Robot-based liquid nitrogen pre-cooling combined goaf foam air plugging device and method

Abstract

The invention discloses a robot-based liquid nitrogen pre-cooling combined goaf foam air plugging device and method, and belongs to the technical field of coal mine goaf plugging. The foam air leakage stopping device comprises a foam generating device, a liquid nitrogen storage device, a foam injection pipe communicating with the foam generating device, a nitrogen injection pipe communicating with the liquid nitrogen storage device and a robot used for laying the foam injection pipe and the nitrogen injection pipe to a goaf, and a first switch and a temperature sensor are arranged on the foam injection pipe; a second switch is arranged on the nitrogen injection pipe, and the foam generation device, the liquid nitrogen storage device, the first switch, the temperature sensor and the second switch are all connected with the control module. Liquid nitrogen and foam are jointly injected into the goaf through remote operation of the robot, unmanned operation is achieved, the temperature of the goaf can be rapidly reduced, the foam is promoted to be rapidly solidified, the air leakage blocking effect is effectively improved, air leakage channels are reduced, the spontaneous combustion risk is reduced, and operation safety is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of gob sealing in coal mines, and specifically relates to a nitrogen cryogenic pre-cooling combined gob foam air leakage plugging device and method based on a robot. Background Art

[0002] During the coal seam working face mining process, due to mining activities, fissures connected to adjacent working faces, upper working faces, and even the ground surface are often generated in the gob, forming air leakage channels, resulting in problems such as increased ventilation requirements in the working face, the emergence of a low-oxygen environment, and an increased risk of spontaneous combustion of residual coal.

[0003] Existing air leakage plugging devices using isolation walls, grouting pipes, and nitrogen injection pipes are easily damaged by the collapse of overlying strata, and there are disadvantages such as pipeline waste and difficulty in achieving synchronous air leakage plugging during the construction process. The foam air leakage plugging device can effectively solve the above technical problems. However, as the coal seam mining depth continues to increase, the temperature in the coal mine gradually rises, and the foam injection technology is not easy to solidify in a high-temperature environment, making it difficult to achieve effective plugging. Therefore, the key to ensuring the effective implementation of the foam injection technology is to reduce the temperature in the gob.

[0004] In addition, when coal spontaneous combustion occurs in the gob, there is a risk of inducing gas explosion. The gas explosion can generate high temperature and shock waves instantly and release a large amount of toxic gases, seriously threatening the safety of operating personnel. However, in an explosion-risk environment, current personnel still need to perform operations such as laying pipelines and injecting foam in the working face, which poses a major threat to personnel safety.

[0005] Therefore, it is necessary to propose a nitrogen cryogenic pre-cooling combined gob foam air leakage plugging device and method based on a robot to solve the above technical problems existing in the prior art. Summary of the Invention

[0006] The purpose of the invention is to provide a nitrogen cryogenic pre-cooling combined gob foam air leakage plugging device and method based on a robot, which jointly injects liquid nitrogen and foam into the gob through the robot to achieve unmanned operation during the operation process, and at the same time promotes the rapid solidification of the foam and reduces air leakage channels.

[0007] To achieve the above purpose, the invention provides the following technical solutions:

[0008] A nitrogen cryogenic pre-cooling combined gob foam air leakage plugging device based on a robot includes a foam generating device, a liquid nitrogen storage device, a foam injection pipe communicated with the foam generating device, a nitrogen injection pipe communicated with the liquid nitrogen storage device, and a robot for laying the foam injection pipe and the nitrogen injection pipe into the gob;

[0009] The foam generating device and the liquid nitrogen storage device are both arranged in the intake airway and the return airway;

[0010] A first switch and a temperature sensor are provided on the foam injection pipe, and a second switch is provided on the nitrogen injection pipe;

[0011] The foam generating device, the liquid nitrogen storage device, the first switch, the temperature sensor, and the second switch are all connected to the control module.

[0012] Preferably, the foam generating device includes a roadway compressed air pipe, a roadway water supply pipe, a gas-liquid mixing component, a foam mixing component, and a foam storage tank for storing foam raw materials;

[0013] Both the roadway compressed air pipe and the roadway water supply pipe are connected to the gas-liquid mixing component, and the gas-liquid mixing component is used to form a foam source;

[0014] Both the gas-liquid mixing component and the foam storage tank are connected to the foam mixing component, and the foam mixing component is used to form foam;

[0015] The foam mixing component is connected to the foam injection pipe through a foam release port.

[0016] Preferably, the foam mixing component is connected to the foam storage tank through a first connecting pipe;

[0017] A foam valve is provided on the first connecting pipe, and the control end of the foam valve is connected to the control module.

[0018] Preferably, the foam generating device further includes a foam carrier vehicle;

[0019] The gas-liquid mixing component, the foam mixing component, and the foam storage tank are arranged on the foam carrier vehicle.

[0020] Preferably, the liquid nitrogen storage device includes a liquid nitrogen storage tank, a liquid nitrogen distributor, and a heat insulation pipe;

[0021] One end of the heat insulation pipe is connected to the liquid nitrogen storage tank, and the other end of the heat insulation pipe is connected to the nitrogen injection pipe through the liquid nitrogen distributor;

[0022] A pressure monitor and a flow monitor are provided on the liquid nitrogen storage tank;

[0023] Both the pressure monitor and the flow monitor are connected to the control module.

[0024] Preferably, a liquid nitrogen valve is provided on the heat insulation pipe;

[0025] The control end of the liquid nitrogen valve is connected to the control module.

[0026] Preferably, the liquid nitrogen storage device further includes a liquid nitrogen carrier vehicle;

[0027] The liquid nitrogen storage tank, the pressure monitor, and the flow monitor are arranged on the liquid nitrogen carrier vehicle.

[0028] Preferably, the robot includes a robot body, on which a telescopic mobile platform, a telescopic robotic arm, a video monitoring unit, and a robot control unit are provided;

[0029] The telescopic mobile platform is arranged at the bottom of the robot body and is used to drive the robot body to move;

[0030] The telescopic robotic arm is used to lay the nitrogen injection pipe and the foam injection pipe;

[0031] The video monitoring unit is used to provide real-time feedback on the situation at the operation site;

[0032] The telescopic mobile platform, the telescopic robotic arm, and the video monitoring unit are all connected to the robot control unit.

[0033] Preferably, a coal wall pipe groove is opened along the roadway direction;

[0034] The robot can lay the foam injection pipe and the nitrogen injection pipe into the goaf through the coal wall pipe groove.

[0035] A method for pre-cooling the goaf with liquid nitrogen and jointly plugging air leakage with foam based on a robot, based on the above-mentioned device for pre-cooling the goaf with liquid nitrogen and jointly plugging air leakage with foam based on a robot, includes the following steps:

[0036] Step 1: The robot control unit receives a remote instruction, controls the telescopic mobile platform to move to the operation position. The staff can view the situation at the operation site in real time through the video monitoring unit, and control the telescopic robotic arm to lay the foam injection pipe and the nitrogen injection pipe into the goaf through the robot control unit;

[0037] Step 2: The control module controls the liquid nitrogen valve and the second switch to open, and transports the liquid nitrogen from the liquid nitrogen storage tank to the goaf through the heat-insulating pipe, the liquid nitrogen distributor, and the nitrogen injection pipe to quickly reduce the temperature of the goaf;

[0038] Step 3: When the temperature sensor monitors that the temperature of the goaf reaches the temperature range required for foam solidification, the control module controls the foam valve and the first switch to open, and transports the foam generated by the foam generating device to the goaf through the foam injection pipe to block the air leakage channel. The control module monitors and adjusts the injection amount and time of liquid nitrogen and foam in real time to ensure their coordinated operation and optimize the air leakage plugging effect.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] (1) Through remote operation of the robot, the present invention realizes unmanned operation during the operation process, avoids personnel entering dangerous areas, and effectively improves the operation safety.

[0041] (2) By jointly injecting liquid nitrogen and foam, the present invention can rapidly reduce the temperature in the gob area, prompting the foam to solidify rapidly at a lower temperature. It not only solves the problem that traditional devices are vulnerable to the collapse of overlying strata, but also can function stably and efficiently in a complex mine environment, greatly improving the safety and operation efficiency of coal mines.

[0042] (3) In the present invention, both the liquid nitrogen injection and the foam injection are monitored and adjusted in real time through a control module, ensuring precise control of the flow rates and injection times of both, optimizing the plugging effect and reducing human operation errors.

[0043] (4) The structure of the present invention is scientifically and reasonably designed, with diverse functions and easy to operate. It can rapidly cool the temperature in the gob area under unmanned conditions, prompting the foam to solidify rapidly, effectively improving the effect of plugging air leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments.

[0045] Figure 1 It is a schematic diagram of the overall structure of the embodiment in the present invention;

[0046] Figure 2 It is a schematic diagram of the structure of the foam generating device in the embodiment;

[0047] Figure 3 It is a schematic diagram of the structure of the liquid nitrogen storage device in the embodiment;

[0048] Figure 4 It is a schematic diagram of the structure of the connection between the foam injection pipe and the nitrogen injection pipe in the embodiment;

[0049] Figure 5 It is a schematic diagram of the structure of the robot in the embodiment;

[0050] Figure 6 It is a schematic diagram of the control flow of the control module in the embodiment;

[0051] Figure 7 It is a flowchart of the method for jointly plugging air leakage in the gob area by pre-cooling liquid nitrogen based on a robot in the embodiment.

[0052] In the figure: 1 - goaf; 2 - protective coal pillar; 3 - nitrogen injection pipe; 4 - foam injection pipe; 5 - liquid nitrogen storage device; 6 - foam generating device; 7 - intake airway; 8 - return airway; 9 - robot; 10 - foam storage tank; 11 - foam release port; 12 - foam mixing assembly; 13 - carrier vehicle; 14 - gas-liquid mixing assembly; 15 - roadway compressed air pipe; 16 - roadway water supply pipe; 17 - foam valve; 18 - liquid nitrogen storage tank; 19 - liquid nitrogen distributor; 20 - heat insulation pipe; 21 - liquid nitrogen valve; 22 - pressure monitor; 23 - flow monitor; 24 - temperature sensor; 25 - first switch; 26 - second switch; 27 - control module; 28 - cable; 29 - coal wall pipe groove; 30 - telescopic robotic arm; 31 - telescopic mobile platform; 32 - video monitoring unit; 33 - robot control unit. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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.

[0054] Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0055] 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 and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0056] In addition, the descriptions such as "first" and "second" in the present invention 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 of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0057] In the present invention, unless otherwise clearly specified and defined, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal connection of 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.

[0058] Example 1

[0059] As Figures 1 to 5 shown, this embodiment describes a nitrogen cryopreservation combined with gob foam plugging and air leakage prevention device based on a robot. The device includes a foam generating device 6, a liquid nitrogen storage device 5, a foam injection pipe 4 communicating with the foam generating device 6, a nitrogen injection pipe 3 communicating with the liquid nitrogen storage device 5, and a robot 9 for laying the foam injection pipe 4 and the nitrogen injection pipe 3 into the gob 1. The device first lays the nitrogen injection pipe 3 and the foam injection pipe 4 to the designated position through the robot 9, then injects liquid nitrogen to cool the gob 1 to an appropriate foam solidification temperature, and finally injects foam for plugging.

[0060] As Figure 1 shown, a foam generating device 6 and a liquid nitrogen storage device 5 are arranged in the intake airway 7, and a foam generating device 6 and a liquid nitrogen storage device 5 are arranged in the return airway 8.

[0061] As Figure 5 shown, the robot 9 includes a robot body, on which a telescopic mobile platform 31, a telescopic robotic arm 30, a video monitoring unit 32, and a robot control unit 33 are arranged. The telescopic mobile platform 31, the telescopic robotic arm 30, and the video monitoring unit 32 are all connected to the robot control unit 33. The telescopic mobile platform 31 is arranged at the bottom of the robot body and is used to carry each device and travel or move in complex terrains. The telescopic robotic arm 30 is responsible for laying the nitrogen injection pipe 3 and the foam injection pipe 4. The video monitoring unit 32 is used to provide real-time feedback on the situation at the operation site. The robot control unit 33 receives remote instructions and controls the robot 9 to complete operation steps such as pipeline laying, liquid nitrogen cryopreservation, and foam injection.

[0062] As Figure 2As shown, the foam generating device 6 includes a roadway compressed air pipe 15, a roadway water supply pipe 16, a gas-liquid mixing assembly 14, a foam mixing assembly 12, and a foam storage tank 10 for storing foam raw materials. The roadway compressed air pipe 15 and the roadway water supply pipe 16 are both connected to the gas-liquid mixing assembly 14. The roadway compressed air pipe 15 is used to convey air from the outside to the gas-liquid mixing assembly 14, providing gas power to promote the mixing of gas and liquid in the gas-liquid mixing assembly 14. The roadway water supply pipe 16 is used to convey water source to the gas-liquid mixing assembly 14, providing liquid components to mix with the gas. The gas-liquid mixing assembly 14 is used to fully mix the gas conveyed by the roadway compressed air pipe 15 and the liquid conveyed by the roadway water supply pipe 16 to form a stable foam source for further processing and release by the foam mixing assembly 12. Both the gas-liquid mixing assembly 14 and the foam storage tank 10 are connected to the foam mixing assembly 12, and the foam mixing assembly 12 is connected to the foam injection pipe 4 through a foam release port 11. The foam mixing assembly 12 is used to fully mix the foam source generated by the gas-liquid mixing assembly 14 with the foam raw materials in the foam storage tank 10 to form high-quality foam, and release the foam to the goaf 1 through the foam release port 11 and the foam injection pipe 4 for plugging leaks.

[0063] In this embodiment, the foam mixing assembly 12 is connected to the foam storage tank 10 through a first connecting pipe. A foam valve 17 is provided on the first connecting pipe, and the control end of the foam valve 17 is connected to a control module 27. The control module 27 can control the opening or closing of the foam valve 17, thereby controlling the amount of foam raw materials entering the foam mixing assembly 12 from the foam storage tank 10.

[0064] In this embodiment, the foam generating device 6 further includes a foam carrier vehicle 13. The gas-liquid mixing assembly 14, the foam mixing assembly 12, and the foam storage tank 10 are arranged on the foam carrier vehicle 13. The foam carrier vehicle 13 can drive the gas-liquid mixing assembly 14, the foam mixing assembly 12, and the foam storage tank 10 to move, so as to facilitate better foam injection operation.

[0065] As Figure 3As shown in the figure, the liquid nitrogen storage device 5 includes a liquid nitrogen storage tank 18, a liquid nitrogen distributor 19, a pressure monitor 22, a flow monitor 23, and a heat-insulating pipe 20. One end of the heat-insulating pipe 20 is connected to the liquid nitrogen storage tank 18, and the other end of the heat-insulating pipe 20 is connected to the nitrogen injection pipe 3 through the liquid nitrogen distributor 19. A pressure monitor 22 and a flow monitor 23 are arranged on the liquid nitrogen storage tank 18, and both the pressure monitor 22 and the flow monitor 23 are connected to the control module 27. The liquid nitrogen distributor 19 is used to adjust the liquid nitrogen flow rate and evenly distribute the liquid nitrogen to the conveying pipeline. The pressure monitor 22 is used to monitor the pressure in the liquid nitrogen storage tank 18 in real time to ensure the stable operation of the liquid nitrogen storage device 5 and prevent abnormal pressure. The flow monitor 23 is used to monitor the flow rate during the liquid nitrogen transportation in real time to ensure the stable supply of liquid nitrogen and facilitate the regulation of the liquid nitrogen transportation volume. The heat-insulating pipe 20 is connected to the liquid nitrogen distributor 19, and the heat-insulating pipe 20 is used to prevent temperature loss during the liquid nitrogen transportation. The heat-insulating pipe 20 in this embodiment is a heat-insulating stainless steel pipe.

[0066] In this embodiment, a liquid nitrogen valve 21 is arranged on the heat-insulating pipe 20, and the control end of the liquid nitrogen valve 21 is connected to the control module 27. The control module 27 can control the opening or closing of the liquid nitrogen valve 21, so as to control the amount of liquid nitrogen entering the heat-insulating pipe 20 from the liquid nitrogen storage tank 18.

[0067] In this embodiment, the liquid nitrogen storage device 5 further includes a liquid nitrogen carrier vehicle 13. The liquid nitrogen storage tank 18, the pressure monitor 22, the flow monitor 23, and the heat-insulating pipe 20 are arranged on the liquid nitrogen carrier vehicle 13. The liquid nitrogen carrier vehicle 13 can drive the liquid nitrogen storage tank 18, the pressure monitor 22, the flow monitor 23, and the heat-insulating pipe 20 to move, so as to facilitate better liquid nitrogen precooling operation.

[0068] As Figure 4 shown, a first switch 25 and a temperature sensor 24 are arranged on the foam injection pipe 4, and both the first switch 25 and the temperature sensor 24 are connected to the control module 27. The foam injection pipe 4 is used to transport the generated foam from the foam generating device 6 to the target area to ensure the effective injection and coverage of the foam. The temperature sensor 24 is used to monitor the temperature change during the foam injection process in real time to ensure the stability and effectiveness of the foam, and provide data support for the control module 27 to regulate the foam injection conditions. The first switch 25 is used to control the opening and closing of the foam injection pipe 4 and adjust the flow rate of the foam to ensure the accuracy and stability of the foam transportation.

[0069] A second switch 26 is arranged on the nitrogen injection pipe 3, and the second switch 26 is connected to the control module 27. The nitrogen injection pipe 3 is used to transport the liquid nitrogen from the liquid nitrogen storage device 5 to the target area to achieve precise injection of the liquid nitrogen for precooling or temperature regulation. The second switch 26 is used to control the opening and closing of the nitrogen injection pipe 3 and adjust the flow rate of the liquid nitrogen to ensure the accurate transportation and effective use of the liquid nitrogen.

[0070] In this embodiment, a control module 27 is connected between the foam injection pipe 4 and the nitrogen injection pipe 3. The control module 7 is connected to a cable 28, and the control module 27 transmits data and supplies power through the cable 28. The control module 27 is used to control the switches of each pipeline, monitor and adjust the injection amount and time of foam and liquid nitrogen in real time, and ensure their synergistic effect to optimize the plugging effect.

[0071] In this embodiment, a coal wall pipe groove 29 is opened on the protective coal pillar 2, and the coal wall pipe groove 29 is opened along the roadway direction. The robot 9 can lay the foam injection pipe 4 and the nitrogen injection pipe 3 into the goaf 1 through the coal wall pipe groove 29, so as to carry out operation steps such as pipeline laying, liquid nitrogen pre-cooling and foam injection.

[0072] In this embodiment, through the remote operation of the robot 9, the unmanned operation process is realized, avoiding personnel entering the dangerous area and effectively improving the operation safety. The robot-based liquid nitrogen pre-cooling combined goaf foam plugging and air leakage prevention device of this embodiment is scientifically and reasonably designed, the components cooperate with each other, has comprehensive functions, and is easy to operate. It can quickly realize temperature regulation and foam injection in a complex environment, ensuring the smooth progress of the plugging work.

[0073] The structure of this embodiment is scientifically and reasonably designed, has diverse functions and is easy to operate. It can quickly cool down the temperature in the goaf 1 under unmanned conditions, promote the rapid solidification of the foam, thus effectively improving the plugging and air leakage prevention effect, reducing the air leakage channels, lowering the spontaneous combustion risk and improving the operation safety.

[0074] Embodiment 2

[0075] This embodiment 2 describes a robot-based liquid nitrogen pre-cooling combined goaf foam plugging and air leakage prevention method, which is based on the robot-based liquid nitrogen pre-cooling combined goaf foam plugging and air leakage prevention device in Embodiment 1.

[0076] This method first lays the nitrogen injection pipe 3 and the foam injection pipe 4 to the designated position by the robot 9 under unmanned conditions, and then combines the liquid nitrogen pre-cooling and foam injection technologies to quickly reduce the temperature in the goaf to the range suitable for foam solidification, ensuring that the foam quickly solidifies in a low-temperature environment, forming an effective sealing layer, reducing the air leakage channels and lowering the spontaneous combustion risk. The liquid nitrogen is accurately transported to the target area through the nitrogen injection pipe 3. The relationship between the liquid nitrogen injection amount and the temperature change in the goaf can be described by the heat balance equation, and its formula is:

[0077] Q = mcΔT;

[0078] In the formula, Q is the liquid nitrogen injection amount, m is the mass flow rate of the liquid nitrogen, c is the specific heat capacity of the liquid nitrogen, and ΔT is the temperature change in the goaf. By reasonably adjusting the liquid nitrogen injection amount Q, the rapid drop of the temperature in the goaf can be effectively controlled to reach the temperature range required for foam solidification. In this embodiment, the liquid nitrogen injection amount Q is 400m 3 / h.

[0079] When the temperature sensor 24 monitors that the temperature in the goaf reaches the temperature range required for foam solidification, the foam generated by the foam generating device 6 is transported to the goaf 1 through the foam injection pipe 4 to block the air leakage channel. The control module 27 monitors and adjusts the injection amounts and times of liquid nitrogen and foam in real time to ensure their coordinated operation and optimize the air leakage blocking effect.

[0080] The method for jointly plugging air leakage in a goaf by pre-cooling liquid nitrogen based on a robot in this embodiment includes the following steps:

[0081] Step 1: The robot control unit 33 receives a remote instruction, controls the telescopic mobile platform 31 to move to the working position. The staff can view the working site situation in real time through the video monitoring unit 32, and controls the telescopic robotic arm 30 to lay the foam injection pipe 4 and the nitrogen injection pipe 3 into the goaf 1 through the robot control unit 33;

[0082] Step 2: The control module 27 controls the liquid nitrogen valve 21 and the second switch 26 to open, and transports the liquid nitrogen from the liquid nitrogen storage tank 18 through the heat-insulating pipe 20, the liquid nitrogen distributor 19 and the nitrogen injection pipe 3 to the goaf 1 to rapidly reduce the temperature of the goaf 1;

[0083] Step 3: When the temperature sensor 24 monitors that the temperature of the goaf 1 reaches the temperature range required for foam solidification, the control module 27 controls the foam valve 17 and the first switch 25 to open, and transports the foam generated by the foam generating device 6 to the goaf 1 through the foam injection pipe 4 to block the air leakage channel. The control module 27 monitors and adjusts the injection amounts and times of liquid nitrogen and foam in real time to ensure their coordinated operation and optimize the air leakage blocking effect.

[0084] In this embodiment, through the combined injection of liquid nitrogen and foam, the problem that the traditional device is easily affected by the collapse of the overlying strata is effectively solved, pipeline waste is avoided, and the injection of liquid nitrogen and foam can be carried out synchronously, improving the construction efficiency. The injection of liquid nitrogen and the injection of foam are both monitored and adjusted in real time through the control module 27 to ensure the precise control of their flow rates and injection times, optimize the air leakage blocking effect, and reduce human operation errors.

[0085] The method for jointly plugging air leakage in a goaf by pre-cooling liquid nitrogen based on a robot in this embodiment not only solves the defects of the traditional method, but also can stably and efficiently play a role in a complex mine environment, greatly improving the safety and operation efficiency of the coal mine.

[0086] The embodiments of the present invention are only used to illustrate the technical solutions of the present invention and not to limit them. For those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot-based device for combined liquid nitrogen pre-cooling and gob foam plugging to prevent air leakage, characterized in that, It includes a foam generating device, a liquid nitrogen storage device, a foam injection pipe communicating with the foam generating device, a nitrogen injection pipe communicating with the liquid nitrogen storage device, and a robot for laying the foam injection pipe and the nitrogen injection pipe into the gob area; The foam generating device and the liquid nitrogen storage device are both arranged in the intake airway and the return airway; A first switch and a temperature sensor are arranged on the foam injection pipe, and a second switch is arranged on the nitrogen injection pipe; The foam generating device, the liquid nitrogen storage device, the first switch, the temperature sensor, and the second switch are all connected to the control module.

2. The robot-based liquid nitrogen pre-cooling combined gob foam plugging and air leakage prevention device according to claim 1, wherein The foam generating device includes a roadway compressed air pipe, a roadway water supply pipe, a gas-liquid mixing assembly, a foam mixing assembly, and a foam storage tank for storing foam raw materials; The roadway compressed air pipe and the roadway water supply pipe are both communicated with the gas-liquid mixing assembly, and the gas-liquid mixing assembly is used to form a foam source; Both the gas-liquid mixing assembly and the foam storage tank are communicated with the foam mixing assembly, and the foam mixing assembly is used to form foam; The foam mixing assembly is communicated with the foam injection pipe through a foam release port.

3. The robot-based liquid nitrogen precooling combined gob foam plugging and air leakage prevention device according to claim 2, wherein, The foam mixing assembly is communicated with the foam storage tank through a first connecting pipe; A foam valve is arranged on the first connecting pipe, and the control end of the foam valve is connected to the control module.

4. The robot-based liquid nitrogen pre-cooling combined with gob foam plugging and air leakage prevention device according to claim 2, characterized in that, The foam generating device further includes a foam carrier vehicle; The gas-liquid mixing assembly, the foam mixing assembly, and the foam storage tank are arranged on the foam carrier vehicle.

5. The robot-based liquid nitrogen pre-cooling combined goaf foam plugging and air leakage prevention device according to claim 1, characterized in that The liquid nitrogen storage device includes a liquid nitrogen storage tank, a liquid nitrogen distributor, and a heat insulation pipe; One end of the heat insulation pipe is communicated with the liquid nitrogen storage tank, and the other end of the heat insulation pipe is communicated with the nitrogen injection pipe through the liquid nitrogen distributor; A pressure monitor and a flow monitor are arranged on the liquid nitrogen storage tank; Both the pressure monitor and the flow monitor are connected to the control module.

6. The robot-based liquid nitrogen pre-cooling combined gob foam plugging and air leakage prevention device according to claim 5, characterized in that, A liquid nitrogen valve is arranged on the heat insulation pipe; The control end of the liquid nitrogen valve is connected to the control module.

7. The robot-based liquid nitrogen pre-cooling combined with gob foam plugging and air leakage prevention device according to claim 5, characterized in that, The liquid nitrogen storage device further includes a liquid nitrogen carrier vehicle; The liquid nitrogen storage tank, the pressure monitor, and the flow monitor are arranged on the liquid nitrogen carrier vehicle.

8. The robot-based liquid nitrogen pre-cooling combined gob foam plugging and air leakage prevention device according to claim 1, characterized in that, The robot includes a robot body, on which a telescopic mobile platform, a telescopic robotic arm, a video monitoring unit, and a robot control unit are arranged; The telescopic mobile platform is arranged at the bottom of the robot body and is used to drive the robot body to move; The telescopic robotic arm is used to lay the nitrogen injection pipe and the foam injection pipe; The video monitoring unit is used to feedback the situation of the operation site in real time; The telescopic mobile platform, the telescopic robotic arm, and the video monitoring unit are all connected to the robot control unit.

9. The robot-based liquid nitrogen pre-cooling combined gob foam plugging and air leakage prevention device according to claim 1, characterized in that, A coal wall pipe groove is opened along the roadway direction; The robot can lay the foam injection pipe and the nitrogen injection pipe into the gob area through the coal wall pipe groove.

10. A method for nitrogen liquid pre-cooling combined with gob foam plugging and air leakage prevention based on a robot, characterized in that, The robot-based liquid nitrogen pre-cooling combined gob foam plugging and air leakage prevention device according to any one of claims 1 to 9 includes the following steps: Step 1: The robot control unit receives a remote instruction, controls the telescopic mobile platform to move to the operation position, the staff can view the situation of the operation site in real time through the video monitoring unit, and controls the telescopic robotic arm to lay the foam injection pipe and the nitrogen injection pipe into the gob area through the robot control unit; Step 2: The control module controls the liquid nitrogen valve and the second switch to open, and conveys the liquid nitrogen from the liquid nitrogen storage tank through the heat insulation pipe, the liquid nitrogen distributor, and the nitrogen injection pipe to the gob area to quickly reduce the temperature of the gob area; Step 3. When the temperature sensor monitors that the temperature in the gob area reaches the temperature range required for foam solidification, the control module controls the foam valve and the first switch to open, and conveys the foam generated by the foam generating device to the gob area through the foam injection pipe to block the air leakage channel. The control module monitors and adjusts the injection volume and time of liquid nitrogen and foam in real time to ensure their coordinated operation and optimize the leakage blocking effect.

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