Remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection

Abstract

This invention discloses a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions, belonging to the technical field of underground demolition equipment in coal mines. It includes a three-stage articulated hydraulic robotic arm. A hydraulic breaking tool made of high-hardness spark-free material is directly fixed to one end of the arm, while a hydraulic demolition tool made of the same material is indirectly fixed to the other end via a quick-change connector. Hydraulic spray mechanisms are also fixedly installed on the three-stage articulated hydraulic robotic arm, located near both the hydraulic breaking and demolition tools. This demolition robotic arm solves the technical problems of traditional robotic arms, such as easy spark generation, inability to simultaneously provide spray protection, cumbersome tool switching, and poor operational safety. It achieves inherently safe, spark-free demolition underground, and full-coverage fire suppression and dust reduction at all work points, significantly improving the safety and efficiency of underground rescue operations.

Description

Technical Field

[0001] This invention belongs to the technical field of underground demolition equipment in coal mines, specifically relating to a remote-controlled demolition robotic arm with sparkless demolition and full-coverage spray protection functions. Background Technology

[0002] In coal mine and non-coal mine underground rescue, roadway repair, collapse clearing, and disaster management operations, hydraulic demolition robotic arms are extensively used to complete tasks such as crushing hard gangue, dismantling deformed support components, and clearing debris from roadways. The underground working environment is characterized by high gas levels, high coal dust levels, flammability and explosiveness, confined spaces, and a high risk of secondary disasters. This places extremely high demands on the explosion-proof safety, dust suppression and fire-retardant capabilities, operational continuity, and remote controllability of demolition equipment.

[0003] Existing traditional demolition robotic arms still have the following problems in practical applications, which seriously restrict safe and efficient underground operations. These problems are specifically reflected in the following aspects: First, traditional demolition tools are made of high-strength alloy steel, which is highly susceptible to generating high-temperature mechanical sparks during impact crushing, shearing, and friction operations. Mine gas and suspended coal dust can easily ignite and explode when exposed to these sparks, posing a significant safety risk. Furthermore, ordinary steel lacks flame-retardant and explosion-proof properties, failing to meet the inherently safe operating requirements of high-gas mines. Second, existing demolition robotic arms have limited functions, mostly equipped with only one crushing tool or only one shearing tool. During operation, they need to frequently stop to disassemble and replace tools, resulting in frequent work interruptions and cumbersome procedures, which seriously affect the progress of underground rescue. At the same time, traditional equipment cannot achieve simultaneous operation of crushing and demolition tools, resulting in poor adaptability to working conditions. Third, existing demolition robotic arms cannot simultaneously spray protection and dust suppression in demolition areas such as hydraulic shears and buckets during operation; frictional sparks and large amounts of dust generated during demolition operations cannot be effectively suppressed, and full coverage fire prevention and dust suppression cannot be achieved, resulting in long-term risks of excessive dust and spark leakage underground. Fourth, traditional spray water supply systems lack a dedicated storage structure. When the robotic arm rotates, pitches, and extends over a wide range, the water delivery hose is prone to loosening, tangling, being squeezed and damaged, or being pulled off, leading to spray interruption, protection failure, high equipment failure rate, and poor operational stability. Furthermore, traditional spray systems use only ordinary water, which has weak adsorption capacity for fine coal dust and lacks flame retardant and fire-resistant capabilities, resulting in limited protective effects. Summary of the Invention

[0004] The purpose of this invention is to provide a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions to solve the technical problems of traditional robotic arms that easily generate sparks during demolition, cannot simultaneously carry out spray protection, have cumbersome tool switching, and have poor operation safety. This enables inherently safe, spark-free demolition in underground mines and full-coverage fire prevention and dust reduction at all work points, significantly improving the safety and efficiency of underground rescue operations.

[0005] To achieve the above objectives, the invention provides the following technical solution: A remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions includes a three-stage articulated hydraulic robotic arm. The core improvement lies in the following: a hydraulic breaking tool made of high-hardness spark-free material is directly fixedly installed at one end of the three-stage articulated hydraulic robotic arm, and a hydraulic demolition tool made of high-hardness spark-free material is indirectly fixed at the other end of the arm through a quick-change connector; a hydraulic spray mechanism is also fixedly installed on the three-stage articulated hydraulic robotic arm, respectively close to the locations of the hydraulic breaking tool and the hydraulic demolition tool.

[0006] By adopting the above solution and using a dual-tool differentiated integrated installation structure, the robotic arm can directly mount the crushing tool on one end and dismantle the tool through a quick-change seat on the other end, realizing the integration of crushing and dismantling functions. This eliminates the need for frequent machine stops to change tools, resulting in strong operational continuity and high emergency response efficiency. At the same time, it is equipped with a dual-point dedicated hydraulic spray mechanism, corresponding to the two types of operating tools respectively, to achieve full coverage of fire prevention and dust suppression, eliminating the risk of spark explosion and excessive dust in the well from the source.

[0007] As a preferred embodiment of a remote-controlled demolition robotic arm with sparkless demolition and full-coverage spray protection, this high-hardness sparkless material uses a copper alloy with added ceramics as the base material. The base material composition is 8.5-11.5% Al (aluminum), 2.0-4.0% Fe (iron), 1.0-2.5% Ni (nickel), 0.5-1.5% Mn (manganese), 3-8% ceramic reinforcing particles (SiC silicon carbide / Al2O3 alumina ceramic particles, particle size 20-60μm), and the balance Cu copper. By adopting multi-element alloy modification + ceramic particle reinforcement of the copper alloy base material, the copper alloy matrix has natural sparkless properties, and no mechanical sparks will be generated during impact, friction, and shearing operations, meeting the inherent safety requirements of flammable and explosive underground environments. The aluminum, iron, nickel, and manganese alloy elements refine the matrix structure, improve the strength and toughness of the base material, and the 3-8% ceramic particles are dispersed, significantly improving the overall hardness and wear resistance of the base material.

[0008] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, a laser-clad wear-resistant coating is prepared on the surface of the substrate. The thickness of the laser-clad wear-resistant coating is 0.6-1.2 mm, and the mass ratio of the cladding powder used is 70-82% Ni-based self-fluxing alloy powder, 15-25% WC tungsten carbide hard particles, and 2-4% Cr (chromium). By preparing a 0.6-1.2 mm laser-clad wear-resistant coating on the working surface of the substrate, the nickel-based alloy ensures the toughness and adhesion of the coating, the tungsten carbide particles significantly improve the surface hardness and impact resistance, and the chromium element enhances the corrosion resistance and oxidation resistance. The coating is metallurgically bonded to the substrate and is not easy to fall off, making it suitable for high-frequency and high-intensity demolition conditions in underground mines. Moreover, the coating is a surface structure, and the internal copper-ceramic substrate still maintains its spark-free characteristics after wear, ensuring operational safety throughout the process.

[0009] As a preferred implementation of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, the hydraulic breaking tool is a hydraulic breaker hammer, which is suitable for breaking up gangue, concrete, and hard surrounding rock; the hydraulic demolition tool is a hydraulic shear or a bucket, which is suitable for cutting and dismantling metal steel beams, anchor bolts, and pipelines, while the bucket is suitable for cleaning up debris and gangue. The three types of tools complement each other and fully cover various scenarios such as underground roadway collapse, component deformation, and debris accumulation.

[0010] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, the hydraulic spray mechanism includes a hydraulic straight pipe spray mechanism close to the hydraulic breaker and a hydraulic bellows spray mechanism close to the hydraulic demolition tool. The hydraulic straight pipe spray mechanism includes a mounting base, a hydraulic directional valve, a pipe joint, a delivery straight pipe, a nozzle joint, and an atomizing nozzle, wherein the delivery straight pipe is arranged parallel to the hydraulic breaker and extends towards its hammer head. The hydraulic bellows spray mechanism includes a mounting base, a hydraulic directional valve, a pipe joint, a delivery bellows, a nozzle joint, and an atomizing nozzle, wherein the delivery bellows bends and extends into a quick-change connector and extends towards the location of the hydraulic shear or bucket. It adopts a dual independent protection structure of straight pipe fixed-point spray and corrugated pipe follow-up spray. The rigid conveying straight pipe is fixed and parallel to the breaker, so the spray point is precise and there is no deviation throughout the process, which stably covers the crushing impact point. The bendable corrugated pipe adapts to the rotation, swing and pitch changes of the demolition tool, and always covers the shearing and cleaning operation area, so as to achieve all-round spray protection without dead angles in the crushing and demolition.

[0011] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, the three-stage articulated hydraulic robotic arm includes a rotating base, a primary boom, a secondary middle boom, a tertiary forearm, a multi-link hinge mechanism, a connecting end seat, multiple sets of drive hydraulic cylinders, multiple sets of remote control receivers controlling the operation of the drive hydraulic cylinders, and a remote control transmitter for transmitting signals. The rotating base is rotatably mounted at the front of the main vehicle assembly. The primary boom, secondary middle boom, and tertiary forearm are sequentially hinged, each arm being equipped with a corresponding drive hydraulic cylinder. The front end of the tertiary forearm is connected to the connecting end seat via the multi-link hinge mechanism. The remote control transmitter sends commands to the remote control receiver via radio frequency signals. The three-stage articulated hydraulic robotic arm features a flexible structure, a wide operating range, and high posture adjustment precision, making it suitable for narrow, low, and complex underground tunnel conditions. Equipped with a radio frequency wireless remote control system, it transmits radio frequency signals through the remote control transmitter and receives commands through the remote control receiver to control the hydraulic cylinder's movement, eliminating the constraints of wired cables and enabling long-distance remote control operation with separation of man and machine. This avoids the risks of close-range high-risk operations for personnel, and its signal transmission is stable with strong anti-interference capabilities.

[0012] As a preferred implementation of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions, a spray reservoir is also provided on one side of the three-stage articulated hydraulic robotic arm to provide flame-retardant and dust-suppressing aqueous solution to the hydraulic spray mechanism. Through the independent matching spray reservoir, a flame-retardant and dust-suppressing aqueous solution is continuously supplied to the dual hydraulic spray mechanisms, realizing the integrated spray protection system. No external water supply equipment is required. The structure is compact, highly adaptable, and can move with the robotic arm as a whole, ensuring the continuous and stable operation of the full-coverage spray function.

[0013] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, the spray reservoir includes a water tank filled with a flame-retardant and dust-suppressing aqueous solution. The water tank is secured by a protective fence. A pump body and a flexible water pipe connected to the pump body are fixedly installed on the top of the water tank. A battery supplying power to the pump body is located beside it. The protective fence protects the water tank from impacts in the well, ensuring its integrity. The independent pressurizing pump and dedicated battery enable the spray system to operate independently, with independent start / stop and autonomous pressurization, eliminating the need for an external power source. This makes it perfectly suited for post-disaster power-free operations in the well, providing stable water pressure and uniform atomization.

[0014] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions, the flame-retardant and dust-suppressing aqueous solution consists of 94-97% clean water and 3-6% mining dust-suppressing and flame-retardant agent. The mining dust-suppressing and flame-retardant agent consists of 12-20% ammonium polyphosphate, 4-8% zinc borate, 3-7% fatty alcohol polyoxyethylene ethers, 1-3% carboxymethyl cellulose (CMC), 0.5-2% sodium bicarbonate, and the remainder deionized water. Using a special medium of clean water combined with the mining dust-suppressing and flame-retardant agent, compared to ordinary clean water, it has a lower surface tension, can quickly wet, adsorb, and agglomerate fine coal dust, resulting in thorough dust suppression without secondary dust generation. The phosphorus-boron composite flame-retardant components can absorb heat and cool down in high-temperature spark areas, forming an insulating protective layer to block spark propagation, effectively suppressing gas and coal dust combustion and explosion, and significantly improving the safety level of underground operations.

[0015] As a preferred embodiment of a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection, a hose reel is also provided between the spray reservoir and the three-stage articulated hydraulic robotic arm. The hose reel includes a mounting base and a drum rotatably mounted on the mounting base. A spiral spring is installed on one side of the drum, and the flexible hose connected to the pump body is wound inside the drum. A guide seat is also fixed on the side of the drum to guide the flexible hose towards the three-stage articulated hydraulic robotic arm. By configuring a spring-loaded automatic rewind hose reel, the flexible hose can be automatically retracted and stored as the robotic arm extends, swings, and rotates. This effectively avoids problems such as hose slackening, tangling interference, crushing damage, leakage, and hose detachment, standardizes the pipeline routing, ensures stable spray water supply throughout the process, reduces equipment failure rate, and improves the stability and service life of continuous equipment operation.

[0016] The beneficial effects of this invention are: 1. Spark-free operation throughout, with inherently high explosion-proof safety: The ceramic particle-reinforced multi-element copper alloy spark-free substrate eliminates mechanical sparks at the material source, making it suitable for flammable and explosive environments such as underground gas and coal dust; combined with a laser-clad wear-resistant and reinforced coating, it solves the problems of low hardness and poor wear resistance of pure copper alloys. It balances spark-free safety with high-strength operation performance, and the substrate still maintains its spark-free characteristics after the coating wears off, achieving inherently safe operation throughout the entire process; 2. Full-coverage spray protection with excellent fire-retardant and dust-suppressing effects: It adopts a dual-mode protection structure of straight pipe fixed-point spray and corrugated pipe follow-up spray, which accurately corresponds to the two types of work points of crushing and demolition respectively. The corrugated pipe can adapt to the changes in tool posture in real time. Combined with a special phosphorus boron composite flame-retardant and dust-suppressing aqueous solution, compared with ordinary water, the dust settling efficiency is higher and the spark blocking ability is stronger, which can purify the working environment in all aspects and eliminate the risk of explosion and fire. 3. Dual-tool integration significantly improves emergency response efficiency: The equipment integrates a hydraulic breaker and a hydraulic shear / dig bucket, eliminating the need for frequent machine shutdowns to disassemble and switch tools. It ensures strong operational continuity and can quickly complete the entire process of breaking, shearing, and cleaning, fully covering various emergency response scenarios in underground tunnels. One machine serves multiple purposes. 4. Radio frequency wireless remote control, human-machine separation operation, and high operation safety: The addition of an independent radio frequency wireless remote control system eliminates the constraints of wired cables, ensuring stable signal transmission and strong anti-interference capabilities. Operators can remotely control the equipment from a safe area, avoiding the risks of collapse, falling rocks, and gas poisoning associated with close-range operations, thus significantly improving the level of personnel safety in terms of operation mode. 5. Automatic pipe retraction, stable equipment operation and low failure rate: Equipped with a spring-loaded automatic rewind hose reel, which can automatically retract and extend the hose with the movement of the robotic arm, effectively solving the problems of hose tangling, pulling, damage, leakage and interference with operation in traditional equipment, ensuring the stable operation of the spray water supply system throughout the process, reducing the probability of equipment failure and improving the continuous operation capability of the equipment. 6. High degree of integration and strong environmental adaptability: The whole machine integrates power, walking, wireless control, spark-free demolition, full-coverage spray, and pipeline storage. It has a compact structure and flexible movement. It adopts independent diesel power and independent battery water and power supply, without the need for external power supply. It can be fully adapted to extreme underground operation scenarios such as no power supply after disaster, narrow and complex, high gas and high dust. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A 3D view of a remote-controlled demolition robot arm with spark-free demolition and full-coverage spray protection. Figure 2 A three-dimensional view of a three-stage articulated hydraulic robotic arm; Figure 3 This is a 3D view of the hydraulic straight-pipe spray mechanism; Figure 4 This is a three-dimensional view of the hydraulic bellows spray mechanism; Figure 5 This is a 3D view of the spray reservoir. Figure 6 A three-dimensional view of a hose reel from a first angle; Figure 7 This is a three-dimensional view of a hose reel from a second angle.

[0019] Reference numerals: 1. Three-stage articulated hydraulic robotic arm; 2. Quick-change connector; 3. Hydraulic breaker; 4. Hydraulic shears; 5. Hydraulic straight pipe spray mechanism; 6. Hydraulic bellows spray mechanism; 7. Mounting base; 8. Hydraulic directional valve; 9. Pipe joint; 10. Conveying straight pipe; 11. Nozzle connector; 12. Atomizing nozzle; 13. Conveying bellows; 14. Rotary base; 15. First-stage boom; 16. Second-stage intermediate boom; 17. Third-stage forearm; 18. Multi-link hinge mechanism; 19. End connector; 20. Drive hydraulic cylinder; 21. Remote control receiver; 22. Spray water tank; 23. Protective fence; 24. Pump body; 25. Flexible water pipe; 26. Battery; 27. Mounting base; 28. Drum; 29. ​​Spiral spring; 30. Guide seat. Detailed Implementation

[0020] The technical solutions of the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the invention.

[0021] like Figure 1 As shown, a remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions is provided. The core is a three-stage articulated hydraulic robotic arm body, which integrates spark-free dual-operation tools, dual-mode full-coverage spray mechanism, wireless radio frequency remote control system, independent flame-retardant dust suppression water supply system and automatic pipeline storage structure. It is suitable for high-risk demolition, dismantling, and cleanup rescue operations in coal mines and non-coal mines.

[0022] like Figure 2 As shown, the three-stage articulated hydraulic robotic arm is the core operating unit of the equipment, including a slewing base, a primary boom, a secondary arm, a tertiary arm, a multi-link hinge mechanism, an end-connector, multiple sets of drive hydraulic cylinders, and a remote control receiver and transmitter (not shown in the figure; please refer to existing technologies). The slewing base can be rotatably mounted in front of the matching main vehicle assembly, providing a horizontal rotation foundation for the entire robotic arm. The primary boom, secondary arm, and tertiary arm are sequentially hinged to form a three-stage flexible pitch and telescopic structure. Each stage of the arm is matched with an independent drive hydraulic cylinder, which can independently complete lifting, lowering, extending, retracting, and swinging movements. It has high operational flexibility and a large coverage area, and can adapt to the narrow, winding, low, and restricted complex tunnel spaces underground.

[0023] Continue as Figure 2As shown, the front end of the three-stage forearm is equipped with a multi-link hinge mechanism and an end-effector connector. The multi-link linkage structure allows for precise fine-tuning of the end-effector's working posture, effectively offsetting arm sway errors and ensuring the stability and accuracy of crushing, shearing, and cleaning operations. The robotic arm is equipped with a wireless radio frequency remote control system. The handheld remote transmitter is used to transmit radio frequency control signals in a safe area, while multiple remote receivers are installed at the control ends of each hydraulic cylinder group to accurately receive wireless commands. This enables remote wireless control of the robotic arm's rotation, pitch, extension, tool operation, and spray start / stop throughout the entire process, allowing for high-risk operations with human-machine separation.

[0024] like Figure 1 As shown, this robotic arm adopts a dual-tool integrated spark-free operating structure: a hydraulic breaker is rigidly fixed directly at the end of the three-stage forearm, serving as the core tool for crushing hard materials, used for impact crushing of hard obstacles such as gangue, concrete, and surrounding rock; the end-effector can be detachably fixed with a hydraulic shear or bucket (not shown in the figure, please refer to existing technology). The hydraulic shear is used to cut and dismantle deformed steel beams, anchor bolts, pipelines, and other metal components, while the bucket is used for excavating and cleaning scattered gangue and debris. The two tools can be carried simultaneously without disassembly or switching, allowing for rapid switching between crushing, demolition, and cleaning operation modes, resulting in extremely high operational continuity.

[0025] Continue as Figure 1 As shown, the working surfaces of all tools are made of high-hardness, spark-free composite materials. The substrate is a ceramic particle-reinforced multi-element copper alloy. In this embodiment, the preferred substrate mass ratio is: aluminum 9.5%, iron 3.0%, nickel 1.8%, manganese 1.0%, 40μm ceramic reinforcing particles 5%, and the balance copper. The ceramic particles are uniformly dispersed within the copper alloy matrix, significantly improving the hardness, toughness, and impact and wear resistance of the substrate while ensuring the inherent spark-free safety characteristics of the copper alloy. In addition, a wear-resistant protective coating is laser-clad onto the working surface of the tool substrate. The coating thickness is preferably 0.8mm, and the mass ratio of the cladding powder is: nickel-based self-fluxing alloy powder 76%, tungsten carbide hard particles 21%, and chromium 3%. The coating forms a strong metallurgical bond with the substrate, is dense and non-porous, and possesses high toughness, high hardness, high wear resistance, and corrosion resistance, capable of withstanding high-frequency, high-intensity impacts and friction loads downhole. Even after the surface coating wears away, the internal copper-ceramic composite substrate still maintains its spark-free characteristics, ensuring the safety of explosion-proof operations downhole throughout the process.

[0026] like Figure 1 , Figure 3As shown, the robotic arm is fixedly equipped with two independent hydraulic spray mechanisms to achieve full-coverage zoned fire suppression and dust reduction protection. These mechanisms are a hydraulic straight pipe spray mechanism and a hydraulic bellows spray mechanism. The hydraulic straight pipe spray mechanism is arranged corresponding to the hydraulic breaker and consists of a mounting base, a hydraulic reversing valve, pipe joints, a rigid conveying straight pipe, nozzle joints, and atomizing nozzles. The rigid conveying straight pipe is rigidly fixed and arranged parallel to the hydraulic breaker. The pipe extends downwards, and the nozzles are precisely aligned with the impact point of the breaker head. During the breaking operation, water is sprayed simultaneously to fully cover the impact area, achieving targeted cooling, fire suppression, and dust reduction.

[0027] like Figure 1 , Figure 4 As shown, the hydraulic bellows spray mechanism corresponds to the arrangement of the hydraulic shears and buckets. Its structure is consistent with that of the straight pipe spray mechanism. It adopts a conveying bellows that can be bent arbitrarily. The bellows bends and extends into the quick-change connecting seat and extends to the core operating area of ​​the hydraulic shears and buckets. It can adapt to the rotation, swing, and pitch of the demolition tools in real time. No matter how the tool posture is adjusted, the nozzle always accurately covers the demolition operation area, realizing synchronous spray protection during the entire crushing and demolition operation.

[0028] like Figure 5 As shown, a spray reservoir is independently installed beside the robotic arm to continuously supply flame-retardant and dust-suppressing aqueous solution to the dual spray mechanisms. The spray reservoir includes a spray tank, a protective fence, a pressurized pump, a flexible water pipe, and a power supply battery. The spray tank is secured by the protective fence, which can effectively resist falling rocks and impacts from underground, preventing damage and leakage. The pressurized pump is integrated on the top of the tank and connected to the flexible water pipe to provide pressurized water to the spray mechanism. The independent battery provides dedicated power to the pump, eliminating the need for an external power source. It can be remotely started and stopped, making it suitable for independent underground operations.

[0029] Continue as Figure 5 As shown, the preferred mass ratio of the flame-retardant and dust-suppressing aqueous solution in this embodiment is 95% water and 5% mining dust-suppressing and flame-retardant; wherein the preferred ratio of the mining dust-suppressing and flame-retardant is: 16% ammonium polyphosphate, 6% zinc borate, 5% fatty alcohol polyoxyethylene ether, 2% carboxymethyl cellulose, 1% sodium bicarbonate, and the remainder deionized water. This special medium can effectively reduce the surface tension of water, quickly adsorb and settle fine coal dust and rock dust, and prevent secondary dust generation; at the same time, the phosphorus-boron compound components can decompose and absorb heat when exposed to high-temperature sparks, forming a glassy insulating protective layer that isolates oxygen and blocks spark propagation, effectively avoiding the risk of gas and coal dust explosions.

[0030] like Figures 6 to 7As shown, a hose reel is fixedly installed between the spray reservoir and the three-stage articulated hydraulic robotic arm for automatically storing and releasing the water hose. The hose reel includes a fixed mounting base, a rotating drum, a spiral spring, and a guide seat. The drum is rotatably mounted on the mounting base, and the spiral spring is internally mounted on the side of the drum, with the flexible hose wound and stored inside the drum. When the robotic arm extends, it can automatically pull out the hose and the spring stores energy. When the robotic arm retracts, the spring releases energy, driving the drum to automatically wind up the excess hose. The side guide seat regulates the hose extension path, preventing hose deviation, jamming, tangling, and crushing damage, ensuring smooth and stable operation of the spray water supply pipeline throughout.

[0031] like Figures 1 to 7 As shown, the remote-controlled demolition robotic arm with sparkless demolition and full-coverage spray protection functions is a wireless remote-controlled sparkless demolition full-coverage spray protection robotic arm. The whole relies on hydraulic drive and radio frequency wireless remote control, combined with sparkless composite material tools, dual-mode spray protection, automatic pipeline storage and flame-retardant dust suppression medium to achieve safe, efficient and continuous demolition operations in the well. The specific workflow is as follows.

[0032] Step 1: Wireless remote control attitude adjustment: The operator holds the remote control transmitter in a safe area underground and transmits radio frequency control signals. After receiving the signals, the equipment remote control receiver accurately controls the extension and retraction of each set of drive hydraulic cylinders, driving the three-stage articulated robotic arm to complete horizontal rotation, boom pitch, mid-arm swing, and forearm fine adjustment. In conjunction with the multi-link hinge mechanism, the working position and angle of the end breaking tool and demolition tool are precisely adjusted to complete the work alignment.

[0033] Step 2, Sparkless Demolition Operation: After alignment, the hydraulic breaker is remotely started to perform high-frequency impact crushing of gangue, concrete, and hard surrounding rock. The tool adopts a copper-ceramic sparkless substrate + laser cladding reinforced structure, so no mechanical sparks are generated during impact and friction. At the same time, the high-hardness cladding layer ensures the tool's impact resistance and wear resistance, achieving inherently safe crushing operation.

[0034] Step 3, Spark-free demolition and cleaning operation: After the crushing operation is completed, there is no need to stop the machine to change tools. The operation mode can be switched remotely to control the hydraulic shears to cut and dismantle the metal components, or to control the bucket to clean up debris and gangue. The demolition tools are also made of spark-free high-hardness composite materials. No sparks are generated during the shearing and excavation process, which is suitable for the flammable and explosive environment underground.

[0035] Step 4: Full-coverage spray for fire suppression and dust control: The spray system can be activated in conjunction with the operation. The battery provides independent power to the pump, and the pressurized flame-retardant and dust-suppressing aqueous solution is delivered to two sets of spray mechanisms via flexible water pipes. During crushing operations, the hydraulic straight pipe spray mechanism atomizes water at fixed points, covering the impact points of the crushing to cool, suppress dust, and block sparks. During demolition operations, the hydraulic bellows spray mechanism adapts to the tool's posture, fully covering the demolition area. Utilizing the wetting, flame-retardant, and oxygen-barrier properties of the flame-retardant and dust-suppressing medium, it thoroughly settles dust and blocks spark propagation, achieving comprehensive protection.

[0036] Step 5: Automatic pipe retraction and protection: During the large-scale extension, swinging, and rotation of the robotic arm, the water hose is extended and retracted along with the arm's movement. The spiral spring of the hose reel stores and releases energy in real time, automatically completing the hose extension and retraction, standardizing the pipeline route, avoiding hose tangling, pulling, damage, and leakage, and ensuring the continuous and stable operation of the spray system.

[0037] The above are merely preferred embodiments of the invention and are not intended to limit the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A remote-controlled demolition robotic arm with sparkless demolition and full-coverage spray protection functions, comprising a three-stage articulated hydraulic robotic arm, characterized in that: a hydraulic breaking tool made of high-hardness sparkless material is directly fixedly installed at one end of the three-stage articulated hydraulic robotic arm, and a hydraulic demolition tool made of high-hardness sparkless material is indirectly fixed at the other end of the three-stage articulated hydraulic robotic arm via a quick-change connector; a hydraulic spray mechanism is also fixedly installed on the three-stage articulated hydraulic robotic arm, respectively close to the locations of the hydraulic breaking tool and the hydraulic demolition tool.

2. The remote-controlled forced entry robotic arm with no-sparking forced entry and full-coverage spray protection according to claim 1, characterized in that: The high-hardness spark-free material uses a copper alloy with added ceramics as the base material. The base material consists of 8.5-11.5% aluminum, 2.0-4.0% iron, 1.0-2.5% nickel, 0.5-1.5% manganese, 3-8% ceramic reinforcing particles, and the balance copper.

3. The remote-controlled forced entry robotic arm with no-spark forced entry and full-coverage spray protection function according to claim 2, characterized in that: A laser cladding wear-resistant coating is also prepared on the surface of the substrate. The thickness of the laser cladding wear-resistant coating is 0.6-1.2 mm. The mass ratio of the cladding powder used is 70-82% Ni-based self-fluxing alloy powder, 15-25% WC tungsten carbide hard particles, and 2-4% chromium.

4. The remote-controlled forced entry robotic arm with no-sparking forced entry and full-coverage spray protection according to claim 1, characterized in that: The hydraulic breaking tool is a hydraulic breaker hammer; the hydraulic demolition tool is a hydraulic shear or a bucket.

5. The remote-controlled forced entry robotic arm with no-spark forced entry and full-coverage spray protection according to claim 4, characterized in that: The hydraulic spraying mechanism includes a hydraulic straight pipe spraying mechanism near the hydraulic breaker and a hydraulic bellows spraying mechanism near the hydraulic demolition tool. The hydraulic straight pipe spraying mechanism includes a mounting base, a hydraulic directional valve, a pipe joint, a delivery straight pipe, a nozzle joint, and an atomizing nozzle, wherein the delivery straight pipe is arranged parallel to the hydraulic breaker and extends towards its hammer head end. The hydraulic bellows spraying mechanism includes a mounting base, a hydraulic directional valve, a pipe joint, a delivery bellows, a nozzle joint, and an atomizing nozzle, wherein the delivery bellows bends and extends into the quick-change connector and extends towards the location of the hydraulic shear or bucket.

6. The remote-controlled forced entry robotic arm with no-sparking forced entry and full-coverage spray protection according to claim 1, characterized in that: The three-stage articulated hydraulic robotic arm includes a rotating base, a primary boom, a secondary arm, a tertiary arm, a multi-link hinge mechanism, a connecting end seat, multiple sets of drive hydraulic cylinders, multiple sets of remote control receivers for controlling the drive hydraulic cylinders, and a remote control transmitter for transmitting signals. The rotating base is rotatably mounted at the front of the main vehicle assembly. The primary boom, secondary arm, and tertiary arm are sequentially hinged, with each arm equipped with a corresponding drive hydraulic cylinder. The front end of the tertiary arm is connected to the end seat via the multi-link hinge mechanism. The remote control transmitter sends commands to the remote control receiver via radio frequency signals.

7. The remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions according to claim 1, characterized in that: Next to the three-stage articulated hydraulic robotic arm, there is also a spray reservoir that provides flame-retardant and dust-suppressing aqueous solution to the hydraulic spray mechanism.

8. The remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions according to claim 7, characterized in that: The spray reservoir includes a spray tank filled with a flame-retardant and dust-suppressing aqueous solution. The spray tank is fixed by a protective fence. A pump body and a flexible water pipe connected to the pump body are fixedly installed on the top of the spray tank. A storage battery that supplies power to the pump body is also provided on one side of the pump body.

9. The remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions according to claim 7, characterized in that: The flame-retardant and dust-suppressing aqueous solution comprises 94-97% water and 3-6% mining dust-suppressing and flame-retardant; the mining dust-suppressing and flame-retardant comprises 12-20% ammonium polyphosphate, 4-8% zinc borate, 3-7% fatty alcohol polyoxyethylene ethers, 1-3% carboxymethyl cellulose (CMC), 0.5-2% sodium bicarbonate, and the remainder deionized water.

10. The remote-controlled demolition robotic arm with spark-free demolition and full-coverage spray protection functions according to claim 7, characterized in that: A water hose reel is also provided between the spray reservoir and the three-stage articulated hydraulic robotic arm; the water hose reel includes a mounting base and a drum rotatably mounted on the mounting base, a spiral spring is installed on one side of the drum, a flexible water hose connected to the pump body is wound inside the drum, and a guide seat is fixed on the side of the drum to guide the flexible water hose to extend to the three-stage articulated hydraulic robotic arm.

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