Dredging robot

Abstract

The utility model provides a desilting robot. The desilting robot comprises a crawler walking mechanism, a mounting frame, a spiral conveying mechanism and a stirring and returning mechanism, the crawler walking mechanism is used for driving the spiral conveying mechanism and the stirring and returning mechanism to advance; the mounting frame is connected to the front end of the crawler walking mechanism and is used for supporting the spiral conveying mechanism and the stirring and returning mechanism; the stirring and returning mechanism is vertically mounted at the front end of the mounting frame and is used for stirring and pre-crushing sludge in a roadway; the spiral conveying mechanism is vertically mounted at the rear end of the mounting frame, the top of the spiral conveying mechanism extends out of the mounting frame, and the spiral conveying mechanism is used for outwards conveying the slurry treated by the stirring and returning mechanism. The dredging robot can stir and dredge sludge generated in an underground sump main roadway in time, the dredging efficiency is improved, and the requirement for sealing performance is lowered.

Description

Technical Field

[0001] The utility model relates to the field of coal mine silt removal equipment, in particular to a silt removal robot. Background Art

[0002] During coal mining, silt forms in underground water tanks and tunnels. To prevent silt accumulation from impacting normal mining operations, the bottom silt needs to be cleaned promptly. Previously, manual cleaning, assisted by excavators and forklifts, was often used for silt removal, which was labor-intensive and inefficient. Various municipal silt removal equipment on the market suffers from large size, weak silt removal capacity, impracticality in coal mine tunnel environments, and inability to effectively crush and desilt slag.

[0003] The invention patent with authorization announcement number CN110952611B discloses a stirring and suction dredging robot suitable for multiple working conditions, including a crawler walking mechanism, on which a lifting mechanism, a dredging actuator, a counterweight module, and a sealed box are installed. The lifting mechanism includes a boom seat, a boom lifting cylinder, a first-level boom, a boom telescopic cylinder, and a second-level boom. The dredging actuator includes a connecting block, a mounting plate, a collecting plate, a hydraulic motor, a stirring head, and a sand pump. The connecting block is hinged to the lower side of the front end of the second-level boom, and a flip cylinder is hinged to the upper part of the connecting block. The other end of the flip cylinder is hinged to the upper side of the front end of the second-level boom. A mounting plate and a collecting plate are fixed on the connecting block, and a hydraulic motor is fixed on the mounting plate. The output end of the hydraulic motor is connected to the stirring head. The collecting plate is arranged on one side of the stirring head, and a mud outlet hole is opened in the middle of the collecting plate. A sand pump is fixed on the side of the collecting plate away from the stirring head. This multi-working-condition stirring and suction dredging robot can be applied to a wider range of working conditions with different water depths, such as underground pipelines, mine pits, and pumping stations. However, the stirring head of the device does not have the function of returning mud, the sand pump has low suction efficiency, and the lifting device has high requirements for sealing. Utility Model Content

[0004] In order to be able to stir and desilt the sludge generated in the underground water tank tunnel in time, improve the desilting efficiency and reduce the requirements for sealing, the technical solution adopted by the utility model is: a desilting robot, including a crawler walking mechanism, a mounting frame, a screw conveying mechanism and a stirring and returning mechanism;

[0005] The crawler walking mechanism is used to drive the spiral conveying mechanism and the stirring return mechanism to move forward;

[0006] The mounting frame is connected to the front end of the crawler walking mechanism and is used to support the screw conveying mechanism and the stirring return mechanism;

[0007] The stirring and reversing mechanism is vertically mounted at the front end of the mounting frame and is used to stir and pre-crush the sludge in the tunnel;

[0008] The spiral conveying mechanism is vertically installed at the rear end of the mounting frame, and the top of the spiral conveying mechanism extends out of the mounting frame. The spiral conveying mechanism is used to convey the mud processed by the stirring and returning mechanism outward.

[0009] Based on the above, in order to be able to adjust the height from the ground and the operating range of the stirring and reversing mechanism, the mounting frame and the crawler walking mechanism can be connected in a lifting manner.

[0010] Based on the above, in order to clean up the mud in front of the crawler traveling mechanism when it is moving, the width of the mounting frame is greater than or equal to the width of the crawler traveling mechanism.

[0011] Based on the above, in order to improve the stirring efficiency and be able to promptly call the mud back to the vicinity of the spiral conveying mechanism, the stirring return mechanism includes a stirring drive motor installed on the mounting frame and multiple groups of stirring shafts connected to the stirring drive motor, and multiple stirring return plates are vertically installed on the stirring shafts. The stirring return plates are provided with multiple stirring teeth, and the stirring teeth are distributed along the vertical outer edge of the stirring return plate. The stirring teeth on the two adjacent groups of stirring shafts are staggered.

[0012] Based on the above, in order to improve the stirring effect, the numbers of stirring return plates on two adjacent stirring shafts are different.

[0013] Based on the above, in order to improve the discharge efficiency of the mud, the screw conveying mechanism includes a screw conveying pump, and a screw conveying drive motor is installed on the top of the screw conveying pump.

[0014] Based on the above, at least two groups of the screw conveying pumps are provided on the mounting frame, and the screw conveying pumps are symmetrically distributed on the rear side of the stirring and returning mechanism.

[0015] Based on the above, in order to prevent the stirred mud from flowing freely, a baffle is provided on the rear side of the bottom of the mounting frame, and the baffle is used to confine the mud stirred by the stirring and returning mechanism around the screw conveying mechanism.

[0016] Based on the above, in order to facilitate real-time positioning and real-time monitoring, cameras and sensors are installed around the crawler walking mechanism and the mounting frame respectively.

[0017] The present invention has substantial features and advancements over existing technologies. Specifically, the dredging robot provided by the present invention has a stirring and reversing mechanism directly mounted on the front end of the crawler walking mechanism, and the driving mechanism for driving the stirring and reversing mechanism is mounted on the upper portion. The bottom portion is designed as a cantilever structure for stirring, thereby eliminating the need for sealing parts in the sludge, improving product reliability and reducing sealing requirements. At the same time, the stirring and reversing mechanism is designed to comprise a plurality of stirring and reversing plates and stirring teeth that can engage and move relative to each other. Thus, while stirring the sludge, the stirring and reversing plates can be used to reversally reciprocate the sludge toward the side of the spiral conveying mechanism, and the stirring teeth can be used to tear and dig out accumulated sludge, thereby improving dredging efficiency and capacity.

[0018] Furthermore, by arranging a spiral conveying mechanism behind the stirring and returning mechanism, the spiral conveying mechanism can be used to promptly convey the stirred and pre-crushed mud to the subsequent solid-liquid separation equipment. The spiral conveying mechanism has a strong conveying capacity compared to an ordinary sewage pump, and the spiral conveying mechanism will not interfere with the stirring and returning mechanism.

[0019] Furthermore, the dredging robot is remotely operated, and a large number of cameras and sensors are arranged around the crawler walking mechanism and the mounting frame. It can automatically perform dredging work in narrow and harsh tunnels without the need for personnel to enter the working surface, thereby improving operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the dredging robot provided by the utility model.

[0021] Figure 2 It is a side structural diagram of the dredging robot provided by the utility model.

[0022] Figure 3 This is a schematic diagram of the front-end structure of the dredging robot provided by the utility model.

[0023] Figure 4 It is a schematic diagram of the local structure of the dredging robot provided by the utility model.

[0024] In the figure: 1. crawler track; 2. crawler walking mechanism; 3. screw conveying mechanism; 4. screw conveying drive motor; 5. stirring drive motor; 6. mounting frame; 7. stirring shaft; 8. baffle plate; 9. stirring teeth; 10. stirring return plate. DETAILED DESCRIPTION

[0025] The technical solution of the present utility model is further described in detail below through specific implementation methods.

[0026] Example 1

[0027] This embodiment provides a dredging robot, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, it includes a crawler walking mechanism 2, a mounting frame 6, a screw conveying mechanism 3 and a stirring and returning mechanism. The crawler walking mechanism 2 is provided with a crawler 1 at the bottom. The crawler walking mechanism 2 is used to drive the screw conveying mechanism 3 and the stirring and returning mechanism to move.

[0028] The mounting frame 6 is connected to the front end of the crawler walking mechanism 2 and is used to support the screw conveying mechanism 3 and the stirring and returning mechanism. The stirring and returning mechanism is vertically installed at the front end of the mounting frame 6 and is used to stir and pre-crush the sludge in the tunnel.

[0029] Specifically, the spiral conveying mechanism 3 is vertically installed at the rear end of the mounting frame 6, and the top of the spiral conveying mechanism 3 extends out of the mounting frame 6. The spiral conveying mechanism 3 is used to convey the mud processed by the stirring and returning mechanism outward.

[0030] In order to improve the stirring efficiency and to be able to timely return the mud to the vicinity of the screw conveying mechanism 3, the stirring return mechanism includes a stirring drive motor 5 installed on the mounting frame 6 and multiple groups of stirring shafts 7 connected to the stirring drive motor 5.

[0031] A plurality of stirring return plates 10 are vertically mounted on the stirring shaft 7 , and a plurality of stirring teeth 9 are provided on the stirring return plates 10 . The stirring teeth 9 are distributed along the vertical outer edge of the stirring return plates 10 , and the stirring teeth 9 on two adjacent groups of the stirring shafts 7 are staggered.

[0032] In order to improve the discharge efficiency of the mud, the screw conveying mechanism 3 includes a screw conveying pump, and a screw conveying drive motor 4 is installed on the top of the screw conveying pump. In this embodiment, two groups of the screw conveying pumps are set on the mounting frame, and the screw conveying pumps are symmetrically distributed on the rear side of the stirring and reversing mechanism.

[0033] In order to prevent the mud from flowing freely after stirring, a baffle plate 8 is provided at the rear side of the bottom of the mounting frame 6 , and the baffle plate 8 is used to confine the mud stirred by the stirring and returning mechanism around the screw conveying mechanism 3 .

[0034] Example 2

[0035] This embodiment provides a dredging robot, which is mainly different from Embodiment 1 in that, in this embodiment, in order to be able to adjust the height above the ground and the operating range of the stirring and reversing mechanism, the mounting frame 6 and the crawler walking mechanism 2 can be raised and lowered.

[0036] Example 3

[0037] This embodiment provides a dredging robot, which is mainly different from Embodiment 1 in that, in this embodiment, in order to clean up the sludge in front of the crawler walking mechanism 2 when it moves, the width of the mounting frame 6 is greater than or equal to the width of the crawler walking mechanism 2.

[0038] Example 4

[0039] This embodiment provides a dredging robot, which is mainly different from the first embodiment in that, in this embodiment, in order to improve the stirring effect, the number of stirring return plates 10 on the two adjacent stirring shafts 7 is different.

[0040] Example 5

[0041] This embodiment provides a dredging robot, which is mainly different from Embodiment 1 in that, in this embodiment, in order to facilitate real-time positioning and real-time monitoring, cameras and sensors are installed around the crawler walking mechanism 2 and the mounting frame 6, respectively.

[0042] Specifically, the dredging robot provided by the present invention has a front dredging and stirring mechanism that is a continuous whole. After simulation design and combined with the sludge working conditions, it achieves the best stirring function. The driving part of the stirring and dialing mechanism is at the top, and a cantilever structure is designed at the bottom for stirring. There is no need for any sealing part in the sludge, so the product reliability is extremely high. The stirred sludge is pumped to the solid-liquid separation equipment required by the user under the action of a screw conveyor to extract the coal. At the same time, the screw conveying mechanism in this dredging robot is connected to the conveying pipeline, so the whole machine adopts a small and heavy-duty design, which can smoothly carry out the entire dredging work. In addition, this dredging robot is remotely controlled, and a large number of cameras and sensors are arranged around the fuselage. This design does not require personnel to enter the working surface in narrow and harsh tunnels, thereby protecting personnel safety.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.

Claims

1. A dredging robot, characterized in that: It includes crawler walking mechanism, mounting frame, screw conveying mechanism and stirring return mechanism; The crawler walking mechanism is used to drive the spiral conveying mechanism and the stirring return mechanism to move forward; The mounting frame is connected to the front end of the crawler walking mechanism and is used to support the screw conveying mechanism and the stirring return mechanism; The stirring and reversing mechanism is vertically mounted at the front end of the mounting frame and is used to stir and pre-crush the sludge in the tunnel; The spiral conveying mechanism is vertically installed at the rear end of the mounting frame, and the top of the spiral conveying mechanism extends out of the mounting frame. The spiral conveying mechanism is used to convey the mud processed by the stirring and returning mechanism outward.

2. The dredging robot according to claim 1, characterized in that: The mounting frame is connected to the crawler walking mechanism in a liftable manner.

3. The dredging robot according to claim 1 or 2, characterized in that: The width of the mounting frame is greater than or equal to the width of the crawler walking mechanism.

4. The dredging robot according to claim 1, characterized in that: The stirring return mechanism includes a stirring drive motor installed on the mounting frame and multiple groups of stirring shafts transmission-connected to the stirring drive motor, multiple stirring return plates are vertically installed on the stirring shafts, and multiple stirring teeth are provided on the stirring return plates. The stirring teeth are distributed along the vertical outer edge of the stirring return plates, and the stirring teeth on two adjacent groups of stirring shafts are staggered.

5. The dredging robot according to claim 4, characterized in that: The numbers of stirring return plates on two adjacent stirring shafts are different.

6. The dredging robot according to claim 5, characterized in that: The screw conveying mechanism includes a screw conveying pump, and a screw conveying drive motor is installed on the top of the screw conveying pump.

7. The dredging robot according to claim 6, characterized in that: At least two groups of the screw conveying pumps are arranged on the mounting frame, and the screw conveying pumps are symmetrically distributed on the rear side of the stirring and returning mechanism.

8. The dredging robot according to claim 1, 2 or 4, characterized in that: A baffle is provided on the rear side of the bottom of the mounting frame, and the baffle is used to confine the mud stirred by the stirring and returning mechanism around the screw conveying mechanism.

9. The dredging robot according to claim 1, 2 or 4, characterized in that: Cameras and sensors are respectively installed around the crawler walking mechanism and the mounting frame.

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