Intelligent inclined shaft excavation slag removal trolley

Abstract

The invention relates to the technical field of tunnel excavation equipment, in particular to an intelligent inclined shaft excavation slag removal trolley which comprises a trolley body, the trolley body is movably arranged in an inclined shaft, the trolley body comprises an excavation assembly, a slag removal assembly and a conveying assembly, the excavation assembly is arranged at the front end of the trolley body and used for excavating slag, and the slag removal assembly is arranged at the rear end of the trolley body. The residue removing assembly is arranged at the rear end of the trolley body and used for removing residue soil, and the conveying assembly is arranged below the trolley body; the drill seat is matched with the spiral groove of the drill sleeve, so that the drill bit can drive the expansion scraper blade to expand outwards in a reciprocating manner through cam linkage during drilling, the expansion scraper blade directly moves on the drill rod in a reciprocating spiral manner, the residue soil stripping range is effectively expanded, and the problem of operation blind areas caused by a single structure of traditional equipment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel excavation equipment, and in particular to an intelligent inclined shaft excavation and slag cleaning trolley. Background Art

[0002] In the inclined shaft excavation project, the traditional slag cleaning operation mainly relies on manual operation or excavation equipment with single functions, which has significant technical bottlenecks and potential safety hazards. First of all, in the traditional method, the excavation and slag cleaning links are separated, and additional transportation vehicles or equipment are required to frequently enter and exit the inclined shaft. Due to the narrow space, steep slope and complex working environment of the inclined shaft, accidents such as collisions and rollovers are extremely likely to occur when the transportation equipment enters and exits, posing a serious threat to the safety of personnel.

[0003] At the same time, the frequent transportation operation is not only inefficient, but also prolongs the overall construction period due to equipment scheduling and waiting time. Secondly, the traditional slag cleaning equipment has a single function, and the operation range of the backhoe arm is limited, making it difficult to cover the entire area in the axial direction of the inclined shaft, resulting in incomplete slag cleaning. The remaining slag accumulation may block the operation passage or affect the movement of subsequent construction equipment, further reducing the construction efficiency.

[0004] In addition, the dust concentration in the inclined shaft is high and the ventilation condition is poor. The traditional equipment lacks effective environmental control measures, which is likely to cause respiratory diseases of construction workers during long-term operation, and the problem of low visibility increases the risk of operation errors. Summary of the Invention

[0005] The main purpose of the present invention is to provide an intelligent inclined shaft excavation and slag cleaning trolley, aiming to solve the problem that the existing slag cleaning and excavation equipment is difficult to cover the entire area in the axial direction of the inclined shaft.

[0006] To achieve the above object, the present invention provides an intelligent inclined shaft excavation and slag cleaning trolley, including a trolley body, the trolley body is movably arranged in the inclined shaft, the trolley body includes an excavation component, a slag cleaning component and a conveying component, the excavation component is arranged at the front end of the trolley body and is used for excavating slag, the slag cleaning component is arranged at the rear end of the trolley body and is used for cleaning slag, and the conveying component is arranged below the trolley body; The excavation component includes an excavation arm group connected to the trolley body, a drilling mechanism arranged at the end of the excavation arm group, and an inclined excavation mechanism arranged on the excavation arm group. The drilling mechanism includes a drill base and a plurality of drill bits. The inclined excavation mechanism includes a plurality of expansion scrapers arranged on the outer periphery of the drill base. When the drill bit drills, it can drive the expansion scraper to rotate along the inclined surface of the inclined shaft; The trolley further includes the following components that are communicatively connected in sequence: an image module for collecting slag removal information in the inclined shaft; a communication module for transmitting the slag removal information to the user terminal to achieve signal communication between the trolley and the user terminal; an interaction module for generating a control signal according to the information input by the user terminal; and a control module for controlling the movement of the trolley in the inclined shaft and performing excavation and slag removal actions according to the control signal.

[0007] Optionally, a slide rail is provided in the inclined shaft, and a moving component that cooperates with the slide rail is provided inside the trolley body. The slag removal component includes a backhoe arm rotatably provided on the trolley body, and an end of the backhoe arm is provided with a backhoe bucket for transferring the muck to the conveying component, and an end of the conveying component extends outside the inclined shaft.

[0008] Optionally, the slag removal component further includes a hydraulic turntable rotatably provided on the trolley body, and an end of the backhoe arm is fixedly provided on the hydraulic turntable.

[0009] Optionally, the excavation arm group includes a robotic arm and a movable arm movably provided at an end of the robotic arm, and an excavation shovel is provided at an end of the movable arm.

[0010] Optionally, the drill base is connected to the movable end of the robotic arm and is placed above the excavation shovel. The drill base is connected with a hydraulic motor, and an output end of the hydraulic motor is connected with a plurality of drill bits.

[0011] Optionally, a drill sleeve is rotatably provided on the outer periphery of the drill base. A closed-loop spiral groove is provided on the inner wall of the drill sleeve, a screw rod that matches the spiral groove is provided on the outer periphery of the drill base, and cams that abut against the drill sleeve are provided at the bottoms of the plurality of drill bits.

[0012] Optionally, a connecting rod is movably provided on the extension scraper. One end of the connecting rod is connected to the drill sleeve, and the other end of the connecting rod is connected with a rotating sleeve that is rotatably provided on the outer periphery of the drill base.

[0013] Optionally, a crushing disc is rotatably provided on the inner bottom surface of the excavation shovel.

[0014] Optionally, the trolley further includes a ventilation component, and the ventilation component includes a ventilation duct provided in the inclined shaft and a blower provided on the trolley body.

[0015] Optionally, the moving component includes a driving wheel and a driven wheel. The driving wheel is connected to an output end of a motor, and the motor is in signal connection with the control module.

[0016] An intelligent inclined shaft excavation and slag cleaning trolley proposed in an embodiment of the present invention integrates three major functional modules of excavation, slag cleaning, and transportation into the trolley body. Then, through the coordinated operation of the drilling mechanism and the inclined excavation mechanism of the front-end excavation component, and by combining the high-speed rotation of the drill bit with the inclined surface rotation of the extended scraper, multi-angle coverage excavation of the inclined shaft wall surface is achieved. Specifically, the spiral groove matching design of the drill base and the drill sleeve enables the drill bit to drive the extended scraper to reciprocally expand outwards through cam linkage during drilling, which is directly manifested as reciprocating spiral movement on the drill pipe, effectively expanding the range of muck stripping and solving the problem of operation blind spots caused by the single structure of traditional equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. is a schematic diagram of the overall structure of the trolley of the present invention in the inclined shaft; Figure 2 FIG. is an axonometric structural diagram of a partial structure of the trolley of the present invention; Figure 3 FIG. is a structural diagram of the drilling mechanism of the present invention; Figure 4 FIG. is a sectional structural diagram of the drilling mechanism of the present invention; REFERENCE SIGNS: 1 - trolley body, 2 - excavation component, 3 - slag cleaning component, 4 - transportation component, 5 - moving component; 21 - excavation arm group, 22 - drilling mechanism, 23 - inclined excavation mechanism; 211 - robotic arm, 212 - movable arm, 213 - excavation shovel, 214 - crushing disc; 221 - drill base, 222 - drill bit, 223 - hydraulic motor, 224 - drill sleeve, 225 - cam; 231 - extended scraper, 232 - connecting rod, 233 - rotating sleeve; 31 - backhoe arm, 32 - backhoe bucket, 33 - hydraulic turntable 41 - slide rail.

[0018] The realization of the object, functional features, and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0021] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0023] Embodiment 1: Please refer to the attached Figure 1 to the attached Figure 4 In this embodiment, an intelligent inclined shaft excavation and slag cleaning trolley is provided, including a trolley body 1. The trolley body 1 is movably arranged in the inclined shaft. The trolley body 1 includes an excavation component 2, a slag cleaning component 3, and a conveying component 4. The excavation component 2 is arranged at the front end of the trolley body 1 and is used for excavating muck. The slag cleaning component 3 is arranged at the rear end of the trolley body 1 and is used for cleaning muck. The conveying component 4 is arranged below the trolley body 1; The excavation component 2 includes an excavation arm group 21 connected to the trolley body 1, a drilling mechanism 22 arranged at the end of the excavation arm group 21, and an inclined excavation mechanism 23 arranged on the excavation arm group 21. The drilling mechanism 22 includes a drill base 221 and a number of drill bits 222. The inclined excavation mechanism 23 includes a number of expansion scrapers 231 arranged on the outer periphery of the drill base 221. When the drill bits 222 drill, they can drive the expansion scrapers 231 to rotate along the inclined plane of the inclined shaft. The trolley further includes the following components that are communicatively connected in sequence: An image module for collecting slag cleaning information in the inclined shaft; A communication module for transmitting the slag cleaning information to the user terminal to achieve signal communication between the trolley and the user terminal; An interaction module for generating a control signal according to the information input by the user terminal; A control module for controlling the trolley to move in the inclined shaft and perform excavation and slag cleaning actions according to the control signal.

[0024] It should be noted that in the traditional method, the excavation and slag cleaning links are separated, and additional transportation vehicles or equipment are required to frequently enter and exit the inclined shaft. Due to the narrow space, steep slope and complex working environment of the inclined shaft, accidents such as collisions and rollovers are very likely to occur when the transportation equipment enters and exits, posing a serious threat to the safety of personnel.

[0025] It should also be noted that the operation range of the traditional shovel arm is limited and it is difficult to cover the entire area in the axial direction of the inclined shaft, resulting in incomplete slag cleaning. The remaining accumulated slag may block the operation passage or affect the movement of subsequent construction equipment, further reducing the construction efficiency.

[0026] Based on the above problems, an intelligent inclined shaft excavation and slag cleaning trolley is provided in this embodiment. By integrating the three functional modules of excavation, slag cleaning and conveying into the trolley body 1, through the coordinated operation of the drilling mechanism 22 and the inclined excavation mechanism 23 of the front-end excavation component 2, and using the high-speed rotation of the drill bits 222 combined with the inclined rotation of the expansion scrapers 231, multi-angle coverage excavation of the inclined shaft wall surface is achieved. Specifically, the spiral groove of the drill base 221 and the drill sleeve 224 are designed in cooperation, so that when the drill bits 222 drill, they can drive the expansion scrapers 231 to expand reciprocally outwards through the linkage of the cam 225, which is directly manifested as the reciprocating spiral movement on the drill pipe, effectively expanding the slag stripping range and solving the problem of operation blind spots caused by the single structure of traditional equipment.

[0027] At the same time, the backhoe arm 31 of the slag cleaning component 3 realizes multi-degree-of-freedom rotation through the hydraulic turntable 33, combined with the continuous slag transfer channel of the conveying component 4, eliminating the necessity of frequently entering and exiting transportation equipment in the traditional process, significantly reducing the risk of equipment collision and rollover in the inclined shaft, and improving the operation safety.

[0028] In terms of intelligent control, the trolley in this embodiment collects the environmental data and slag cleaning status in the inclined shaft in real time through an image module, and remotely transmits the information to the user terminal through a communication module, enabling the operator to remotely monitor and input control instructions through an interaction module. The control module then coordinates the movement, excavation, and slag cleaning actions of the trolley according to the instructions. For example, through the precise cooperation of the slide rail 41 and the moving component 5, the trolley can achieve stable travel and positioning in the inclined shaft.

[0029] In some embodiments, the trolley also includes corresponding hydraulic pipelines. Telescopic cylinders and slewing cylinders are arranged on structures such as the backhoe arm 31, the robotic arm 211, and the movable arm 212, and the extension, contraction, and rotation actions are controlled through the telescopic cylinders and slewing cylinders.

[0030] In some embodiments, stiffening ribs are arranged on structures such as the backhoe arm 31, the robotic arm 211, and the movable arm 212; In some embodiments, the inner wall of the backhoe bucket 32 is provided with a wear-resistant lining plate, and the wear-resistant lining plate is made of high manganese steel material.

[0031] In some embodiments, protective fences are arranged on both side plates of the conveying component 4, and the height of the protective fences is 1 to 1.2 meters.

[0032] In this embodiment, a slide rail 41 is arranged in the inclined shaft, a moving component 5 matching with the slide rail 41 is arranged in the trolley body 1, the slag cleaning component 3 includes a backhoe arm 31 rotatably arranged on the trolley body 1, an end of the backhoe arm 31 is provided with a backhoe bucket 32, the backhoe bucket 32 is used for transferring the muck into the conveying component 4, and an end of the conveying component 4 extends outside the inclined shaft.

[0033] In this embodiment, the slag cleaning component 3 further includes a hydraulic turntable 33 rotatably arranged with the trolley body 1, and an end of the backhoe arm 31 is fixedly arranged on the hydraulic turntable 33.

[0034] It can be understood that the above structure solves the core problems such as poor stability of equipment movement, low efficiency of muck transfer, and limited operation range in traditional inclined shaft construction through the design of the slide rail 41 guiding system, the multi-degree-of-freedom slag cleaning component 3, and the continuous conveying component 4. Specifically, the slide rail 41 arranged in the inclined shaft and the moving component 5 inside the trolley body 1 form a precise cooperation. Through the closed-loop control of the motor by the control module, it is ensured that the trolley travels stably along the predetermined path on the steep slope and narrow space of the inclined shaft, avoiding the risks of side slip, deviation, and even overturning of traditional equipment caused by slippery ground or slope changes.

[0035] It can be understood that the rigid support of the slide rail 41 combined with the adaptive adjustment ability of the moving component 5 further improves the positioning accuracy and load capacity of the trolley, providing a stable operation platform for subsequent excavation and slag cleaning operations. In addition, the backhoe arm 31 of the slag cleaning component 3 realizes 360° horizontal rotation and pitch angle adjustment through the hydraulic turntable 33. The backhoe bucket 32 at its end is designed with wear-resistant liners, which can flexibly grab and transfer the muck within the axial and radial ranges of the inclined shaft, covering the blind areas that cannot be reached due to structural limitations of the traditional backhoe arm 31, and solving the problem of channel blockage caused by muck residue. The linkage design of the backhoe arm 31 and the hydraulic turntable 33 completes local cleaning in a narrow area through a contracted posture, and then expands to the maximum operation radius for efficient transfer, significantly improving the thoroughness and adaptability of slag cleaning.

[0036] In some embodiments, the hydraulic turntable 33 includes a slewing bearing, an axial piston hydrostatic motor-driven planetary gear reducer, a hydraulic control valve group and other structures. The slewing bearing uses a single-row or double-row four-point contact ball bearing, and the inner and outer rings are respectively fixed to the upper structure and the lower base of the turntable. The raceway design of the bearing allows it to withstand the combined load of axial, radial and overturning moments, and is suitable for the unbalanced forces during the operation of the backhoe arm 31 in the inclined shaft.

[0037] In this embodiment, the excavation arm group 21 includes a robotic arm 211 and a movable arm 212 movably arranged at the end of the robotic arm 211, and an excavation shovel 213 is arranged at the end of the movable arm 212.

[0038] In this embodiment, a crushing disc 214 is rotatably arranged on the bottom surface inside the excavation shovel 213.

[0039] It can be understood that the robotic arm 211 is welded into a box structure with high-strength steel (such as Q690D), and a multi-stage telescopic cylinder is arranged inside to realize the longitudinal extension and contraction of the main arm, so as to cover the front operation area in the axial direction of the inclined shaft.

[0040] In some embodiments, the movable arm 212 is connected to the end of the robotic arm 211 through a hinge mechanism, and a double-acting hydraulic cylinder is integrated at its joint to realize the adjustment of the support pitch angle of ±45° and the deflection of ±30° in the horizontal plane, so that the movable arm 212 can flexibly avoid obstacles in the narrow space of the inclined shaft. The cutting teeth of the excavation shovel 213 at the end of the movable arm 212 are inlaid with cemented carbide.

[0041] In some embodiments, the trolley body 1 and the moving component 5 are applicable to inclined shaft tunnels with an overall inclination angle within 30°. The robotic arm 211 is used for the positioning of the main arm, and the movable arm 212 is used for the fine adjustment of the sub-arm. However, in the steep slope section of the inclined shaft with an inclination angle exceeding 30°, after the robotic arm 211 extends to the maximum length, the movable arm 212 can be adjusted in pitch to keep the excavation shovel 213 always perpendicular to the inclined plane, ensuring that the cutting angle of the shovel teeth forms an angle of 70° - 80° with the rock formation. In addition, when encountering high-hardness rock formations such as basalt, the crushing disc 214 driven by another hydraulic motor 223 switches to the high-frequency impact mode, while in loose soil layers, the low-speed rolling mode is adopted.

[0042] In some embodiments, there is a space at the bottom of the excavation shovel 213 to accommodate another hydraulic motor 223, and the output end of this hydraulic motor 223 is connected to the crushing disc 214.

[0043] In some embodiments, a number of crushing teeth are evenly distributed at intervals on the outer periphery of the crushing disc 214, and a number of the crushing teeth are all inclined.

[0044] In this embodiment, the drill base 221 is connected to the movable end of the robotic arm 211 and is placed above the excavation shovel 213. The drill base 221 is connected with a hydraulic motor 223, and the output end of the hydraulic motor 223 is connected to a number of drill bits 222.

[0045] It can be understood in combination with the above structure that the drill base 221 is connected to the top of the movable end of the robotic arm 211 through a high-strength pin shaft, and the robotic arm 211 can act vertically on the rock formation above the working surface of the excavation shovel 213. The hydraulic motor 223 is directly fixed to the rear end of the drill base 221 through a flange, and the output shaft drives the drill bits 222 to rotate through a planetary reducer.

[0046] It can also be understood that the group of drill bits 222 pre-cracks the rock formation in a spiral path. After forming a dense crack network, the excavation shovel 213 then cuts into the weakened rock mass, and the internal crushing disc 214 inside it performs secondary crushing on the soil in the shovel.

[0047] In some embodiments, the preferred number of the drill bits 222 is 3, and the included angle between adjacent drill bits 222 is 120°.

[0048] In this embodiment, a drill sleeve 224 is rotatably arranged on the outer periphery of the drill base 221. A closed-loop spiral groove is formed on the inner wall of the drill sleeve 224. A screw rod matching the spiral groove is arranged on the outer periphery of the drill base 221. The bottoms of a number of the drill bits 222 are provided with cams 225 abutted against the drill sleeve 224.

[0049] In this embodiment, a connecting rod 232 is movably arranged on the extended scraper 231. One end of the connecting rod 232 is connected to the drill sleeve 224, and the other end of the connecting rod 232 is connected to a rotating sleeve 233. The rotating sleeve 233 is rotatably arranged on the outer periphery of the drill base 221.

[0050] It should be noted that the linkage structure of the drill base 221, drill sleeve 224, spiral groove, screw rod and cam 225 in this embodiment, through the collaborative design of mechanical transmission and dynamic compensation, systematically solves the core problems of unstable thrust force of the drill bit 222, limited angle adjustment and short service life of the drill tool in traditional inclined shaft excavation equipment.

[0051] Specifically, the drill sleeve 224 is rotatably sleeved on the outer periphery of the drill base 221 through a precision ball bearing, forming a screw pair with the screw rod on the outer periphery of the drill base 221. A cam 225 is arranged at the bottom of the drill bit 222, and the contact point between the cam 225 and the drill sleeve 224 changes dynamically with the offset. Therefore, the drill sleeve 224 has a tendency to repeatedly move away from the drill bit 222. Since the three connecting parts of the connecting rod 232 are the extended scraper 231, drill sleeve 224 and rotating sleeve 233 respectively, and the axial displacement of the rotating sleeve 233 is relatively fixed, the movement tendency of the drill sleeve 224 away from the drill bit 222 will be converted into the movement tendency of the extended scraper 231 to move towards its outer periphery. When the extended scraper 231 abuts against the inner wall of the inclined shaft and scrapes in, due to the existence of the reaction force, the extended scraper 231 in this part will have a tendency to reset. Therefore, the entire movement process of the extended scraper 231 is a reciprocating movement process. It can be understood that the change in the contact distance between the cam 225 and the drill sleeve 224 is the scraping-in distance converted by the extended scraper 231. It can also be understood that due to the existence of the screw pair, the extended scraper 231 does not move linearly towards the outer periphery, but has an obvious spiral shape, greatly increasing the adaptability of the extended scraper 231 to the inner wall of the inclined shaft.

[0052] The introduction of the screw pair makes the movement trajectory of the scraper have spatial adaptability: in the section where the inclination angle of the inclined shaft changes, the spiral outward expansion of the scraper can fit the contour of the inclined surface to avoid residue of muck; while in the hard rock section, the scraper absorbs the impact load through the elastic deformation of the connecting rod 232 to prevent structural damage. Combined with the secondary crushing of the pre-cracked muck by the crushing disc 214, the particle size of the muck is stabilized below 50mm, and the blockage rate of the conveying component 4 is reduced by 35%.

[0053] In some embodiments, the surface of the extended scraper 231 is provided with hard alloy scraping teeth and is coated with tungsten carbide by laser cladding, with a thickness of 1.5 mm.

[0054] In some embodiments, the material of the connecting rod 232 is selected as 30CrMnSiA spring steel.

[0055] In some embodiments, the screw rod does not directly cooperate with the spiral groove, but indirectly cooperates through rolling bearings or the like. The indirect cooperation between the screw rod and the spiral groove reduces frictional losses.

[0056] In some embodiments, the pitch range of the closed-loop spiral groove is 15 mm - 20 mm, and the lead angle is preferably 30°.

[0057] In some embodiments, the contour curve of the cam 225 is an Archimedean spiral.

[0058] In some embodiments, the drill bits 222 are movably arranged on the drill bit seat 222, enabling a certain degree of angular change. When the hydraulic motor 223 drives the drill bit seat 222 to rotate, the drill bits 222 bite into each other to achieve a crushing effect.

[0059] In some embodiments, a return spring is arranged between the drill bushing 224 and the rotation.

[0060] In this embodiment, the trolley further includes a ventilation assembly, which includes a ventilation duct arranged in the inclined shaft and a fan arranged on the trolley body 1.

[0061] Preferably, the ventilation assembly is composed of a ventilation duct laid in the inclined shaft and a high-pressure centrifugal fan installed on the trolley body 1. The air inlet of the fan integrates a multi-stage filtration module that can intercept PM10 particulate matter; the air outlet is connected to the ventilation duct at the top of the inclined shaft through a flexible air duct to form a directional air flow channel from the trolley operation surface to the inclined shaft outlet.

[0062] In some embodiments, the multi-stage filtration module is preferably a primary metal mesh, a medium-effect cloth bag, and a high-efficiency HEPA filter element.

[0063] In this embodiment, the moving assembly 5 includes a driving wheel and a driven wheel. The driving wheel is connected to the output end of the motor, and the motor is signal-connected to the control module.

[0064] The moving assembly 5 in this embodiment includes a driving wheel, a driven wheel, and a driving motor. The driving wheel is directly connected to the motor output shaft through a planetary reducer, and the driven wheel is articulated to the trolley chassis through a universal joint. In addition, a pressure sensor can be set to monitor the contact force between the slide rail 41 and the wheel surface in real time and dynamically adjust the motor output torque.

[0065] Embodiment 2: The trolley further includes components that are communicatively connected in sequence: An image module for collecting slag removal information in the inclined shaft; A communication module for transmitting the slag removal information to the user terminal to achieve signal communication between the trolley and the user terminal; An interaction module for generating a control signal according to the information input by the user terminal; A control module for controlling the trolley to move in the inclined shaft and perform excavation and slag cleaning actions according to control signals.

[0066] For the image module, it is used to collect the slag distribution, equipment pose and environmental status information in the inclined shaft in real time. Through FPGA algorithm acceleration, multi-scale feature extraction is performed on the image, combined with a deep reinforcement learning model to predict the slag accumulation trend. In low-light environments, the brightness of the fill light is dynamically adjusted based on PID feedback control to ensure the image signal-to-noise ratio.

[0067] For the communication module, the MH5000 5G industrial module is preferably used, and a redundant communication link is formed with the 6250 industrial Ethernet switch to achieve signal relaying through LoRaWAN relay nodes in the inclined shaft signal attenuation area, reducing communication latency.

[0068] In some embodiments, the relay node is preferably a Semtech SX1276 chip.

[0069] For the interaction module, it is preferably a PPC-3150 industrial touch screen and a Nuance voice recognition engine. The operation interface is developed based on the Qt framework, supporting gesture control and multi-level menu navigation. After the user-side instructions are processed by the Kalman filter algorithm to eliminate jitter, they are published to the control module through ROS.

[0070] For the control module, it is preferably a Siemens S7-1500 PLC and an NVIDIA Jetson AGX Xavier edge computing unit, equipped with a running model predictive control algorithm and a fuzzy PID controller. For example, in the slag cleaning operation, the MPC optimizes the movement trajectory of the backhoe arm 31 based on the slag distribution prediction model of the image module.

[0071] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An intelligent mucking trolley for inclined shaft excavation, characterized in that, It includes a trolley body which is used to be movably arranged in an inclined shaft. The trolley body includes an excavation assembly, a slag cleaning assembly and a conveying assembly. The excavation assembly is arranged at the front end of the trolley body and is used for excavating muck. The slag cleaning assembly is arranged at the rear end of the trolley body and is used for cleaning muck. The conveying assembly is arranged below the trolley body; The excavation assembly includes an excavation arm group connected to the trolley body, a drilling mechanism arranged at the end of the excavation arm group, and an inclined excavation mechanism arranged on the excavation arm group. The drilling mechanism includes a drill base and several drill bits. The inclined excavation mechanism includes several expansion scrapers arranged on the outer periphery of the drill base. When the drill bits drill, they can drive the expansion scrapers to rotate along the inclined plane of the inclined shaft; The trolley also includes the following components that are communicatively connected in sequence: An image module for collecting slag cleaning information in the inclined shaft; A communication module for transmitting the slag cleaning information to the user terminal to realize signal communication between the trolley and the user terminal; An interaction module for generating a control signal according to the information input by the user terminal; A control module for controlling the trolley to move in the inclined shaft and perform excavation and slag cleaning actions according to the control signal.

2. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 1, wherein A slide rail is arranged in the inclined shaft, and a moving component matched with the slide rail is arranged in the trolley body. The slag cleaning assembly includes a backhoe arm rotatably arranged on the trolley body. The end of the backhoe arm is provided with a backhoe bucket which is used to transfer the muck into the conveying assembly. The end of the conveying assembly extends outside the inclined shaft.

3. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 2, wherein The slag cleaning assembly further includes a hydraulic turntable rotatably arranged with the trolley body, and the end of the backhoe arm is fixedly arranged on the hydraulic turntable.

4. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 1, wherein, The excavation arm group includes a robotic arm and a movable arm movably arranged at the end of the robotic arm. The end of the movable arm is provided with an excavation shovel.

5. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 4, wherein The drill base is connected to the movable end of the robotic arm and is placed above the excavation shovel. The drill base is connected with a hydraulic motor, and the output end of the hydraulic motor is connected with several drill bits.

6. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 5, characterized in that, A drill sleeve is rotatably arranged on the outer periphery of the drill base. A closed-loop spiral groove is formed on the inner wall of the drill sleeve. A screw rod matched with the spiral groove is arranged on the outer periphery of the drill base. The bottoms of several drill bits are provided with cams abutted against the drill sleeve.

7. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 6, wherein, A connecting rod is movably arranged on the expansion scraper. One end of the connecting rod is connected to the drill sleeve, and the other end of the connecting rod is connected with a rotating sleeve which is rotatably arranged on the outer periphery of the drill base.

8. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 4, wherein, A crushing disc is rotatably arranged on the inner bottom surface of the excavation shovel.

9. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 1, characterized in that, The trolley further includes a ventilation assembly. The ventilation assembly includes a ventilation duct arranged in the inclined shaft and a blower arranged on the trolley body.

10. The intelligent inclined shaft excavation and slag cleaning trolley according to claim 2, wherein, The moving component includes a driving wheel and a driven wheel. The driving wheel is connected to the output end of the motor, and the motor is signal-connected to the control module.

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