WO2024239679A1 - Coal mine rubber-tyred vehicle auxiliary transport roadway accumulated dust cleaning robot - Google Patents

Abstract

The present invention belongs to the technical field of coal mine roadway accumulated dust cleaning, and relates to a coal mine rubber-tyred vehicle auxiliary transport roadway accumulated dust cleaning robot, which aims to solve problems, such as low efficiency and poor safety, of existing coal mine rubber-tyred vehicle auxiliary transport roadway accumulated dust cleaning work. In the present invention, a coal mine power facility accumulated dust damp-type wiping device, a wet-type accumulated dust rinsing device, an automatic navigation system and an electro-hydraulic control system are provided on an electric drive rubber-tyred walking platform, such that the robot can automatically navigate and advance, and is driven by the electro-hydraulic control system to work in a coal mine roadway, so as to clean dust accumulated on power cables, two sides, the roof and the floor of the roadway. The present invention uses a damp-wet combined mode to clean the dust, comprising the dust accumulated on the power cables, accumulated on the auxiliary transport roadway, thereby effectively improving the efficiency and safety of the coal mine rubber-tyred vehicle auxiliary transport roadway accumulated dust cleaning work, and reducing labor intensity and danger.

Description

A dust cleaning robot for auxiliary transport lanes of rubber-wheeled vehicles in coal mines Technical Field

The invention belongs to the technical field of coal mine lane dust cleaning, and relates to a coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot.

Background Art

The auxiliary transportation tunnel in the coal mine is an important part of the production and operation of the coal mine. In addition to coal transportation, personnel, materials, equipment, and supplies must be transported through the auxiliary transportation system. Auxiliary transportation in coal mines mainly includes two forms: rail transportation and trackless rubber-wheeled vehicle transportation. Due to the harsh underground environment, a large amount of dust is easily accumulated inside the auxiliary transportation tunnel, which not only affects the air quality of the tunnel and endangers the health of personnel, but also increases the risk of fire and explosion. Therefore, timely and effective cleaning of dust accumulation inside the auxiliary transportation tunnel is an important measure to ensure safe production in coal mines.

At present, the auxiliary transportation of underground coal mines at home and abroad adopts the method of manual driving and manual dispatching, and the system and equipment are not intelligent. The research on vehicle intelligence and automatic driving at home and abroad mainly focuses on civilian and military vehicles. There is still a blank in the research on auxiliary transportation intelligence and automatic driving technology and equipment in the coal field. At present, the dust suppression and dust removal work in the auxiliary transportation of underground coal mines at home and abroad basically adopts the method of watering and dust suppression by sprinkler trucks combined with manual flushing of the lane walls, and the effect also consumes a lot of manpower and material resources and is not ideal. In the process of governance, not only a lot of manpower and material resources are consumed, but also the air quality of the lane is reduced, which has a great impact on people's health and the lane environment.

Therefore, there is an urgent need for a device that can automatically, efficiently and safely clean the dust accumulated inside the auxiliary transport lane.

Summary of the invention

In view of this, the purpose of the present invention is to solve the problem of cleaning dust accumulation in coal mine tunnels, and to provide a coal mine rubber-wheeled vehicle auxiliary transport tunnel dust cleaning robot, which can automatically navigate inside the auxiliary transport tunnel and use a combination of tidal and wet methods to clean the dust inside the auxiliary transport tunnel, including dust accumulated on power pipelines, thereby improving cleaning efficiency and quality and reducing safety risks.

In order to achieve the above object, the present invention provides the following technical solutions:

A dust cleaning robot for auxiliary transport lanes of a rubber-wheeled vehicle in a coal mine, comprising a dust tidal wiping device for coal mine power facilities, a wet dust flushing device, an automatic navigation system and an electro-hydraulic control system arranged on an electric-driven rubber-wheeled walking platform; the electric-driven rubber-wheeled walking platform, the dust tidal wiping device for coal mine power facilities, the wet dust flushing device and the automatic navigation system are all connected to the electro-hydraulic control system;

The electric-driven rubber-wheeled walking platform is navigated and moved by the automatic navigation system, and operates in the coal mine tunnel under the drive of the electro-hydraulic control system; the dust wiping device for coal mine power facilities is arranged on the electric-driven rubber-wheeled walking platform The front end of the device cleans the dust on the power pipelines in the tunnel under the control of the electro-hydraulic control system; the wet dust flushing device cleans the dust on the sides, top plate and bottom plate of the tunnel under the control of the electro-hydraulic control system.

Furthermore, the coal mine power facility dust wiping device includes a lateral positioning and moving device, a tidal wiping mechanical arm, and a tunnel cable dust wiping device; the lateral positioning and moving device is fixedly arranged at the front end of the electric drive rubber wheel type walking platform, the tunnel cable dust wiping device is arranged at the upper end of the tidal wiping mechanical arm, and the tidal wiping mechanical arm is rotatably connected to the lateral positioning and moving device through a hydraulic rotating disk; the tidal wiping mechanical arm realizes lateral movement under the drive of the lateral positioning and moving device, and realizes adjustment of the circumferential angle under the drive of the hydraulic rotating disk; the tunnel cable dust wiping device realizes position and angle adjustment under the drive of the tidal wiping mechanical arm.

Furthermore, the lane cable dust wiping device comprises a roller mounting frame, a roller brush, and a spray device; the roller brush is rotatably mounted on the roller mounting frame through a rotating shaft; a spiral swing hydraulic motor is provided between the roller mounting frame and the mechanical arm, and the roller mounting frame rotates under the drive of the spiral swing hydraulic motor to adjust the angle of the roller brush;

The rotating shaft is connected with a hydraulic cycloidal motor, and the drum-type brush is driven by the hydraulic cycloidal motor to rotate and wipe the cable; the spray device is fixed on the drum mounting frame and sprays toward the drum-type brush.

Furthermore, the tide-type wiping robot arm includes a first articulated arm and a second articulated arm; one end of the first articulated arm is hinged to the hydraulic rotating disk, and the other end is hinged to the second articulated arm, and the tunnel cable dust wiping device is hinged to an end of the second articulated arm away from the first articulated arm; hydraulic cylinders are respectively hinged between the first articulated arm and the hydraulic rotating disk, between the first articulated arm and the second articulated arm, and between the second articulated arm and the tunnel cable dust wiping device, and relative rotation is achieved through the hydraulic cylinders.

Furthermore, the lateral positioning and moving device includes a slide base, a slide plate, and a multi-stage hydraulic cylinder; the hydraulic rotating disk is arranged on the slide plate, the slide base is provided with a transversely arranged sliding guide rail, and the slide plate is slidably arranged on the sliding guide rail; the slide plate is connected to the multi-stage hydraulic cylinder, and slides under the drive of the multi-stage hydraulic cylinder to achieve lateral displacement; an installation position is provided on the hydraulic rotating disk for connecting the tide-type wiping robot arm.

Furthermore, the wet dust flushing device includes a wet flushing device for both sides of a coal mine tunnel, a wet flushing device for the roof of a coal mine tunnel, and a wet flushing device for the bottom plate of a tunnel; the wet flushing device for both sides of a coal mine tunnel and the wet flushing device for the roof of a coal mine tunnel are both retractable structures to adapt to the size of the tunnel; the wet flushing device for the bottom plate of the tunnel is arranged below the electric-driven rubber-wheeled walking platform to flush the bottom plate of the tunnel downward; the wet flushing device for the roof of a coal mine tunnel is arranged at the rear end of the electric-driven rubber-wheeled walking platform to flush the roof of the tunnel upward; the wet flushing device for both sides of a coal mine tunnel is also arranged at the rear end of the electric-driven rubber-wheeled walking platform to flush both sides of the tunnel to both sides.

Furthermore, the wet flushing device on both sides of the coal mine tunnel includes a lifting arm, a telescopic arm, and a water spray frame; the telescopic arm is fixedly arranged on the lifting arm, and the water spray frame is fixedly arranged at one end of the telescopic arm away from the lifting arm; a nozzle is arranged on the water spray frame; the water spray frame can adjust its position state under the drive of the lifting arm and the telescopic arm; the water spray frame includes a main pipe and a plurality of branch pipes, the main pipe is connected to the telescopic arm, the branch pipe is vertically connected to the main pipe and is evenly distributed along the main pipe; the nozzle is arranged at the end of the branch pipe and is aligned with both sides along the axial direction of the branch pipe; there are two telescopic arms, which are respectively telescoped toward the two ends of the lifting arm, and each telescopic arm is provided with at least one water spray frame.

Furthermore, the wet flushing device for the roof of a coal mine tunnel includes a water spray frame and a lifting mechanism; the water spray frame is fixedly arranged at the top of the lifting mechanism, and is driven to rise and fall by the lifting mechanism to adapt to the height of the roof; a plurality of nozzles are arranged on the water spray frame, and the nozzles are connected to a water pumping device to spray water and flush the roof of the tunnel; the water spray frame includes a water collecting pipe and a guide frame; the water collecting pipe is arranged on the guide frame, and the guide frame is arranged at the top of the lifting mechanism and is slidably connected to the lifting mechanism; the lifting mechanism drives the guide frame to slide up and down, thereby driving the water collecting pipe to move; a rotating mechanism is arranged between the water collecting pipe and the guide frame, and the angle of the water collecting pipe is adjusted by the rotating mechanism, thereby changing the angle between the nozzle water flow and the roof.

Furthermore, the electric-driven rubber-wheeled walking platform is also provided with an automatic water tank; the automatic water tank comprises a box body, a water tank cover, and a flap mechanism, a water outlet pipe is provided at the bottom of the box body, and the water outlet pipe is respectively connected to the dust tidal wiping device and the wet dust flushing device of the coal mine power facility for clean water supply; a liquid level sensor is provided in the box body, and the water tank cover is rotatably arranged on the water inlet of the box body through the flap mechanism, and the water tank cover is driven by the flap mechanism according to the liquid level information fed back by the liquid level sensor to realize the opening and closing of the water inlet; a lifting mechanism and a retractable bellows are provided in the water inlet, the lifting mechanism is fixedly arranged in the water inlet, one end of the bellows is fixedly arranged in the water inlet, and the other end is connected to the retractable end of the lifting mechanism, and is extended or retracted along the water inlet under the drive of the lifting mechanism.

Furthermore, the electric-driven rubber-wheeled walking platform, the coal mine power facility dust tidal wiping device, and the wet dust flushing device are all provided with sensors for detecting their positions and operating states. The sensors are connected to the electro-hydraulic control system, and the electro-hydraulic control system controls the operation of each device according to the sensor signals.

The beneficial effects of the present invention are:

1. The coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot provided by the present invention can automatically navigate inside the auxiliary transport lane, and use a combination of tidal and wet methods to clean the dust inside the auxiliary transport lane, including dust on power pipelines, thereby improving cleaning efficiency and quality and reducing safety risks.

2. The coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot provided by the present invention adopts an electric-driven rubber-wheeled walking platform as a mobile carrier, and has the characteristics of small size, light weight, simple operation, strong adaptability, etc.

3. The dust cleaning robot for auxiliary transport lanes of rubber-wheeled vehicles in coal mines provided by the present invention adopts a combination of a tidal wiping device for dust accumulation in coal mine power facilities and a wet dust flushing device, which can effectively clean dust accumulation on power pipelines and other facilities while avoiding Damage to facilities.

4. The coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot provided by the present invention adopts an automatic navigation system and an electro-hydraulic control system, which can realize autonomous walking and cleaning operations, reduce manual intervention, and improve the level of intelligence.

5. The coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot provided by the present invention adopts an automatic water filling tank, which can automatically open and close the water inlet according to the information fed back by the liquid level sensor, thereby realizing autonomous management of clean water supply.

Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

FIG1 is an overall schematic diagram of a dust cleaning robot for auxiliary transport lanes of a rubber-wheeled vehicle in a coal mine according to the present invention.

FIG. 2 is a schematic diagram of an electric-driven rubber-wheeled walking platform in the present invention.

FIG3 is an overall schematic diagram of the wet-type dust wiping device for coal mine power facilities of the present invention.

FIG. 4 is an axonometric view of the wet-type dust wiping device for coal mine power facilities according to the present invention.

FIG. 5 is a control schematic diagram of the spray device in the present invention.

FIG. 6 is a schematic diagram of a rotating disk in the present invention.

FIG. 7 is a schematic diagram of a lateral positioning moving device in the present invention.

FIG8 is an overall schematic diagram of the wet flushing device for both sides of a coal mine tunnel according to the present invention.

FIG. 9 is a front view of the wet flushing device for both sides of a coal mine tunnel according to the present invention.

FIG. 10 is an overall schematic diagram of the wet flushing device for the roof of a coal mine tunnel according to the present invention.

FIG. 11 is a schematic diagram of the lifting mechanism in the wet flushing device for the roof of a coal mine tunnel.

FIG. 12 is an overall schematic diagram of the automatic water adding tank in the present invention.

Reference numerals: 11-electric drive rubber wheel walking platform; 12-dust tidal wiping device for coal mine power facilities; 13-wet flushing device for both sides of coal mine tunnels; 14-wet flushing device for coal mine tunnel roof; 15-wet flushing device for tunnel floor; 16-automatic water tank; 17-electro-hydraulic control system; 111-powertrain system; 112-electrical system; 113-explosion-proof battery box; 114-control console; 115-wire control pedal; 116-motor; 117-explosion-proof electric steering system for mines; 118-explosion-proof wheels; 121-channel cable dust wiping device; 122-tidal wiping mechanical arm; 123-rotating plate; 124-lateral positioning moving device; 125-tidal cleaning control system; 1211-roller mounting frame; 1212-roller brush; 1213-spraying device; 1214-rotating shaft; 1215-spiral swing hydraulic motor; 1216-hydraulic cycloidal motor; 1217-distance sensor; 1218-cable sensing sensor; 1219-flow-pressure Adjustment device; 122-tide-type wiping mechanical arm; 1221-first joint arm; 1222-second joint arm; 1223-first hydraulic cylinder; 1224-second hydraulic cylinder; 123-rotating plate; 1231-slewing bearing; 1232-hydraulic motor; 124-lateral positioning moving device; 1241-slide base; 1242-slide plate; 1243-multi-stage hydraulic motor; 1244-sliding guide rail; 125-tide-type cleaning control system; 131-base; 132-lifting arm; 133-telescopic arm; 134-spraying frame; 1321-lifting cylinder; 1322-guide column ;1323-slider;1331-telescopic cylinder;1332-metal pipe;135-sprinkler;136-steering mechanism;137-two-side control system;141-spray rack;142-lifting mechanism;143-top plate control system;144-nozzle;145-guide rack;146-rotation mechanism;147-fixed rack;148-lifting cylinder;149-distance measuring instrument;161-tank;162-water tank cover;163-opening mechanism;164 liquid level sensor;165-bellows;166-lifting mechanism;167-laser radar;168-water tank control system.

DETAILED DESCRIPTION

The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

Please refer to Figures 1 to 12, which are a dust cleaning robot for auxiliary transport lanes of coal mine rubber-wheeled vehicles, including a dust tidal wiping device 12 for coal mine power facilities, a wet dust flushing device, an automatic water tank 16, an automatic navigation system and an electro-hydraulic control system 17 installed on an electric-driven rubber-wheeled walking platform 11; the electric-driven rubber-wheeled walking platform, the dust tidal wiping device 11 for coal mine power facilities, the wet dust flushing device, the automatic navigation system, and the automatic water tank 16 are all connected to the electro-hydraulic control system 17;

The electric-driven rubber-wheeled walking platform 11 is navigated and moved by an automatic navigation system, and operates in the coal mine tunnel under the drive of an electro-hydraulic control system 17; a dust-accumulated wet wiping device 12 for coal mine power facilities is installed at the front end of the electric-driven rubber-wheeled walking platform 11, The dust accumulated on the power pipelines in the tunnel is cleaned under the control of the electro-hydraulic control system 17; the wet dust flushing device cleans the dust accumulated on the two sides, top plate and bottom plate of the tunnel under the control of the electro-hydraulic control system 17.

The wet dust flushing device comprises a wet flushing device 13 for both sides of the coal mine tunnel, a wet flushing device 14 for the top plate of the coal mine tunnel, and a wet flushing device 15 for the bottom plate of the tunnel; the wet flushing device 13 for both sides of the coal mine tunnel and the wet flushing device 14 for the top plate of the coal mine tunnel are both retractable structures to adapt to the size of the tunnel; the wet flushing device 15 for the bottom plate of the tunnel is installed under the electric-driven rubber-wheeled walking platform 11 to flush the bottom plate of the tunnel downwards; the wet flushing device 14 for the top plate of the coal mine tunnel is installed under the electric-driven rubber-wheeled walking platform 11 to flush the bottom plate of the tunnel downwards The rear end of the rubber-wheeled walking platform 11 is used to flush the tunnel roof upwards; the wet flushing device 13 on both sides of the coal mine tunnel is also installed at the rear end of the electric-driven rubber-wheeled walking platform 11 to flush the two sides of the tunnel toward both sides; the automatic water tank 16 is installed on the electric-driven rubber-wheeled walking platform 11 to supply water to the dust-accumulated tidal wiping device 12 of the coal mine power facilities, the wet flushing device 13 on both sides of the coal mine tunnel, the wet flushing device 14 on the coal mine tunnel roof, and the wet flushing device 15 on the tunnel floor.

The electric-drive rubber-wheeled walking platform 11 includes a powertrain system 111, an electrical system 112, and an automatic navigation system; the powertrain system 111 includes a braking system, a mining explosion-proof electric steering system 117, a transmission drive system, and a chassis assembly; the braking system includes two independent systems, a service brake and a parking brake. The service brake is used to ensure the braking of the platform during normal movement; the parking brake is a fail-safe type to ensure that the walking platform still has sufficient braking capacity when a fault occurs or the motor 116 stops working; the mining explosion-proof electric steering system 117 controls the electric The machine 116 controls the direction of the vehicle in the mode of angle servo instead of the driver, and executes the steering and power-assistance instructions sent by the controller through CAN communication to realize the intelligence of the vehicle steering system; the transmission drive system includes a transmission system and a wire-controlled drive system, which are used to drive the walking platform to move; the electrical system 112 includes an explosion-proof battery box 113, a frequency converter, a console 114, a sensor, an automatic protection device, a communication system, and a display instrument; the console 114 integrates the vehicle VCU and various domain controllers to control the powertrain system 111 and the electrical system 112. The service brake includes hydraulic brake and electric feedback brake; the hydraulic brake system includes wet brakes, brake valves, accumulators, and hydraulic hoses; the automatic navigation system includes an inertial navigation system, a laser radar, and a visual sensor installed on the powertrain system 111 to realize the mobile navigation of the walking platform.

The wet brake is installed on the wheels of the chassis assembly, and its braking force is controlled by a foot-operated hydraulic valve; the accumulator is used to ensure that the platform still has a certain braking ability when the motor 116 stops working, ensuring driving safety; the electric feedback brake is used to prevent the hydraulic brake from overheating and charge the battery at the same time. The braking system communicates with the domain controller through CAN and executes the deceleration command and braking command sent by the domain controller.

The braking system controls the braking pressure range of 0-100%, the braking accuracy is 0.5%, the braking response delay is <200ms, and the braking release time is <200ms. The mining explosion-proof electric steering system 117 includes a driving steering axle, a steering gear, and a steering wheel; the motor 116 drives the steering gear to provide power; the steering rate is controlled at 50-540 degrees/s; the steering accuracy: the steering wheel accuracy error is within ±1°; the angle and control signal transmission rate is ≤100ms.

The transmission system includes a flameproof variable frequency traction motor, a reduction gearbox, a transmission shaft, and a driving steering axle. The flameproof variable frequency traction motor drives the driving steering axle through the reduction gearbox. The wire-controlled drive system includes a vehicle VCU, a wire-controlled pedal 115, a motor controller, and a driving motor. In the automatic driving mode, the forward, reverse, and speed of the mobile platform are automatically controlled.

The drive-by-wire system communicates with the controller via CAN, executes the accelerator instructions sent by the on-board domain controller, and realizes the vehicle acceleration function. The acceleration range is: 0~0.3g, and the accelerator control accuracy is 0.05g; the maximum accelerator response delay: <100ms; the accelerator release time: <100ms.

The chassis assembly includes a bracket and at least four explosion-proof wheels 118; the explosion-proof wheels 118 are elastically connected to the bracket, and a shock absorber and a stabilizer bar are provided to ensure the suspension performance and stability. The explosion-proof wheels 118 adopt a tubeless structure and are equipped with explosion-proof devices and self-sealing materials. When pierced by a sharp object, they can self-repair through the self-sealing materials.

The coal mine power facility dust wiping device 12 includes a tunnel cable dust wiping device 121, a tidal wiping mechanical arm 122, a rotating disk 123, a lateral positioning moving device 124, a tidal cleaning control system 125 and other components.

The lane cable dust wiping device 121 is installed at the upper end of the tide-type wiping mechanical arm 122, and is used to wipe and clean the power pipeline. The lane cable dust wiping device 121 includes a roller mounting frame 1211, a roller brush 1212, a spray device 1213 and other components. The roller brush 1212 is rotatably mounted on the roller mounting frame 1211 through a rotating shaft 1214. A spiral swing hydraulic motor 1215 is provided between the roller mounting frame 1211 and the tide-type wiping mechanical arm 122. The roller mounting frame 1211 rotates under the drive of the spiral swing hydraulic motor 1215 to adjust the angle of the roller brush 1212. A hydraulic cycloid motor 1216 is connected to the rotating shaft 1214, and the roller brush 1212 rotates under the drive of the hydraulic cycloid motor 1216 to wipe the cable. The spray device 1213 is fixedly mounted on the roller mounting frame 1211 and sprays toward the roller brush 1212. The spray device 1213 is provided with a flow-pressure regulating device 1219 and a flow-pressure sensor, which are both connected to the tidal cleaning control system 125 for monitoring and controlling the spray parameters. The lane cable dust wiping device 121 also includes a cable sensing sensor 1218 and a distance sensor 1217; the cable sensing sensor 1218 and the distance sensor 1217 are both connected to the tidal cleaning control system 125 and are fixedly mounted on the roller mounting frame 1211 for sensing whether there is a cable and the distance to the cable. The roller mounting frame 1211 is also provided with a stain protection cover, which covers one side of the roller brush 1212 to prevent stains from flying around when the roller brush rotates.

The tide-type wiping robot arm 122 includes a first articulated arm 1221, a second articulated arm 1222 and other components. One end of the first articulated arm 1221 is hinged to the rotating disk 123, and the other end is hinged to the second articulated arm 1222. The lane cable dust wiping device 121 is hinged to the end of the second articulated arm 1222 away from the first articulated arm 1221. Hydraulic cylinders are hinged between the first articulated arm 1221 and the rotating disk 123, between the first articulated arm 1221 and the second articulated arm 1222, and between the second articulated arm 1222 and the lane cable dust wiping device 121, and relative rotation is achieved through the hydraulic cylinders. The first hydraulic cylinder 1223 is located between the first articulated arm 1221 and the rotating disk 123, and is used to adjust the angle of the first articulated arm 1221 relative to the rotating disk 123; the second hydraulic cylinder 1224 Located between the first articulated arm 1221 and the second articulated arm 1222, it is used to adjust the angle of the second articulated arm 1222 relative to the first articulated arm 1221; the third hydraulic cylinder (not marked) is located between the second articulated arm 1222 and the lane cable dust wiping device 121, and is used to adjust the angle of the lane cable dust wiping device 121 relative to the second articulated arm 1222.

The rotating disk 123 is a hydraulically controlled rotating disk, including a base, a slewing bearing, a worm, a hydraulic motor and other components. The slewing bearing 1231 is rotatably mounted on the base and is fixedly connected to the tide-type wiping mechanical arm 122. A worm gear is provided on the slewing bearing 1231, and the hydraulic motor 1232 is connected to the worm, and the worm and the worm gear cooperate, and the hydraulic motor 1232 drives the slewing bearing 1231 to rotate through the worm gear structure.

The lateral positioning and moving device 124 includes a slide base 1241, a slide plate 1242, a multi-stage hydraulic cylinder 1243 and other components. The rotating disk 123 is fixedly mounted on the slide plate 1242, the slide base 1241 is provided with a transversely arranged sliding guide rail 1244, and the slide plate 1242 is slidably mounted on the sliding guide rail 1244. The slide plate 1242 is connected to one end of the multi-stage hydraulic cylinder 1243, and slides under the drive of the multi-stage hydraulic cylinder 1243 to achieve lateral displacement.

The working process of the dust wiping device 12 for coal mine power facilities is as follows: first, the cable sensing sensor 1218 and the distance sensor 1217 detect whether there is a cable and the distance to the cable, and transmit the detection result to the tide-type cleaning control system 125; then, the tide-type cleaning control system 125 controls the tide-type wiping mechanical arm 122, the rotating disk 123, the lateral positioning moving device 124 and other components according to the detection result, so that the roadway cable dust wiping device 121 can adaptively track and fit the position and shape of the power pipeline; then, the tide-type cleaning control system The system 125 controls the flow-pressure regulating device 1219 and the flow-pressure sensor according to the preset spray parameters, so that the spray device 1213 sprays an appropriate amount of cleaning liquid to the roller brush 1212; at the same time, the tidal cleaning control system 125 controls the hydraulic cycloid motor 1216 and the spiral swing hydraulic motor 1215 according to the preset speed parameters, so that the roller brush 1212 rotates at an appropriate speed and angle to perform tidal wiping on the power pipeline; finally, the mobile platform moves along the direction of the lane and the power pipeline to achieve continuous cleaning of the power pipeline.

Among them, the wet flushing device 133 on both sides of the coal mine tunnel includes a base 131, a lifting arm 132, a telescopic arm 133, and a water spray frame 134; the telescopic arm 133 is fixedly installed on the lifting arm 132, and the water spray frame 134 is fixedly installed on the end of the telescopic arm 133 away from the lifting arm 132; a nozzle 135 is provided on the water spray frame 134, and the nozzle 135 is connected to the water pumping device; the water spray frame 134 can adjust its position state under the drive of the lifting arm 132 and the telescopic arm 133.

The water spray rack 134 includes a main pipe and a plurality of branch pipes. The main pipe is connected to the telescopic arm 133. The branch pipes are vertically connected to the main pipe and are evenly distributed along the main pipe. The spray heads 135 are installed at the ends of the branch pipes and are aligned with both sides along the axis direction of the branch pipes.

The lifting arm 132 includes a lifting cylinder 1321, a guide column 1322 and a slider 1323. The piston rod of the lifting cylinder 1321 is connected to the slider 1323. The slider 1323 slides up and down along the guide column 1322. The telescopic arm 133 is fixedly mounted on the slider 1323. The telescopic arm 133 includes a telescopic cylinder 1331 and two metal tubes 1332 that are sleeved together. One of the metal tubes 1332 is fixedly mounted on the slider 1323, and the other metal tube 1332 is fixedly mounted on the water spray frame 134. The piston rod of the telescopic cylinder 1331 is connected to the slider 1323. One end is connected to a metal tube 1332 , and the other end is connected to another metal tube 1332 .

There are two telescopic arms 133 , which are respectively telescopic toward two ends of the lifting arm 132 , and each telescopic arm 133 is provided with at least one water spraying frame 134 .

The lifting arm 132 and the telescopic arm 133 are both mounted on the base 131; the base 131 is also provided with a wheel set for moving in the tunnel. A steering mechanism 136 is provided at one end of the telescopic arm 133 close to the water spraying frame 134, and the water spraying frame 134 is mounted on the steering mechanism 136, and the steering mechanism 136 controls the angle between the water flow of the nozzle 135 and the two sides of the tunnel.

The wet flushing device 13 for both sides of the coal mine tunnel in this embodiment further includes a control system 137 for both sides, which is connected to the pumping device, the lifting arm 132, the telescopic arm 133 and the rotating mechanism 136, and is used to control the start and stop and operating parameters of the pumping device, the lifting arm 132, the telescopic arm 133 and the rotating mechanism 136. The telescopic arm 133 is also provided with a distance measuring instrument 138 connected to the control system 137 for both sides of the tunnel, and is used to measure the distance from both sides of the tunnel.

The working process of the wet flushing device 13 for both sides of the coal mine tunnel is as follows: first, the wet flushing device 13 for both sides of the coal mine tunnel is installed on the electric drive rubber wheel walking platform 11, and it is transported to the tunnel that needs to be cleaned. Then the two-side control system 137 is started, and the relevant parameters are input. At this time, the lifting cylinder 1321 will drive the slider 1323 to move up and down along the guide column 1322, and at the same time drive the telescopic cylinder 1331 and the metal pipe 1332 to extend or retract along the two ends of the lifting arm 132. When the slider 1323 moves to the appropriate position, the water spraying frame 134 will be kept at a certain distance from the top of the tunnel. At the same time, the telescopic cylinder 1331 will drive the metal pipe 1332 to extend or retract along the two ends of the lifting arm 132. When the metal pipe 1332 is extended to a suitable length, the water spraying frame 134 will be kept at a certain distance from the two sides of the tunnel. In addition, the steering mechanism 136 will adjust the angle between the water flow of the nozzle 135 and the two sides of the tunnel according to the input parameters. When all positions and angles are adjusted, the water pumping device can be started to start the flushing operation. At this time, the water pumping device will transport water to each nozzle 135 through the main pipe and the branch pipe, and the water will be ejected from the nozzle 135 in a high-pressure form. Since the nozzle 135 is aimed at both sides along the axis of the branch pipe, and the branch pipes are evenly distributed along the main pipe, it is possible to achieve full coverage and uniform flushing of both sides of the lane. When the flushing is completed, the water pumping device can be stopped, and the lifting cylinder 1321, the telescopic cylinder 1331 and the steering mechanism 136 can be retracted.

The wet flushing device 14 for the roof of a coal mine tunnel includes a water spraying frame 141, a lifting mechanism 142, and a roof control system 143; the water spraying frame 141 is fixedly installed at the top of the lifting mechanism 142, and the lifting mechanism 142 drives the water spraying frame 141 to rise and fall to adapt to the height of the roof; a plurality of nozzles 144 are arranged on the water spraying frame 141, and the nozzles 144 are connected to the water pumping device to spray water on the roof of the tunnel. The water spraying frame 141 includes a water collecting pipe and a guide frame 145; the water collecting pipe is installed on the guide frame 145, and the guide frame 145 is installed at the top of the lifting mechanism 142 and is slidably connected to the lifting mechanism 142; the lifting mechanism 142 drives the guide frame 145 to slide up and down, thereby driving the water collecting pipe to move. The lifting mechanism 142 includes a fixed frame 147 and a lifting cylinder 148; a guide hole is provided on the fixed frame 147, and the guide frame 145 is slidably installed in the guide hole; the telescopic end of the lifting cylinder 148 passes through the fixed frame 147 and is connected to the guide frame 145, driving the guide frame 145 to slide in the guide hole.

A rotating mechanism 146 is provided between the water collecting pipe and the guide frame 145, and the angle of the water collecting pipe is adjusted by the rotating mechanism 146, thereby changing the angle between the water flow of the nozzle 144 and the top plate. The nozzle 144 is a rotatable nozzle to adjust the direction and range of the water spray.

The coal mine roadway roof wet flushing device 14 of this embodiment further includes a roof control system 143 and a mobile platform. The roof control system 143 is connected to the water pumping device, the lifting mechanism 142 and the rotating mechanism 146, and is used to control the start and stop and operating parameters of the water pumping device, the lifting mechanism 142 and the rotating mechanism 146. The lifting mechanism 142 is also provided with a distance measuring instrument 149 connected to the roof control system 143, which is used to measure the distance from the roadway roof.

The working process of the wet flushing device 14 for the roof of a coal mine tunnel is as follows: first, the wet flushing device 14 for the roof of a coal mine tunnel is installed on the electric-driven rubber-wheeled walking platform 11, and connected to the automatic water tank 16, and then moved to the tunnel that needs to be flushed, and the roof control system 143 is started. The roof control system 143 automatically adjusts the operating status of the lifting mechanism 142 and the rotating mechanism 146 according to the data measured by the distance measuring instrument 149, so that the water spraying frame 141 can adapt to the roofs of tunnels of different heights and shapes, and the nozzle 144 can be aimed at the roof of the tunnel. Then start the water pump device so that the nozzle 144 sprays water to flush the roof of the tunnel. During the flushing process, the nozzle 144 can adjust the direction and range of the water spray as needed to achieve all-round flushing of the roof of the tunnel.

Among them, the tunnel floor wet flushing device 15 is installed at the front and rear ends of the electric-driven rubber-wheeled walking platform 11, and is located at the bottom of the electric-driven rubber-wheeled walking platform 11. When the electric-driven rubber-wheeled walking platform 11 moves, the tunnel floor is flushed.

Among them, the automatic water adding tank 16 includes a tank body 161, a tank cover 162, a cover opening mechanism 163, a liquid level sensor 164, and a water tank control system 168; a water inlet is provided on the tank body 161, and the tank cover 162 is installed on the water inlet; the cover opening mechanism 163 is installed on one side of the water inlet and is connected to the tank cover 162. Under the control of the tank control system 168, the cover opening mechanism 163 drives the tank cover 162 to flip over to realize the opening and closing of the water inlet; the liquid level sensor 164 is installed in the tank body 161, and is used to monitor the water level in the tank body 161, and feed back the water level information to the tank control system 168; the tank control system 168 determines whether water needs to be added according to the water level information fed back by the liquid level sensor 164, and controls the cover opening mechanism 163 and the water adding device to perform automatic water adding operations.

A lifting mechanism 166 and a retractable bellows 165 are provided in the water inlet. The lifting mechanism 166 is fixedly installed in the water inlet. One end of the bellows 165 is fixedly installed in the water inlet, and the other end is connected to the retractable end of the lifting mechanism 166. The bellows 165 is extended or retracted along the water inlet under the drive of the lifting mechanism 166.

The lifting mechanism 166 is an electric, hydraulic or pneumatic telescopic device. The lid opening mechanism 163 is an electric, hydraulic or pneumatic telescopic device. The water tank cover 162 is rotatably connected to the box body 161. One end of the lid opening mechanism 163 is hinged to the box body 161, and the other end is hinged to the water tank cover 162.

A laser radar 167 is also provided on the box 161, and the laser radar 167 is used to obtain the relative position of the box 161 and the autonomous water filling station in the lane to achieve autonomous water filling positioning.

When water is needed, the electric-driven rubber-wheeled walking platform 11 transports the automatic water tank 16 to the automatic water station in the coal mine underground in the tunnel. Then the laser radar 167 is started to scan the surrounding environment, and the scanning results are sent to the water tank control system 168. When the laser radar 167 detects the automatic water station in the coal mine, the relative position between the automatic water tank and the automatic water station in the coal mine is calculated and displayed on the display screen. The operator can adjust the position and direction of the mobile platform and the automatic water tank according to the information on the display screen to align them with the autonomous water station. When the alignment is completed, the automatic water adding operation starts. At this time, the liquid level sensor 164 will detect the current water level in the box body 161 and feed it back to the water tank control system 168. If the current water level is lower than the preset value, it means that water needs to be added. At this time, the cover opening mechanism 163 will drive the water tank cover 162 to flip open the water inlet, and simultaneously start the lifting mechanism 166 and the bellows 165. The lifting mechanism 166 will drive the bellows 165 to extend outward along the water inlet and connect to the outlet on the autonomous water filling station. Then, open the valve at the automatic water filling station in the coal mine and start filling water into the automatic water filling tank 16. When the liquid level sensor 164 detects that the current water level reaches the preset value, it will notify the water tank control system 168. At this time, the automatic water filling station in the mine will close the valve, stop filling water, and close the cover opening mechanism 163 and the lifting mechanism 166 at the same time. The cover opening mechanism 163 will drive the water tank cover 162 to flip over and close the water inlet, and at the same time retract the lifting mechanism 166 and the bellows 165. At this point, the automatic water filling operation is completed.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims (10)

A dust cleaning robot for auxiliary transport lanes of rubber-wheeled vehicles in coal mines, characterized in that it comprises a dust tidal wiping device for coal mine power facilities, a wet dust flushing device, an automatic navigation system and an electro-hydraulic control system arranged on an electric-driven rubber-wheeled walking platform; the electric-driven rubber-wheeled walking platform, the dust tidal wiping device for coal mine power facilities, the wet dust flushing device and the automatic navigation system are all connected to the electro-hydraulic control system; The electric-driven rubber-wheeled walking platform is navigated and moved by the automatic navigation system, and operates in the coal mine tunnels under the drive of the electro-hydraulic control system; the coal mine power facility dust wet wiping device is arranged at the front end of the electric-driven rubber-wheeled walking platform, and cleans the dust on the power pipelines in the tunnels under the control of the electro-hydraulic control system; the wet dust flushing device cleans the dust on the two sides and the top and bottom plates of the tunnels under the control of the electro-hydraulic control system. The dust cleaning robot for the auxiliary transport lane of a rubber-wheeled vehicle in a coal mine according to claim 1 is characterized in that: the dust wiping device for coal mine power facilities comprises a lateral positioning and moving device, a tidal wiping mechanical arm, and a lane cable dust wiping device; the lateral positioning and moving device is fixedly arranged at the front end of the electric-driven rubber-wheeled walking platform, the lane cable dust wiping device is arranged at the upper end of the tidal wiping mechanical arm, and the tidal wiping mechanical arm is rotatably connected to the lateral positioning and moving device through a hydraulic rotating disk; the tidal wiping mechanical arm realizes lateral movement under the drive of the lateral positioning and moving device, and realizes adjustment of the circumferential angle under the drive of the hydraulic rotating disk; the lane cable dust wiping device realizes position and angle adjustment under the drive of the tidal wiping mechanical arm. The dust cleaning robot for auxiliary transport lanes of rubber-wheeled vehicles in coal mines according to claim 2 is characterized in that: the lane cable dust wiping device comprises a roller mounting frame, a roller brush, and a spray device; the roller brush is rotatably mounted on the roller mounting frame through a rotating shaft; a spiral swing hydraulic motor is provided between the roller mounting frame and the mechanical arm, and the roller mounting frame rotates under the drive of the spiral swing hydraulic motor to adjust the angle of the roller brush; The rotating shaft is connected with a hydraulic cycloidal motor, and the drum-type brush is driven by the hydraulic cycloidal motor to rotate and wipe the cable; the spray device is fixed on the drum mounting frame and sprays toward the drum-type brush. The dust cleaning robot for the auxiliary transport lane of a rubber-wheeled vehicle in a coal mine according to claim 2 is characterized in that: the tide-type wiping mechanical arm includes a first joint arm and a second joint arm; one end of the first joint arm is hinged to the hydraulic rotating disk, and the other end is hinged to the second joint arm, and the lane cable dust wiping device is hinged to the end of the second joint arm away from the first joint arm; hydraulic cylinders are respectively hinged between the first joint arm and the hydraulic rotating disk, between the first joint arm and the second joint arm, and between the second joint arm and the lane cable dust wiping device, and relative rotation is achieved through the hydraulic cylinders. The dust cleaning robot for auxiliary transport lanes of rubber-wheeled vehicles in coal mines according to claim 2 is characterized in that: the lateral positioning and moving device comprises a slide base, a slide plate, and a multi-stage hydraulic cylinder; the hydraulic rotating disk is arranged on the slide plate, the slide base is provided with a transversely arranged sliding guide rail, and the slide plate is slidingly arranged on the sliding guide rail; the slide plate and the multi-stage hydraulic cylinder are arranged to move horizontally. The pressure cylinder is connected and slides under the drive of the multi-stage hydraulic cylinder to achieve lateral displacement; a mounting position is provided on the hydraulic rotating disk for connecting the tide-type wiping mechanical arm. The coal mine rubber-wheeled vehicle auxiliary transport lane dust cleaning robot according to claim 1 is characterized in that: the wet dust flushing device includes a wet flushing device for both sides of the coal mine lane, a wet flushing device for the coal mine lane roof, and a wet flushing device for the lane floor; the wet flushing device for both sides of the coal mine lane and the wet flushing device for the coal mine lane roof are both retractable structures to adapt to the lane size; the lane floor wet flushing device is arranged below the electric-driven rubber-wheeled walking platform to flush the lane floor downward; the coal mine lane roof wet flushing device is arranged at the rear end of the electric-driven rubber-wheeled walking platform to flush the lane roof upward; the wet flushing device for both sides of the coal mine lane is also arranged at the rear end of the electric-driven rubber-wheeled walking platform to flush both sides of the lane to both sides. The dust cleaning robot for the auxiliary transport lane of the rubber-tyred vehicle in a coal mine according to claim 6 is characterized in that: the wet flushing device on both sides of the coal mine lane comprises a lifting arm, a telescopic arm and a water spray frame; the telescopic arm is fixedly arranged on the lifting arm, and the water spray frame is fixedly arranged at one end of the telescopic arm away from the lifting arm; a nozzle is arranged on the water spray frame; the water spray frame can adjust the position state under the drive of the lifting arm and the telescopic arm; the water spray frame comprises a main pipe and a plurality of branch pipes, the main pipe is connected to the telescopic arm, the branch pipe is vertically connected to the main pipe and is evenly distributed along the main pipe; the nozzle is arranged at the end of the branch pipe and is aligned with both sides along the axial direction of the branch pipe; there are two telescopic arms, which are respectively extended and retracted toward the two ends of the lifting arm, and each telescopic arm is provided with at least one water spray frame. The dust cleaning robot for the auxiliary transport lane of the rubber-wheeled vehicle in a coal mine according to claim 6 is characterized in that: the wet flushing device for the roof of the coal mine lane includes a water spray frame and a lifting mechanism; the water spray frame is fixedly arranged at the top of the lifting mechanism, and the water spray frame is driven to rise and fall by the lifting mechanism to adapt to the height of the roof; a plurality of nozzles are arranged on the water spray frame, and the nozzles are connected to the water pumping device to spray water on the lane roof; the water spray frame includes a water collecting pipe and a guide frame; the water collecting pipe is arranged on the guide frame, and the guide frame is arranged at the top of the lifting mechanism and is slidably connected to the lifting mechanism; the lifting mechanism drives the guide frame to slide up and down, thereby driving the water collecting pipe to move; a rotating mechanism is arranged between the water collecting pipe and the guide frame, and the angle of the water collecting pipe is adjusted by the rotating mechanism, thereby changing the angle between the nozzle water flow and the roof. The dust cleaning robot for the auxiliary transport lane of a rubber-wheeled vehicle in a coal mine according to claim 1 is characterized in that: the electric-driven rubber-wheeled walking platform is also provided with an automatic water filling tank; the automatic water filling tank comprises a box body, a water tank cover, and a flip-up mechanism, a water outlet pipe is provided at the bottom of the box body, and the water outlet pipe is respectively connected to the dust tidal wiping device and the wet dust flushing device of the coal mine power facility for cleaning water supply; a liquid level sensor is provided in the box body, and the water tank cover is rotatably arranged on the water inlet of the box body through the flip-up mechanism, and the water tank cover is driven by the flip-up mechanism according to the liquid level information fed back by the liquid level sensor to realize the opening and closing of the water inlet; a lifting mechanism and a retractable bellows are provided in the water inlet, the lifting mechanism is fixedly arranged in the water inlet, one end of the bellows is fixedly arranged in the water inlet, and the other end is connected to the retractable end of the lifting mechanism, Driven by the lifting mechanism, it extends out or is retracted along the water inlet. The dust cleaning robot for the auxiliary transport lane of a rubber-wheeled vehicle in a coal mine according to claim 1 is characterized in that the electric-driven rubber-wheeled walking platform, the coal mine power facility dust tidal wiping device, and the wet dust flushing device are all provided with sensors for detecting their positions and operating states, and the sensors are connected to an electro-hydraulic control system, and the electro-hydraulic control system controls the operation of each device according to the sensor signals.