CN-122013840-A - Underground sump dredging robot and underwater cleaning method thereof

CN122013840ACN 122013840 ACN122013840 ACN 122013840ACN-122013840-A

Abstract

An underground sump dredging robot and an underwater cleaning method thereof belong to the technical field of mine cleaning equipment. The robot comprises a walking chassis, a crushing mechanism, an aggregate deslagging assembly and a controller, wherein the crushing mechanism is arranged at the front end of the walking chassis and comprises a low-speed crushing roller and a high-speed crushing roller which are arranged in parallel and are opposite in rotation direction, the diameter of the high-speed crushing roller is larger than that of the low-speed crushing roller, and the lifting support, the first regulating mechanism and the second regulating mechanism work cooperatively to enable the low-speed crushing roller and the high-speed crushing roller to be switched between two working states of horizontal side by side and vertical dislocation. The underwater cleaning method comprises the steps of breaking through the underwater cleaning method at fixed points in a horizontal side-by-side state to form a break, and switching to an up-down dislocation state, so that the low-speed breaking roller is positioned below the plate junction layer, the high-speed breaking roller is positioned above the plate junction layer and cuts into an uncleaned area, and the plate junction layer is pushed and stripped along the boundary annular direction. According to the invention, the posture of the crushing roller can be dynamically adjusted according to the operation stage, both fixed-point crushing and efficient stripping are considered, and the dredging efficiency is remarkably improved.

Inventors

Geng tengfei
JIA XU
CHEN YIN
GENG YUNFEI
WANG WEIDONG
LI TENG
YU SHUHUA
JIA XIAOPENG
ZHOU MENG
Song Linhao
ZHANG QINGCHAO
QU TAO

Assignees

洛阳腾威矿山设备有限公司

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. The utility model provides a water sump dredging robot in pit which characterized in that includes: A walking chassis (1); Crushing mechanism (2), set up in the front end of walking chassis (1), crushing mechanism (2) include: a low-speed crushing roller (21) and a high-speed crushing roller (22), wherein the low-speed crushing roller (21) is arranged in parallel with the high-speed crushing roller (22) and has opposite rotation directions, and the diameter of the high-speed crushing roller (22) is larger than that of the low-speed crushing roller (21); The lifting bracket (23) is arranged at the front end of the walking chassis (1) and is used for driving the low-speed crushing roller (21) and the high-speed crushing roller (22) to synchronously lift; A first adjusting mechanism (24) connected between the lifting bracket (23) and the low-speed crushing roller (21) and used for independently adjusting the front-back position and the up-down position of the low-speed crushing roller (21) relative to the lifting bracket (23); the second adjusting mechanism (25) is connected between the lifting bracket (23) and the high-speed crushing roller (22) and is used for independently adjusting the front-back position and the up-down position of the high-speed crushing roller (22) relative to the lifting bracket (23); The low-speed crushing roller (21) and the high-speed crushing roller (22) have a first working state and a second working state; In the first working state, the low-speed crushing roller (21) and the high-speed crushing roller (22) are horizontally arranged side by side; In the second working state, the low-speed crushing roller (21) and the high-speed crushing roller (22) are arranged in a vertically staggered mode, and the low-speed crushing roller (21) is located below the high-speed crushing roller (22).
2. A downhole sump dredging robot according to claim 1, wherein the diameter of the low speed crushing roller (21) ranges from 300mm to 400mm, the diameter of the high speed crushing roller (22) ranges from 450mm to 550mm, and the diameter difference of the high speed crushing roller (22) and the low speed crushing roller (21) ranges from 150mm to 200mm.
3. The underground sump dredging robot according to claim 1, wherein the lifting support (23) is a lifting platform driven by a hydraulic cylinder, the low-speed crushing roller (21) is rotatably connected with the first adjusting mechanism (24) through a first roller frame (26), and the high-speed crushing roller (22) is rotatably connected with the second adjusting mechanism (25) through a second roller frame (27).
4. The underground sump dredging robot according to claim 1, wherein a plurality of large crushing teeth (211) are arranged on the surface of the low-speed crushing roller (21), a plurality of small crushing teeth (221) are arranged on the surface of the high-speed crushing roller (22), and the rotation speed ratio of the low-speed crushing roller (21) to the high-speed crushing roller (22) is 1:1.5-1:3.
5. The downhole sump dredging robot according to claim 1, further comprising an aggregate deslagging assembly (3), the aggregate deslagging assembly (3) comprising: The collecting hopper (31) is arranged behind the crushing mechanism (2) and below the low-speed crushing roller (21) and the high-speed crushing roller (22), the front section of the collecting hopper (31) forms a bucket shape, the rear section forms a funnel shape with wide front and narrow rear, and the top of the front end of the collecting hopper (31) is provided with a slag baffle (311) extending upwards; and a slurry pump (32), wherein a suction inlet of the slurry pump (32) is communicated with a discharge port of the collecting hopper (31) through a pipeline.
6. The underground water sump dredging robot according to claim 5, wherein the aggregate and slag discharging assembly (3) further comprises a third adjusting mechanism (33), and the third adjusting mechanism (33) is in transmission connection with the collecting hopper (31) and is used for driving the collecting hopper (31) to move along the front-back direction of the walking chassis (1).
7. The downhole sump dredging robot of any one of claims 1-6, further comprising: The positioning module (4) is arranged above the front end of the walking chassis (1) and is used for acquiring the position information of the walking chassis (1) in real time and recording the boundary of the cleaned area; The path control module (5) is arranged at the rear part of the walking chassis (1) and is electrically connected with the positioning module (4) and used for controlling the walking chassis (1) to automatically walk along the boundary of the cleaned area; The torque detection module (6) is arranged at the driving shaft end of the low-speed crushing roller (21) and the driving shaft end of the high-speed crushing roller (22) and is used for detecting the crushing torque in real time; And the controller (7) is arranged on the walking chassis (1) and is electrically connected with the torque detection module (6), the positioning module (4) and the path control module (5).
8. An underwater cleaning method based on the underground sump dredging robot as claimed in claim 7, comprising the steps of: Step S1, controlling the traveling chassis (1) to move to a target operation area, adjusting the low-speed crushing roller (21) and the high-speed crushing roller (22) to be horizontally arranged side by side through the first adjusting mechanism (24) and the second adjusting mechanism (25), and driving the low-speed crushing roller (21) and the high-speed crushing roller (22) to integrally descend to be in contact with a hardening layer through the lifting bracket (23), so that the low-speed crushing roller (21) and the high-speed crushing roller (22) rotate in a differential mode to bite and strip a plate junction layer until a rupture opening exposing a lower silt layer is formed at the target point; And S2, controlling the traveling chassis (1) to move to the edge of the cleaned area, adjusting the low-speed crushing roller (21) and the high-speed crushing roller (22) to be arranged in a vertically staggered mode through the first adjusting mechanism (24) and the second adjusting mechanism (25), enabling the low-speed crushing roller (21) to be positioned below the plate bonding layer, enabling the high-speed crushing roller (22) to be positioned above the plate bonding layer and cut into the plate bonding layer of the uncleaned area, and controlling the traveling chassis (1) to move along the boundary of the cleaned area, so that the crushing mechanism (2) gradually peels off the plate bonding layer from the cleaned area to the uncleaned area.
9. The underwater cleaning method of the underground sump dredging robot according to claim 8, wherein in the step S2, the height difference between the low-speed crushing roller (21) and the high-speed crushing roller (22) is adjusted by the first adjusting mechanism (24) and the second adjusting mechanism (25), the low-speed crushing roller (21) is abutted against the lower surface of the hardened layer to form a support, and the high-speed crushing roller (22) cuts into the side surface of the hardened layer at a preset height.
10. The underwater cleaning method of the underground sump dredging robot according to claim 8, wherein in the step S1, the controller (7) controls the low-speed crushing roller (21) and the high-speed crushing roller (22) to rotate in a low-speed high-torque mode and gradually increases a cutting depth according to a feedback signal of the torque detection module (6), and in the step S2, the controller (7) controls the low-speed crushing roller (21) and the high-speed crushing roller (22) to rotate in a high-speed large-cutting-amount mode and controls the traveling chassis (1) to continuously move along a cleaned area boundary.

Description

Underground sump dredging robot and underwater cleaning method thereof Technical Field The invention relates to the technical field of mine cleaning equipment, in particular to an underground sump dredging robot and an underwater cleaning method thereof. Background The underground water sump is an important component of drainage systems of coal mines and non-coal mines and is used for collecting underground water and precipitating sediment. After long-term operation, a large amount of sludge can be deposited at the bottom of the water sump, and the surface layer of the sludge forms a high-strength hardening layer under the effects of water flow scouring, standing and compaction, and the lower layer is the flow plastic sludge. The hardened layer has high hardness and high toughness, is difficult to effectively crush in a conventional dredging mode, and becomes a main bottleneck for limiting the cleaning efficiency of the sump. At present, the dredging of the underground water sump mainly adopts the following modes: and 3, manually dredging, namely manually entering a water sump, crushing the plate junction layer by using tools such as a pneumatic pick and the like, and then pumping and discharging by matching with a slurry pump. The mode has the advantages of high labor intensity, severe operation environment, high safety risk and extremely low efficiency. The bucket is matched with a slurry pump, namely, the bucket enters a water sump, and is pumped and discharged by the slurry pump after being used for crushing the plate layers, as disclosed in Chinese patent CN 112892004A. Because the water sump space is narrow, the ground is wet and slippery, the excavator is limited in operation, the bucket is poor in crushing effect, and the plate layer is difficult to thoroughly clean. The single-structure dredging robots are some dredging robots in recent years, such as an automatic dredging system for underground mine water bins, disclosed in Chinese patent CN119824974A, which adopts a crawler-type travelling mechanism to be matched with a slurry pump for pumping. The equipment is mainly suitable for silt with good fluidity, can not effectively suck hardened materials for a surface layer high-strength plate layer, and has unsatisfactory cleaning effect. The double-roller crushing equipment has mature differential double-roller crushing technology in the field of material crushing, such as a double-shaft differential material crusher disclosed in Chinese patent CN202538833U, and realizes extrusion and shearing crushing of materials through differential rotation of two rollers. However, the equipment is usually used for ground material crushing operation, the position and the posture of a roller body are fixed, and the equipment cannot adapt to complex and changeable hardening layer working conditions in a narrow underground space. To sum up, when current desilting equipment is handling the compound operating mode of water sump upper strata knot, lower floor's silt in the pit, clean mechanism position and gesture are fixed, can't be according to operation stage dynamic adjustment, are difficult to compromise two kinds of operation demands of fixed point breakage and high-efficient stripping, and are not enough to high strength slab layer's bite ability and crushing efficiency. Disclosure of Invention In order to overcome the defects in the background technology, the invention discloses an underground sump dredging robot and an underwater cleaning method thereof. In order to achieve the above purpose, the invention adopts the following technical scheme: An underground sump dredging robot and an underwater cleaning method thereof, comprising the following steps: a walking chassis; crushing mechanism, set up in the front end of walking chassis, crushing mechanism includes: the low-speed crushing roller and the high-speed crushing roller are arranged in parallel and opposite in rotation direction, and the diameter of the high-speed crushing roller is larger than that of the low-speed crushing roller; The lifting bracket is arranged at the front end of the walking chassis and is used for driving the low-speed crushing roller and the high-speed crushing roller to synchronously lift; The first adjusting mechanism is connected between the lifting bracket and the low-speed crushing roller and is used for independently adjusting the front-back position and the upper-lower position of the low-speed crushing roller relative to the lifting bracket; The second adjusting mechanism is connected between the lifting bracket and the high-speed crushing roller and used for independently adjusting the front and back positions and the upper and lower positions of the high-speed crushing roller relative to the lifting bracket; The low-speed crushing roller and the high-speed crushing roller have a first working state and a second working state; in the first working state, the low-speed crushing roller and the high-speed crushing roller are