Intelligent silt remover for narrow space of coal mine tunnel

Abstract

The invention relates to the technical field of coal mine tunnel desilting, in particular to an intelligent silt remover facing narrow and small space of a coal mine tunnel, which comprises a silt remover body and a mechanical arm matched with the top of the silt remover body, and a grab bucket is mounted at one end of the mechanical arm. Mounting plates are fixedly mounted at the front end and the rear end of the silt remover body through bolts, position dispatching mechanisms are arranged on the outer sides of the mounting plates, a material pushing plate is mounted at the front end of the silt remover body through the correspondingly-arranged position dispatching mechanisms, and a rotary sweeping assembly is mounted at the rear end of the silt remover body through the correspondingly-arranged position dispatching mechanisms. By means of cooperation of the material pushing plate, the rotary sweeping assembly, the position dispatching mechanism, the L-shaped protection plate and other core structures and a special operation method, the narrow space working condition is precisely adapted, the dredging efficiency and the channel smoothness guarantee capacity are remarkably improved, the function value of an existing structure can be excavated to the maximum extent, and the operation and operation comprehensive cost is reduced.

Description

Intelligent sludge removal machine designed for confined spaces in coal mine roadways Technical Field

[0001] This invention relates to the field of coal mine roadway dredging technology, specifically to an intelligent dredging machine designed for the confined spaces of coal mine roadways. Background Technology

[0002] Coal mine roadways are the core channels for underground mining, transportation, and ventilation. Their unobstructed flow directly affects the production efficiency and operational safety of coal mines. The silt in the roadways is formed by coal gangue debris and rock powder generated during mining, mixed with groundwater seepage, dust suppression sprays, and equipment cooling water to form coal slurry. In low-lying areas with poor drainage and limited ventilation, this mixture becomes highly adhesive and has poor flowability due to water evaporation or seepage and the deposition and solidification of solid particles. The accumulated coal slurry not only occupies passage space, hinders equipment transportation and personnel passage, and affects mining efficiency, but it can also soften and collapse when exposed to water, causing roadway blockage, roof collapse hazards, corrosion of support structures, and reduced stability. At the same time, it obstructs ventilation, leading to the accumulation of harmful gases such as methane, threatening the lives of workers. Therefore, roadway dredging is a key link in ensuring safe production and efficient tunneling in coal mines.

[0003] Existing coal mine roadway dredging technologies are ill-suited to the high-efficiency dredging requirements of confined working conditions. Specifically, dredging operations often employ a mixed cleaning model covering the entire area, failing to achieve orderly zoning and easily leading to blockages in the work passages, severely impacting the dredging progress. Furthermore, dredging and transfer operations are often carried out sequentially in a single, step-by-step manner, resulting in long overall operation cycles and low efficiency. In addition, poor adaptability to working conditions makes it difficult to flexibly adjust operating parameters based on site conditions such as roadway width and silt thickness, leading to incomplete dredging or resource waste. Moreover, unreasonable work process design lacks effective measures to prevent silt backflow, easily resulting in repeated operations, further increasing operating costs and maintenance burdens.

[0004] Therefore, there is an urgent need for an intelligent dredging technology solution that can adapt to the narrow working conditions of coal mine roadways, realize orderly zoned dredging and synchronous transfer, have reliable anti-sludge splashing and anti-backflow functions, and can flexibly adapt to different site conditions and reduce overall operating costs. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent sludge removal machine for use in the confined spaces of coal mine roadways, in order to solve the problems mentioned in the background art above.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An intelligent sludge removal machine designed for the confined spaces of coal mine roadways includes a sludge removal machine body and a mechanical arm mounted on its top. A grab bucket is installed at one end of the mechanical arm. Mounting plates are bolted to both the front and rear ends of the sludge removal machine body. A position scheduling mechanism is provided on the outer side of the mounting plate. A pusher plate is installed at the front end of the sludge removal machine body via a corresponding position scheduling mechanism, and a rotary sweeping assembly is installed at the rear end of the sludge removal machine body via a corresponding position scheduling mechanism.

[0008] Furthermore, the pushing surface of the pusher plate is inclined, and an arc-shaped protective baffle is fixedly installed on the top of the pusher plate by bolts.

[0009] Furthermore, the rotary sweeping assembly includes a support plate, and multiple sets of electric turntables are fixedly installed on the bottom of the support plate. Sweeping strips are evenly arranged on the bottom of the electric turntables.

[0010] Furthermore, a support frame is fixedly connected to the outside of the support plate, and flexible anti-mud strips are uniformly fixedly installed at the bottom of the support frame along its own contour. The rotary sweeping assembly also includes multiple sets of high-pressure water spray valves located at the bottom of the mounting plate at the rear end of the sludge removal machine body.

[0011] Furthermore, the position scheduling mechanism includes a horizontal guide rail and a horizontal threaded rod. The horizontal guide rail is fixed to the outside of the mounting plate by bolts. The horizontal threaded rod is rotatably installed in the inner cavity of the horizontal guide rail. A first servo motor for driving the horizontal threaded rod to rotate is fixedly installed at the outer end of the horizontal guide rail. A horizontal slider is slidably connected inside the horizontal guide rail. The horizontal slider is threadedly connected to the horizontal threaded rod through a threaded groove opened in the side wall.

[0012] Furthermore, a lifting frame is fixedly connected to the outer side of the horizontal slider. The lifting frame is provided with a longitudinal threaded rod and a guide rod inside, and the longitudinal threaded rod and the guide rod are located on both sides of the lifting frame. The side wall of the lifting frame is provided with a sliding groove corresponding to the position of the longitudinal threaded rod and the guide rod. A longitudinal slider is slidably connected in each of the sliding grooves. Both longitudinal sliders are fixedly connected to the same bearing plate. A second servo motor for driving the longitudinal threaded rod to rotate is fixedly installed at the top of the lifting frame.

[0013] Furthermore, the pusher plate and the support plate are respectively fixed to the corresponding bearing plate by bolts, and the top front and rear ends of the dredging machine body are equipped with lighting lamps.

[0014] Furthermore, the top rear end of the dredging machine body is equipped with multiple L-shaped protective plates for use in conjunction with each other. These L-shaped protective plates can be removed at any time and are evenly distributed along the length of the coal mine roadway. The L-shaped protective plates are used to limit the range of coal sludge flow during the dredging process.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. This invention relies on a four-step core operation method: zoned isolation, synchronous protection, dual-machine collaboration, and reverse sweeping. Through the structural cooperation between the dredging machine body and the pusher plate, it achieves zoned cleaning of the roadway, quickly opening up the working channel and fundamentally solving the drawbacks of traditional dredging methods, such as mixed cleaning across the entire area and channel blockage. Simultaneously, with the dual-machine collaboration mode, one machine performs zoned cleaning at the front end, while the other simultaneously transports materials at the rear end, breaking the single operation logic of cleaning first and then transporting. This allows dredging and transport operations to be carried out in parallel, significantly shortening the overall operation cycle. Combined with the inclined pusher plate, the arc-shaped protective baffle to prevent splashing, and the high-pressure washing and rotating brushing of the rotary sweeping component, the invention not only improves the targeting and thoroughness of sludge cleaning but also reduces mud splashing during operation through flexible anti-mud strips and other structures, ensuring stable equipment operation. It effectively adapts to the complex working conditions of narrow coal mine roadways, ensuring efficient and orderly dredging operations.

[0017] 2. This project does not require complex modifications to the existing structure of the dredging machine. By precisely positioning and adjusting the pusher plate and rotary sweeping assembly through a position scheduling mechanism, combined with the flexible deployment and directional adjustment of the L-shaped protective plates, targeted operations under different working conditions can be achieved, fully leveraging the functional value of the existing structure of the dredging machine body, robotic arm, grab bucket, and rotary sweeping assembly. The reasonable use of low-cost structures such as flexible anti-mud strips and curved protective baffles improves the protective effect while controlling equipment manufacturing costs. The process design of simultaneous protection and reverse sweeping avoids repetitive operations caused by sludge backflow and ensures the cleanliness of the tunnel through full-area sweeping, reducing subsequent rework costs. Attached Figure Description

[0018] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings;

[0019] Figure 1 is a schematic diagram of the overall front-end structure of the present invention;

[0020] Figure 2 is a schematic diagram of the overall rear-end structure of the present invention;

[0021] Figure 3 is a schematic diagram of the installation position of the high-pressure water spray valve in this invention;

[0022] Figure 4 is a schematic diagram of the arc-shaped protective baffle structure in this invention;

[0023] Figure 5 is a schematic diagram of the location scheduling mechanism in this invention;

[0024] Figure 6 is a schematic diagram of the specific operation of the present invention in a roadway in conjunction with an L-shaped protective plate;

[0025] Figure 7 is a top view of the specific operation of the present invention in a roadway in conjunction with an L-shaped protective plate.

[0026] Reference numerals in the attached drawings: 1. Dredging machine body; 2. Mechanical arm; 3. Grab bucket; 4. Mounting plate; 5. Pushing plate; 6. Arc-shaped protective baffle; 701. Support plate; 702. Electric turntable; 703. Sweeping strip; 704. Support frame; 705. Flexible anti-mud strip; 706. High-pressure water spray valve; 801. Horizontal guide rail; 802. Horizontal threaded rod; 803. First servo motor; 804. Horizontal slider; 805. Lifting frame; 806. Longitudinal threaded rod; 807. Guide rod; 808. Bearing plate; 9. Second servo motor; 10. Lighting lamp; 11. L-shaped protective plate. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1: As shown in Figures 1-7, the core innovation of this intelligent sludge removal machine for narrow spaces in coal mine roadways lies in the efficient operation method formed by relying on the existing structural design. The structure of the sludge removal machine body 1, L-shaped protective plate 11, position scheduling mechanism and various functional components is the basis for realizing the operation method. However, the key to improving sludge removal efficiency and ensuring unobstructed passage is to construct an operation process of zoned cleaning, synchronous transfer and reverse sweeping through the coordinated cooperation of different structures.

[0029] The following will focus on the core operating methods, and will elaborate in detail how to utilize the existing structure to achieve targeted operations at each stage according to the order of operation. Specifically, it is an intelligent sludge removal machine for the narrow space of coal mine roadways, including the sludge removal machine body 1 and its top-mounted mechanical arm 2. One end of the mechanical arm 2 is equipped with a grab bucket 3. Mounting plates 4 are fixed to both the front and rear ends of the sludge removal machine body 1 by bolts. A position scheduling mechanism is set on the outside of the mounting plate 4. A pusher plate 5 is installed at the front end of the sludge removal machine body 1 through the corresponding position scheduling mechanism, and a rotary sweeping component is installed at the rear end of the sludge removal machine body 1 through the corresponding position scheduling mechanism.

[0030] The pushing surface of the pusher plate 5 is inclined. The top of the pusher plate 5 is fixedly installed with an arc-shaped protective baffle 6 by bolts. The rotary sweeping assembly includes a support plate 701. Multiple sets of electric turntables 702 are fixedly installed at the bottom of the support plate 701. Sweeping strips 703 are evenly arranged at the bottom of the electric turntables 702. A support frame 704 is fixedly connected to the outside of the support plate 701. Flexible anti-mud strips 705 are evenly fixedly installed at the bottom of the support frame 704 along its own contour. The flexible anti-mud strips 705 are made of flexible materials with a certain mass, such as rubber strips. The rotary sweeping assembly also includes multiple sets of high-pressure water spray valves 706 set at the bottom of the mounting plate 4 at the rear end of the sludge removal machine body 1.

[0031] Example 2: The position scheduling mechanism includes a horizontal guide rail 801 and a horizontal threaded rod 802. The horizontal guide rail 801 is fixed to the outside of the mounting plate 4 by bolts. The horizontal threaded rod 802 is rotatably installed in the inner cavity of the horizontal guide rail 801. A first servo motor 803 for driving the horizontal threaded rod 802 to rotate is fixedly installed at the outer end of the horizontal guide rail 801. A horizontal slider 804 is slidably connected inside the horizontal guide rail 801. The horizontal slider 804 is threadedly connected to the horizontal threaded rod 802 through a threaded groove opened in the side wall.

[0032] A lifting frame 805 is fixedly connected to the outer side of the horizontal slider 804. The lifting frame 805 is provided with a longitudinal threaded rod 806 and a guide rod 807 inside, and the longitudinal threaded rod 806 and the guide rod 807 are located on both sides of the lifting frame 805. The side wall of the lifting frame 805 is provided with a groove corresponding to the position of the longitudinal threaded rod 806 and the guide rod 807. A longitudinal slider is slidably connected in each groove. One longitudinal slider is threadedly connected to the longitudinal threaded rod 806, and the other longitudinal slider is slidably connected to the guide rod 807. Both longitudinal sliders are fixedly connected to the same bearing plate 808. A second servo motor 9 for driving the longitudinal threaded rod 806 to rotate is fixedly installed at the top of the lifting frame 805.

[0033] The pusher plate 5 and the support plate 701 are respectively fixed to the corresponding bearing plate 808 by bolts. The top front and rear ends of the sludge removal machine body 1 are equipped with lighting lamps 10. Multiple L-shaped protective plates 11 are placed at the top rear end of the sludge removal machine body 1 for use in combination. Multiple L-shaped protective plates 11 can be removed at any time and evenly distributed along the length of the coal mine roadway. The L-shaped protective plates 11 are used to limit the range of coal sludge flow during the sludge removal process.

[0034] Based on Embodiment 1 and Embodiment 2, the working principle of the intelligent sludge removal machine for confined spaces in coal mine roadways is as follows:

[0035] First, the dredging machine body 1 is moved to the starting position of the roadway to be cleaned. The operator determines the shoveling range of the pusher plate 5 and the cleaning range of the rotary sweeper component based on the actual width of the roadway, the thickness of the silt and other on-site conditions, and performs targeted adjustment operations through the position scheduling mechanism.

[0036] During debugging, first start the first servo motor 803 at the outer end of the horizontal guide rail 801. With the help of the transmission structure that drives the horizontal threaded rod 802 to rotate by the first servo motor 803, the horizontal slider 804 is driven to slide horizontally along the horizontal guide rail 801, which in turn drives the lifting frame 805 to move horizontally in sync. This adjusts the horizontal shoveling position of the pusher plate 5 or the horizontal cleaning position of the cleaning strip 703 in the rotary sweeping assembly, ensuring that the coverage of the pusher plate 5 meets the preset zone cleaning requirements.

[0037] Then, the second servo motor 9 at the top of the lifting frame 805 is activated. The transmission structure driven by the second servo motor 9 to rotate the longitudinally threaded rod 806, in conjunction with the limiting action of the guide rod 807, drives the bearing plate 808 to rise and fall. This adjusts the shoveling height of the pusher plate 5 and the cleaning height of the sweeping strip 703, ensuring that the inclined surface of the pusher plate 5 precisely conforms to the silt surface and that the sweeping strip 703 forms a reasonable cleaning angle with the ground. In addition, auxiliary operation preparations need to be completed: the multiple L-shaped protective plates 11 at the top rear end of the sludge dredging machine body 1 are arranged for easy access; the pipe connection between the high-pressure water spray valve 706 and the external water supply mechanism is checked for smoothness; and the lights 10 at the front and rear ends of the top of the sludge dredging machine body 1 are turned on to provide visibility for subsequent operations in confined spaces.

[0038] Through the structural cooperation between the dredging machine body 1 and the pusher plate 5, zoned cleaning and sludge directional guidance operations are performed, achieving the core objective of "rapidly opening up the cleaning area and concentrating the sludge into the temporary storage area." The structure is merely a carrier for the operation. Specific operating procedures:

[0039] First, the dredging machine body 1 is manipulated to fit against the inner wall of one side of the tunnel, so that the pusher plate 5 simultaneously fits against the inner wall of that side, clearly defining the boundary of the zone. The area covered by the pusher plate 5 is the sludge cleaning zone, and the uncovered area on the other side is the sludge temporary storage zone. Taking the case where the length of the pusher plate 5 is close to half the width of the tunnel as an example, the dredging machine body 1 is started and slowly moved forward, while the inclined structure of the pusher plate 5 is used to perform the sludge pushing operation. As the pusher plate 5 moves forward with the dredging machine body 1, it continuously pushes the sludge in the cleaning zone forward. At the same time, the arc-shaped protective baffle 6 on the top of the pusher plate 5 performs the anti-splash operation to prevent sludge from splashing onto the top parts of the dredging machine body 1 and affecting the operation of the equipment. The core of the entire operation process is to control the direction and speed of the dredging machine body 1, and in combination with the structural characteristics of the pusher plate 5, to achieve directional transportation and zone isolation of sludge, quickly open up the channel of the cleaning zone, and create conditions for subsequent synchronous transfer operations, solving the operational drawbacks of traditional dredging that are "mixed cleaning of the entire area and blockage of the channel".

[0040] Furthermore, relying on the structure of the L-shaped protective plate 11 and the rotary sweeping assembly, a coordinated operation of protective deployment and fine cleaning is performed to consolidate the zoned cleaning effect and improve the cleanliness of the ground. The rationality of the operation method directly determines the cleaning quality. The specific operation process is divided into two parts:

[0041] First, the protective deployment operation: As the dredging machine body 1 moves forward, the operator simultaneously performs the removal and deployment of L-shaped protective plates 11. The L-shaped protective plates 11 on the top of the dredging machine body 1 are removed one by one and evenly placed along the boundary of the cleaned area. The structural stability of the L-shaped protective plates 11 forms a protective barrier, preventing sludge backflow and blocking the sludge from flowing back from the temporary storage area to the cleaned area. As the dredging machine body 1 advances, the L-shaped protective plates 11 need to be replenished periodically to ensure the continuity of the protective barrier. Second, the ground fine treatment operation: While performing zoned dredging, the operation is initiated... The rotary sweeping assembly at the rear of the dredging machine body 1 performs the sweeping operation, and works in conjunction with the high-pressure water spray valve 706 to perform the rinsing operation: first, the high-pressure water spray valve 706 is opened to spray clean water onto the cleaned area to soften and rinse the residual sludge. Then, the electric turntable 702 at the bottom of the support plate 701 is started to drive the sweeping strip 703 to rotate at high speed to perform the brushing operation. At the same time, the flexible anti-mud strip 705 at the bottom of the support frame 704 is used to prevent mud splashing. The flexible anti-mud strip 705 bends and conforms to the ground during the sweeping process, forming a barrier with its own flexibility and mass to block the mud and slurry splashing generated by brushing.

[0042] This step is a key operational method for improving work efficiency. The core is to utilize the structural consistency of the two dredging machines (body 1) to perform coordinated operations of front-end cleaning and back-end transportation, achieving simultaneous dredging and transportation. Specific operational procedures:

[0043] Once the first dredging machine 1 has advanced a certain distance and accumulated a certain amount of sludge in the temporary sludge storage area, the second dredging machine 1 is activated, following closely along the cleaning area channel opened by the first dredging machine 1. The core operation of the second dredging machine 1 involves using the top-mounted robotic arm 2 and grab bucket 3 to perform sludge transfer. The robotic arm 2 is adjusted to move the grab bucket 3 above the temporary sludge storage area, and the opening and closing action of the grab bucket 3 precisely grabs the sludge. Then, the robotic arm 2 is adjusted to transfer the sludge to a designated loading cart beside the alley. The core value of this collaborative operation method lies in leveraging the mobility of the dredging machine 1 and the flexible adjustability of the robotic arm 2 to break the traditional single operation mode of "cleaning first and then transferring," enabling two core operations to be carried out simultaneously, significantly improving overall operational efficiency. The structural design of the dredging machine merely provides the feasibility basis for this collaborative operation.

[0044] After all the sludge in the temporary storage area has been transferred by the grab bucket 3, a reverse cleaning operation needs to be performed. The core is to adjust the layout direction of the L-shaped protective plate 11 and the travel direction of the sludge dredging machine body 1 to achieve a comprehensive cleaning of the original temporary storage area using the original structure. The adjustment of the operation method is the core of this step. Specific operating procedures: First, the direction of the L-shaped protective plates 11 is adjusted by reversing the placement of each L-shaped protective plate 11. This prevents the dredging machine body 1 from crushing and damaging the L-shaped protective plates 11 after turning, and ensures that the L-shaped protective plates 11 can still prevent mud splashing during reverse cleaning. Then, the dredging machine body 1 is rotated 180 degrees, so that the rotary sweeping assembly faces the original sludge storage area. The horizontal position and height of the rotary sweeping assembly are then finely adjusted again through the position scheduling mechanism to ensure that the sweeping strip 703 accurately conforms to the ground of the original storage area. Finally, the rotary sweeping assembly and high-pressure water spray valve 706 are activated to repeat the fine-tuning operation of rinsing and scrubbing, while the dredging machine body 1 is moved slowly to ensure that every part of the original storage area is thoroughly cleaned. This step, through simple direction and position adjustment operations, maximizes the use of the existing structure's functionality, achieving comprehensive dredging and cleaning of the entire tunnel, demonstrating the maximization of structural value through the operating method.

[0045] The core operation method of this dredging machine is a four-step approach: zoned isolation, synchronous protection, dual-machine collaboration, and reverse sweeping. Its core logic is to achieve work zoning through structural collaboration, reinforce the zoning effect with protective measures, improve work efficiency through dual-machine parallel operation, and finally achieve full coverage through reverse sweeping. Specifically: First, zoned isolation: using the dredging machine body 1 and the pusher plate 5, the tunnel is divided into a cleaning area and a temporary storage area, quickly opening up the work channel; second, synchronous protection: during the cleaning process, L-shaped protective plates 11 are simultaneously deployed to prevent sludge backflow and ensure the stability of the zone boundaries; third, dual-machine collaboration: one dredging machine body 1 performs zoned cleaning at its front end, while the other dredging machine body 1 follows along the cleaning channel, using the robotic arm 2 and grab bucket 3 to perform sludge transfer, achieving synchronous cleaning and transfer; fourth, reverse sweeping: after the sludge transfer in the temporary storage area is completed, the deployment direction of the L-shaped protective plates 11 and the travel direction of the dredging machine body 1 are adjusted to perform sweeping on the original temporary storage area, completing full-area dredging. This method requires no complex equipment modifications; it can solve the problems of low efficiency and channel blockage in traditional dredging simply through precise coordination of existing structures and process optimization.

[0046] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent sludge removal machine designed for the confined spaces of coal mine roadways, comprising a sludge removal machine body (1) and a mechanical arm (2) mounted on its top, wherein a grab bucket (3) is installed at one end of the mechanical arm (2), characterized in that, The front and rear ends of the dredging machine body (1) are fixed with mounting plates (4) by bolts. A position scheduling mechanism is provided on the outside of the mounting plate (4). A pusher plate (5) is installed at the front end of the dredging machine body (1) through the corresponding position scheduling mechanism. A rotary sweeping component is installed at the rear end of the dredging machine body (1) through the corresponding position scheduling mechanism.

2. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 1, characterized in that, The pushing surface of the pusher plate (5) is inclined, and the top of the pusher plate (5) is fixedly installed with an arc-shaped protective baffle (6) by bolts.

3. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 1, characterized in that, The rotary sweeping assembly includes a support plate (701), and multiple sets of electric turntables (702) are fixedly installed on the bottom of the support plate (701). Sweeping strips (703) are evenly arranged on the bottom of the electric turntables (702).

4. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 3, characterized in that, The support plate (701) is fixedly connected to the outside of the support frame (704), and the bottom of the support frame (704) is uniformly fixedly installed with flexible anti-mud strips (705) along its own contour. The rotary sweeping assembly also includes multiple sets of high-pressure water spray valves (706) set at the bottom of the mounting plate (4) at the rear end of the sludge dredging machine body (1).

5. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 1, characterized in that, The position scheduling mechanism includes a horizontal guide rail (801) and a horizontal threaded rod (802). The horizontal guide rail (801) is fixed to the outside of the mounting plate (4) by bolts. The horizontal threaded rod (802) is rotatably installed in the inner cavity of the horizontal guide rail (801). A first servo motor (803) for driving the horizontal threaded rod (802) to rotate is fixedly installed at the outer end of the horizontal guide rail (801). A horizontal slider (804) is slidably connected inside the horizontal guide rail (801). The horizontal slider (804) is threadedly connected to the horizontal threaded rod (802) through a threaded groove opened on the side wall.

6. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 5, characterized in that, A lifting frame (805) is fixedly connected to the outside of the horizontal slider (804). The lifting frame (805) is provided with a longitudinal threaded rod (806) and a guide rod (807) inside. The longitudinal threaded rod (806) and the guide rod (807) are located on both sides of the lifting frame (805). The side wall of the lifting frame (805) is provided with a groove corresponding to the position of the longitudinal threaded rod (806) and the guide rod (807). A longitudinal slider is slidably connected in each groove. Both longitudinal sliders are fixedly connected to the same bearing plate (808). A second servo motor (9) for driving the longitudinal threaded rod (806) to rotate is fixedly installed at the top of the lifting frame (805).

7. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 1, characterized in that, The pusher plate (5) and the support plate (701) are respectively fixed to the corresponding bearing plate (808) by bolts. The front and rear ends of the top of the dredging machine body (1) are equipped with lighting lamps (10).

8. The intelligent sludge removal machine for confined spaces in coal mine roadways according to claim 1, characterized in that, The top rear end of the dredging machine body (1) is provided with multiple L-shaped protective plates (11) for use in conjunction with each other. The multiple L-shaped protective plates (11) can be removed at any time and evenly distributed along the length of the coal mine roadway. The L-shaped protective plates (11) are used to limit the range of coal sludge flow during the dredging process.

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