CN110509289A - A kind of mining intrinsic safety type belt feeder crusing robot - Google Patents
A kind of mining intrinsic safety type belt feeder crusing robot Download PDFInfo
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- CN110509289A CN110509289A CN201910798313.9A CN201910798313A CN110509289A CN 110509289 A CN110509289 A CN 110509289A CN 201910798313 A CN201910798313 A CN 201910798313A CN 110509289 A CN110509289 A CN 110509289A
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- Prior art keywords
- crusing robot
- friction pulley
- intrinsic safety
- circuit
- belt feeder
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- 238000005065 mining Methods 0.000 title claims abstract description 27
- 239000000523 sample Substances 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 239000000779 smoke Substances 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 229920001971 elastomer Polymers 0.000 claims description 12
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- 238000009434 installation Methods 0.000 claims description 6
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- 238000013461 design Methods 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000003990 capacitor Substances 0.000 description 18
- 238000007689 inspection Methods 0.000 description 11
- 230000004888 barrier function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 239000003245 coal Substances 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
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- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The present invention provides a kind of mining intrinsic safety type belt feeder crusing robots, including driving mechanism and control cabinet, control cabinet bottom is installed by video camera, inside is equipped with controller, ultrasonic probe circuit, tag location circuit, wireless routing, Smoke Detection circuit, sound collection circuit and temperature sensor, controller is connected separately to ultrasonic probe circuit, temperature sensor, Smoke Detection circuit, video camera, sound collection circuit and tag location circuit, two of ultrasonic probe circuit, which pop one's head in, is separately mounted to the both ends of control cabinet, driving mechanism is fixedly mounted above control cabinet.Mining intrinsic safety type belt feeder crusing robot of the present invention, using intrinsic safety type structure, from heavy and light, freely, control is simple, and operating cost is extremely low for flexible operation, and crusing robot uses modularized design, easy to maintenance, easy, low cost.
Description
Technical field
The invention belongs to Mine-used I. S gateway belt monitoring technology fields, more particularly, to a kind of mining intrinsic safety type
Belt feeder crusing robot.
Background technique
Currently, most of coal that underground coal mine is produced is transported on well using belt feeder, due to coal production scale
It is very big, need the amount of belt haulage coal very big, quickly, belt is in longtime running for the speed of present belt feeder operation
In be easy to appear belt tearing, hold in the palm rod locking, the failures such as belt deviation, present coal mine generally takes manual inspection, once belt
Machine breaks down, artificial brake application stoping, and since the general length of gateway belt machine is long, artificial whole process inspection workload is very big,
It is time-consuming very long to cover whole process, the requirement to the physical strength of worker is very high.In order to solve this problem, we research and develop one kind and can substitute
The mobile monitoring system of manual inspection, have can function same as artificial detection, save labour turnover.
Summary of the invention
In view of this, the present invention is directed to propose a kind of mining intrinsic safety type belt feeder crusing robot, to provide one kind
It can be moved in mining railway, there is good movenent performance, simple and convenient, low-cost mining intrinsic safety is installed
Type belt feeder crusing robot.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of mining intrinsic safety type belt feeder crusing robot, including driving mechanism and control cabinet, control cabinet bottom peace
Video camera is filled, inside is equipped with controller, ultrasonic probe circuit, tag location circuit, wireless routing, Smoke Detection circuit, sound
Acquisition Circuit and temperature sensor, controller are connected separately to ultrasonic probe circuit, temperature sensor, Smoke Detection electricity
Two probes of road, video camera, sound collection circuit and tag location circuit, ultrasonic probe circuit are separately mounted to control cabinet
Driving mechanism is fixedly mounted in both ends, control cabinet top, and driving mechanism includes load-bearing gantry and friction pulley, fixed peace on load-bearing gantry
Dress weight bearing bearing, weight bearing bearing are contacted with the lower edge inboard of c-type guide rail, and the both ends of load-bearing gantry are connected by connector respectively
To support bracket two sides, support bracket inside installation speed sensor, friction pulley, driving motor and brake gear, driving motor
Friction pulley rotation is driven by gear, driving motor, velocity sensor and the equal signal of brake gear are connected to controller, controller
Control brake gear moves in support bracket, brakes friction pulley；Friction pulley is in contact with the following outside of c-type guide rail, holds
The weight bearing bearing and friction pulley of weight gantry form leverage.
Further, one end of load-bearing gantry is pivotally connected to the side of support bracket by connection, and the other end passes through compression
Device is connected to the other side of support bracket, and pressing device and friction pulley connect, for adjusting the frictional force of friction pulley.
Further, pressing device includes spring, support frame and nut, and spring one end is disposed adjacent with friction pulley, another
End is connected to support frame by installing nut.
Further, pressing device is the snap-fit of locking nut and bolt, and locking nut is disposed adjacent with friction pulley.
Further, emergency switch is installed in control cabinet bottom, and emergency switch is electrically connected to battery.
Further, battery provides power supply for crusing robot, and battery is electrically connected to controller, and battery is pacified respectively
In two battery cases, two battery cases are installed in above control cabinet, and are located at the two sides of driving mechanism.
Further, an indicator light is installed at the both ends of control cabinet respectively, and indicator light is electrically connected to battery.
Further, loudspeaker is installed in control cabinet bottom, and loudspeaker signal is connected to controller.
Further, friction pulley is installed by main shaft inside support bracket, friction pulley is fixedly connected with main shaft, and main shaft extends
Be fixedly mounted driven wheel after to support bracket outside, driving motor is fixedly attached to driving wheel by drive rod, driving wheel with from
Driving wheel engagement.
Further, brake gear includes brake motor and brake rubber, and brake motor signal is connected to controller, is braked
Motor, which is fixed by the connecting rod, is connected to brake rubber, and brake rubber is disposed adjacent with friction pulley, and is equipped with gap between the two.
Compared with the existing technology, mining intrinsic safety type belt feeder crusing robot of the present invention has following excellent
Gesture:
(1) mining intrinsic safety type belt feeder crusing robot of the present invention, in tunnel at present using it is most of all
It is fixed monitoring, due to long in tunnel, whole installation monitoring systems are costly, and using this system can be installation movement
Formula monitoring system provides reliable carrier, effectively meets wireless control, automatically walk, the function that can climb.
(2) mining intrinsic safety type belt feeder crusing robot of the present invention, moves in mining railway, has
Good movenent performance, installation is simple and convenient, low in cost.
(3) mining intrinsic safety type belt feeder crusing robot of the present invention, using intrinsic safety type structure, from heavy and light,
Freely, control is simple, and operating cost is extremely low for flexible operation, and crusing robot uses modularized design, easy to maintenance, easy, makes
Valence is low.
(4) mining intrinsic safety type belt feeder crusing robot of the present invention, using motor driven friction pulley conduct
Power source, driving force can be adjusted voluntarily according to the actual situation, and forward-reverse is run freely, and power consumption is low, long operational time,
High load capacity can be commanded trolley travelling with remote control, manually can also directly be controlled using wireless routing transmission of control signals
Trolley processed, trolley mounting ultrasonic sensor can voluntarily control switching operation, can be used as the carrier of various monitoring systems.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the control principle block diagram of crusing robot described in the embodiment of the present invention；
Fig. 2 is the circuit diagram one of sound collection circuit described in the embodiment of the present invention；
Fig. 3 is the circuit diagram two of sound collection circuit described in the embodiment of the present invention；
Fig. 4 is the circuit diagram of controller described in the embodiment of the present invention；
Fig. 5 is the circuit diagram one of Smoke Detection circuit described in the embodiment of the present invention；
Fig. 6 is the circuit diagram two of Smoke Detection circuit described in the embodiment of the present invention；
Fig. 7 is the circuit diagram one of tag location circuit described in the embodiment of the present invention；
Fig. 8 is the circuit diagram two of tag location circuit described in the embodiment of the present invention；
Fig. 9 is ultrasonic wave transmitting circuit described in the embodiment of the present invention；
Figure 10 is the auxiliary circuit of ultrasonic probe circuit described in the embodiment of the present invention；
Figure 11 is brake motor circuit described in the embodiment of the present invention；
Figure 12 is that ultrasonic wave described in the embodiment of the present invention receives circuit；
Figure 13 is driving motor circuit described in the embodiment of the present invention；
Figure 14 is temperature collection circuit described in the embodiment of the present invention；
Figure 15 is indicator light circuit described in the embodiment of the present invention；
Figure 16 is speaker circuit described in the embodiment of the present invention；
Figure 17 is the structural representation of crusing robot front view described in the embodiment of the present invention；
Figure 18 is the schematic diagram of driving mechanism described in the embodiment of the present invention；
Figure 19 is the top view of driving mechanism described in the embodiment of the present invention；
Figure 20 is the B-B direction cross-sectional view of Figure 19.
Description of symbols:
1- support bracket；2- load-bearing gantry；3- weight bearing bearing；4- hairbrush；5- horizontal guide sheave；6- friction pulley；7- is compressed
Device；8- brake motor；9- brake rubber；10-C type guide rail；11- driving wheel；12- driven wheel；13- connecting shaft；14- driving electricity
Machine；15- main shaft；16- control cabinet；17- battery case.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, the instructions such as term "horizontal", "top", "bottom", "inner", "outside"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
Or it is more than two.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
D3V3: 3.3V electric power network is represented；
F5V: 5V electric power network is represented；
DGND: digital grounding is represented.
A kind of mining intrinsic safety type belt feeder crusing robot, as shown in fig. 1 to figure 20, including driving mechanism and control
Case 16,16 bottom of control cabinet install video camera, inside be equipped with controller, ultrasonic probe circuit, tag location circuit, without route
By, Smoke Detection circuit, sound collection circuit and temperature sensor, controller be connected separately to ultrasonic probe circuit, temperature
Spend sensor, Smoke Detection circuit, video camera, sound collection circuit and tag location circuit, two spies of ultrasonic probe circuit
Head is separately mounted to the both ends of control cabinet 16, driving mechanism be fixedly mounted above control cabinet 16, driving mechanism includes support bracket
1, load-bearing gantry 2, weight bearing bearing 3, friction pulley 6, brake gear, driving motor 14, are fixedly mounted several weight bearings on load-bearing gantry 2
Bearing 3, weight bearing bearing 3 are contacted with the lower edge inboard of guide rail 10, and the weight of robot, carrying bogie are undertaken by load-bearing gantry 2
One end of frame 2 is connected to support bracket 1 by connecting shaft 13, and the other end is connected to support bracket 1 by pressing device 7, guarantees
Inspection machine human body will not fall from guide rail 10, provide safety guarantee for user；Friction pulley is installed inside support bracket 1
6, driving motor 14 and brake gear, brake motor and the equal signal of driving motor 14 in brake gear are connected to controller, rub
It wipes wheel 6 and weight bearing bearing 3 is in contact with the following of guide rail 10 respectively, weight bearing bearing 3 is located at the two sides of friction pulley 6, so that
Bearing 3 bear a heavy burden with the formation leverage of friction pulley 6, driving motor 14 passes through gear and friction pulley 6 is driven to rotate, controller control brake
Vehicle device moves in support bracket 1, brakes friction pulley 6, and pressing device 7 and friction pulley 6 connect, for adjusting friction
The frictional force size of wheel 6.
The cross section of control cabinet 16 is inverted trapezoidal structure.16 bottom of control cabinet is installed by emergency switch, emergency switch electrical connection
To battery, when in case of emergency, staff can directly press emergency switch, directly cut off the power, so that survey monitor
Device people stops working.An indicator light is installed at the both ends of control cabinet 16 respectively, and indicator light is electrically connected to battery, works as inspection machine
Man-hour, headlamp are switched on, and are conducive to staff and are found the position of crusing robot, while preventing from accidentally bumping against machine
People.Battery provides power supply for crusing robot, and battery is electrically connected to controller, and battery is separately mounted to two battery cases
In 17, two battery cases 17 are installed in 16 top of control cabinet, and are located at the two sides of driving mechanism, so that crusing robot
Overall structure it is symmetrical, and uniform force.The length of control cabinet 16 is equal to the length of driving mechanism and the length of two battery cases 17
The sum of degree, makes full use of space, so that crusing robot occupies little space.The artificial symmetrical structure of inspection machine, so that survey monitor
Device people can move reciprocatingly on track 10.Loudspeaker is installed in 16 bottom of control cabinet, and loudspeaker signal is connected to controller.Control
Wireless routing is installed, wireless routing signal is connected to the monitoring center of controller and distant place in case 16.Controller is by the number of acquisition
, to monitoring center, while the instruction of monitoring center can be received according to by wireless routing real-time delivery, facilitate staff to patrolling
Inspection robot is remotely controlled.
Power device of the driving mechanism using friction wheel drive as crusing robot, this mode largest benefit are drivings
Power is adjustable.It adjusts and very convenient, will not enough cause robot that can not move because of the frictional force of friction pulley, as long as
The power of motor is enough big, and robot can go up a slope.This this dusty, the high humility that from walking system is highly suitable for coal mine,
High methane harsh environments may be implemented voluntarily to walk, and body is small and exquisite, and operation freely, during walking, will not skid, according to
Track condition adjusts the frictional force of walking, may be implemented to go up a slope, flat bank fully meets coal mine inspection needs.
Friction pulley 6 is installed by main shaft 15 inside support bracket 1, friction pulley 6 is fixedly connected with main shaft 15, and main shaft 15 extends
Driven wheel 12 is fixedly mounted after to 1 outside of support bracket, driving motor 14 is fixedly attached to driving wheel 11 by drive rod, actively
Wheel 11 is engaged with driven wheel 12, and when driving motor 14 receives the motor message of controller, driving motor 14 drives driving wheel
11 rotations, driving wheel 11 drives driven wheel 12, and then friction pulley 6 is driven to rotate.The two sides of support bracket 1 are installed by one water respectively
Flat directive wheel 5, it is ensured that robot smoothly turn-takes and climb and fall, to guarantee that crusing robot safe operation provides safeguard.It holds
1 front end of weight bracket is equipped with hairbrush 4, and hairbrush 4 is located at the side of horizontal guide sheave 5, effectively cleaning guide rail.The number of weight bearing bearing 3
It is 4, and there are the two sides for being mounted on load-bearing gantry 2 respectively.Lever portal structure provides not only robot hoisting structure,
It robot is effectively ensured integrally bears a heavy burden and uniformly assign in 4 bearings, while providing pressure for polyurethane friction pulley, be driving force
Source.
Brake gear includes brake motor 8, brake rubber 9, and 8 signal of brake motor is connected to controller motor and controller
Signal is connected as the prior art, repeats no more again, and brake motor 8, which is fixed by the connecting rod, is connected to brake rubber 9, normal
Operating status brakes and is equipped with gap between rubber 9 and friction pulley 6, in order to prevent crusing robot coast-down in descending, needs
When slowing down, controller controls straight line brake motor 8 and brake rubber 9 is driven to be moved forward and backward, brake rubber 9 and 6 outer layer of friction pulley
Polyurethane rubber mutually rubs, and brakes friction pulley 6, and independent brake gear can be such that crusing robot stops in any position
Mobile, flexibility is stronger, effectively prevent crusing robot coast-down in descending, and brake motor 8 is straight line brake motor.It holds
Weight bracket 1 is shell structure.Wrap up one layer of polyurethane rubber in the outer ring of friction pulley 6.Pressing device 7 is locking nut and bolt
Snap-fit, locking nut are disposed adjacent with friction pulley, are equipped with gap, between the two by adjusting stinging for bolt and lock nut
Elasticity is closed, to adjust pressing device 7 to the pressing force of friction pulley 6, to adjust the size of 6 frictional force of friction pulley, satisfaction is patrolled
Inspection robot upward slope needs the biggish requirement of frictional force.Pressing device 7 include spring, support frame and nut, spring one end with rub
It is adjacent to wipe wheel 6, and is equipped with gap between the two, the other end is connected to support frame by installing nut, passes through the position of adjusting nut
The pretightning force for carrying out adjustment spring is set, to adjust the frictional force of friction pulley 6.
Controller is single-chip microcontroller U1, the model STM32F103VE of single-chip microcontroller U1.Sound collection circuit includes sound sensor
Device U2, sound transducer U2 are mounted on 16 side of control cabinet, the model HC-SR04 of sound transducer U2, sound transducer U2
Pin VCC be connected to pin DGND through capacitor C22, capacitor C22 is connected in parallel with a capacitor C23, the pin of sound transducer U2
Echo is connected to the 21st pin of single-chip microcontroller U1.Ambient sound is acquired in real time using sound transducer U2.By sound
Wave vibrates the vibration for being converted into sound transducer U2, is vibrated by sound transducer U2 and generates voltage signal vibration, passed by sound
Voltage analog signal is changed into digital signal by AD acquisition inside sensor U2.And it send eventually by wireless routing to monitoring center.
Smoke Detection circuit includes smoke sensor device U3, and smoke sensor device U3 is mounted on 16 bottom of control cabinet, smog sensing
The pin INT of the model MAX30105 of device U3, smoke sensor device U3 are connected to the 91st pin of single-chip microcontroller U1, pin
SDA is connected to the 96th pin of single-chip microcontroller U1, and pin SCL is connected to the 95th pin of single-chip microcontroller U1, pin GND warp
Capacitor C19 is connected to pin D5V, and capacitor C19 is connected in parallel with a capacitor C20.Since the effect of barn door sends out infrared light when smokeless
The infrared light for penetrating pipe sending cannot reach at reception pipe.Reception diode does not have signal output.When there is smog generation, due to cigarette
Scattering process of the mist particle to light makes infrared light reach reception diode, to generate signal.It is exported by amplifying to signal
To the I of single-chip microcontroller U12C port, bidirectional data line SDA meet PB9, and clock line SCL meets PB8 and carries out data acquisition.Single-chip microcontroller U1
This signal is acquired to be handled.Smoke sensor device uses light shading type sensor.It is to reach acquisition report using this sensor
Alert effect is optimal, it is not excluded that uses the sensor of the other forms such as air-sensitive formula.
Tag location circuit includes isolator U4 and RFID module U5, model ADuM1201, the RFID mould of isolator U4
The pin GND of the model RFID-RC522 of block U5, RFID module U5 are connected to DGND, pin RXD through resistance R15 be connected to every
The 6th pin from device U4, pin TXD are connected to the 7th pin of isolator U4 through resistance R16, and pin VCC is connected to F5V electricity
Source, the second pin of isolator U4 are connected to its third pin, the third pin of isolator U4 after resistance R19 and resistance R18
It is connected to the 92nd pin of single-chip microcontroller U1, the second pin of isolator U4 is connected to the 93rd pin of single-chip microcontroller U1.
The reader of RFID card is installed in control cabinet 16.It, can only be in card location just because of the limitation of RFID card reading distance
The data in card can be read.This range is no more than 60mm or so.RFID label tag positioning is to reach using 13.56MHz
To higher precision.Mainly positioned using such mode.
Ultrasonic probe circuit includes that ultrasonic wave transmitting circuit and ultrasonic wave receive circuit, and ultrasonic wave transmitting circuit includes common mode
The model 8050 of filter TP1 and triode Q1, triode Q1, the model L-WE-CNSW_1 of common-mode filter TP1, altogether
Resistance R25 is connected between the first end and third end of mode filter TP1, first end and third end are to external radiated signal, altogether
The 6th end of mode filter TP1 is respectively connected to A5V power supply, is connected to DGND through capacitor C26, and the 4th of common-mode filter TP1 the
End is connected to the pole c of triode Q1, and the pole e of triode Q1 is respectively connected to DGND, is connected to the b of triode Q1 through resistance R28
Pole, the pole b of triode Q1 are connected to the 69th pin of single-chip microcontroller U1 through resistance R27；It includes three poles that ultrasonic wave, which receives circuit,
Pipe Q2, operational amplifier U5A, operational amplifier U5B, operational amplifier U5C and operational amplifier U5D, operational amplifier U5A,
The model of operational amplifier U5B, operational amplifier U5C and operational amplifier U5D are OPA4277UA, the model of triode Q2
It is 9013, the negative input of operational amplifier U5A is followed by through capacitor C30, resistance R33 and resistance R40 to DGND, operation amplifier
The negative input of device U5A is after capacitor C30, resistance R33 for acquiring signal, the positive input warp of operational amplifier U5A
DGND is respectively connected to after capacitor C33, the positive input of operational amplifier U5A is connected to 2.52V power supply, 2.52V power supply warp
Resistance R43 is followed by DGND, is connected to A5V power supply after resistance R38, and 2.52V power supply is further connected to operational amplifier U5B
Positive input and operational amplifier U5C positive input, the negative input of operational amplifier U5A connects through resistance R29
It is connected to its output end, the output end of operational amplifier U5A is connected to the negative of operational amplifier U5B after resistance R34 and capacitor C31
To input terminal, the negative input of operational amplifier U5B is connected to the first end of resistance R31, and the second end of resistance R31 is through capacitor
C29 is connected to the circuit between resistance R34 and capacitor C31, and the circuit between resistance R34 and capacitor C31 is connected to through resistance R39
2.52V power supply, the second end of resistance R31 are connected to the output end of operational amplifier U5B, the output end warp of operational amplifier U5B
The negative input of operational amplifier U5C, the negative input warp of operational amplifier U5C are connected to after resistance R35 and capacitor C32
Resistance R30 is connected to its output end, and the output end of operational amplifier U5C is connected to the forward direction of operational amplifier U5D through resistance R36
Input terminal, the negative input of operational amplifier U5D are connected to 1.75V power supply, and 1.75V power supply is through capacitor C34 and resistance R44 group
At parallel circuit be followed by DGND, 1.75V power supply is connected to A5V power supply, the output of operational amplifier U5D after resistance R41
End is connected to the pole b of triode Q2 after resistance R37, and the pole b of triode Q2 is connected to DGND, the e of triode Q2 through resistance R42
Pole is connected to DGND, and the pole c of triode Q2 is connected to A5V power supply through resistance R32, and the pole c of triode Q2 is connected to single-chip microcontroller U1
The 60th pin；A5V power supply is connected to DGND through capacitor C28.Ultrasonic probe circuit, that is, ultrasonic radar, crusing robot
A ultrasonic radar probe is installed at both ends respectively, and to detect it, whether there is or not objects on direction of travel.Ultrasonic radar transmitting terminal
(first end of common-mode filter TP1 and third end are to external radiated signal in ultrasonic wave transmitting circuit) timing issues ultrasonic wave
Impulse train, when there is barrier in front, barrier can be by ultrasonic reflections, and (ultrasonic wave receives in circuit, operation amplifier for receiving end
The negative input of device U5A is after capacitor C30, resistance R33 for acquiring signal) receive ultrasonic pulse group after, by signal
Real-time delivery gives single-chip microcontroller U1, single-chip microcontroller U1 to calculate the time interval between transmitting and reception.Using the time used multiplied by
The velocity of sound of the sound wave in air obtains the distance between barrier and crusing robot divided by after 2.Although sound wave is in air
The conditions such as spread speed and the density of air, dust, humidity have relationship, but with above-listed in so-called cm grades of range measurement
The factor of act can be ignored.It is setting in the distance avoided when detecting there are when barrier, crusing robot stops at
Original place.To reach the function of hiding obstacle.The data real-time delivery that ultrasonic probe circuit will test gives single-chip microcontroller U1, monolithic
Machine U1 is calculated according to the program of inner setting and the data received, using the time used multiplied by sound wave in air
The velocity of sound, divided by obtaining the distance between barrier and crusing robot after 2, when the distance of calculating is greater than the set value, monolithic
Machine U1 is walked on by control movable motor to control crusing robot, when the distance of calculating is less than setting value, single-chip microcontroller
U1, which controls crusing robot by control movable motor, to be stopped in situ, to reach the function of avoiding barrier.
The model L293DD of brake motor 8, the pin ENABLA1 of brake motor are connected to the 66th of single-chip microcontroller U1 the
Pin, pin INPUT1 are connected to the 64th pin of single-chip microcontroller U1；The pin INPUT2 of brake motor is connected to single-chip microcontroller
The 63rd pin of U1；The pin ENABLA2 of brake motor is connected to the 65th pin of single-chip microcontroller U1.Driving motor 14
Model A4931, the pin FG1 of driving motor is connected to the 32nd pin of single-chip microcontroller U1, makes single-chip microcontroller U1 to driving
Motor tests the speed；The pin DIR of driving motor is connected to the 31st pin of single-chip microcontroller U1, and single-chip microcontroller U1 is to driving motor
14 carry out direction controlling；The pin ENABLE of driving motor is connected to the 30th pin of single-chip microcontroller U1, and single-chip microcontroller U1 is to driving
Motor is adjusted the speed；The pin BRAKEZ of driving motor is connected to the 29th pin of single-chip microcontroller U1, is used for U1 pairs of single-chip microcontroller
Driving motor carries out brake control.Driving motor 14 rotates simultaneously with friction pulley 6, by the retarder of 36:1, i.e. driving motor
14 every turn 36 weeks, 6 turns of friction pulley 1 week.6 diameter of friction pulley is 60mm, and friction pulley 6 one weeks are 3.14*60=188.4mm.Driving
Motor 14 often rotates a circle, and encoder is carried on driving motor 14 weeks can issue three pulses.That is the every walking of crusing robot
36*3=108 pulse can be exported on 14 axis of 188.4mm driving motor.Each known distance in orbit installs label progress
Position correction.Range measurement is carried out using 14 institute's band encoder of driving motor between two labels.Using this mode to inspection
Unit position in orbit carries out location Calculation.Single-chip microcontroller U1, which is divided into the travelling control of driving motor 14, to be accelerated control, subtracts
Speed control, at the uniform velocity control and control of braking.Speed control is that driving is controlled motor driving plate using PWM as speed control signal
The revolving speed of motor.To control crusing robot travel speed in orbit.It is driven by adjusting the duty ratio of PWM to control
The revolving speed of motor.The revolving speed of the higher driving motor of duty ratio is lower.When duty ratio reaches 100%.Driving motor stops operating.
Change the acceleration, deceleration and brake control of crusing robot by changing the duty ratio size of speed preset.
Battery is conventional battery.Indicator light is separately mounted to the both ends of control cabinet 16, and one end of indicator light LDE1 connects
It is connected to the 51st pin of single-chip microcontroller U1, the other end is connected to power supply D3V3 through resistance R1.Temperature sensor be it is infrared heat at
As sensor, the pin SPI_CS of model FLIR80*60, temperature sensor are connected to the 9th of single-chip microcontroller U1 through resistance R6
Ten pins；SPI_MOSI is connected to the 89th pin of single-chip microcontroller U1 through resistance R7；SPI_MISO is connected to list through resistance R8
The 88th pin of piece machine U1；SPI_CLK is connected to the 87th pin of single-chip microcontroller U1 through resistance R9；Infrared thermal imaging passes
Sensor is capable of providing every 60 pixels of width Figure 80 *.The corresponding temperature value of each pixel.Temperature point between each pixel
Resolution can reach 0.05 °.What the temperature acquisition range of each pixel was given off for -40~500 ° by different temperature
Infrared ray difference is acquired body surface temperature.By checking that presented image can observe measured target object
Surface temperature distribution.The single line of loudspeaker is connected to the pin OUT+ of audio-frequency power amplifier U6, audio function through inductance L1
The pin OUT- of the model HT863 of rate amplifier U6, audio-frequency power amplifier U6 are connected to second line of loudspeaker, audio
The pin IN+ of power amplifier U6 is connected to the 5th pin of single-chip microcontroller U1.Video camera is CCD industrial camera.Video camera
RJ45 interface is connected directly to the network interface of wireless routing, and the power supply of wireless routing is connected to the communication interface of single-chip microcontroller U1.
A kind of working principle of mining intrinsic safety type belt feeder crusing robot are as follows:
The load-bearing gantry 2 of crusing robot is inserted into c-type track 10 along horizontal guide sheave 5, startup power supply switch, inspection
Robot walks on c-type track 10, and controller controls driving motor 14 and works, and driving motor 14 drives friction pulley by gear
6 work, the frictional force of friction pulley 6 drive crusing robot to travel forward along c-type track 10 as driving force；Video camera, smog
Sensor, sound collection circuit, temperature sensor are by collected data information real-time delivery to controller, and controller is by data
By wireless routing real-time delivery to monitoring center, the information of acquisition is passed to controller by ultrasonic probe, controller according to
Whether the program interpretation crusing robot attachment of inner setting has barrier, has barrier near interpretation crusing robot, and
Barrier is controller control driving motor and brake motor simultaneously operation within safe distance, so that crusing robot stops
Work can control driving motor and rotate backward when controller disturbance in judgement object is in risk distance, so that crusing robot is to remote
Side movement from barrier；The base station of tag location circuit and external setting carries out data interactive, and by collected data
For information real-time delivery to controller, controller judges the specific location of crusing robot, and location information is passed in monitoring
The heart；When monitoring center needs the worker into mine to communicate or broadcast, the staff of monitoring center passes through control
Device sends dependent instruction, and controller is played out by loudspeaker, and staff is facilitated to receive relevant information in time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of mining intrinsic safety type belt feeder crusing robot, it is characterised in that: including driving mechanism and control cabinet, control
Video camera is installed in bottom portion, and inside is equipped with controller, ultrasonic probe circuit, tag location circuit, wireless routing, Smoke Detection electricity
Road, sound collection circuit and temperature sensor, controller are connected separately to ultrasonic probe circuit, temperature sensor, smog
Two probes of detection circuit, video camera, sound collection circuit and tag location circuit, ultrasonic probe circuit are separately mounted to control
The both ends of case processed, are fixedly mounted driving mechanism above control cabinet, and driving mechanism includes load-bearing gantry and friction pulley, on load-bearing gantry
Weight bearing bearing is fixedly mounted, weight bearing bearing is contacted with the lower edge inboard of c-type guide rail, and the both ends of load-bearing gantry pass through connection respectively
Part is connected to support bracket two sides, and installation speed sensor, friction pulley, driving motor and brake gear inside support bracket drive
Dynamic motor drives friction pulley rotation by gear, and driving motor, velocity sensor and the equal signal of brake gear are connected to controller,
Controller control brake gear moves in support bracket, brakes friction pulley；Friction pulley connects with the following outside of c-type guide rail
Touching, the weight bearing bearing and friction pulley of load-bearing gantry form leverage.
2. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 1, it is characterised in that: carrying bogie
One end of frame is pivotally connected to the side of support bracket by connection, and the other end is connected to the another of support bracket by pressing device
Side, pressing device and friction pulley connect, for adjusting the frictional force of friction pulley.
3. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 2, it is characterised in that: compress dress
It sets including spring, support frame and nut, spring one end is disposed adjacent with friction pulley, and the other end is connected to support by installing nut
Frame.
4. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 2, it is characterised in that: compress dress
It is set to the snap-fit of locking nut and bolt, locking nut is disposed adjacent with friction pulley.
5. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 1, it is characterised in that: control cabinet
Emergency switch is installed in bottom, and emergency switch is electrically connected to battery.
6. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 5, it is characterised in that: battery
Power supply is provided for crusing robot, battery is electrically connected to controller, and battery is separately mounted in two battery cases, two electricity
Pond box is installed in above control cabinet, and is located at the two sides of driving mechanism.
7. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 5, it is characterised in that: control cabinet
Both ends one indicator light is installed respectively, indicator light is electrically connected to battery.
8. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 1, it is characterised in that: control cabinet
Loudspeaker is installed in bottom, and loudspeaker signal is connected to controller.
9. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 1, it is characterised in that: load-bearing branch
Friction pulley is installed by main shaft inside frame, friction pulley is fixedly connected with main shaft, and main shaft extends to fixed peace behind support bracket outside
Driven wheel is filled, driving motor is fixedly attached to driving wheel by drive rod, and driving wheel is engaged with driven wheel.
10. a kind of mining intrinsic safety type belt feeder crusing robot according to claim 1, it is characterised in that: brake
Device includes brake motor and brake rubber, and brake motor signal is connected to controller, and brake motor is fixed by the connecting rod company
It is connected to brake rubber, brake rubber is disposed adjacent with friction pulley, and is equipped with gap between the two.
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