CN112412536A - Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method - Google Patents
Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method Download PDFInfo
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- CN112412536A CN112412536A CN202011263649.4A CN202011263649A CN112412536A CN 112412536 A CN112412536 A CN 112412536A CN 202011263649 A CN202011263649 A CN 202011263649A CN 112412536 A CN112412536 A CN 112412536A
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- 238000007689 inspection Methods 0.000 title claims abstract description 96
- 238000005065 mining Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 70
- 239000010959 steel Substances 0.000 claims abstract description 70
- 230000008093 supporting effect Effects 0.000 claims abstract description 51
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000007789 gas Substances 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
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- 230000008901 benefit Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention provides a stringing type moving target inspection bearing system and a working method for a fully mechanized mining face of a mine, and relates to the technical field of coal mine robots. The method comprises the following steps: the device comprises a 360-degree prism, a steel wire rope, a supporting device, a rope clamping device, a driving wheel, a driven wheel, a tensioning device, a limiting sensor, a hydraulic driving device, a moving end and an industrial personal computer; the supporting device is installed on target equipment to be patrolled and examined, the driving wheel is fixed on the supporting device at the head or the tail of the target equipment, the steel wire rope is installed on the driving wheel and the driven wheel, the 360-degree prism is vertically and fixedly hung on the steel wire rope through a cord, the tensioning device is fixed on the supporting device at the head or the tail of the target equipment, the driven wheel is fixed on the tensioning device, and the rope holding device is fixed on the supporting device. The invention ensures the passing ability of the 360-degree prism, uses the hydraulic driving force to replace the motor for autonomous driving, does not need manual intervention, replaces manual inspection, and has very high practicability.
Description
Technical Field
The invention relates to the technical field of coal mine robots, in particular to a stringing type moving target inspection bearing system for a fully mechanized coal mining face of a mine and a working method.
Background
Along with the improvement of the intelligent level of a mine, the state encourages the application of the robot to dangerous working areas of underground fully mechanized coal mining faces, and the aim of few people or no people on the fully mechanized coal mining faces is fulfilled. In the intelligent fully mechanized mining work construction process, based on a measuring robot and a related application system, an automatic unmanned inspection system is developed to realize accurate calibration of a cable trough or a scraper conveyor or a hydraulic support geodetic coordinate, serve an automatic pushing and sliding pull frame and have an important supporting effect on few-person or unmanned coal mining.
At present, the rail-type inspection system is beginning to be used for environmental parameter detection of a working surface and research and application of video inspection. Because the track type inspection system based on the chute is rigidly connected through the track, the pushing and sliding can cause the whole track to be not bent directly, the passing performance of the track cannot be ensured, and the practicability is greatly influenced; in addition, there is a similar trolley-like routing inspection system, but the routing inspection equipment is not pulled passively but driven by electric equipment, which involves coal safety and explosion-proof problems, and meanwhile, because the working surface environment is harsh, the system is extremely harsh to the power supply such as battery, and cannot guarantee duration and sufficient power. The problems exist, and for the complex spatial relationship of a cable trough or a hydraulic support of a fully mechanized mining working face of a mine and the equipment dislocation relationship in the dynamic process of the pushing and sliding frame, the reliable, stable and normalized operation of the routing inspection equipment and the system cannot be ensured.
Disclosure of Invention
In view of the above problems, the invention provides a trolley type moving target inspection bearing system for a fully mechanized mining face of a mine and a working method.
The embodiment of the invention provides a stringing type mobile target inspection bearing system for a fully mechanized mining face of a mine, which comprises: the device comprises a 360-degree prism, a steel wire rope, a supporting device, a rope clamping device, a driving wheel, a driven wheel, a tensioning device, a limiting sensor, a hydraulic driving device, a moving end and an industrial personal computer;
the supporting device is arranged on target equipment to be inspected, is a stressed supporting point of the inspection bearing system and is used for carrying the driving wheel, the rope clasping device, the driven wheel and the tensioning device;
the plurality of supporting devices are arranged at equal intervals along the target equipment;
the driving wheel is fixed on the supporting device at the head or the tail of the target equipment, and the driving wheel pulls the steel wire rope through hydraulic power provided by the hydraulic driving device to enable the steel wire rope to move back and forth on an inspection line formed by the supporting devices;
the steel wire rope is arranged on the driving wheel and the driven wheel and used for pulling the 360-degree prism fixed on the steel wire rope to carry out round-trip inspection along the inspection line;
the 360-degree prism is vertically fixedly hung on the steel wire rope through a wire rope and moves back and forth along with the steel wire rope instead of being driven by electric power for inspection;
the tensioning device is fixed on a supporting device at the head or the tail of the target equipment and is used for preventing the 360-degree prism from falling off and preventing the steel wire rope from loosening and derailing;
the driven wheel is fixed on the tensioning device and pulls the steel wire rope to rotate through the driving wheel;
the rope-holding device is fixed on the supporting device and used for locking the steel wire rope on the inspection line to prevent the steel wire rope from derailing;
the limiting sensor is used for detecting whether the 360-degree prism reaches the head position or the tail position of the target equipment in real time, so that the industrial personal computer automatically controls the rotating direction of the driving wheel;
the industrial personal computer is an industrial computer provided with an operating system, an automatic control program of the inspection bearing system is deployed, and the automatic control program detects a trigger signal of the limit sensor in real time so as to automatically control the rotation direction of the driving wheel;
wherein, 360 degree prism is one of the load thing, the load thing all passes through wire rope fixed connection, the load thing is the mine is combined and is adopted various devices of working face data acquisition, the load thing includes: video camera appearance, gas concentration sensor, oxygen concentration sensor, carbon monoxide concentration sensor, temperature sensor, humidity transducer.
Optionally, the 360-degree prism is additionally provided with a counterweight or a damping device to reduce the influence of the shaking of the steel wire rope on the observation effect of the 360-degree prism, so that the shaking of the 360-degree prism is controlled within an effective range.
Optionally, the cross-sectional area, the tension-breaking coefficient and the length of the steel wire rope are selected according to the length of the fully mechanized mining face of the mine and the weight of the 360-degree prism, so that the flexible and stable operation of the patrol and inspection bearing system is guaranteed.
Optionally, the tensioning device locks the rotating wheel at any time through the hydraulic power provided by the hydraulic driving device;
the rotating wheel tensions the steel wire rope on the inspection line by tensioning the driven wheel.
Optionally, the rope clip is divided into an upper part and a lower part;
the upper part rope clip comprises: two vertical rollers up and down;
the lower part rope-holding device comprises: two rollers which are horizontal at the front and the back.
Optionally, the limit sensor includes: the device comprises a first limit sensor and a second limit sensor, wherein the first limit sensor is arranged on a supporting device where the driving wheel is located, and the second limit sensor is arranged on the tensioning device.
Optionally, when the 360-degree prism moves to the limit sensor, the limit sensor sends a trigger signal to the industrial personal computer, so that the industrial personal computer automatically controls the rotation direction of the driving wheel.
Optionally, the inspection carrying system further includes: and the moving end is used for monitoring the running state of the patrol inspection bearing system and the position of the 360-degree prism in real time and sending a control instruction to the industrial personal computer, so that the industrial personal computer receives and executes the control instruction, and a man-machine interactive running mode is realized.
Optionally, the hydraulic drive device includes: the first hydraulic driving device and the second hydraulic driving device are respectively arranged at the head and the tail of the target equipment, the first hydraulic driving device provides hydraulic power for the driving wheel, and the second hydraulic driving device provides hydraulic power for the tensioning device.
The embodiment of the invention provides a working method of a stringing type mobile target inspection bearing system of a fully mechanized mining face of a mine, which is applied to the inspection bearing system according to any one of claims 1 to 9, and the method comprises the following steps:
the industrial personal computer is started and starts an automatic control program of the inspection bearing system;
the industrial personal computer issues a command of starting the hydraulic power of the tensioning device to the second hydraulic driving device according to the hydraulic pressure parameter of the tensioning device, so that the steel wire rope is tensioned;
the industrial personal computer issues an instruction for starting the hydraulic power of the driving wheel to the first hydraulic driving device according to the hydraulic pressure parameter of the driving wheel, so that the driving wheel runs;
when the 360-degree prism rotates to the limit sensor along with the steel wire rope, the limit sensor sends a trigger signal to the industrial personal computer;
after receiving the trigger signal, the industrial personal computer issues a reverse instruction to the first hydraulic driving device to enable the driving wheel to run reversely, and the reverse instruction is an instruction enabling the first hydraulic driving device to provide reverse hydraulic power;
when the inspection bearing system needs to be stopped, the industrial personal computer issues a driving stopping instruction to the first hydraulic driving device to stop the driving wheels, and the driving stopping instruction is an instruction for stopping the first hydraulic driving device to provide hydraulic power for the driving wheels;
waiting it stops after the operation of bearing system to patrol and examine, the industrial computer issues and stops taut instruction to second hydraulic drive device makes the runner is no longer taut the follower, it is for making to stop taut instruction second hydraulic drive device stops for the runner provides hydraulic power's instruction.
The invention provides a stringing type moving target inspection bearing system and a working method for a fully mechanized mining face of a mine, wherein a stringing type steel wire rope with variable length is fixedly connected with a 360-degree prism, the trafficability of the 360-degree prism is ensured, the defect of rigid connection is avoided, the system can adapt to the condition that inspection lines are not regularly arranged and staggered in the pushing, sliding and pulling process, a bearing object is fixed on the stringing type steel wire rope, the hydraulic driving force of the fully mechanized mining face is used for replacing the traditional motor autonomous driving, the dependence on electricity is removed, explosion prevention or coal safety application marks are not needed, and the practicability and the safety of the system are improved. The rope-holding device and the tensioning device of the whole inspection bearing system are simple, easy to use, stable and reliable, the inspection bearing system automatically operates without manual intervention, and the purpose that the overhead line type inspection bearing system of the fully mechanized mining face of a mine replaces manual inspection is achieved. In addition, various different carried objects can be integrated to support the overhead line type inspection carrying system to complete more inspection tasks.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic layout diagram of a trolley-type moving target inspection and carrying system of a fully mechanized mining face of a mine according to an embodiment of the invention;
fig. 2 is a schematic view of a combined structure of the supporting device 10 and the rope clip 12 according to the embodiment of the invention;
FIG. 3 is a schematic diagram of the structure of the driving wheel 11 in the embodiment of the present invention;
FIG. 4 is a schematic view of the tension device 14 in an embodiment of the present invention;
fig. 5 is a schematic diagram of the arrangement structure of the 360-degree prism 17 on the steel wire rope 16 according to the embodiment of the invention;
fig. 6 is a flowchart of a working method of a stringing type moving target inspection and carrying system of a fully mechanized mining face of a mine according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention, but do not limit the invention to only some, but not all embodiments.
The inventor finds that the current inspection of the fully mechanized mining face of the mine is basically completed manually, which obviously does not meet the requirements of dangerous working areas.
In order to overcome the problems, the inventor creatively provides the stringing type moving target inspection bearing system of the fully mechanized mining face of the mine and the working method of the stringing type moving target inspection bearing system of the fully mechanized mining face of the mine through a large amount of research and practical tests, and the technical scheme of the invention is described in detail below.
Referring to fig. 1, a schematic layout diagram of a trolley-type moving target inspection carrying system for a fully mechanized mining face of a mine according to an embodiment of the present invention is shown, in fig. 1, a region 1 represents a goaf, i.e., a region that has already been mined, and a region 2 represents a region to be mined, i.e., a region that needs to be mined. The area 3 represents a cable slot (i.e., target equipment to be inspected), and cables of the mine mining machine are arranged in the cable slot, and generally, the length of the fully mechanized mining face of the mine is large, and the length of the cable slot is large. It should be noted that, for clarity, in fig. 1, the target device to be inspected is set as a cable trough, and in practice, the target device with inspection may be any other mining device, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, the head and the tail of the cable groove 3 are respectively provided with a supporting device 10, and a plurality of supporting devices 10 are arranged at equal intervals along the cable groove 3, namely the supporting devices 10 are arranged on target equipment (the cable groove 3) to be inspected, and are stress supporting points of the whole inspection bearing system and used for carrying a driving wheel 11, a rope clasping device 12, a driven wheel 13 and a tensioning device 14; the driving wheel 11 is fixed on the supporting device 10 at the head or tail of the target equipment, the driving wheel 11 pulls the steel wire rope 16 by the hydraulic power provided by the hydraulic driving device 15 (1501 and 1502 in fig. 1) to make the steel wire rope 16 move back and forth on the inspection line formed by the plurality of supporting devices; the driven wheel 13 is fixed on the tension device 14, and the steel wire rope 16 is naturally pulled to move through the rotation of the driving wheel 11, so that the driven wheel 13 is naturally driven to rotate; and the tension device 14 is fixed on the supporting device 10 at the head or the tail of the target device and is used for preventing the 360-degree prism 17 from falling off and preventing the steel wire rope 16 from loosening and derailing. It should be noted that if the driving wheel 11 is fixed to the supporting device 10 of the head of the target equipment, the tension device 14 is fixed to the supporting device 10 of the tail of the target equipment, and naturally, if the driving wheel 11 is fixed to the supporting device 10 of the tail of the target equipment, the tension device 14 is fixed to the supporting device 10 of the head of the target equipment.
The steel wire rope 16 is arranged on the driving wheel 11 and the driven wheel 13 and used for pulling the 360-degree prism 17 fixed on the steel wire rope 16 to perform round-trip inspection along an inspection line; the cross section area, the tension coefficient and the length of the steel wire rope 16 are selected according to the length of the fully mechanized mining face of the mine and the weight of the 360-degree prism 17, so that the flexible and stable operation of the whole inspection bearing system is guaranteed.
The 360-degree prism 17 is vertically fixed and hung on the steel wire rope 16 through a wire rope and is used for routing inspection along with the reciprocating movement of the steel wire rope 16; the 360-degree prism 17 can reduce the influence of the shaking of the steel wire rope 16 on the observation effect of the 360-degree prism 17 by adding a balance weight or a damping device, so that the shaking control of the 360-degree prism 17 is in an effective range.
The rope-holding device 12 is fixed on the supporting device 10 and used for locking the steel wire rope 16 on the inspection line to prevent the steel wire rope 16 from derailing; generally, a rope clip 12 is fixed to each of the supporting devices 10 except the supporting devices 10 at the head and tail of the target equipment. The rope clip 12 is divided into an upper part and a lower part; the upper part rope clip device comprises: two rollers 1201 and 1202 (shown in fig. 2) that are vertical up and down; lower part rope clip includes: two rollers 1203 and 1204 (shown in fig. 2) horizontally in front and behind. The supporting device 10 and the rope-holding device 12 are sequentially arranged on target equipment to be inspected on a fully mechanized mining face of a mine at a certain distance to ensure the passing performance of the 360-degree prism 17, and a stringing type inspection line represents the space curved and straight shape of the target equipment to be inspected.
The limit sensors 18 (1801 and 1802 in fig. 1) are used for detecting whether the 360-degree prism 17 reaches the head position or the tail position of the target device in real time, so that an industrial personal computer (not shown in fig. 1) automatically controls the rotation direction of the driving wheel 11; the limit sensor 18 includes: a first limit sensor 1801 and a second limit sensor 1802, the first limit sensor 1801 being mounted on the support means 10 on which the drive wheel 11 is located, the second limit sensor 1802 being mounted on the tensioning means 14. When the 360-degree prism 17 moves to any one of the limit sensors 18, the limit sensor sends a trigger signal to the industrial personal computer, so that the industrial personal computer automatically controls the rotation direction of the driving wheel 11. For example: when the 360-degree prism 17 moves to the first limit sensor 1801, the first limit sensor 1801 sends a trigger signal to the industrial personal computer, after the industrial personal computer receives the trigger signal, the industrial personal computer automatically controls the rotation direction of the driving wheel 11, if the driving wheel 11 rotates clockwise for the first time, the 360-degree prism 17 moves to the first limit sensor 1801, then the industrial personal computer controls the driving wheel 11 to rotate anticlockwise, the 360-degree prism 17 is far away from the first limit sensor 1801 and moves towards the second limit sensor 1802.
The industrial personal computer is an industrial computer provided with an operating system, an automatic control program of the inspection bearing system is deployed, and the automatic control program detects the trigger signal of the limit sensor 18 in real time so as to automatically control the rotation direction of the driving wheel 11. In addition, the polling bearing system further comprises: and a moving end (not shown in fig. 1) for monitoring the operation state of the inspection bearing system and the position of the 360-degree prism 17 in real time and sending a control instruction to the industrial personal computer, so that the industrial personal computer receives and executes the control instruction, thereby realizing a man-machine interactive operation mode.
The tensioning device 14 locks the runner 1401 at all times by means of hydraulic power supplied by the hydraulic drive device 15; the wheel 1401 tensions the cable 16 on the inspection line by tightening the driven wheel 13. Typically, the wheel 1401 and the driven wheel 13 may be connected by a wire rope, or other hard-wired device. When the wheel 1401 is locked, it pulls on the driven wheel 13, which makes it possible to tension the cable 16 times.
The hydraulic drive device 15 includes: the first hydraulic driver 1501 and the second hydraulic driver 1502 are respectively disposed at the head and the tail of the target device, but may be disposed at other places of the facial device, which is one of the preferred manners.
The first hydraulic drive 1501 provides hydraulic power to the drive wheels 11 and the second hydraulic drive 1502 provides hydraulic power to the tensioning device 14. The industrial personal computer controls the first hydraulic driving device 1501 to provide hydraulic power for the driving wheel 11, so that the driving wheel 11 rotates clockwise or anticlockwise; likewise, the industrial personal computer also controls the second hydraulic driving device 1502 to provide hydraulic power to the runner 1401, so that the runner 1401 can be locked.
In the embodiment of the present invention, the 360-degree prism 17 is one of the mounted objects, and all the mounted objects may be fixedly connected by the steel wire rope 16, where the mounted objects refer to: for the mine combine various devices that adopt working face data acquisition, the lift thing includes: video camera, gas concentration sensor, oxygen concentration sensor, carbon monoxide concentration sensor, temperature sensor, humidity transducer etc.. And the carrying object can be one kind, also can be many kinds, as long as wire rope 16 can satisfy its work demand, and the bearing demand just.
Referring to fig. 2, which shows a schematic view of a combined structure of the supporting device 10 and the rope clip 12 in the embodiment of the present invention, in fig. 2, the supporting device 10 may be made of steel or other hard materials as long as the requirements of hardness and supporting force of the whole inspection bearing system can be ensured. In a preferred mode, the supporting device 10 can be fixed to the target device (cable trough, hydraulic bracket, etc.) by bolts 1001 and 1002, but can be fixed to the target device in other modes as long as the stability of the supporting device is ensured.
The rope holding means 12 is fixed to each of the supporting means 10 except the supporting means 10 at the head and tail of the target equipment. Of course, it is also possible to fix the rope clip 12 to some of the support devices 10 according to actual requirements. The rope clip 12 is divided into an upper part and a lower part; the upper part rope clip device comprises: two rollers 1201 and 1202 vertically up and down; lower part rope clip includes: the two horizontal front and rear rollers 1203 and 1204 can lock the steel wire rope 16 on the inspection line in such a way as to prevent the steel wire rope 16 from derailing. The two vertical rollers 1201 and 1202 are locked by an upper half steel wire rope, the two horizontal rollers 1203 and 1204 are locked by a lower half steel wire rope, or the two vertical rollers 1201 and 1202 are locked by a lower half steel wire rope, and the two horizontal rollers 1203 and 1204 are locked by an upper half steel wire rope.
Referring to fig. 3, which shows a schematic structural diagram of the driving wheel 11 in the embodiment of the present invention, since the driving wheel 11 and the tensioning device 14 (not shown in fig. 3) are key devices for rotating the cable 16 and are also places with higher bearing capacity, the supporting device 10 (not shown in fig. 3) where the driving wheel 11 is located and the supporting device 10 (not shown in fig. 3) where the tensioning device 14 is located are firmer and stronger than the rest of the supporting devices. Meanwhile, the supporting device 10 on which the driving wheel 11 is located is further provided with auxiliary wheels 1101 and 1102, which are provided to ensure better rotation of the wire rope 16 and to further prevent derailment of the wire rope 16. The first hydraulic drive 1501 provides hydraulic power to the drive wheels 11.
Referring to fig. 4, which shows a schematic structural diagram of the tensioning device 14 in the embodiment of the present invention, a second hydraulic driving device 1502 (only a part of the reason of the view in fig. 4) provides hydraulic power to a rotating wheel 1401 in the tensioning device 14, the rotating wheel 1401 tensions a driven wheel 13 through a wound steel cable 1402, a way of tensioning the driven wheel 13 by the rotating wheel 1401 is shown in fig. 4, the rotating wheel 1401 is fixed on the driven wheel 13 through the wound steel cable 1402 and a profile steel 1403, the second hydraulic driving device 1502 provides hydraulic power to the rotating wheel 1401, and the rotating wheel 1401 tensions the driven wheel 13 and is locked after rotating, thus ensuring that the driven wheel 13 can tension the steel cable 16 on the inspection line.
Referring to fig. 5, a schematic diagram of the arrangement structure of the 360-degree prism 17 on the steel wire rope 16 according to the embodiment of the present invention is shown, and the 360-degree prism 17 is vertically fixed and hung on the steel wire rope 16 through the wire rope 1701, but of course, the 360-degree prism 17 may be fixed on the steel wire rope 16 in other ways, so that the 360-degree prism 17 can reach the target of the inspection measurement along with the reciprocating movement of the steel wire rope 16.
In summary, the stringing type moving target inspection bearing system for the fully mechanized mining face of the mine provided by the embodiment of the invention adopts the stringing type steel wire rope 16 with variable length to fixedly connect the 360-degree prism 17, so that the passing performance of the 360-degree prism 17 is ensured, the defect of rigid connection is avoided, the condition that inspection lines are not regularly arranged and have dislocation in the pushing and pulling process can be adapted, a bearing object is fixed on the stringing type steel wire rope, the hydraulic driving force of the fully mechanized mining face is used for replacing the traditional motor autonomous driving, the dependence on electricity is removed, explosion prevention or coal safety application marks are not needed, and the practicability and the safety of the system are increased. The rope clip 12 and the tension device 14 of the whole inspection bearing system are simple, easy to use, stable and reliable, the inspection bearing system automatically operates without manual intervention, and the overhead line inspection bearing system of the fully mechanized mining face of the mine replaces manual inspection. In addition, various different carried objects can be integrated to support the overhead line type inspection bearing system to complete more inspection tasks, and the inspection bearing system has high practicability.
Based on the above-mentioned stringing type moving target inspection carrying system for the mine fully mechanized mining face, the embodiment of the present invention further provides a working method of the stringing type moving target inspection carrying system for the mine fully mechanized mining face, which is combined with the flow chart of the working method of the stringing type moving target inspection carrying system for the mine fully mechanized mining face shown in fig. 6, and the method includes:
firstly, starting an industrial personal computer and starting an automatic control program of the inspection bearing system;
then, the industrial personal computer issues a command of starting the hydraulic power of the tensioning device to the second hydraulic driving device according to the hydraulic pressure parameter of the tensioning device, and the second hydraulic driving device provides hydraulic power for the rotating wheel, so that the rotating wheel is locked and then the steel wire rope is tensioned;
then the industrial personal computer issues an instruction for starting the hydraulic power of the driving wheel to the first hydraulic driving device according to the hydraulic pressure parameter of the driving wheel, and the first hydraulic driving device provides the hydraulic power for the driving wheel so that the driving wheel runs clockwise or anticlockwise;
when the 360-degree prism rotates to any one limiting sensor along with the steel wire rope, the limiting sensor sends a trigger signal to the industrial personal computer;
when the industrial personal computer receives the trigger signal, a reverse instruction is issued to the first hydraulic driving device, the first hydraulic driving device provides hydraulic power for the driving wheel, so that the driving wheel runs in a reverse direction, and the reverse instruction is an instruction for enabling the first hydraulic driving device to provide reverse hydraulic power;
when the inspection bearing system needs to stop, the industrial personal computer issues a driving stopping instruction to the first hydraulic driving device, the first hydraulic driving device stops providing hydraulic power for the driving wheel, so that the driving wheel stops running, and the driving stopping instruction is an instruction for stopping the first hydraulic driving device from providing hydraulic power for the driving wheel;
wait it stops bearing system after the shut down to patrol and examine, the industrial computer issues and stops taut instruction extremely second hydraulic drive device, second hydraulic drive device stops to provide hydraulic power for the runner, makes the runner is no longer taut the driven wheel, it is for making to stop taut instruction second hydraulic drive device stops to do the runner provides hydraulic power's instruction. Thus, the whole inspection bearing system stops working.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a mine is combined and is adopted working face stringing formula removal target and is patrolled and examined bearing system which characterized in that includes: the device comprises a 360-degree prism, a steel wire rope, a supporting device, a rope clamping device, a driving wheel, a driven wheel, a tensioning device, a limiting sensor, a hydraulic driving device, a moving end and an industrial personal computer;
the supporting device is arranged on target equipment to be inspected, is a stressed supporting point of the inspection bearing system and is used for carrying the driving wheel, the rope clasping device, the driven wheel and the tensioning device;
the supporting devices are arranged at equal intervals or non-equal intervals along the target equipment;
the driving wheel is fixed on the supporting device at the head or the tail of the target equipment, and the driving wheel pulls the steel wire rope through hydraulic power provided by the hydraulic driving device to enable the steel wire rope to move back and forth on an inspection line formed by the supporting devices;
the steel wire rope is arranged on the driving wheel and the driven wheel and used for pulling the 360-degree prism fixed on the steel wire rope to carry out round-trip inspection along the inspection line;
the 360-degree prism is vertically fixedly hung on the steel wire rope through a wire rope and moves back and forth along with the steel wire rope instead of being driven by electric power for inspection;
the tensioning device is fixed on a supporting device at the head or the tail of the target equipment and is used for preventing the 360-degree prism from falling off and preventing the steel wire rope from loosening and derailing;
the driven wheel is fixed on the tensioning device and pulls the steel wire rope to rotate through the driving wheel;
the rope-holding device is fixed on the supporting device and used for locking the steel wire rope on the inspection line to prevent the steel wire rope from derailing;
the limiting sensor is used for detecting whether the 360-degree prism reaches the head position or the tail position of the target equipment in real time, so that the industrial personal computer automatically controls the rotating direction of the driving wheel;
the industrial personal computer is an industrial computer provided with an operating system, an automatic control program of the inspection bearing system is deployed, and the automatic control program detects a trigger signal of the limit sensor in real time so as to automatically control the rotation direction of the driving wheel;
the inspection bearing system further comprises: the mobile end is used for monitoring the running state of the routing inspection bearing system and the position of the 360-degree prism in real time and sending a control instruction to the industrial personal computer so that the industrial personal computer receives and executes the control instruction, and therefore a man-machine interactive running mode is achieved;
wherein, 360 degree prism is one of the load thing, the load thing all passes through wire rope fixed connection, the load thing is the mine is combined and is adopted various devices of working face data acquisition, the load thing includes: video camera appearance, gas concentration sensor, oxygen concentration sensor, carbon monoxide concentration sensor, temperature sensor, humidity transducer.
2. The inspection bearing system according to claim 1, wherein the 360-degree prism is additionally provided with a counterweight or a damping device to reduce the influence of the shaking of the steel wire rope on the observation effect of the 360-degree prism, so that the shaking of the 360-degree prism is controlled within an effective range.
3. The inspection bearing system according to claim 1, wherein the cross-sectional area, the stretch-break coefficient and the length of the steel wire rope are selected according to the length of the fully mechanized mining face of the mine and the weight of the 360-degree prism, so that the inspection bearing system can operate flexibly and stably.
4. The inspection load bearing system of claim 1, wherein the tensioning device momentarily locks the wheels by hydraulic power provided by the hydraulic drive;
the rotating wheel tensions the steel wire rope on the inspection line by tensioning the driven wheel.
5. The inspection carrying system according to claim 1, wherein the rope holding device is divided into an upper part and a lower part;
the upper part rope clip comprises: two vertical rollers up and down;
the lower part rope-holding device comprises: two rollers which are horizontal at the front and the back.
6. The inspection load bearing system of claim 1, wherein the spacing sensor includes: the device comprises a first limit sensor and a second limit sensor, wherein the first limit sensor is arranged on a supporting device where the driving wheel is located, and the second limit sensor is arranged on the tensioning device.
7. The inspection bearing system according to claim 1, wherein when the 360-degree prism moves to the limit sensor, the limit sensor sends a trigger signal to the industrial personal computer, so that the industrial personal computer automatically controls the rotation direction of the driving wheels.
8. The inspection load carrying system of claim 1, wherein the hydraulic drive arrangement includes: the first hydraulic driving device and the second hydraulic driving device are respectively arranged at the head and the tail of the target equipment, the first hydraulic driving device provides hydraulic power for the driving wheel, and the second hydraulic driving device provides hydraulic power for the tensioning device.
9. A method for operating a trolley type mobile target inspection bearing system of a fully mechanized mining face of a mine, which is applied to the inspection bearing system according to any one of claims 1 to 8, and comprises the following steps:
the industrial personal computer is started and starts an automatic control program of the inspection bearing system;
the industrial personal computer issues a command of starting the hydraulic power of the tensioning device to the second hydraulic driving device according to the hydraulic pressure parameter of the tensioning device, so that the steel wire rope is tensioned;
the industrial personal computer issues an instruction for starting the hydraulic power of the driving wheel to the first hydraulic driving device according to the hydraulic pressure parameter of the driving wheel, so that the driving wheel runs;
when the 360-degree prism rotates to the limit sensor along with the steel wire rope, the limit sensor sends a trigger signal to the industrial personal computer;
after receiving the trigger signal, the industrial personal computer issues a reverse instruction to the first hydraulic driving device to enable the driving wheel to run reversely, and the reverse instruction is an instruction enabling the first hydraulic driving device to provide reverse hydraulic power;
when the inspection bearing system needs to be stopped, the industrial personal computer issues a driving stopping instruction to the first hydraulic driving device to stop the driving wheels, and the driving stopping instruction is an instruction for stopping the first hydraulic driving device to provide hydraulic power for the driving wheels;
waiting it stops after the operation of bearing system to patrol and examine, the industrial computer issues and stops taut instruction to second hydraulic drive device makes the runner is no longer taut the follower, it is for making to stop taut instruction second hydraulic drive device stops for the runner provides hydraulic power's instruction.
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Application publication date: 20210226 |