CN112191632B - Intelligent cleaning device for mine storage bin - Google Patents
Intelligent cleaning device for mine storage bin Download PDFInfo
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- CN112191632B CN112191632B CN202011030047.4A CN202011030047A CN112191632B CN 112191632 B CN112191632 B CN 112191632B CN 202011030047 A CN202011030047 A CN 202011030047A CN 112191632 B CN112191632 B CN 112191632B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention relates to an intelligent cleaning device for a mine storage bin, which comprises a wall climbing robot, wherein the wall climbing robot comprises a machine body and crawler-type traveling mechanisms arranged on two sides of the machine body, a magnetic wall suction mechanism used for sucking the inner wall of the mine storage bin is arranged at the chassis of the machine body, and a cleaning mechanism used for cleaning attachments on the inner wall of the mine storage bin is arranged at the other end of the machine body. The magnetic wall-climbing robot is adsorbed by magnetic force by utilizing the magnetic wall-sucking mechanism, so that the wall-climbing robot cannot fall off in the walking process of the inner wall of the mine storage bin; the cleaning mechanism is used for cleaning attachments on the inner wall of the mine storage bin, so that the cleaning effect is good and the cleaning efficiency is high; the measuring error caused by direct contact with coal can be avoided, and the cleaning condition of the inner wall of the mine storage bin can be scanned and analyzed in real time; the wall climbing robot is not limited by the shape of the inner wall of the mine storage bin, and has a wide application range.
Description
Technical Field
The invention relates to an intelligent cleaning device for a mine storage bin, and belongs to the technical field of intelligent mine equipment.
Background
In the mining field, mine storage bins (e.g., coal bunkers) are used to temporarily store finished ore (e.g., coal fines). The phenomenon of material blockage of the mine storage bin is a common problem of the existing mine storage bin.
For example, in a coal mine, if the transportation is not timely, a large amount of silting can happen to the inner wall of the coal bunker, which can affect the service life of the mine storage bunker and reduce the safety guarantee coefficients of the mine storage bunker and the coal conveying system. Therefore, the inner wall of the large mine storage bin is cleaned, and the production efficiency of the coal mine can be improved to a great extent.
The inner wall of the mine storage bin is cleaned, and the common treatment mode is a manual cleaning mode. The manual cleaning is to clean the inner wall of the mine storage bin by using a long-handle shovel and a long-handle brush. If the mine storage bin is large (the inner diameter of the mine storage bin exceeds 10 meters), the hanging operation mode of binding the lifting rope on the body of a worker is usually adopted, and the labor intensity is high.
In the field of cleaning of mine storage bins, a robot is generally adopted for cleaning, and reports are not seen at present. The reason is that the existing robots, especially the wall climbing robots which need to perform wall climbing operation, generally utilize suction cups to adsorb a wall body, and the suction cups generate adsorption force in a vacuumizing mode. For example, a window cleaning robot and a wall climbing robot of Dili electronic technology Co., Ltd. However, the suction force generated by the vacuum pumping method is limited, and if the weight of the robot body is too large or the acting force generated during the operation is too large, the suction wall is likely to fail, so that the 'suction wall' action fails, and the robot drops. For the inner wall of the mine storage bin, because a large amount of coal ash is adsorbed on the inner wall, the thickness of the silted agglomerate is usually 1-10cm, even if the inner wall of the mine storage bin is pre-cleaned in the initial stage, a large amount of knots are still easy to remain on the inner wall of the mine storage bin, and the suction disc cannot smoothly adsorb the inner wall of the mine storage bin. Therefore, the existing wall climbing robot cannot be used for cleaning the mine storage bin.
Therefore, in order to improve cleaning efficiency, save manpower and material resources and improve safety, equipment capable of cleaning the inner wall of the mine storage bin is urgently needed.
Disclosure of Invention
The invention provides an intelligent cleaning device for a mine storage bin, aiming at the defects in the prior art, and the specific technical scheme is as follows:
the utility model provides a mine warehouse intelligent cleaning device, is used for clearing up the inner wall in mine warehouse, mine warehouse intelligent cleaning device is including climbing the wall robot, the mine warehouse is made by ferromagnetic material, climb the wall robot and include the fuselage, install the crawler-type running gear in the fuselage both sides, the chassis department of fuselage is provided with the magnetic force that is used for adsorbing the mine warehouse inner wall and inhales the wall mechanism, the magnetic force inhales the wall mechanism and is located the one end of fuselage, the other end of fuselage is provided with the clearance mechanism that is used for clearing up mine warehouse inner wall attachment.
According to the technical scheme, the machine body is provided with the material level meter for measuring the material level in the mine storage bin, the machine body is provided with the high-definition camera, and the high-definition camera and the material level meter are both located on the side opposite to the machine body chassis.
According to the further optimization of the technical scheme, the containing groove is formed in the chassis of the machine body, the magnetic wall sucking mechanism comprises a magnetic layer with a waist-round cross section, the magnetic layer comprises a magnetic woven bag, and an iron ball layer is filled in the magnetic woven bag; a flat plate is arranged inside the accommodating tank, plate-shaped first electromagnets are respectively arranged at two ends of the flat plate, one side of the flat plate is fixedly connected with one side of the magnetic layer, the other side of the magnetic layer is arranged outside the accommodating tank, a pressure sensor is arranged between the flat plate and the tank bottom of the accommodating tank, the pressure sensor is fixedly connected with the tank bottom of the accommodating tank, and an induction end of the pressure sensor is fixedly connected with the flat plate; the tail end of the first electromagnet is hinged with the end part of the flat plate, and the first electromagnet is arranged on the outer side of the magnetic woven bag; the inside of holding tank still is provided with the platelike second electro-magnet corresponding with first electro-magnet, the second electro-magnet is with the lateral wall fixed connection of holding tank.
According to the technical scheme, the magnetic woven bag is formed by weaving the iron belt with the thickness of less than or equal to 1 mm, and the iron ball layer is formed by filling a plurality of iron balls with the diameter of less than or equal to 3 mm.
According to further optimization of the technical scheme, the cleaning mechanism comprises a first cylinder, a second cylinder, a brush wire ring and a motor, wherein the first cylinder is obliquely arranged, the second cylinder is coaxially arranged with the first cylinder, the brush wire ring is coaxially arranged with the second cylinder, the motor is installed outside the machine body, the machine body is provided with a channel for the first cylinder and the second cylinder to rotate, the head part of the first cylinder and the second cylinder are both arranged inside the channel, the tail part of the first cylinder is arranged outside the machine body, the tail part of the first cylinder is sleeved with a gear ring, the gear ring is fixedly connected with the tail part of the first cylinder, and the outer side of the gear ring is provided with a gear which is driven by the motor; a bearing is arranged between the outer side of the first cylinder and the inner wall of the channel, the first cylinder is connected with the channel through the bearing, a half-tooth bolt and a nut matched with the half-tooth bolt are arranged between the head of the first cylinder and the tail of the second cylinder, a circular through hole matched with the half-tooth bolt is arranged on the side wall of the second cylinder, a limiting groove for the half-tooth bolt to move is arranged on the side wall of the first cylinder, the limiting groove is arranged along the axial direction of the first cylinder, and the notch of the limiting groove extends to the head end of the first cylinder; the brush wire ring is fixedly connected with the head end of the second cylinder, the outer side of the second cylinder is sleeved with a circular permanent magnet, the permanent magnet is fixedly connected with the head part of the second cylinder, a circular third electromagnet is arranged inside the channel and fixedly connected with the inner wall of the channel, and the third electromagnet is arranged between the permanent magnet and the tail end of the second cylinder.
According to the further optimization of the technical scheme, the base plate of the machine body is further provided with a baffle used for blocking the permanent magnet, and the baffle is fixedly connected with the machine body.
According to the further optimization of the technical scheme, the end, close to the cleaning mechanism, of the machine body is provided with a discharge hole used for discharging powder inside the channel, and the discharge hole is communicated with the channel.
According to the technical scheme, the crawler type travelling mechanism comprises a crawler belt, a plurality of convex edges are arranged on the periphery of the crawler belt, and arc-shaped structures matched with the inner wall of the mine storage bin are arranged at the tail ends of the convex edges.
According to the further optimization of the technical scheme, the high-definition camera shoots the inner wall of the mine storage bin;
when the cleaning mechanism does not work, the high-definition camera shoots towards the inner wall of the mine storage bin to obtain an initial image, and the average gray value corresponding to the initial image is GcpThe gray level mean variance corresponding to the initial image is Gcf；
When the cleaning mechanism works, the high-definition camera shoots towards the inner wall of the mine storage bin to obtain a working image, and the average gray level value corresponding to the working image is GgpThe mean variance of gray scale corresponding to the working image is Ggf；
When x corresponding to n continuous working images meets the condition that x is more than a and less than or equal to b, judging that the area of the inner wall of the mine storage bin, which is cleaned by the cleaning mechanism, is a qualified area;
wherein a and b are constants, and n is a positive integer greater than 2.
The invention has the beneficial effects that:
1) the magnetic wall suction mechanism is used for ensuring that the wall climbing robot cannot fall off in the walking process of the inner wall of the mine storage bin through magnetic force adsorption.
2) Utilize clearance mechanism to clear up the attachment of mine storage bin inner wall, the clearance is effectual, and the cleaning efficiency is high.
3) The non-contact measuring device is used for measuring the material level of the material stored in the mine storage bin, and the measuring error caused by direct contact with coal can be avoided.
4) The wall climbing robot can also carry out real-time scanning analysis to the clearance condition of mine warehouse inner wall, and control clearance height carries out automatic intelligent clearance operation to mine warehouse inner wall.
5) The wall climbing robot is not limited by the shape of the inner wall of the mine storage bin, and the application range is wide.
6) Owing to adopt climb the wall robot and clear up the operation, need not the workman and go to mine storage storehouse inside again and carry out artifical clearance operation, the material resources of using manpower sparingly, the security is high, and the cleaning efficiency is high.
Drawings
FIG. 1 is a schematic structural view of an intelligent cleaning device for a mine storage bin according to the invention;
FIG. 2 is a schematic distribution diagram of the machine body, the magnetic wall-sucking mechanism and the cleaning mechanism according to the present invention;
FIG. 3 is a schematic connection diagram of the machine body and the magnetic wall-attracting mechanism according to the present invention;
FIG. 4 is a schematic view of the connection of the fuselage and the cleaning mechanism of the present invention;
FIG. 5 is a schematic structural view of the cleaning mechanism of the present invention;
fig. 6 is a schematic structural diagram of the wall climbing robot according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
As shown in fig. 1, the intelligent cleaning device for the mine storage bin is used for cleaning the inner wall of the mine storage bin 10, the intelligent cleaning device for the mine storage bin comprises a wall climbing robot, the mine storage bin 10 is made of ferromagnetic materials, the wall climbing robot comprises a machine body 21 and crawler-type traveling mechanisms 22 installed on two sides of the machine body 21, a magnetic wall suction mechanism used for sucking the inner wall of the mine storage bin 10 is arranged on a chassis of the machine body 21, the magnetic wall suction mechanism is located at one end of the machine body 21, and a cleaning mechanism 50 used for cleaning attachments on the inner wall of the mine storage bin 10 is arranged at the other end of the machine body 21.
At present, the existing mine storage 10 is usually made of metal materials from the perspective of water resistance, fire resistance and structural strength, or the inner container is made of metal materials; and the ferrous material is the most cost-effective metal material. Therefore, the ferromagnetic material in the present embodiment is preferably a ferrous material that is easily magnetized.
The body 21 and the crawler-type traveling mechanism 22 are conventional structures in the conventional wall-climbing robot, and the structure and the principle thereof are not described in detail herein.
The wall climbing robot walks on the inner wall of the mine storage bin 10, and the wall climbing robot is ensured to be tightly attached to the inner wall of the mine storage bin 10 by means of the magnetic wall suction mechanism and cannot fall off. In the process of walking, the wall climbing robot utilizes the cleaning mechanism 50 to clean attachments on the inner wall of the mine storage bin 10.
Example 2
As shown in fig. 2 and 3, a containing groove 211 is arranged at the bottom plate of the machine body 21, the magnetic wall-attracting mechanism includes a magnetic layer 31 with a cross section in a waist-round shape, the magnetic layer 31 includes a magnetic woven bag 311, and an iron ball layer 312 is filled inside the magnetic woven bag 311; a flat plate 321 is arranged inside the accommodating groove 211, plate-shaped first electromagnets 322 are respectively arranged at two ends of the flat plate 321, one side of the flat plate 321 is fixedly connected with one side of the magnetic layer 31, the other side of the magnetic layer 31 is arranged outside the accommodating groove 211, a pressure sensor 33 is arranged between the flat plate 321 and the groove bottom of the accommodating groove 211, the pressure sensor 33 is fixedly connected with the groove bottom of the accommodating groove 211, and a sensing end of the pressure sensor 33 is fixedly connected with the flat plate 321; the tail end of the first electromagnet 322 is hinged with the end of the flat plate 321, and the first electromagnet 322 is arranged outside the magnetic woven bag 311; the inside of the accommodating groove 211 is further provided with a plate-shaped second electromagnet 34 corresponding to the first electromagnet 322, and the second electromagnet 34 is fixedly connected with the side wall of the accommodating groove 211.
Further, the magnetic woven bag 311 is woven by an iron belt with a thickness of less than or equal to 1 mm, and the iron ball layer 312 is made by filling a plurality of iron balls with a diameter of less than or equal to 3 mm.
Firstly, before the climbing robot carries out climbing operation, a cleaning area (initial cleaning area for short) is cleaned against the uppermost side of the inner wall of the mine storage bin 10, and the residue of attachments in the cleaning area is less than or equal to 12g/dm2(ii) a Through tests, the residue degree of the attachments is less than or equal to 12g/dm2Through visual inspection, obvious bulges cannot be observed on the inner wall of the mine storage bin 10, and meanwhile, the amount of residual attachments is small, so that the adsorption between the magnetic layer 31 and the inner wall of the mine storage bin 10 is not influenced.
The residue of the adhering substance is the mass of the adhering substance/the area of the region where the adhering substance is present, and is, for example, 12g/dm2The mass of the deposit representing an arbitrary 1 square decimeter area of the mine storage 10 is 12 g.
When the magnetic layer 31 is in contact with the inner wall of the cleaned mine storage bin 10, the first electromagnet 322 is connected with direct current to generate magnetic force, so that the magnetic woven bag 311 and the iron ball layer 312 are magnetized, and the magnetized magnetic layer 31 can adsorb the mine storage bin 10 made of iron materials; because mine storage 10 is generally designed into a circular structure, in order to meet different curvature radiuses, the second electromagnet 34 is used for switching on direct current, so that the second electromagnet 34 generates magnetic force which is repellent to the first electromagnet 322, the second electromagnet 34 is fixed and can not move any more, the tail end of the first electromagnet 322 is hinged with the end part of the flat plate 321, the two first electromagnets 322 and the flat plate 321 form a' shaped structure, the head ends of the two first electromagnets 322 are close to and contract, and the magnetic layer 31 between the two first electromagnets 322 is pressed to be tightly attached to the inner wall of the mine storage 10, so that sufficient contact is ensured, and the magnetic force between the magnetic layer 31 and the inner wall of the mine storage 10 is fully utilized; finally, the falling of the wall climbing robot is avoided due to the magnetic force between the magnetic layer 31 and the inner wall of the mine storage bin 10. When the wall climbing robot needs to walk, the crawler-type traveling mechanism 22 is utilized to walk on the inner wall of the mine storage bin 10, and when acting force generated by the crawler-type traveling mechanism 22 on the inner wall of the mine storage bin 10 is larger than resistance generated by magnetic force, the wall climbing robot can finish walking operation.
The magnetic woven bag 311 is woven by a strip-shaped iron belt, and even if the inner wall of the mine storage bin 10 is a cambered surface, the magnetic woven bag 311 with the structure can be fully contacted with the inner wall of the mine storage bin 10. As for, use the iron ball layer 312 that the iron ball packing was made, the iron ball that contacts with magnetism braided bag 311 is magnetized earlier, then is magnetized between the adjacent iron ball, because be globular structure, in case magnetism braided bag 311 receives the extrusion force, formation of magnetism braided bag 311 and iron ball layer 312 also can be along with automatic change to make magnetic layer 31 can adapt to the cambered surface of different curvatures, guarantee magnetic layer 31 and mine storage 10 inner wall and fully contact. The initial shape of the magnetic layer 31 is a kidney-round configuration that is capable of rapidly deforming and conforming to the inner walls of the mine storage bin 10 once subjected to a force.
The acting force of the inner wall of the mine storage bin 10 on the magnetic layer 31 is transmitted through the flat plate 321 and is finally sensed by the pressure sensor 33, the magnitude of the adsorption force of the magnetic layer 31 on the inner wall of the mine storage bin 10 can be indirectly sensed through the pressure sensor 33, and the adjustment at any time is convenient.
As the machine body 21 moves downwards along the inner wall of the mine storage bin 10, the cleaning mechanism 50 positioned below the magnetic wall suction mechanism cleans attachments on the inner wall of the mine storage bin 10, and a plurality of cleaning mechanisms 50 can be arranged; the cleaning mechanism 50 is used to clean the area below or on both sides of the initial cleaning area, and then the magnetic layer 31 slides along the cleaned area, thereby always keeping the wall-sucking action.
Even if the inner wall of the mine storage bin 10 in the embodiment is of a circular structure or an arc-shaped structure, the first electromagnet 322, the flat plate 321, the second electromagnet 34 and the magnetic layer 31 are cooperatively matched, so that the mine storage bin can be suitable for the inner wall of the mine storage bin 10 of the arc-shaped structure, the circular structure or the plane structure, and the implementation effect is good.
Example 3
As shown in fig. 1, 2, 4, and 5, the cleaning mechanism 50 includes a first cylinder 51 disposed obliquely, a second cylinder 52 disposed coaxially with the first cylinder 51, a filament ring 53 disposed coaxially with the second cylinder 52, and a motor 56 mounted outside the body 21, the body 21 is provided with a channel 213 for the first cylinder 51 and the second cylinder 52 to rotate, the head of the first cylinder 51 and the second cylinder 52 are both disposed inside the channel 213, the tail of the first cylinder 51 is disposed outside the body 21, the tail of the first cylinder 51 is sleeved with a gear ring 54, the gear ring 54 is fixedly connected with the tail of the first cylinder 51, the outer side of the gear ring 54 is provided with a gear 55, and the gear 55 is driven by the motor 56; a bearing 510 is installed between the outer side of the first cylinder 51 and the inner wall of the channel 213, the first cylinder 51 is connected with the channel 213 through the bearing 510, the outer side of the first cylinder 51 is fixedly connected with the inner ring of the bearing 510, the inner wall of the channel 213 is fixedly connected with the outer ring of the bearing 510, a half-tooth bolt 591 and a nut 592 matched with the half-tooth bolt 591 are arranged between the head part of the first cylinder 51 and the tail part of the second cylinder 52, a circular through hole matched with the half-tooth bolt 591 is arranged on the side wall of the second cylinder 52, a limiting groove 501 for the half-tooth bolt 591 to move is arranged on the side wall of the first cylinder 51, the limiting groove 501 is arranged along the axial direction of the first cylinder 51, and the notch of the limiting groove 501 extends to the head end of the first cylinder 51; the brush wire ring 53 is fixedly connected with the head end of the second cylinder 52, the outer side of the second cylinder 52 is sleeved with a circular permanent magnet 57, the permanent magnet 57 is fixedly connected with the head part of the second cylinder 52, a circular third electromagnet 58 is arranged inside the channel 213, the third electromagnet 58 is fixedly connected with the inner wall of the channel 213, and the third electromagnet 58 is arranged between the permanent magnet 57 and the tail end of the second cylinder 52.
When the cleaning mechanism 50 performs cleaning work on attachments on the inner wall of the mine storage bin 10, the motor 56 drives the gear 55 to drive the gear ring 54 and the first cylinder 51 to rotate, the first cylinder 51 is rotatably connected with the machine body 21 through the mounting bearing 510, and the bearing 510 is preferably a fully-closed bearing; when the first cylinder 51 rotates, the half-tooth bolt 591 is arranged and corresponds to a pin, so that the first cylinder 51 can simultaneously drive the second cylinder 52 to synchronously rotate; the half-thread bolt 591 sequentially penetrates through the circular through hole and the limiting groove 501 and then is in threaded connection with the nut 592, and the nut 592 is installed to prevent the half-thread bolt 591 from falling off; the nut 592 does not abut against the first cylinder 51 or the second cylinder 52. Rotation of the second cylinder 52 simultaneously drives the brush wire rings 53 to rotate, and the rotating brush wire rings 53 can clean the attachments on the inner wall of the mine storage bin 10. The wire loops 53 are preferably made of a non-ferromagnetic metal material, such as an aluminum alloy.
As for how to adjust the extrusion force of the wire brushing ring 53 on the inner wall of the mine storage bin 10, because the first cylinder 51, the second cylinder 52 and the wire brushing ring 53 are all obliquely arranged, in order to ensure sufficient contact, the extrusion force of the wire brushing ring 53 on the inner wall of the mine storage bin 10 needs to be adjusted in time, and the specific method is as follows:
energizing the third electromagnet 58 with direct current, so that the third electromagnet 58 generates a magnetic force repelling the permanent magnet 57, and in addition, the first cylinder 51 and the second cylinder 52 can slide relative to each other due to the arrangement of the half-thread bolt 591 and the limit groove 501 arranged along the axial direction of the first cylinder 51 between the first cylinder 51 and the second cylinder 52; therefore, the permanent magnet 57 is subjected to the repulsive magnetic force to drive the head portion of the second cylinder 52 to move towards the direction close to the inner wall of the mine storage 10, so that the distance between the head end of the second cylinder 52 and the inner wall of the mine storage 10 is continuously reduced, and the wire brushing ring 53 is urged to abut against the inner wall of the mine storage 10. Finally, the pressing force of the brush wire ring 53 on the inner wall of the mine storage bin 10 depends on the magnitude of the repulsive magnetic force between the third electromagnet 58 and the permanent magnet 57.
The first cylinder 51 and the second cylinder 52 can slide relative to each other due to the provision of the half-thread bolt 591 and the limit groove 501 provided along the axial direction of the first cylinder 51; while not affecting the synchronous rotation of the first cylinder 51 and the second cylinder 52.
When the rotary brush wire ring 53 is used for cleaning attachments on the inner wall of the mine storage bin 10, most of the cleaned attachments fall downwards, and the pulverized coal among the brush wires in the brush wire ring 53 can fall into the second cylinder 52 in the rotating process of the brush wire ring 53, and finally the pulverized coal in the second cylinder 52 is discharged from the first cylinder 51 through the inner cavity of the first cylinder 51 because the second cylinder 52 and the first cylinder 51 are obliquely arranged. In addition, the brush filament ring 53 may be replaced by a bundle of bristles.
The second cylinder 52, the brush wire ring 53 and the first cylinder 51 are simply and conveniently disassembled from the machine body 21.
Example 4
In example 3, as shown in figure 4, the axis of the second cylinder 52 is angled from the axis of the mine storage bin 10 by an angle α of 75 ° α 80 °.
If the value of α is too large, the inclination angle of the second cylinder 52 and the first cylinder 51 is too small, which is disadvantageous to the discharge of the pulverized coal inside the second cylinder 52 and the first cylinder 51.
If the value of α is too small, although the discharge of the pulverized coal inside the second cylinder 52 and the first cylinder 51 is facilitated, it may cause the bending degree of the brush filaments at the upper and lower sides of the brush filament loop 53 to be different, and particularly, the brush filaments at the upper side may be bent excessively, which is not favorable for the brush filaments to be restored to their original shape. Therefore, after a large number of tests and calculations, the alpha is limited to be more than or equal to 75 degrees and less than or equal to 80 degrees finally.
Example 5
As shown in fig. 4, a baffle 511 for blocking the permanent magnet 57 is further disposed at the chassis of the body 21, and the baffle 511 is fixedly connected to the body 21. The baffle 511 is preferably screwed to the body 21.
Even if the repulsive magnetic force between the third electromagnet 58 and the permanent magnet 57 is too large, the blocking of the blocking plate 511 can effectively block the permanent magnet 57 from sliding out of the passage 213, so that the distance between the second cylinder 52 and the inner wall of the mine storage bin 10 is not too small, and the wire brushing ring 53 is prevented from being irreversibly deformed due to being excessively extruded.
Example 6
Due to the existence of the limiting groove 501, in the rotating process of the first cylinder 51, a small amount of coal dust leaks downwards from the limiting groove 501 in the first cylinder 51 and finally flows into the channel 213, and due to the arrangement of the bearing 510, the coal dust in the channel 213 is not easy to discharge.
Therefore, as shown in fig. 2 and 4, the end of the body 21 close to the cleaning mechanism 50 is provided with a discharge hole 212 for discharging the powder inside the channel 213, and the discharge hole 212 is communicated with the channel 213.
When the wall climbing operation is performed, the discharge hole 212 is located below the channel 213, and the coal dust accumulated in the channel 213 is discharged from the discharge hole 212 to the outside of the body 21.
Example 7
The crawler-type travelling mechanism 22 comprises a crawler 221, a plurality of convex edges 222 are arranged on the periphery of the crawler 221, and arc-shaped structures matched with the inner wall of the mine storage bin 10 are arranged at the tail ends of the convex edges 222. By arranging the convex ribs 222 with the cambered structures, the crawler belt 221 can be attached to the inner wall of the mine storage bin 10 more tightly, so that friction force enough for driving the wall climbing robot to walk is generated between the crawler belt 221 and the inner wall of the mine storage bin 10.
Example 8
To avoid magnetic interference; the first cylinder 51, the second cylinder 52, the filament ring 53, the baffle 511 and the caterpillar 221 are all made of non-ferromagnetic materials.
Example 9
As shown in fig. 1 and 6, a level indicator 23 for measuring the level inside the mine storage 10 is installed at the machine body 21, and a high-definition camera 24 is also installed at the machine body 21, wherein the high-definition camera 24 and the level indicator 23 are both located at the side opposite to the chassis of the machine body 21.
The level indicator 23 is one or more of a weight type level indicator, a radar type level indicator and an acoustic wave level indicator. The level measurement inside the mine storage 10 is mainly performed by non-contact measurement, such as a weight level indicator, a radar level indicator, and an acoustic wave level indicator, which can avoid measurement errors caused by direct contact with coal.
The high-definition camera 24 can photograph and make real-time images of the interior of the mine storage bin 10, so that the walking condition of the wall climbing robot can be known at any time. The high definition camera 24 is also capable of taking a picture of the attachment to the inner wall of the mine storage 10.
Example 10
Based on example 9, the high definition camera 24 takes a picture of the front face of the sample plate (used to simulate the inner walls of the mine storage 10);
when the cleaning mechanism 50 is not in operation, the high-definition camera 24 takes a picture of the front surface of the sample plate to obtain an initial image, and the average gray level corresponding to the initial image is GcpThe gray level mean variance corresponding to the initial image is Gcf；
When the cleaning mechanism 50 works, the high-definition camera 24 photographs the front surface of the sample plate to obtain a working image, and the average gray level corresponding to the working image is GgpThe mean variance of gray scale corresponding to the working image is Ggf；
When x corresponding to n continuous working images satisfies a condition that x is more than a and less than or equal to b, judging that the area of the front surface of the sample plate cleaned by the cleaning mechanism 50 is a qualified area;
wherein a and b are constants, and n is a positive integer greater than 2.
In the present embodiment, n is preferably 3. Namely: when x corresponding to 3 continuous working images satisfies a condition that x is more than a and less than or equal to b, judging that the area of the front surface of the sample plate cleaned by the cleaning mechanism 50 is a qualified area; when n is 2, the chance of occurring is also 21%; when n is 3, the cleaned area can be completely guaranteed to be a qualified area. When n > 3, the amount of calculation increases.
In this embodiment, the image graying processing is performed by the maximum method, which is relativelyFor averaging, weighted averaging, gamma correction, maximum method can avoid GcpThe case is 0; in addition, the maximum value method is adopted, the finally obtained x operation result has more gradient, and the comparison condition is easy to set. The average value of the gray levels of the image refers to the average level of the gray levels. The mean variance is a measure of the quality of a sample's fluctuation size, and for an image, the mean variance reflects the size of the high frequency part of the image.
In the present embodiment, the mine storage 10 with an inner diameter of 20 m is cleaned, and after a lot of tests and calculations, a is 1.78 and b is 3.23.
Example 11
Based on example 9, the high definition camera 24 takes a picture of the front face of the sample plate (used to simulate the inner walls of the mine storage 10);
when the cleaning mechanism 50 is not in operation, the high-definition camera 24 takes a picture of the front surface of the sample plate to obtain an initial image, and the average gray level corresponding to the initial image is Gcp；
When the cleaning mechanism 50 works, the high-definition camera 24 photographs the front surface of the sample plate to obtain a working image, and the average gray level corresponding to the working image is Ggp；
m＝Gcp/Ggp，0.9≤m＜1；
And when m corresponding to the continuous 3 working images is more than or equal to 0.9 and less than 1, judging that the area of the front surface of the sample plate cleaned by the cleaning mechanism 50 is a first comparison qualified area.
Example 12
Based on example 9, the high definition camera 24 takes a picture of the front face of the sample plate (used to simulate the inner walls of the mine storage 10);
when the cleaning mechanism 50 is not in operation, the high-definition camera 24 takes a picture of the front surface of the sample plate to obtain an initial image, and the average variance of the gray scale corresponding to the initial image is Gcf；
When the cleaning mechanism 50 works, the high-definition camera 24 photographs the front surface of the sample plate to obtain a working image, and the average variance of the gray scale corresponding to the working image is Ggf；
n＝Ggf/Gc；
And when n corresponding to the continuous 3 working images is more than or equal to 1.78 and less than or equal to 2.01, judging that the area of the front surface of the sample plate cleaned by the cleaning mechanism 50 is a second comparison qualified area.
Example 13
First, the sample plate manufacturing method in examples 10 to 12 was: selecting an iron plate with the curvature radius being the same as that of the mine storage bin 10 (the inner diameter is 20 meters), and measuring the area of the front surface of the iron plate as S; the front surface of the iron plate is coated with a coal layer with the thickness of 3 cm. The coal layer is obtained by adding water into coal powder to prepare coal slurry and then naturally drying the coal slurry. The coal layer is attached to the front surface of the iron plate.
Finally, after the cleaning mechanism 50 is used to clean the front surface of the sample plate, the residue of the attachments left on the front surface of the sample plate can be used to measure the residue, and the attachments are the residual coal seam.
The method for measuring the residue degree of the attachments comprises the following steps: weighing the sample plate with the residual coal seam by the total weight, then removing the residual coal seam on the surface of the sample plate by a burning or scraping and cleaning method, then weighing and removing the weight of the residual coal seam, subtracting the weight of the removed residual coal seam from the total weight of the sample plate with the residual coal seam to obtain the weight z of the residual coal seam, wherein the value of z/S is the residue degree of the attachment.
When the residue degree of the attachments is less than or equal to 12g/dm2The area can be judged to be qualified, namely the cleaning is qualified.
The residue of the deposits in the acceptable areas, the first control acceptable area and the second control acceptable area in examples 10 to 12 were counted, and the results are shown in Table 1.
TABLE 1
The test data in table 1 were obtained by counting the number of tests of 100 times. Wherein 56% represents the following meanings: the residue of the adhering substance is 5-12g/dm2The occurrence probability is 56%; the meaning of other data is analogized.
As can be seen from Table 1: only the "acceptable region" determined in example 10 had a degree of residue of adhered matter of not more than 12g/dm2And the requirements are met. As for the "control non-defective region one" judged in example 11, the degree of residue of adhering matter was 5 to 100g/dm2Not strictly satisfying a value of 12g/dm or less2The reason for the requirement (2) is that the gray level average value is compared independently, the test result has certain contingency, and factors such as illumination, shooting angle and the like influence the result. As for the "second control-acceptable region" determined in example 12, the fluctuation range of the residue of the adhered matter was too large, the accuracy was low, and the true measurement result could not be reflected.
In the embodiment, the structure of the existing wall climbing robot is optimally designed, and the wall climbing robot is ensured not to fall off in the walking process of the inner wall of the mine storage bin 10 by the magnetic force adsorption by additionally arranging the magnetic force wall adsorption mechanism; even if the inner wall of the mine storage bin 10 is of an arc structure or a circular structure, the magnetic wall suction mechanism ensures that the wall climbing robot is tightly attached to the inner wall of the mine storage bin 10. The cleaning mechanism 50 is used for cleaning attachments on the inner wall of the mine storage bin 10, so that the cleaning effect is good and the cleaning efficiency is high; the cleaning mechanism 50 is able to complete cleaning of the inner wall of the mine storage 10 even if the inner wall of the mine storage 10 is of an arc-shaped or circular structure.
The non-contact measuring device is used for measuring the material level of the material stored in the mine storage bin 10, and the measuring error caused by direct contact with coal can be avoided.
The wall climbing robot can also scan and analyze the cleaning condition of the inner wall of the mine storage bin 10 in real time, control the cleaning height, and perform automatic intelligent cleaning operation on the inner wall of the mine storage bin 10.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a mine warehouse intelligence cleaning device for clear up the inner wall of mine warehouse (10), mine warehouse intelligence cleaning device includes wall climbing robot, its characterized in that: the mine storage bin (10) is made of ferromagnetic materials, the wall climbing robot comprises a machine body (21) and crawler-type traveling mechanisms (22) installed on two sides of the machine body (21), a magnetic wall suction mechanism used for sucking the inner wall of the mine storage bin (10) is arranged on a chassis of the machine body (21), the magnetic wall suction mechanism is located at one end of the machine body (21), and a cleaning mechanism (50) used for cleaning attachments on the inner wall of the mine storage bin (10) is arranged at the other end of the machine body (21);
the bottom plate of the machine body (21) is provided with a containing groove (211), the magnetic wall attracting mechanism comprises a magnetic layer (31) with a cross section in a waist-round shape, the magnetic layer (31) comprises a magnetic woven bag (311), and an iron ball layer (312) is filled in the magnetic woven bag (311); a flat plate (321) is arranged inside the accommodating groove (211), plate-shaped first electromagnets (322) are respectively arranged at two ends of the flat plate (321), one side of the flat plate (321) is fixedly connected with one side of the magnetic layer (31), the other side of the magnetic layer (31) is arranged outside the accommodating groove (211), a pressure sensor (33) is arranged between the flat plate (321) and the groove bottom of the accommodating groove (211), the pressure sensor (33) is fixedly connected with the groove bottom of the accommodating groove (211), and the sensing end of the pressure sensor (33) is fixedly connected with the flat plate (321); the tail end of the first electromagnet (322) is hinged with the end part of the flat plate (321), and the first electromagnet (322) is arranged on the outer side of the magnetic woven bag (311); the inside of holding tank (211) still is provided with the second electro-magnet (34) of platelike corresponding with first electro-magnet (322), second electro-magnet (34) and the lateral wall fixed connection of holding tank (211).
2. The intelligent cleaning device for the mine storage bin of claim 1, wherein: fuselage (21) department installs charge level indicator (23) that are used for measuring the inside material level in mine storage storehouse (10), fuselage (21) department still installs high definition camera (24), charge level indicator (23) all are located that one side relative with fuselage (21) chassis.
3. The intelligent cleaning device for the mine storage bin of claim 1, wherein: the magnetic woven bag (311) is woven by an iron belt with the thickness of less than or equal to 1 mm, and the iron ball layer (312) is formed by filling a plurality of iron balls with the diameter of less than or equal to 3 mm.
4. The intelligent cleaning device for the mine storage bin of claim 1, wherein: the cleaning mechanism (50) comprises a first cylinder (51) which is obliquely arranged, a second cylinder (52) which is coaxially arranged with the first cylinder (51), a wire brushing ring (53) which is coaxially arranged with the second cylinder (52), and a motor (56) which is arranged outside the machine body (21), the body (21) is provided with a channel (213) for the rotation of the first cylinder (51) and the second cylinder (52), the head of the first cylinder (51) and the second cylinder (52) are both arranged inside the channel (213), the tail part of the first cylinder (51) is arranged outside the fuselage (21), a gear ring (54) is sleeved at the tail part of the first cylinder (51), the gear ring (54) is fixedly connected with the tail part of the first cylinder (51), a gear (55) is arranged on the outer side of the gear ring (54), and the gear (55) is driven by a motor (56); a bearing (510) is installed between the outer side of the first cylinder (51) and the inner wall of the channel (213), the first cylinder (51) is connected with the channel (213) through the bearing (510), a half-thread bolt (591) and a nut (592) matched with the half-thread bolt (591) are arranged between the head of the first cylinder (51) and the tail of the second cylinder (52), a circular through hole matched with the half-thread bolt (591) is formed in the side wall of the second cylinder (52), a limiting groove (501) for the half-thread bolt (591) to move is formed in the side wall of the first cylinder (51), the limiting groove (501) is arranged along the axial direction of the first cylinder (51), and the notch of the limiting groove (501) extends to the head end of the first cylinder (51); brush silk circle (53) and the head end fixed connection of second drum (52), the outside cover of second drum (52) is equipped with ring form permanent magnet (57), the prelude fixed connection of permanent magnet (57) and second drum (52), the inside of passageway (213) is provided with ring form third electro-magnet (58), the inner wall fixed connection of third electro-magnet (58) and passageway (213), third electro-magnet (58) set up between the tail end of permanent magnet (57) and second drum (52).
5. The intelligent cleaning device for the mine storage bin as claimed in claim 4, wherein: the chassis of the machine body (21) is also provided with a baffle (511) used for blocking the permanent magnet (57), and the baffle (511) is fixedly connected with the machine body (21).
6. The intelligent cleaning device for the mine storage bin as claimed in claim 4, wherein: the end of the machine body (21) close to the cleaning mechanism (50) is provided with a discharge hole (212) for discharging powder inside the channel (213), and the discharge hole (212) is communicated with the channel (213).
7. The intelligent cleaning device for the mine storage bin of claim 1, wherein: the crawler-type travelling mechanism (22) comprises a crawler (221), a plurality of ribs (222) are arranged on the periphery of the crawler (221), and arc-surface structures matched with the inner wall of the mine storage bin (10) are arranged at the tail ends of the ribs (222).
8. The intelligent cleaning device for the mine storage bin as claimed in claim 2, wherein: the high-definition camera shoots the inner wall of the mine storage bin;
when the cleaning mechanism does not work, the high-definition camera shoots towards the inner wall of the mine storage bin to obtain an initial image, and the average gray value corresponding to the initial image is GcpThe gray level mean variance corresponding to the initial image is Gcf；
When the cleaning mechanism works, the high-definition camera shoots towards the inner wall of the mine storage bin to obtain a working image, and the average gray level value corresponding to the working image is GgpThe mean variance of gray scale corresponding to the working image is Ggf；
When x corresponding to n continuous working images meets the condition that x is more than a and less than or equal to b, judging that the area of the inner wall of the mine storage bin, which is cleaned by the cleaning mechanism, is a qualified area;
wherein a and b are constants, and n is a positive integer greater than 2.
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