CN112282848B - Robot for detecting air in mine - Google Patents
Robot for detecting air in mine Download PDFInfo
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- CN112282848B CN112282848B CN202011108444.9A CN202011108444A CN112282848B CN 112282848 B CN112282848 B CN 112282848B CN 202011108444 A CN202011108444 A CN 202011108444A CN 112282848 B CN112282848 B CN 112282848B
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- rod
- detector
- sliding block
- bottom end
- chain wheel
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- 238000001514 detection method Methods 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- OKKJLVBELUTLKV-UHFFFAOYSA-N Methanol Chemical compound OC OKKJLVBELUTLKV-UHFFFAOYSA-N 0.000 claims description 27
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 18
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 claims description 18
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 18
- 239000007788 liquid Substances 0.000 claims description 13
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 9
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 9
- 239000001569 carbon dioxide Substances 0.000 claims description 9
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 9
- 239000003973 paint Substances 0.000 claims description 9
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 6
- 229910052760 oxygen Inorganic materials 0.000 claims description 6
- 239000001301 oxygen Substances 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 11
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0031—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Geology (AREA)
- Immunology (AREA)
- Food Science & Technology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Medicinal Chemistry (AREA)
- Pathology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Sampling And Sample Adjustment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot for detecting air in a mine, which comprises a fixed column; a monitoring mechanism is mounted at the top of the fixed column; the fixed column is connected with the base through a rotating mechanism; one side of the fixed column is connected with the detection mechanism through the height adjusting mechanism; a chassis is arranged at the bottom end of the base; a moving mechanism is arranged on the chassis; and a connecting fixing seat is installed on the other side of the fixing column. The invention has the advantages of good detection effect, high detection precision and convenient use.
Description
Technical Field
The invention relates to the technical field of mine detection, in particular to a robot for detecting air in a mine.
Background
Many mine accidents occur because the gas in the mine is not detected in time, so that the harmful gas is too much and is easy to explode or suffocate; when the manual detection is carried out, detection personnel can be dangerous, tools such as lifting ropes are adopted to place the detector in a mine, and the detection is not accurate enough.
Therefore, in order to solve the above current situation, research of a robot for detecting air in a mine is urgently needed.
Disclosure of Invention
The invention aims to provide a robot for detecting air in a mine, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot for detecting air in a mine comprises a fixed column; a monitoring mechanism is mounted at the top of the fixed column; the fixed column is connected with the base through a rotating mechanism; one side of the fixed column is connected with a detection mechanism through a height adjusting mechanism, and the detection mechanism comprises a first rod; one end of the first rod is fixedly connected with the sliding block; the other end of the first rod is hinged with one end of the second rod through a hinge seat; the other end of the second rod is provided with a detector mounting seat; the detector mounting seat is provided with a detector; the detector comprises a carbon monoxide detector, a carbon dioxide detector, a methane detector, a methanol detector, a sulfur dioxide detector, a temperature sensor, an oxygen sensor and a humidity sensor; the carbon monoxide detector, the carbon dioxide detector, the methane detector, the methanol detector, the sulfur dioxide detector, the temperature sensor, the oxygen sensor and the humidity sensor are all electrically connected with the storage module; the storage module is electrically connected with the alarm; a fixed block is arranged on the back of the second rod; a marking liquid cylinder is arranged at the bottom end of the fixed block; the bottom end of the marking liquid cylinder is fixedly connected with a connecting block; the bottom end of the marking liquid cylinder is connected with a needle head through a hose; the top end of the needle head is hinged with a connecting block; the hose is provided with an electromagnetic valve; the marking liquid cylinder is communicated with the luminous paint box through a fluid pipeline; a flow valve is arranged on the fluid pipeline; the luminous paint box is arranged at the top of the base; a semifluid pump is arranged on the luminous paint box; a chassis is arranged at the bottom end of the base; a moving mechanism is arranged on the chassis; and a connecting fixing seat is installed on the other side of the fixing column.
As a further scheme of the invention: the monitoring mechanism comprises a monitoring box; a monitor is arranged on one side of the monitoring box; the monitor is provided with an LED lamp, an alarm, an ultra-wide angle camera and an ultrasonic sensor; a PCB is arranged in the monitoring box; and the PCB circuit board is provided with a storage module, a Beidou satellite navigation module and a central processing module.
As a further scheme of the invention: the rotating mechanism comprises a turntable; the top end of the rotary table is fixedly connected with the bottom end of the fixing column; the bottom end of the rotary table is connected with a gear through a rotating shaft; the gear is connected with the stepping motor through a coupler.
As a further scheme of the invention: the height adjusting mechanism comprises a guide rail; a threaded rod is arranged inside the guide rail; the bottom end of the threaded rod is connected with a servo driving motor through a coupler; the threaded rod is connected with the sliding block through threads; a threaded fixing sleeve is arranged on the sliding block corresponding to the threaded rod; the sliding block is provided with a sliding groove; the sliding block is connected with the guide rail in a sliding manner; one side of the sliding block extends out of the guide rail and is connected with the detection mechanism.
As a further scheme of the invention: the other side of the sliding block is fixedly connected with a connecting rod; a small sliding block is arranged at the bottom end of the connecting rod; the small sliding block is connected with the sliding chute in a sliding manner; the front surface of the small sliding block is fixedly connected with one end of the fixed connecting rod; the other end of the fixed connecting rod penetrates through the inside of the sliding rail seat to be fixedly connected with a fan box; a guide sliding block is arranged on the part of the fixed connecting rod penetrating through the inside of the sliding rail seat; a guide sliding groove is formed in the sliding rail seat corresponding to the guide sliding block; a miniature servo driving motor is arranged inside the fan box; the miniature servo drive motor is connected with the small gearbox through a coupler; the small gearbox is connected with the propeller through a coupler; and a filter screen is arranged on the fan box.
As a further scheme of the invention: .
As a further scheme of the invention: an angle adjusting mechanism is arranged between the first rod and the second rod; the angle adjusting mechanism comprises a fixing plate; one end of the fixing plate is fixedly connected with one side of the second rod; the top end of the fixed plate is hinged with one end of a small hydraulic rod; the other end of the small hydraulic rod is hinged with the bottom end of the first rod.
As a further scheme of the invention: the moving mechanism comprises a servo motor, a chain wheel group and a rotating wheel group; the servo motor is connected with the gearbox through a coupler; the chain wheel set comprises a driving chain wheel and a driven chain wheel; two driven chain wheels are symmetrically arranged around the driving chain wheel; the driving chain wheel is in transmission connection with the driven chain wheel through a transmission chain; the rotating wheel set comprises a driving rotating wheel and a driven rotating wheel; two driven rotating wheels are symmetrically arranged around the driving rotating wheel; the driving rotating wheel and the driven rotating wheel are covered with caterpillar tracks; the gearbox is connected with a driving chain wheel through a coupler; the driving chain wheel is connected with a driving rotating wheel through a first shaft; the driven chain wheel is connected with the driven rotating wheel through a second shaft.
As a further scheme of the invention: .
Compared with the prior art, the invention has the beneficial effects that: through the arrangement of the ultrasonic sensor, the device is prevented from colliding the mine wall, and a route is simulated through the Beidou satellite navigation module, so that the future detection is facilitated; the position of the detection mechanism can be adjusted through the arrangement of the stepping motor, the gear and the turntable, so that the detection is convenient; through the arrangement of the fan box, the miniature servo drive motor, the small gearbox and the propeller, air can be actively sucked and sucked, and the content of various harmful gases in the air during forward flow and reverse flow of the air can be detected and researched; the detection angle of the detector can be changed by arranging the fixing plate and the small hydraulic rod; the speed of the crawler belt can be changed by arranging the gearbox and the servo motor, and the detection and the use are convenient according to the positions of the speed adjusting devices of different crawler belts; through the arrangement of the needle head, the bottom end of the needle head is downward all the time due to the action of gravity, so that the marking is convenient; when carbon monoxide detector ware, carbon dioxide detector, methane detector, methyl alcohol detector, sulfur dioxide detector detected out certain gas and exceeded standard, through the setting of syringe needle, solenoid valve, flow valve, changed the mark volume and changed and send out the photovoltaic, distinguish the mark to different harmful gas, the big dipper satellite navigation module carries out danger mark here simultaneously. In conclusion, the invention has the advantages of good detection effect, high detection precision and convenient use.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the height adjusting mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the movement driving mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the detector of the present invention.
In the figure: 1-monitoring box, 2-monitor, 3-fixed column, 4-sliding chute, 5-guide rail, 6-connecting fixed seat, 7-first rod, 8-hinged seat, 9-second rod, 10-detector, 11-angle adjusting mechanism, 12-fixed connecting rod, 13-fan box, 14-sliding rail seat, 15-rotating disk, 16-base, 17-moving mechanism, 18-chassis, 19-sliding block, 20-connecting rod, 21-threaded rod, 22-servo motor, 23-gear box, 24-chain wheel set, 25-rotating wheel set, 26-fixed block, 27-marking liquid cylinder, 28-connecting block and 29-needle.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
Referring to fig. 1 to 4, in an embodiment of the present invention, a robot for detecting air in a mine includes a fixing column 3; the top of the fixed column 3 is provided with a monitoring mechanism; the fixed column 3 is connected with a base 16 through a rotating mechanism; one side of the fixed column 3 is connected with the detection mechanism through the height adjusting mechanism; a chassis 18 is arranged at the bottom end of the base 16; a moving mechanism 17 is arranged on the chassis 18; the other side of the fixed column 3 is provided with a connecting fixed seat 6; the device is conveniently lifted out by connecting the fixed seat 6.
Further, the monitoring mechanism comprises a monitoring box 1; a monitor 2 is arranged on one side of the monitoring box 1; the monitor 2 is provided with an LED lamp, an alarm, an ultra-wide angle camera and an ultrasonic sensor; a PCB is arranged in the monitoring box 1; the PCB circuit board is provided with a storage module, a Beidou satellite navigation module and a central processing module; through ultrasonic sensor's setting, the preventing device hits the mine wall of a well, simulates out the route through big dipper satellite navigation module, makes things convenient for the detection in the future.
Further, the rotating mechanism includes a turntable 15; the top end of the rotary table 15 is fixedly connected with the bottom end of the fixed column 3; the bottom end of the rotary table 15 is connected with a gear through a rotating shaft; the gear is connected with the stepping motor through a coupler; through the setting of step motor, gear and carousel 15, can adjust detection mechanism's position, be convenient for detect.
Further, the height adjusting mechanism includes a guide rail 5; a threaded rod 21 is arranged in the guide rail 5; the bottom end of the threaded rod 21 is connected with a servo driving motor through a coupler; the threaded rod 21 is connected with the sliding block 19 through threads; a thread fixing sleeve is arranged on the sliding block 19 corresponding to the threaded rod 21; the sliding block 19 is provided with a sliding groove; the sliding block 19 is connected with the guide rail 5 in a sliding way; one side of the sliding block 19 extends out of the guide rail 5 and is connected with a detection mechanism.
Further, the other side of the sliding block 19 is fixedly connected with a connecting rod 20; a small sliding block is arranged at the bottom end of the connecting rod 20; the small sliding block is connected with the sliding chute 4 in a sliding manner; the front surface of the small sliding block is fixedly connected with one end of a fixed connecting rod 12; the other end of the fixed connecting rod 12 penetrates through the inside of the sliding rail seat 14 and is fixedly connected with a fan box 13; a guide sliding block is arranged on the part of the fixed connecting rod 12 penetrating through the inside of the sliding rail seat 14; the slide rail seat 14 is provided with a guide slide groove corresponding to the guide slide block; a miniature servo driving motor is arranged inside the fan box 13; the miniature servo drive motor is connected with the small gearbox through a coupler; the small gearbox is connected with the propeller through a coupler; a filter screen is arranged on the fan box 13; through the arrangement of the fan box 13, the miniature servo drive motor, the small gearbox and the propeller, air can be sucked and sucked actively, and the content of various harmful gases in the air during forward flow and reverse flow of the air can be detected and researched.
Further, the detection mechanism comprises a first rod 7; one end of the first rod 7 is fixedly connected with a sliding block 19; the other end of the first rod 7 is hinged with one end of a second rod 9 through a hinge seat 8; the other end of the second rod 9 is provided with a detector mounting seat; the detector mounting seat is provided with a detector 10; the detector 10 comprises a carbon monoxide detector, a carbon dioxide detector, a methane detector, a methanol detector, a sulfur dioxide detector, a temperature sensor, an oxygen sensor and a humidity sensor; the carbon monoxide detector, the carbon dioxide detector, the methane detector, the methanol detector, the sulfur dioxide detector, the temperature sensor, the oxygen sensor and the humidity sensor are all electrically connected with the storage module; the storage module is electrically connected with the alarm.
Further, an angle adjusting mechanism 11 is arranged between the first rod 7 and the second rod 9; the angle adjusting mechanism 11 comprises a fixing plate; one end of the fixed plate is fixedly connected with one side of the second rod 9; the top end of the fixed plate is hinged with one end of a small hydraulic rod; the other end of the small hydraulic rod is hinged with the bottom end of the first rod 7; the detection angle of the detector 10 can be changed by the arrangement of the fixing plate and the small hydraulic rod.
Further, the moving mechanism 17 comprises a servo motor 22, a chain wheel set 24 and a rotating wheel set 25; the servo motor 22 is connected with a gearbox 23 through a coupler; the sprocket set 24 comprises a driving sprocket and a driven sprocket; two driven chain wheels are symmetrically arranged around the driving chain wheel; the driving chain wheel is in transmission connection with the driven chain wheel through a transmission chain; the rotating wheel set 25 comprises a driving rotating wheel and a driven rotating wheel; two driven rotating wheels are symmetrically arranged around the driving rotating wheel; the driving rotating wheel and the driven rotating wheel are covered with caterpillar tracks; the gearbox 23 is connected with a driving chain wheel through a coupler; the driving chain wheel is connected with a driving rotating wheel through a first shaft; the driven chain wheel is connected with the driven rotating wheel through a second shaft; through the setting of gearbox 23 and servo motor 22, can change the speed of track, according to the position of the speed adjusting device of different tracks, convenient detection uses.
Example 2
Referring to fig. 4, a fixing block 26 is disposed on the back of the second rod 9; a marking liquid cylinder 27 is arranged at the bottom end of the fixed block 26; the bottom end of the marking liquid cylinder 27 is fixedly connected with a connecting block 28; the bottom end of the marking liquid cylinder 27 is connected with a needle 29 through a hose; the top end of the needle 29 is hinged with a connecting block 28; the hose is provided with an electromagnetic valve; the marking liquid cylinder 27 is communicated with the luminous paint box through a fluid pipeline; a flow valve is arranged on the fluid pipeline; the luminous paint box is arranged at the top of the base 16; a semifluid pump is arranged on the luminous paint box; through the arrangement of the needle 29, the bottom end of the needle 29 is downward all the time due to the gravity action of the needle 29, so that the marking is convenient; when carbon monoxide detector ware, carbon dioxide detector, methane detector, methyl alcohol detector, sulfur dioxide detector detected out certain gas and exceeded standard, through the setting of syringe needle 29, solenoid valve, flow valve, change the mark volume and change and send out the photovoltaic, distinguish the mark to different harmful gas, the big dipper satellite navigation module carries out danger mark here simultaneously.
The working principle of the invention is as follows: through the arrangement of the ultrasonic sensor, the device is prevented from colliding the mine wall, and a route is simulated through the Beidou satellite navigation module, so that the future detection is facilitated; the position of the detection mechanism can be adjusted through the arrangement of the stepping motor, the gear and the turntable 15, so that the detection is convenient; through the arrangement of the fan box 13, the miniature servo drive motor, the small gearbox and the propeller, air can be sucked in and out actively, and the content of various harmful gases in the air during forward flow and reverse flow of the air can be detected and researched; the detection angle of the detector 10 can be changed by arranging the fixing plate and the small hydraulic rod; the speed of the crawler belt can be changed by arranging the gearbox 23 and the servo motor 22, and detection and use are facilitated according to the positions of speed adjusting devices of different crawler belts; through the arrangement of the needle 29, the bottom end of the needle 29 is downward all the time due to the gravity action of the needle 29, so that the marking is convenient; when carbon monoxide detector ware, carbon dioxide detector, methane detector, methyl alcohol detector, sulfur dioxide detector detected out certain gas and exceeded standard, through the setting of syringe needle 29, solenoid valve, flow valve, change the mark volume and change and send out the photovoltaic, distinguish the mark to different harmful gas, the big dipper satellite navigation module carries out danger mark here simultaneously. In conclusion, the invention has the advantages of good detection effect, high detection precision and convenient use.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A robot for detecting air in a mine comprises a fixed column (3); the device is characterized in that a monitoring mechanism is arranged at the top of the fixed column (3); the fixed column (3) is connected with a base (16) through a rotating mechanism; one side of the fixed column (3) is connected with a detection mechanism through a height adjusting mechanism, and the detection mechanism comprises a first rod (7); one end of the first rod (7) is fixedly connected with a sliding block (19); the other end of the first rod (7) is hinged with one end of the second rod (9) through a hinge seat (8); the other end of the second rod (9) is provided with a detector mounting seat; the detector mounting seat is provided with a detector (10); the detector (10) comprises a carbon monoxide detector, a carbon dioxide detector, a methane detector, a methanol detector, a sulfur dioxide detector, a temperature sensor, an oxygen sensor and a humidity sensor; the carbon monoxide detector, the carbon dioxide detector, the methane detector, the methanol detector, the sulfur dioxide detector, the temperature sensor, the oxygen sensor and the humidity sensor are all electrically connected with the storage module; the storage module is electrically connected with the alarm; a fixed block (26) is arranged on the back of the second rod (9); a marking liquid cylinder (27) is arranged at the bottom end of the fixed block (26); the bottom end of the marking liquid cylinder (27) is fixedly connected with a connecting block (28); the bottom end of the marking liquid cylinder (27) is connected with a needle (29) through a hose; the top end of the needle (29) is hinged with a connecting block (28); the hose is provided with an electromagnetic valve; the marking liquid cylinder (27) is communicated with the luminous paint box through a fluid pipeline; a flow valve is arranged on the fluid pipeline; the luminous paint box is arranged at the top of the base (16); a semifluid pump is arranged on the luminous paint box; a chassis (18) is arranged at the bottom end of the base (16); a moving mechanism (17) is arranged on the chassis (18); and a connecting fixed seat (6) is installed on the other side of the fixed column (3).
2. The mine interior air detection robot of claim 1, wherein the monitoring mechanism comprises a monitoring box (1); a monitor (2) is arranged on one side of the monitoring box (1); the monitor (2) is provided with an LED lamp, an alarm, an ultra-wide angle camera and an ultrasonic sensor; a PCB is arranged in the monitoring box (1); and the PCB circuit board is provided with a storage module, a Beidou satellite navigation module and a central processing module.
3. The mine interior air detection robot of claim 1, wherein the rotation mechanism comprises a turntable (15); the top end of the rotary table (15) is fixedly connected with the bottom end of the fixed column (3); the bottom end of the rotary table (15) is connected with a gear through a rotating shaft; the gear is connected with the stepping motor through a coupler.
4. The mine interior air detection robot of claim 1, wherein the height adjustment mechanism comprises a guide rail (5); a threaded rod (21) is arranged in the guide rail (5); the bottom end of the threaded rod (21) is connected with a servo driving motor through a coupler; the threaded rod (21) is connected with the sliding block (19) through threads; a thread fixing sleeve is arranged on the sliding block (19) corresponding to the threaded rod (21); the sliding block (19) is provided with a sliding groove; the sliding block (19) is connected with the guide rail (5) in a sliding manner; one side of the sliding block (19) extends out of the guide rail (5) and is connected with a detection mechanism.
5. The mine interior air detection robot as claimed in claim 4, characterized in that the other side of the sliding block (19) is fixedly connected with a connecting rod (20); a small sliding block is arranged at the bottom end of the connecting rod (20); the small sliding block is connected with the sliding chute (4) in a sliding manner; the front surface of the small sliding block is fixedly connected with one end of a fixed connecting rod (12); the other end of the fixed connecting rod (12) penetrates through the inside of the sliding rail seat (14) and is fixedly connected with a fan box (13); a guide sliding block is arranged on the part of the fixed connecting rod (12) penetrating through the inside of the sliding rail seat (14); a guide sliding chute is arranged on the sliding rail seat (14) corresponding to the guide sliding block; a miniature servo drive motor is arranged in the fan box (13); the miniature servo drive motor is connected with the small gearbox through a coupler; the small gearbox is connected with the propeller through a coupler; and a filter screen is arranged on the fan box (13).
6. The mine interior air detection robot as recited in claim 1, characterized in that an angle adjusting mechanism (11) is installed between the first rod (7) and the second rod (9); the angle adjusting mechanism (11) comprises a fixing plate; one end of the fixed plate is fixedly connected with one side of the second rod (9); the top end of the fixed plate is hinged with one end of a small hydraulic rod; the other end of the small hydraulic rod is hinged with the bottom end of the first rod (7).
7. The mine interior air detection robot according to claim 1, characterized in that the moving mechanism (17) comprises a servo motor (22), a sprocket set (24) and a pulley set (25); the servo motor (22) is connected with a gearbox (23) through a coupler; the chain wheel set (24) comprises a driving chain wheel and a driven chain wheel; two driven chain wheels are symmetrically arranged around the driving chain wheel; the driving chain wheel is in transmission connection with the driven chain wheel through a transmission chain; the rotating wheel set (25) comprises a driving rotating wheel and a driven rotating wheel; two driven rotating wheels are symmetrically arranged around the driving rotating wheel; the driving rotating wheel and the driven rotating wheel are covered with caterpillar tracks; the gearbox (23) is connected with a driving chain wheel through a coupler; the driving chain wheel is connected with a driving rotating wheel through a first shaft; the driven chain wheel is connected with the driven rotating wheel through a second shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011108444.9A CN112282848B (en) | 2020-10-16 | 2020-10-16 | Robot for detecting air in mine |
| PCT/CN2020/126312 WO2022077625A1 (en) | 2020-10-16 | 2020-11-04 | Mine interior air detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011108444.9A CN112282848B (en) | 2020-10-16 | 2020-10-16 | Robot for detecting air in mine |
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| Publication Number | Publication Date |
|---|---|
| CN112282848A CN112282848A (en) | 2021-01-29 |
| CN112282848B true CN112282848B (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011108444.9A Active CN112282848B (en) | 2020-10-16 | 2020-10-16 | Robot for detecting air in mine |
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| CN (1) | CN112282848B (en) |
| WO (1) | WO2022077625A1 (en) |
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| CN114893687A (en) * | 2022-05-26 | 2022-08-12 | 浙江云舟大数据科技有限公司 | Agricultural production plant diseases and insect pests monitoring facilities with regulatory function |
| CN114965903B (en) * | 2022-07-04 | 2023-02-10 | 嘉达云科技(深圳)有限公司 | Anti-blocking type carbon monoxide detection alarm device and method |
| CN115589468A (en) * | 2022-10-08 | 2023-01-10 | 国网山东省电力公司淄博供电公司 | Visual intelligent visiting equipment applied to electrified finite space |
| CN115837944A (en) * | 2023-02-16 | 2023-03-24 | 太原理工大学 | Gas monitoring device for disaster prevention and sealing of power plant flue gas injected into goaf |
| CN116643013B (en) * | 2023-07-27 | 2023-09-19 | 沈阳觅寻科技有限公司 | Online gas detector based on wireless communication technology |
| CN117294943B (en) * | 2023-09-11 | 2024-04-19 | 安徽理工大学 | Rail type inspection device for delayed rock burst of deep tunnel |
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| CN102806170A (en) * | 2012-09-10 | 2012-12-05 | 昆山艾博机器人系统工程有限公司 | Lifting mechanism of coating machine |
| CN207908943U (en) * | 2018-01-02 | 2018-09-25 | 杭州泵浦节能技术有限公司 | A kind of heat exchanger detection device |
| CN109693724A (en) * | 2019-01-07 | 2019-04-30 | 哈尔滨理工大学 | A kind of walking Mine pit survey robot |
| CN209802403U (en) * | 2019-01-29 | 2019-12-17 | 保定默言新能源科技有限公司 | Environmental protection monitoring facilities |
| CN211505415U (en) * | 2019-12-28 | 2020-09-15 | 河北众智环境检测技术有限公司 | Air detection device with multi-directional detection function |
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| US4388822A (en) * | 1981-07-15 | 1983-06-21 | Mine Safety Appliances Company | Atmospheric sampling system |
| CN211038745U (en) * | 2019-11-07 | 2020-07-17 | 重庆工程职业技术学院 | Coal mine safety monitoring device |
| CN211086027U (en) * | 2019-12-06 | 2020-07-24 | 江苏尚美环保科技有限公司 | Device for detecting particles in air |
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2020
- 2020-10-16 CN CN202011108444.9A patent/CN112282848B/en active Active
- 2020-11-04 WO PCT/CN2020/126312 patent/WO2022077625A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102806170A (en) * | 2012-09-10 | 2012-12-05 | 昆山艾博机器人系统工程有限公司 | Lifting mechanism of coating machine |
| CN207908943U (en) * | 2018-01-02 | 2018-09-25 | 杭州泵浦节能技术有限公司 | A kind of heat exchanger detection device |
| CN109693724A (en) * | 2019-01-07 | 2019-04-30 | 哈尔滨理工大学 | A kind of walking Mine pit survey robot |
| CN209802403U (en) * | 2019-01-29 | 2019-12-17 | 保定默言新能源科技有限公司 | Environmental protection monitoring facilities |
| CN211505415U (en) * | 2019-12-28 | 2020-09-15 | 河北众智环境检测技术有限公司 | Air detection device with multi-directional detection function |
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| WO2022077625A1 (en) | 2022-04-21 |
| CN112282848A (en) | 2021-01-29 |
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