Mining gas pipeline dismounting robot device

Abstract

The utility model relates to the technical field of underground machinery, and provides a mining gas pipeline dismounting robot device which comprises a rack, a telescopic supporting arm arranged on the lower side of the rack in a swinging mode, a roadway supporting arm arranged on the upper side of the rack in a swinging mode, a pipe clamping device rotating and moving relative to the rack, and an operation room arranged on the rack and located on one side of the pipe clamping device. The multiple alarms are arranged on the roadway wall on the periphery of the machine frame, and the monitoring camera is arranged on the roadway wall on the side, away from the operation room, of the pipe clamping device. By means of the technical scheme, the problem that in the prior art, a mine gas pipeline disassembling and assembling device is large in potential safety hazard is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of underground machinery, specifically relates to a mine gas pipeline dismounting robot device. BACKGROUND

[0002] In the production operation of the coal mine, the dismounting work of the mine gas pipeline is very important, but the traditional dismounting mode relying on manual or simple tool assistance faces many severe challenges and limitations.

[0003] In the past, when dismounting the gas pipeline, manual direct operation is mostly relied on. The ground condition of the underground roadway is complex and often uneven, so it is difficult for workers to find stable support points to place tools and ensure their balance during operation, which leads to shaking during the dismounting process due to unstable standing and insufficient support, affecting the accuracy of operation, and easily causing safety accidents, such as damage to the pipeline due to uneven stress, and workers falling and getting injured due to loss of balance. Moreover, different roadways have different height and width specifications. In the face of these diversified working conditions, the traditional fixed-size support tools cannot be flexibly adapted, which limits the smooth development of dismounting work and leads to low work efficiency.

[0004] For the clamping operation of the pipeline, when manual operation is assisted by a simple clamp, the clamp often has a single function and lacks flexible angle adjustment and accurate positioning capability. In actual dismounting, the operator needs to forcibly align the pipeline interface and adjust the angle by relying on experience and physical strength, which not only consumes a lot of time and energy, but also easily causes damage to the pipeline due to operation errors, such as pipe deformation and seal damage, thereby affecting the normal use of the gas pipeline, and even burying safety hazards such as gas leakage.

[0005] In terms of operating environment, there are many dangerous factors in the coal mine, such as gas leakage that may cause explosion, roof fall that endangers personnel life, and dust diffusion that affects vision and respiratory health. Manual operation directly in such a harsh and dangerous environment lacks effective protection and isolation measures, and the operator is always at risk of life safety. Once a danger occurs, it is difficult to avoid in time, leading to serious consequences of the accident.

[0006] In terms of safety warning, the traditional dismounting operation lacks a perfect real-time monitoring and alarm mechanism. For potential safety risks such as changes in gas concentration and sudden equipment failure, the operator cannot be notified in time, and usually the danger is discovered when it is relatively obvious, which may have missed the best opportunity to avoid danger, easily causing major personnel casualties and equipment damage accidents, and seriously affecting the safety production order of the coal mine.

[0007] In addition, in terms of management and cooperation, the ground command center is difficult to grasp the specific situation of the disassembly operation in the well in real time, when encountering complex problems, the commander cannot accurately judge and effectively guide according to the actual picture, and can only rely on the oral report of the underground operator, the information transmission is delayed and inaccurate, resulting in low management efficiency of the whole disassembly operation and insufficient ability to deal with complex problems, once a sudden situation occurs, it is difficult to quickly coordinate various resources to properly handle it. Practical new type content

[0008] The utility model provides a mine gas pipeline dismounting robot device, solve the problem that the mine gas pipeline dismounting device of related art has greater safety hazard.

[0009] The technical scheme of the utility model is as follows:

[0010] A mine gas pipeline dismounting robot device comprises:

[0011] A rack,

[0012] A telescopic support arm is swingingly arranged on the lower side of the rack,

[0013] A roadway support arm is swingingly arranged on the upper side of the rack,

[0014] A pipe gripper is rotatably and movably arranged relative to the rack,

[0015] An operation room is arranged on the rack and located on one side of the pipe gripper,

[0016] A plurality of alarms are arranged on the roadway walls around the rack,

[0017] A monitoring camera is arranged on the roadway wall on the side of the pipe gripper away from the operation room.

[0018] As a further technical scheme, it further comprises:

[0019] Two swing support frames are swingingly and rotatably arranged on the two sides of the operation room, and the swing support frames are telescopic supports,

[0020] A civil air defense support is swingingly arranged on the swing support frame and used for standing of an operator.

[0021] As a further technical scheme, it further comprises:

[0022] A support seat is rotatably and swingingly arranged on the rack and located on one side of the operation room,

[0023] A telescopic arm is swingingly arranged on the support base,

[0024] A rotating base is rotationally arranged at the end of the telescopic arm,

[0025] A mounting base is swingingly arranged on the rotating base, and the pipe clamp is rotationally arranged on the mounting base, and the mounting base is arranged perpendicularly to the rotation shaft of the telescopic arm.

[0026] As a further technical solution, it further comprises:

[0027] An infrared grating alarm device is arranged in the tunnel and located around the rack, and the infrared grating alarm device is electrically connected with the alarm.

[0028] As a further technical solution, the pipe clamp comprises:

[0029] A rotating member is rotationally arranged on the mounting base,

[0030] A first clamping jaw is arranged on the rotating member,

[0031] A second clamping jaw is swingingly arranged on the rotating member, and a clamping space is formed between the first clamping jaw and the second clamping jaw, and the clamping space is expanded or reduced after the second clamping jaw swings.

[0032] As a further technical solution, the first clamping jaw and the second clamping jaw each comprise:

[0033] An arc-shaped frame of the first clamping jaw is arranged on the rotating member, and an arc-shaped frame of the second clamping jaw is swingingly arranged on the rotating member,

[0034] A rotating support member is arranged on the arc-shaped frame and used to abut against the gas pipeline.

[0035] As a further technical solution, the civil air defense support comprises:

[0036] A support plate is swingingly arranged at the end of the swing support frame,

[0037] A guardrail box body is arranged on the support plate.

[0038] As a further technical solution, it further comprises:

[0039] A tunnel support member is swingingly arranged at the end of the tunnel support arm and used to abut against the side wall of the tunnel.

[0040] As a further technical solution, it further comprises:

[0041] a track, which is cyclically arranged on the frame,

[0042] a hydraulic drive arranged on the frame and located at one side of the operation room.

[0043] As a further technical solution, it also comprises:

[0044] a support foot swing arranged at the end of the telescopic support arm.

[0045] The working principle and beneficial effects of the utility model are:

[0046] In the utility model, the pipe clamp is arranged rotatably and movably relative to the frame, and such multi-degree-of-freedom movement mode gives it high operation flexibility and accuracy. During the disassembly and assembly of the gas pipeline, the pipeline interface needs to be accurately aligned, the angle needs to be adjusted, and the movement operation along the pipeline axis needs to be performed, etc., the pipe clamp can easily change the clamping direction by rotating, so that it is matched with the angle of the pipeline to be disassembled and assembled, and then the pipe clamp is accurately moved to the disassembly and assembly position by the movement function, so that the accurate positioning and clamping operation of the gas pipeline are realized, whether the old pipeline is disassembled or the new pipeline is assembled, the accuracy of the operation can be ensured, the work efficiency is improved, and the damage to the pipeline caused by the operation failure is reduced.

[0047] The operation room is arranged on the frame and located at one side of the pipe clamp, so as to provide a relatively safe and comfortable operation space for the operator. In the coal mine, there are many safety hazards such as gas leakage, roof falling and dust, and the operation room can isolate these dangerous factors to a certain extent, so as to protect the operator from direct harm. The operator can remotely and accurately control the pipe clamp and other components of the whole robot device through various control devices in the room to perform the disassembly and assembly work of the gas pipeline, so as to ensure the personal safety and successfully complete the work task.

[0048] The setting position is convenient for the operator to observe the whole disassembly and assembly process. The operator can directly observe the working state of the pipe clamp and the disassembly and assembly progress of the pipeline in the operation room, and meanwhile, various control buttons, display screens and other equipment can be integrated in the operation room, so that the operator can centrally control and adjust the telescopic support arm, the roadway support arm, the pipe clamp and other components, so that the collaborative operation among the components is more smooth and efficient, and the whole disassembly and assembly operation is ensured to be orderly.

[0049] The alarm is arranged on the roadway wall around the rack, and plays a vital safety warning role in the process of disassembling the mine gas pipeline which has certain danger. The alarm can monitor the surrounding environment in real time, and once the dangerous signal is detected, the alarm sound or light signal is immediately sent to timely remind the operator and the surrounding staff to take corresponding risk avoidance measures to avoid accidents and ensure the safety of underground personnel and safe operation of equipment.

[0050] The several alarms are arranged on the roadway wall around the rack, and realize the all-around monitoring coverage of the surrounding environment of the device. No matter where the dangerous situation occurs, the corresponding alarm can timely perceive and send an alarm to minimize the monitoring blind area and improve the reliability of safety warning, so that the whole gas pipeline disassembly operation is always in a controllable and pre-warning safety protection state. BRIEF DESCRIPTION OF DRAWINGS

[0051] The above characteristics, technical features, advantages and implementation modes of the present application will be further described in the following preferred embodiments in a clear and understandable manner combined with the drawings.

[0052] Fig. 1 is a structure schematic view of the present application;

[0053] Fig. 2 is another structure schematic view of the present application from another perspective;

[0054] In the figure: rack-1, telescopic support arm-2, roadway support arm-3, pipe clamp-4, rotating part-401, first clamping jaw-402, second clamping jaw-403, clamping space-404, arc-shaped frame-405, rotating support-406, operation room-5, alarm-6, swing support frame-7, civil defense support-8, support plate-801, guardrail box-802, support base-9, telescopic arm-10, rotating base-11, mounting base-12, infrared grating alarm-13, roadway support-14, track-15, hydraulic drive-16, support foot-17. DETAILED DESCRIPTION

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the specific implementation modes of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0056] For the sake of simple and clear drawings, only parts related to the utility model are shown in the drawings, which do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one of the parts with the same structure or function is shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0057] In this article, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0058] In addition, in the description of the present application, the terms "first", "second" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0059] Reference Figs. 1-2 For the first embodiment of the utility model, a mine gas pipeline dismounting robot device is provided, which comprises a rack 1, a telescopic support arm 2 swing set on the lower side of the rack 1, a roadway support arm 3 swing set on the upper side of the rack 1, a pipe clamp 4 relative to the rack 1 rotation and movement set, an operating room 5 set on the rack 1, and located on one side of the pipe clamp 4, an alarm 6 is several, respectively set on the roadway wall around the rack 1, and a monitoring camera is set on the roadway wall on the side of the pipe clamp 4 away from the operating room 5.

[0060] In this embodiment, the telescopic support arm 2 swing set on the lower side of the rack 1, this design can make it can according to the actual working scene and demand, flexible adjustment of support angle and position. In the dismounting operation of mine gas pipeline, the ground condition of underground roadway is often complex, there may be uneven and other conditions, the telescopic support arm 2 can better adapt to the ground fluctuation by swing, find stable support point, provide reliable support force for the whole robot device, ensure that the device remains stable in the operation process, prevent from shaking, dumping and other conditions due to unstable support, ensure the safety and smooth operation of dismounting operation.

[0061] The telescopic function further enhances the adaptability and flexibility of the device. Different roadway heights, widths, and installation positions of the gas pipeline require different lengths of the support arm. Through telescopic adjustment, the telescopic support arm 2 can accurately adjust to the appropriate support length in various roadway environments, effectively supporting in both narrow and wide cross-section roadways, meeting the needs of stable support of the device in different working conditions, and expanding the application range of the robot device.

[0062] The roadway support arm 3 is swingably arranged on the upper side of the frame 1 and cooperates with the telescopic support arm 2 to form a comprehensive support system. It mainly supports the top of the roadway, shares part of the weight of the device and the force generated during operation, making the overall force of the device more uniform and balanced. In the complex mechanical environment of the underground mine, especially when the pipe clamp 4 is disassembled and assembled, the roadway support arm 3 can effectively prevent the upper part of the device from shaking and shifting, ensuring the stability of the device in the vertical direction and maintaining the stable posture of the entire robot device with the telescopic support arm 2, ensuring operation precision and safety.

[0063] The pipe clamp 4 is rotatably and movably arranged relative to the frame 1, which has high operation flexibility and precision. During the disassembly and assembly of the gas pipeline, the pipe clamp 4 can be easily changed in the clamping direction by rotating to match the angle of the pipeline to be disassembled and assembled, and then moved to the disassembly and assembly position by moving to realize precise positioning and clamping of the gas pipeline. Whether it is disassembling or assembling the pipeline, it can ensure the accuracy of the operation, improve the work efficiency, and reduce the damage to the pipeline caused by the operation error.

[0064] The operation room 5 is arranged on the frame 1 and located on one side of the pipe clamp 4, providing a relatively safe and comfortable operation space for the operator. In the underground coal mine, there are many safety hazards such as gas leakage, roof falling, and dust. The operation room 5 can isolate these dangerous factors to a certain extent and protect the operator from direct harm. The operator can remotely and accurately control the pipe clamp 4 and other components of the robot device through various control devices in the room to disassemble and assemble the gas pipeline, ensuring personal safety and completing the work task smoothly.

[0065] The setting position is convenient for the operator to observe the whole disassembly operation process. The operator can directly observe the working state of the pipe gripper 4, the disassembly progress of the pipeline and the like in the operation room 5. Meanwhile, various control buttons, display screens and the like can be integrated in the operation room 5, so that the operator can centrally control and adjust the telescopic support arm 2, the roadway support arm 3, the pipe gripper 4 and the like, so that the collaborative operation among the components is more smooth and efficient, and the whole disassembly operation is ensured to be orderly.

[0066] The alarm 6 is arranged on the roadway wall around the rack 1. In the process of disassembling the mine gas pipeline, which is a dangerous operation, the alarm 6 plays a crucial role in safety warning. There are many safety risks in the mine, such as excessive gas concentration, equipment failure and personnel approaching abnormally. The alarm 6 can monitor the surrounding environment in real time. Once a dangerous signal is detected, an alarm sound or light signal is immediately sent to remind the operator and the surrounding staff to take appropriate risk avoidance measures to avoid accidents and ensure the safety of personnel and equipment in the mine.

[0067] The alarm 6 is arranged on the roadway wall around the rack 1. In the process of disassembling the mine gas pipeline, which is a dangerous operation, the alarm 6 plays a crucial role in safety warning. There are many safety risks in the mine, such as excessive gas concentration, equipment failure and personnel approaching abnormally. The alarm 6 can monitor the surrounding environment in real time. Once a dangerous signal is detected, an alarm sound or light signal is immediately sent to remind the operator and the surrounding staff to take appropriate risk avoidance measures to avoid accidents and ensure the safety of personnel and equipment in the mine.

[0068] The monitoring camera is arranged on the roadway wall away from the operation room 5. It can capture the specific operation picture of the pipe gripper 4 and the surrounding pipeline and roadway environment in real time. Although the operator can directly observe part of the situation in the operation room 5, the monitoring camera can provide a more comprehensive and clear view, so that the operator can carefully check whether the connection between the pipe gripper 4 and the pipeline is firm, the state change of the pipeline during the disassembly process and the like, so as to timely find problems and make adjustments to ensure the quality and safety of the disassembly operation.

[0069] For the ground command center or other related technical personnel, the pictures taken by the monitoring camera can be transmitted through the network to remotely understand the real-time progress of the disassembly operation of the underground gas pipeline. When complex problems or technical guidance is needed, these pictures can be used as important auxiliary decision-making basis to help the commander make accurate judgments and instructions, coordinate the underground operators to better complete the operation task, and improve the management efficiency of the whole disassembly operation and the ability to deal with complex situations.

[0070] The underground environment of coal mines is full of dangers, such as gas leakage, roof collapse, and other risks that threaten the safety of workers at any time. Through remote control operation, external personnel do not need to enter the dangerous area underground, and can control the robot device in all directions. This effectively avoids direct exposure of personnel to dangerous environments, greatly reduces the risk of injury caused by safety accidents, and provides reliable safety protection for workers.

[0071] The camera setting enables remote control, allowing the operator to be free from the constraints of the site space, and can accurately control the robot device from anywhere within the remote control signal coverage range. The operator can remotely adjust the swing angle and telescopic length of the telescopic support arm 2, flexibly control the swing of the roadway support arm 3, and accurately control the rotation and movement of the pipe gripper 4 according to the actual operation situation at the best observation position, easily cope with various complex operation scenarios, and achieve efficient and accurate operation.

[0072] With the help of remote control function, external personnel can quickly respond to operation needs and timely adjust the working state of the robot device. For example, when performing gas pipeline disassembly and assembly operations, the pipe gripper 4 can be quickly moved to the designated position, the clamping angle can be accurately adjusted, and the pipeline disassembly and assembly can be quickly completed, reducing the time waste caused by inconvenient on-site operation or poor communication, and significantly improving the overall operation efficiency.

[0073] The monitoring camera transmits real-time images to the display screen of the remote control device, and the external personnel can observe every detail of the operation site in real time. Once a problem is found, such as the pipe gripper 4 not being firmly connected to the pipeline or the pipeline having an abnormal condition, the robot device operation can be immediately adjusted through the remote control device to ensure the smooth progress of the operation process and effectively avoid serious failures or safety accidents caused by the accumulation of small problems.

[0074] For the ground command center or related technical personnel, remote control operation enables them to understand the progress of underground operations in real time. By observing the monitoring image and combining the feedback from the remote control operation, the commander can make timely decisions and provide more scientific and reasonable guidance for on-site operations, achieving efficient management and coordination of the entire gas pipeline disassembly and assembly operation.

[0075] In summary, this mine gas pipeline disassembly and assembly robot device has the advantages of adapting to complex roadway environments, precise operation, safety protection, and easy management, etc. through the rational design and layout of each part, and can effectively improve the efficiency and safety of mine gas pipeline disassembly and assembly operations, meeting the actual needs of related operations in coal mines.

[0076] Further, the swing support frame 7 is further included, the swing support frame 7 is two, respectively swing and rotate setting in the operation room 5 two sides, the swing support frame 7 is telescopic support, the civil air defense support 8, the civil air defense support 8 swing setting in the swing support frame 7, for the standing of operating personnel.

[0077] In the embodiment, the swing support frame 7 is two and is swing and rotate setting in the operation room 5 two sides, this multidimensional adjustable setting greatly increases the flexibility of operation space. Operating personnel can flexibly adjust its position and angle according to actual operation demand through the swing and rotation action of swing support frame 7, so that it better adapts to different directions, different positions of gas pipeline dismounting work. For example, when the pipeline located in the side or oblique of the operation room needs to be operated, the support frame 7 can be swung and rotated accordingly, to provide a suitable standing position for the civil air defense support 8 and the operating personnel, to ensure that the pipe clamp 4 can be accurately controlled with the best viewing angle and operating distance, and the operable range of the whole robot device in the complex roadway is expanded.

[0078] The swing support frame 7 as telescopic support further enhances its adaptability. Different roadway heights, height differences of operating personnel and specific operation requirements all have different requirements for the height of the operating position. Through the telescopic function, the swing support frame 7 can conveniently adjust the height, so that the operating personnel can be in the most comfortable and most convenient position when standing on the civil air defense support 8, whether in a high large-section roadway or a relatively low small-section roadway, the actual needs of the operating personnel can be met, the convenience and accuracy of operation are improved, and the gas pipeline dismounting operation is ensured to proceed smoothly.

[0079] The civil air defense support 8 is swing setting in the swing support frame 7, which provides a special standing platform for the operating personnel. In the underground environment with many safety hazards, such as uneven ground and vibration during equipment operation, the civil air defense support 8, with its stable connection with the swing support frame 7 and reasonable structure design, can provide a relatively stable standing space for the operating personnel, prevent the operating personnel from falling and being injured due to unstable standing, and protect the personal safety of the operating personnel during operation.

[0080] The swing support frame 7 and the civil air defense support 8 form a good cooperative working relationship with other components in the device (such as the operation room 5, the pipe clamp 4, etc.). When the operating personnel stand on the civil air defense support 8 and control the pipe clamp 4 through the operation room 5, the swing support frame 7 can flexibly adjust the position and height according to the operation needs, so that the civil air defense support 8 is always in the best operating position, to ensure that the operating personnel can accurately and efficiently operate the pipe clamp 4 to complete the dismounting work of the gas pipeline, to optimize the cooperation process between the components of the whole device, and to improve the overall operation efficiency.

[0081] Further improve the function layout of the mine gas pipeline dismounting robot device, from providing an operating room for the operator, to creating a flexible and safe operating station system for the operator. Make the whole device more comprehensive and humanized in function, not only focus on the functional implementation of pipeline dismounting operation, but also fully consider the actual experience and safety protection of the operator in the complex environment of the mine, improve the practicality and competitiveness of the device, and better meet the comprehensive requirements of the equipment for the dismounting operation of the mine gas pipeline.

[0082] Further, it further comprises a support seat 9, the support seat 9 is rotatably and swingably arranged on the rack 1 and located at one side of the operating room 5, the telescopic arm 10 is swingably arranged on the support seat 9, the rotating seat 11 is rotatably arranged at the end of the telescopic arm 10, the mounting seat 12 is swingably arranged on the rotating seat 11, and the pipe clamp 4 is rotatably arranged on the mounting seat 12. The rotating shaft of the mounting seat 12 is arranged perpendicularly to the telescopic arm 10.

[0083] In this embodiment, the support seat 9 is rotatably and swingably arranged on the rack 1, providing rich adjustment dimensions for the movement of subsequent components. On this basis, the telescopic arm 10, the rotating seat 11, the mounting seat 12 and the pipe clamp 4 are sequentially combined by different forms of movement such as swinging and rotating, so that the pipe clamp 4 can realize extremely flexible and accurate position and angle adjustment in space. In the dismounting operation of the mine gas pipeline, the trend, installation angle and location of the gas pipeline are often different. This multi-dimensional movement coordination can accurately aim at the dismounting position of the pipeline. Whether it is horizontal, inclined or vertical pipeline, precise positioning can be achieved through the coordinated action of each component to ensure that the pipe clamp 4 can reliably clamp and greatly improve the accuracy of the dismounting operation.

[0084] The underground roadway environment is complex and variable, and the spatial layout and pipeline distribution of different areas differ greatly. Through the multi-form movement of the support seat 9, the telescopic arm 10, the rotating seat 11 and the mounting seat 12, the whole device can flexibly cope with these complex working conditions. For example, when other obstacles need to be avoided in a narrow space to operate the gas pipeline, the pipe clamp 4 can be made to bypass the obstacles and reach the target pipeline position smoothly by the clever rotation, swinging and extension of each component. Or when the pipeline located at a high place, corner or other special position needs to be dismounted, the posture of the pipe clamp 4 can also be adjusted by the flexible cooperation of these components to meet the operation needs of pipeline dismounting at different positions, enhancing the adaptability of the device to complex roadway environment and improving the flexibility of operation.

[0085] Further, it further comprises an infrared grating alarm 13, the infrared grating alarm 13 is arranged in the roadway and located around the rack 1, and the infrared grating alarm 13 is electrically connected with the alarm 6.

[0086] In this embodiment, the infrared grating alarm 13 is arranged in the tunnel and located around the rack 1, which can realize omnidirectional coverage monitoring of the surrounding area of the robot device. In the mine gas pipeline dismounting environment with certain danger, it can realize real-time sensing of whether there is personnel, object and other unexpected intrusion into the set warning area, which makes up for the possible monitoring blind area of other monitoring methods. Cooperating with the alarm 6, a strict safety protection network is constructed, which maximizes the safety of the operation area and avoids safety accidents caused by external factors.

[0087] The infrared grating alarm 13 utilizes the sensing principle of infrared light and has high detection accuracy, which can accurately judge whether an object breaks through the set grating defense line. It can distinguish between normal environmental changes and real potential danger, such as accurately identifying whether it is normal approach of workers or accidental intrusion of irrelevant personnel, or whether an object moves into the warning range due to accident, etc. Once an abnormal intrusion is detected, the signal can be quickly transmitted to the alarm 6 electrically connected thereto, triggering an alarm to remind relevant personnel to take measures in time, ensuring the accuracy and effectiveness of safety protection.

[0088] Further, the pipe clamp 4 comprises a rotating piece 401, the rotating piece 401 is rotationally arranged on the mounting seat 12, a first clamping jaw 402, the first clamping jaw 402 is arranged on the rotating piece 401, a second clamping jaw 403, the second clamping jaw 403 is swingingly arranged on the rotating piece 401, a clamping space 404 is formed between the first clamping jaw 402 and the second clamping jaw 403, and the clamping space 404 is expanded or reduced after the second clamping jaw 403 swings.

[0089] In this embodiment, the expansion or reduction of the clamping space 404 is realized by the swing of the second clamping jaw 403 between the first clamping jaw 402 and the second clamping jaw 403. This design makes the pipe clamp 4 flexibly adapt to mine gas pipelines with different diameters. In actual underground gas pipeline dismounting work, the diameters of the pipelines often differ, with thick and thin. The pipe clamp with adjustable clamping space can swing the second clamping jaw 403 according to the diameter of the specific pipeline, accurately adjust the size of the clamping space 404, and make it fit the target pipeline, so as to realize stable and reliable clamping effect. Whether it is a main pipeline with large diameter or a branch pipeline with small diameter, it can be effectively clamped, greatly improving the versatility and adaptability of the pipe clamp 4 to different specifications of pipelines.

[0090] The rotating member 401 is rotatably arranged on the mounting base 12, which gives the pipe clamp 4 the ability to adjust the overall angle. When encountering different installation angles of the gas pipeline, such as inclination or bending, etc., by rotating the rotating member 401, the orientation of the first jaw 402 and the second jaw 403 can be changed to better match the actual angle of the pipeline, and then the appropriate clamping space 404 is determined by adjusting the swing of the second jaw 403, ensuring that the jaws can tightly fit the surface of the pipeline for clamping. This multi-angle adjustment function enables the pipe clamp 4 to flexibly cope with the needs of pipeline disassembly and installation in complex downhole pipeline layout environments, improving the flexibility and accuracy of operation.

[0091] Further, the first jaw 402 and the second jaw 403 each include an arc-shaped frame 405, the arc-shaped frame 405 of the first jaw 402 is arranged on the rotating member 401, and the arc-shaped frame 405 of the second jaw 403 is swingably arranged on the rotating member 401. The rotating support members 406 are arranged on the arc-shaped frame 405 and are used to abut against the gas pipeline.

[0092] In this embodiment, the first jaw 402 and the second jaw 403 each adopt the design of an arc-shaped frame 405, which can better fit the circular outer contour of the gas pipeline. During pipeline clamping operation, the arc-shaped frame 405 can tightly wrap around the circumference of the pipeline, significantly reducing the gap between the pipeline surface and the straight-line or other-shaped jaws, making the contact between the pipe clamp 4 and the pipeline more complete and the fit higher, thereby providing a good foundation for stable clamping and effectively preventing the pipeline from shaking, slipping, and other situations during disassembly and installation, ensuring the safety and precision of the operation.

[0093] The rotating support members 406 are rotatably arranged on the arc-shaped frame 405 and are used to abut against the gas pipeline, further enhancing the stability of the clamping. When the pipe clamp 4 clamps the pipeline, the rotating support members 406 will rotate and adjust according to the shape and stress of the pipeline surface while in contact with the pipeline, so that each rotating support member 406 can evenly share the pressure from the pipeline, distributing the clamping force applied by the jaws more evenly on the circumference of the pipeline. This not only avoids damage to the pipeline caused by excessive local stress, but also ensures that the pipeline is always clamped firmly in complex stress environments (such as pulling force during disassembly and adjustment force during installation), improving the clamping reliability of the entire pipe clamp 4 under different working conditions and ensuring the smooth progress of the gas pipeline disassembly and installation operation.

[0094] The arc-shaped frame 405 is combined with the swingable second clamping jaw 403, which itself enables the pipe clamp 4 to adapt to gas pipelines of different diameters by adjusting the clamping space. The presence of the rotating support 406 further optimizes this adaptability. Regardless of the change in pipe diameter, the rotating support 406 can find the appropriate angle and position of abutment on pipelines of different diameters by rotating and adjusting its position according to the actual diameter of the pipeline, ensuring good contact with the pipeline surface and maintaining a stable clamping state. This means that the pipe clamp 4 can be widely used in the disassembly and assembly of gas pipelines of various diameters in coal mines, improving the versatility and practicality of the equipment.

[0095] In the actual underground environment, the surface conditions of gas pipelines may not be the same, and some pipelines may have certain roughness, slight unevenness, or corrosion-resistant coatings. The rotating support 406 can be flexibly rotated to adapt to the differences in the pipeline surface, automatically adjust the posture during abutment, and ensure effective contact with the pipeline surface, without affecting the clamping effect due to the uneven surface, ensuring that the pipe clamp 4 can reliably clamp gas pipelines with different surface qualities, further expanding the range of pipelines that the pipe clamp 4 can be used for, and making it more adaptable in complex underground pipeline environments.

[0096] Further, the civil defense support 8 includes a support plate 801 swingably arranged at the end of the swing support frame 7, and a guardrail box 802 arranged on the support plate 801.

[0097] In this embodiment, the support plate 801 is swingably arranged at the end of the swing support frame 7, providing a relatively stable standing surface for the operator. In the complex underground environment, there may be uneven ground, equipment vibration, and other situations. By swingably arranging the support plate 801, it can adaptively adjust the angle to maintain as horizontal as possible, making the operator standing on it more stable and reducing the risk of falling and injury due to unstable standing. At the same time, the guardrail box 802 is arranged on the support plate 801, which plays an effective protection role, like a barrier, preventing the operator from falling off the support plate 801 due to accidental collision, body imbalance, and other reasons during operation, especially when focusing on gas pipeline disassembly and assembly, to avoid accidents due to distraction, and to ensure the safety of the operator.

[0098] The swing function of the support plate 801 gives the civil defense support 8 greater operating space flexibility. The operator can adjust his standing angle and position by swinging the support plate 801 according to the actual operation requirements, so as to better observe the working state of the pipe clamp 4 and the disassembly of the gas pipeline. For example, when it is necessary to operate the pipeline located in different directions and at different heights, the support plate 801 can be swung accordingly to obtain a suitable viewing angle and operating distance, making the operation more accurate and convenient. In cooperation with other adjustable parts in the device (such as the swing support frame 7, etc.), the operating range of the entire robot device in the complex tunnel is further expanded, and the flexibility and convenience of operation are improved.

[0099] The guardrail box 802 is arranged on the support plate 801, which not only plays a protective role but also serves as a convenient tool storage space. When disassembling the gas pipeline, the operator often needs to use various tools. Placing the commonly used tools in the guardrail box 802 can be easily taken when needed, without the need to frequently return to the operation room 5 to take tools, reducing the back and forth running in the operation process, improving the work efficiency, and making the entire operation process more smooth and efficient, and optimizing the work experience of the operator.

[0100] Further, the roadway support member 14 is swingably arranged at the end of the roadway support arm 3 and used to abut against the sidewall of the roadway.

[0101] In this embodiment, the roadway support member 14 is swingably arranged at the end of the roadway support arm 3, and this swing feature enables it to adaptively adjust according to the actual shape and undulation of the sidewall of the roadway. In the underground roadway, the sidewall is often not completely flat and regular, and may have unevenness, local protrusions or depressions, etc. The roadway support member 14 can better fit the sidewall surface by swinging to find the most suitable abutting position, thereby achieving precise and stable support and effectively sharing the force applied by the entire device on the roadway. In cooperation with other support components (such as the telescopic support arm 2, etc.), the stability of the device in the roadway is further enhanced, ensuring that the robot device will not sway or deviate during the gas pipeline disassembly operation due to uneven force or unstable support.

[0102] Different underground roadways may differ in width, and the swing arrangement of the roadway support member 14 enables it to flexibly respond to such changes. When operating in a narrower roadway, the angle can be adjusted by swinging to make it tightly abut against the sidewall. Similarly, in a wider roadway, an effective support point can also be found by appropriate swinging. This means that regardless of the width of the roadway, this support member can fully play its role, improving the adaptability of the entire robot device to different roadway specifications and ensuring that the device can stably carry out gas pipeline disassembly work in various roadway environments.

[0103] Further, the track 15 is arranged in a loop on the frame 1, and the hydraulic driving member 16 is arranged on the frame 1 and located at one side of the operation room 5.

[0104] In the embodiment, the track 15 is arranged in a loop on the frame 1, which significantly improves the moving ability of the robot device in the coal mine. The ground conditions of the underground roadway are often very complex, and there may be pits, water accumulation, gravel, and different slopes. Compared with the traditional walking wheels, the track 15 can better adapt to these complex terrains. Through the large-area contact of the track with the ground, the weight of the device is dispersed, and the ground pressure is reduced, so that it can smoothly travel on soft and uneven ground and is not easy to be trapped or blocked by obstacles. This effectively expands the activity range of the device in different areas of the underground mine and improves the adaptability to various complex roadway terrains, facilitating the robot device to quickly reach the gas pipeline at different positions for disassembly and assembly operations.

[0105] Further, the support foot 17 is swingably arranged at the end of the telescopic support arm 2.

[0106] In the embodiment, the support foot 17 is swingably arranged at the end of the telescopic support arm 2, which can flexibly adjust the angle according to the actual undulating conditions of the underground roadway ground. In actual operation scenarios, the roadway ground may have differences such as unevenness and slope, and the support foot 17 can better fit the ground by swinging to find a stable support point. The telescopic support arm 2 cooperates to provide more stable and reliable support for the entire robot device, ensuring that the device does not sway or tilt during gas pipeline disassembly and assembly operations due to uneven ground, and ensuring the accuracy and safety of the operation.

[0107] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application. They should all be included in the scope of the claims of the present application.

Claims

1. A mine gas pipeline dismounting robot device, characterized in that, It comprises: a rack (1), a telescopic support arm (2) swingably arranged on the lower side of the rack (1), a roadway support arm (3) swingably arranged on the upper side of the rack (1), a pipe gripper (4) rotatably and movably arranged relative to the rack (1), an operation room (5) arranged on the rack (1) and located on one side of the pipe gripper (4), a plurality of alarms (6) arranged on the roadway walls around the rack (1), a monitoring camera arranged on the roadway wall away from the operation room (5) on the side of the pipe gripper (4).

2. The gas pipeline dismounting robot device for mine according to claim 1, characterized in that, It further comprises: two swing support frames (7) swingably and rotatably arranged on both sides of the operation room (5), the swing support frames (7) being telescopic supports, a civil air defense support frame (8) swingably arranged on the swing support frame (7) for standing of an operator.

3. The mine gas pipeline dismounting robot device according to claim 1, characterized in that, It further comprises: a support seat (9) rotatably and swingably arranged on the rack (1) and located on one side of the operation room (5), a telescopic arm (10) swingably arranged on the support seat (9), a rotating seat (11) rotatably arranged on the end of the telescopic arm (10), a mounting seat (12) swingably arranged on the rotating seat (11), the pipe gripper (4) being rotatably arranged on the mounting seat (12), and the mounting seat (12) being arranged perpendicularly to the rotating shaft of the telescopic arm (10).

4. The gas pipeline dismounting robot device for mine according to claim 1, characterized in that, It further comprises: an infrared grating alarm (13) arranged in the roadway and located around the rack (1), the infrared grating alarm (13) being electrically connected with the alarms (6).

5. The mine gas pipeline dismounting robot device according to claim 3, characterized in that, The pipe gripper (4) comprises: a rotating piece (401) rotatably arranged on the mounting seat (12), a first clamping jaw (402) arranged on the rotating piece (401), a second clamping jaw (403) swingably arranged on the rotating piece (401), a clamping space (404) being formed between the first clamping jaw (402) and the second clamping jaw (403), and the clamping space (404) being enlarged or reduced after swinging of the second clamping jaw (403).

6. The gas pipeline dismounting robot device for mine according to claim 5, characterized in that, Both the first clamping jaw (402) and the second clamping jaw (403) comprise: an arc-shaped frame (405), the arc-shaped frame (405) of the first clamping jaw (402) being arranged on the rotating piece (401), and the arc-shaped frame (405) of the second clamping jaw (403) being swingably arranged on the rotating piece (401), a plurality of rotating support pieces (406) rotatably arranged on the arc-shaped frame (405) and used for abutting against a gas pipeline.

7. The mine gas pipeline dismounting robot device according to claim 2, characterized in that, The civil air defense support frame (8) comprises: A support plate (801) is swingably arranged at the end of the swing support frame (7), A guardrail box (802) is arranged on the support plate (801).

8. The gas pipeline dismounting robot device for mine according to claim 1, characterized in that, Further comprising: A roadway support (14) is swingably arranged at the end of the roadway support arm (3) for abutting with the sidewall of the roadway.

9. The gas pipeline dismounting robot device for mine according to claim 1, characterized in that, Further comprising: A track (15) is circularly arranged on the frame (1).

10. The gas pipeline dismounting robot device for mine according to claim 1, characterized in that, Further comprising: A support foot (17) is swingably arranged at the end of the telescopic support arm (2).

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