CN105179007A - Comprehensive face inspection walking device - Google Patents
Comprehensive face inspection walking device Download PDFInfo
- Publication number
- CN105179007A CN105179007A CN201510617085.2A CN201510617085A CN105179007A CN 105179007 A CN105179007 A CN 105179007A CN 201510617085 A CN201510617085 A CN 201510617085A CN 105179007 A CN105179007 A CN 105179007A
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- China
- Prior art keywords
- fully
- mechanized mining
- mining working
- running device
- drive
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
A comprehensive face inspection walking device comprises a rotary driving system which is arranged on the outer side of a cable chute of a scraper conveyor of a fully mechanized coal face and comprises a driving portion, a rotation portion, a middle chute portion, a control portion and a device platform portion, wherein the driving portion is arranged on one side near to the head of the scraper conveyor, the rotation portion is arranged on one side near to the tail of the scraper conveyor. A reliable, convenient inspection device and method are provided to the fully mechanized coal face; for a video monitoring face, the whole face only need a high-definition camera, so as to quickly inspect the whole face and greatly reduce the investment cost; the device platform is arranged to conveniently carry various kinds of devices, scientific researches such as face straightening, coal rock decomposing and coal and gangue identification, and installation of sensors are convenient, and the device is convenient, reliable and easy to maintain.
Description
Technical field
The present invention relates to a kind of inspection running device of mining face under mine, particularly relate to a kind of inspection running device for coal mining machine in full-mechanized mining face and Orbital Transport Systems.
Background technology
The technical research of few peopleization, unmanned fully-mechanized mining working and application are emphasis science and technology tasks of coal industry, and Ye Shi coal enterprise carries out the only way of safety, high-yield and high-efficiency exploitation.At present, hydraulic support automatically collects control techniques etc. and has been used widely with machine technology, coal cutter memorized cutting technology, " three machines ", and obtain ideal effect.But, along with making constant progress of technology, to higher levels of automatic technology as work plane looks for straight technology, coal-rock detection technology, coal rock detection technology, video-splicing technology etc. more and more urgent automatically.But work on hand space of planes is narrow and small, lacks one and independently the monitoring platform of free-running operation can support the investigation and application of above-mentioned technology, hinder technological progress to a certain extent.Simultaneously, involved by these technology, kind of sensor is various and expensive, as high accuracy inertial navigation sensors, laser radar sensor, infrared thermal imaging sensor, high-definition camera instrument etc., narrow and small work plane working space makes the layout of each sensor and safeguards all abnormal difficult.
In the prior art, CN102733856A discloses a kind of inclined gallery Belt transport automatic tour inspection system, and it comprises supervisory control comuter, optical transmitter and receiver, repeater, load device, track, mobile device, all-dimensional web camera, wireless launcher and detecting sensor; All-dimensional web camera is placed in mobile device; Mobile device arranges in orbit and can run back and forth in orbit; Supervisory control comuter and optical transmitter and receiver pass through Fiber connection; Optical transmitter and receiver and repeater, repeater are with repeater, be connected by leaking cable between repeater with load device; All-dimensional web camera is connected with wireless launcher; Detecting sensor and wireless transmit fill wireless connections.CN102720533A discloses a kind of belt conveyer wireless video inspection device, comprising for the video camera of Real-time Collection belt conveyer duty and the display for showing the information of camera acquisition, also comprising the fixed mechanism for installing video camera, for making video camera along the reciprocating operating mechanism of belt and the frequency-variable controller carrying out action for control operation mechanism; Fixed mechanism is arranged on operating mechanism, and operating mechanism carries out action according to the instruction of frequency-variable controller by driving mechanism.
But the inspection device that above-mentioned prior art relates to is all be applied to cable tunnel or sealing-tape machine tunnel, is not all suitable for fully-mechanized face.Existing fully-mechanized mining working video surveillance solution arranges abundant video camera at whole work plane, and investment is large, cost is high, especially maintenance workload is huge, patrolling and examining walking mechanism and can better address this problem in the present invention.
Summary of the invention
For solving the problem, the present invention proposes a kind of work plane inspection running device, at work on hand face chute sides, fixing a set of gyroscopic drive system is installed, as the mounting platform of each sensor, make it independent of other equipment free-running operations of work plane, possess patrol mode and follow machine pattern two kinds of mode of operations.Under patrol mode, equipment platform can with the speed free-running operation not higher than 60m/min; With under machine pattern, equipment platform can be consistent with coal shearer speed, synchronous operation.Two kinds of mode of operations, can meet the different application demand of above-mentioned each sensor.
A kind of fully-mechanized mining working inspection running device, comprise gyroscopic drive system, described gyroscopic drive system is arranged on the outside of the cable chute of described fully-mechanized mining working surface transporter, comprise drive part, rotating part, intermediate channel part, control section and equipment platform, described drive part is arranged on the head side near described scratch board conveyor, and described rotating part is arranged on the tail side near described scratch board conveyor.
Preferably also comprise the second drive part, described second drive part is arranged on the tail side near described scratch board conveyor.
Preferred described drive part comprises drive motors, reducer and revolution sprocket wheel, and described drive motors, reducer and revolution sprocket wheel are arranged on driving arm.
Preferred described drive motors, with being provided with friction torque-limiting clutch between reducer, can arrange the peak torque that it allows, then motor idle running after exceeding.When equipment platform block under some fortuitous event can not normally advance time, can ensure that motor can not overload, protection system safety.
Preferred described intermediate channel part comprises chain drive-belt.
Preferred described intermediate channel part is fixed on the outside of described electric cable for coal mining machine chute by installing rack.
Preferred described intermediate channel part is provided with equipment platform.
Preferred described equipment platform is provided with high capacity cell, can to each sensor power; Be equipped with the wireless transport modules such as wifi simultaneously, sensing data is wirelessly outwards transmitted;
Preferred described equipment platform installation infrared line transmitter, for the same infrared receiver communication be installed on support in running, thus can obtain the position of equipment platform;
Preferred drive motors installs speed or position coder additional, for the speed of service of real-time watch device platform;
Preferred described control section comprises frequency-converting speed-governing control system, can arrange fully-mechanized mining working inspection running device and works in patrol mode or follow machine pattern.
The present invention be fully-mechanized mining working provide one reliably, inspection device and method for inspecting easily; For video monitoring work plane, whole work plane only needs installation high-definition camera instrument, just can realize the fast inspection of whole work plane, greatly reduce cost of investment; Be provided with equipment platform, various equipment can be carried easily, work plane is looked for directly, coal petrography decomposition, the scientific research such as coal rock detection, for the installation of sensor is provided convenience, convenient and reliable easy care.
Accompanying drawing explanation
Accompanying drawing 1 is the structural configuration schematic diagram of an embodiment of fully-mechanized mining working inspection running device of the present invention;
Accompanying drawing 2 is the structural configuration schematic diagram of another embodiment of fully-mechanized mining working inspection running device of the present invention;
Accompanying drawing 3 is the structural representation of drive part (the second drive part);
Accompanying drawing 4 is the installation of intermediate channel part and structural representation.
Reference numeral is as follows:
1-drive part; 2-intermediate channel part; 3-rotating part; 4-coal-winning machine; 1 '-the second drive part;
5-electric cable for coal mining machine groove; 6-electric cable for coal mining machine clamping plate; 7-inspection device intermediate channel; 8-chain drive-belt; 9-intermediate channel fixed mount;
10-drive motors; 11-reducer; 12-turns round sprocket wheel; 13-driving arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, fully-mechanized mining working inspection running device of the present invention is described in further detail.
A kind of fully-mechanized mining working inspection running device, in face of work on hand portion's scratch board conveyor cable chute outside, rearrange a set of gyroscopic drive system, as the carrying platform of the devices such as video image.Gyroscopic drive system comprises drive part, rotating part, intermediate channel part and control section, in one embodiment, see accompanying drawing 1, drive part is arranged on the head side near scratch board conveyor, rotating part is arranged on the tail side near scratch board conveyor, adopt single-head drive division, tail is as driven revolution, in a further embodiment, see accompanying drawing 2, when using at longer work plane, need to arrange the second drive part in the tail side near scratch board conveyor, form head, tail Dual Drive portion, avoid traction drive power not enough.
Drive part, comprises the second drive part, and it structurally comprises drive motors, reducer and revolution sprocket wheel, and drive motors, reducer and revolution sprocket wheel are arranged on driving arm, see accompanying drawing 3.Controlled start and stop and the running of drive motors by control appliances such as electric machine controllers, and the reducer that is rotated through of drive motors is outputted on revolution sprocket wheel.Drive motors should install speed or position coder additional, for the speed of service of real-time watch device platform, ensure with the exact matching of its speed under machine pattern with coal shearer speed, in the present embodiment, the encoder that drive motors installs additional is absolute value formula encoder, obtains equipment platform position by the rotation of motor.In addition, between drive motors is with reducer, install friction torque-limiting clutch additional, the peak torque that it allows can be set; after exceeding then motor idle running, like this, when equipment platform block under some fortuitous event can not normally advance time; ensure that motor can not overload, protection system safety.
Intermediate channel part comprises chain drive-belt, scraper plate and intermediate channel.Intermediate channel is overall structure, and the revolution sprocket wheel of drive part drives chain drive-belt and scraper plate to move in intermediate channel, chain or scraper plate is provided with equipment platform, for installing fixing each sensor device.See accompanying drawing 4.Can install 1 or 2 equipment platforms, if install 2 equipment platforms, then its installing space is preferably coal-winning machine fuselage length, is mainly used in under machine pattern, with crossing drum functions state before and after the real-time monitoring such as video or infrared thermography coal-winning machine.The security classes sensors such as inertial navigation system, high-definition camera instrument, infrared thermal imaging instrument, terahertz transmitter, radar sensor, 3 D laser scanning sensor, gas humiture etc. instrument can be installed additional in equipment platform; Equipment platform is provided with high capacity cell simultaneously, to each sensor power; Can the wireless transport modules such as wifi be equipped with simultaneously, sensing data is wirelessly outwards transmitted.Equipment platform can install RF transmitter additional, for the same infrared receiver communication be installed on support in running, thus can obtain the position of equipment platform.
Intermediate channel part designs according to the joint number of site work face scratch board conveyor and the length that often saves, the two quantity and length consistent, have 10mm gap between two intermediate channel, prevent from interfering in support pushing and sliding process.Intermediate channel scraper plate is processed by round steel, can pass through intermediate channel gap smoothly.The intermediate channel part assembled is fixed to outside electric cable for coal mining machine groove by installing rack.
Rotating part comprises revolution sprocket wheel, and the change that revolution sprocket wheel realizes rotation direction walked around by chain drive-belt, thus realizes the continuous motion of chain drive-belt.
Control system is frequency-converting speed-governing control system, can be in patrol mode and with machine pattern, mainly comprise controller, infrared transmitter, frequency converter, drive motors reducer, motor encoder etc. by configuration-system.
During patrol mode, the velocity amplitude set by controller, with the speed free-running operation not higher than 60m/min, can the sensor such as external high-definition camera instrument, the whole work plane operating mode of fast inspection; During with machine pattern, controller is by the speed of service of Surveillance center's Real-time Collection coal-winning machine and direction, consistent with coal shearer speed by frequency converter, drive motors control appliance platform.
RF transmitter is arranged on equipment platform, for the same infrared receiver communication be installed on support in running, thus enables control system obtain the position of equipment platform;
For ensureing the safety run, dividing hardware proximity switch is housed at former electric cable for coal mining machine scouring machine head and drive end unit, when stage apparatus moves to head or tail, switch closes, and ensures that it runs within the scope of trouble free service face.
The above; be only patent of the present invention preferably detailed description of the invention; but the protection domain of patent of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope of patent diselosesll of the present invention; the change that can expect easily or replacement, within the protection domain that all should be encompassed in patent of the present invention.
Claims (10)
1. a fully-mechanized mining working inspection running device, comprises gyroscopic drive system, it is characterized in that:
Described gyroscopic drive system is arranged on the outside of the cable chute of described fully-mechanized mining working surface transporter, comprise drive part, rotating part, intermediate channel part, control section and equipment platform, described drive part is arranged on the head side near described scratch board conveyor, and described rotating part is arranged on the tail side near described scratch board conveyor.
2. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: also comprise the second drive part, and described second drive part is arranged on the tail side near described scratch board conveyor.
3. fully-mechanized mining working inspection running device as claimed in claim 1, it is characterized in that: described drive part comprises drive motors, reducer and revolution sprocket wheel, described drive motors, reducer and revolution sprocket wheel are arranged on driving arm.
4. fully-mechanized mining working inspection running device as claimed in claim 3, is characterized in that: described drive motors is with being provided with friction torque-limiting clutch between reducer.
5. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described intermediate channel part comprises chain drive-belt.
6. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described intermediate channel part is fixed on the outside of described electric cable for coal mining machine chute by installing rack.
7. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described intermediate channel part is provided with equipment platform.
8. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described equipment platform is provided with high capacity cell, to each sensor power; Be equipped with the wireless transport modules such as wifi simultaneously, sensing data is wirelessly outwards transmitted.
9. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described equipment platform installation infrared line transmitter, for the same infrared receiver communication be installed on support in running, thus can obtain the position of equipment platform.
10. fully-mechanized mining working inspection running device as claimed in claim 1, is characterized in that: described control section comprises frequency-converting speed-governing control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617085.2A CN105179007B (en) | 2015-09-24 | 2015-09-24 | A kind of fully-mechanized mining working inspection running device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617085.2A CN105179007B (en) | 2015-09-24 | 2015-09-24 | A kind of fully-mechanized mining working inspection running device |
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| Publication Number | Publication Date |
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| CN105179007A true CN105179007A (en) | 2015-12-23 |
| CN105179007B CN105179007B (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510617085.2A Active CN105179007B (en) | 2015-09-24 | 2015-09-24 | A kind of fully-mechanized mining working inspection running device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN112412536A (en) * | 2020-11-12 | 2021-02-26 | 临沂矿业集团菏泽煤电有限公司 | Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method |
| CN113148547A (en) * | 2021-04-12 | 2021-07-23 | 北京龙软科技股份有限公司 | Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system |
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Patent Citations (10)
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| US20060037844A1 (en) * | 2004-08-23 | 2006-02-23 | Andreas Pluszynski | Chain wheel arrangement |
| CN1803556A (en) * | 2005-01-14 | 2006-07-19 | 哈尔伯赫和布劳恩工业设备两合公司 | Trough joint for conveyor trough |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107175668A (en) * | 2017-06-15 | 2017-09-19 | 西安科技大学 | A kind of belt conveyer intelligent inspection robot |
| CN112412536A (en) * | 2020-11-12 | 2021-02-26 | 临沂矿业集团菏泽煤电有限公司 | Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method |
| CN113148547A (en) * | 2021-04-12 | 2021-07-23 | 北京龙软科技股份有限公司 | Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105179007B (en) | 2018-12-07 |
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Address after: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee after: Beijing Tianma Zhikong Technology Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. |