CN110410152B - Mining working face inspection robot and application thereof - Google Patents
Mining working face inspection robot and application thereof Download PDFInfo
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- CN110410152B CN110410152B CN201910803529.XA CN201910803529A CN110410152B CN 110410152 B CN110410152 B CN 110410152B CN 201910803529 A CN201910803529 A CN 201910803529A CN 110410152 B CN110410152 B CN 110410152B
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- 238000005065 mining Methods 0.000 title claims abstract description 57
- 238000007689 inspection Methods 0.000 title claims abstract description 53
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 17
- 239000000725 suspension Substances 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 59
- 238000004880 explosion Methods 0.000 claims description 17
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 16
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 239000002817 coal dust Substances 0.000 claims description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 239000006096 absorbing agent Substances 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 10
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 9
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 8
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 8
- 239000001569 carbon dioxide Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 8
- 229910052760 oxygen Inorganic materials 0.000 claims description 8
- 239000001301 oxygen Substances 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 17
- 239000007789 gas Substances 0.000 description 16
- 230000008901 benefit Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
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- 238000004891 communication Methods 0.000 description 3
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- 230000002265 prevention Effects 0.000 description 3
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- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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- 238000005265 energy consumption Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21F17/185—Rock-pressure control devices with or without alarm devices; Alarm devices in case of roof subsidence
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Mining & Mineral Resources (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Multimedia (AREA)
- Signal Processing (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mining working face inspection robot and application thereof, wherein the inspection robot comprises a machine body, an explosion-proof omnidirectional vehicle-mounted holder, a sensor integrated module, an explosion-proof infrared camera and an intrinsic safety type wireless communicator; the four independent suspension devices are symmetrically arranged at the front, back, left and right of the frame and are respectively connected with the travelling device; the explosion-proof servo motor is connected with a transmission device, and the transmission device is connected with the travelling device; the explosion-proof steering engine is connected with the independent suspension device and controls the steering of the walking device. The mining working face inspection robot disclosed by the invention can monitor the deformation of a working face top plate, gushing water and the running condition of equipment in real time, monitor the temperature and the concentration of harmful gas of the working face in real time, and the traveling device carried by the mining working face inspection robot can realize wheel-type and crawler-type conversion and can perform all-terrain operation, so that inspection personnel can be separated from dangerous environments to ensure the safety of the inspection personnel, and the abnormal condition of the mining working face can be found timely, so that timely discovery and timely treatment are realized.
Description
Technical Field
The invention relates to a mining working face inspection robot and application thereof, and belongs to the technical field of special robots.
Background
Coal is the main energy source of China, and is the most economical and clean energy source capable of being utilized efficiently. Coal in China is mainly mined by underground engineering, and through years of development, the mechanization, informatization and automation degree of mine production are greatly improved, underground safety situation is improved, and various accident rates and personnel mortality are greatly reduced. However, the underground environment for underground mining is complex, and various accidents still occur.
The five natural disasters of the coal mine are water, gas, coal dust, fire and roof. Roof disasters are the most common and most likely accidents in coal mines. In five disasters of the coal mine, no matter the occurrence times or the death number, the roof accident is the first of various accidents of the coal mine. With the exploitation of the working face, the roof strata on the coal bed lose support, the original pressure balance is destroyed, and the roof of the coal bed is deformed and destroyed under the action of the overlying strata pressure. If the support is not timely or the support strength is insufficient, the roof strata of the working surface are easily broken and fall off, so that casualties, property and equipment are damaged. Often, gas (methane and the like) accompanies in coal beds, and if the gas is mixed with coal dust with a certain concentration to form flammable and explosive gas, explosion accidents are easily caused. Meanwhile, the gas in the coal seam sometimes accompanies harmful gases such as carbon monoxide and the like, which causes great threat to the life safety of underground workers. The mine water burst is the phenomenon that a large amount of underground water suddenly floods into a mine roadway when the roadway is uncovered, water-guiding and broken and water-rich karst cave are carried out in the tunneling or mining process. Mine water burst is one of the most threatening disasters in the coal mine production process, casualties are large, and economic losses are listed in the list of three major accidents of the coal mine. Thus, monitoring downhole gas, carbon monoxide, carbon dioxide, oxygen, coal dust concentrations, roof deformation, and mining equipment operation is a concern for production safety and personnel safety.
The existing leg robot has low motion efficiency and complex control, and cannot meet the complex environmental requirements in the pit. The wheel robot has the advantages of simple structure, high speed, simple control, stable movement, low energy consumption and the like, but is not suitable for crossing a gully, passing a muddy road and the like, and has poor obstacle crossing capability and passing performance. Compared with a wheeled robot, the crawler robot has stronger terrain adaptability, higher obstacle crossing capability and good environmental adaptability in steep terrain and complex environments, but has higher energy consumption and lower movement speed due to larger friction resistance. Thus, for complex downhole environments, a single walking pattern is not satisfactory.
The underground coal mine rock roadway environment is very severe, complex conditions such as gas, coal dust, broken rock, ravines, ponding, mud and the like are interwoven, and the explosion resistance, the waterproofness, the insulativity and the trafficability of the robot on the ground can not meet the use requirements of the underground mining working face.
In order to promote the safety development of coal mines and further realize the intellectualization and unmanned mining working face, a mining working face inspection robot with the functions of autonomous movement, perception, early warning and image acquisition is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mining working face inspection robot which meets the requirements of explosion prevention, water prevention and insulation of a mining working face under a coal mine, can realize detection of harmful gas, temperature, dust, equipment running state, roof deformation condition, water burst condition and coal wall condition of the mining working face, and uploads data information to an underground control center through a wireless communication network for real-time monitoring and analysis. And the wheel type and crawler type free conversion can be realized under various road conditions, the requirements of different road conditions are met, and the terrain adaptability is improved.
The invention also provides a working method of the mining working face inspection robot.
The technical scheme of the invention is as follows:
the mining working face inspection robot comprises a machine body, an explosion-proof omnidirectional vehicle-mounted holder, a sensor integrated module, an explosion-proof infrared camera and an intrinsic safety type wireless communicator;
the machine body comprises a frame, an explosion-proof servo motor, a transmission device, an independent suspension device, a traveling device, an explosion-proof steering engine, an explosion-proof intrinsic safety power supply and an explosion-proof box; the explosion-proof servo motor, the explosion-proof intrinsic safety power supply, the explosion-proof steering engine and the explosion-proof box are all arranged at the bottom of the frame; the four independent suspension devices are symmetrically arranged at the front, back, left and right of the frame and are respectively connected with the travelling device; the explosion-proof servo motor drives the traveling device through the transmission device; the anti-explosion steering engine is connected with the independent suspension device and controls the steering of the traveling device;
the front end and the rear end of the frame are respectively provided with an explosion-proof infrared camera, the explosion-proof omnidirectional vehicle-mounted cloud deck is arranged on the frame through a steering deck and comprises an explosion-proof camera and an explosion-proof LED infrared lamp, and the intrinsic safety type wireless communicator is arranged on the frame;
a main controller, a servo motor controller, a clutch brake controller, an electric cylinder controller, a steering engine controller and a data information processor are arranged in the explosion-proof box; the sensor integrated module, the explosion-proof infrared camera, the explosion-proof camera and the explosion-proof LED infrared lamp are respectively connected with the data information processor; the data information processor, the servo motor controller, the clutch brake controller, the electric cylinder controller, the steering engine controller, the intrinsic safety type wireless communicator, the explosion-proof intrinsic safety power supply, the explosion-proof camera and the explosion-proof LED infrared lamp are respectively connected with the main controller.
Preferably, the walking device comprises a planetary gear speed reducing mechanism, a movable combined hub mechanism and a rubber crawler transmission mechanism; the planetary gear speed reducing mechanism is connected with the movable combined type hub mechanism through an explosion-proof electric cylinder and a supporting rod, and the movable combined type hub mechanism changes the external shape through the work of the explosion-proof electric cylinder; the rubber track transmission mechanism is connected with the movable combined type hub mechanism, and when the external shape of the movable combined type hub mechanism is changed, the conversion between the wheel type form and the crawler type form of the rubber track transmission mechanism is realized.
Preferably, the planetary gear speed reducing mechanism comprises a front planetary carrier, a rear planetary carrier, a driving shaft, a sun gear, a planetary shaft, a planetary gear, an explosion-proof brake and an explosion-proof clutch; the sun gear is fixedly arranged on the driving shaft, and the driving shaft penetrates through the rear planet carrier and is connected with the transmission device through the universal coupling; the planetary gear is installed on the planetary shaft through bearing connection, three planetary gears are meshed with the sun gear, the planetary shaft is connected between the front planetary frame and the rear planetary frame, and the explosion-proof brake and the explosion-proof clutch are installed on the driving shaft and are located on one side of the rear planetary frame.
Preferably, the movable combined hub mechanism comprises a hub plate, a reinforcing plate and a bearing shaft; the explosion-proof electric cylinder is fixedly arranged on the front planet carrier, the two sides of the explosion-proof electric cylinder support column are symmetrically hinged with the hub plates, each side of the hub plates is correspondingly connected with the reinforcing plate through the bearing shaft, one end of the supporting rod is hinged with the hub plates, and the other end of the supporting rod is hinged with the front planet carrier or the rear planet carrier.
Preferably, the movable combined hub mechanism comprises twelve hub plates, and every four hub plates are symmetrically hinged to two sides of the same explosion-proof cylinder support column. The design has the advantages that the round hub can be formed by adopting twelve hub plates, and meanwhile, the conversion between the round hub and the crawler form of the twelve hub plates can be realized by adopting at least three explosion-proof electric cylinders.
Preferably, the rubber track transmission mechanism comprises a rubber track, a driving wheel and a bearing wheel; the left side and the right side of the planet wheel are respectively provided with a driving wheel which is arranged on the planet shaft, the bearing wheel is arranged on the bearing shaft between the hub plate and the reinforcing plate, the rubber crawler belt wraps the driving wheel and the bearing wheel, and the inner side of the rubber crawler belt is meshed with the driving wheel.
Preferably, four bearing wheels are arranged between the hub plate and the reinforcing plate.
Preferably, the independent suspension device comprises an upper swing arm, a lower swing arm, a steering bracket, a shock absorber and a steering gear connecting rod; one end of the upper swing arm is hinged with the steering support and the shock absorber respectively, the other end of the upper swing arm is hinged with the frame, the other end of the shock absorber is hinged with the frame, two ends of the lower swing arm are hinged with the steering support and the frame respectively, one end of the steering machine connecting rod is hinged with the steering support, and the other end of the steering machine connecting rod is connected with the explosion-proof steering engine.
Preferably, the explosion-proof servo motor, the explosion-proof steering engine, the explosion-proof clutch, the explosion-proof brake and the explosion-proof electric cylinder are respectively connected and controlled by a servo motor controller, a steering engine controller, a clutch brake controller and an electric cylinder controller. The design has the advantage that the controllers are uniformly controlled by the main controller so that all parts can work in coordination with each other.
Preferably, the transmission device comprises a front main shaft, a rear main shaft, a main shaft universal coupling and a differential mechanism; the anti-explosion servo motor is integrated with a speed reducer, the front main shaft is connected with the anti-explosion servo motor, the rear main shaft is connected with the anti-explosion servo motor through a main shaft universal coupling, the other ends of the front main shaft and the rear main shaft are respectively connected with a differential mechanism, and two output shafts of the differential mechanism are respectively connected with the universal couplings on the left side and the right side.
Preferably, the explosion-proof steering engine is connected with the steering engine connecting rod through a gear rack structure. The steering gear has the advantages that the steering gear connecting rod is provided with a rack structure, and the explosion-proof steering engine and the steering gear connecting rod form a gear rack structure, so that the steering of the running gear is realized.
Preferably, the sensor integrated module comprises a coal dust detector, a methane sensor, a carbon monoxide sensor, a carbon dioxide sensor, an oxygen sensor, a temperature sensor and an attitude sensor. The design has the advantages that the sensor integrated module is an integrated module, can acquire various data information and transmit the data information to the main controller, and is used as a basis for adjusting the corresponding working state of the inspection robot.
Preferably, a plurality of proximity sensors are arranged around the frame, and the proximity sensors are connected with the data information processor.
The working method of the mining working face inspection robot comprises the following steps:
in the working face, the patrol robot detects the concentration of coal dust, methane, carbon monoxide, carbon dioxide and oxygen in the working face through a sensor integrated module, meanwhile, a temperature sensor detects the ambient temperature of the working face, an attitude sensor and a proximity sensor detect the surrounding obstacle and the position of the patrol robot, an explosion-proof infrared camera is matched with an explosion-proof omnidirectional vehicle-mounted cloud deck, real-time monitoring is carried out on ground road conditions, water inrush conditions, roof deformation conditions and equipment operation conditions, collected data information is transmitted into a data information processor, and after data conversion processing is carried out, the acquired data information is transmitted to a main controller;
the main controller is communicated with the control center in real time through the intrinsic safety type wireless communicator, data information of the mining working face is transmitted to the control center, a control command of the control center is received, and then the main controller uniformly sends program instructions to the servo motor controller, the clutch brake controller, the electric cylinder controller and the steering engine controller to enable the explosion-proof servo motor, the explosion-proof steering engine, the explosion-proof clutch, the explosion-proof brake and the explosion-proof electric cylinder to work in a coordinated mode;
the inspection robot has two walking modes, wheel type and crawler type, and is determined according to ground road conditions:
when the vehicle needs to run in a wheel type mode, the explosion-proof electric cylinder is retracted into an explosion-proof electric cylinder support, the hub plate is contracted inwards to form a round hub, the explosion-proof brake is separated, the explosion-proof clutch is connected with the locking planetary row, and the whole planetary row and the rubber crawler track synchronously rotate along with the driving shaft, so that the conversion from the crawler type to the wheel type mode is realized;
or (b)
When the crawler type form is required to run, the explosion-proof brake is engaged, the explosion-proof clutch is separated, the driving shaft drives the sun wheel, the sun wheel drives the planet wheel, the driving wheel is further driven to drive the rubber crawler, the explosion-proof electric cylinder lifts the explosion-proof electric cylinder support column, the hub plate is outwards diffused to form a triangular hub, and therefore the crawler type form is converted from the wheel type form to the crawler type form.
The invention has the beneficial effects that:
1) According to the mining working face inspection robot, the explosion-proof infrared camera and the explosion-proof omnidirectional vehicle-mounted holder are arranged, so that deformation, water bursting and equipment running conditions of a working face top plate can be monitored in real time, the temperature sensor and various gas sensors are arranged, the temperature and harmful gas concentration of the working face can be monitored in real time, data information is transmitted to an uphole control center through the intrinsic safety type wireless communication device, inspection personnel can be separated from a dangerous environment to ensure the safety of the inspection personnel, abnormal conditions of the mining working face can be found timely, and timely treatment can be achieved.
2) The running gear is provided with the planetary gear speed reducing mechanism, the movable combined hub mechanism and the rubber crawler transmission mechanism, and the mutual conversion between the wheel type and the crawler type can be controlled through the mutual matching of the explosion-proof brake, the explosion-proof clutch and the explosion-proof electric cylinder, so that the rapid form conversion can be carried out according to the running requirement of the mining working face inspection robot, and the mining working face inspection robot can be converted into the wheel type form on a flat hard road surface, thereby improving the running speed and reducing the power consumption; on the soft ground, the ground is converted into a crawler type form, so that the grounding area is increased, the traction force is improved, the trafficability is improved, and the working efficiency of the mining working face inspection robot is further improved.
3) The inspection robot for the mining working face is scientific and reasonable in structural design, convenient to operate and use, capable of replacing manual inspection operation on the mining working face, capable of comprehensively collecting various information such as temperature, humidity, harmful gas, deformation of a top plate and the like, and capable of timely transmitting the information to an on-well control center, so that real-time control of the inspection robot is achieved, corresponding adjustment is made for different working environments, and the inspection robot has the advantages of being high in working efficiency and wide in application range.
Drawings
FIG. 1 is a schematic view of the structure of a mining face inspection robot in a wheeled configuration;
FIG. 2 is a block diagram of a mining face inspection robot system;
FIG. 3 is a layout diagram of the internal structure of a machine body in the mining face inspection robot;
FIG. 4 is a schematic illustration of the configuration of a mining face inspection robot wheel;
FIG. 5 is a schematic view of the crawler-type configuration of the mining face inspection robot;
FIG. 6 is a schematic view of the structure of the wheeled configuration of the running gear in the mining face inspection robot;
FIG. 7 is a schematic structural view of a connection between a walking device and an independent suspension device in a mining face inspection robot;
FIG. 8 is a schematic view of the track-type configuration of the running gear in the mining face inspection robot;
FIG. 9 is a schematic view of a structure of a wheel hub in a wheeled configuration of a running gear in a mining face inspection robot;
FIG. 10 is a schematic view of the structure of the wheel hub in a crawler-type configuration of the running gear in the mining face inspection robot;
FIG. 11 is a schematic structural view of a planetary reduction mechanism of a walking device in a mining face inspection robot;
FIG. 12 is a schematic view of a traveling device movable hub plate and a load bearing wheel installation in a mining face inspection robot;
in the figure: 1-a machine body; 11-a frame; 12-explosion-proof servo motor; 13-a transmission; 14-independent suspension means; 141-upper swing arm; 142-lower swing arms; 143-steering rack; 144-a shock absorber; 145—steering linkage; 15-an explosion-proof steering engine; 16-flameproof intrinsic safety power supply; 17-an intrinsically safe wireless communicator;
2-an explosion-proof box; 21-a main controller; 22-a servo motor controller; 23-a clutch brake controller; 24-electric cylinder controller; 25-steering engine controller; 26-a data information processor; 27-an explosion-proof box body;
3-an information acquisition module; 31-an explosion-proof infrared camera; 32-explosion-proof omnidirectional vehicle-mounted cradle head; 321-an explosion-proof camera; 322-steering stage; 323-explosion-proof LED infrared lamp; 33-a proximity sensor; a 34-sensor integration module;
4-a walking device; 41-a planetary gear reduction mechanism; 411-front planet carrier; 412-rear planet carrier; 413-a drive shaft; 414-sun gear; 415-planetary shaft; 416-planets; 417-explosion-proof brake; 418-explosion-proof clutch; 419-universal coupling; 42-a movable combined hub mechanism; 421-hub plate; 422-explosion-proof cylinder support; 423-explosion-proof electric cylinder; 424-supporting the bar; 425-reinforcing plates; 426—a load bearing shaft; 43-rubber track drive; 431-rubber tracks; 432-drive wheel; 433-bearing wheels.
Detailed Description
The invention will now be further illustrated by way of example, but not by way of limitation, with reference to the accompanying drawings.
Example 1:
as shown in fig. 1 to 12, the present embodiment provides a mining working face inspection robot, which mainly includes a machine body 1, an explosion-proof omnidirectional vehicle-mounted cradle head 32, a sensor integration module 34, an explosion-proof infrared camera 31, and an intrinsic safety type wireless communicator 17;
the machine body 1 comprises a frame 11, an explosion-proof servo motor 12, a transmission device 13, an independent suspension device 14, a travelling device 4, an explosion-proof steering engine 15, an explosion-proof intrinsic safety power supply 16 and an explosion-proof box 2, wherein the explosion-proof servo motor 12, the explosion-proof intrinsic safety power supply 16, the explosion-proof steering engine 15 and the explosion-proof box 2 are all arranged at the bottom of the frame 11. Four independent linkage 14 symmetry sets up around frame 11, and explosion-proof servo motor 12 connects transmission 13, and transmission 13 connects drive running gear realizes four drives through the universal joint, and explosion-proof steering wheel 15 is connected with the steering wheel connecting rod 145 of independent linkage 14, and control patrols and examines the steering of robot, and flameproof intrinsic safety power supply 16 installs in frame 11 left side, provides energy and power for patrolling and examining the robot, and intrinsic safety type wireless communicator 17 installs at frame 11 upper surface to guarantee the real-time communication with the control center.
The independent suspension 14 includes an upper swing arm 141, a lower swing arm 142, a steering bracket 143, a shock absorber 144, and a steering linkage 145; one end of the upper swing arm 141 is hinged with the steering bracket 143 and the shock absorber 144 respectively, the other end of the upper swing arm is hinged with the frame 11, and the other end of the shock absorber 144 is hinged with the frame 11; the two ends of the lower swing arm 142 are respectively hinged with the steering support 143 and the frame 11, one end of the steering gear connecting rod 145 is hinged with the steering support 143, the other end of the steering gear connecting rod is provided with a rack, the rack is meshed with a gear connected with an output shaft of the anti-explosion steering engine 15, the follow-up anti-explosion steering engine 15 drives the steering gear connecting rod 145 to realize steering of a running gear through a gear rack structure, and the steering support 143 is fixedly connected with the anti-explosion brake 417 through a flange plate.
The flame proof case 2 is arranged on the right side of the frame, the flame proof case 2 comprises a main controller 21, a servo motor controller 22, a clutch brake controller 23, an electric cylinder controller 24, a steering engine controller 25, a data information processor 26 and a flame proof case 27, the electric equipment is arranged in the flame proof case 27, and the cable is led out from the flame proof case 2 through a flame proof interface.
The information acquisition module 3 comprises an explosion-proof infrared camera 31, an explosion-proof omnidirectional vehicle-mounted cradle head 32, a proximity sensor 33 and a sensor integration module 34. The explosion-proof infrared camera 31 is installed respectively in front of and behind frame 11, explosion-proof omnidirectional vehicle-mounted cloud platform 32 is installed in frame 11 top, and proximity sensor 33 sets up eight in front of and behind bilateral symmetry in frame 11, and sensor integrated module 34 is installed in frame 11 top.
The explosion-proof omnidirectional vehicle-mounted cloud deck 32 comprises an explosion-proof camera 321, a steering table 322 and an explosion-proof LED infrared lamp 323, wherein the two groups of explosion-proof cameras 321 and the explosion-proof LED infrared lamp 323 are respectively arranged at the top end of the steering table 322, the two groups of explosion-proof cameras and the explosion-proof LED infrared lamp 323 form an included angle, the steering table 322 can rotate by 360 degrees, the rotation can be realized by adopting conventional equipment, and the monitoring dead angle at the top of the inspection robot can be avoided.
The sensor integration module 34 includes a soot detector, a methane sensor, a carbon monoxide sensor, a carbon dioxide sensor, an oxygen sensor, a temperature sensor, and a gesture sensor. The coal dust detector, the methane sensor, the carbon monoxide sensor, the carbon dioxide sensor, the oxygen sensor, the temperature sensor and the attitude sensor are all intrinsic safety type equipment, and the module is integrated with the gas sensor and the temperature sensor, so that small holes which are uniformly and densely distributed are reserved on the shell of the module.
Four travelling devices 4 are symmetrically arranged on the front, the rear, the left and the right of the frame 11, and each travelling device 4 is connected with the frame 11 through an independent suspension device 14. The running gear 4 comprises a planetary gear speed reducing mechanism 41, a movable combined hub mechanism 42 and a rubber track transmission mechanism 43; the planetary gear speed reducing mechanism 41 is connected with the movable combined hub mechanism 42 through an explosion-proof electric cylinder 423 and a supporting rod 424, and the movable combined hub mechanism 42 is changed into an external shape through the telescopic operation of the explosion-proof electric cylinder 423; the rubber crawler transmission mechanism 43 is connected to the movable combined hub mechanism 42, and when the external shape of the movable combined hub mechanism 42 is changed, the conversion between the wheeled form and the crawler form of the rubber crawler transmission mechanism 43 is achieved.
The planetary gear reduction mechanism 41 includes a front carrier 411, a rear carrier 412, a drive shaft 413, a sun gear 414, a planetary shaft 415, a planetary gear 416, an explosion-proof clutch 418, and a universal joint 419; the sun gear 414 is fixedly mounted on the driving shaft 413, the driving shaft 413 is connected with the transmission device 13 through a universal coupling 419, the driving shaft 413 passes through the rear planet carrier 412, the planet gears 416 are mounted on the planet shaft 415 through bearing connection, three planet gears 416 are meshed with the sun gear 414 and combined with the front planet carrier 411 and the rear planet carrier 412 to form a planet row, the planet shaft 415 is mounted and connected between the front planet carrier 411 and the rear planet carrier 412, and the explosion-proof clutch 418 is mounted between the driving shaft 413 and the rear planet carrier 412. The explosion proof clutch 418 is used to connect or disconnect the rear carrier 412 to the drive shaft 413 to determine whether the carrier follows the synchronous rotation of the drive shaft 413 and the sun gear 414.
The transmission device 13 is of conventional design and mainly comprises a front main shaft, a rear main shaft, a main shaft universal coupling and a differential mechanism; the anti-explosion servo motor is integrated with a speed reducer, the front main shaft is connected with the anti-explosion servo motor, the rear main shaft is connected with the anti-explosion servo motor through a main shaft universal coupling, the other ends of the front main shaft and the rear main shaft are respectively connected with a differential mechanism, and two output shafts of the differential mechanism are respectively connected with universal couplings 419 on the left side and the right side, so that the travelling device is driven to realize four-wheel drive.
The planetary gear reduction mechanism 41 further includes an explosion-proof brake 417, the explosion-proof brake 417 being mounted between the rear carrier 412 and the steering bracket 143, where the explosion-proof brake 417 is mainly used to keep the carrier stationary with the independent suspension 14 for planetary transmission. In this embodiment, the explosion-proof brake 417 and the explosion-proof clutch 418 are mining explosion-proof equipment.
In this embodiment, three explosion-proof cylinders 423 are mounted on the front planet carrier 411, the three explosion-proof cylinders 423 are distributed at equal intervals, the explosion-proof cylinder support 422 (piston rod) has a T-shaped structure, and the front end is a T-shaped block.
The movable combined hub mechanism 42 comprises a hub plate 421, a support rod 424, a reinforcing plate 425 and a bearing shaft 426; the explosion-proof electric cylinder 423 is fixedly installed on the front planet carrier 411, two sides of the explosion-proof electric cylinder support 422 are symmetrically hinged with the hub plates 421 (one end of each hub plate is hinged on the T-shaped block), each side of the hub plates 421 is correspondingly connected with the reinforcing plate 425 through the bearing shaft 426, one end of the supporting rod 424 is hinged with the hub plates 421, the other end of the supporting rod 424 is hinged with the front planet carrier 411 or the rear planet carrier 412, and at the moment, the hub plates 421, the explosion-proof electric cylinder support 422, the explosion-proof electric cylinder 423 and the supporting rod 424 form a four-bar mechanism with a moving pair. In this embodiment, the twelve hub plates 421 form a hub mechanism, and six hub plates 421 are installed at the left and right ends of the hub mechanism, and each four hub plates 421 are symmetrically hinged to two sides of the same explosion-proof cylinder support 422. The round hub can be formed by twelve hub plates, meanwhile, the conversion between the round hub and the crawler form of the twelve hub plates can be realized by adopting at least three explosion-proof electric cylinders, the components are fewer, and the cost is low.
The rubber track transmission mechanism 43 comprises a rubber track 431, a driving wheel 432 and a bearing wheel 433; the driving wheel 432 is installed on the planet shaft 415 and fixedly connected to the planet 416, the driving wheel 432 is arranged at the left end and the right end of the planet 416, the driving wheel 432 and the planet 416 rotate synchronously, the bearing wheel 433 is installed on the bearing shaft 426 between the hub plate 421 and the reinforcing plate 425, four bearing wheels 433 are arranged between the hub plate 421 and the reinforcing plate 425, the driving wheel 432 and the bearing wheels 433 are wrapped by the rubber track 431, and the inner side of the rubber track 431 is meshed with the driving wheel 432.
All the electric equipment accords with the national standard of electric equipment for explosive gas environment (GB 3836-2010) series so as to meet the use requirement of explosion prevention and explosion isolation.
According to the technical scheme, the mining explosion-proof type electrical equipment is adopted, meanwhile, explosion-proof and explosion-proof treatment is carried out on the general type electrical equipment, and a novel running gear is adopted, so that the inspection robot can be mutually converted between a wheel type form and a crawler type form according to the complex topography of a mining working face, and the topography adaptability of the inspection robot is improved; adopt temperature sensor, coal dust detector, multiple gas sensor and infrared camera, can carry out real-time supervision to mining working face harmful gas, dust, temperature, roof deformation, coal wall and gushing water condition to transmit to control center through this ampere of formula wireless communicator.
Example 2:
the working method of the mining working face inspection robot according to embodiment 1 comprises the following specific working procedures:
the mining working face inspection robot works on the mining working face, the concentrations of coal dust, methane, carbon monoxide, carbon dioxide and oxygen of the mining working face are detected through a coal dust detector, a methane sensor, a carbon monoxide sensor, a carbon dioxide sensor and an oxygen sensor in the sensor integrated module 34, meanwhile, the temperature sensor detects the environment temperature of the working face, the surrounding obstacle and the position of the working face are detected through the gesture sensor and the proximity sensor 33, the explosion-proof infrared camera 31 is matched with the explosion-proof omnidirectional vehicle-mounted holder 32, and real-time monitoring is carried out on the ground road condition, the water burst condition, the deformation condition of a top plate and the running condition of equipment. The acquired data information is transferred to the data information processor 26, subjected to data conversion processing, and transferred to the main controller 21.
The explosion-proof servo motor 12, the explosion-proof steering engine 15, the explosion-proof clutch 418, the explosion-proof brake 417 and the explosion-proof electric cylinder 433 are respectively controlled by the servo motor controller 22, the clutch brake controller 23, the electric cylinder controller 24 and the steering engine controller 25, and the controllers are uniformly controlled by the main controller 21, wherein the explosion-proof clutch 418 and the explosion-proof brake 417 are uniformly connected and controlled by the clutch brake controller 23, so that all the parts can work in a coordinated manner.
The main controller 21 communicates with the control center in real time through the intrinsic safety type wireless communicator 17, transmits data information of the mining working face to the control center, and receives control commands of the control center. The mining working face inspection robot has two operation modes, and monitors the working face according to a preset inspection path or controls the movement of the robot in real time by a control center.
The mining working face inspection robot has two walking modes: the shape of the wheel type and the crawler type is determined by the ground road condition:
when the wheel type running is required, the explosion-proof cylinder 423 is retracted into the explosion-proof cylinder support 433, the hub plate 421 is contracted inwards to form a round hub, the explosion-proof brake 417 is separated, the explosion-proof clutch 418 is engaged with the locking planetary row, and the whole planetary row is locked with the rubber crawler and rotates synchronously along with the driving shaft 413, so that the conversion from the crawler type to the wheel type is realized;
when the crawler type vehicle is required to run, the explosion-proof brake 417 is engaged, the explosion-proof clutch 418 is separated, the driving shaft 413 drives the sun wheel 414, the sun wheel 414 drives the planet wheel 416, the driving wheel 432 is further driven to drive the rubber crawler 431, the explosion-proof electric cylinder 433 lifts the explosion-proof electric cylinder support 432, and the hub plate 431 is outwards diffused to form a triangle hub, so that the conversion from the wheel type form to the crawler type form is realized.
In the wheel track form conversion process, the shape of the hub is changed by controlling the expansion and contraction of the explosion-proof electric cylinder support column, and the circumference of the outer ring of the hub is ensured to be basically unchanged in the process, so that the rubber track is correctly meshed with the driving wheel.
Claims (5)
1. The mining working face inspection robot is characterized by comprising a machine body, an explosion-proof omnidirectional vehicle-mounted holder, a sensor integrated module, an explosion-proof infrared camera and an intrinsic safety type wireless communicator;
the machine body comprises a frame, an explosion-proof servo motor, a transmission device, an independent suspension device, a traveling device, an explosion-proof steering engine, an explosion-proof intrinsic safety power supply and an explosion-proof box; the explosion-proof servo motor, the explosion-proof intrinsic safety power supply, the explosion-proof steering engine and the explosion-proof box are all arranged at the bottom of the frame; the four independent suspension devices are symmetrically arranged at the front, back, left and right of the frame and are respectively connected with the travelling device; the explosion-proof servo motor drives the traveling device through the transmission device; the anti-explosion steering engine is connected with the independent suspension device and controls the steering of the traveling device;
the front end and the rear end of the frame are respectively provided with an explosion-proof infrared camera, the explosion-proof omnidirectional vehicle-mounted cloud deck is arranged on the frame through a steering deck and comprises an explosion-proof camera and an explosion-proof LED infrared lamp, and the intrinsic safety type wireless communicator is arranged on the frame;
a main controller, a servo motor controller, a clutch brake controller, an electric cylinder controller, a steering engine controller and a data information processor are arranged in the explosion-proof box; the sensor integrated module, the explosion-proof infrared camera, the explosion-proof camera and the explosion-proof LED infrared lamp are respectively connected with the data information processor; the data information processor, the servo motor controller, the clutch brake controller, the electric cylinder controller, the steering engine controller, the intrinsic safety type wireless communicator, the explosion-proof intrinsic safety power supply, the explosion-proof camera and the explosion-proof LED infrared lamp are respectively connected with the main controller;
the running gear comprises a planetary gear speed reducing mechanism, a movable combined hub mechanism and a rubber crawler transmission mechanism; the planetary gear speed reducing mechanism is connected with the movable combined type hub mechanism through an explosion-proof electric cylinder and a supporting rod, and the movable combined type hub mechanism changes the external shape through the work of the explosion-proof electric cylinder; the rubber crawler belt transmission mechanism is connected with the movable combined type hub mechanism, and when the external shape of the movable combined type hub mechanism is changed, the conversion between the wheel type form and the crawler type form of the rubber crawler belt transmission mechanism is realized;
the planetary gear speed reducing mechanism comprises a front planetary carrier, a rear planetary carrier, a driving shaft, a sun gear, a planetary shaft, a planetary gear, an explosion-proof brake and an explosion-proof clutch; the sun gear is fixedly arranged on the driving shaft, and the driving shaft penetrates through the rear planet carrier and is connected with the transmission device through the universal coupling; the planetary gear is connected and installed on a planetary shaft through a bearing, the three planetary gears are meshed with a sun gear, the planetary shaft is connected between a front planetary carrier and a rear planetary carrier, and an explosion-proof brake and an explosion-proof clutch are installed on a driving shaft and are positioned on one side of the rear planetary carrier;
the independent suspension device comprises an upper swing arm, a lower swing arm, a steering bracket, a shock absorber and a steering gear connecting rod; one end of the upper swing arm is hinged with the steering bracket and the shock absorber respectively, the other end of the upper swing arm is hinged with the frame, the other end of the shock absorber is hinged with the frame, the two ends of the lower swing arm are hinged with the steering bracket and the frame respectively, one end of the steering machine connecting rod is hinged with the steering bracket, and the other end of the steering machine connecting rod is connected with the explosion-proof steering engine;
the transmission device comprises a front main shaft, a rear main shaft, a main shaft universal coupling and a differential mechanism; the front main shaft is connected with the explosion-proof servo motor, the rear main shaft is connected with the explosion-proof servo motor through a main shaft universal coupling, the other ends of the front main shaft and the rear main shaft are respectively connected with a differential mechanism, and two output shafts of the differential mechanism are respectively connected with universal couplings at the left side and the right side;
the explosion-proof steering engine is connected with the steering engine connecting rod through a gear rack structure; and a plurality of proximity sensors are arranged around the frame and are connected with the data information processor.
2. The mining face inspection robot of claim 1, wherein the movable combined hub mechanism includes a hub plate, a reinforcing plate, and a load bearing shaft; the explosion-proof electric cylinder is fixedly arranged on the front planet carrier, the two sides of the explosion-proof electric cylinder support column are symmetrically hinged with the hub plates, each side of the hub plates is correspondingly connected with the reinforcing plate through the bearing shaft, one end of the supporting rod is hinged with the hub plates, and the other end of the supporting rod is hinged with the front planet carrier or the rear planet carrier.
3. The mining face inspection robot of claim 2, wherein the movable combined hub mechanism comprises twelve hub plates, each four of which are symmetrically hinged to both sides of the same explosion-proof cylinder support.
4. The mining face inspection robot of claim 2, wherein the rubber track drive comprises a rubber track, a drive wheel, a load bearing wheel; the left side and the right side of the planet wheel are respectively provided with a driving wheel which is arranged on the planet shaft, the bearing wheel is arranged on the bearing shaft between the hub plate and the reinforcing plate, the rubber crawler belt wraps the driving wheel and the bearing wheel, and the inner side of the rubber crawler belt is meshed with the driving wheel.
5. A method of operating a mining face inspection robot as claimed in any one of claims 1 to 4, comprising the steps of:
in the working face, the patrol robot detects the concentration of coal dust, methane, carbon monoxide, carbon dioxide and oxygen in the working face through a sensor integrated module, meanwhile, a temperature sensor detects the ambient temperature of the working face, an attitude sensor and a proximity sensor detect the surrounding obstacle and the position of the patrol robot, an explosion-proof infrared camera is matched with an explosion-proof omnidirectional vehicle-mounted cloud deck, real-time monitoring is carried out on ground road conditions, water inrush conditions, roof deformation conditions and equipment operation conditions, collected data information is transmitted into a data information processor, and after data conversion processing is carried out, the acquired data information is transmitted to a main controller;
the main controller is communicated with the control center in real time through the intrinsic safety type wireless communicator, data information of the mining working face is transmitted to the control center, a control command of the control center is received, and then the main controller uniformly sends program instructions to the servo motor controller, the clutch brake controller, the electric cylinder controller and the steering engine controller to enable the explosion-proof servo motor, the explosion-proof steering engine, the explosion-proof clutch, the explosion-proof brake and the explosion-proof electric cylinder to work in a coordinated mode;
the inspection robot has two walking modes, wheel type and crawler type, and is determined according to ground road conditions:
when the vehicle needs to run in a wheel type mode, the explosion-proof electric cylinder is retracted into an explosion-proof electric cylinder support, the hub plate is contracted inwards to form a round hub, the explosion-proof brake is separated, the explosion-proof clutch is connected with the locking planetary row, and the whole planetary row and the rubber crawler track synchronously rotate along with the driving shaft, so that the conversion from the crawler type to the wheel type mode is realized;
or (b)
When the crawler type form is required to run, the explosion-proof brake is engaged, the explosion-proof clutch is separated, the driving shaft drives the sun wheel, the sun wheel drives the planet wheel, the driving wheel is further driven to drive the rubber crawler, the explosion-proof electric cylinder lifts the explosion-proof electric cylinder support column, the hub plate is outwards diffused to form a triangular hub, and therefore the crawler type form is converted from the wheel type form to the crawler type form.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910803529.XA CN110410152B (en) | 2019-08-28 | 2019-08-28 | Mining working face inspection robot and application thereof |
| PCT/CN2019/105330 WO2020134187A1 (en) | 2019-08-28 | 2019-09-11 | Mining workface inspection robot and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910803529.XA CN110410152B (en) | 2019-08-28 | 2019-08-28 | Mining working face inspection robot and application thereof |
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| CN110410152A CN110410152A (en) | 2019-11-05 |
| CN110410152B true CN110410152B (en) | 2024-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910803529.XA Active CN110410152B (en) | 2019-08-28 | 2019-08-28 | Mining working face inspection robot and application thereof |
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| CN (1) | CN110410152B (en) |
| WO (1) | WO2020134187A1 (en) |
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| CN109649075A (en) * | 2019-01-15 | 2019-04-19 | 山东科技大学 | A kind of full landform forest fire prevention and control Detecting Robot and its application |
| CN210370799U (en) * | 2019-08-28 | 2020-04-21 | 山东科技大学 | Inspection robot for excavation working surface |
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| Publication number | Publication date |
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| WO2020134187A1 (en) | 2020-07-02 |
| CN110410152A (en) | 2019-11-05 |
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