CN111049244A - Hydraulic charging device of underground inspection robot for coal mine - Google Patents
Hydraulic charging device of underground inspection robot for coal mine Download PDFInfo
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- CN111049244A CN111049244A CN202010022121.1A CN202010022121A CN111049244A CN 111049244 A CN111049244 A CN 111049244A CN 202010022121 A CN202010022121 A CN 202010022121A CN 111049244 A CN111049244 A CN 111049244A
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- 238000007689 inspection Methods 0.000 title claims abstract description 53
- 239000003245 coal Substances 0.000 title claims abstract description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 170
- 238000010248 power generation Methods 0.000 claims abstract description 21
- 238000005381 potential energy Methods 0.000 claims abstract description 7
- 238000002347 injection Methods 0.000 claims description 26
- 239000007924 injection Substances 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1823—Rotary generators structurally associated with turbines or similar engines
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention provides a hydraulic charging device for a coal mine underground inspection robot, which comprises a walking rail arranged in a coal mine underground roadway, an inspection robot which is arranged on the walking rail and can reciprocate along the walking rail, and a charging assembly for supplying electric energy to the inspection robot, wherein the charging assembly comprises a power generation device arranged on an inspection robot body and a power assembly which is arranged in the coal mine underground roadway and provides kinetic energy for the power generation device; the power generation device comprises an explosion-proof generator and an impeller arranged at the tail end of a rotating shaft of the explosion-proof generator; the power assembly comprises a submersible pump and a water outlet pipe connected with a water outlet of the submersible pump, and potential energy of water flowing out of the water outlet pipe is enough to push the impeller to rotate, so that the explosion-proof generator works. The hydraulic kinetic energy is converted into electric energy through the explosion-proof power generation device, and the electric energy is charged in a storage battery of the robot, so that the underground inspection robot of the coal mine is charged.
Description
Technical Field
The invention relates to the field of coal mine equipment, in particular to a hydraulic charging device of a coal mine underground inspection robot.
Background
With the continuous progress of automation and intelligent technology, in order to reduce the working intensity and working risk of underground manual inspection of a coal mine and improve the inspection quality and the inspection efficiency, the underground inspection of the coal mine inspection robot is popularized and applied. The power of the coal mine inspection robot is usually provided by a storage battery carried by the robot, and when the battery pack is insufficient in electric quantity, the inspection robot needs to be charged to supplement energy. In view of the requirements of safety and explosion prevention under coal mines, the main charging modes at present are as follows: ground charging, underground safe environment charging, wireless charging and explosion-proof interface charging, but the above charging modes have certain limitations, and the autonomous, intelligent and quick charging application requirements of the inspection robot cannot be met. Specifically, the explosion-proof requirement of the ground charging on the charging device and the charging interface is low, but the inspection robot needs to return to the ground from the underground for charging, the energy of the battery pack is additionally consumed, and the round-trip time is long; the charging in the underground safe environment needs to be carried out by additionally building a charging chamber, so that the cost is high, the difficulty is high, and the cost performance is low; the wireless charging power is low, the charging is slow, and the requirement of quick charging cannot be met; the requirement of explosion-proof interface charging on the explosion-proof interface and butt joint control is high, a driving device and a locking mechanism which are complex in design are additionally required, and the continuous effectiveness of the explosion-proof interface is difficult to guarantee in practical application.
Therefore, a charging device capable of rapidly charging in a coal mine is needed.
Disclosure of Invention
In view of the above, the invention provides a hydraulic charging device for a coal mine underground inspection robot.
The invention provides a hydraulic charging device for a coal mine underground inspection robot, which comprises a walking track 1 arranged in a coal mine underground roadway, an inspection robot 2 which is arranged on the walking track 1 and can reciprocate along the walking track 1, and a charging assembly for supplying electric energy to the inspection robot 2, and is characterized in that: the charging assembly comprises a power generation device arranged on the body of the inspection robot 2 and a power assembly arranged in an underground roadway of the coal mine and used for providing kinetic energy for the power generation device;
the power generation device comprises an explosion-proof generator 3 and an impeller 4 arranged at the tail end of a rotating shaft of the explosion-proof generator 3, and the impeller 4 is coaxially and fixedly connected with the rotating shaft of the explosion-proof generator 3;
the power assembly comprises a submersible pump 5 and a water outlet pipe 7 connected with a water outlet of the submersible pump 5, and potential energy of water flowing out of the water outlet pipe 7 is enough to push the impeller 4 to rotate, so that the explosion-proof generator 3 works.
Further, the power generation device further comprises a gearbox 10, a low-speed rotating shaft of the gearbox 10 is coaxially and fixedly connected with the impeller 4, and a high-speed rotating shaft of the gearbox 10 is coaxially and fixedly connected with a rotating shaft of the explosion-proof generator 3.
Further, the power assembly further comprises a circulating water device, the circulating water device comprises a circulating water tank 6, a water injection pipe 8 and a water return assembly, the circulating water tank 6 is used for containing water, one end of the water injection pipe 8 is connected with a fire-fighting water pipe under a coal mine, the other end of the water injection pipe 8 is connected with a water injection port of the circulating water tank 6, the water return assembly comprises a water collector 9 and a water return pipe 19, the water collector 9 is used for collecting water flowing through the impeller 4, a water outlet of the water collector 9 is connected with one end of the water return pipe 19, and the other end of the water return pipe 19 is connected with a water return port of the circulating water tank 6; the submersible pump 5 is arranged at the bottom of the circulating water tank 6.
Further, a water injection valve 12 is arranged on the water injection pipe 8, and an adjusting valve 11 is arranged on the water outlet pipe 7.
Furthermore, the inspection robot is internally provided with a control module I for monitoring the charging process and an antenna I connected with the control module I.
Further, the walking track end is provided with travel switch, travel switch is used for detecting whether patrol and examine the robot and reach predetermined position of charging, travel switch's output is connected with control module I.
Further, the power assembly further comprises a control module II 13 and an antenna II 14 connected with the control module II 13, the control module II 13 is used for controlling the working state of each component of the power assembly, and the control module II 13 is in communication connection with the control module I.
Further, water collector 9 is the tubular structure, the tube-shape with the relative one side of walking track 1 leaves the opening, the end of walking track 1 is located in the tubular structure, water collector 9 bottom is the funnel shape, the wide mouth end of funnel with the bottom fixed connection of tubular structure, the one end of wet return 19 with the tang of funnel is connected.
Further, a float switch 15 is arranged in the circulating water tank 6, the float switch 15 is used for detecting the actual water level of the circulating water tank 6, and the output end of the float switch 15 is connected with the control module II 13.
Further, the device still includes limit baffle 17 and limit stop 16, limit baffle 17 is used for preventing patrol and examine robot 2 and continue along the forward motion, limit stop 16 with walking track 1 prevents jointly that patrol and examine robot 2 is beated from top to bottom.
The beneficial technical effect of this application: the hydraulic charging device converts hydraulic kinetic energy into electric energy through the explosion-proof power generation device, and charges the electric energy to the storage battery of the robot, so that the underground inspection robot of the coal mine is charged; the butt joint interface exposed in the underground environment of the coal mine is a water energy-to-mechanical energy interface without an electrical interface, so that the safety of underground charging is improved; explosion-proof treatment on the butt joint interface is not needed, and the design and implementation difficulty of the underground charging interface of the coal mine inspection robot is reduced; the high-power, quick and safe charging of the coal mine inspection robot is realized, the energy is quickly supplemented for the inspection robot, and the starting rate of the inspection robot is improved.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partial structural schematic diagram of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of the present invention, in which 1 is a walking track, 2 is an inspection robot, 3 is an explosion-proof generator, 4 is an impeller, 5 is a submersible pump, 6 is a circulating water tank, 7 is a water outlet pipe, 8 is a water injection pipe, 9 is a water collector, 10 is a gearbox, 11 is an adjusting valve, 12 is a water injection valve, 13 is a control module ii, 14 is an antenna ii, 15 is a float switch, 16 is a limit stop, 17 is a limit stop, 18 is a travel switch, 19 is a water return pipe, and 20 is a base.
The invention provides a hydraulic charging device for a coal mine underground inspection robot, which comprises a walking track 1 arranged in a coal mine underground roadway, an inspection robot 2 which is arranged on the walking track 1 and can reciprocate along the walking track 1, and a charging assembly for supplying electric energy to the inspection robot 2, and is characterized in that: the charging assembly comprises a power generation device arranged on the body of the inspection robot 2 and a power assembly arranged in an underground roadway of the coal mine and used for providing kinetic energy for the power generation device;
the power generation device comprises an explosion-proof generator 3 and an impeller 4 arranged at the tail end of a rotating shaft of the explosion-proof generator 3, and the impeller 4 is coaxially and fixedly connected with the rotating shaft of the explosion-proof generator 3;
the power assembly comprises a submersible pump 5 and a water outlet pipe 7 connected with a water outlet of the submersible pump 5, and potential energy of water flowing out of the water outlet pipe 7 is enough to push the impeller 4 to rotate, so that the explosion-proof generator 3 works.
Through the technical scheme, the water in the circulating water tank is lifted through the submersible pump, so that the potential energy of the water is increased, the potential energy of the water in the water outlet pipe drives the impeller to rotate, the rotating shaft of the explosion-proof generator is driven to rotate, the explosion-proof generator works, and a storage battery of the inspection robot is charged.
In this embodiment, the power generation device further includes a gearbox 10, a low-speed rotating shaft of the gearbox 10 is coaxially and fixedly connected with the impeller 4, and a high-speed rotating shaft of the gearbox 10 is coaxially and fixedly connected with a rotating shaft of the explosion-proof generator 3. The potential energy of the water flowing out of the water outlet pipe can push the impeller to rotate, but the rotating speed of the impeller cannot meet the rated rotating speed of the power generation of the explosion-proof generator, so that the gearbox is added to convert the low rotating speed of the rotating shaft driven by the impeller into the high rotating speed which can meet the power generation requirement, such as 3000 revolutions per minute, and the actual rotating speed of the generator is matched with the rated rotating speed of the power generation of the generator. Those skilled in the art can select a generator with appropriate power according to the demand of actual power consumption.
In this embodiment, the power assembly further includes a circulating water device, the circulating water device includes a circulating water tank 6, a water injection pipe 8 and a water return component, the circulating water tank 6 is used for containing water, one end of the water injection pipe 8 is connected with a fire hose under a coal mine, the other end of the water injection pipe 8 is connected with a water injection port of the circulating water tank 6, the water return component includes a water collector 9 and a water return pipe 19, the water collector 9 is used for collecting water flowing through the impeller 4, a water outlet of the water collector 9 is connected with one end of the water return pipe 19, and the other end of the water return pipe 19 is connected with a water return port of the circulating water tank 6; the submersible pump 5 is arranged at the bottom of the circulating water tank 6. Can save water and avoid the collapse of the underground coal mine roadway caused by water immersion.
The above-mentioned
In this embodiment, the water injection pipe 8 is provided with a water injection valve 12, and the water outlet pipe 7 is provided with a regulating valve 11. The water injection valve is used for adjusting the water quantity of the main water pipe, the water injection valve is controlled by the control module II, and the adjusting valve is used for adjusting the water outlet quantity and the water pressure. The water yield and the water pressure of governing valve are controlled by control module I, because of patrolling and examining the inside integrated electric power storage battery management system of robot, electric power storage battery management system and I communication connection of control module. In the charging process, parameters such as charging voltage, current and the like need to be changed along with the charging process, and if at the beginning of charging, the storage battery is charged by using large current, so that the charging speed is increased; in order to avoid floating charge, small current charging is generally adopted after 80% of charging. Therefore, in this embodiment, the rotating speed of the impeller is changed by controlling the water yield of the regulating valve and the water pressure, so that the rotating speed of the explosion-proof generator is regulated, the generated electricity quantity is controlled, the generated electricity quantity is matched with the required electricity quantity when the storage battery is charged, the generated electricity quantity is saved, and the electricity generation energy utilization rate is improved.
In this embodiment, the inspection robot 2 is internally provided with a control module i for monitoring a charging process and an antenna i connected with the control module i. The power assembly further comprises a control module II 13 and an antenna II 14 connected with the control module II 13, the control module II 13 is used for controlling the working state of each component of the power assembly, and the control module II 13 is in communication connection with the control module I. When the inspection robot touches the limit baffle, the travel switch acts, the control module I sends the information of the inspection robot in place to the control module II, and the control module II controls the submersible pump to work so as to control charging.
In this embodiment, a travel switch 18 is arranged at the tail end of the traveling track 1, the travel switch 18 is used for detecting whether the inspection robot 2 reaches a preset charging position, and an output end of the travel switch 18 is connected with the control module i; the tail end of the walking track is provided with a limit baffle, and the limit baffle is provided with a travel switch. When the inspection robot touches the limit baffle, the travel switch acts, information that the inspection robot reaches a preset position is sent to the control module I, and the control module I controls a storage battery management system in the inspection robot to control the storage battery to be converted from a discharging state to a charging state; meanwhile, the control module I controls the regulating valve 12 to discharge water, so that the explosion-proof generator generates electricity to charge the storage battery; and transmitting the power generation information to a control module II, so that the control module II controls the power assembly to be charged in a matched manner.
In this embodiment, water collector 9 is the tubular structure, the tube-shape with the opening is left to the relative one side of walking track 1, walking track 1's end is located in the tubular structure, water collector 9 bottom is the funnel shape, the wide mouth end of funnel with tubular structure's bottom fixed connection, wet return 19's one end with the tang of funnel is connected. The water collector collects water flowing through the impeller and returns to the circulating water tank through the water return pipe, and the cylindrical structure prevents the water flowing through the impeller from splashing. The water return assembly further comprises a base 20, the base 20 is used for supporting and fixing the water collector 9, and the base 20 is arranged below the water collector 9.
In this embodiment, a float switch 15 is disposed in the circulation water tank 6, the float switch 15 is configured to detect an actual water level of the circulation water tank 6, and an output end of the float switch 15 is connected to the control module ii 13. The float switch is used for monitoring the real-time water level of the circulating water tank, transmitting the water level information to the control module II, controlling the action of the water injection valve by the control module II, and controlling the water injection valve to be opened by the control module II after the water level is reduced to a preset water level so that water in the fire fighting pipeline is injected into the circulating water tank; and when the water level rises to the preset water level, the control module II controls the water injection valve to be closed, and the water injection into the circulating water tank is stopped. In order to avoid dry burning of the submersible pump, loss is caused to the submersible pump, the actual service life of the submersible pump is influenced, the requirement that the water level of the circulating water tank is higher than the height of the submersible pump is met, and the water level is prevented from being lower than the height of the submersible pump is avoided. In this embodiment, the water level of the circulation water tank is monitored by a float switch, so that the water level of the circulation water tank is always higher than that of the submersible pump, and meanwhile, the water tank does not overflow.
In this embodiment, as shown in fig. 2, the device further includes limit baffle 17 and limit stop 16, limit baffle 17 is used for stopping it continues along the forward motion to patrol and examine robot 2, patrol and examine the robot and be provided with brake mechanism, after the brake, backward motion when can preventing the robot from charging, limit stop 16 with walking track 1 prevents jointly it beats from top to bottom to patrol and examine robot 2.
The inspection robot can bring the inspection robot to vibrate due to the high-speed rotation of the explosion-proof generator in the charging process, and the charging process is stable and reliable through the technical scheme.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a colliery is patrolled and examined robot water conservancy charging device in pit, is including setting up walking track in colliery underworkings, installing just can follow on the walking track reciprocating motion patrol and examine the robot and do it provides the subassembly that charges of electric energy supply to patrol and examine the robot, its characterized in that: the charging assembly comprises a power generation device arranged on the inspection robot body and a power assembly arranged in a coal mine underground roadway and used for providing kinetic energy for the power generation device;
the power generation device comprises an explosion-proof generator and an impeller arranged at the tail end of a rotating shaft of the explosion-proof generator, and the impeller is coaxially and fixedly connected with the rotating shaft of the explosion-proof generator;
the power assembly comprises a submersible pump and a water outlet pipe connected with a water outlet of the submersible pump, and potential energy of water flowing out of the water outlet pipe is enough to push the impeller to rotate, so that the explosion-proof generator works.
2. The hydraulic charging device for the coal mine underground inspection robot according to claim 1, wherein: the power generation device further comprises a gearbox, a low-speed rotating shaft of the gearbox is fixedly connected with the impeller in a coaxial mode, and a high-speed rotating shaft of the gearbox is fixedly connected with a rotating shaft of the explosion-proof generator in a coaxial mode.
3. The hydraulic charging device for the coal mine underground inspection robot according to claim 1, wherein: the power assembly further comprises a circulating water device, the circulating water device comprises a circulating water tank, a water injection pipe and a water return assembly, the circulating water tank is used for containing water, one end of the water injection pipe is connected with a fire-fighting water pipe under a coal mine, the other end of the water injection pipe is connected with a water injection port of the circulating water tank, the water return assembly comprises a water collector and a water return pipe, the water collector is used for collecting water flowing through an impeller, a water outlet of the water collector is connected with one end of the water return pipe, and the other end of the water return pipe is connected with a water return port of the circulating water tank; the submersible pump is arranged at the bottom of the circulating water tank.
4. The hydraulic charging device for the coal mine underground inspection robot according to claim 3, wherein: the water injection pipe is provided with a water injection valve, and the water outlet pipe is provided with an adjusting valve.
5. The hydraulic charging device for the coal mine underground inspection robot according to claim 1, wherein: patrol and examine robot inside be provided with be used for keeping watch on the control module I of charging process and with antenna I that control module I is connected.
6. The hydraulic charging device for the coal mine underground inspection robot according to claim 5, wherein: the terminal travel switch that is provided with of walking track, travel switch is used for detecting whether patrol and examine the robot and reach predetermined position of charging, travel switch's output is connected with control module I.
7. The hydraulic charging device for the coal mine underground inspection robot according to claim 3, wherein: the power assembly further comprises a control module II and an antenna II connected with the control module II, the control module II is used for controlling the working state of each component of the power assembly, and the control module II is in communication connection with the control module I.
8. The hydraulic charging device for the coal mine underground inspection robot according to claim 3, wherein: the water collector is of a cylindrical structure, an opening is reserved on one side, opposite to the walking track, of the cylindrical structure, the tail end of the walking track is located in the cylindrical structure, the bottom of the water collector is of a funnel shape, the wide-mouth end of the funnel is fixedly connected with the bottom of the cylindrical structure, and one end of the water return pipe is connected with the narrow-mouth end of the funnel.
9. The hydraulic charging device for the coal mine underground inspection robot according to claim 3, wherein: and a float switch is arranged in the circulating water tank and used for detecting the actual water level of the circulating water tank, and the output end of the float switch is connected with the control module II.
10. The hydraulic charging device for the coal mine underground inspection robot according to claim 1, wherein: the device still includes limit baffle and limit stop, limit baffle is used for preventing the robot that patrols and examines continues along the forward motion, limit stop with the walking track prevents jointly that the robot that patrols and examines beats from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010022121.1A CN111049244A (en) | 2020-01-09 | 2020-01-09 | Hydraulic charging device of underground inspection robot for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010022121.1A CN111049244A (en) | 2020-01-09 | 2020-01-09 | Hydraulic charging device of underground inspection robot for coal mine |
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| CN111049244A true CN111049244A (en) | 2020-04-21 |
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| CN202010022121.1A Pending CN111049244A (en) | 2020-01-09 | 2020-01-09 | Hydraulic charging device of underground inspection robot for coal mine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112838658A (en) * | 2020-12-25 | 2021-05-25 | 榆林神华能源有限责任公司 | Safety charging device and system for mining inspection robot |
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Application publication date: 20200421 |