Inclined shaft slagging robot and inclined shaft slagging method

Abstract

This invention discloses a slag removal robot and method for inclined shafts, comprising: a walking mechanism; a suspension mechanism connected to the walking mechanism; and a rotary slag removal mechanism, including a rotary structure and a slag removal structure, wherein the slag removal structure is connected to the walking mechanism via the rotary structure. The walking mechanism, under the hoisting of the suspension mechanism, can move the rotary slag removal mechanism to the vicinity of the slag removal area within the inclined shaft. The rotary structure drives the slag removal structure to rotate, enabling the slag removal structure to transfer the slag and soil from the slag removal area. This invention, by suspending the walking mechanism into the inclined shaft, better adapts to the confined space within the inclined shaft and allows for control of the walking mechanism's ascent and descent, thereby improving the stability of the walking mechanism and preventing it from slipping in case of instability, ensuring construction safety. Furthermore, it enables thorough cleaning of the slag and soil in the slag removal area within the inclined shaft, achieving rapid slag removal operations with minimal space occupied at the bottom of the inclined shaft, thus improving construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of underground engineering construction machinery technology, and in particular, to a slag removal robot and a slag removal method for inclined shafts. Background Technology

[0002] The construction of pumped-storage power stations involves the construction of numerous inclined shafts with steep inclination angles. The muck removal process is a critical factor limiting the efficiency of drilling and blasting excavation for these shafts. Due to the nature of the raised shaft method for muck removal in steep inclination shafts, it's impossible to use excavators that require a large construction area. Therefore, currently, muck removal in these shafts primarily relies on manual shoveling at the bottom of the shaft. This requires personnel to work at the bottom for 5-6 hours at a time, resulting in low efficiency and putting workers in dangerous conditions. Another method involves using a tracked muck scraper to remove muck, then a mobile transfer machine transports the muck to a belt conveyor, which then transports it to the surface at the tunnel entrance. While this improves efficiency to some extent, it cannot adapt to the working environment inside steep inclination shafts. Summary of the Invention

[0003] The purpose of this invention is to provide a slag removal robot and a slag removal method for inclined shafts, so as to solve the technical problems that the current slag removal devices for inclined shafts with large inclination angles cannot autonomously adapt to the construction environment inside the inclined shafts with large inclination angles, and cannot free up manpower.

[0004] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0005] This invention provides a slag removal robot for inclined shafts, comprising: a walking mechanism; a suspension mechanism connected to the walking mechanism; and a rotary slag removal mechanism, including a rotary structure and a slag removal structure, wherein the slag removal structure is connected to the walking mechanism via the rotary structure; wherein the walking mechanism, under the hoisting of the suspension mechanism, can move the rotary slag removal mechanism to the vicinity of the slag removal area within the inclined shaft, and the rotary structure drives the slag removal structure to rotate, enabling the slag removal structure to transfer the slag and soil from the slag removal area.

[0006] In an embodiment of the present invention, the walking mechanism includes a main support structure, the top of which is connected to the suspension mechanism, and the slag discharge structure is installed at the bottom of the main support structure via the rotary structure.

[0007] In an embodiment of the present invention, the walking mechanism further includes multiple walking legs. Each walking leg includes a leg mounting base, a thigh, a lower leg, and a walking part. The leg mounting base is connected to the main support structure. One end of the thigh is hinged to the leg mounting base, and the other end of the thigh is hinged to one end of the lower leg. The other end of the lower leg is hinged to one end of the walking part. The thigh is connected to the leg mounting base via a thigh swing telescopic member, the lower leg is connected to the thigh via a lower leg swing telescopic member, and the walking part is connected to the lower leg via a walking swing telescopic member.

[0008] In an embodiment of the present invention, the traveling part grips the wall of the inclined shaft through a hook structure. The hook structure includes multiple hooks and multiple telescopic components. The hooks are hinged to the traveling legs. The multiple hooks are connected to the traveling legs through multiple hook swing telescopic components. The extension and shortening of the multiple hook swing telescopic components can drive the multiple hooks to retract and open.

[0009] In an embodiment of the present invention, there are four walking legs, which are symmetrically distributed on both sides of the rotary slag discharge mechanism.

[0010] In an embodiment of the present invention, a cable winding and unwinding structure is installed around the wellhead of the inclined shaft. The suspension mechanism includes a cable and a suspension pulley. One end of the cable is connected to the cable winding and unwinding structure, and the other end of the cable is connected to the traveling mechanism through the suspension pulley.

[0011] In an embodiment of the present invention, an operating platform is installed at the wellhead of the inclined shaft, and a steering pulley is mounted on the operating platform. The cable passes around the steering pulley and extends into the inclined shaft.

[0012] In an embodiment of the present invention, the slag discharge structure includes a slag discharge arm, which includes an arm mounting base, a large arm, and a small arm. The arm mounting base is connected to the rotary structure. One end of the large arm is hinged to the arm mounting base, and the other end of the large arm is hinged to one end of the small arm. The large arm is connected to the arm mounting base via a large arm swing telescopic member, and the small arm is connected to the large arm via a small arm swing telescopic member.

[0013] In an embodiment of the present invention, a digging bucket or a rock breaker is installed on the forearm.

[0014] In an embodiment of the present invention, the inclined shaft slag removal robot further includes a remote control module and a control module. The control module is installed on the walking mechanism and is signal-connected to the remote control module outside the inclined shaft. The control module can receive control commands issued by the remote control module and control the walking mechanism to walk and control the rotary slag removal mechanism to remove slag according to the control commands.

[0015] In an embodiment of the present invention, the inclined shaft slag removal robot further includes a power mechanism and a hydraulic station. The power mechanism includes an internal combustion engine and a main motor. The internal combustion engine and the main motor can respectively provide power to the hydraulic station, enabling the hydraulic station to drive the walking mechanism and the rotary slag removal mechanism to work through the driving medium.

[0016] The present invention also provides a method for removing slag from an inclined shaft, comprising the following steps: a traveling mechanism, under the hoisting of a suspension mechanism, drives a rotary slag removal mechanism to travel to the vicinity of the slag removal area within the inclined shaft; the rotary structure of the rotary slag removal mechanism drives the slag removal structure to rotate, and the slag removal structure transfers the slag and soil from the slag removal area; the traveling mechanism adjusts its position and / or posture until the slag removal structure transfers the slag and soil from various locations within the slag removal area.

[0017] In an embodiment of the present invention, the bottom of the inclined shaft is connected to the slag transport tunnel through a slag discharge tunnel; the slag discharge structure transfers the slag and soil from the slag discharge area toward the opening of the slag discharge tunnel so that the slag and soil can fall into the slag transport tunnel along the slag discharge tunnel.

[0018] In an embodiment of the present invention, the walking mechanism includes multiple walking legs; the inclined shaft slag removal method further includes determining whether the current posture of the walking mechanism is stable before transferring the slag, including the following steps: determining a polygonal region based on the end of each of the multiple walking legs that contacts the wall of the inclined shaft, and determining whether the center of gravity of the walking mechanism and the rotary slag removal mechanism as a whole is located within the polygonal region; if not, the walking mechanism moves each of the multiple walking legs one by one to adjust their position and / or posture, and repeats the above steps until the center of gravity of the walking mechanism and the rotary slag removal mechanism as a whole is located within the polygonal region.

[0019] The features and advantages of this invention are:

[0020] The inclined shaft slag removal robot and method of this invention use a suspension mechanism to lower the walking mechanism into the inclined shaft. This allows for better adaptation to the confined space within the shaft and enables control over the walking mechanism's ascent and descent, improving its stability and preventing slippage in case of instability. Furthermore, a rotating structure drives the slag removal mechanism to transfer slag, achieving thorough cleaning of the slag removal area within the inclined shaft without any blind spots. This allows for rapid slag removal operations with minimal space occupied at the bottom of the inclined shaft. Therefore, this invention better adapts to the construction environment within inclined shafts, freeing multiple workers from the heavy and dangerous slag removal work, enabling unmanned operation underground, and achieving efficient and safe slag removal, thus ensuring both construction efficiency and safety. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the inclined shaft slag removal robot in this invention.

[0023] Figure 2 This is a diagram showing the usage status of the inclined shaft slag removal robot in this invention.

[0024] Figure 3 This is a schematic diagram of the walking support legs of the inclined shaft slag removal robot in this invention.

[0025] Figure 4 This is a schematic diagram of the working principle of the power mechanism in this invention.

[0026] Figure 5 This is a flowchart of the pose adjustment process of the inclined shaft slag removal robot in this invention.

[0027] In the picture:

[0028] 1. Walking mechanism; 11. Main support structure; 12. Walking outriggers; 121. Leg mounting base; 122. Thigh; 123. Lower leg; 124. Walking section; 125. Thigh swing telescopic component; 126. Lower leg swing telescopic component; 127. Walking swing telescopic component; 13. Hook structure; 131. Hook; 132. Hook swing telescopic component; 2. Suspension mechanism; 21. Suspension pulley; 22. Cable; 23. Cable retraction structure; 24. Steering pulley; 3. Rotary slag discharge mechanism; 31. Slag discharge structure; 311. Boom mounting base; 312. Boom; 313. Arm; 314. Boom swing telescopic component; 315. Arm swing telescopic component; 316. Excavator bucket; 317. Excavator bucket swing telescopic component; 32. Rotary structure; 4. Operating platform; 5. Inclined shaft; 51. Slag discharge area; 6. Slag discharge tunnel; 7. Slag transport tunnel; 8. Hydraulic station; 81. Hydraulic pump; 9. Power mechanism; 91. Internal combustion engine; 92. Main motor. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Implementation Method 1

[0031] like Figure 1 and Figure 2 As shown, the present invention provides a slag removal robot for inclined shafts, comprising: a walking mechanism 1; a suspension mechanism 2 connected to the walking mechanism 1; and a rotary slag removal mechanism 3, comprising a rotary structure and a slag removal structure 31, wherein the slag removal structure 31 is connected to the walking mechanism 1 through the rotary structure; wherein, the walking mechanism 1 can drive the rotary slag removal mechanism 3 to move to the vicinity of the slag removal area 51 within the inclined shaft 5 under the hoisting of the suspension mechanism 2, and the rotary structure drives the slag removal structure 31 to rotate so that the slag removal structure 31 can transfer the slag and soil in the slag removal area 51.

[0032] The inclined shaft muck removal robot of the present invention uses a suspension mechanism 2 to lower the walking mechanism 1 into the inclined shaft 5. This allows for better adaptation to the confined space within the inclined shaft 5 and enables control over the ascent and descent of the walking mechanism 1, thereby improving its stability and preventing it from slipping in case of instability. Furthermore, a rotating structure drives the muck removal structure 31 to rotate and transfer the muck, achieving thorough cleaning of the muck removal area 51 within the inclined shaft 5. This allows for rapid muck removal operations with minimal space occupied at the bottom of the inclined shaft 5. Therefore, the present invention is better adapted to the construction environment within the inclined shaft 5, freeing multiple workers from the heavy and dangerous muck removal work, enabling unmanned underground operations, and achieving efficient and safe muck removal, thus ensuring both construction efficiency and safety.

[0033] like Figure 2 As shown, in this embodiment of the invention, the blasted slag is piled at the bottom of the inclined shaft 5, forming a slag discharge area 51. The bottom of the inclined shaft 5 is connected to the slag transport tunnel 7 through a slag discharge hole 6; the slag discharge structure 31 transfers the slag from the slag discharge area 51 toward the opening of the slag discharge hole 6, allowing the slag to fall into the slag transport tunnel 7 along the slag discharge hole 6. Specifically, during the construction of the inclined shaft 5, a drilling machine is first used to drill a hole along the axis of the inclined shaft 5 and drill through it, and then a reverse-pull drilling machine is used to enlarge the hole to form the slag discharge hole 6.

[0034] In this embodiment of the invention, the inclined shaft slag removal robot further includes a remote control module and a control module. The control module is installed on the walking mechanism 1 and is signal-connected to the remote control module outside the inclined shaft 5. The control module can receive control commands issued by the remote control module and control the walking mechanism 1 to move and the rotary slag removal mechanism 3 to remove slag according to the control commands. The control module can also realize automatic control of the walking mechanism 1 and the rotary slag removal mechanism 3. By setting up the remote control module, the operator can control the walking mechanism 1 and the rotary slag removal mechanism 3 through the remote control module without entering the inclined shaft 5. In addition, an image acquisition module is also installed on the walking mechanism 1. The control module can automatically control the walking mechanism 1 and the rotary slag removal mechanism 3 according to the image information acquired by the image acquisition module, and can also transmit the image information to the display module, so that the operator can judge the working status of the walking mechanism 1 and the rotary slag removal mechanism 3 according to the image information, and then issue control commands through the remote control module.

[0035] like Figure 1 and Figure 2As shown in the embodiment of the present invention, a cable winding and unwinding structure 23 is installed around the wellhead of the inclined shaft 5. The suspension mechanism 2 includes a cable 22 and a suspension pulley 21. One end of the cable 22 is connected to the cable winding and unwinding structure 23, and the other end of the cable 22 is connected to the traveling mechanism 1 through the suspension pulley 21. An operating platform 4 is installed at the wellhead of the inclined shaft 5, and a steering pulley 24 is mounted on the operating platform 4. The cable 22 passes around the steering pulley 24 and extends into the inclined shaft 5. In addition, the operator can operate the remote control module on the operating platform 4 to remotely control the traveling mechanism 1 and the rotary slag removal mechanism 3.

[0036] like Figure 1 As shown, the traveling mechanism 1 includes a main support structure 11, the top of which is connected to the suspension mechanism 2, and the slag discharge structure 31 is installed at the bottom of the main support structure 11 via a rotating structure. Specifically, the main support structure 11 is generally a frame structure, and the control module is installed on the main support structure 11.

[0037] like Figure 1 and Figure 3 As shown, the walking mechanism 1 also includes multiple walking legs 12. Each walking leg 12 includes a leg mounting base 121, a thigh 122, a lower leg 123, and a walking part 124. The leg mounting base 121 is connected to the main support structure 11. One end of the thigh 122 is hinged to the leg mounting base 121, and the other end of the thigh 122 is hinged to one end of the lower leg 123. The other end of the lower leg 123 is hinged to one end of the walking part 124. The thigh 122 is connected to the leg mounting base 121 through a thigh swing telescopic member 125, and the lower leg 123 is connected to the thigh 122 through a lower leg swing telescopic member 126. The walking part 124 is connected to the lower leg 123 through a walking swing telescopic member 127. By controlling the extension and retraction of the thigh swing telescopic component 125, the thigh 122 is driven to swing relative to the leg mounting base 121; by controlling the extension and retraction of the calf swing telescopic component 126, the calf 123 is driven to swing relative to the thigh 122; by controlling the extension and retraction of the walking swing telescopic component 127, the walking part 124 is driven to swing relative to the calf 123. Through the cooperation of multiple walking legs 12, the walking mechanism 1 can move within the inclined shaft 5.

[0038] Specifically, the walking legs 12 are generally designed in the shape of folding legs, similar to those of a multi-segmented animal. There are four walking legs 12, symmetrically distributed on both sides of the rotary slag discharge mechanism 3, thus supporting the walls of the inclined shafts 5 on both sides. The walking mechanism 1 adjusts the position and / or posture of the multiple walking legs 12 by moving them one by one, ensuring that even when one walking leg 12 moves, the walking mechanism 1 remains relatively stably supported on the walls of the inclined shaft 5 by the other three walking legs 12. The thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the walking swing telescopic component 127 are all telescopic hydraulic cylinders. The control module controls the extension and retraction of the thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the walking swing telescopic component 127 of the multiple walking legs 12, thereby controlling the movement of the multiple walking legs 12. Optionally, the thigh swing telescopic component 125, the calf swing telescopic component 126, and the walking swing telescopic component 127 can be electric telescopic rods, telescopic cylinders, or other telescopic components.

[0039] like Figure 1 and Figure 3 As shown, joint sensors are installed at the hinges between the leg mounting base 121 and the thigh 122, the thigh 122 and the lower leg 123, and the lower leg 123 and the walking part 124. These sensors detect the swing angles of the thigh 122, lower leg 123, and walking part 124. The control module analyzes the detection signals from each joint sensor to determine the position of the walking leg 12, thus achieving precise control of the walking leg 12. Furthermore, a posture sensor is installed within the main support structure 11. Figure 5 As shown, the control module analyzes the detection signals obtained by each joint sensor to determine the position of the end of the multiple walking legs 12 that contacts the wall of the inclined shaft 5 and defines a polygonal region, namely the area enclosed by the connecting lines between the ends of the multiple walking legs 12 that contact the wall of the inclined shaft 5. It also analyzes the detection signals of the posture sensor to determine the position of the center of gravity of the walking mechanism 1 and the rotary slag removal mechanism 3 as a whole. The stability index of the walking mechanism 1 is then taken as the center of gravity being located within the polygonal region. If the center of gravity is located within the polygonal region, it is determined that the current posture of the walking mechanism 1 is stable, that is, the walking mechanism 1 can stably support itself on the wall of the inclined shaft 5, and then the rotary swing mechanism is controlled to transfer the slag. If the center of gravity is not located within the polygonal region, it is determined that the current posture stability of the walking mechanism 1 is poor, and then the multiple walking legs 12 are controlled to move one by one, while the stability of the walking mechanism 1 is judged until the stability of the walking mechanism 1 meets the requirements, and then the rotary swing mechanism is controlled to transfer the slag.

[0040] like Figure 1 and Figure 3As shown, in this embodiment of the invention, the traveling unit 124 grips the wall of the inclined shaft 5 via a hook structure 13. Because the wall of the inclined shaft 5 is uneven, the hook structure 13 improves the stability of the traveling mechanism 1, thereby meeting the requirements for the traveling mechanism 1 to travel within the inclined shaft 5 and to change its spatial posture. Optionally, the traveling unit 124 can also maintain close contact with the wall of the inclined shaft 5 through other anti-slip structures.

[0041] The hook structure 13 includes multiple hooks 131 and multiple telescopic members. The hooks 131 are hinged to the walking legs 12. The multiple hooks 131 are connected to the walking legs 12 through multiple hook swing telescopic members 132. The extension and retraction of the multiple hook swing telescopic members 132 can drive the multiple hooks 131 to retract and open. Specifically, one end of the hook 131 is claw-shaped, and the other end of the hook 131 is rod-shaped and hinged to the walking part 124. The two ends of the hook swing telescopic members 132 are respectively hinged to the walking part 124 and the hook 131.

[0042] like Figure 1 As shown, in an embodiment of the present invention, the slag discharge structure 31 includes at least one slag discharge arm. The slag discharge arm includes an arm mounting base 311, a large arm 312, and a small arm 313. The arm mounting base 311 is connected to a rotating structure. One end of the large arm 312 is hinged to the arm mounting base 311, and the other end of the large arm 312 is hinged to one end of the small arm 313. The large arm 312 is connected to the arm mounting base 311 via a large arm swing telescopic member 314, and the small arm 313 is connected to the large arm 312 via a small arm swing telescopic member 315. By controlling the extension and retraction of the large arm swing telescopic member 314, the large arm 312 is driven to swing relative to the arm mounting base 311; by controlling the extension and retraction of the small arm swing telescopic member 315, the small arm 313 is driven to swing relative to the large arm 312.

[0043] Specifically, the slag removal arm is generally a two-section arm. One slag removal arm is preferred, but multiple arms can be used if there is sufficient space within the inclined shaft 5 and the stability of the traveling mechanism 1 meets the requirements. The thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the traveling swing telescopic component 127 are all telescopic hydraulic cylinders. The control module controls the extension and retraction of the thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the traveling swing telescopic component 127 of the multiple traveling outriggers 12, thereby controlling the movement of the multiple traveling outriggers 12. Optionally, the thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the traveling swing telescopic component 127 can be electric telescopic rods, telescopic cylinders, or other telescopic components.

[0044] In some embodiments of the present invention, a digging bucket 316 is installed on the boom 313. The digging bucket 316 is hinged to the boom 313 and connected to the boom 313 via a bucket swing telescopic member 317. The extension of the bucket swing telescopic member 317 causes the digging bucket 316 to swing upward, thereby first digging up the excavated soil. Then, driven by the excavation arm, it moves to the opening of the discharge hole 6. The shortening of the bucket swing telescopic member 317 causes the digging bucket 316 to swing downward, thereby dumping the excavated soil into the discharge hole 6. Optionally, a rock breaker hammer is installed on the boom 313. The rock breaker hammer breaks the rock in the inclined shaft 5, allowing the broken rock debris to fall into the discharge hole 6.

[0045] like Figure 4 As shown in the embodiment of the present invention, the inclined shaft muck removal robot also includes a power mechanism 9 and a hydraulic station 8. The power mechanism 9 includes an internal combustion engine 91 and a main motor 92. The internal combustion engine 91 and the main motor 92 can respectively provide power to the hydraulic station 8, enabling the hydraulic station 8 to drive the walking mechanism 1 and the rotary muck removal mechanism 3 to work through the driving medium. By simultaneously setting the internal combustion engine 91 and the main motor 92, the power mechanism 9 constitutes a dual-power system of oil and electricity, improving the adaptability of the inclined shaft muck removal robot to the construction of the inclined shaft 5. When there is sufficient power supply, the main motor 92 can be used to provide power to the hydraulic station 8, which has the advantages of reducing noise and ensuring the air quality inside the inclined shaft 5 tunnel; when there is insufficient power supply, the internal combustion engine 91 is used to provide power to the hydraulic station 8 to ensure a continuous power supply.

[0046] Specifically, the hydraulic station 8 includes multiple hydraulic pumps 81. Under the power provided by the power mechanism 9, the hydraulic pumps 81 deliver the driving medium to the various actuators of the traveling mechanism 1, the slewing structure 32, and the slag discharge structure 31. These include the thigh swing telescopic component 125, the lower leg swing telescopic component 126, and the traveling swing telescopic component 127 on each traveling outrigger 12; the hook swing telescopic component 132 on the hook structure 13; the hydraulic motor of the slewing structure 32; and the boom swing telescopic component 314, the lower arm swing telescopic component 315, and the bucket swing telescopic component 317 on the slag discharge structure 31.

[0047] The inclined shaft slag removal robot of the present invention is applied in the inclined shaft 5 of a pumped storage power station with a large inclination angle. The specific working process is as follows: the inclined shaft slag removal robot is transported to the wellhead of the inclined shaft 5 by a sliding platform vehicle during the construction of the inclined shaft 5. Then, the walking mechanism 1 is connected to the cable retraction structure 23 placed on the sliding platform vehicle by a cable 22 and hoisted into the inclined shaft 5. Then, the cable retraction structure 23 extends the cable 22, so that the walking mechanism 1 gradually moves downward under the hoisting of the cable 22 until it approaches the bottom of the inclined shaft 5. Power is provided by the power mechanism 9, so that the walking mechanism 1, driven by the hydraulic station 8, has four walking legs 12 find a stable landing point through their individual movements. Under the monitoring of the control module, the four walking legs 12 form a stable posture. At the same time, with the assistance of the suspension mechanism 2 to stabilize the posture, the slag removal structure 31 can stably perform annular slag removal in the slag removal area 51 at the bottom of the inclined shaft 5 under the drive of the rotating structure. When the walking mechanism 1 needs to readjust its standing position and / or posture to facilitate slag removal in a certain spatial location, the four walking legs 12, the slag removal structure 31 and the cable 22 can cooperate with each other to enable the walking mechanism 1 to move smoothly in the inclined shaft 5, thereby enabling all-round slag removal construction in the inclined shaft 5.

[0048] Implementation Method 2

[0049] This invention also provides a method for removing slag from an inclined shaft. The method includes the following steps: a traveling mechanism 1, under the hoisting of a suspension mechanism 2, drives a rotary slag removal mechanism 3 to travel to the vicinity of the slag removal area 51 within the inclined shaft 5; the rotary structure 32 of the rotary slag removal mechanism 3 drives the slag removal structure 31 to rotate, and the slag removal structure 31 transfers the slag and soil from the slag removal area 51; the traveling mechanism 1 adjusts its position and / or posture until the slag removal structure 31 transfers the slag and soil from various locations in the slag removal area 51. The inclined shaft slag removal method of this embodiment can be implemented with reference to the inclined shaft slag removal robot in Embodiment 1, and the working principle is the same, so it will not be described again here.

[0050] In an embodiment of the present invention, the bottom of the inclined shaft 5 is connected to the slag transport tunnel 7 through the slag discharge tunnel 6; the slag discharge structure 31 transfers the slag and soil in the slag discharge area 51 toward the opening of the slag discharge tunnel 6 so that the slag and soil can fall into the slag transport tunnel 7 along the slag discharge tunnel 6.

[0051] like Figure 5As shown, in an embodiment of the present invention, the walking mechanism 1 includes multiple walking legs 12; the inclined shaft slag removal method further includes determining whether the current posture of the walking mechanism 1 is stable before transferring the slag, including the following steps: determining a polygonal area based on the end of the multiple walking legs 12 that contacts the wall of the inclined shaft 5, and determining whether the center of gravity of the walking mechanism 1 and the rotary slag removal mechanism 3 as a whole is located within the polygonal area; if not, the walking mechanism 1 moves the multiple walking legs 12 one by one to adjust their position and / or posture, and repeats the above steps until the center of gravity of the walking mechanism 1 and the rotary slag removal mechanism 3 as a whole is located within the polygonal area.

[0052] The above descriptions are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. A slag removal robot for inclined shafts, characterized in that, include: Walking mechanism (1); Suspension mechanism (2) is connected to the walking mechanism (1); The rotary slag discharge mechanism (3) includes a rotary structure and a slag discharge structure (31), wherein the slag discharge structure (31) is connected to the walking mechanism (1) through the rotary structure; The walking mechanism (1) can drive the rotating slag discharge mechanism (3) to move to the vicinity of the slag discharge area (51) in the inclined shaft (5) under the hoisting of the suspension mechanism (2). The rotating structure drives the slag discharge structure (31) to rotate so that the slag discharge structure (31) can transfer the slag and soil in the slag discharge area (51). The walking mechanism (1) includes a main support structure (11) and multiple walking legs (12). The top of the main support structure (11) is connected to the suspension mechanism (2). The slag discharge structure (31) is installed at the bottom of the main support structure (11) through the rotary structure. Each walking leg (12) includes a leg mounting base (121), a thigh (122), a lower leg (123), and a walking part (124). The leg mounting base (121) is connected to the main support structure (11), and one end of the thigh (122) is connected to the leg. The thigh (122) is hinged to the leg mounting base (121), and the other end of the thigh (122) is hinged to one end of the lower leg (123). The other end of the lower leg (123) is hinged to one end of the walking part (124). The thigh (122) is connected to the leg mounting base (121) through the thigh swing telescopic member (125). The lower leg (123) is connected to the thigh (122) through the lower leg swing telescopic member (126). The walking part (124) is connected to the lower leg (123) through the walking swing telescopic member (127).

2. The inclined shaft slag removal robot according to claim 1, characterized in that, The walking unit (124) grips the wall of the inclined shaft (5) through the hook structure (13). The hook structure (13) includes multiple hooks (131) and multiple telescopic components. The hooks (131) are hinged to the walking legs (12). The multiple hooks (131) are connected to the walking legs (12) through multiple hook swing telescopic components (132). The extension and shortening of the multiple hook swing telescopic components (132) can drive the multiple hooks (131) to retract and open.

3. The inclined shaft slag removal robot according to claim 1, characterized in that, The number of the walking legs (12) is four, and the four walking legs (12) are symmetrically distributed on both sides of the rotary slag discharge mechanism (3).

4. The inclined shaft slag removal robot according to claim 1, characterized in that, A cable winding and unwinding structure (23) is installed around the wellhead of the inclined shaft (5). The suspension mechanism (2) includes a cable (22) and a suspension pulley (21). One end of the cable (22) is connected to the cable winding and unwinding structure (23), and the other end of the cable (22) is connected to the walking mechanism (1) through the suspension pulley (21).

5. The inclined shaft slag removal robot according to claim 4, characterized in that, An operating platform (4) is installed at the wellhead of the inclined shaft (5), and a steering pulley (24) is mounted on the operating platform (4). The cable (22) passes around the steering pulley (24) and extends into the inclined shaft (5).

6. The inclined shaft slag removal robot according to claim 1, characterized in that, The slag discharge structure (31) includes a slag discharge arm, which includes an arm mounting base (311), a large arm (312), and a small arm (313). The arm mounting base (311) is connected to the rotary structure. One end of the large arm (312) is hinged to the arm mounting base (311), and the other end of the large arm (312) is hinged to one end of the small arm (313). The large arm (312) is connected to the arm mounting base (311) through a large arm swing telescopic member (314), and the small arm (313) is connected to the large arm (312) through a small arm swing telescopic member (315).

7. The inclined shaft slag removal robot according to claim 6, characterized in that, The forearm (313) is equipped with a digging bucket (316) or a rock breaker.

8. The inclined shaft slag removal robot according to claim 1, characterized in that, The inclined shaft slag removal robot also includes a remote control module and a control module. The control module is installed on the walking mechanism (1) and is connected to the remote control module outside the inclined shaft (5). The control module can receive the control commands issued by the remote control module and control the walking mechanism (1) to walk and control the rotary slag removal mechanism (3) to remove slag according to the control commands.

9. The inclined shaft slag removal robot according to claim 1, characterized in that, The inclined shaft slag removal robot also includes a power mechanism (9) and a hydraulic station (8). The power mechanism (9) includes an internal combustion engine (91) and a main motor (92). The internal combustion engine (91) and the main motor (92) can respectively provide power to the hydraulic station (8), so that the hydraulic station (8) can drive the walking mechanism (1) and the rotary slag removal mechanism (3) to work through the driving medium.

10. A method of tapping a slanting shaft, characterized in that Using the inclined shaft slag removal robot as described in any one of claims 1-9, the inclined shaft slag removal method includes the following steps: The traveling mechanism (1) drives the rotating slag discharge mechanism (3) to travel to the vicinity of the slag discharge area (51) inside the inclined shaft (5) under the hoisting of the suspension mechanism (2); The rotary slag discharge mechanism (3) drives the slag discharge structure (31) to rotate, and the slag discharge structure (31) transfers the slag and soil in the slag discharge area (51). The walking mechanism (1) adjusts its position and / or posture until the slag discharge structure (31) transfers the slag at each location in the slag discharge area (51).

11. The method for removing slag from an inclined shaft according to claim 10, characterized in that, The bottom of the inclined shaft (5) is connected to the slag transport tunnel (7) through the slag discharge tunnel (6); the slag discharge structure (31) transfers the slag and soil in the slag discharge area (51) toward the opening of the slag discharge tunnel (6) so that the slag and soil can fall into the slag transport tunnel (7) along the slag discharge tunnel (6).

12. The method for removing slag from an inclined shaft according to claim 10, characterized in that, The inclined shaft slag removal method further includes determining whether the current posture of the traveling mechanism (1) is stable before transferring the slag, including the following steps: A polygonal region is determined based on the end of the multiple walking legs (12) that contacts the well wall of the inclined shaft (5), and it is determined whether the center of gravity of the walking mechanism (1) and the rotary slag discharge mechanism (3) as a whole is located within the polygonal region. If not, the walking mechanism (1) moves each of the multiple walking legs (12) one by one to adjust their position and / or posture, and repeats the above steps until the center of gravity of the walking mechanism (1) and the rotary slag discharge mechanism (3) as a whole is located within the polygonal area.

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