Underground filling robot

Abstract

The underground filling robot comprises a movable chassis, a material storage tank and a guniting system, and the material storage tank is arranged at the rear end of the top of the movable chassis; the guniting system is arranged at the front end of the top of the movable chassis; the guniting system is provided with a universal spray gun, and the universal spray gun is located in front of the front end of the movable chassis. The underground filling robot provided by the utility model replaces manpower to backfill pits, so that potential safety hazards are eliminated, and manpower and cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of backfilling equipment, in particular to an underground filling robot. Background Art

[0002] Mine excavation and backfilling refers to the filling or restoration of a mine after mining operations are complete, aiming to reduce environmental impact and restore the original landscape. This process typically involves cleaning and disposing of waste, filling in the excavated pit, and restoring the balance of the ecosystem.

[0003] Among them, the existing operation and construction method for backfilling mines is to manually enter the hole to fill the materials. Since the mine is drilled and mined by excavation equipment, the mine is not only deep but also wide, so the backfill area required is huge. The use of manual filling is a waste of manpower. In addition, since the mine is excavated very deep, it is dark inside the hole, and the use of manual filling will also pose a safety hazard. Summary of the Invention

[0004] The purpose of this application is to provide an underground filling robot to replace manual backfilling of pits, eliminate safety hazards, and save manpower and costs.

[0005] To achieve the above objectives, this application provides:

[0006] A downhole filling robot is designed, the downhole filling robot comprising:

[0007] Mobile chassis;

[0008] A material storage tank, the material storage tank being arranged at the rear end of the top of the mobile chassis;

[0009] A spraying system is arranged at the front end of the top of the mobile chassis; wherein the spraying system has a universal spray gun, and the universal spray gun is located in front of the front end of the mobile chassis.

[0010] In some embodiments, the mobile chassis is a track chassis.

[0011] In some embodiments, the downhole filling robot also includes a pump sealing and cooling water tank and a hydraulic oil tank. The height of the bottom of the storage tank first decreases and then increases in the width direction of the mobile chassis, so that a left installation space and a right installation space are formed between the two sides of the storage tank and the corresponding sides on the mobile chassis. One of the left installation space and the right installation space is used to install the pump sealing and cooling water tank, and the other is used to install the hydraulic oil tank.

[0012] In some embodiments, a feed port is provided at the rear end of the storage tank, and the feed port is used to connect a feed hose.

[0013] In some embodiments, the top of the storage tank is flattened.

[0014] In some embodiments, the downhole filling robot includes a control system, which is electrically connected to the mobile chassis and the shotcrete system respectively.

[0015] In some embodiments, the control system is electrically connected to a remote controller.

[0016] In some embodiments, the downhole filling robot has a plurality of lighting lamps, and the plurality of lighting lamps are arranged at intervals in the circumference of the downhole filling robot;

[0017] The downhole filling robot has a plurality of lifting legs, and the plurality of lifting legs are arranged at intervals in the circumferential direction of the downhole filling robot.

[0018] In some embodiments, the downhole filling robot further includes a hydraulic power system, which is disposed at the front end of the top of the mobile chassis, and the hydraulic power system and the shotcrete system are disposed in parallel.

[0019] In some embodiments, the mobile chassis, the shotcrete system, the hydraulic power system and the control system are electrically connected to an external power source respectively.

[0020] Compared to the aforementioned background technology, the present invention provides a downhole filling robot. By placing the storage tank at the rear end of the mobile chassis and the spraying system at the front end, this layout makes the entire device compact and compact, making it particularly suitable for operations in the narrow spaces of downhole mines. Furthermore, the universal spray gun is located in front of the front end of the mobile chassis. This not only prevents the device from blocking the spraying area, but also allows the spraying angle and direction to be adjusted according to actual needs, improving operational flexibility. Furthermore, the universal spray gun design of the spraying system allows the operator to remotely control the device from a safe location, reducing the risk of direct contact with hazardous environments.

[0021] After entering the cave, this equipment replenishes the filling of the storage mechanism through the backfill material transmitted from the outside, and then uses the control system to control the remote-controlled universal spray gun to spray and fill the cave in all directions without dead angles. Under the operation of this equipment, the operator can perform remote control operations of the equipment in a safe area, reducing manpower and reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0023] Attachment Figure 1 A schematic diagram of the structure of the underground filling robot from one perspective;

[0024] Attachment Figure 2 Schematic diagram of the structure of the underground filling robot from another perspective;

[0025] Attachment Figure 3 A schematic diagram of the structure of the shotcrete system of the underground filling robot from one perspective;

[0026] Attachment Figure 4 Schematic diagram of the structure of the shotcrete system of the underground filling robot from another perspective.

[0027] in:

[0028] 100-Spraying system; 110-Universal spray gun; 200-Hydraulic power system; 300-Storage tank; 310-Feed port; 400-Mobile chassis; 500-Pump sealing and cooling water tank; 600-Hydraulic oil tank; 700-Lifting legs; 800-Lighting. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] In the relevant technology, mine excavation and backfilling refers to the landfilling or restoration of the mine after the mining is completed, aiming to reduce the impact on the environment and restore the original landform. This process usually includes cleaning and disposing of waste, filling the excavated pits, and restoring the balance of the ecosystem. Among them, the existing operation and construction method for backfilling the mine is to manually enter the hole to fill the material. Since the mine is drilled and mined by excavation equipment, the mine is not only deep but also wide, so the backfill area required is huge. The use of manual filling is a waste of manpower. In addition, since the mine is excavated very deep, it is dark inside the hole, and the use of manual filling will also pose a safety hazard.

[0032] like Figures 1 to 4 As shown, an embodiment of the present application provides an underground filling robot, which includes a mobile chassis 400, a storage tank 300 and a spraying system 100. The storage tank 300 is arranged at the rear end of the top of the mobile chassis 400; the spraying system 100 is arranged at the front end of the top of the mobile chassis 400; wherein, the spraying system 100 has a universal spray gun 110, and the universal spray gun 110 is located in front of the front end of the mobile chassis 400.

[0033] In these embodiments, a traditional large-scale spraying machine is modified to be able to adapt to more demanding working conditions.

[0034] The underground environment is usually complex, with varying degrees of inclination, unevenness, or confined spaces. Therefore, the mobile chassis 400 needs to have good maneuverability and stability, and its ability to operate in wet or flooded environments should also be considered.

[0035] For example, a four-wheel drive or crawler design can be used to improve the passability of the equipment; in addition, a height adjustment function of the chassis can be added to facilitate crossing obstacles.

[0036] Illustratively, the mobile chassis 400 uses an electric drive system because the underground environment generally prohibits the use of internal combustion engines to avoid harmful gas emissions.

[0037] Considering the limited underground space, the capacity of the storage tank 300 should not be too large, but sufficient working time must be guaranteed to reduce the inconvenience caused by frequent refueling. Optionally, the internal structure design can be optimized, such as using a conical bottom to achieve a sinking design to ensure uniform material flow and improve work efficiency.

[0038] The universal spray gun 110 of the spraying system 100 is designed to be very flexible and can meet the needs of spraying at different angles and distances. For example, a high-pressure pumping system is used to ensure that the spraying pressure can be maintained stably even when transporting over long distances.

[0039] Obviously, by placing the storage tank 300 at the rear end of the mobile chassis 400 and the shotcrete system 100 at the front end, this layout makes the entire equipment compact and compact, making it particularly suitable for operations in the narrow spaces of underground mines. Furthermore, the universal spray gun 110 is located in front of the front end of the mobile chassis 400. This not only prevents the equipment from blocking the spraying area, but also allows the spraying angle and direction to be adjusted according to actual needs, improving operational flexibility. Furthermore, the universal spray gun 110 design of the shotcrete system 100 allows the operator to remotely control the system from a safe location, reducing the risk of direct exposure to hazardous environments.

[0040] It should be noted that after entering the cave, this equipment replenishes the filling of the storage mechanism through the backfill material transmitted from the outside, and then uses the control system to control the remote-controlled universal spray gun to spray and fill the cave in all directions without dead angles. Under the operation of this equipment, the operator can perform remote control operations of the equipment in a safe area, reducing manpower and reducing safety hazards.

[0041] In some embodiments, the mobile chassis 400 is a tracked chassis.

[0042] In these embodiments, designing the mobile chassis 400 as a crawler chassis can bring the following additional benefits:

[0043] The crawler chassis offers improved ground adhesion and maneuverability, enabling stable travel on uneven, muddy, or soft surfaces. It is well-suited for the complex and varied terrain of underground mines. The crawler design provides greater traction, allowing the equipment to move smoothly even on slopes and steps, extending its overall operating range.

[0044] Crawler chassis typically have a lower center of gravity, which helps improve the stability of the equipment on uneven ground, reduce the risk of rollover, and adapt to narrow spaces underground.

[0045] The crawler chassis can evenly distribute the weight of the equipment on a longer contact surface, reducing the pressure on the ground and avoiding excessive damage to the underground ground.

[0046] The crawler chassis can independently control the speed and direction of the crawlers on both sides to achieve various maneuvers such as turning on the spot and moving laterally, which improves the operational flexibility of the equipment in narrow spaces.

[0047] Furthermore, the crawler chassis can adapt to a variety of geological conditions and maintain good driving performance regardless of hard rock or soft soil.

[0048] In some embodiments, the downhole filling robot also includes a pump-sealed cooling water tank 500 and a hydraulic oil tank 600. The height of the bottom of the storage tank 300 first decreases and then increases in the width direction of the mobile chassis 400, so that a left installation space and a right installation space are formed between the two sides of the storage tank and the corresponding sides on the mobile chassis 400. One of the left installation space and the right installation space is used to install the pump-sealed cooling water tank 500, and the other is used to install the hydraulic oil tank 600.

[0049] In these embodiments, to rationally utilize space and ensure the compactness and functionality of the equipment, the bottom height of the storage tank 300 decreases first and then increases from the center toward the sides in the width direction of the mobile chassis 400, thereby forming a left installation space and a right installation space between the sides of the storage tank 300 and the mobile chassis 400. These two installation spaces are used to install the pump sealing cooling water tank 500 and the hydraulic oil tank 600, respectively.

[0050] The special design of the bottom of the storage tank 300 fully utilizes the space on both sides of the mobile chassis 400, avoiding extra space waste and making the entire equipment more compact. The pump seal cooling water tank 500 and the hydraulic oil tank 600 are installed in the space on both sides respectively. This modular design makes installation and maintenance more convenient and quick. Among them, the pump seal cooling water tank 500 can effectively reduce the temperature of the pump sealing part, prevent seal failure caused by high temperature, and extend the service life of the pump. The hydraulic oil tank 600 provides a stable oil supply to the hydraulic system, ensuring the normal operation of the hydraulic system and improving the overall performance and reliability of the equipment. In addition, the separate design of the pump seal cooling water tank 500 and the hydraulic oil tank 600 helps to disperse heat, avoid local overheating, and improve the heat dissipation efficiency of the equipment.

[0051] For example, the bottom of the storage tank 300 is V-shaped or curved in the width direction of the mobile chassis 400, with a higher middle portion and gradually lower sides to form two installation spaces. It is important to note that the connection between the storage tank 300 and the mobile chassis 400 must be firm and reliable to ensure that it does not loosen or shake during driving and operation.

[0052] In some embodiments, a feed port 310 is provided at the rear end of the storage tank 300 , and the feed port 310 is used to connect a feed hose.

[0053] In these embodiments, the feed port 310 is designed at the rear end of the storage tank 300, which can be easily connected to the feed hose to achieve rapid feeding. The operator does not need to go around the side or front of the equipment, saving time and energy.

[0054] The positioning of the feed port 310 reduces the possibility of spillage and contamination during the charging process, maintaining a clean underground environment. The quick-connect feed port 310 makes the equipment more efficient during charging, reducing interruptions to charging operations and improving overall work efficiency. This in turn facilitates the miniaturization of the storage tank 300, ensuring a continuous supply of materials. In other words, the use of a feed hose allows materials to be delivered directly to the equipment from a remote storage point, increasing the equipment's operational range and flexibility.

[0055] For example, material delivery hoses should be made of wear- and corrosion-resistant materials, such as rubber or high-performance plastics, to withstand the harsh working environment underground. The length and diameter of the hose should be selected based on actual operational requirements to ensure smooth and efficient material transfer. The hose can be equipped with securing devices, such as hooks or clamps, to ensure stability and security during the loading process.

[0056] In some embodiments, the top of the storage tank is flattened.

[0057] In these embodiments, this design brings the following beneficial effects:

[0058] The flattened top design significantly reduces the overall height of the storage tank 300, making the entire device more compact and more suitable for operation and movement in the narrow spaces underground. The flattened design reduces the vertical space occupied by the storage tank 300, leaving more room for other equipment and operators to move around. The flattened top design provides the operator with a wider field of vision when driving or operating the equipment, making it easier to observe the surrounding environment and operating conditions, thereby improving the safety and accuracy of operations. The flattened design reduces obstructions above the storage tank 300, reducing the operator's visual blind spots, and helping to promptly detect and respond to potential dangers.

[0059] In some embodiments, the downhole filling robot includes a control system, which is electrically connected to the mobile chassis 400 and the shotcrete system 100 respectively.

[0060] In these embodiments, the control system can be used to centrally manage and control various functions of the mobile chassis 400 and the spraying system 100, thereby achieving integrated operation and simplifying the operation process.

[0061] The control system can be designed to support remote operation, allowing operators to control equipment wirelessly or wired from a safe location, reducing the risk of direct contact with the hazardous environment underground.

[0062] The control system automatically adjusts the speed and direction of the mobile chassis 400 and the injection parameters (such as pressure and flow rate) of the shotcrete system 100 based on the underground environment and operational requirements, improving operational efficiency and accuracy. Furthermore, multiple operation modes and parameters can be preset; the operator simply selects the appropriate mode, and the system automatically executes, reducing human error.

[0063] The control system can monitor the operating status of the mobile chassis 400 and the spraying system 100 in real time, including the motor temperature, hydraulic system pressure, spray gun position, etc., to ensure the normal operation of the equipment.

[0064] In some embodiments, the control system is electrically connected to a remote control.

[0065] In these embodiments, the remote control allows the operator to remotely control the various functions of the downhole filling robot from a safe location, avoiding direct contact with the hazardous underground environment and improving operational safety. The remote control provides more flexible operation, allowing the operator to adjust the device's movement and spraying parameters at any time based on actual conditions, improving operational flexibility and efficiency.

[0066] The remote control can support simultaneous operation of multiple devices, which is suitable for scenarios where multiple operators work together to improve team work efficiency.

[0067] Furthermore, by providing a remote controller, the operating room space of the sprayer can be replaced, which is conducive to miniaturization.

[0068] For example, the remote control can use wireless communication technology, such as radio, Bluetooth, or Wi-Fi, to ensure stable communication over a longer distance and expand the operating range.

[0069] In some embodiments, the downhole filling robot has a plurality of lighting lamps 800 , which are arranged at intervals in the circumference of the downhole filling robot;

[0070] The downhole filling robot has a plurality of lifting legs 700 , which are arranged at intervals in the circumferential direction of the downhole filling robot.

[0071] In some embodiments, the downhole filling robot further includes a hydraulic power system 200 , which is disposed at the front end of the top of the mobile chassis 400 , and the hydraulic power system 200 and the shotcrete system 100 are disposed in parallel.

[0072] In these embodiments, the hydraulic power system 200 and the shotcrete system 100 are arranged side by side at the front end of the mobile chassis 400, making the overall equipment layout more compact, reducing the longitudinal length of the equipment, and making it more suitable for operation and movement in the narrow spaces underground. This layout helps maintain the center of gravity of the equipment, improves stability on uneven ground, and reduces the risk of rollover.

[0073] The hydraulic power system 200 directly powers the shotcrete system 100, reducing energy loss during power transmission and improving overall system efficiency. The hydraulic system's rapid response allows for rapid adjustment of the shotcrete system's 100 spray parameters, enhancing operational flexibility and precision. The parallel arrangement of the hydraulic power system 200 and the shotcrete system 100 allows for relative independence and mutual non-interference, improving system reliability and stability.

[0074] In some embodiments, the mobile chassis 400, the shotcrete system 100, the hydraulic power system 200, and the control system are electrically connected to an external power source respectively.

[0075] In these embodiments, the mobile chassis 400, the shotcrete system 100, the hydraulic power system 200, and the control system are all electrically powered, eliminating the need for an engine or transmission system. Furthermore, since the power source is external, batteries are not required, further optimizing the size.

[0076] It should be noted that, in this specification, relational terms such as first and second, etc. are merely used to distinguish one entity from another entity, but do not necessarily require or imply any actual relationship or order between these entities.

[0077] The above is a detailed introduction to the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core ideas of the present invention. It should be pointed out that, for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A downhole filling robot, characterized in that: The downhole filling robot comprises: Mobile chassis; A material storage tank, the material storage tank being arranged at the rear end of the top of the mobile chassis; A spraying system is arranged at the front end of the top of the mobile chassis; wherein the spraying system has a universal spray gun, and the universal spray gun is located in front of the front end of the mobile chassis.

2. The downhole filling robot according to claim 1, characterized in that: The mobile chassis is a crawler chassis.

3. The downhole filling robot according to claim 1, characterized in that: The downhole filling robot also includes a pump sealing and cooling water tank and a hydraulic oil tank. The height of the bottom of the storage tank first decreases and then increases in the width direction of the mobile chassis, so that a left installation space and a right installation space are formed between the two sides of the storage tank and the corresponding sides on the mobile chassis respectively. One of the left installation space and the right installation space is used to install the pump sealing and cooling water tank, and the other is used to install the hydraulic oil tank.

4. The underground filling robot according to claim 3, characterized in that: A feed port is provided at the rear end of the storage tank, and the feed port is used to connect a feed hose.

5. The underground filling robot according to claim 3, characterized in that: The top of the storage tank is flattened.

6. The downhole filling robot according to claim 4, characterized in that: The downhole filling robot includes a control system, and the control system is electrically connected to the mobile chassis and the shotcrete system respectively.

7. The downhole filling robot according to claim 6, characterized in that: The control system is electrically connected to a remote controller.

8. The downhole filling robot according to claim 1, characterized in that: The downhole filling robot has a plurality of lighting lamps, and the plurality of lighting lamps are arranged at intervals in the circumferential direction of the downhole filling robot; The downhole filling robot has a plurality of lifting legs, and the plurality of lifting legs are arranged at intervals in the circumferential direction of the downhole filling robot.

9. The downhole filling robot according to claim 1, characterized in that: The downhole filling robot further includes a hydraulic power system, which is arranged at the front end of the top of the mobile chassis, and the hydraulic power system and the shotcrete system are arranged in parallel.

10. The downhole filling robot according to claim 6, characterized in that: The mobile chassis, the spraying system, the hydraulic power system and the control system are electrically connected to an external power supply respectively.

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