A downhole sump dredging robot and underwater cleaning method thereof
The well water tank dredging robot, with its differential roller structure and multi-degree-of-freedom adjustment mechanism, solves the problem that existing equipment cannot be dynamically adjusted in well water tanks, achieving efficient fixed-point crushing and circumferential stripping, thus improving dredging efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TENG WEI LUOYANG MINING EQUIP CO LTD
- Filing Date
- 2026-04-13
- Publication Date
- 2026-06-16
AI Technical Summary
When dealing with the complex conditions of upper layer compaction and lower layer sludge in underground water tanks, the existing dredging equipment has a fixed position and posture of the cleaning mechanism, which cannot be dynamically adjusted according to the operation stage. It is difficult to achieve both fixed-point crushing and efficient stripping, and the biting ability and crushing efficiency of high-strength compacted layers are insufficient.
It adopts a differential roller structure with low-speed crushing rollers and high-speed crushing rollers, and realizes multi-degree-of-freedom adjustment through lifting brackets and adjustment mechanisms. Combined with positioning module and torque detection module, it dynamically adjusts the position and attitude of crushing rollers. With the help of material collection and slag discharge components and slurry pump, it realizes the automated operation of fixed-point breakthrough and circumferential stripping.
It has enabled mechanized and automated dredging of underground water tanks, improved dredging efficiency, eliminated the safety hazards of manual crushing, shortened the cleaning cycle, and reduced the cost of mine downtime.
Smart Images
Figure CN122013840B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mine cleaning equipment technology, and in particular to an underground water tank dredging robot and its underwater cleaning method. Background Technology
[0002] Underground water sump is an important component of drainage systems in coal mines and non-coal mines, used to collect underground water and settle sediment. After long-term operation, a large amount of silt accumulates at the bottom of the sump. The surface layer of silt forms a high-strength, compacted layer under the action of water flow and static compaction, while the underlying layer is a fluid-plastic silt. This compacted layer is hard and tough, making it difficult to break up effectively using conventional dredging methods, thus becoming a major bottleneck restricting the efficiency of sump cleaning.
[0003] Currently, the following methods are mainly used for cleaning underground water tanks:
[0004] Manual dredging: This method relies on manual entry into the water tank, using tools such as pneumatic picks to break up the hardened layer, followed by pumping out the slurry. This method is labor-intensive, involves harsh working conditions, poses high safety risks, and is extremely inefficient.
[0005] Bucket in conjunction with slurry pump: The bucket is used to enter the water tank, break up the compacted layer, and then the slurry pump pumps it out, as disclosed in Chinese patent CN112892004A, which describes an intelligent dredging method for mine water tanks. However, due to the narrow space and slippery ground of the water tank, excavator operation is limited, and the bucket's crushing effect is not good, making it difficult to completely remove the compacted layer.
[0006] Single-structure sludge removal robots: In recent years, some sludge removal robots have emerged, such as the automatic sludge removal system for underground water tanks in mines disclosed in Chinese patent CN119824974A, which uses a tracked walking mechanism in conjunction with a slurry pump for suction. This type of equipment is mainly suitable for sludge with good fluidity. For high-strength, hardened surface layers, it cannot effectively suck up hardened materials, resulting in unsatisfactory cleaning effects.
[0007] Double-roll crushing equipment: In the field of material crushing, differential double-roll crushing technology is relatively mature. For example, Chinese patent CN202538833U discloses a twin-shaft differential material crusher, which achieves extrusion and shearing crushing of materials through the differential rotation of two rollers. However, this type of equipment is usually used for surface material crushing operations, and the position and posture of the rollers are fixed, which cannot adapt to the complex and ever-changing conditions of slab layers in the narrow space underground.
[0008] In summary, when dealing with the combined conditions of upper layer compaction and lower layer sludge in underground water tanks, the existing dredging equipment has a fixed position and posture of the cleaning mechanism, which cannot be dynamically adjusted according to the operation stage. It is difficult to meet the two operational requirements of fixed-point crushing and efficient stripping, and its biting ability and crushing efficiency for high-strength compacted layers are insufficient. Summary of the Invention
[0009] To overcome the shortcomings of the prior art, the present invention discloses a well water tank dredging robot and its underwater cleaning method.
[0010] To achieve the above objectives, the present invention adopts the following technical solution:
[0011] A well water tank dredging robot and its underwater cleaning method include:
[0012] Walking chassis;
[0013] A crushing mechanism is disposed at the front end of the walking chassis, and the crushing mechanism includes:
[0014] A low-speed crushing roller and a high-speed crushing roller, wherein the low-speed crushing roller and the high-speed crushing roller are arranged in parallel and rotate in opposite directions, and the diameter of the high-speed crushing roller is larger than the diameter of the low-speed crushing roller;
[0015] The lifting bracket is installed at the front end of the walking chassis and is used to drive the low-speed crushing roller and the high-speed crushing roller to lift synchronously.
[0016] The first adjustment mechanism is connected between the lifting bracket and the low-speed crushing roller, and is used to independently adjust the front-to-back position and the up-to-down position of the low-speed crushing roller relative to the lifting bracket.
[0017] The second adjustment mechanism is connected between the lifting bracket and the high-speed crushing roller, and is used to independently adjust the front-to-back position and the up-and-down position of the high-speed crushing roller relative to the lifting bracket.
[0018] The low-speed crushing roller and the high-speed crushing roller have a first working state and a second working state;
[0019] In the first working state, the low-speed crushing roller and the high-speed crushing roller are arranged horizontally side by side;
[0020] In the second working state, the low-speed crushing roller and the high-speed crushing roller are arranged in a staggered manner, with the low-speed crushing roller located below the high-speed crushing roller.
[0021] Furthermore, the diameter of the low-speed crushing roller ranges from 300mm to 400mm, the diameter of the high-speed crushing roller ranges from 450mm to 550mm, and the diameter difference between the high-speed crushing roller and the low-speed crushing roller is 150mm to 200mm.
[0022] Furthermore, the lifting support is a hydraulically driven lifting platform; the low-speed crushing roller is rotatably connected to the first adjusting mechanism via the first roller frame, and the high-speed crushing roller is rotatably connected to the second adjusting mechanism via the second roller frame.
[0023] Furthermore, the surface of the low-speed crushing roller is provided with a plurality of large crushing teeth, and the surface of the high-speed crushing roller is provided with a plurality of small crushing teeth; the speed ratio between the low-speed crushing roller and the high-speed crushing roller is 1:1.5 to 1:3.
[0024] Furthermore, it also includes a material collection and slag discharge assembly, which comprises:
[0025] The collecting hopper is located behind the crushing mechanism and below the low-speed crushing roller and the high-speed crushing roller. The front section of the collecting hopper is shaped like a shovel, and the rear section is shaped like a funnel that is wider at the front and narrower at the rear. An upwardly extending baffle plate is provided at the top of the front end of the collecting hopper.
[0026] A slurry pump, wherein the suction port of the slurry pump is connected to the discharge port of the hopper via a pipeline.
[0027] Furthermore, the material collection and slag discharge assembly also includes a third adjustment mechanism, which is connected to the material collection hopper for driving the material collection hopper to move along the front-rear direction of the walking chassis.
[0028] Furthermore, it also includes:
[0029] A positioning module is installed on the front top of the walking chassis to obtain the position information of the walking chassis in real time and record the boundary of the cleared area;
[0030] A path control module is installed at the rear of the walking chassis and is electrically connected to the positioning module. It is used to control the walking chassis to automatically move along the boundary of the cleared area.
[0031] A torque detection module is installed at the drive shaft end of the low-speed crushing roller and the drive shaft end of the high-speed crushing roller, and is used to detect the crushing torque in real time.
[0032] The controller is mounted on the walking chassis and is electrically connected to the torque detection module, the positioning module, and the path control module.
[0033] This invention also provides an underwater cleaning method based on the above-mentioned well water tank dredging robot, comprising the following steps:
[0034] Step S1: Control the walking chassis to move to the target working area, adjust the low-speed crushing roller and the high-speed crushing roller to be arranged horizontally side by side through the first adjustment mechanism and the second adjustment mechanism, and then drive the low-speed crushing roller and the high-speed crushing roller to descend as a whole to contact the sludge layer through the lifting bracket, so that the low-speed crushing roller and the high-speed crushing roller rotate at different speeds to bite into and peel off the sludge layer until a breakthrough point is formed at the target point to expose the silt layer below.
[0035] Step S2: Control the walking chassis to move to the edge of the cleaned area, and adjust the low-speed crushing roller and the high-speed crushing roller to be staggered vertically through the first adjustment mechanism and the second adjustment mechanism, so that the low-speed crushing roller is below the slab layer and the high-speed crushing roller is above the slab layer and cuts into the slab layer of the uncleaned area. Control the walking chassis to move along the boundary of the cleaned area, so that the crushing mechanism gradually peels off the slab layer from the cleaned area to the uncleaned area.
[0036] Furthermore, in step S2, the height difference between the low-speed crushing roller and the high-speed crushing roller is adjusted by the first adjustment mechanism and the second adjustment mechanism, so that the low-speed crushing roller abuts against the lower surface of the slab layer to form support, and the high-speed crushing roller cuts into the side of the slab layer at a preset height.
[0037] Further, in step S1, the controller controls the low-speed crushing roller and the high-speed crushing roller to rotate in a low-speed, high-torque mode, and gradually increases the cutting depth according to the feedback signal of the torque detection module; in step S2, the controller controls the low-speed crushing roller and the high-speed crushing roller to rotate in a high-speed, large-cutting-amount mode, and controls the traveling chassis to continuously move along the boundary of the cleaned area.
[0038] Compared with the prior art, the beneficial effects of the present invention are:
[0039] 1. By setting up a lifting support, a first adjustment mechanism, and a second adjustment mechanism, a multi-degree-of-freedom independent drive system is constructed, enabling the low-speed crushing roller and the high-speed crushing roller to switch between a horizontally parallel layout and a vertically staggered layout. In the point-breaking stage, the low-speed crushing roller and the high-speed crushing roller are arranged horizontally side by side, descend synchronously, and then bite into the slab layer in a differential rotation manner to form powerful crushing and open up the breakthrough point. In the circumferential advancement stage, the low-speed crushing roller and the high-speed crushing roller switch to a vertically staggered layout. The low-speed crushing roller is located below the slab layer to provide support, while the high-speed crushing roller cuts into the uncleaned area from the upper side to achieve layer-by-layer peeling. A single device can complete the two-stage operation of point-breaking followed by circumferential peeling, solving the technical problem that existing equipment cannot simultaneously achieve concentrated crushing and efficient peeling.
[0040] 2. Employing a differential roller structure with different diameters and rotational speeds, the low-speed and high-speed crushing rollers rotate in opposite directions. During the crushing process, three crushing forces—compression, shearing, and grinding—are applied simultaneously to the slab layer, resulting in a significantly better crushing effect than single crushing methods. By rationally setting the roller diameter difference and speed ratio, and coordinating with the first and second adjustment mechanisms to dynamically adjust the position and posture of the low-speed and high-speed crushing rollers, the material bite angle and crushing force distribution are further optimized, making it particularly suitable for crushing high-strength, high-toughness slab layers in underground water tanks.
[0041] 3. By setting large crushing teeth on the surface of the low-speed crushing roller with a smaller diameter and small crushing teeth on the surface of the high-speed crushing roller with a larger diameter, the large and small crushing teeth alternately bite into the plated layer during the targeted breakthrough stage, enhancing the gripping ability of the plated layer. During the circumferential advancement stage, the high-speed crushing roller located above cuts into the side of the plated layer with small crushing teeth to reduce cutting resistance, while the low-speed crushing roller located below provides stable support with large crushing teeth, forming a support-type operation that effectively prevents slippage and uneven loading.
[0042] 4. A collection hopper is installed behind the crushing mechanism. The front section of the collection hopper is shaped like a shovel, and the rear section is shaped like a funnel, wider at the front and narrower at the rear. A baffle plate is installed at the top front end, which can effectively collect the crushed slab fragments and silt and guide them to the slurry pump suction port. The baffle plate can prevent material from splashing and overflowing during the crushing process, and the funnel-shaped structure makes the material more concentrated, improving the suction efficiency of the slurry pump and avoiding secondary sedimentation of the crushed material.
[0043] 5. The positioning module acquires the robot's position in real time and records the boundaries of the cleaned area. The path control module controls the walking chassis to automatically follow the path along the cleaned area based on the boundary information, realizing automated path planning in the circumferential advancement phase. The torque detection module monitors the crushing torque of the low-speed and high-speed crushing rollers in real time. The controller automatically adjusts the cutting depth based on the torque feedback signal and controls the crushing rollers to operate in a low-speed, high-torque mode during the fixed-point breakthrough phase and in a high-speed, high-cutting-amount mode during the circumferential advancement phase, enabling the equipment to adaptively adjust operating parameters according to the hardness of the sludge layer, thus improving the intelligence level of the dredging operation.
[0044] 6. Overall, the dredging of underground water tanks has been mechanized and automated, eliminating the need for manual entry into the water tank for crushing operations and completely eliminating the safety hazards associated with traditional manual dredging. At the same time, it significantly improves dredging efficiency, shortens the water tank cleaning cycle, and reduces the time cost of mine shutdown for dredging, resulting in significant economic benefits. Attached Figure Description
[0045] Figure 1 This is a schematic diagram of the structure of the present invention;
[0046] Figure 2 This is a schematic diagram of the structure in another usage state of the present invention;
[0047] Figure 3 This is a schematic diagram of the front differential roller cleaning mechanism in this invention;
[0048] Figure 4 This is a schematic diagram of the front differential roller cleaning mechanism in this invention from another perspective;
[0049] Figure 5 This is a control flow diagram of the present invention.
[0050] In the diagram: 1. Walking chassis; 2. Crushing mechanism; 21. Low-speed crushing roller; 211. Large crushing tooth; 22. High-speed crushing roller; 221. Small crushing tooth; 23. Lifting support; 24. First adjustment mechanism; 25. Second adjustment mechanism; 26. First roller frame; 27. Second roller frame; 3. Material collection and slag discharge assembly; 31. Material collection hopper; 311. Slag baffle plate; 32. Slurry pump; 33. Third adjustment mechanism; 4. Positioning module; 5. Path control module; 6. Torque detection module; 7. Controller. Detailed Implementation
[0051] The following is in conjunction with the appendix Figures 1-5 The technical solution of the present invention will be further described in more complete and clear form. The following embodiments are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. Structures, connections, driving and control methods not described in detail in this embodiment are all conventional technical means in the art. For example, the first adjustment mechanism, the second adjustment mechanism, and the third adjustment mechanism are conventional linear drive mechanisms in the art, including but not limited to hydraulic cylinders; the driving methods of the low-speed crushing roller and the high-speed crushing roller are conventional drive equipment in the art, including but not limited to hydraulic motors; the positioning module is a laser positioning, ultrasonic positioning, or visual positioning module, and the path control module is an embedded control unit. The above structures are all conventional technical means in the art.
[0052] Example 1, as Figures 1 to 5 As shown, a well water tank dredging robot includes a walking chassis 1, a crushing mechanism 2, a material collection and slag discharge assembly 3, a positioning module 4, a path control module 5, a torque detection module 6, and a controller 7.
[0053] The traveling chassis 1 adopts a tracked walking structure, which has the ability to walk, turn, and adjust its posture in confined underground spaces. It can walk stably on underwater silt and compacted layers and provide sufficient traction, as well as providing mobile support and operational stability for the entire machine. The crushing mechanism 2, the material collection and slag discharge assembly 3, and all control modules are integrated and installed on the traveling chassis 1.
[0054] like Figures 1 to 4 As shown, the crushing mechanism 2 is located at the front end of the traveling chassis 1 and is used to crush the slab layer at the bottom of the underground water tank. The crushing mechanism 2 includes a low-speed crushing roller 21, a high-speed crushing roller 22, a lifting support 23, a first adjusting mechanism 24, and a second adjusting mechanism 25.
[0055] The low-speed crushing roller 21 and the high-speed crushing roller 22 are arranged parallel to each other and rotate in opposite directions. The diameter of the high-speed crushing roller 22 is larger than that of the low-speed crushing roller 21. The diameter of the low-speed crushing roller 21 ranges from 300mm to 400mm, and the diameter of the high-speed crushing roller 22 ranges from 450mm to 550mm, with a diameter difference of 150mm to 200mm. This arrangement creates a suitable bite angle between the two rollers, which is beneficial for compressing and shearing the high-strength slab layer. In this embodiment, the diameter of the low-speed crushing roller 21 is 350mm, and the diameter of the high-speed crushing roller 22 is 500mm, with a diameter difference of 150mm. In other embodiments, the diameter of the low-speed crushing roller 21 is 300mm, and the diameter of the high-speed crushing roller 22 is 450mm, with a diameter difference of 150mm. Alternatively, the diameter of the low-speed crushing roller 21 is 400mm, and the diameter of the high-speed crushing roller 22 is 550mm, with a diameter difference of 200mm.
[0056] The lifting support 23 is a hydraulically driven lifting platform. Its fixed part is fixedly installed at the front end of the walking chassis 1. It can drive the low-speed crushing roller 21 and the high-speed crushing roller 22 to lift synchronously through its lifting part, so as to realize the adjustment of the overall working height of the crushing mechanism 2.
[0057] The first adjustment mechanism 24 is connected between the lifting support 23 and the low-speed crushing roller 21. Specifically, one end of the first adjustment mechanism 24 is rotatably connected to the lifting part of the lifting support 23, and the other end is rotatably connected to the low-speed crushing roller 21 through the first roller frame 26, which can independently adjust the front-back position and the up-down position of the low-speed crushing roller 21 relative to the lifting support 23.
[0058] The second adjustment mechanism 25 is connected between the lifting support 23 and the high-speed crushing roller 22. Specifically, one end of the second adjustment mechanism 25 is rotatably connected to the lifting part of the lifting support 23, and the other end is rotatably connected to the high-speed crushing roller 22 through the second roller frame 27, which can independently adjust the front-back position and the up-down position of the high-speed crushing roller 22 relative to the lifting support 23.
[0059] With the above structure, the low-speed crushing roller 21 and the high-speed crushing roller 22 have a first working state and a second working state. In the first working state, the low-speed crushing roller 21 and the high-speed crushing roller 22 are arranged horizontally side by side (e.g., Figure 2 As shown); in the second working state, the low-speed crushing roller 21 and the high-speed crushing roller 22 are arranged in a staggered vertical position, with the low-speed crushing roller 21 located below the high-speed crushing roller 22 (as shown). Figure 1 (As shown).
[0060] Furthermore, to optimize the crushing effect, the surface of the low-speed crushing roller 21 is provided with multiple large crushing teeth 211, and the surface of the high-speed crushing roller 22 is provided with multiple small crushing teeth 221. The speed ratio of the low-speed crushing roller 21 to the high-speed crushing roller 22 is 1:1.5 to 1:3. Preferably, the speed range of the low-speed crushing roller 21 is set to 30-80 rpm, and the speed range of the high-speed crushing roller 22 is set to 45-240 rpm.
[0061] like Figure 1 and Figure 5 As shown, the material collection and slag discharge assembly 3 includes a material collection hopper 31 and a slurry pump 32. In the second working state, the material collection hopper 31 is located behind the crushing mechanism 2 and below the low-speed crushing roller 21 and the high-speed crushing roller 22. The front section of the material collection hopper 31 is shaped like a shovel to scoop up the crushed material; the rear section is shaped like a funnel, wider at the front and narrower at the rear, to collect the material. A baffle plate 311 extending upwards is provided at the top of the front end of the material collection hopper 31 to prevent material from splashing during the crushing process. The suction port of the slurry pump 32 is connected to the discharge port of the material collection hopper 31 through a pipeline (not shown in the figure). In addition, the material collection and slag discharge assembly 3 also includes a third adjusting mechanism 33, which is connected to the material collection hopper 31 for driving the material collection hopper 31 to move along the front and rear direction of the chassis 1 to adapt to the working requirements of the crushing mechanism 2 in different postures.
[0062] like Figure 5 As shown, the positioning module 4 is installed above the front end of the chassis 1 to acquire the position information of the chassis 1 in real time and record the boundary of the cleaned area. The path control module 5 is installed at the rear of the chassis 1 and electrically connected to the positioning module 4. It is used to control the chassis 1 to automatically move along the boundary of the cleaned area based on the boundary information recorded by the positioning module 4. The torque detection module 6 is located at the drive shaft end of the low-speed crushing roller 21 and the drive shaft end of the high-speed crushing roller 22 to detect the crushing torque in real time. The controller 7 is installed on the chassis 1 and electrically connected to the torque detection module 6, the positioning module 4, and the path control module 5. It is used to receive feedback signals and issue control commands.
[0063] Based on the aforementioned well water tank dredging robot, the present invention also provides an underwater cleaning method, comprising the following steps:
[0064] Step S1 (Targeted Breakthrough Stage): Control the traveling chassis 1 to move to the target working area. Adjust the low-speed crushing roller 21 and high-speed crushing roller 22 to a horizontal, side-by-side arrangement using the first adjustment mechanism 24 and the second adjustment mechanism 25 (first working state). Then, lower the low-speed crushing roller 21 and high-speed crushing roller 22 as a whole until they contact the sludge layer using the lifting bracket 23. Start the low-speed crushing roller 21 and high-speed crushing roller 22, causing them to rotate at different speeds, applying compression and shearing forces to the sludge layer to bite into and peel it off until a breakthrough point is formed at the target point, exposing the underlying silt layer. During this stage, the controller 7 controls the low-speed crushing roller 21 and high-speed crushing roller 22 to rotate in a low-speed, high-torque mode, and gradually increases the cutting depth based on the feedback signal from the torque detection module 6 to cope with the high-strength sludge layer.
[0065] In a preferred embodiment, in the low-speed high-torque mode, the low-speed crushing roller 21 operates at a speed of 30-50 rpm and outputs a torque of 800-1200 N·m, while the high-speed crushing roller 22 operates at a speed of 45-150 rpm and outputs a torque of 1000-1500 N·m. The initial cutting depth is 5-10 mm, and the cutting depth is gradually increased based on the feedback signal from the torque detection module 6, with each increment being 3-5 mm. When the detected crushing torque is >1800 N·m, the lifting bracket 23 is controlled to raise the crushing mechanism, reducing the cutting depth and preventing equipment overload to cope with the high-strength slab layer.
[0066] Step S2 (Circular Advancement Stage): After forming a breakthrough, control the traveling chassis 1 to move to the edge of the cleaned area. Adjust the low-speed crushing roller 21 and high-speed crushing roller 22 to a staggered arrangement (second working state) using the first adjustment mechanism 24 and the second adjustment mechanism 25, so that the low-speed crushing roller 21 enters from the cleaned area and is located below the slab layer, while the high-speed crushing roller 22 is located above the slab layer and cuts into the side of the slab layer in the uncleaned area. Then, adjust the height of the low-speed crushing roller 21 and the high-speed crushing roller 22 and their height difference using the first adjustment mechanism 24 and the second adjustment mechanism 25, so that the low-speed crushing roller 21 abuts against the lower surface of the slab layer to form support, and the high-speed crushing roller 22 cuts into the side of the slab layer at a preset height. Next, control the traveling chassis 1 to move along the boundary of the cleaned area, so that the crushing mechanism 2 gradually peels off the slab layer from the cleaned area to the uncleaned area. During this stage, the controller 7 controls the low-speed crushing roller 21 and the high-speed crushing roller 22 to rotate in a high-speed, high-cutting-volume mode, and controls the traveling chassis 1 to move continuously along the boundary of the cleaned area to achieve efficient stripping.
[0067] In a preferred embodiment, in the high-speed, high-cutting-volume mode, the low-speed crushing roller 21 operates at a speed of 60-80 rpm and outputs a torque of 400-600 N·m, while the high-speed crushing roller 22 operates at a speed of 90-240 rpm and outputs a torque of 500-800 N·m. The traveling chassis 1 is controlled to move continuously along the boundary of the cleaned area at a speed of 0.5-1.0 m / min.
[0068] Throughout the operation, the positioning module 4 continuously records the boundary of the cleared area, and the path control module 5 automatically plans and controls the walking path of the chassis 1 based on the boundary information to achieve automated dredging. The torque detection module 6 monitors the torque of the crushing roller in real time. When the torque increases abnormally, the controller 7 can issue a command to appropriately reduce the cutting depth through the lifting bracket 23 or the adjustment mechanism to prevent equipment overload.
[0069] Through the combination of the above structure and method, the dredging robot in this embodiment can dynamically adjust the position and posture of the crushing roller according to the operation stage, first break through the high-strength hardened layer at a fixed point, and then efficiently peel it off along the boundary, thus achieving effective cleaning of the composite working condition of upper hardened layer and lower silt in the underground water tank.
[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art will recognize that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents.
[0071] Structures, components, and connection methods not described in detail in this invention are all prior art known to those skilled in the art unless otherwise specified. It is obvious to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the invention. Therefore, the above embodiments should be regarded as exemplary and non-limiting in all respects. The scope of this invention is defined by the appended claims rather than the foregoing description, and therefore all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this invention.
Claims
1. A well water tank dredging robot, characterized in that, include: Chassis (1); A crushing mechanism (2) is disposed at the front end of the walking chassis (1), and the crushing mechanism (2) includes: A low-speed crushing roller (21) and a high-speed crushing roller (22) are provided, wherein the low-speed crushing roller (21) and the high-speed crushing roller (22) are arranged in parallel and rotate in opposite directions, and the diameter of the high-speed crushing roller (22) is larger than the diameter of the low-speed crushing roller (21). The lifting bracket (23) is installed at the front end of the walking chassis (1) and is used to drive the low-speed crushing roller (21) and the high-speed crushing roller (22) to lift synchronously. The first adjustment mechanism (24) is connected between the lifting bracket (23) and the low-speed crushing roller (21) and is used to independently adjust the front-to-back position and the up-to-down position of the low-speed crushing roller (21) relative to the lifting bracket (23). The second adjustment mechanism (25) is connected between the lifting bracket (23) and the high-speed crushing roller (22) and is used to independently adjust the front-to-back position and the up-to-down position of the high-speed crushing roller (22) relative to the lifting bracket (23); The low-speed crushing roller (21) and the high-speed crushing roller (22) have a first working state and a second working state; In the first working state, the low-speed crushing roller (21) and the high-speed crushing roller (22) are arranged horizontally side by side; In the second working state, the low-speed crushing roller (21) and the high-speed crushing roller (22) are arranged in a staggered manner, and the low-speed crushing roller (21) is located below the high-speed crushing roller (22).
2. The well water tank dredging robot according to claim 1, characterized in that, The diameter range of the low-speed crushing roller (21) is 300mm to 400mm, the diameter range of the high-speed crushing roller (22) is 450mm to 550mm, and the diameter difference between the high-speed crushing roller (22) and the low-speed crushing roller (21) is 150mm to 200mm.
3. The well water tank dredging robot according to claim 1, characterized in that, The lifting support (23) is a lifting platform driven by a hydraulic cylinder; the low-speed crushing roller (21) is rotatably connected to the first adjustment mechanism (24) through the first roller frame (26), and the high-speed crushing roller (22) is rotatably connected to the second adjustment mechanism (25) through the second roller frame (27).
4. The well water tank dredging robot according to claim 1, characterized in that, The surface of the low-speed crushing roller (21) is provided with a plurality of large crushing teeth (211), and the surface of the high-speed crushing roller (22) is provided with a plurality of small crushing teeth (221); the speed ratio of the low-speed crushing roller (21) to the high-speed crushing roller (22) is 1:1.5 to 1:
3.
5. The well water tank dredging robot according to claim 1, characterized in that, It also includes a material collection and slag discharge assembly (3), which includes: The collecting hopper (31) is located behind the crushing mechanism (2) and below the low-speed crushing roller (21) and the high-speed crushing roller (22). The front section of the collecting hopper (31) is shaped like a shovel, and the rear section is shaped like a funnel with a wider front and a narrower rear. The top of the front end of the collecting hopper (31) is provided with an upwardly extending baffle plate (311). The slurry pump (32) has its suction port connected to the discharge port of the hopper (31) via a pipeline.
6. The well water tank dredging robot according to claim 5, characterized in that, The material collection and slag discharge assembly (3) also includes a third adjustment mechanism (33), which is connected to the material collection hopper (31) for driving the material collection hopper (31) to move along the front and rear direction of the walking chassis (1).
7. The well water tank dredging robot according to any one of claims 1-6, characterized in that, Also includes: The positioning module (4) is installed on the front end of the walking chassis (1) and is used to obtain the position information of the walking chassis (1) in real time and record the boundary of the cleared area. The path control module (5) is installed at the rear of the walking chassis (1) and is electrically connected to the positioning module (4) to control the walking chassis (1) to automatically walk along the boundary of the cleared area; A torque detection module (6) is installed at the drive shaft end of the low-speed crushing roller (21) and the drive shaft end of the high-speed crushing roller (22) for real-time detection of crushing torque; The controller (7) is installed on the walking chassis (1) and is electrically connected to the torque detection module (6), the positioning module (4), and the path control module (5).
8. An underwater cleaning method based on the well water tank dredging robot of claim 7, characterized in that, Includes the following steps: Step S1: Control the walking chassis (1) to move to the target working area, adjust the low-speed crushing roller (21) and the high-speed crushing roller (22) to be arranged horizontally side by side through the first adjustment mechanism (24) and the second adjustment mechanism (25), and then drive the low-speed crushing roller (21) and the high-speed crushing roller (22) to descend as a whole to contact the sludge layer through the lifting bracket (23), so that the low-speed crushing roller (21) and the high-speed crushing roller (22) rotate at different speeds to bite into and peel off the sludge layer until a breakthrough point is formed at the target point to expose the silt layer below; Step S2: Control the walking chassis (1) to move to the edge of the cleaned area, and adjust the low-speed crushing roller (21) and the high-speed crushing roller (22) to be staggered vertically through the first adjustment mechanism (24) and the second adjustment mechanism (25), so that the low-speed crushing roller (21) is below the slab layer and the high-speed crushing roller (22) is above the slab layer and cuts into the slab layer of the uncleaned area. Control the walking chassis (1) to move along the boundary of the cleaned area, so that the crushing mechanism (2) gradually peels off the slab layer from the cleaned area to the uncleaned area.
9. The underwater cleaning method of the well water tank dredging robot according to claim 8, characterized in that, In step S2, the height difference between the low-speed crushing roller (21) and the high-speed crushing roller (22) is adjusted by the first adjustment mechanism (24) and the second adjustment mechanism (25), so that the low-speed crushing roller (21) abuts against the lower surface of the plated layer to form support, and the high-speed crushing roller (22) cuts into the side of the plated layer at a preset height.
10. The underwater cleaning method of the well water tank dredging robot according to claim 8, characterized in that, In step S1, the controller (7) controls the low-speed crushing roller (21) and the high-speed crushing roller (22) to rotate in a low-speed, high-torque mode, and gradually increases the cutting depth according to the feedback signal of the torque detection module (6); in step S2, the controller (7) controls the low-speed crushing roller (21) and the high-speed crushing roller (22) to rotate in a high-speed, large-cutting-amount mode, and controls the walking chassis (1) to move continuously along the boundary of the cleaned area.