CN110412981B - Safety inspection robot for pulverized coal conveying belt and using method of safety inspection robot - Google Patents
Safety inspection robot for pulverized coal conveying belt and using method of safety inspection robot Download PDFInfo
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- CN110412981B CN110412981B CN201910688601.9A CN201910688601A CN110412981B CN 110412981 B CN110412981 B CN 110412981B CN 201910688601 A CN201910688601 A CN 201910688601A CN 110412981 B CN110412981 B CN 110412981B
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- 238000007689 inspection Methods 0.000 title claims abstract description 43
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 4
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- 238000003466 welding Methods 0.000 claims abstract description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 46
- 229910052802 copper Inorganic materials 0.000 claims description 46
- 239000010949 copper Substances 0.000 claims description 46
- 230000009467 reduction Effects 0.000 claims description 16
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- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
- 239000012212 insulator Substances 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 2
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- 230000007547 defect Effects 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention belongs to the technical field of pulverized coal conveying safety detection equipment, and discloses a pulverized coal conveying belt safety inspection robot and a using method thereof.A robot body is provided with a frame, and the frame is formed by welding a square pipe and angle steel; an upper cover plate is arranged above the framework, and the rope connecting devices are positioned on two sides of the upper cover plate and distributed in the middle; the rope connecting device is provided with a protection plate through the periphery of the frame, the insulation plate and the first baffle are positioned below the upper cover plate, and the insulation plate and the first baffle are arranged on two sides of the protection plate through bolts; the first support in the frame is connected with the connecting plate through a bolt, and the connecting plate is installed on the frame through a bolt; the device for connecting the rope is connected with an external stepping motor driver through the rope. The rope traction movement is carried out through the external stepping motor driver, driving energy is not required to be carried, the working capacity of the robot is extremely high, and the rope traction mechanism is simple in structure and high in reliability; meanwhile, the device has certain obstacle crossing capability and is convenient to move.
Description
Technical Field
The invention belongs to the technical field of pulverized coal conveying safety detection equipment, and particularly relates to a pulverized coal conveying belt safety inspection robot and a using method thereof.
Background
Currently, the closest prior art in the industry: china is a world with large electricity consumption, and a belt conveyor has become a main transport tool for pulverized coal in a thermal power plant along with higher and higher requirements on safe and efficient transport of the pulverized coal. Compared with other transportation modes, the transportation system has the advantages of higher safety, low cost, reliable operation and large transportation capacity. However, the belt conveyor also has the obvious defect that the pulverized coal is easy to fall off from the conveyor belt in the pulverized coal conveying process, so that the pulverized coal is accumulated, and potential safety hazards are easily caused. On the other hand, because the conveying distance of the belt conveyor is long, the fault of the belt conveyor is difficult to be found, and the conveying efficiency of the coal is greatly influenced. At present, the method for solving the problems in the coal mine is to dispatch workers to carry out regular inspection, find out faults or coal breakage conditions and maintain and clean the faults or the coal breakage conditions in time, so that the working strength of the workers is undoubtedly increased, and the workers cannot carry out inspection in 24 hours, so that potential safety hazards cannot be completely eliminated.
The safety inspection robot for detecting the coal powder conveying condition has wide application prospect, aims to provide a set of robot automatic operation system for the inspection of the coal powder belt conveyor, can reduce the working strength of workers and reduce the inspection cost, and most importantly, can greatly improve the safety coefficient of the belt conveyor. The current inspection robot can be divided into the following two types according to the driving mode:
(1) self-driven inspection robot: the self-driven inspection robot is a robot which moves through a motor or other drivers with a power source driving the robot, and the self-driven inspection robot has various types including a rail type inspection robot, a tire type inspection robot and a crawler type inspection robot. The robot generally has the defects of complex structure, poor reliability, difficult control and the like; above all, the robot has the problem of energy supply.
(2) Patrol robot moving with external driver: this type of robot has no power source and drive of its own, but is moved by an external traction device. The robot can effectively solve the problem that the self-set energy of the robot is insufficient, the self-mechanism of the robot is simple, and the robot can accurately perform motion positioning by using external control. However, this type of robot is also limited by the flexibility of the movement area.
In summary, the problems of the prior art are as follows:
(1) the existing safety inspection robot for the pulverized coal conveying belt has the defects of complex structure, poor reliability, difficult control and the like; above all, the robot has the problem of energy supply.
(2) The existing safety inspection robot for the pulverized coal conveying belt is easily limited by the flexibility of a movement area.
The difficulty of solving the technical problems is as follows:
the field environment of the pulverized coal conveying belt of the power plant is complex, the ground equipment is numerous, and the belt is difficult to move on the ground; it is more difficult to install and use a device that can be moved continuously.
The significance of solving the technical problems is as follows:
the complex, hard and harsh production environment has great harm to human bodies, and the inspection robot can replace the field inspection of workers to a great extent, so that the harm to the human bodies from the dangerous and hard environment is reduced; the effective equipment can reduce the lazy condition of workers, the equipment replaces the workers to enter a hard work environment, the psychological rejection of the workers to the hard environment is reduced, and the willingness of positive work is increased. Therefore, the safety patrol inspection system can realize reliable quantification, timely and quantitative safety patrol inspection, enhance the willingness of workers to actively work, and reduce the harm to the bodies of the workers.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a safety inspection robot for a pulverized coal conveying belt and a method thereof. The invention can effectively solve the potential safety hazard of the existing pulverized coal belt conveyor, and has the characteristics of high intelligent level, good safety, simple operation, good stability and the like.
The invention is realized in such a way that the safety inspection robot for the pulverized coal conveying belt is provided with:
the robot comprises a robot body, a data acquisition and processing device and a copper wheel electricity taking device;
the robot body is provided with a frame, and the frame is formed by welding square pipes and angle steels; an upper cover plate is arranged above the framework, and the rope connecting devices are positioned on two sides of the upper cover plate and distributed in the middle;
the rope connecting device is provided with a protection plate through the periphery of the frame, the insulation plate and the first baffle plate are positioned below the upper cover plate, and the insulation plate and the first baffle plate are arranged on two sides of the protection plate through bolts;
the first support in the frame is connected with the connecting plate through a bolt, the connecting plate is installed on the frame through a bolt, and the lower shell is installed on the frame through a bolt; the device for connecting the rope is connected with an external stepping motor driver through the rope.
The robot body carries out rope traction movement through an external stepping motor driver, driving energy is not required to be carried, the working capacity of the robot is extremely high, and the robot is simple in structure and high in reliability; meanwhile, the device has certain obstacle crossing capability and is convenient to move.
Further, the copper wheel electricity taking device is provided with a copper wheel, the shaft end of the copper wheel is matched with the mounting rack through a bearing, the copper wheel is sleeved on the electric guide rail, and the copper wheel transmits current on the electric guide rail;
the input end of the electric brush is connected with the output shaft of the copper wheel through the shaft coupling, and the other end of the copper wheel is provided with a bearing end cover matched with the copper wheel.
The copper wheel is sleeved on the electric guide rail, and the current on the electric guide rail is transmitted by the copper wheel, so that the current can be provided for the data processing device.
Furthermore, the copper wheel is four groups, and the middle part of the copper wheel is provided with a groove.
Four sets of roller mechanisms with grooves in the middle are installed outside, and the four sets of roller mechanisms are installed on two sides of the robot, so that the robot can effectively and stably run on the track.
Further, the mounting bracket includes: the baffle plate is connected with the bracket through a bolt; the mounting bracket is an insulator.
By designing the mounting bracket as an insulator, leakage current is prevented from occurring.
Further, the electric brush is arranged on a protection plate of the robot body, the mounting frame is connected with the protection plate of the robot body through a bolt,
the electric brush is connected with the voltage reduction module through a wire, and the voltage reduction module is connected with the data acquisition and processing device through a wire.
Through being provided with the brush, can transmit the electric current on four group's gyro wheel mechanisms connection electric conductor rails to the step-down module, the step-down module carries out corresponding adjustment back to the voltage that the copper wheel transmitted, provides required electric current for data acquisition processing apparatus.
Further, the data acquisition and processing device comprises two groups of visual cameras, an infrared camera and two groups of laser cameras, wherein the two groups of visual cameras are arranged below the robot protective plate;
the voltage reduction module, the wireless transmission module and the wireless network bridge are positioned in the robot and connected to the bracket through bolts, the switch is installed below the bracket through bolts, and the antenna is installed on the upper cover plate;
noise sensor and adapter are located the protection plate of robot front and back side, and signal transmission antenna is located noise sensor's both sides, fixes on the protection plate, and four groups of ultrasonic radar install inside the robot to be connected with the protection plate.
Adapter, switch, noise sensor, ultrasonic radar, vision camera, infrared camera and laser camera pass through the signal of telecommunication and are connected with the main control board, and the main control board passes through the signal of telecommunication and is connected with wireless transmission module, wireless network bridge, antenna, signal transmission antenna.
By arranging the visual camera, the infrared camera, the laser camera and the like, the coal breakage condition of the belt conveyor can be effectively detected, and unsafe factors such as faults, temperature and the like of the conveyor can be detected in real time; the information transmission system sends the information back to the monitoring equipment, so that the working intensity of workers is effectively reduced, and the safety is improved.
Another object of the present invention is to provide a method for using the safety inspection robot for the pulverized coal conveyor belt, which includes:
firstly, an electric guide rail corresponding to the belt conveyor is erected beside the belt conveyor, the robot is contacted with the electric guide rail through four copper wheels, namely the robot can move on the electric guide rail, the copper wheels can obtain electric energy from a lead, the electric energy is transmitted to a voltage reduction module through an electric brush, and the voltage reduction module supplies power to a data acquisition processing device installed on the robot after correspondingly adjusting the voltage transmitted by the copper wheels;
secondly, when the robot moves, the rope connecting devices at the two ends of the upper cover plate are connected with the external traction device through ropes. After the robot sends a signal, the stepping motor drives the traction device to rotate, and the traction device simultaneously pulls the rope to enable the robot to move on the electric guide rail; when the robot reaches one end of the belt conveyor, the robot can automatically send a reverse instruction to enable the stepping motor to drive the traction device to reversely rotate, and the robot moves towards the other end of the belt conveyor;
in the moving process of the safety inspection robot, a visual camera arranged below the robot monitors the running condition and the coal breakage condition of the belt conveyor in real time, and transmits a video to a display terminal through a wireless transmission module; the ultrasonic radar and the infrared camera which are also arranged below the robot respectively identify the volume and the temperature of the fallen coal, and when the coal falling condition or the temperature reaches a certain warning value, the robot can send a danger signal to a worker at the equipment terminal through the wireless transmission module; judging the noise of the conveyor in the working process by a sound pickup and a noise sensor in the moving process of the robot, and detecting the fault condition of the conveyor; when the robot works, the ultrasonic radars arranged around the robot detect whether staff or other obstacles influencing the movement of the robot are around the robot, if the staff or the obstacles exist in the front of the robot, the robot sends a signal to enable the traction device to stop traction, and the robot stops moving, so that the function of avoiding the obstacles is achieved.
In summary, the advantages and positive effects of the invention are: the invention has 24-hour uninterrupted working capacity, has the capability of checking the coal breakage condition and the fault of the conveyor, and has the capability of automatically avoiding obstacles; the problem that the belt conveyor is difficult to detect can be effectively solved, and the safety of pulverized coal transportation is greatly improved. And on the other hand, the safety inspection robot has a simple structure, does not need to carry a power source, is convenient to move and has certain obstacle avoidance capacity.
Drawings
FIG. 1 is a schematic structural diagram of a safety inspection robot for a pulverized coal conveyor belt according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a mechanical body of the safety inspection robot for the pulverized coal conveyor belt according to the embodiment of the invention;
FIG. 3 is a schematic structural diagram of a data acquisition device of a safety inspection robot for a pulverized coal conveyor belt according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a driving and power-taking motor of the safety inspection robot for the pulverized coal conveying belt provided by the embodiment of the invention;
FIG. 5 is a network topology provided by an embodiment of the invention;
FIG. 6 is a schematic circuit connection diagram of a safety inspection robot for a pulverized coal conveyor belt according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating an actual effect of the safety inspection robot for the pulverized coal conveyor belt according to the embodiment of the present invention;
in the figure: 1. an insulating plate; 2. a protection plate; 3. a rope attachment means; 4. a connecting plate; 5. an upper cover plate; 6. a first baffle plate; 7. a first bracket; 8. a frame; 9. a lower housing; 10. a sound pickup; 11. a main control board; 12. a voltage reduction module; 13. a wireless transmission module; 14. a wireless network bridge; 15. an antenna; 16. a switch; 17. a signal transmitting antenna; 18. a noise sensor; 19. an ultrasonic radar; 20. a vision camera; 21. an infrared camera; 22. a laser camera; 23. a connecting frame; 24. an electric brush; 25. a second baffle; 26. a second bracket; 27. a copper wheel; 28. a bearing end cap; 29. a rope; 30. an electrical rail.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
In order to solve the above technical problems, the technical solution of the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1-4, the safety inspection robot for the pulverized coal conveyor belt is provided with a robot body, a data acquisition and processing device and a copper wheel electricity taking device.
The robot body includes: insulation board 1, guard plate 2, rope connecting device 3, connecting plate 4, upper cover plate 5, first baffle 6, first support 7, frame 8, lower casing 9.
The robot body is provided with a frame 8, and the frame 8 is formed by welding a square tube and angle steel; an upper cover plate 5 is arranged above the frame 8, and the rope connecting devices 3 are positioned on two sides of the upper cover plate 5 and distributed in the middle; rope connecting device 3 installs guard plate 2 all around through frame 8, and insulation board 1 and first baffle 6 are located the below of upper cover plate 5, and insulation board 1 and first baffle 6 pass through the bolt and install in the both sides of guard plate 2, and the inside first support 7 of frame passes through the bolt to be connected with connecting plate 4, and connecting plate 4 also passes through the bolt and installs on frame 7, and lower casing 9 passes through the bolt and installs on frame 8.
The means 3 for attaching a rope is connected to an externally driven traction means via a rope 29 and can be moved by external drive.
The data acquisition and processing device comprises: the sound collecting device comprises a sound pick-up 10, a main control board 11, a voltage reduction module 12, a wireless transmission module 13, a wireless network bridge 14, an antenna 15, an exchanger 16, a signal transmitting antenna 17, a noise sensor 18, an ultrasonic radar 19, a vision camera 20, an infrared camera 21, a laser camera 22 and a connecting frame 23.
Data acquisition processing apparatus is including installing two sets of vision cameras 20 in robot backplate 2 below, infrared camera 21 and fix two sets of laser cameras 22 in the robot below through link 23, step-down module 12, wireless transmission module 13 and wireless bridge 14 are located inside the robot, and through bolted connection on support 7, switch 18 is then through bolted connection in the below of support 7, antenna 15 is installed on upper cover plate 5, noise sensor 18 is located the guard plate 2 of robot front and back side with adapter 10, signal transmission antenna 17 is located the both sides of noise sensor 18, fix on guard plate 2, four sets of ultrasonic radar 19 are installed inside the robot, and be connected with guard plate 2.
The sound pick-up 10, the switch 16, the noise sensor 18, the ultrasonic radar 19, the vision camera 20, the infrared camera 21 and the laser camera 22 are connected with the main control board 11 through electric signals, and the main control board 11 is connected with the wireless transmission module 13, the wireless bridge 14, the antenna 15 and the signal transmitting antenna 17 through electric signals.
The electric brush 24 is connected with a voltage reduction module through a lead, and the voltage reduction module is connected with a data acquisition and processing device through a lead.
Copper wheel gets electric installation includes: brush 24, second baffle 25, second support 26, copper wheel 27, bearing end cover 28, rope 29, electric lead 30.
The copper wheel electricity taking device is provided with a copper wheel 27, the shaft end of the copper wheel 27 is matched with the mounting frame through a bearing, the copper wheel 27 is sleeved on the electric guide rail 30, and the copper wheel 27 can transmit current on the electric guide rail 30; the mounting bracket includes: a baffle plate 25 and a bracket 26, wherein the baffle plate 25 is connected with the bracket 26 through bolts.
The input end of the brush 24 is connected with the output shaft of the copper wheel 27 through a coupling, and the other end of the copper wheel 27 is provided with a bearing end cover 28 matched with the copper wheel 27.
The brush 24 is mounted on the protection plate 2 of the robot body, and the mounting bracket is connected with the protection plate 2 of the robot body by bolts, wherein the mounting bracket is made of an insulator.
The working principle of the invention is as follows:
firstly, an electric guide rail 30 corresponding to the belt conveyor is erected beside the belt conveyor, the robot is contacted with the electric guide rail 30 through four copper wheels 27, namely, the robot can move on the electric guide rail 30, the copper wheels 27 can obtain electric energy from a lead, the electric energy is transmitted to the voltage reduction module 12 through the electric brushes 24, and the voltage reduction module 12 can supply power to a data acquisition processing device installed on the robot after correspondingly adjusting the voltage transmitted by the copper wheels 27.
Next, when the robot moves, the rope connecting means 3 at both ends of the upper cover 5 are connected to the external traction means through the rope 29. After the robot sends a signal, the stepping motor drives the traction device to rotate, and the traction device simultaneously pulls the rope to enable the robot to move on the electric guide rail 30. When the robot reaches one end of the belt conveyor, the robot can automatically send a reverse instruction, so that the stepping motor drives the traction device to reversely rotate, and the robot can move towards the other end of the belt conveyor. With this loop, 24-hour uninterrupted movement monitoring can be achieved.
In the moving process of the safety inspection robot, the vision camera 20 arranged below the robot monitors the running condition and the coal breakage condition of the belt conveyor in real time, and transmits a video to the display terminal through the wireless network bridge 14. And the ultrasonic radar 19 and the infrared camera 21 which are also arranged below the robot respectively identify the volume and the temperature of the fallen coal, when the fallen coal condition or the temperature reaches a certain warning value, the robot can send out a danger signal and send the danger signal to workers at the equipment terminal through the wireless network bridge 14, and the workers can clean the fallen coal in time. The robot also has a noise recognition function, and the sound pickup 10 and the noise sensor 18 discriminate noise during operation of the conveyor while the robot is moving, and detect a failure of the conveyor. And the ultrasonic radar 19 arranged around the robot can detect whether the surrounding of the robot affects the staff or other obstacles influencing the movement of the robot when the robot works, if the front staff or obstacles exist, the robot can send a signal to enable the traction device to stop traction, and the robot can stop moving, so that the function of avoiding obstacles is achieved.
In conclusion, the safety inspection robot for the pulverized coal conveying belt has the uninterrupted working capacity for 24 hours, has the capability of inspecting the coal breakage condition and the fault of the conveyor, and has the capability of automatically avoiding obstacles. The problem that the belt conveyor is difficult to detect can be effectively solved, and the safety of pulverized coal transportation is greatly improved. And on the other hand, the safety inspection robot has a simple structure, does not need to carry a power source, is convenient to move and has certain obstacle avoidance capacity.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (1)
1. The utility model provides a buggy conveyer belt safety inspection robot's application method which characterized in that, buggy conveyer belt safety inspection robot is provided with:
the robot comprises a robot body, a data acquisition and processing device and a copper wheel electricity taking device;
the robot body is provided with a frame, and the frame is formed by welding square pipes and angle steels; an upper cover plate is arranged above the framework, and the rope connecting devices are positioned on two sides of the upper cover plate and distributed in the middle;
the rope connecting device is provided with a protection plate through the periphery of the frame, the insulation plate and the first baffle plate are positioned below the upper cover plate, and the insulation plate and the first baffle plate are arranged on two sides of the protection plate through bolts;
the first support in the frame is connected with the connecting plate through a bolt, the connecting plate is also installed on the frame through a bolt, and the lower shell is installed on the frame through a bolt; the device for connecting the rope is connected with an external stepping motor driver through the rope;
the copper wheel electricity taking device is provided with a copper wheel, the shaft end of the copper wheel is matched with the mounting rack through a bearing, the copper wheel is sleeved on the electric guide rail, and the copper wheel transmits current on the electric guide rail;
the input end of the electric brush is connected with the output shaft of the copper wheel through a coupler, and the other end of the copper wheel is provided with a bearing end cover matched with the copper wheel;
the mounting bracket includes: the baffle plate is connected with the bracket through a bolt; the mounting frame is an insulator;
the copper wheels are four groups, and the middle parts of the copper wheels are provided with grooves;
the electric brush is arranged on a protection plate of the robot body, and the mounting frame is connected with the protection plate of the robot body through a bolt;
the electric brush is connected with the voltage reduction module through a lead, and the voltage reduction module is connected with the data acquisition and processing device through a lead;
the data acquisition and processing device comprises two groups of visual cameras, an infrared camera and two groups of laser cameras, wherein the two groups of visual cameras are arranged below the robot protective plate;
the voltage reduction module, the wireless transmission module and the wireless network bridge are positioned in the robot and connected to the bracket through bolts, the switch is arranged below the bracket through bolts, and the antenna is arranged on the upper cover plate;
the noise sensor and the sound pick-up are positioned on the protection plates on the front side and the rear side of the robot, the signal transmitting antennas are positioned on two sides of the noise sensor and fixed on the protection plates, and the four groups of ultrasonic radars are arranged in the robot and are connected with the protection plates;
the sound pickup, the switch, the noise sensor, the ultrasonic radar, the visual camera, the infrared camera and the laser camera are connected with the main control board through electric signals; the main control board is connected with the wireless transmission module, the wireless network bridge, the antenna and the signal transmitting antenna through electric signals;
the use method of the safety inspection robot for the pulverized coal conveying belt comprises the following steps:
firstly, erecting a corresponding electric conduction rail beside a belt conveyor, enabling the robot to be in contact with the electric conduction rail through four copper wheels, namely, enabling the robot to move on the electric conduction rail and enabling the copper wheels to obtain electric energy from a wire, and transmitting the electric energy to a voltage reduction module through an electric brush, and supplying power to a data acquisition processing device installed on the robot after correspondingly adjusting the voltage transmitted by the copper wheels by the voltage reduction module;
secondly, when the robot moves, the rope connecting devices at the two ends of the upper cover plate are connected with an external traction device through ropes; after the robot sends a signal, the stepping motor drives the traction device to rotate, and the traction device simultaneously pulls the rope to enable the robot to move on the electric guide rail; when the robot reaches one end of the belt conveyor, the robot can automatically send a reverse instruction to enable the stepping motor to drive the traction device to reversely rotate, and the robot moves towards the other end of the belt conveyor;
in the moving process of the safety inspection robot, a visual camera arranged below the robot monitors the running condition and the coal breakage condition of the belt conveyor in real time, and transmits a video to a display terminal through a wireless transmission module; the laser camera and the infrared camera which are also arranged below the robot respectively identify the volume of the fallen coal and the temperature of the carrier roller, and when the condition or the temperature of the fallen coal reaches a certain warning value, the robot can send a danger signal to a worker at the equipment terminal through the wireless transmission module; judging the noise of the conveyor in the working process by a sound pickup and a noise sensor in the moving process of the robot, and detecting the fault condition of the conveyor; when the robot works, the ultrasonic radars arranged around the robot detect whether staff or other obstacles influencing the movement of the robot are around the robot, and if the staff or the obstacles exist in front of the robot, the robot sends a signal to enable the traction device to stop traction, and the robot stops moving, so that the function of avoiding the obstacles is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910688601.9A CN110412981B (en) | 2019-07-29 | 2019-07-29 | Safety inspection robot for pulverized coal conveying belt and using method of safety inspection robot |
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| CN201910688601.9A CN110412981B (en) | 2019-07-29 | 2019-07-29 | Safety inspection robot for pulverized coal conveying belt and using method of safety inspection robot |
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| CN110412981A CN110412981A (en) | 2019-11-05 |
| CN110412981B true CN110412981B (en) | 2022-06-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338928A (en) * | 2020-10-22 | 2021-02-09 | 中国矿业大学 | Rope bidirectional-driven flexible guide type track inspection robot platform and inspection method |
| CN113177346B (en) * | 2020-11-17 | 2022-06-10 | 西北工业大学 | Method and system for judging safety of boiler pulverized coal transportation |
| CN114604594A (en) * | 2020-12-08 | 2022-06-10 | 泰富重工制造有限公司 | Automatic inspection device for belt conveyor |
| CN113511481B (en) * | 2021-05-08 | 2023-01-13 | 南京双京电器集团有限公司 | Rubber belt conveyor detection device for coal mine |
| CN116135743B (en) * | 2023-03-22 | 2023-09-15 | 常州海图信息科技股份有限公司 | Intelligent inspection robot system and method for belt conveyor |
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| GB465924A (en) * | 1936-07-23 | 1937-05-19 | Nathan Rothwell | Improvements in conveyors for coal and the like |
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| CN104267730B (en) * | 2014-10-21 | 2017-07-28 | 山东鲁能智能技术有限公司 | indoor track type intelligent inspection robot system |
| CN106239515A (en) * | 2016-09-19 | 2016-12-21 | 上海永乾机电有限公司 | A kind of power distribution station intelligent inspection robot |
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| CN109079798A (en) * | 2018-10-19 | 2018-12-25 | 北京市政建设集团有限责任公司 | A kind of intelligent O&M extension rail crusing robot and its method for inspecting for underground pipe gallery |
| CN109915716B (en) * | 2019-03-07 | 2020-10-27 | 清华大学 | Mobile inspection camera device based on rope |
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