Mining crawler-type emergency drainage robot

Abstract

The invention relates to the technical field of mining emergency drainage equipment, and discloses a mining crawler-type emergency drainage robot which comprises a crawler chassis integrally formed by manganese steel, the chassis is provided with a wide anti-skid rubber crawler belt, two sets of fixed connecting frames are arranged on the chassis side by side, and the connecting frames are of a double-plate symmetrical structure and provided with reinforcing ribs and high-precision shaft holes. The connecting frame is rotationally connected with an angle adjusting supporting arm and an auxiliary supporting arm, a hydraulic cylinder and a water pump fixing frame with the free end connected with a lifting guide rail sliding block are arranged between the angle adjusting supporting arm and the auxiliary supporting arm, and double drainage pumps with stainless steel filter screens are embedded in the water pump fixing frame. The water inlet extends out of the chassis, the lifting sliding block is matched with a ground protrusion, the chassis is further provided with a folding suspension arm to assist the pump body to be disassembled and assembled, and the emergency drainage device can adapt to complex mining terrains and improve the emergency drainage efficiency and equipment protectiveness.

Description

Technical Field

[0001] This invention relates to the field of emergency drainage equipment technology for mines, and in particular to a tracked emergency drainage robot for mines. Background Technology

[0002] In mining operations, especially during sudden water inrush accidents, rapid and effective drainage is crucial to ensuring personnel safety and preventing property damage. Traditional drainage equipment is mostly fixed or semi-fixed, which significantly limits its deployment flexibility and operational efficiency in the complex and ever-changing mining environment. Some existing mobile drainage equipment, such as tracked drainage vehicles, while possessing a certain degree of mobility, typically have their water pumps fixed on top of the vehicle or directly located at the bottom, presenting the following problems: First, when the water pump is fixedly installed on top of the vehicle, additional manpower is required to place the pump in the flooded area, which is cumbersome and inefficient in emergencies. The pump's immersion depth is limited by the vehicle's height, making it unsuitable for deep water or complex terrain. Furthermore, the pump's inlet is easily clogged by silt and debris, affecting drainage efficiency and even causing equipment failure. When the pump's height or orientation needs to be adjusted to adapt to different drainage environments, existing equipment typically lacks the ability to adjust flexibly, resulting in limited drainage coverage and difficulty in adapting to complex mine conditions. Second, when the pump is moved directly underwater, it is susceptible to interference and impact from ground debris, leading to damage. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that the existing drainage equipment has the disadvantages of low deployment flexibility and easy impact damage. To address this, we propose a tracked emergency drainage robot for mining.

[0004] To achieve the above objectives, this application adopts the following technical solution: a tracked emergency drainage robot for mining, comprising a tracked chassis, on which a first drainage pump and a second drainage pump are mounted. Two sets of fixed connecting frames are fixedly connected to the tracked chassis by bolts, and the two sets of fixed connecting frames are respectively positioned directly below the first drainage pump and the second drainage pump. An angle-adjustable support arm and an auxiliary support arm are rotatably connected to the fixed connecting frames. A hydraulic cylinder is provided between the fixed connecting frames and the angle-adjustable support arm. The free ends of the angle-adjustable support arm and the auxiliary support arm are movably connected to a water pump fixing frame. The first drainage pump and the second drainage pump are fixedly connected to the two sets of water pump fixing frames one-to-one. A lifting guide rail is fixedly connected to the water pump fixing frame along its length. A lifting slider is slidably fitted on the lifting guide rail. A second rotating shaft is provided through the lifting slider. The free end of the angle-adjustable support arm is rotatably connected to the lifting slider through the second rotating shaft.

[0005] Furthermore, the tracked chassis is made of manganese steel in one piece, and its tracks are wide rubber tracks with anti-slip protrusions evenly distributed on the track surface.

[0006] Furthermore, the two sets of fixed connecting frames are arranged side by side along the length of the track chassis. The water pump fixing frame is folded and stored directly above the fixed connecting frame when not in operation, and the first and second drainage pumps are horizontally attached to the bearing surface of the track chassis when folded.

[0007] Furthermore, the top of the water pump mounting bracket is provided with an arc-shaped groove that matches the outer contour of the first and second drainage pumps. The first and second drainage pumps are respectively fitted into the arc-shaped groove. Two sets of buckles are symmetrically arranged on the water pump mounting bracket. A nylon strap connects the two sets of buckles. The nylon strap is tightened along the direction perpendicular to the axis of the arc-shaped groove and presses against the top of the first and second drainage pumps to achieve circumferential fixation of the water pumps.

[0008] Furthermore, a fifth rotating shaft is provided through the end of the fixed connecting frame, and the fixed end of the auxiliary support arm is rotatably connected to the fixed connecting frame through the fifth rotating shaft; a second bearing seat is fixedly connected to the middle of the water pump fixing frame by bolts, and a sixth rotating shaft is provided through the free end of the auxiliary support arm, and the auxiliary support arm is rotatably connected to the second bearing seat through the sixth rotating shaft.

[0009] Furthermore, a first rotating shaft is provided through one side of the fixed connecting frame near the fifth rotating shaft. The first rotating shaft also passes through the fixed end of the angle adjusting support arm, so that the angle adjusting support arm is rotatably connected to the fixed connecting frame through the first rotating shaft. The free end of the angle adjusting support arm is rotatably connected to the lifting slider through the second rotating shaft, and the angle adjusting support arm and the auxiliary support arm are distributed in a quadrilateral linkage structure.

[0010] Furthermore, a first bearing seat is fixedly connected to the end of the fixed connecting frame away from the fifth rotating shaft, and a third rotating shaft is provided through the first bearing seat. The cylinder end of the hydraulic cylinder is rotatably connected to the first bearing seat through the third rotating shaft. A fourth rotating shaft is rotatably connected to the piston rod end of the hydraulic cylinder. The fourth rotating shaft passes through the middle position of the angle adjustment support arm, so that the output end of the hydraulic cylinder is rotatably connected to the angle adjustment support arm through the fourth rotating shaft.

[0011] Furthermore, the length of the angle adjustment support arm is greater than the length of the auxiliary support arm. When the piston rod of the hydraulic cylinder extends and pushes the angle adjustment support arm to rotate upward around the first rotation axis, it can drive the water pump fixing frame to flip from a horizontal state to a vertical state, so that the water inlets of the first drainage pump and the second drainage pump face downward and extend beyond the projection range of the tracked chassis.

[0012] Furthermore, the angle adjustment support arm consists of two sets of parallel single arms, which are fixedly connected to each other by at least two connecting rods to form an overall frame; each single arm has a corresponding second rotating shaft rotatably connected to its free end; two sets of lifting guide rails and lifting sliders are provided, and the two sets of single arms are respectively rotatably connected to the two sets of lifting sliders through the second rotating shafts.

[0013] Furthermore, a water pump boom is fixedly installed on the tracked chassis between the first and second drainage pumps. The water pump boom includes a fixed base, a folding arm, and a hook. One end of the folding arm is rotatably connected to the fixed base, and the other end is fixedly connected to the hook. In the non-working state, the folding arm is folded and stored in the gap between the first and second drainage pumps. In the working state, it can be unfolded to assist in the disassembly and installation of the first and second drainage pumps.

[0014] The technical effects and advantages of this invention are as follows: 1. The tracked emergency drainage robot for mining of this invention, through the linkage structure of an angle-adjustable support arm, an auxiliary support arm, a hydraulic cylinder, and a water pump mounting frame, achieves automated rotation and attitude adjustment of the water pump from its stored state to its working state without manual intervention, greatly improving the efficiency and safety of drainage deployment, and is particularly suitable for emergency drainage scenarios. 2. The lifting guide rail and lifting slider on the water pump mounting frame allow for a certain sliding fit between the end of the angle-adjustable support arm and the water pump mounting frame. When the water pump inlet accidentally comes into contact with a ground protrusion or obstacle, the lifting slider can slide along the lifting guide rail to absorb the impact force, effectively preventing damage to the water pump itself or the supporting structure, and improving the durability of the equipment. Attached Figure Description

[0015] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts.

[0016] Figure 1 This is a schematic diagram of the water pump storage structure of the present invention; Figure 2 This is a schematic diagram of the unfolded structure of the water pump of the present invention; Figure 3 This is a schematic diagram of the water pump mounting bracket storage structure of the present invention; Figure 4 This is a schematic diagram of the unfolded structure of the water pump mounting bracket of the present invention; Figure 5 This is a schematic diagram of the water pump mounting bracket structure of the present invention; Figure 6 This is a schematic diagram of the angle adjustment support arm and auxiliary support arm structure of the present invention; Figure 7 This is a schematic diagram of the hydraulic cylinder connection structure of the present invention; Figure 8 This is a side view of the angle-adjustable support arm and auxiliary support arm of the present invention.

[0017] Legend: 1. Tracked chassis; 2. First drainage pump; 3. Second drainage pump; 4. Fixed connecting frame; 5. First rotating shaft; 6. Angle adjustment support arm; 7. Water pump mounting frame; 701. Nylon strap; 8. Lifting guide rail; 9. Lifting slider; 10. Second rotating shaft; 11. First bearing seat; 12. Third rotating shaft; 13. Hydraulic cylinder; 14. Fourth rotating shaft; 15. Fifth rotating shaft; 16. Auxiliary support arm; 17. Second bearing seat; 18. Sixth rotating shaft; 19. Water pump boom. Detailed Implementation

[0018] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0019] Reference Figures 1 to 8 This invention provides a tracked emergency drainage robot for mining. This robot aims to solve problems such as low deployment efficiency, easy damage, and inconvenient storage of water pumps in mine emergency drainage. Example 1

[0020] The tracked emergency drainage robot for mining in this embodiment includes a tracked chassis 1, which serves as the robot's load-bearing body and mobile platform. In a preferred embodiment, the tracked chassis 1 is integrally formed from manganese steel to provide excellent strength and corrosion resistance, adapting to the harsh environment of mines. Its tracks are wide rubber tracks, which can increase the contact area with the ground, reduce unit pressure, and improve the robot's ability to traverse soft or uneven ground. The track surface is uniformly distributed with anti-slip protrusions, further enhancing grip on wet or muddy surfaces and ensuring the stability and safety of the robot's movement.

[0021] The tracked chassis 1 carries the first drainage pump 2 and the second drainage pump 3. Two sets of fixed connecting frames 4 are fixedly connected to the tracked chassis 1 by bolts. These two sets of fixed connecting frames 4 are respectively set directly below the first drainage pump 2 and the second drainage pump 3, serving as the base for the entire pump support and adjustment mechanism.

[0022] An angle-adjustable support arm 6 and an auxiliary support arm 16 are rotatably connected to each set of fixed connecting frames 4. A hydraulic cylinder 13 is provided between the fixed connecting frame 4 and the angle-adjustable support arm 6. The hydraulic cylinder 13 is the power device for adjusting the attitude of the water pump. The free ends of the angle-adjustable support arm 6 and the auxiliary support arm 16 are movably connected to the water pump fixing frame 7. The first drainage pump 2 and the second drainage pump 3 are fixedly connected to these two sets of water pump fixing frames 7 in a corresponding manner.

[0023] To provide buffer protection when the water pump is working, a lifting guide rail 8 is fixedly connected to the water pump mounting bracket 7 along its length. A lifting slider 9 is slidably fitted on the lifting guide rail 8. A second rotating shaft 10 is installed through the lifting slider 9. The free end of the angle adjustment support arm 6 is rotatably connected to the lifting slider 9 through the second rotating shaft 10. When the water pump inlet accidentally contacts a ground protrusion, the second rotating shaft 10 can slide on the lifting guide rail 8 through the lifting slider 9, thereby buffering the impact and preventing damage to the water pump.

[0024] In the non-working state, the two sets of fixed connecting frames 4 are arranged side by side along the length of the track chassis 1. When the hydraulic cylinder 13 is in the retracted state, the water pump fixing frame 7 is folded and stored directly above the fixed connecting frame 4. In the folded state, the first drainage pump 2 and the second drainage pump 3 are horizontally attached to the bearing surface of the track chassis 1, which effectively reduces the overall height and volume of the robot, making it easier for the robot to be transported and pass through narrow areas.

[0025] To facilitate the fixing and disassembly of the water pumps, the top of the water pump mounting bracket 7 is provided with an arc-shaped groove that matches the outer contour of the first drainage pump 2 and the second drainage pump 3. The first drainage pump 2 and the second drainage pump 3 are correspondingly embedded in the arc-shaped groove, providing a stable positioning. Two sets of buckles are symmetrically arranged on the water pump mounting bracket 7, and a nylon strap 701 is connected between the two sets of buckles. The nylon strap 701 is tightened along the direction perpendicular to the axis of the arc-shaped groove and presses against the top of the first drainage pump 2 and the second drainage pump 3 to achieve circumferential fixing of the water pumps and prevent the water pumps from shaking or falling off when the robot moves or performs drainage operations.

[0026] In this embodiment, a water pump boom 19 is fixedly installed on the tracked chassis 1 between the first drainage pump 2 and the second drainage pump 3. The water pump boom 19 includes a fixed base, a folding arm, and a hook. One end of the folding arm is rotatably connected to the fixed base, and the other end is fixedly connected to the hook. In the non-working state, the folding arm is folded and stored in the gap between the first drainage pump 2 and the second drainage pump 3, without occupying extra space. In the working state, it can be unfolded to assist in the disassembly and installation of the first drainage pump 2 and the second drainage pump 3, which greatly improves the convenience of operation, especially when performing maintenance in the confined space of a mine. Example 2

[0027] This embodiment further describes in detail the connection and motion mechanism of the angle adjustment support arm 6 and the auxiliary support arm 16, such as... Figure 6 , Figure 7 and Figure 8 As shown.

[0028] A fifth rotating shaft 15 is provided through the end of the fixed connecting frame 4. The fixed end of the auxiliary support arm 16 is rotatably connected to the fixed connecting frame 4 through the fifth rotating shaft 15. The middle part of the water pump fixing frame 7 is fixedly connected to the second bearing seat 17 by bolts. The free end of the auxiliary support arm 16 is provided through the sixth rotating shaft 18. The auxiliary support arm 16 is rotatably connected to the second bearing seat 17 through the sixth rotating shaft 18.

[0029] A first rotating shaft 5 is provided on the side of the fixed connecting frame 4 near the fifth rotating shaft 15. The first rotating shaft 5 also passes through the fixed end of the angle adjusting support arm 6, so that the angle adjusting support arm 6 is rotatably connected to the fixed connecting frame 4 through the first rotating shaft 5.

[0030] The free end of the angle adjustment support arm 6 is rotatably connected to the water pump mounting frame 7 through the second rotating shaft 10. In this way, the angle adjustment support arm 6, the auxiliary support arm 16, the fixed connecting frame 4 and the water pump mounting frame 7 together form a quadrilateral linkage structure, which ensures the stability of the water pump's rotation process and can control the water pump's movement trajectory.

[0031] To achieve hydraulic drive, a first bearing seat 11 is fixedly connected to one end of the fixed connecting frame 4 away from the fifth rotating shaft 15. A third rotating shaft 12 is provided through the first bearing seat 11. The cylinder end of the hydraulic cylinder 13 is rotatably connected to the first bearing seat 11 through the third rotating shaft 12. A fourth rotating shaft 14 is rotatably connected to the piston rod end of the hydraulic cylinder 13. The fourth rotating shaft 14 passes through the middle position of the angle adjustment support arm 6, so that the output end of the hydraulic cylinder 13 is rotatably connected to the angle adjustment support arm 6 through the fourth rotating shaft 14. Example 3

[0032] This embodiment focuses on describing the deployment process and protection mechanism of the water pump, such as... Figure 8 As shown.

[0033] In this invention, the length of the angle adjustment support arm 6 is designed to be greater than the length of the auxiliary support arm 16. When the piston rod of the hydraulic cylinder 13 extends, it pushes the angle adjustment support arm 6 to rotate upward around the first rotation axis 5. Due to the quadrilateral linkage structure formed by the angle adjustment support arm 6 and the auxiliary support arm 16, the rotation of the angle adjustment support arm 6 will drive the auxiliary support arm 16 and the water pump fixing frame 7 connected to it to move.

[0034] Specifically, this linkage mechanism can drive the water pump mounting bracket 7 to flip from a horizontal storage state to a vertical working state, so that the water inlets of the first drainage pump 2 and the second drainage pump 3 face downward and extend beyond the projection range of the tracked chassis 1. This means that the water pump inlets can enter deeper water levels and avoid being blocked by the tracked chassis 1 or interfering with the chassis, ensuring normal water intake and efficient drainage of the water pump.

[0035] When the piston rod of the hydraulic cylinder 13 extends and pushes the angle adjustment support arm 6 to rotate upward around the first rotating shaft 5, the angle adjustment support arm 6 will drive the water pump mounting bracket 7 to lift. At the same time, due to the presence of the auxiliary support arm 16, the water pump mounting bracket 7 will also move laterally outward while being lifted, so that the water pump inlet can be lowered to the outside of the tracked chassis 1. This design ensures that the water pump can smoothly change its posture during the flipping process and efficiently and accurately deploy the water pump inlet to the required position.

[0036] To ensure the safety and reliability of the water pump in actual operation, the angle adjustment support arm 6 consists of two sets of parallel single arms. These two sets of single arms are fixedly connected by at least two connecting rods to form an overall frame, which enhances the rigidity and stability of the structure. Each free end of the single arm is rotatably connected to a set of second rotating shafts 10. The lifting guide rails 8 and lifting sliders 9 are also provided in two sets. The two sets of single arms are rotatably connected to the two sets of lifting sliders 9 through the second rotating shafts 10.

[0037] When the hydraulic cylinder 13 is started, the water pump flips from a horizontal position to a vertical position, and the water pump inlet is immersed in water for easy drainage. When the piston rod of the hydraulic cylinder 13 extends and pushes the angle adjustment support arm 6 to rotate upward around the first rotating shaft 5, the water pump outlet is raised upward, while the water pump inlet is moved laterally to the outside of the projection of the tracked chassis 1 under the guidance of the auxiliary support arm 16. As the auxiliary support arm 16 rotates, the water pump inlet is lowered to near the ground, so that the water pump inlet can reach the optimal immersion depth.

[0038] Most importantly, even when the stainless steel filter screen at the water pump inlet comes into contact with a protrusion or obstacle on the ground, the angle adjustment support arm 6 is movably connected to the water pump mounting frame 7 via the lifting guide rail 8 and the lifting slider 9. The lifting slider 9 can slide on the lifting guide rail 8 to absorb the impact and deformation. Even if the angle adjustment support arm 6 continues to rotate, it will not cause damage to the water pump, thus greatly improving the robot's adaptability in complex mine terrain and the water pump's damage resistance.

[0039] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tracked emergency drainage robot for mining, characterized in that, The system includes a tracked chassis, on which a first drainage pump and a second drainage pump are mounted. Two sets of fixed connecting frames are bolted to the tracked chassis, and the two sets of fixed connecting frames are respectively positioned directly below the first and second drainage pumps. An angle-adjusting support arm and an auxiliary support arm are rotatably connected to the fixed connecting frames. A hydraulic cylinder is provided between the fixed connecting frames and the angle-adjusting support arms. The free ends of the angle-adjusting support arms and the auxiliary support arms are movably connected to a water pump mounting frame. The first and second drainage pumps are fixedly connected to the two sets of water pump mounting frames one-to-one. A lifting guide rail is fixedly connected to the water pump mounting frame along its length. A lifting slider is slidably fitted on the lifting guide rail. A second rotating shaft is passed through the lifting slider. The free end of the angle-adjusting support arm is rotatably connected to the lifting slider through the second rotating shaft.

2. The tracked emergency drainage robot for mining as described in claim 1, characterized in that, The tracked chassis is made of manganese steel in one piece, and its tracks are wide rubber tracks with anti-slip protrusions evenly distributed on the track surface.

3. The tracked emergency drainage robot for mining as described in claim 1, characterized in that, The two sets of fixed connecting frames are arranged side by side along the length of the track chassis. The water pump fixing frame is folded and stored directly above the fixed connecting frame when not in operation, and the first and second drainage pumps are horizontally attached to the bearing surface of the track chassis when folded.

4. The tracked emergency drainage robot for mining as described in claim 1, characterized in that, The top of the water pump mounting bracket has an arc-shaped groove that matches the outer contour of the first and second drainage pumps. The first and second drainage pumps are respectively fitted into the arc-shaped groove. Two sets of buckles are symmetrically arranged on the water pump mounting bracket. A nylon strap connects the two sets of buckles. The nylon strap is tightened along the direction perpendicular to the axis of the arc-shaped groove and presses against the top of the first and second drainage pumps to achieve circumferential fixation of the water pumps.

5. A tracked emergency drainage robot for mining according to claim 1, characterized in that, A fifth rotating shaft is provided through the end of the fixed connecting frame, and the fixed end of the auxiliary support arm is rotatably connected to the fixed connecting frame through the fifth rotating shaft; a second bearing seat is fixedly connected to the middle of the water pump fixing frame by bolts, and a sixth rotating shaft is provided through the free end of the auxiliary support arm, and the auxiliary support arm is rotatably connected to the second bearing seat through the sixth rotating shaft.

6. A tracked emergency drainage robot for mining according to claim 5, characterized in that, A first rotating shaft is provided through the fixed connecting frame on the side near the fifth rotating shaft. The first rotating shaft also passes through the fixed end of the angle adjusting support arm, so that the angle adjusting support arm is rotatably connected to the fixed connecting frame through the first rotating shaft. The free end of the angle-adjusting support arm is rotatably connected to the lifting slider via a second rotating shaft, and the angle-adjusting support arm and the auxiliary support arm are distributed in a quadrilateral linkage structure.

7. A tracked emergency drainage robot for mining according to claim 6, characterized in that, A first bearing seat is fixedly connected to one end of the fixed connecting frame away from the fifth rotating shaft. A third rotating shaft is provided through the first bearing seat. The cylinder end of the hydraulic cylinder is rotatably connected to the first bearing seat through the third rotating shaft. A fourth rotating shaft is rotatably connected to the piston rod end of the hydraulic cylinder. The fourth rotating shaft passes through the middle position of the angle adjustment support arm, so that the output end of the hydraulic cylinder is rotatably connected to the angle adjustment support arm through the fourth rotating shaft.

8. A tracked emergency drainage robot for mining according to claim 7, characterized in that, The length of the angle adjustment support arm is greater than the length of the auxiliary support arm. When the piston rod of the hydraulic cylinder extends and pushes the angle adjustment support arm to rotate upward around the first rotation axis, it can drive the water pump fixing frame to flip from a horizontal state to a vertical state, so that the water inlets of the first drainage pump and the second drainage pump face downward and extend beyond the projection range of the tracked chassis.

9. A tracked emergency drainage robot for mining according to claim 8, characterized in that, The angle adjustment support arm consists of two sets of parallel single arms, which are fixedly connected to each other by at least two connecting rods to form an integral frame. Each free end of the single arm is rotatably connected to a set of second rotating shafts. The lifting guide rail and the lifting slider are provided in two sets, and the two sets of single arms are rotatably connected to the two sets of lifting sliders through the second rotating shafts.

10. A tracked emergency drainage robot for mining according to claim 1, characterized in that, A water pump boom is also fixedly installed on the tracked chassis between the first and second drainage pumps. The water pump boom includes a fixed base, a folding arm, and a hook. One end of the folding arm is rotatably connected to the fixed base, and the other end is fixedly connected to the hook. In the non-working state, the folding arm is folded and stored in the gap between the first and second drainage pumps.

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