A mine auxiliary operation robot

Abstract

The application discloses a mine auxiliary operation robot, which comprises a walking assembly, a warehouse body and a dredging assembly. The walking assembly comprises a mounting plate and a plurality of walking feet arranged on the periphery of the mounting plate. The warehouse body is arranged above the mounting plate and is rotationally arranged with the mounting plate. The dredging assembly comprises a collecting component in contact with the bottom surface of the water warehouse and a screw conveyor for conveying sludge. The screw conveyor is inclined through the warehouse body and is fixedly connected with the warehouse body. The collecting component is arranged at the lower end of the screw conveyor and is communicated with the screw conveyor. A guide plate is arranged in the warehouse body. The mine auxiliary operation robot can freely move in the water warehouse with sludge, avoids the situation of getting stuck, and better cleans the sludge in the water warehouse.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine robots, and particularly relates to a mine auxiliary operation robot. BACKGROUND

[0002] In the process of tunneling in a coal mine underground roadway, due to the destruction of the aquifer, water seeps out of the roadway roof and floor, and flows along the roadway floor to collect in low-lying areas, forming water accumulation, which affects the passage of vehicles in the roadway and the normal tunneling operation of the roadway. Therefore, during the roadway tunneling process, a water sump needs to be designed and excavated according to the water outflow condition, and the water is discharged into the water sump, and then a water pump is used to discharge the water from the working face and then discharge the mine.

[0003] In the process of water flowing into the water sump, coal slag and mud slag are brought into the water sump together, and long-term accumulation causes the bottom of the water sump to accumulate and form a sludge layer, thereby affecting the volume of the water sump, and over time, the water sump cannot effectively store water, and the sludge also affects normal drainage work. Therefore, the sludge at the bottom of the water sump needs to be cleaned regularly.

[0004] There are mainly two ways to clean the silt in the water sump, one is to use manual method, workers wear waterproof clothes, after the water in the water sump is drained, enter the water sump, use a shovel to clean the sludge at the bottom of the water sump, and the manual method has slow efficiency and certain safety risks; the second is to use a tracked silt cleaning device placed in the water sump, which sucks the sludge at the bottom of the water sump through a silt cleaning assembly, for example, the existing patent application No. CN201720586752.X discloses a mine water sump sludge treatment equipment, which comprises a tracked mobile vehicle, a shovel, a conveying hopper, a crushing device, a sludge storage bin, a sludge pipe, a sludge pump and a power device; the shovel is arranged at the front end of the tracked mobile vehicle; the conveying hopper is arranged in the front part of the shovel; a sludge output channel is arranged at the rear part of the shovel, and the crushing device is arranged in the sludge output channel; the sludge storage bin is arranged on the tracked mobile vehicle and is in communication with the sludge output channel; one end of the sludge pipe is arranged at the bottom of the sludge storage bin, and the other end is connected with the sludge pump; the power device is arranged on the tracked mobile vehicle and is connected with the conveying hopper and the crushing device in transmission; and an operation table of the power device is arranged in the cab of the tracked mobile vehicle.

[0005] However, the existing tracked silt cleaning device is prone to skidding and sinking when there is deep sludge at the bottom of the water sump, which causes the silt cleaning device to be unable to move in the water sump, affecting the silt cleaning efficiency. Therefore, a silt cleaning device capable of moving in a water sump with sludge is needed to avoid sinking. SUMMARY

[0006] The application aims to provide a mine auxiliary operation robot which can freely move in a silt water tank, avoid the situation of getting stuck, and clean the silt in the water tank.

[0007] The mine auxiliary operation robot adopts the technical scheme that:

[0008] The mine auxiliary operation robot comprises a walking assembly, the walking assembly comprises a mounting plate and a plurality of walking feet arranged on the periphery of the mounting plate, and the walking feet drive the mounting plate to move.

[0009] A tank body is arranged above the mounting plate, and the tank body is rotationally arranged with the mounting plate, the tank body is used for placing electric control equipment, and a backup power supply is arranged in the tank body.

[0010] A silt cleaning assembly comprises a collecting component in contact with the bottom surface of the water tank and a screw conveyor for conveying silt, the screw conveyor is inclined through the tank body, and the screw conveyor is fixedly connected with the tank body, the collecting component is arranged at the lower end of the screw conveyor, and the collecting component is in communication with the screw conveyor.

[0011] A guide plate is arranged in the tank body, the guide plate is arranged downwardly away from the screw conveyor, the upper end of the guide plate is matched with the discharge port of the screw conveyor, and the guide plate is used for guiding the silt discharged by the screw conveyor, and the lower end of the guide plate extends out of the tank body and is in communication with an external recycling device.

[0012] As a preferred scheme, the walking feet comprise a rotating rod, a connecting rod and a supporting rod, the rotating rod is rotationally connected with the mounting plate, the connecting rod is rotationally connected with the other end of the rotating rod, the supporting rod is rotationally connected with the other end of the connecting rod, the rotating rod, the connecting rod and the supporting rod are rotationally connected through rudders, and the rudders correspond to Y axis, X axis and Z axis respectively.

[0013] As a preferred scheme, the number of the walking feet is at least four, the walking feet are distributed on both sides of the mounting plate, the end of the supporting rod of the walking feet is provided with a reinforcing sheet, the diameter of the reinforcing sheet is greater than that of the supporting rod, and the center of the reinforcing sheet is fixedly connected with the supporting rod.

[0014] As a preferred scheme, a threaded rubber sleeve is arranged on the surface of the walking feet.

[0015] As a preferred scheme, a supporting plate is arranged on the mounting plate, a rotating motor is arranged between the supporting plate and the mounting plate, a rotary table is arranged below the tank body, the rotary table is rotationally connected with the supporting plate, and the output shaft of the rotating motor is fixedly connected with the rotary table through the supporting plate.

[0016] As a preferred scheme, a camera for monitoring shooting is arranged above the bin body, and searchlights for illumination are arranged on both sides of the camera.

[0017] As a preferred scheme, the collecting component comprises a fan-shaped collecting cover, the front end of the collecting cover is open, a collecting rod is arranged at the front end of the collecting cover, the collecting cover is connected with a screw conveyor at the rear end, the collecting rod is rotatably connected with the collecting cover at both ends, a right-angle motor is arranged on the surface of the collecting cover, the right-angle motor drives the collecting rod to rotate, left-handed and right-handed spiral plates are symmetrically arranged on the surface of the collecting rod, and the left-handed and right-handed spiral plates are respectively along left-handed and right-handed threads.

[0018] As a preferred scheme, a dehydration assembly is further arranged, the dehydration assembly comprises a box body, one side of the box body is detachably connected with the bin body, a mud inlet is arranged above the box body and corresponds to the lower end of the flow guide plate, a conveying belt is correspondingly arranged below the mud inlet, mesh plates are arranged on both sides of the conveying belt, a drainage hole is arranged below the conveying belt and corresponds to the conveying belt, an extrusion component is arranged along the transmission direction of the conveying belt, and a storage cavity is arranged at the other end of the conveying belt.

[0019] As a preferred scheme, the extrusion component comprises an upper pressing roller and a lower pressing roller, the upper pressing roller is arranged above the conveying belt, the lower pressing roller is arranged inside the conveying belt and corresponds to the upper pressing roller, the upper pressing roller and the lower pressing roller are rotatably connected with the mesh plates, and the upper pressing roller is detachably connected with the mesh plates.

[0020] As a preferred scheme, moving wheels are arranged below the box body and correspond to four corners of the box body, and the box body and the bin body are fixedly connected through bolts.

[0021] The beneficial effects of the mine auxiliary operation robot are as follows: when in use, the operation robot is placed in the water bin with drained water, the walking feet below the mounting plate drive the whole equipment to move, and the walking feet move in a stepping manner, so that the robot is prevented from sinking into mud in the traditional track moving process, the dredging assembly on the bin body is used for dredging the mud in the water bin, the collecting component in contact with the bottom surface is continuously pushed along the bottom surface of the water bin during the movement of the robot, so that the mud in the water bin is collected, the screw conveyor is used for pumping out the mud of the collecting component, the flow guide plate inside the bin body is used for guiding the flow, and the flow guide plate is used for recycling the pumped-out mud by using external recycling equipment, so that the mud in the water bin is better dredged. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Fig. 1 is a structural schematic diagram of a mine auxiliary operation robot.

[0023] Figure 2 Fig. 2 is an internal structural schematic diagram of the mine auxiliary operation robot.

[0024] Figure 3 is a dredging assembly structure diagram of a mine auxiliary operation robot.

[0025] Figure 4 is a dehydration assembly internal structure diagram of a mine auxiliary operation robot. DETAILED DESCRIPTION

[0026] The application will be further described and illustrated with specific examples and the accompanying drawings:

[0027] Please refer to Figure 1 and Figure 2 A mine auxiliary operation robot, comprising a walking assembly 10, the walking assembly 10 comprising a mounting plate 12 and a plurality of walking feet 11 arranged on the periphery of the mounting plate 12, the walking feet 11 driving the mounting plate 12 to move.

[0028] A warehouse body 20 is arranged above the mounting plate 12, and the warehouse body 20 is rotationally arranged with the mounting plate 12, the warehouse body 20 is used for placing electric control equipment, and a backup power supply is arranged inside the warehouse body 20.

[0029] A dredging assembly 30, the dredging assembly 30 comprising a collecting component 31 in contact with the bottom surface of the water warehouse and a screw conveyor 32 for conveying sludge, the screw conveyor 32 is inclined through the warehouse body 20, and the screw conveyor 32 is fixedly connected with the warehouse body 20, the collecting component 31 is arranged at the lower end of the screw conveyor 32, and the collecting component 31 is in communication with the screw conveyor 32.

[0030] A guide plate 40 is arranged in the warehouse body 20, the guide plate 40 is arranged downwardly away from the screw conveyor 32, the upper end of the guide plate 40 is matched with the discharge port of the screw conveyor 32, and the guide plate 40 is used for guiding the sludge pushed out by the screw conveyor 32, and the lower end of the guide plate 40 extends out of the warehouse body 20 and is in communication with an external recycling equipment.

[0031] In use, the operation robot is placed in the water warehouse after draining water, the walking feet 11 below the mounting plate 12 are used to drive the whole equipment to move, and the walking feet 11 are used to move in a step-by-step manner, avoiding the situation that the traditional crawler moves into the sludge, the collecting component 31 in contact with the bottom surface of the water warehouse is used to push the sludge in the water warehouse during the movement of the robot, so that the sludge in the water warehouse is collected, and the sludge collected by the collecting component 31 is pumped out by the screw conveyor 32, the sludge is guided by the guide plate 40 inside the warehouse body 20, and the sludge is recycled by the external recycling equipment by the guide plate 40, so that the sludge in the water warehouse is better cleaned.

[0032] Please refer to Figure 1 In the above scheme, the walking foot 11 includes a rotating rod 111, a connecting rod 112, and a support rod 113. The rotating rod 111 is rotationally connected with the mounting plate 12. The connecting rod 112 is rotationally connected with the other end of the rotating rod 111. The support rod 113 is rotationally connected with the other end of the connecting rod 112. The connections between the rotating rod 111, the connecting rod 112, and the support rod 113 are all rotationally connected through the rudders 114. The rudders 114 correspond to the Y-axis, the X-axis, and the Z-axis, respectively.

[0033] When walking, the rudders 114 between the rotating rod 111 and the mounting plate 12 control the entire walking foot 11 to swing back and forth. The rudders 114 between the connecting rod 112 and the rotating rod 111 can control the connecting rod 112 and the support rod 113 to be raised or lowered. The movement of the entire walking foot 11 is as follows: first, control the connecting rod 112 and the support column of the single walking foot 11 of the working robot to be raised, and the other walking feet 11 remain in the supporting state. After being raised, rotate forward, and then lower them again to change the supporting position of the walking foot 11. The other walking feet 11 also move alternately, thereby driving the entire working robot to move. Compared with the lifting and lowering process, the situation of being unable to move is avoided.

[0034] Moreover, the rudders 114 between the connecting rod 112 and the support rod 113 can change the included angle between the connecting rod 112 and the support rod 113, thereby adjusting all the walking feet 11 to adjust the height of the working robot. When the walking foot 11 is stuck, the swinging support rod 113 can be used to get out of the mud.

[0035] The number of walking feet 11 is at least four. The walking feet 11 are distributed on both sides of the mounting plate 12. The end of the support rod 113 of the walking foot 11 is provided with a reinforcing piece 115. The diameter of the reinforcing piece 115 is greater than that of the support rod 113. The center of the reinforcing piece 115 is fixedly connected with the support rod 113. In this embodiment, the number of walking feet 11 is four, but six or eight can also be used, like spiders and other reptiles. The pressure generated by each walking foot 11 can be dispersed by the reinforcing piece 115, and the contact area with the ground is also increased, thereby achieving better stability. Moreover, a threaded rubber sleeve (not shown) can be provided on the surface of the walking foot 11 to avoid affecting the rotation between the connecting rod 112 and the support rod 113 when the walking foot 11 is inserted into the mud. The threaded rubber sleeve can protect the rotation between the connecting rod 112 and the support rod 113 without affecting the normal rotation and bending of the walking foot 11.

[0036] Please refer to Figure 2The supporting plate 13 is arranged on the mounting plate 12, and the rotating motor 14 is arranged between the supporting plate 13 and the mounting plate 12, the rotary table 21 is arranged below the bin body 20, the rotary table 21 is rotationally connected with the supporting plate 13, and the output shaft of the rotating motor 14 is fixedly connected with the rotary table 21 through the supporting plate 13. Therefore, the bin body 20 can rotate, and can better adapt to different environments in the water sump, and when turning, the bin body 20 is directly rotated to drive the dredging assembly 30 to rotate, and the camera 22 for monitoring and shooting is arranged above the bin body 20, the searchlight 23 for lighting is arranged on both sides of the camera 22, the camera 22 can be used to shoot the picture in the water sump and the operation condition of dredging in front of the bin body 20 in real time, and the searchlight 23 can be used to play a role in lighting.

[0037] Please refer to Figure 3 The collecting component comprises a fan-shaped collecting cover 311, the front end of the collecting cover 311 is in an open shape, a collecting rod 312 is arranged at the front end of the collecting cover 311, the collecting cover 311 is connected with a rear-end screw conveyor 32, the two ends of the collecting rod 312 are rotationally connected with the collecting cover 311, a right-angle motor 313 is arranged on the surface of the collecting cover 311, the right-angle motor 313 drives the collecting rod 312 to rotate, left-handed blades 314 and right-handed blades 315 are symmetrically arranged on the surface of the collecting rod 312, and the left-handed blades 314 and the right-handed blades 315 are respectively along left-handed threads and right-handed threads.

[0038] The collecting cover 311 is in a fan-shaped structure, so that the effect of convergence is achieved during movement, the collecting rod 312 is driven to rotate by the right-angle motor 313, and the left-handed blades 314 and the right-handed blades 315 on the surface of the collecting rod 312 respectively drive the sludge to converge to the center of the collecting cover 311, so that the sludge is recycled by the screw conveyor 32.

[0039] Please refer to Figure 4 The dehydrating assembly 50 comprises a box body 51, one side of the box body 51 is detachably connected with the bin body 20, a sludge inlet 511 is arranged above the box body 51 and corresponds to the lower end of the flow guide plate 40, a conveying belt 52 is arranged below the sludge inlet, mesh plates 53 are arranged on both sides of the conveying belt 52, a water discharge hole 512 is arranged below the conveying belt 52 and corresponds to the box body 51, a squeezing component is arranged along the transmission direction of the conveying belt 52, and a storage cavity 513 is arranged at the other end of the conveying belt 52.

[0040] Therefore, in actual use, the working robot can select different recycling modes according to the actual water sump, when the water sump space is large and the amount of sludge to be recycled is large, the flow guide plate 40 can be directly connected with the external recycling equipment through a pipeline, and the sludge of the flow guide plate 40 is recycled by suction; when the amount of sludge to be recycled is small, the external recycling equipment is not needed, and unnecessary operations are avoided.

[0041] The sludge flowed out by the guide plate 40 falls on the surface of the conveying belt 52, and the mesh plate 53 on both sides of the conveying belt 52 plays a role of blocking the sludge, ensuring that the sludge is transmitted along the conveying belt 52 and is preliminarily dehydrated and extruded when passing through the extrusion component, the extruded wastewater flows to the bottom of the box body 51 through the mesh plate 53 and is discharged into the water tank through the drain hole 512 in the bottom plate of the box body 51, avoiding accumulation in the box body 51, and the sludge after extrusion and dehydration is conveyed to the storage cavity 513 through the conveying belt 52 for temporary storage. Through the dehydration treatment, the volume and gravity of the sludge are reduced, so that more sludge can be loaded in a limited space, and the situation that the walking assembly 10 cannot be pulled due to a relatively large weight does not occur.

[0042] The extrusion component includes an upper pressing roller 541 and a lower pressing roller 542, the upper pressing roller 541 is arranged above the conveying belt 52, and the lower pressing roller 542 is arranged inside the conveying belt 52 corresponding to the upper pressing roller 541, both the upper pressing roller 541 and the lower pressing roller 542 are rotationally connected with the mesh plate 53, and the upper pressing roller 541 is detachably connected with the mesh plate 53. When the sludge on the conveying belt 52 passes between the upper pressing roller 541 and the lower pressing roller 542, the sludge is extruded and dehydrated by the upper pressing roller 541 and the lower pressing roller 542, and the lower pressing roller 542 is arranged inside the conveying belt 52, ensuring that the sludge is extruded while being transmitted along the conveying belt 52.

[0043] The box body 51 is provided with moving wheels 55 corresponding to the four corners of the box body 51, and the box body 51 is fixedly connected with the tank body 20 by bolts, so that the box body 51 can move with the tank body 20, thereby avoiding being limited by pipes and the like.

[0044] The present application provides a mine auxiliary operation robot, when in use, the operation robot is placed in a water tank with water drained, the walking feet below the mounting plate drive the whole device to move, and the walking feet move in a stepping manner, avoiding the situation that the traditional track moves into the sludge, the dredging assembly on the tank body cleans the sludge in the water tank, the collecting component in contact with the bottom surface continuously pushes along the bottom surface of the water tank during the movement of the robot, thereby collecting the sludge in the water tank, and then the sludge in the collecting component is extracted by the screw conveyor, the extracted sludge is guided by the guide plate inside the tank body, and the sludge is recycled by the external recycling device, thereby the sludge in the water tank is better cleaned.

[0045] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A mine auxiliary operation robot characterized by, The walking assembly comprises a mounting plate and a plurality of walking feet arranged on the periphery of the mounting plate, and the walking feet drive the mounting plate to move; The walking feet comprise a rotating rod, a connecting rod and a supporting rod, the rotating rod is rotationally connected with the mounting plate, the connecting rod is rotationally connected with the other end of the rotating rod, the supporting rod is rotationally connected with the other end of the connecting rod, and the rotating rod, the connecting rod and the supporting rod are rotationally connected by rudders, and the rudders correspond to Y-axis, X-axis and Z-axis respectively; The number of the walking feet is at least four, the walking feet are distributed on both sides of the mounting plate, and the ends of the supporting rods of the walking feet are provided with reinforcing pieces, the diameters of the reinforcing pieces are greater than that of the supporting rods, the reinforcing pieces are fixedly connected with the centers of the supporting rods, and the surfaces of the walking feet are provided with threaded rubber sleeves. A bin is arranged above the mounting plate, the bin is rotationally arranged with the mounting plate, the bin is used for placing electric control equipment, and a backup power supply is arranged in the bin. A dredging assembly comprises a collecting component in contact with the bottom surface of the water bin and a screw conveyor for conveying sludge, the screw conveyor is inclined through the bin, and the screw conveyor is fixedly connected with the bin, the collecting component is arranged at the lower end of the screw conveyor, and the collecting component is in communication with the screw conveyor. The collecting component comprises a fan-shaped collecting cover, the front end of the collecting cover is in an open shape, a collecting rod is arranged at the front end of the collecting cover, the collecting cover is in communication with the screw conveyor at the rear end, the two ends of the collecting rod are rotationally connected with the collecting cover, a right-angle motor is arranged on the surface of the collecting cover, the right-angle motor drives the collecting rod to rotate, left-handed and right-handed pieces are symmetrically arranged on the surface of the collecting rod, and the left-handed and right-handed pieces are along left-handed and right-handed threads respectively. A guide plate is arranged in the bin, the guide plate is arranged downwardly away from the screw conveyor, the upper end of the guide plate is matched with the discharge port of the screw conveyor, the guide plate is used for guiding the sludge discharged by the screw conveyor, and the lower end of the guide plate extends out of the bin and is in communication with external recycling equipment. A dehydration assembly is further arranged, the dehydration assembly comprises a box, one side of the box is detachably connected with the bin, a sludge inlet is arranged above the box and corresponds to the lower end of the guide plate, a conveying belt is arranged below the sludge inlet, mesh plates are arranged on both sides of the conveying belt, a drainage hole is arranged below the conveying belt and corresponds to the box, a squeezing component is arranged along the transmission direction of the conveying belt, and the other end of the conveying belt is provided with a storage cavity.

2. The mine auxiliary operation robot according to claim 1, characterized in that, A supporting plate is arranged on the mounting plate, a rotating motor is arranged between the supporting plate and the mounting plate, a rotary table is arranged below the bin, the rotary table is rotationally connected with the supporting plate, and the output shaft of the rotating motor is fixedly connected with the rotary table through the supporting plate.

3. The mine auxiliary operation robot according to claim 2, characterized in that, A camera is arranged above the bin and is used for monitoring and shooting, and searchlights are arranged on both sides of the camera and are used for lighting.

4. The mine auxiliary operation robot according to claim 1, characterized in that, The squeezing component comprises an upper pressing roller and a lower pressing roller, the upper pressing roller is arranged above the conveying belt, the lower pressing roller is arranged inside the conveying belt and corresponds to the upper pressing roller, the upper pressing roller and the lower pressing roller are rotationally connected with the mesh plates, and the upper pressing roller is detachably connected with the mesh plates.

5. The mine auxiliary operation robot according to claim 4, characterized in that, The box is provided below with moving wheels, and the moving wheels are arranged corresponding to four corners of the box. The box is fixedly connected with the warehouse body by bolts.

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