Mining underground drainage ditch desilting and environment safety inspection device

Abstract

The invention provides a mining underground drainage ditch desilting and environment safety inspection device, which relates to the technical field of mine tunnel desilting, and comprises a power chassis, a desilting mechanism, a water filtering mechanism and an inspection module, an integrated synergistic effect is formed through movement support of the power chassis, mechanical shoveling of the desilting mechanism, the dehydration effect of the water filtering mechanism and the intelligent monitoring function of the inspection module, so that the physical burden and the safety risk of manual desilting are reduced, the desilting efficiency is improved, and the environment monitoring function is integrated; the problems of mining production stagnation and disaster early warning information exchange lag caused by blockage of an underground drainage system are comprehensively solved, and therefore the technical problems that manual dredging and environment monitoring work is large in labor intensity, low in efficiency and high in safety risk are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mine channel dredging, and particularly relates to a mine underground drainage ditch dredging and environment safety inspection device. BACKGROUND

[0002] At present, coal mine underground dredging operation mainly relies on two modes of artificial leading and traditional mechanical assistance. Limited by the narrow space, high humidity and potential harmful gas environment of underground water sump and drainage ditch, personnel need to carry simple tools such as spades and pick heads to enter the restricted space for operation. On the one hand, the dredging efficiency is very low, and the manual cleaning is easy to have residual accumulation in the corners, which leads to the blockage again in a short time after dredging. On the other hand, the personnel are in a high-humidity, restricted space and potential harmful gas environment for a long time, which not only has a large labor intensity, but also faces the safety risks of falling and poisoning of harmful gas, which does not meet the standardization requirements of mine safety production. The traditional mechanical suction mode is mainly based on negative pressure suction as the core principle, which can partially replace manpower, but often has the problem of blockage. In addition, the dredging personnel often have information exchange lag with the monitoring personnel due to the reasons of mobile operation, which leads to that the dredging personnel cannot update the mine tunnel risk information in time, which does not meet the requirements of safety production in mine.

[0003] The above multiple defects are superimposed, which leads to the problems of low efficiency and high safety risk of existing underground dredging operation. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a mine underground drainage ditch dredging and environment safety inspection device.

[0005] The present application is realized in the following manner. The mine underground drainage ditch dredging and environment safety inspection device comprises: A power chassis has an energy supply system, a power system and a steering system, and the energy supply system provides power for the device. A dredging mechanism is installed at the middle rear part of the power chassis and comprises a sludge tank, a shovel and a hydraulic system. The shovel is connected to the side of the sludge tank through a shovel arm and scoops up the sludge in the side drainage ditch and transports it to the sludge tank when the power chassis advances. The hydraulic system drives the unloading action of the shovel and the sludge discharge action of the sludge tank. A water filtering mechanism is integrated in the dredging mechanism and is used to filter out the water in the sludge during the dredging process and the carrying process. An inspection module is installed at the front part of the power chassis and comprises a sensor box, an environment sensor installed in the sensor box and an information and control cabinet. The environment sensor is used to detect the tunnel environment parameters, and the information and control cabinet receives the environment sensor data and triggers a response action.

[0006] In some embodiments, the water filtering mechanism comprises: a drainage hole arranged in the bucket for draining excess water when scooping sludge.

[0007] In some embodiments, the water filtering mechanism further comprises: a sludge tank filtering bottom arranged at the bottom of the sludge tank for separating water from the sludge.

[0008] In some embodiments, the water filtering mechanism further comprises: a drainage groove arranged at the rear of the power chassis, extending vertically to the length of the power chassis, for guiding the separated water from the sludge tank back to the drainage ditch.

[0009] In some embodiments, the hydraulic system comprises a first upper hydraulic rod, a second upper hydraulic rod, a first lower hydraulic rod, a second lower hydraulic rod, a first step motor, a second step motor, a first hydraulic pump, and a second hydraulic pump. One end of the first upper hydraulic rod is connected to the first upper hydraulic rod rotating shaft of the sludge tank, and the other end is connected to the bucket arm through the second upper hydraulic rod rotating shaft. One end of the second upper hydraulic rod is connected to the fourth upper hydraulic rod rotating shaft of the sludge tank, and the other end is connected to the bucket arm through the third upper hydraulic rod rotating shaft. The first upper hydraulic rod and the second upper hydraulic rod drive the bucket to rotate through the bucket arm. The fourth upper hydraulic rod rotating shaft and the third upper hydraulic rod rotating shaft are not connected to the side wall of the sludge tank body. One end of the first lower hydraulic rod is connected to the second lower hydraulic rod rotating shaft arranged in the power chassis, and the other end is connected to the third lower hydraulic rod rotating shaft of the sludge tank. One end of the second lower hydraulic rod is connected to the first lower hydraulic rod rotating shaft arranged in the power chassis, and the other end is connected to the fourth lower hydraulic rod rotating shaft of the sludge tank, for driving the sludge tank to tilt and discharge sludge.

[0010] In some embodiments, the hydraulic system further comprises: A first pressure sensor is arranged in the hydraulic oil circuit of the first lower hydraulic rod and the second lower hydraulic rod for monitoring the weight of the sludge in the sludge tank. When the detection value of the first pressure sensor reaches a threshold value, the information and control cabinet triggers the first lower hydraulic rod and the second lower hydraulic rod to drive the sludge tank to discharge sludge.

[0011] In some embodiments, the hydraulic system further comprises: A second pressure sensor is arranged in the hydraulic oil circuit of the first upper hydraulic rod and the second upper hydraulic rod for monitoring the weight of the sludge in the bucket. When the second pressure sensor detects a value reaching a threshold, the information and control cabinet triggers the first upper hydraulic rod and the second upper hydraulic rod to drive the bucket to unload into the sludge tank.

[0012] In some embodiments, the environmental sensors include a camera, a dust concentration sensor, a toxic gas sensor, a smoke sensor, an anemometer, and a three-dimensional laser scanner. The camera and the dust concentration sensor are installed on a camera support rod on the top of the sensor box. The anemometer, the three-dimensional laser scanner, and the audible and visual alarm are fixed to the top end of the sensor box. The smoke sensor and the information and control cabinet are arranged inside the sensor box.

[0013] In some embodiments, the inspection module further includes a water spraying device and a water pump. The water inlet of the water pump is connected to the drainage ditch through a water inlet hose, and the water outlet is connected to the water spraying device through a water outlet pipe. When the dust concentration sensor detects a value exceeding the standard, the information and control cabinet controls the water pump to start and reduces dust through the water spraying device. When the smoke sensor detects a value exceeding the standard, the information and control cabinet controls the water pump to start and extinguishes the fire through the water spraying device.

[0014] In some embodiments, the audible and visual alarm is configured to have five alarm modes, respectively corresponding to dust concentration exceeding the standard, smoke exceeding the standard, manual triggering, wind speed being too low, and toxic gas exceeding the standard, and being distinguished by different broadcast content, light color, and flashing frequency.

[0015] The application provides a mine underground drainage ditch dredging and environment safety inspection device, which avoids the defects of easy blockage of the suction type structure through the rigid structure design of the bucket and the sludge tank in the dredging mechanism and the lateral shoveling and unloading actions of the bucket arm driven by the hydraulic system, and avoids the damage of the movable parts directly contacting the sludge to the instrument, so that the reliability of the dredging operation is significantly improved and the service life of the device is prolonged, and the core problems of low efficiency and high labor intensity of manual dredging are directly solved; the water is actively separated in the process of the bucket shoveling and the sludge tank bearing through the water filtering mechanism, on the one hand, the interference of the water body shoveling together to the water circulation of the drainage ditch is reduced, especially the environmental pressure of the mine tunnel with water shortage is relieved, on the other hand, the water content of the sludge is reduced to avoid the dripping pollution of the roadway during transportation, and the effective volume utilization rate of the sludge tank is improved, and then the environmental protection and resource efficiency of the dredging process are optimized; the environment sensor and the information control cabinet are integrated through the inspection module and are pre-installed on the power chassis, the roadway environment parameters are synchronously collected during the dredging, the safety warning action is triggered in real time, the manual inspection task is directly replaced and the length of time of personnel exposed to the toxic and harmful environment is reduced, the operation safety is improved, and because the dredging workers are also the inspection workers, there is no information exchange problem between them, finally, the multi-module cooperation is formed through the moving support of the power chassis, the mechanical shovel of the dredging mechanism, the dehydration effect of the water filtering mechanism and the intelligent monitoring function of the inspection module, not only the physical burden and safety risk of manual dredging are reduced, but also the dredging efficiency is improved and the environmental monitoring capability is integrated, the problems of mining production stagnation caused by the blockage of the underground drainage system and the lagging problem of disaster warning information exchange are comprehensively improved, so that the technical problems of high labor intensity, low efficiency and high safety risk of manual dredging and environmental monitoring are solved.

[0016] The above description is only a summary of the technical scheme of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole structure schematic diagram of a mine underground drainage ditch dredging and environment safety inspection device provided in an embodiment of the application; Figure 2 It is a structure schematic diagram of a hydraulic system on one side of a mine underground drainage ditch dredging and environment safety inspection device provided in an embodiment of the application; Figure 3 It is a structure schematic diagram of a power chassis of a mine underground drainage ditch dredging and environment safety inspection device provided in an embodiment of the application; Figure 4is a structural schematic view of another side hydraulic system in a mine underground drainage ditch dredging and environmental safety inspection device provided in the embodiment of the application; Figure 5 is a structural schematic view of a stepping motor in a mine underground drainage ditch dredging and environmental safety inspection device provided in the embodiment of the application; Figure 6 is a structural schematic view in a sensor box in a mine underground drainage ditch dredging and environmental safety inspection device provided in the embodiment of the application.

[0018] BRIEF DESCRIPTION OF DRAWINGS: 1, camera; 2, dust concentration sensor; 3, anemometer; 4, smoke sensor; 5, information and control cabinet; 6, power chassis; 7, three-dimensional laser scanner; 8, sound and light alarm; 9, water spraying device; 10, sludge tank; 11, flow guide groove; 12, shovel arm; 13, shovel; 14, first lower hydraulic rod pivot; 15, power supply; 16, second lower hydraulic rod pivot; 17, first upper hydraulic rod pivot; 18, first upper hydraulic rod; 19, first shovel arm pivot; 20, second upper hydraulic rod pivot; 21, third lower hydraulic rod pivot; 22, first lower hydraulic rod; 23, third upper hydraulic rod pivot; 24, second shovel arm pivot; 25, fourth lower hydraulic rod pivot; 26, second lower hydraulic rod; 27, flow guide hole; 28, sludge tank movable door pivot; 29, sludge tank movable door support; 30, sludge tank movable door; 31, second upper hydraulic rod; 32, fourth upper hydraulic rod pivot; 33, sludge tank filter bottom; 34, camera support rod; 35, toxic gas sensor; 36, water outlet pipe; 37, sensor box; 38, water inlet pipe; 39, water inlet hose; 40, water pump; 41, first hydraulic oil outlet pipe; 42, first stepping motor; 43, first power connection sleeve; 44, first pressure sensor; 45, first hydraulic oil inlet pipe; 46, first hydraulic pump; 47, second hydraulic oil outlet pipe; 48, second stepping motor; 49, second power connection sleeve; 50, second pressure sensor; 51, second hydraulic oil inlet pipe; 52, second hydraulic pump. DETAILED DESCRIPTION

[0019] The embodiments of the technical scheme of the application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical scheme of the application, and therefore only serve as examples, and cannot limit the protection scope of the application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application; the use of the terms "including," "comprising," or "having" and variations thereof herein is intended to be broad and encompass the terms "consisting of" and "consisting essentially of" and variations thereof. Unless otherwise noted, the terms "including" and "comprising" are open-ended and do not exclude the presence of unrecited elements or limitations.

[0021] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0022] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0024] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0025] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as limiting the embodiments of the present application. The orientation or position of the device or element indicated, and therefore cannot be understood as limiting the embodiments of the present application.

[0026] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "linking", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0027] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0028] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0029] In some embodiments, with reference to Figure 1 A mine underground drainage ditch dredging and environmental safety inspection device, comprising: a power chassis, a dredging mechanism, a water filtering mechanism and an inspection module. Wherein: The power chassis 6 has an energy supply system, a power system and a steering system, and the energy supply system provides power for the device. Specifically, the power chassis 6 is the moving carrier and power output basis of the entire device, which is suitable for the special environment of narrow, humid and dusty underground, and its function is to drive the upper dredging mechanism and inspection module to realize autonomous movement, and at the same time provide stable energy supply for the operation of each mechanism. Illustratively, the power chassis 6 adopts a tracked walking structure, and the surface of the track plate is provided with anti-skid lines to enhance the grip in muddy tunnels; the energy supply system includes an explosion-proof battery; the power system is composed of a hydraulic pump and a drive motor, and the power is transmitted to the track drive wheel through a hydraulic pipeline to realize forward and backward movement; the steering system is a hydraulic steering mechanism.

[0030] The dredging mechanism is installed at the middle and rear part of the power chassis 6, which includes a sludge tank 10, a bucket 13 and a hydraulic system. The bucket 13 is connected to the side of the sludge tank 10 through a bucket arm 12. When the power chassis 6 moves forward, the bucket 13 scoops up the sludge in the side of the drainage ditch and transports it to the sludge tank 10. The hydraulic system drives the unloading action of the bucket 13 and the sludge discharge action of the sludge tank 10. Specifically, the bucket 13 is arranged on the left side or the right side of the power chassis 6, so that the bucket 13 and the power chassis 6 are in a parallel advancing form during the advancing process, further enabling the power chassis 6 to drive in the passage at the side of the drainage ditch while scooping up the sludge in the drainage ditch. The chassis does not need to completely cover the drainage ditch, thereby improving the mobility and continuous operation ability of the device in the limited environment in the mine tunnel. The bucket arm 12 is driven by the hydraulic system to turn over from the side to discharge the sludge in the bucket 13 into the sludge tank 10. In this process, the components in direct contact with the sludge only include the rigid structure that cannot move, i.e. the bucket 13 and the sludge tank 10. The movable hydraulic part used to drive the sludge tank 10 and the bucket arm 12 to move does not directly contact the sludge, avoiding the sludge from invading the gap inside the movable structure to damage the equipment. At the same time, because the suction type structure is avoided, the possibility of blockage is reduced, thereby improving the overall reliability of the device and prolonging the overall service life of the device. For example, the bucket 13 is made of high-strength wear-resistant steel plate and welded to form a rectangular groove body. The edge of the bucket mouth is provided with a serrated structure, which can cut into the hard sludge layer. The bucket body is a rectangular box structure to increase the overall capacity of the bucket 13. The inside is coated with an anti-sticking coating to reduce sludge adhesion.

[0031] The water filtering mechanism is integrated in the dredging mechanism and is used to filter water in the silt during the dredging process and the carrying process. Specifically, the water filtering mechanism is arranged to reduce the water content of the silt during the process of the bucket 13 scooping up the silt and the process of the silt tank 10 carrying and transporting the silt. On the one hand, when the bucket 13 is used to scoop up the silt, the existing water in the drainage ditch is also scooped up, which causes the volume of the bucket 13 to be not fully used and reduces the water in the drainage ditch during the dredging process, affecting the water circulation in the mine. The influence is more obvious in the mine environment where water is difficult to obtain. On the other hand, the silt tank 10 is often made into a tank structure with a gate on the side to facilitate the unloading of the silt inside. The high water content in the silt will cause water droplets to fall and pollute the roadway during the transportation process. In the case that the bucket 13 does not have a water filtering function, water will accumulate on the silt layer in the silt tank 10, which may be splashed out when the device starts or brakes due to shaking, and will also reduce the effective carrying capacity of the device. For example, the water filtering mechanism includes a composite filter layer arranged at the bottom of the silt tank 10 and a water collecting groove on the side. The composite filter layer is composed of an upper stainless steel filter screen and a lower non-woven fabric, which can intercept silt particles and allow water to penetrate. The water collecting groove surrounds the inside bottom of the silt tank 10 and is in communication with the flow guide plate below the filter layer. The collected filtered water is returned to the drainage ditch through a drain pipe with a stop valve. A filter screen is arranged at the end of the drain pipe to prevent the loss of fine silt.

[0032] The inspection module is installed at the front of the power chassis 6 and includes a sensor box 37, environmental sensors installed in the sensor box 37, and an information and control cabinet 5. The environmental sensors are used to detect the environmental parameters of the roadway, and the information and control cabinet 5 receives the environmental sensor data and triggers a response action. Specifically, the inspection module realizes real-time monitoring and early warning of the safety parameters of the underground environment, and is synchronized with the dredging operation, without the need for separate inspection equipment, thereby improving the operation coordination. For example, the sensor box 37 is an explosion-proof housing, and the environmental sensors integrated therein include a gas sensor, a carbon monoxide sensor, a temperature and humidity sensor, a dust concentration sensor 2, and a drainage ditch liquid level sensor. The information and control cabinet 5 is installed in the driver's cabin of the power chassis 6 and is equipped with a display screen to display the sensor data in real time. When one of the values reaches a preset safety threshold, the built-in PLC controller triggers a response action.

[0033] The present application avoids the defects of easy blockage of the suction type structure through the rigid structure design of the bucket 13 and the sludge box 10 in the dredging mechanism and the lateral scooping and unloading action of the hydraulic system driving the bucket arm 12, avoids the damage of the movable parts directly contacting the sludge to the instrument, thereby significantly improves the reliability of the dredging operation and prolongs the service life of the device, directly solves the core problems of low efficiency and high labor intensity of manual dredging; through the water filtering mechanism, the water content is actively separated during the scooping of the bucket 13 and the bearing of the sludge box 10, on the one hand, it reduces the interference of the water body scooped together with the water circulation of the drainage ditch, especially relieves the environmental pressure of the water shortage mine tunnel, on the other hand, it reduces the water content of the sludge to avoid the dripping pollution of the roadway during transportation, and improves the effective volume utilization rate of the sludge box 10, thereby optimizing the environmental protection and resource efficiency of the dredging process; through the integrated environmental sensor and information control cabinet 5 of the inspection module and the front installation on the power chassis 6, the synchronous collection of the roadway environment parameters during the dredging is realized, the safety warning action is triggered in real time, the manual inspection task is directly replaced and the length of time of personnel exposed to toxic and harmful environment is reduced, and the operation safety is improved; finally, the above technical features form a multi-module cooperation through the moving support of the power chassis 6, the mechanical scooping of the dredging mechanism, the dehydration function of the water filtering mechanism and the intelligent monitoring function of the inspection module, not only reduces the physical burden and safety risk of manual dredging, but also improves the dredging efficiency and environmental monitoring coverage, comprehensively improves the problems of mining production stagnation caused by the blockage of the underground drainage system and the disaster warning lag, thereby solving the technical problems of high labor intensity, low efficiency and high safety risk of manual dredging and environmental monitoring.

[0034] In some embodiments, referring to Figure 2 The water filtering mechanism includes a guide hole 27 arranged in the bucket 13 for discharging excess water when the sludge is scooped. Specifically, the guide hole 27 is a structure for pre-separating water in the early stage of dredging, which filters out the free water in the sludge in advance during the process of the bucket 13 contacting and scooping the sludge, reduces the amount of water entering the sludge box 10, thereby reducing the water filtering pressure of the subsequent sludge box 10, and avoiding the problem of too much water causing the sludge to flow too strongly and dripping to pollute the roadway during transportation. When the bucket 13 is inserted into the sludge in the drainage ditch under the driving of the hydraulic system, as the power chassis 6 advances, the sludge will be scooped into the bucket 13, and the water in it will seep out to the rear through the guide hole 27 and be discharged into the original drainage ditch, thereby preliminarily filtering the sludge in the bucket 13. Exemplarily, the guide holes 27 are densely distributed on the bucket wall of the bucket 13, and the guide holes 27 on the bucket wall are arranged in a diamond array.

[0035] In some embodiments, referring to Figure 2The water filtering mechanism further comprises a sludge tank filtering bottom 33 arranged at the bottom of the sludge tank 10 and used for separating water in the sludge. Specifically, the sludge pre-filtered through the flow guide hole 27 of the bucket 13 is transported into the sludge tank 10 through the action of the bucket arm 12, and at this time, part of the water in the sludge is still not separated. The water in the sludge flows out through the sludge tank filtering bottom 33 under the action of gravity and the self-weight pressure of the sludge, thereby realizing secondary filtration, further reducing the water content in the sludge tank 10, and improving the proportion of sludge in the sludge tank 10. Further, the effective utilization rate of the volume of the sludge tank 10 is improved. Furthermore, the flowability of the sludge after sufficient water filtering is reduced, the adhesion and accumulation in the sludge tank 10 are reduced, the subsequent discharge through the sludge tank movable door 30 is facilitated, the risk of blockage in the sludge discharge process is reduced, and the continuity and efficiency of the dredging operation are improved. Illustratively, the sludge tank filtering bottom 33 comprises a three-layer composite structure, wherein the upper layer is a grid-shaped support framework for bearing the weight of the sludge; the middle layer is a stainless steel filter screen for blocking the medium and large impurities in the sludge; and the bottom layer is a polyester fiber non-woven fabric filter layer for filtering the water in the sludge tank 10.

[0036] In some embodiments, with reference to Figure 3 The water filtering mechanism further comprises a flow guide groove 11 arranged at the middle rear part of the power chassis 6, the flow guide groove 11 extending perpendicular to the length extension direction of the power chassis 6, and used for guiding the water separated from the sludge tank 10 back to the drainage ditch. Specifically, the flow guide groove 11 is arranged on the contact surface between the middle rear part of the power chassis 6 and the bottom of the dredging tank, and extends perpendicular to the length extension direction of the power chassis 6, i.e. perpendicular to the forward direction of the device, and is arranged in a spaced manner. After the water in the sludge is separated by the sludge tank filtering bottom 33, the water collects at the bottom of the sludge tank 10, and then flows into the flow guide groove 11 arranged at the middle rear part of the power chassis 6, and flows along the arrangement direction of the flow guide groove 11, i.e. perpendicular to the length extension direction of the power chassis 6, and finally flows back into the drainage ditch beside the device, thereby avoiding the water from accumulating on the power chassis 6 or flowing randomly to contaminate the roadway ground, keeping the underground working environment clean, and at the same time, the flow guide groove 11 and the sludge tank filtering bottom 33 form a continuous water guide passage, cooperate with the flow guide hole 27 of the bucket 13, and jointly constitute a three-stage water filtering system, thereby improving the working efficiency of the entire water filtering mechanism, ensuring that the water is discharged in time, and reducing the water content of the sludge.

[0037] In some embodiments, with reference to Figure 2 , Figure 4 and Figure 5The hydraulic system comprises a first upper hydraulic rod 18, a second upper hydraulic rod 31, a first lower hydraulic rod 22, a second lower hydraulic rod 26, a first step motor 42, a second step motor 48, a first hydraulic pump 46 and a second hydraulic pump 52. The first upper hydraulic rod 18 is connected with the first upper hydraulic rod rotating shaft 17 of the sludge tank 10 at one end and connected with the bucket arm 12 through the second upper hydraulic rod rotating shaft 20 at the other end. The second upper hydraulic rod 31 is connected with the fourth upper hydraulic rod rotating shaft 32 of the sludge tank 10 at one end and connected with the bucket arm 12 through the third upper hydraulic rod rotating shaft 23 at the other end. The first upper hydraulic rod 18 and the second upper hydraulic rod 31 drive the bucket 13 to rotate through the bucket arm 12. The fourth upper hydraulic rod rotating shaft 32 is not connected with the sidewall of the tank body of the sludge tank 10 through the third upper hydraulic rod rotating shaft 23. Specifically, the first upper hydraulic rod 18 and the second upper hydraulic rod 31 provide power for the action of the bucket 13, and the two work together to realize flexible operation of the bucket 13. When the device is performing dredging work, the first step motor 42 drives the first hydraulic pump 46 to work, and the extension and retraction of the first upper hydraulic rod 18 is controlled through the transmission of hydraulic oil. At the same time, the second step motor 48 drives the second hydraulic pump 52 to control the extension and retraction of the second upper hydraulic rod 31. The extension and retraction actions of the first upper hydraulic rod 18 and the second upper hydraulic rod 31 are transmitted through the bucket arm 12 to drive the bucket 13 to complete the action. For example, when it is necessary to shovel the sludge in the drainage ditch, the first upper hydraulic rod 18 and the second upper hydraulic rod 31 are extended synchronously, so that the bucket arm 12 rotates downward around the first bucket arm rotating shaft 19 and the second bucket arm rotating shaft 24, and drives the bucket 13 on it to rotate downward and insert into the sludge. The power chassis 6 drives forward in this process, and the bucket 13 collects sludge. Then, the first upper hydraulic rod 18 and the second upper hydraulic rod 31 are retracted, and the bucket 13 is rotated and lifted along the same path to the sludge tank 10, and the sludge is unloaded into the sludge tank 10.

[0038] The first lower hydraulic rod 22 is connected at one end to the second lower hydraulic rod rotating shaft 16 arranged on the power chassis 6 and at the other end to the third lower hydraulic rod rotating shaft 21 of the sludge tank 10; the second lower hydraulic rod 26 is connected at one end to the first lower hydraulic rod rotating shaft 14 arranged on the power chassis 6 and at the other end to the fourth lower hydraulic rod rotating shaft 25 of the sludge tank 10, and is used to drive the sludge tank 10 to tilt and discharge sludge. Specifically, when the sludge in the sludge tank 10 accumulates to a certain amount and needs to be discharged, the first step motor 42 and the second step motor 48 control the first hydraulic pump 46 and the second hydraulic pump 52 respectively to drive the first lower hydraulic rod 22 and the second lower hydraulic rod 26 to extend synchronously. Since the two ends of the first lower hydraulic rod 22 and the second lower hydraulic rod 26 are connected to the power chassis 6 and the sludge tank 10 respectively, the extension action will push the sludge tank 10 to tilt to the right around the rotating shaft connected to the power chassis 6. As the tilting angle of the sludge tank 10 gradually increases, the sludge tank movable door 30 is opened under the action of the self weight of the sludge and the gravity of the sludge tank movable door 30, and the sludge in the tank is discharged under the action of gravity. After the sludge is discharged, the first lower hydraulic rod 22 and the second lower hydraulic rod 26 are retracted to drive the sludge tank 10 to return to the normal position, and the sludge tank movable door 30 is re-closed under the action of gravity and the attraction of the self magnet to restore to the closed state. Compared with the suction pump device, the bucket 13 of the present application is driven by multiple hydraulic rods, which can strongly break the clumped sludge and grab the solid impurities with large diameters, and at the same time avoids the risk of pipeline blockage, thereby ensuring the stability of continuous operation.

[0039] In some embodiments, with reference to Figure 2 , Figure 4 and Figure 5 , the hydraulic system further comprises: a first pressure sensor 44 arranged in the hydraulic oil circuit of the first lower hydraulic rod 22 and the second lower hydraulic rod 26, and used to monitor the weight of the sludge in the sludge tank 10; specifically, one end of the first pressure sensor 44 is connected to the oil outlet hole of the first hydraulic pump 46 through the first power connection sleeve 43, and the other end is connected to the first hydraulic oil outlet pipe 41, so that the pressure change in the hydraulic oil circuit can be monitored in real time. Since the first lower hydraulic rod 22 and the second lower hydraulic rod 26 directly bear the weight of the sludge tank 10 and the sludge in the tank, when the sludge in the sludge tank 10 gradually increases, the gravity of the sludge is transmitted to the first lower hydraulic rod 22 and the second lower hydraulic rod 26 through the sludge tank 10, so that the pressure in the hydraulic oil circuit increases accordingly. Therefore, the pressure value detected by the first pressure sensor 44 is positively correlated with the weight of the sludge in the sludge tank 10, and by pre-setting the corresponding relationship between the pressure and the weight, the weight of the sludge in the sludge tank 10 can be indirectly monitored, so that the real-time pressure data can be transmitted to the information and control cabinet 5.

[0040] When the value detected by the first pressure sensor 44 reaches the threshold value, the information and control cabinet 5 triggers the first lower hydraulic rod 22 and the second lower hydraulic rod 26 to drive the sludge box 10 to perform the sludge discharge action. Specifically, since the first pressure sensor 44 can transmit real-time pressure data to the information and control cabinet 5, this allows the information and control cabinet 5 to determine whether the amount of sludge in the sludge box 10 has reached the degree that needs to be discharged by comparing the preset threshold value with the received pressure data in real time, thereby realizing intelligent sludge discharge. When the information and control cabinet 5 determines that the amount of sludge in the sludge box 10 has reached the degree that needs to be discharged, it immediately issues a control instruction to the hydraulic system. After receiving the instruction, the hydraulic system controls the first stepper motor 42 and the second stepper motor 48 to drive the first hydraulic pump 46 and the second hydraulic pump 52, so that the first lower hydraulic rod 22 and the second lower hydraulic rod 26 are synchronously extended to push the sludge box 10 to tilt to the right around the rotating shaft connected to the power chassis 6. Under the action of the gravity of the sludge and the gravity of the sludge box movable door 30, the sludge box movable door 30 is opened, and the sludge discharge action is completed, thereby avoiding overloading of the sludge box 10 due to excessive loading of sludge, reducing the load of the first lower hydraulic rod 22, the second lower hydraulic rod 26 and other structural components, reducing mechanical wear and failure risk, and prolonging the service life of the device. After the sludge discharge is completed, the first lower hydraulic rod 22 and the second lower hydraulic rod 26 are retracted, the sludge box 10 is returned to the normal position, the movable door is closed, and the next sludge removal cycle is waited for. According to the preset threshold value, the sludge is discharged in time, which can ensure that the sludge box 10 always maintains a reasonable loading amount, avoids excessive accumulation of sludge affecting the continuity of sludge removal, makes the sludge removal operation more orderly and efficient, and meets the needs of continuous operation underground.

[0041] In some embodiments, with reference to Figure 2 、 Figure 4 and Figure 5 , the hydraulic system further comprises a second pressure sensor 50 arranged in the hydraulic oil circuit of the first upper hydraulic rod 18 and the second upper hydraulic rod 31 for monitoring the weight of the sludge in the bucket 13. Specifically, the second pressure sensor 50 is connected to the hydraulic oil circuit of the first upper hydraulic rod 18 and the second upper hydraulic rod 31, connected between the oil outlet hole of the second hydraulic pump 52 and the second hydraulic oil outlet pipe 47, and can capture the pressure change in the hydraulic oil circuit in real time. Since the first upper hydraulic rod 18 and the second upper hydraulic rod 31 are directly connected to the bucket 13 through the bucket arm 12, when the bucket 13 scoops up the sludge, the weight of the sludge will be transmitted to the two upper hydraulic rods through the bucket arm 12, causing the pressure in the hydraulic oil circuit to increase with the increase of the weight of the sludge. Therefore, the pressure value detected by the second pressure sensor 50 is positively correlated with the weight of the sludge in the bucket 13, and the loading amount of the sludge in the bucket can be monitored by conversion.

[0042] When the second pressure sensor 50 detects a value reaching a threshold value, the information and control cabinet 5 triggers the first upper hydraulic rod 18 and the second upper hydraulic rod 31 to drive the bucket 13 to unload the sludge into the sludge box 10. Specifically, during the dredging operation, the bucket 13 is inserted into the sludge in the drainage ditch as the power chassis 6 advances. The second pressure sensor 50 continuously monitors the pressure in the oil circuit of the first upper hydraulic rod 18 and the second upper hydraulic rod 31 and transmits the data to the information and control cabinet 5 in real time. The information and control cabinet 5 has a built-in pressure threshold value set based on the rated capacity of the bucket 13, and compares the received pressure data with the threshold value in real time. When the second pressure sensor 50 detects a value reaching the threshold value, the information and control cabinet 5 determines that the bucket 13 has loaded sufficient sludge and immediately sends an unloading instruction to the hydraulic system. The hydraulic system responds to the instruction, the second stepper motor 48 is connected and driven by the second power connection sleeve 49 to drive the second hydraulic pump 52, and the first upper hydraulic rod 18 and the second upper hydraulic rod 31 are controlled to stretch and retract cooperatively to drive the bucket arm 12 to rotate, so that the bucket 13 is turned over above the inlet of the sludge box 10 to complete the unloading. After unloading, the two upper hydraulic rods are reset to drive the bucket 13 back to the initial scooping position, ready for the next operation cycle, so that through real-time monitoring by the pressure sensor, overloading or insufficient loading of the bucket 13 is avoided, the single dredging efficiency is ensured, the hydraulic rod wear caused by overloading is reduced, and the service life of the equipment is prolonged.

[0043] In some embodiments, referring to Figure 6 , the environmental sensors include a camera 1, a dust concentration sensor 2, a toxic gas sensor 35, a smoke sensor 4, an anemometer 3, and a three-dimensional laser scanner 7; The camera 1 and the dust concentration sensor 2 are installed on the camera support rod 34 at the top of the sensor box 37. Specifically, the camera support rod 34 is fixed vertically to the top surface of the sensor box 37, and the camera 1 is installed at the top of the support rod for real-time image acquisition of the underground roadway environment, including, for example, the surrounding conditions of the drainage ditch and the roadway support conditions. The dust concentration sensor 2 is fixed in the middle of the camera support rod 34, with its detection probe facing the roadway space, for monitoring the dust concentration in the air of the working area. The anemometer 3, the three-dimensional laser scanner 7, and the audible and visual alarm 8 are fixed to the top end of the sensor box 37. Specifically, the anemometer 3, the three-dimensional laser scanner 7, and the audible and visual alarm 8 are all fixed by bolts to the top end plane of the sensor box 37, with the sensing end of the anemometer 3 exposed to the air for measuring the wind speed and direction in the roadway to provide data support for judging the diffusion speed of harmful gases. The scanning head of the three-dimensional laser scanner 7 is horizontally arranged to perform three-dimensional modeling of the roadway space within the range and to sense information such as the roadway profile and the position of obstacles to assist the device in obstacle avoidance. The audible and visual alarm 8 adopts a color light flickering design and is equipped with a buzzer to emit warning sounds and light effects when the environmental parameters exceed the limits.

[0044] The smoke sensor 4 and the information and control cabinet 5 are arranged in the sensor box 37. Specifically, the smoke sensor is arranged at a position close to the top of the sensor box 37, and perceives the external smoke concentration through the hole formed in the wall of the sensor box 37, thereby early warning the danger such as underground fire. The information and control cabinet 5 is fixed below the sensor box 37, and is connected with all the environmental sensors, the sound and light alarm 8 and other executing components of the device through the control cable, thereby serving as the core processing unit of the whole inspection module.

[0045] In some embodiments, referring to Figure 6 , the inspection module further comprises the water spraying device 9 and the water pump 40. The water inlet of the water pump 40 is connected with the drainage ditch through the water inlet hose 39, and the water outlet is connected with the water spraying device 9 through the water outlet pipe 36. When the dust concentration sensor 2 detects that the value exceeds the standard, the information and control cabinet 5 controls the water pump 40 to start, and the dust is removed through the water spraying device 9. When the smoke sensor 4 detects that the value exceeds the standard, the information and control cabinet 5 controls the water pump 40 to start, and the fire is extinguished through the water spraying device 9. Specifically, the water pump 40 is arranged in the sensor box 37, and the water inlet thereof is connected with the water inlet pipe 38. The other end of the water inlet pipe 38 is connected with the water inlet hose 39, which can be directly put into the drainage ditch to realize water taking from the drainage ditch. The water outlet of the water pump 40 is connected with the water outlet pipe 36, and the other end of the water outlet pipe 36 is connected with the water spraying device 9. The water spraying device 9 is arranged at the front end or the side of the sensor box 37, and adopts the multi-nozzle design to spray water flow to the front and the surrounding area of the device.

[0046] The dust concentration sensor 2 continuously monitors the dust concentration in the roadway, and transmits the data to the information and control cabinet 5 in real time. When it is detected that the dust concentration exceeds the preset safety threshold, the information and control cabinet 5 determines that the dust exceeds the standard, and immediately sends a start instruction to the water pump 40. The water pump 40 operates, and water is extracted from the drainage ditch through the water inlet hose 39, and is transported to the water spraying device 9 through the water inlet pipe 38 and the water outlet pipe 36. The nozzles of the water spraying device 9 atomize or spray water column, thereby spraying the working area, so that the dust particles in the air combine with the water droplets and then settle, thereby reducing the dust concentration. When the dust concentration sensor 2 detects that the dust concentration is reduced to below the safety threshold, the information and control cabinet 5 controls the water pump 40 to stop working, and the water spraying device 9 stops spraying water, thereby treating the dust exceeding the standard on site. At the same time, the water in the drainage ditch is efficiently utilized to reduce dust and reduce the harm of dust to the underground personnel.

[0047] The smoke sensor 4 senses the smoke concentration in the mine roadway at all times, and feeds back data to the information and control cabinet 5 in real time. When the smoke concentration exceeds the set threshold, the information and control cabinet 5 judges that there is a fire, and then the information and control cabinet 5 starts the water pump 40, the water pump 40 takes water from the drainage ditch and delivers it to the water spraying device 9. The water spraying device 9 sprays water flow, directly acts on the smoke source area, and inhibits the spread of fire or extinguishes the fire source; at the same time, the information and control cabinet 5 links the sound and light alarm 8 to issue an alarm, reminding the underground personnel to pay attention and take corresponding risk avoidance measures, and after the smoke concentration decreases to the safe range, the control water pump 40 stops running and the alarm stops.

[0048] In some embodiments, with reference to Figure 6 , the sound and light alarm 8 is configured to have 5 alarm modes, respectively corresponding to dust concentration exceeding the standard, smoke exceeding the standard, manual triggering, low wind speed and toxic gas exceeding the standard, and distinguished by different broadcast content, light color and flashing frequency. Specifically, the sound and light alarm 8 is fixed on the top end of the sensor box 37, and its core components include a red, yellow and blue LED lamp group, a loudspeaker and a mode control module. The mode control module is connected with the information and control cabinet 5 through a cable, receives and executes different alarm instructions. The alarm instructions include five kinds, respectively corresponding to dust concentration exceeding the standard, smoke exceeding the standard, manual triggering, low wind speed and toxic gas exceeding the standard, so that through the multiple differences of light color, frequency and voice, underground personnel can quickly identify the alarm type, avoid the response failure caused by ambiguous alarm information, especially in noisy and dim underground environment, the effectiveness of early warning can be improved, at the same time, according to different sound and light intensity settings, the risk level can be intuitively reflected, so as to remind the personnel of the environmental danger.

[0049] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any modification, equivalent replacement and improvement made by any person skilled in the art within the technical range disclosed by the present application, as long as it is within the spirit and principles of the present application, shall be covered within the protection scope of the present application.

[0050] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and embodiments having substantially the same technical idea and playing the same role and effect within the technical solution range of the present application are all included in the technical range of the present application. In addition, within the scope of the main idea of the present application, various modifications, combinations of part of the components in the embodiments to construct other ways which can be thought of by those skilled in the art are also included in the scope of the present application.

Claims

1. A device for dredging and environmental safety inspection of underground drainage ditches in mines, characterized in that, include: The power chassis (6) has an energy supply system, a power system and a steering system, wherein the energy supply system provides power to the device; The dredging mechanism is installed in the middle and rear part of the power chassis (6), including a sludge tank (10), a bucket (13) and a hydraulic system. The bucket (13) is connected to the side of the sludge tank (10) through the bucket arm (12). When the power chassis (6) moves forward, it scoops up the sludge in the side drainage ditch and transports it to the sludge tank (10). The hydraulic system drives the bucket (13) to unload and the sludge tank (10) to discharge sludge. A water filtration mechanism, integrated into the dredging mechanism, is used to filter out water from the sludge during the dredging and carrying processes. The inspection module is installed at the front of the power chassis (6) and includes a sensor box (37), an environmental sensor installed in the sensor box (37), and an information and control cabinet (5). The environmental sensor is used to detect the environmental parameters of the roadway, and the information and control cabinet (5) receives the data from the environmental sensor and triggers a response action.

2. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 1, characterized in that, The water filtration mechanism includes: A guide hole (27) is provided in the bucket (13) to drain excess water when shoveling silt.

3. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 2, characterized in that, The water filtration mechanism also includes: The sludge filter bottom (33) is located at the bottom of the sludge tank (10) and is used to separate water from the sludge.

4. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 3, characterized in that, The water filtration mechanism also includes: A guide channel (11) is provided in the middle and rear part of the power chassis (6). The guide channel (11) is perpendicular to the length extension direction of the power chassis (6) and is used to guide the water separated from the sludge box (10) back to the drainage ditch.

5. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 1, characterized in that, The hydraulic system includes a first upper hydraulic rod (18), a second upper hydraulic rod (31), a first lower hydraulic rod (22), a second lower hydraulic rod (26), a first stepper motor (42), a second stepper motor (48), a first hydraulic pump (46), and a second hydraulic pump (52). One end of the first upper hydraulic rod (18) is connected to the first upper hydraulic rod shaft (17) of the sludge tank (10), and the other end is connected to the bucket arm (12) through the second upper hydraulic rod shaft (20); One end of the second upper hydraulic rod (31) is connected to the fourth upper hydraulic rod shaft (32) of the sludge tank (10), and the other end is connected to the bucket arm (12) through the third upper hydraulic rod shaft (23); The fourth upper hydraulic rod shaft (32) and the third upper hydraulic rod shaft (23) are not connected to the side wall of the sludge tank (10); The first upper hydraulic rod (18) and the second upper hydraulic rod (31) drive the bucket (13) to rotate through the bucket arm (12); One end of the first lower hydraulic rod (22) is connected to the second lower hydraulic rod shaft (16) located on the power chassis (6), and the other end is connected to the third lower hydraulic rod shaft (21) of the sludge tank (10); One end of the second lower hydraulic rod (26) is connected to the first lower hydraulic rod shaft (14) located on the power chassis (6), and the other end is connected to the fourth lower hydraulic rod shaft (25) of the sludge tank (10), which is used to drive the sludge tank (10) to tilt and discharge sludge.

6. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 5, characterized in that, The hydraulic system also includes: The first pressure sensor (44) is installed in the hydraulic oil circuit of the first lower hydraulic rod (22) and the second lower hydraulic rod (26) to monitor the weight of the sludge in the sludge tank (10); When the value detected by the first pressure sensor (44) reaches the threshold, the information and control cabinet (5) triggers the first lower hydraulic rod (22) and the second lower hydraulic rod (26) to drive the sludge box (10) to perform sludge discharge.

7. A mine underground drainage ditch dredging and environmental safety inspection device according to claim 6, characterized in that, The hydraulic system also includes: The second pressure sensor (50) is installed in the hydraulic oil circuit of the first upper hydraulic rod (18) and the second upper hydraulic rod (31) to monitor the weight of the sludge in the bucket (13); When the value detected by the second pressure sensor (50) reaches the threshold, the information and control cabinet (5) triggers the first upper hydraulic rod (18) and the second upper hydraulic rod (31) to drive the bucket (13) to unload into the sludge box (10).

8. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 1, characterized in that, The environmental sensors include a camera (1), a dust concentration sensor (2), a toxic gas sensor (35), a smoke sensor (4), an anemometer (3), and a three-dimensional laser scanner (7). The camera (1) and the dust concentration sensor (2) are mounted on the camera support rod (34) on the top of the sensor box (37); The anemometer (3), the three-dimensional laser scanner (7) and the audible and visual alarm (8) are fixed to the top of the sensor box (37); The smoke sensor (4) and the information and control cabinet (5) are located inside the sensor box (37).

9. A mine underground drainage ditch dredging and environmental safety inspection device according to claim 8, characterized in that, The inspection module also includes a water spraying device (9) and a water pump (40). The inlet of the water pump (40) is connected to the drainage ditch through the water inlet hose (39), and the outlet is connected to the water spraying device (9) through the water outlet pipe (36). When the dust concentration sensor (2) detects an excessive value, the information and control cabinet (5) controls the water pump (40) to start and spray the dust through the water spraying device (9). When the smoke sensor (4) detects an excessive value, the information and control cabinet (5) controls the water pump (40) to start and spray the fire through the water spraying device (9).

10. The mine underground drainage ditch dredging and environmental safety inspection device according to claim 8, characterized in that, The sound and light alarm (8) is configured to have 5 alarm modes, corresponding to dust concentration exceeding the standard, smoke exceeding the standard, manual triggering, low wind speed and toxic gas exceeding the standard, which are distinguished by different broadcast content, light color and flashing frequency.

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