Intelligent full-section scraper cleaning machine

Abstract

The utility model discloses an intelligent full-section scraper cleaning machine, which is used for cleaning and digging sludge in an underground water sump of a coal mine and comprises a hydraulic crawler chassis, a material stirring and lifting system, a pumping system, a hydraulic power system, a PLC (programmable logic controller), a monitoring system, a data transmission system and a remote operation system. The material stirring and lifting system is movably installed at the front end of the hydraulic crawler chassis through a steering device and used for collecting, lifting and conveying coal slime. The steering device is used for controlling the material stirring and lifting system to complete transverse swinging and lifting actions; the material stirring and lifting system is simple in structure, convenient to operate and more flexible, the material stirring and lifting system can transversely swing left and right and lift up and down within a certain range and is matched with the bin cleaning machine to move front and back, so that coal slime around the bin cleaning machine in a water bin is collected and conveyed in the maximum range, the bin cleaning machine is better suitable for the terrain of the water bin, and the working efficiency is improved. According to the utility model, unmanned operation in the water sump can be realized, man-machine separation can be realized, and more flexible and safer underground operation of operators can be ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of underground coal mine sump cleaning, and specifically relates to an intelligent full-section scraper sump cleaner. Background Art

[0002] At present, most domestic mine sumps are cleaned by manually operating sump excavation equipment (dredging machine) to enter the sump together. Due to the harsh environment of the underground sump and the potential safety hazards such as sudden flooding at any time, this sump cleaning method may pose a danger to the personal safety of operators.

[0003] The utility model patent technology with the patent number 202223207977.X and the patent name of intelligent remote control dredging machine for underground sump can realize unmanned operation in the sump. However, the material mixing and lifting system can only lift up and down in a small range and cannot swing horizontally left and right, which makes the sump cleaner can only dredge the silt within the range directly in front of the vehicle. When cleaning the coal slime around the vehicle body, the overall position of the sump cleaner must be moved and adjusted to clean it, which is time-consuming and laborious, troublesome to operate, and increases the cleaning cost. In addition, the material mixing and lifting system uses a hopper to lift materials. When the sprocket drives the chain to lift the hopper too fast, the hopper cannot unload the materials in it into the pumping system. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the utility model provides an intelligent full-section scraper sump cleaner, which solves the problems raised in the above background art.

[0005] To achieve the above objectives, the utility model is realized through the following technical solutions: an intelligent full-section scraper sump cleaner, comprising a hydraulic crawler chassis, a material mixing and lifting system, a pumping system, a hydraulic power system, a PLC controller, a monitoring system, a data transmission system, and a remote operation system;

[0006] The hydraulic crawler chassis is the installation platform of the whole machine and is used for the normal walking of the sump cleaner;

[0007] The material mixing and lifting system is movably installed at the front end of the hydraulic crawler chassis through a steering device and is used for collecting and lifting and conveying the coal slime; the steering device is used to control the material mixing and lifting system to complete horizontal swinging and lifting actions; the material mixing and lifting system includes a material collection device and a material lifting device. The material collection device is used for collecting the coal slime in the underground sump, and the material lifting device is used for lifting and conveying the collected coal slime to the pumping system;

[0008] The pumping system is installed on the hydraulic crawler chassis and is used for discharging the collected coal slime to a designated location;

[0009] The hydraulic power system provides power for the whole machine;

[0010] The monitoring system is used to confirm the environment where the bunker cleaner is located, provide various operating parameters of the bunker cleaner, and control the normal operation of the whole machine;

[0011] The hydraulic crawler chassis, the material stirring and lifting system, the steering device, and the pumping system are controlled by the PLC controller;

[0012] The data transmission system is used to transmit the operation data of the bunker cleaner in real time;

[0013] The remote operation system is used to remotely monitor the bunker cleaner. The remote operation system is electrically connected to the signal input and output ends of the PLC controller through the data transmission system.

[0014] Furthermore, the material lifting device includes multiple groups of scrapers. The power group drives the chain to pull the scrapers to lift the material. The bottom plate of the frame group and the scrapers form a storage space for the material.

[0015] Furthermore, the monitoring system includes a front panoramic high-definition camera, a rear camera, a front obstacle detector, a rear obstacle detector, distance sensors on both sides, and a hydraulic system sensor; the front panoramic high-definition camera and the front obstacle detector are used to judge the environment, silt accumulation situation in front of the bunker cleaner and the front oblique sides on the left and right; the rear camera and the rear obstacle detector are used to monitor the environment at the tail of the bunker cleaner, the cable dragging situation and the pipeline connection situation; the distance sensors on both sides are used to detect the distance between both sides of the bunker cleaner and the water tank wall; the hydraulic system sensor is used to monitor the operating parameters of each component of the hydraulic system.

[0016] Furthermore, the data transmission system includes an in-vehicle wireless transceiver base station, a mobile wireless transceiver base station, and a communication optical cable; the in-vehicle wireless transceiver base station is installed on the bunker cleaner, and the mobile wireless transceiver base station is set at the water tank hatch for data transmission relay.

[0017] Furthermore, an automatic cable winder is arranged at the rear of the bunker cleaner, and the automatic cable winder is controlled by a PLC control box.

[0018] Furthermore, a water spraying assembly is arranged on the material collection device for spraying water to dilute thick materials.

[0019] Furthermore, the hydraulic system sensor includes a hydraulic system pressure sensor, a fuel tank liquid level height sensor, a fuel tank oil temperature sensor, a traveling and lifting pressure sensor.

[0020] Due to the adoption of the above technical solutions, the beneficial effects of the present utility model are as follows: the structure is simple, the operation is convenient, and it is more flexible. The material stirring and lifting system can realize the horizontal left-right swing and the up-down lifting action within a certain range, and cooperate with the forward and backward movement of the bunker cleaner, so as to realize the collection and transportation of the slime around the bunker cleaner in the sump within the largest range, making the bunker cleaner better adapt to the terrain of the sump; it can realize unmanned operation in the sump, achieve separation of humans and machines, and ensure that the operators can work underground more flexibly and safely. In the material stirring and lifting system, due to the use of scrapers to lift materials, the applicable lifting speed range is wider, more materials can be collected, and when the material stirring and lifting system swings left and right, the weight is lighter. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the present utility model.

[0022] Figure 2 It is a schematic structural diagram of the material stirring and lifting system.

[0023] In the figure: 1. Hydraulic crawler chassis, 2. Hydraulic power system, 3. Automatic cable reel, 4. Rear distance sensor, 5. Rear camera, 6. PLC controller, 7. Pumping system, 8. Front panoramic high-definition camera, 9. Front obstacle detector, 10. Material stirring and lifting system, 10-1. Material collection device, 10-2. Material lifting device, 10-201. Scraper, 10-202. Chain, 10-203. Frame group, 10-204. Power group, 11. Water spraying assembly, 12. Front distance sensor, 13. Steering device, 14. Manual operation platform, 15. Rear obstacle detector. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0025] As Figure 1 and Figure 2 shown, the intelligent full-section scraper bunker cleaner includes a hydraulic crawler chassis 1, a material stirring and lifting system 10, a pumping system 7, a hydraulic power system 2, a PLC controller 6, a monitoring system, a data transmission system, and a remote operation system;

[0026] The hydraulic crawler chassis 1 is the installation platform of the whole machine and is used for the normal walking of the bunker cleaner;

[0027] The material stirring and lifting system 10 is movably installed at the front end of the hydraulic crawler chassis 1 through the steering device 13, and is used for collecting and lifting and conveying slime; the steering device 13 is used to control the material stirring and lifting system 10 to complete lateral swing and lifting actions; the specific structure of the steering device 13 is described in the utility model patent with the patent application number 202420033509.5 and the patent name of a steering mechanism for a conveying unit of a dredging and conveying vehicle. The material stirring and lifting system 10 can collect and convey the slime around the bunker to the maximum extent through the steering device 13, and the size of the material collection device 10-1 can be set according to the cross-sectional size of the sump, so as to realize the collection and conveyance of the slime in the whole cross-section of the sump.

[0028] The material stirring and lifting system 10 includes a material collection device 10-1 and a material lifting device 10-2. The material collection device 10-1 is used for collecting the slime in the underground sump and includes: a sprocket shaft, sprockets, symmetrically arranged collecting screws, baffles, etc.

[0029] The material lifting device 10-2 is used for lifting and conveying the collected slime to the pumping system 7. The material lifting device includes multiple groups of scrapers 10-201, a frame group 10-203, a power group 10-204 and a chain 10-202. The power group includes a driving motor, a sprocket shaft and sprockets, etc. The power group 10-204 drives the chain 10-202 to pull the scraper 10-201 to lift the material. The bottom plate of the frame group 10-203 and the scraper 10-201 form a storage space for the material. The lifting speed of the scraper 10-201 can be controlled by adjusting the rotation speed of the driving motor, thereby controlling the rotation speed of the sprocket. When a large amount of slime needs to be conveyed, the rotation speed of the driving motor is adjusted to make the lifting speed of the scraper 10-201 faster, so as to meet the demand for large-flow slime conveyance.

[0030] The pumping system 7 is installed on the hydraulic crawler chassis 1 and is used for discharging the collected slime to a designated location;

[0031] The hydraulic power system 2 provides power for the whole machine;

[0032] The monitoring system is used to confirm the environment where the bunker cleaner is located and provide various operating parameters of the bunker cleaner, and control the normal operation of the whole machine;

[0033] The hydraulic crawler chassis 1, the material stirring and lifting system 10, the steering device 13, and the pumping system 7 are controlled by the PLC controller 6;

[0034] The data transmission system is used for real-time transmission of the operation data of the bunker cleaner;

[0035] The remote operation system is used for remote monitoring of the bunker cleaner. The remote operation system is electrically connected to the signal input and output ends of the PLC controller 6 through the data transmission system.

[0036] The monitoring system includes a front panoramic high-definition camera 8, a rear camera 5, a front obstacle detector 9, a rear obstacle detector 15, front left / right distance sensors 12, rear left / right distance sensors 4, and a hydraulic system sensor; the front panoramic high-definition camera 8 and the front obstacle detector 9 are used to judge the environment and silt accumulation conditions in front of the cleaner and in the front diagonal directions on the left and right sides; the rear camera 5 and the rear obstacle detector 15 are used to monitor the environment at the tail of the cleaner, the drag cable condition, and the pipeline connection condition; the front left / right distance sensors 12 and the rear left / right distance sensors 4 are used to detect the distances between the two sides of the cleaner and the water sump wall; the hydraulic system sensor is used to monitor the operating parameters of each component of the hydraulic system.

[0037] The data transmission system includes an on-vehicle wireless transceiver base station, a mobile wireless transceiver base station, and a communication optical cable; the on-vehicle wireless transceiver base station is installed on the cleaner, and the mobile wireless transceiver base station is set at the water sump opening for data transmission relay.

[0038] An automatic cable winder 3 is provided at the rear of the cleaner, and the automatic cable winder 3 is controlled by a PLC control box 6.

[0039] A water spraying assembly 11 is provided on the material collection device 10-1 for spraying water to dilute thick materials.

[0040] The hydraulic system sensor includes a hydraulic system pressure sensor, a fuel tank liquid level height sensor, a fuel tank oil temperature sensor, a walking and lifting pressure sensor.

[0041] An artificial operation console 14 is provided on the cleaner, and the artificial operation console 14 is used for manually controlling the cleaner.

[0042] During operation, start the equipment. The operator needs to confirm the environment where the cleaner is located and various operating parameters of the cleaner through the video interface of the remote control console. After confirming that everything is normal and there is no warning prompt for the parameters, the next step can be carried out. Move the equipment from the water sump opening to the silt accumulation area, control the front material stirring and lifting system 10 of the cleaner to stir the silt and lift it into the pumping system 7, and then the pumping system 7 transports it outside the water sump. During the working process, the movement of the hydraulic crawler chassis 1 and the lifting and swinging actions of the material stirring and lifting system 10 cooperate with each other to continuously transport the silt in the water sump to the designated location.

[0043] On the one hand, the intelligent full-section scraper bunker cleaner can autonomously clean the silt in the sump. On the other hand, it realizes the functions of collecting, analyzing, processing, and data transmission of the environmental and equipment operation parameters during the dredging process. When the whole set of equipment of the bunker cleaner is in operation, it can also conduct real-time monitoring (with discrimination, alarm, and obstacle avoidance functions) and fault diagnosis in case of accidents (with overload, overcurrent, and short-circuit protection). When the bunker cleaner is in operation, if the parameters show abnormalities and a fault warning appears, the operator needs to manually eliminate the fault before the bunker cleaner can continue to work. If there are obstacles blocking in the sump roadway, the bunker cleaner automatically stops moving forward to prevent damage caused by collisions. When the bunker cleaner may collide with the side wall of the sump during the turning process, the bunker cleaner can also automatically stop turning and at the same time give an alarm to prompt the operator. When an emergency obstacle avoidance warning appears, the operator can only operate the bunker cleaner to move in the reverse direction or manually eliminate the fault before continuing to move forward to avoid damaging the bunker cleaner.

[0044] The intelligent full-section scraper bunker cleaner realizes remote control operation through a wireless communication system and transmits the operation data of the bunker cleaner to the remote control console in real time.

[0045] The above is only the preferred specific implementation mode of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its utility model concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present utility model.

Claims

1. Intelligent full-section scraper bin cleaner, characterized in that: It includes a hydraulic crawler chassis (1), a material mixing and lifting system (10), a pumping system (7), a hydraulic power system (2), a PLC controller (6), a monitoring system, a data transmission system, and a remote operation system; The hydraulic crawler chassis (1) is the installation platform of the whole machine and is used for the normal walking of the bunker cleaner; The material mixing and lifting system (10) is movably installed at the front end of the hydraulic crawler chassis (1) through a steering device (13) and is used for collecting and lifting and conveying the slime; the steering device (13) is used to control the material mixing and lifting system (10) to complete lateral swing and lifting actions; the material mixing and lifting system (10) includes a material collection device (10-1) and a material lifting device (10-2), the material collection device (10-1) is used for collecting the slime in the underground sump, and the material lifting device (10-2) is used for lifting and conveying the collected slime to the pumping system (7); The pumping system (7) is installed on the hydraulic crawler chassis (1) and is used for discharging the collected slime to a designated location; The hydraulic power system (2) provides power for the whole machine; The monitoring system is used to confirm the environment where the bunker cleaner is located and provide various operating parameters of the bunker cleaner, and control the normal operation of the whole machine; The hydraulic crawler chassis (1), the material mixing and lifting system (10), the steering device (13), and the pumping system (7) are controlled by the PLC controller (6); The data transmission system is used for real-time transmission of the operation data of the bunker cleaner; The remote operation system is used for remote monitoring of the bunker cleaner, and the remote operation system is electrically connected to the signal input and output ends of the PLC controller (6) through the data transmission system.

2. The intelligent full-section scraper bin cleaner according to claim 1, characterized in that: The material lifting device (10-2) includes multiple groups of scrapers (10-201), a power group (10-204) drives a chain (10-202) to pull the scraper (10-201) to lift the material, and the bottom plate of the frame group (10-203) and the scraper (10-201) form a storage space for the material.

3. The intelligent full-section scraper bin cleaner according to claim 2, characterized in that: The monitoring system includes a front panoramic high-definition camera (8), a rear camera (5), a front obstacle detector (9), a rear obstacle detector (15), distance sensors (12 / 4) on both sides, and a hydraulic system sensor; the front panoramic high-definition camera (8) and the front obstacle detector (9) are used to judge the environment, silt accumulation situation in front of the bunker cleaner and in the front diagonal directions on the left and right sides; the rear camera (5) and the rear obstacle detector (15) are used to monitor the environment at the tail of the bunker cleaner, the cable dragging situation, and the pipeline connection situation; the distance sensors (12 / 4) on both sides are used to detect the distance between both sides of the bunker cleaner and the sump wall; the hydraulic system sensor is used to monitor the operating parameters of each component of the hydraulic system.

4. The intelligent full-section scraper bin cleaner according to claim 3, wherein: The data transmission system includes an on-vehicle wireless transceiver base station, a mobile wireless transceiver base station, and a communication optical cable; the on-vehicle wireless transceiver base station is installed on the bunker cleaner, and the mobile wireless transceiver base station is set at the sump entrance for data transmission relay.

5. The intelligent full-section scraper bin cleaner according to claim 1, wherein: An automatic cable winder (3) is provided at the rear of the clearance machine, and the automatic cable winder (3) is controlled by a PLC control box (6).

6. The intelligent full-section scraper bin cleaner according to claim 1, characterized in that: A water spraying assembly (11) is arranged on the material collecting device (10-1) and is used for spraying water to dilute thick materials.

7. The intelligent full-section scraper bin cleaner according to claim 3, characterized in that: The hydraulic system sensors include a hydraulic system pressure sensor, a fuel tank liquid level height sensor, a fuel tank oil temperature sensor, a traveling and lifting pressure sensor.

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