CN109910914B - Mining working face inspection robot and working method thereof - Google Patents
Mining working face inspection robot and working method thereof Download PDFInfo
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- CN109910914B CN109910914B CN201910277169.4A CN201910277169A CN109910914B CN 109910914 B CN109910914 B CN 109910914B CN 201910277169 A CN201910277169 A CN 201910277169A CN 109910914 B CN109910914 B CN 109910914B
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- 238000007689 inspection Methods 0.000 title claims abstract description 58
- 238000005065 mining Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 37
- 239000010959 steel Substances 0.000 claims abstract description 37
- 230000009471 action Effects 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000001931 thermography Methods 0.000 claims description 3
- 239000007789 gas Substances 0.000 description 18
- 239000000428 dust Substances 0.000 description 10
- 239000003245 coal Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000007665 sagging Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
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- 239000011435 rock Substances 0.000 description 2
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- 238000005406 washing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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Abstract
The invention relates to a mining working face inspection robot and a working method thereof, which belong to the field of mining inspection robots, wherein the device comprises a robot body and a travelling mechanism; the robot body comprises a guide wheel and an equipment box body, a module required for inspection is arranged in the equipment box body, a traveling wheel set and a traveling motor are arranged at the bottom of the equipment box body, and the traveling motor controls the rotation of the traveling wheel set; the advancing mechanism comprises a supporting frame and an auxiliary supporting frame, the top end of the advancing mechanism is provided with a steel wire rope, the steel wire rope provides a track for the guide wheel, and the supporting frame and the auxiliary supporting frame are further provided with chains for providing support for the advancing wheel set. The robot body can walk along the steel wire rope and carry out inspection under the action of the advancing mechanism, the measuring range is wider, the advancing is stable, and the structure is flexible.
Description
Technical Field
The invention relates to the field of mining inspection robots, in particular to a mining working face inspection robot and a working method thereof.
Background
The fully-mechanized coal mining face generally comprises a coal mining machine, a scraper conveyor, a hydraulic support and other devices. The coal face is a first production site of coal, has small operation space, more mechanical equipment, poor visual environment and high temperature, and frequent safety accidents in the region seriously affect the safety management work of the whole coal mine, and is a key region in the coal mine safety management work.
The working state of the fully mechanized mining face is checked in real time by adopting a special inspection robot, and once abnormal conditions exist, information can be fed back to workers in time, so that accidents can be prevented from happening, and the occurrence probability of the accidents is greatly reduced; although related inspection robots exist in the prior art, for example, a travelling mode that a friction wheel drives a steel wire rope to move and then the steel wire rope drives the robot to move is adopted in the chinese patent document (application number CN 201710008322.4). However, with this technique, the weight of the long-distance wire rope is considerable, and driving the wire rope by a motor tends to consume a large amount of energy, resulting in extremely low efficiency. Meanwhile, the flexibility of the robot can be greatly limited, because only one robot can be pulled on the steel wire rope, the inspection efficiency is low. And the existing inspection robot is unstable in advancing, and because the working face environment is complex, the air quality is poor, and dust and foreign matters are more. After a period of robot work, the surface may become dusty. If not cleaned in time, the collection precision of various sensor modules and cameras is seriously affected, and the working environment cannot be effectively monitored.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the mining working face inspection robot which can realize informatization and unmanned inspection of the fully mechanized mining working face, improve the inspection reliability, avoid the unreliability brought by adopting experience in the past by manual inspection and is more beneficial to realizing the safe production of coal mines.
The invention also provides a working method of the inspection robot.
The technical scheme adopted by the invention is as follows:
A mining working face inspection robot comprises a robot body and a travelling mechanism;
The robot body comprises a guide wheel and an equipment box body, the equipment box body is connected to the guide wheel through a bearing rod, a control module, an ultrasonic sensor, an audio acquisition module, a gas acquisition module, a positioning module, an information transmission module, a video acquisition module and a storage battery, which are connected with the control module, are arranged in the equipment box body, a traveling wheel set and a traveling motor are arranged at the bottom of the equipment box body, and the traveling motor controls the rotation of the traveling wheel set;
The travelling mechanism comprises supporting frames at two ends and an auxiliary supporting frame arranged between the supporting frames, wherein a steel wire rope is arranged at the top ends of the supporting frames and the auxiliary supporting frame, guide wheels are arranged on the steel wire rope, the steel wire rope is used for providing a track for the guide wheels, a chain is further arranged on the supporting frames and the auxiliary supporting frame, travelling wheel sets are arranged on the chain, and the chain is used for providing support for the travelling wheel sets.
The supporting frame plays a main supporting role, and the auxiliary supporting frame is arranged in the middle of the supporting frames at the two ends and used for auxiliary supporting and limiting sagging deformation of the steel wire rope and the chain in the advancing process. The robot body can walk along the steel wire rope and carry out inspection under the action of the travelling mechanism.
Preferably, the robot body further comprises a first steering motor and a steering bracket, the steering bracket is connected with the travelling wheel group, the first steering motor is fixedly connected with the equipment box body, and the output end of the first steering motor is connected with the steering bracket through a flange; one end of the bearing rod is connected with the equipment box body through a bearing. The equipment box body can rotate along the vertical direction shaft under the drive of the first steering motor, so that the inspection range is enlarged.
Further preferably, the other end of the bearing rod is connected with the guide wheel through a pin shaft.
Preferably, the equipment box body is also internally provided with an equipment board, and the equipment board is provided with an ultrasonic sensor and a video acquisition module. Is convenient to replace.
Further preferably, the equipment box body is also provided with a second steering motor, and the output end of the second steering motor is connected with one end of the equipment board. The rotation of the second steering motor can drive the equipment plate to rotate along the horizontal axial direction, so that the sensing and collecting angles are adjusted.
Preferably, grooves are formed in the top ends of the supporting frame and the auxiliary supporting frame, and steel wire ropes are arranged in the grooves. The groove is used for supporting the steel wire rope, so that the steel wire rope maintains certain straightness as much as possible.
Preferably, the chain comprises a first chain and a second chain which are arranged in parallel, and a connecting rod is arranged between the first chain and the second chain. The connecting rod is used for keeping the parallel state between the two chains, and the parallel structure can keep the relative positions of the two chains unchanged, so that the chains can advance along with the change of the positions of the support frames. When the support frame moves, the distance between the two chains is hardly changed, and the grasping force of the chain wheel to the chains in the running process of the robot body can be enhanced, so that the smoothness of the movement of the robot body is ensured.
Further preferably, the support frame and the auxiliary support frame are provided with support frame convex blocks, the connecting rod is provided with two convex blocks, the two convex blocks are arranged at two ends of the support frame convex blocks, and the horizontal distance between the two convex blocks is larger than the horizontal width of the support frame convex blocks. The connecting rod can be fixed on the support frame through the two lugs and the support frame lug, so that the chain can be further stabilized; and the interval between two lugs on the connecting rod is greater than the width of support frame lug, is not tight silk joint between the lug of support frame lug and the lug of connecting rod, but has certain interval for leave sufficient space, be convenient for the removal of chain, two chains can slide on auxiliary stay frame through the connecting rod, satisfy the production reality that in practice support moved the frame.
Further preferably, the travelling wheel set comprises a driving sprocket and a driven sprocket, the driving sprocket and the driven sprocket are respectively matched with the first chain and the second chain, and the driving sprocket is connected with the travelling motor. Through advancing motor drive driving sprocket rotation, driven sprocket auxiliary rotation, two sprockets and two chains can make the device advance more stable, and a triangle-shaped mechanism is constituteed to a leading wheel at accessible top and two sprockets of bottom this moment, has improved the stability of equipment box in the operation in-process, and equipment can not rock about, more helps improving the precision of robot collection data.
Further preferably, the travelling wheel set comprises two driving chain wheels and four driven chain wheels; the two driving chain wheels are respectively arranged on the opposite outer sides of the first chain and the second chain, and the four driven chain wheels are respectively arranged on the opposite inner sides of the first chain and the second chain. The stable advancing of the robot body is further stabilized by increasing the number of the chain wheels and designing the distribution of the driven chain wheels of the driving chain wheels.
Preferably, the mining working face inspection robot further comprises a cleaning mechanism, wherein the cleaning mechanism comprises a dryer, an electric windscreen wiper, a water tank and a water jet; the cleaning mechanism is arranged on the support frame, the water tank is fixedly arranged on the support frame, the support plate is arranged on the upper side of the water tank, and the electric windscreen wiper, the dryer and the water jet are arranged on the support plate. Combine and adopt working face environment abominable, the dust is more, in order to guarantee the cleanness on equipment box body surface, designed wiper mechanism, when the robot body need wash, can march to wiper mechanism department and wash, guarantee the operation precision, extension operating time. The cleaning mechanism can directly utilize the drying-machine to blow and handle the attached dust, also can utilize water tank, water jet, electronic wiper to wash, need utilize the drying-machine to blow dry after the washing to avoid causing the dust to be more easy to adhere to because of equipment box body surface is moist.
Preferably, the mining working face inspection robot further comprises a tensioning mechanism, the tightness degree of the advancing mechanism can be timely adjusted, the robot body can be guaranteed to normally walk, and the tensioning mechanism comprises a balancing weight, a tensioning chain wheel, a shelf, a tension detection sensor and a tensioning motor; the balancing weight is connected at the tail end of the steel wire rope, the shelf is fixedly arranged on the supporting frame, the tensioning motor is fixedly arranged on the shelf, the output end of the tensioning motor is connected with the first chain and the second chain respectively through the tensioning chain wheels, and the tension detection sensor is fixedly arranged on the first chain and the second chain. The purpose of installing the balancing weight is that the lengths of the wire rope and the chain for hoisting the robot body should be adjustable because the relative positions of the supporting frames on the working surface are changed during the working process. The weight of the robot body and the sagging amount of the steel wire rope are calculated, the balancing weight with proper quality is selected, and the steel wire rope can keep certain straightness as far as possible through reasonable balancing weight. The tensioning motor drives the tensioning chain wheel, and the tensioning chain wheel drives the chain again, so that tensioning of the chain can be achieved. Whether the chain needs to be tensioned or not is determined by the control system to drive the tensioning motor to be tensioned or not, and the tension sensor is used for detecting the tension of the chain, and then information is fed back to the control system, so that the chain tensioning device is more suitable for an actual working environment.
Preferably, the mining working face inspection robot further comprises a standby energy device, wherein the standby energy device comprises an electromagnet, a charging seat, an electric push rod and a spring; one end of the electric push rod is connected to the auxiliary supporting frame, and the other end of the electric push rod is connected with the spring; the charging seat is fixedly connected to the spring, and an electromagnet is arranged on the charging seat; the equipment box body is provided with a charging port which is connected with the charging seat in a matching way. When the electric quantity of the storage battery in the equipment box body is insufficient, the equipment box body can travel to the standby energy device for charging and energy storage.
Preferably, the control module is a PLC module; the positioning module is a GPS positioning module; the information transmission module is a wireless WiFi transmission module and is used for feeding information back to an external general control room; the video acquisition module comprises a high-definition camera and an infrared thermal imaging camera; the gas collection module comprises a sensitive gas sensor, wherein the sensitive gas sensor is used for monitoring the concentration of harmful gases such as gas on a working surface and feeding information back to the control module in time. The PLC is adopted for control, so that the PLC has good stability and strong anti-interference capability, and is suitable for complex environments of underground working surfaces of coal mines; when the ultrasonic sensor works, ultrasonic waves can be emitted outwards, and the ultrasonic sensor can be used for judging whether accidents such as lasting and the like occur or not; the audio acquisition module is used for acquiring sound generated on the working surface; by adopting GPS positioning, the current position of the robot body can be accurately determined, and once the inspection robot detects that a dangerous condition exists at a certain position of the working surface, the position of the robot body is fed back to a worker at the first time, so that the inspection task of the robot body is completed.
The working method of the mining working face inspection robot comprises the following steps:
When the robot body works, the robot body can reciprocate on the steel wire rope for inspection;
in the running process, when the inspection angle range needs to be adjusted, the equipment box body is controlled to rotate around the vertical direction shaft under the action of the first steering motor, and/or the second steering motor of the equipment box body is controlled to enable the equipment plate to rotate along the horizontal direction shaft inside the equipment box body, so that the monitoring range is expanded;
The ultrasonic sensor, the audio acquisition module, the gas acquisition module, the positioning module and the video acquisition module in the equipment box body detect the condition of the working face in real time, and feed information back to the control module at first time, the control module sends the information to the external general control room through the information transmission module, and workers can analyze the data returned by the robot in the external general control room, so that the working condition of the working face is determined;
when encountering emergency, if the concentration value of certain gas on the working surface rises sharply, the control module inside the equipment box body can make treatment by itself, and give out alarm sounds to remind workers of timely evacuation.
The beneficial effects of the invention are as follows:
(1) According to the invention, the stability of the robot body in the advancing process is ensured by the advancing mode of the cooperation of the steel wire rope and the advancing wheel group, the gripping force between the chain wheel and the chain is enhanced by the driven chain wheel, the accuracy of the data acquisition of the robot is improved, the supporting frame and the advancing track are fixed, and the advancing mode of the autonomous movement of the robot body is realized, so that the robot is lighter and more flexible in structure.
(2) The technical scheme of the invention is that the cleaning mechanism is arranged, the fully mechanized working face has complex environment, poor air quality and more dust and foreign matters, and the surface of the robot body is fully covered with dust after the robot body works for a period of time. If not cleaned in time, the collection precision of various sensor modules and cameras is seriously affected, the working environment cannot be effectively monitored, and the problems can be effectively solved by arranging the cleaning device.
(3) According to the invention, the standby energy device is arranged, so that once the fact that the electric quantity of the storage battery is insufficient is found, the inspection robot body can travel to the standby energy device for charging.
(4) The technical scheme of the invention has wide measuring range, the robot body can rotate around the vertical direction, the measuring range is wide, the equipment board arranged in the robot body can rotate around the horizontal axis by a certain angle, and the measuring range of the ultrasonic sensor and the video acquisition module arranged on the equipment board is wider.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of a robot body structure according to the present invention.
Fig. 3 is a schematic diagram of the matching relationship between the connecting rod and the chain in the present invention.
Fig. 4 is a schematic structural view of a tensioning mechanism in the present invention.
Fig. 5 is a schematic view of a cleaning mechanism according to the present invention.
FIG. 6 is a schematic diagram of the relationship between the chain and sprocket in the present invention.
Fig. 7 is a schematic structural diagram of a standby energy device according to the present invention.
Wherein: 1. a support frame; 2. a robot body; 201. a guide wheel; 202. a load-bearing rod; 203. an equipment board; 204. an ultrasonic sensor; 205. an audio acquisition module; 206. a gas collection module; 207. a control module; 208. a steering bracket; 209. a travel motor; 210. a drive sprocket; 211. a driven sprocket; 212. a transmission rod; 213. a storage battery; 214. a first steering motor; 215. a positioning module; 216. an information transmission module; 217. a second steering motor; 218. a video acquisition module; 219. an equipment box body; 220. a pin shaft; 3. an auxiliary supporting frame; 301. a groove; 302. a support frame bump; 303. a first chain; 304. a second chain; 305. a connecting rod; 306. a bump; 4. a wire rope; 5. a tensioning mechanism 501, a counterweight; 502. tensioning the chain wheel; 503. a shelf 504, a tension motor 505, a tension detection sensor; 6. a traveling wheel set; 7. a cleaning mechanism 701, a dryer 702, and an electric wiper; 703. a water tank; 704. a water jet; 8. a standby energy device; 801. an electromagnet; 802. a charging stand; 803. an electric push rod; 804. a spring; 805. and a charging port.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The application is described in further detail below with reference to the drawings and examples:
Example 1:
As shown in fig. 1, the mining working face inspection robot comprises a robot body 2 and a travelling mechanism.
The robot body 2 comprises a guide wheel 201 and an equipment box body 219, the equipment box body 219 is connected to the guide wheel 201 through a bearing rod 202, a control module 207, an ultrasonic sensor 204 connected with the control module, an audio acquisition module 205, a gas acquisition module 206, a positioning module 215, an information transmission module 216, a video acquisition module 218 and a storage battery 213 are arranged in the equipment box body 219, and an advancing wheel set 6 and an advancing motor 209 are arranged at the bottom of the equipment box body 219 and control the rotation of the advancing wheel set.
The travelling mechanism comprises a supporting frame 1 arranged at two ends and an auxiliary supporting frame 3 arranged between the supporting frames, wherein a steel wire rope 4 is arranged at the top ends of the supporting frame 1 and the auxiliary supporting frame 3, a guide wheel 201 is arranged on the steel wire rope 4, the steel wire rope 4 is used for providing a track for the guide wheel 201, chains are further arranged on the supporting frame 1 and the auxiliary supporting frame 3, travelling wheel groups are arranged on the chains, and the chains are used for providing support for the travelling wheel groups.
The supporting frames at the two ends of the whole working surface play a main supporting role, and the auxiliary supporting frames are arranged in the middle of the supporting frames at the two ends and used for auxiliary supporting and limiting sagging deformation of the steel wire ropes and the chains in the advancing process. The robot body can walk along the steel wire rope and carry out inspection under the action of the travelling mechanism, the number of the robot bodies is not limited, and the number of the robot bodies can be set according to actual working conditions.
Example 2:
The mining working face inspection robot has the structure as in the embodiment 1, except that the robot body 2 further comprises a first steering motor 214 and a steering bracket 208, the steering bracket 208 is connected with the travelling wheel set, the first steering motor 214 is fixedly connected with the equipment box body 219, and the output end of the first steering motor 214 is connected with the steering bracket 208 through a flange; one end of the bearing rod 202 is connected with the equipment box body 219 through a bearing, and the other end of the bearing rod 202 is connected with the guide wheel 201 through a pin 220. The equipment box body can rotate along the vertical direction shaft under the drive of the first steering motor, so that the inspection range is enlarged.
Example 3:
The mining working face inspection robot has the structure as in embodiment 2, except that the equipment box body 219 is further provided with an equipment board 203, and the equipment board 203 is provided with an ultrasonic sensor 204 and a video acquisition module 218. Is convenient to replace.
Example 4:
The mining working face inspection robot is structured as described in embodiment 3, except that a second steering motor 217 is further provided on the equipment box body 219, and as shown in fig. 2, an output end of the second steering motor 217 is connected to one end of the equipment board 203. The rotation of the second steering motor can drive the equipment plate to rotate along the horizontal axial direction, so that the sensing and collecting angles are adjusted.
Example 5:
The mining working face inspection robot has the structure as in the embodiment 1, except that grooves 301 are formed in the top ends of the supporting frame 1 and the auxiliary supporting frame 3, and as shown in fig. 3, steel wire ropes 4 are arranged in the grooves 301. The groove is used for supporting the steel wire rope, so that the steel wire rope maintains certain straightness as much as possible.
Example 6:
The mining working face inspection robot is structurally characterized by comprising a first chain 303 and a second chain 304 which are arranged in parallel, wherein a connecting rod 305 is arranged between the first chain 303 and the second chain 304, as shown in fig. 3. The connecting rod is used for keeping the parallel state between the two chains, and the parallel structure can keep the relative positions of the two chains unchanged, so that the chains can advance along with the change of the positions of the support frames. When the support frame moves, the distance between the two chains is hardly changed, and the grasping force of the chain wheel to the chains in the running process of the robot body can be enhanced, so that the smoothness of the movement of the robot body is ensured.
Example 7:
The mining working face inspection robot has the structure as in embodiment 6, and is different in that support frame protrusions 302 are arranged on the support frame 1 and the auxiliary support frame 3, two protrusions 306 are arranged on the connecting rod 305, the two protrusions 306 are arranged at two ends of the support frame protrusions 302, and the horizontal distance between the two protrusions is larger than the horizontal width of the support frame protrusions. The connecting rod can be fixed on the support frame through the two lugs and the support frame lug, so that the chain can be further stabilized; and the interval between two lugs on the connecting rod is greater than the width of support frame lug, is not tight silk joint between the lug of support frame lug and the lug of connecting rod, but has certain interval for leave sufficient space, be convenient for the removal of chain, two chains can slide on auxiliary stay frame through the connecting rod, satisfy the production reality that in practice support moved the frame.
Example 8:
The mining working face inspection robot is structurally characterized by comprising a driving sprocket and a driven sprocket as shown in fig. 2, wherein the driving sprocket 210 and the driven sprocket 211 are respectively matched with a first chain 303 and a second chain 304, and the driving sprocket 210 is connected with a travelling motor 209. Through advancing motor drive driving sprocket rotation, driven sprocket auxiliary rotation, two sprockets and two chains can make the device advance more stable, and a triangle-shaped mechanism is constituteed to a leading wheel at accessible top and two sprockets of bottom this moment, has improved the stability of equipment box in the operation in-process, and equipment can not rock about, more helps improving the precision of robot collection data.
Example 9:
A mining working face inspection robot has a structure as in embodiment 6, except that the traveling wheel set comprises two driving sprockets and four driven sprockets, as shown in fig. 6; two driving sprockets 210 are disposed on opposite outer sides of the first chain 303 and the second chain 304, respectively, and four driven sprockets 211 are disposed on opposite inner sides of the first chain 303 and the second chain 304, respectively. The robot body can be further stabilized to stably advance by increasing the number of the chain wheels and designing the distribution of the driven chain wheels of the driving chain wheels. The sprocket pattern of this embodiment is another design similar to that of embodiment 8.
Example 10:
A mining working face inspection robot is as described in embodiment 8, except that the mining working face inspection robot further comprises a cleaning mechanism 7, as shown in fig. 5, the cleaning mechanism 7 comprises a dryer 701, an electric wiper 702, a water tank 703 and a water jet 704; the cleaning mechanism is arranged on the support frame 1, the water tank 703 is fixedly arranged on the support frame, a support plate is arranged on the upper side of the water tank 703, an electric wiper 702, a dryer 703 and a water spraying opening 704 are arranged on the support plate, water in the water tank is sprayed to the water spraying opening through a water pump, and the electric wiper is used for assisting in scraping dust on the surface. Combine and adopt working face environment abominable, the dust is more, in order to guarantee the cleanness on equipment box body surface, designed wiper mechanism, when the robot body need wash, can march to wiper mechanism department and wash, guarantee the operation precision, extension operating time. The cleaning mechanism can directly utilize the drying-machine to blow and handle the attached dust, also can utilize water tank, water jet, electronic wiper to wash, need utilize the drying-machine to blow dry after the washing to avoid causing the dust to be more easy to adhere to because of equipment box body surface is moist.
Example 11:
the mining working face inspection robot is structurally characterized by also comprising a tensioning mechanism 5, wherein the tensioning mechanism 5 can timely adjust the tightness degree of the travelling mechanism and ensure that a robot body can walk normally, and as shown in fig. 4, the tensioning mechanism 5 comprises a balancing weight 501, a tensioning chain wheel 502, a shelf 503, a tension detection sensor 505 and a tensioning motor 504; the balancing weight 501 is connected at the tail end of the steel wire rope 4, the shelf 503 is fixedly arranged on the support frame 1, the shelf 503 is fixedly provided with a tensioning motor 504, the output end of the tensioning motor 504 is connected with the first chain 303 and the second chain 304 respectively through a tensioning sprocket 502, and the tail end of the chain is fixedly connected with the tensioning sprocket. The tension detection sensor 505 is fixedly provided on the first chain 303 and the second chain 304. The purpose of installing the balancing weight is that the lengths of the wire rope and the chain for hoisting the robot body should be adjustable because the relative positions of the supporting frames on the working surface are changed during the working process. The weight of the robot body and the sagging amount of the steel wire rope are calculated, the balancing weight with proper quality is selected, and the steel wire rope can keep certain straightness as far as possible through reasonable balancing weight. The tensioning motor drives the tensioning chain wheel, and the tensioning chain wheel drives the chain again, so that tensioning of the chain can be achieved. Whether the chain needs to be tensioned or not is determined by the control system to drive the tensioning motor to be tensioned or not, and the tension sensor is used for detecting the tension of the chain, and then information is fed back to the control system, so that the chain tensioning device is more suitable for an actual working environment.
Example 12:
The mining working face inspection robot is structurally characterized by comprising a standby energy device 8 as shown in fig. 7, wherein the standby energy device 8 comprises an electromagnet 801, a charging seat 802, an electric push rod 803 and a spring 804; one end of the electric push rod 803 is connected to the auxiliary supporting frame 3, and the other end of the electric push rod 803 is connected with a spring 804; the charging seat 802 is fixedly connected to the spring 804, and the electromagnet 801 is arranged on the charging seat 802; the equipment box body 219 is provided with a charging port 805, and the charging port 805 is connected with the charging seat 802 in a matching way. When the electric quantity of the storage battery in the equipment box body is insufficient, the equipment box body can be charged and stored at the position of the standby energy device.
Example 13:
A mining working face inspection robot having the structure as in embodiment 8, except that the control module is a PLC module; the positioning module is a GPS positioning module; the information transmission module is a wireless WiFi transmission module and is used for feeding information back to an external general control room; the video acquisition module comprises a high-definition camera and an infrared thermal imaging camera; the gas collection module comprises a sensitive gas sensor, wherein the sensitive gas sensor is used for monitoring the concentration of harmful gases such as gas on a working surface and feeding information back to the control module in time. The modules adopted in the embodiment are all existing modules, and are controlled by a PLC, so that the PLC has good stability and strong anti-interference capability, and is suitable for complex environments of underground working surfaces of coal mines; when the ultrasonic sensor works, ultrasonic waves can be emitted outwards, and the ultrasonic sensor can be used for judging whether accidents such as lasting and the like occur or not; the audio acquisition module is used for acquiring sound generated on the working surface; by adopting GPS positioning, the current position of the robot body can be accurately determined, and once the inspection robot detects that a dangerous condition exists at a certain position of the working surface, the position of the robot body is fed back to a worker at the first time, so that the inspection task of the robot body is completed.
Example 14:
the working method of the mining working face inspection robot according to the embodiment 8 comprises the following steps:
when the robot body 2 works, the robot body 2 reciprocates on the steel wire rope 4 for inspection;
In the running process, when the inspection angle range needs to be adjusted, an external general control room sends out an instruction through an information transmission module, the equipment box body 219 is controlled to rotate around a vertical direction shaft under the action of the first steering motor 214, and/or the second steering motor 217 of the equipment box body is controlled to enable the equipment board 203 to rotate along a horizontal direction shaft inside the equipment box body 219, so that the monitoring range is expanded;
The ultrasonic sensor 204, the audio acquisition module 205, the gas acquisition module 206, the positioning module 215 and the video acquisition module 218 in the equipment box body detect the condition of the working surface in real time, and feed information back to the control module 207 at the first time, the control module 207 sends the information to an external general control room through the information transmission module 216, and a worker can analyze the data returned by the robot in the external general control room, so that the working condition of the working surface is determined;
when an emergency occurs, if the concentration value of a certain gas on the working surface rises sharply, the gas acquisition module acquires data and displays abnormality, the control module 207 in the equipment box body 219 can make treatment by itself, and an alarm sound is sent to remind workers of evacuation in time.
The present invention is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matters of the present invention can be made by those skilled in the art without departing from the scope of the present invention.
Claims (4)
1. The mining working face inspection robot is characterized by comprising a robot body and a travelling mechanism;
The robot body comprises a guide wheel and an equipment box body, the equipment box body is connected to the guide wheel through a bearing rod, a control module, an acquisition module, an information transmission module and a storage battery, which are connected with the control module, are arranged in the equipment box body, and a traveling wheel set and a traveling motor are arranged at the bottom of the equipment box body and control the rotation of the traveling wheel set;
a positioning module is further arranged in the equipment box body and is connected with the control module; the acquisition module comprises an ultrasonic sensor, an audio acquisition module, a gas acquisition module and a video acquisition module;
The control module is a PLC module; the positioning module is a GPS positioning module; the information transmission module is a wireless WiFi transmission module and is used for feeding information back to an external general control room; the video acquisition module comprises a high-definition camera and an infrared thermal imaging camera; the gas acquisition module comprises a sensitive gas sensor, wherein the sensitive gas sensor is used for monitoring the concentration of harmful gas and feeding back information to the control module;
The travelling mechanism comprises supporting frames at two ends and an auxiliary supporting frame arranged between the supporting frames, wherein steel wire ropes are arranged at the top ends of the supporting frames and the auxiliary supporting frame, guide wheels are arranged on the steel wire ropes, the steel wire ropes are used for providing rails for the guide wheels, chains are further arranged on the supporting frames and the auxiliary supporting frame, travelling wheel sets are arranged on the chains, and the chains are used for providing support for the travelling wheel sets;
The chain comprises a first chain and a second chain which are arranged in parallel, and a connecting rod is arranged between the first chain and the second chain; the support frame and the auxiliary support frame are respectively provided with a support frame lug, the connecting rod is provided with two lugs, the two lugs are arranged at two ends of the support frame lug, and the horizontal distance between the two lugs is larger than the horizontal width of the support frame lug;
The robot body further comprises a first steering motor and a steering bracket, the steering bracket is connected with the travelling wheel set, the first steering motor is fixedly connected with the equipment box body, and the output end of the first steering motor is connected with the steering bracket through a flange; one end of the bearing rod is connected with the equipment box body through a bearing; the other end of the bearing rod is connected with a guide wheel through a pin shaft; grooves are formed in the top ends of the supporting frame and the auxiliary supporting frame, and steel wire ropes are arranged in the grooves;
An equipment board is also arranged in the equipment box body, and an ultrasonic sensor and a video acquisition module are arranged on the equipment board; the equipment box body is also provided with a second steering motor, and the output end of the second steering motor is connected with one end of the equipment board;
The mining working face inspection robot further comprises a tensioning mechanism, wherein the tensioning mechanism comprises a balancing weight, a tensioning chain wheel, a shelf, a tension detection sensor and a tensioning motor; the balancing weight is connected to the tail end of the steel wire rope, the shelf is fixedly arranged on the support frame, the tensioning motor is fixedly arranged on the shelf, the output end of the tensioning motor is respectively connected with the first chain and the second chain through the tensioning chain wheel, and the tension detection sensor is fixedly arranged on the first chain and the second chain;
The mining working face inspection robot further comprises a cleaning mechanism, wherein the cleaning mechanism comprises a dryer, an electric windscreen wiper, a water tank and a water jet; the cleaning mechanism is arranged on the support frame, the water tank is fixedly arranged on the support frame, the support plate is arranged on the upper side of the water tank, and the electric windscreen wiper, the dryer and the water jet are arranged on the support plate.
2. The mining face inspection robot of claim 1, wherein the traveling wheel set comprises a driving sprocket and a driven sprocket, the driving sprocket and the driven sprocket are respectively matched with the first chain and the second chain, and the driving sprocket is connected with the traveling motor;
Or the travelling wheel set comprises two driving chain wheels and four driven chain wheels; the two driving chain wheels are respectively arranged on the opposite outer sides of the first chain and the second chain, and the four driven chain wheels are respectively arranged on the opposite inner sides of the first chain and the second chain.
3. The mining face inspection robot of claim 1, further comprising a backup energy device comprising an electromagnet, a charging stand, an electric push rod, a spring; one end of the electric push rod is connected to the auxiliary supporting frame, and the other end of the electric push rod is connected with the spring; the charging seat is fixedly connected to the spring, and an electromagnet is arranged on the charging seat; the equipment box body is provided with a charging port which is connected with the charging seat in a matching way.
4. A method of operation using the mine work surface inspection robot of claim 1, comprising the steps of:
When the robot body works, the robot body can reciprocate on the steel wire rope for inspection;
In the running process, when the inspection angle range needs to be adjusted, the equipment box body is controlled to rotate around a vertical direction shaft under the action of the first steering motor, and/or the second steering motor of the equipment box body is controlled to enable the equipment plate to rotate along a horizontal direction shaft inside the equipment box body;
The ultrasonic sensor, the audio acquisition module, the gas acquisition module, the positioning module and the video acquisition module in the equipment box body detect the condition of the working face in real time, and feed information back to the control module, the control module sends the information to the external general control room through the information transmission module, and workers can analyze the data returned by the robot in the external general control room, so that the working condition of the working face is determined;
when encountering emergency, the control module inside the equipment box body makes treatment by itself, and sounds an alarm to remind workers of timely evacuation.
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| CN110972369A (en) * | 2019-11-11 | 2020-04-07 | 西安天和防务技术股份有限公司 | Patrol robot system based on intelligent lamp |
| CN111525317B (en) * | 2020-04-27 | 2021-07-23 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN114426033B (en) * | 2021-12-31 | 2024-04-19 | 淮北矿业股份有限公司 | Monkey car wire rope promotes stretch-draw fastener |
| CN115122301B (en) * | 2022-09-01 | 2022-11-22 | 山西科达自控股份有限公司 | Mounting type inspection robot |
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