with inner cylinder and outer cylinder, and is driven by hydraulic motor, which meets the explosion-proof requirement.The present application solves the safety hazard and occupational health of construction, reduces the labor intensity of construction, and improves the construction efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of filter canister loading and unloading filter material, and in particular to an environmentally friendly and energy-saving filter canister mechanical loading and unloading filter material system and a process method. Background Art

[0002] After a period of oilfield production, the filter media in the filter canister becomes contaminated, necessitating removal, regeneration, and reloading. This is especially frequent after polymer flooding is implemented. Existing filter canisters typically have a diameter of 2 to 4 meters, with access holes of DN500 to 600. The canisters must meet DIIBT4 explosion-proof ratings, and construction must be performed in a confined space. Traditionally, filter canisters were manually loaded and unloaded. However, due to the high temperatures and high oil and gas concentrations in the summer, manual loading and unloading is difficult, labor-intensive, and inefficient, posing safety risks and occupational health concerns. Summary of the Invention

[0003] In view of the existing technical situation, the present invention provides an environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system and process method, which solves the problems existing in traditional manual loading and unloading of filter materials, protects the occupational health of construction workers, reduces the labor intensity of loading and unloading filter materials, improves the construction efficiency of loading and unloading filter materials, and makes the entire construction process safer and more environmentally friendly.

[0004] The present invention is achieved through the following technical solutions: an environmentally friendly and energy-saving filter canister mechanical loading and unloading filter material system, comprising a filter canister, a hydraulic station located outside the filter canister, and a filter material loading vehicle, wherein the filter canister is provided with a top manhole at the upper end and a side wall manhole at the side wall, characterized in that an automatically retractable hydraulic pipeline reel is provided at the top manhole of the filter canister, a robot is provided in the filter canister, a hydraulic pipe bundle is installed at the output end of the hydraulic station, the hydraulic pipe bundle is wound around the automatically retractable hydraulic pipeline reel and the end is connected to the robot, and a self-adjusting screw conveyor assembly is installed in the filter canister near the side wall manhole;

[0005] The self-adjusting screw conveyor assembly includes a hydraulic motor and a sliding inner cylinder, a screw is installed at the driving end of the hydraulic motor, the screw passes through the sliding inner cylinder and a lower bearing seat is installed at the lower end, an upper bearing seat is installed at the top of the screw, a feed hopper is installed on the side wall below the sliding inner cylinder, a fixed outer cylinder is installed on the outside of the sliding inner cylinder, a copper sliding belt sliding sleeve is provided on the inner wall of the fixed outer cylinder, the sliding inner cylinder can slide up and down relative to the fixed outer cylinder, a discharge pipe is installed on the side wall above the fixed outer cylinder, one end of the discharge pipe passes through the manhole of the side wall and is installed with a receiving pipe, the other end of the receiving pipe extends to the filter material loading vehicle, and a guide movably connected to the screw is installed in the filter tank;

[0006] The guide includes a permanent magnetic suction block arranged on the inner wall of the filter tank, a sliding rod is installed at the lower end of the permanent magnetic suction block, a sliding sleeve is provided on the sliding rod, and the sliding sleeve is fixedly connected to the upper bearing seat.

[0007] Preferably, the robot includes a robot chassis and a walking hydraulic motor for driving the robot chassis, a platform is installed on the robot chassis, a rotating support and a rotating hydraulic motor are installed above the platform, a high-pressure rotating body is provided above the rotating support, a large arm is installed on the side of the rotating support, a large arm hydraulic cylinder is provided at the rotating support and the lower end of the large arm, a small arm is installed at the front end of the large arm, a small arm hydraulic cylinder is installed between the large arm and the small arm, a manipulator is installed at the lower end of the small arm, and a manipulator hydraulic cylinder is installed between the small arm and the manipulator;

[0008] The high-pressure rotating body includes a fixed cylinder fixed on the robot chassis, a rotating cylinder is mounted on the outside of the fixed cylinder, and the rotating cylinder can rotate synchronously with the rotating support. A plurality of hydraulic pipe joints are provided on the outside of the rotating cylinder, and a top cover is installed above the rotating cylinder. The top cover and the rotating cylinder are fixedly connected by bolts, a sealing strip is installed between the rotating cylinder and the fixed cylinder, a bottom limiting ball is installed between the bottom of the rotating cylinder and the bottom of the fixed cylinder, and a top limiting ball is installed between the fixed cylinder and the top cover.

[0009] Preferably, a control valve group is provided in the hydraulic station.

[0010] Preferably, the hydraulic station and the control valve group are arranged outside the filter tank, and the robot is arranged inside the filter tank. The hydraulic station controls the movement of the robot through a hydraulic pipe bundle. The hydraulic station and the control valve group are placed separately from the robot to meet the construction requirements of explosion-proof confined spaces.

[0011] Preferably, an explosion-proof imaging camera is installed obliquely at the manhole on the top of the filter tank.

[0012] Preferably, the explosion-proof imaging machine includes an explosion-proof camera and an explosion-proof industrial computer.

[0013] A process method for a mechanically loading and unloading filter material system for an environmentally friendly and energy-saving filter tank includes loading filter material and unloading filter material. The loading of filter material includes the following steps:

[0014] S1: The robot and self-adjusting screw conveyor assembly are placed inside the tank, and an automatic retractable hydraulic pipeline tray is installed at the manhole on the top of the filter tank. The hydraulic station of the robot's power system is connected to the robot with a hydraulic pipe bundle during construction. The power supply does not enter the filter tank, meeting the explosion-proof requirements;

[0015] S2: Start the hydraulic station and control the normal operation of each component of the robot through the control valve group;

[0016] S3: The robot moves by controlling the travel hydraulic motor, and the robot grabs the filter material inside the filter tank and delivers it to the feed hopper of the self-adjusting screw conveyor assembly by controlling the rotation hydraulic motor, the upper arm hydraulic cylinder, the lower arm hydraulic cylinder, and the manipulator hydraulic cylinder;

[0017] S4, the self-adjusting screw conveyor assembly conveys the material in the feed hopper to the receiving pipe and finally into the filter material loading vehicle;

[0018] S5: As the filter material layer inside the filter tank descends, the sliding inner cylinder and the spiral descend synchronously with the filter material layer, and the fixed outer cylinder remains in the fixed position of the side wall manhole, thereby completing the conveying length. Repeat the above steps to finally complete the filter material removal work;

[0019] The filter material installation comprises the following steps:

[0020] S6: Place the robot inside the filter tank, place the self-adjusting screw conveyor assembly outside the filter tank, and ensure that the feed hopper of the self-adjusting screw conveyor assembly is located inside the filter material loading vehicle, and the discharge pipe is connected to the inside of the filter tank. Install an automatic retractable hydraulic pipeline reel at the manhole on the top of the filter tank;

[0021] S7: Start the hydraulic station and control the normal movement of each component of the robot through the control valve group;

[0022] S8: The self-adjusting screw conveyor assembly is controlled by the robot to transport the regenerated filter material inside the filter tank for filling and leveling to form a filter material layer, thereby completing the filter material loading work.

[0023] Beneficial effects

[0024] The present invention provides an environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system and process method, which has the following beneficial effects: the present invention has a compact structure and can be widely used in explosion-proof confined spaces, changes the manual loading and unloading method of filter material, adopts a robot, and the crawler robot is fully hydraulically driven; the crawler robot is flexible in operation and can realize functions such as turning at any angle, walking, rotating on the spot, and lifting and grabbing of the manipulator; the robot control and power system are placed outside the tank, so that the robot meets the explosion-proof use conditions, while reducing the weight and volume of the robot itself, and meeting the requirement of being placed in the tank; the screw conveyor is driven by a hydraulic motor to meet the explosion-proof conditions, and the conveyor shell design adopts a two-body structure of an inner cylinder and an outer cylinder to realize that the screw conveyor outlet is fixed and the conveyor inlet sinks as the filter material in the tank is lowered, meeting the requirement of smooth loading and output of the filter material; the hydraulic station and the control valve group are placed outside the tank, and the robot is effectively controlled by collecting images in the tank through an explosion-proof camera to complete the unloading of the filter material, thereby solving the unsafe hidden dangers and occupational health of manual loading and unloading of the filter material construction, reducing labor intensity, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention.

[0026] Figure 2 Schematic diagram of the self-adjusting screw conveyor assembly of the present invention.

[0027] Figure 3 For the present invention Figure 2 A partial enlarged view of .

[0028] Figure 4 Schematic diagram of the structure of the robot of the present invention.

[0029] Figure 5 It is a structural schematic diagram of the high-pressure rotating body of the present invention.

[0030] In the figure: 1. Filter canister; 2. Hydraulic station; 3. Filter material loader; 4. Top manhole; 5. Side manhole; 6. Automatic telescopic hydraulic pipeline reel; 7. Robot; 8. Hydraulic pipe bundle; 9. Hydraulic motor; 10. Sliding inner cylinder; 11. Spiral; 12. Lower bearing seat; 13. Upper bearing seat; 14. Feed hopper; 15. Fixed outer cylinder; 16. Copper sliding belt sliding sleeve; 17. Discharge pipe; 18. Receiving pipe; 19. Permanent magnetic suction block; 20. Sliding rod; 21. Sliding sleeve; 22. Robot chassis; 23. Travel hydraulic motor; 24. Rotating support; 25. Rotating hydraulic motor; 26. Arm; 27. Arm hydraulic cylinder; 28. Forearm; 29. ​​Forearm hydraulic cylinder; 30. Manipulator; 31. Manipulator hydraulic cylinder; 32. Fixed cylinder; 33. Rotating cylinder. 34. Hydraulic pipe joint; 35. Top cover; 36. Sealing strip; 37. Bottom limit ball; 38. Top limit ball; 39. Explosion-proof imaging machine; 40. Control valve group. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] By those skilled in the art, the components in this case are connected in sequence. The specific connection and operation sequence should refer to the following working principle. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process.

[0033] Example 1: According to Figure 1 、 Figure 4It can be seen that an environmentally friendly and energy-saving filter canister mechanical loading and unloading filter material system includes a filter canister 1, a hydraulic station 2 located outside the filter canister 1, and a filter material loading vehicle 3. The filter canister 1 is provided with a top manhole 4 at the upper end and a side wall manhole 5 at the side wall. An automatic retractable hydraulic pipeline reel 6 is provided at the top manhole 4 of the filter canister 1. A robot 7 is provided inside the filter canister 1. A hydraulic pipe bundle 8 is installed at the output end of the hydraulic station 2. The hydraulic pipe bundle 8 is wound around the automatic retractable hydraulic pipeline reel 6 and the end is connected to the robot 7. A self-adjusting screw 11 conveyor assembly is installed near the side wall manhole 5 inside the filter canister 1.

[0034] This system arranges the robot 7 and the self-adjusting screw conveyor assembly inside the filter tank 1. The robot 7 includes a robot chassis 22 and a walking hydraulic motor 23 for driving the robot chassis 22. A platform is installed on the robot chassis 22, and a rotating support 24 and a rotating hydraulic motor 25 are installed above the platform. A high-pressure rotating body is provided above the rotating support 24, and a large arm 26 is installed on the side of the rotating support 24. A large arm hydraulic cylinder 27 is provided at the lower end of the rotating support 24 and the large arm 26. A small arm 28 is movably installed at the front end of the large arm 26, and a small arm hydraulic cylinder 29 is installed between the upper end of the large arm 26 and the small arm 28. A manipulator 30 is installed at the lower end of the small arm 28, and a manipulator hydraulic cylinder 31 is installed between the small arm 28 and the manipulator 30. It is flexible in operation and can realize functions such as turning at any angle, walking, rotating in place, lifting and lowering the manipulator, and grabbing. The rotating support 24 above the robot 7 rotates synchronously with the high-pressure rotating body to avoid entanglement of the hydraulic pipe when the rotating support 24 rotates.

[0035] The hydraulic station 2 provides power to the robot 7 via a hydraulic pipe bundle 8, which is mounted on an automatically retractable hydraulic reel. This retractable reel automatically releases or retracts the hydraulic pipe bundle 8 as the robot 7 moves, ensuring that the hydraulic pipe bundle 8 is always suspended above the robot 7. A control valve group 40 is located within the hydraulic station 2. This control valve group 40 comprises multiple control valves and primarily enables the robot 7 to move, reverse, turn left and right, raise and lower the boom 26 and arm 28, raise and lower the manipulator 30 for grasping, and rotate.

[0036] according to Figure 2 、 Figure 3It can be seen that the self-adjusting screw 11 conveyor assembly includes a hydraulic motor 9 and a sliding inner cylinder 10. The driving end of the hydraulic motor 9 is equipped with a screw 11. The screw 11 passes through the sliding inner cylinder 10 and is equipped with a lower bearing seat 12 at the lower end. The upper bearing seat 13 is installed on the top of the screw 11. A feed hopper 14 is installed on the side wall below the sliding inner cylinder 10. A fixed outer cylinder 15 is installed on the outside of the sliding inner cylinder 10. A copper sliding belt sliding sleeve 16 is provided on the inner wall of the fixed outer cylinder 15. The sliding inner cylinder 10 can slide up and down relative to the fixed outer cylinder 15. A discharge pipe 17 is installed on the side wall above the fixed outer cylinder 15. One end of the discharge pipe 17 passes through the side wall manhole 5 and is equipped with a receiving pipe 18. The other end of the receiving pipe 18 extends into the filter material loading vehicle 3. A guide movably connected to the screw 11 is installed in the filter tank 1.

[0037] The guide includes a permanent magnetic suction block 19 provided on the inner wall of the filter tank 1, a slide rod 20 is installed at the lower end of the permanent magnetic suction block 19, a slide sleeve 21 is provided on the slide rod 20, and the slide sleeve 21 is fixedly connected to the upper bearing seat 13;

[0038] The screw conveyor 11 in this device is driven by a hydraulic motor 9 to achieve explosion-proof conditions. The shell adopts a split structure. The sliding inner cylinder 10 is externally slidingly sleeved with a fixed outer cylinder 15. The fixed outer cylinder 15 can slide up and down relative to the sliding inner cylinder 10. At the same time, the setting of the guide part can stably lower the screw 11 and the sliding inner cylinder 10 through the sliding sleeve 21 and the sliding rod 20, thereby fixing the discharge pipe 17 of the screw conveyor 11, and the conveyor feed hopper 14 can sink as the sand filter material in the tank is lowered, meeting the requirements of smooth loading and output of the filter material.

[0039] When removing the filter material, the robot 7 and the self-adjusting screw 11 conveyor assembly are placed inside the tank body, and the automatic telescopic hydraulic pipeline plate 6 is installed at the manhole 4 on the top of the filter tank 1. The hydraulic station 2 of the power system of the robot 7 is connected to the robot 7 with a hydraulic pipe bundle 8 during construction, and the power supply does not enter the filter tank 1 to meet the explosion-proof requirements; start the hydraulic station 2, and control the normal operation of the various components of the robot 7 through the control valve group 40; control the walking hydraulic motor 23 to make the robot 7 move, and control the rotation hydraulic motor 25, the big arm hydraulic cylinder 27, and the small arm hydraulic cylinder 29 and the manipulator hydraulic cylinder 31 enable the robot 7 to grab the filter material inside the filter tank 1 and send the filter material to the feed hopper 14 of the self-adjusting screw conveyor assembly; the self-adjusting screw 11 conveyor assembly conveys the material in the feed hopper 14 to the receiving pipe 18, and finally enters the filter material loading vehicle 3; as the filter material layer inside the filter tank 1 descends, the sliding inner cylinder 10 and the screw 11 descend synchronously with the filter material layer, and the fixed outer cylinder 15 remains in the fixed position of the side wall manhole 5, thereby completing the conveying length, repeating the above steps, and finally completing the filter material removal work;

[0040] When loading filter material, the robot 7 is placed inside the filter tank 1, the self-adjusting screw conveyor assembly is placed outside the filter tank 1, and the feed hopper 14 of the self-adjusting screw conveyor assembly is located inside the filter material loading vehicle 3, and the discharge pipe 17 is connected to the interior of the filter tank 1. An automatic retractable hydraulic pipeline reel 6 is installed at the manhole 4 on the top of the filter tank 1; the hydraulic station 2 is started, and the normal operation of the various components of the robot 7 is controlled by the control valve group 40; the robot 7 is controlled to fill and level the regenerated filter material transported by the self-adjusting screw conveyor assembly to the interior of the filter tank 1 to form a filter material layer, thereby completing the filter material loading work;

[0041] In particular, this system can not only be used for loading and unloading filter media, but also can be used in other explosion-proof confined spaces.

[0042] Example 2: For desilting various sewage tanks in oil fields, the robot's manipulator can be replaced with a stirrer and carry a cleaning gun to enter the tank to mix the bottom sediment with water, making it easier to pump it out without having to enter the tank to clean it.

[0043] Example 3: A cement plant's cement tanks, left with cement at the end of autumn, require manual excavation. This creates a lot of dust, posing a significant health hazard to workers and increasing construction risk. This robot can be used to perform this operation. One crawler robot arm can be replaced with a breaker to break up the hardened cement, while the other arm excavates and discharges the cement via a screw conveyor.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include," "comprise," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations. The phrase "includes an element defined by..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0045] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An environmentally friendly and energy-saving filter canister mechanical loading and unloading filter material system, comprising a filter canister (1), a hydraulic station (2) arranged outside the filter canister (1), and a filter material loading vehicle (3), wherein the filter canister (1) is provided with a top manhole (4) at the upper end and a side wall manhole (5) at the side wall, characterized in that: An automatically retractable hydraulic pipeline reel (6) is provided at the manhole (4) on the top of the filter tank (1), a robot (7) is provided in the filter tank (1), a hydraulic pipe bundle (8) is installed at the output end of the hydraulic station (2), the hydraulic pipe bundle (8) is wound around the automatically retractable hydraulic pipeline reel (6) and the end is connected to the robot (7), and a self-adjusting screw conveyor assembly is installed in the filter tank (1) near the side wall manhole (5); The self-adjusting screw conveyor assembly includes a hydraulic motor (9) and a sliding inner cylinder (10), wherein a screw (11) is installed at the driving end of the hydraulic motor (9), the screw (11) passes through the sliding inner cylinder (10) and a lower bearing seat (12) is installed at the lower end, an upper bearing seat (13) is installed at the top of the screw (11), a feed hopper (14) is installed on the lower side wall of the sliding inner cylinder (10), and a fixed outer cylinder (15) is installed outside the sliding inner cylinder (10). The inner wall of the fixed outer cylinder (15) is provided with a copper sliding belt type sliding sleeve (16), the sliding inner cylinder (10) can slide up and down relative to the fixed outer cylinder (15), a discharge pipe (17) is installed on the upper side wall of the fixed outer cylinder (15), one end of the discharge pipe (17) passes through the side wall manhole (5) and is installed with a receiving pipe (18), the other end of the receiving pipe (18) extends into the filter material loading vehicle (3), and a guide movably connected to the spiral (11) is installed in the filter tank (1); The guide comprises a permanent magnetic suction block (19) arranged on the inner wall of the filter tank (1), a slide rod (20) is installed at the lower end of the permanent magnetic suction block (19), a slide sleeve (21) is provided on the slide rod (20), and the slide sleeve (21) is fixedly connected to the upper bearing seat (13); The robot (7) comprises a robot chassis (22) and a walking hydraulic motor (23) for driving the robot chassis (22); a platform is installed on the robot chassis (22); a rotating support (24) and a rotating hydraulic motor (25) are installed above the platform; a high-pressure rotating body is provided above the rotating support (24); a large arm (26) is installed on the side of the rotating support (24); a large arm hydraulic cylinder (27) is provided between the rotating support (24) and the lower end of the large arm (26); a small arm (28) is installed at the front end of the large arm (26); a small arm hydraulic cylinder (29) is installed between the large arm (26) and the small arm (28); a manipulator (30) is installed at the lower end of the small arm (28); a manipulator hydraulic cylinder (31) is installed between the small arm (28) and the manipulator (30); The high-pressure rotating body includes a fixed cylinder (32) fixed on the robot chassis (22), a rotating cylinder (33) is sleeved on the outside of the fixed cylinder (32), and the rotating cylinder (33) can rotate synchronously with the rotating support (24). A plurality of hydraulic pipe joints (34) are provided on the outside of the rotating cylinder (33), a top cover (35) is installed above the rotating cylinder (33), the top cover (35) and the rotating cylinder (33) are fixedly connected by bolts, a sealing strip (36) is installed between the rotating cylinder (33) and the fixed cylinder (32), a bottom limiting ball (37) is installed between the bottom of the rotating cylinder (33) and the bottom of the fixed cylinder (32), and a top limiting ball (38) is installed between the fixed cylinder (32) and the top cover (35); An explosion-proof imaging machine (39) is obliquely installed at the manhole (4) on the top of the filter tank (1).

2. The environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system according to claim 1 is characterized in that: A control valve group (40) is provided in the hydraulic station (2).

3. The environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system according to claim 2 is characterized in that: The hydraulic station (2) and the control valve group (40) are arranged outside the filter tank (1), and the robot (7) is arranged inside the filter tank (1). The hydraulic station (2) controls the movement of the robot (7) through a hydraulic pipe bundle (8). The hydraulic station (2) and the control valve group (40) are placed separately from the robot (7) to meet the construction requirements of explosion-proof confined spaces.

4. The environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system according to claim 3 is characterized in that: The explosion-proof imaging machine (39) comprises an explosion-proof camera and an explosion-proof industrial computer.

5. The process method of the environmentally friendly and energy-saving filter tank mechanical loading and unloading filter material system according to claim 1 is characterized in that: The method comprises installing filter material and removing filter material, wherein removing filter material comprises the following steps: S1: The robot (7) and the self-adjusting screw conveyor assembly are placed inside the filter tank (1), and an automatic telescopic hydraulic pipeline reel (6) is installed at the manhole (4) on the top of the filter tank (1). The power system hydraulic station (2) of the robot (7) is connected to the robot (7) using a hydraulic pipe bundle (8) during construction, and the power supply does not enter the filter tank (1), thereby meeting the explosion-proof requirements; S2: Start the hydraulic station (2) and control the normal operation of various components of the robot (7) through the control valve group (40); S3: The robot (7) is displaced by controlling the travel hydraulic motor (23), and the robot (7) is enabled to grab the filter material inside the filter tank (1) and deliver the filter material to the feed hopper (14) of the self-adjusting screw conveyor assembly by controlling the rotation hydraulic motor (25), the upper arm hydraulic cylinder (27), the lower arm hydraulic cylinder (29) and the manipulator hydraulic cylinder (31); S4, the self-adjusting screw conveyor assembly conveys the material in the feed hopper (14) to the receiving pipe (18), and finally enters the filter material loading vehicle (3); S5: As the filter material layer inside the filter tank (1) descends, the sliding inner cylinder (10) and the spiral (11) descend synchronously with the filter material layer, and the fixed outer cylinder (15) remains unchanged at the fixed position of the side wall manhole (5), thereby completing the conveying length, repeating the above steps, and finally completing the filter material removal work; The filter material installation comprises the following steps: S6: placing the robot (7) inside the filter tank (1), placing the self-adjusting screw conveyor assembly outside the filter tank (1), and making the feed hopper (14) of the self-adjusting screw conveyor assembly located inside the filter material loading vehicle (3), and the discharge pipe (17) communicating with the inside of the filter tank (1), and installing an automatic retractable hydraulic pipeline reel (6) at the manhole (4) on the top of the filter tank (1); S7: Start the hydraulic station (2) and control the normal operation of various components of the robot (7) through the control valve group (40); S8: The self-adjusting screw conveyor assembly is controlled by the robot (7) to transport the regenerated filter material inside the filter tank (1) for filling and leveling to form a filter material layer, thereby completing the filter material loading work.

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