CN114909582A - Single track hangs track inspection robot - Google Patents
Single track hangs track inspection robot Download PDFInfo
- Publication number
- CN114909582A CN114909582A CN202210204081.1A CN202210204081A CN114909582A CN 114909582 A CN114909582 A CN 114909582A CN 202210204081 A CN202210204081 A CN 202210204081A CN 114909582 A CN114909582 A CN 114909582A
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- China
- Prior art keywords
- main body
- bottom plate
- body bottom
- shell
- wheel base
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a monorail crane track inspection robot which comprises a main body bottom plate, and a moving part, a guide part, a driving part, a sensing part and a shell which are arranged on the main body bottom plate. The moving part is arranged above the main body bottom plate; the guide part is arranged above the main body bottom plate and outside the moving part; the driving part is arranged below the bottom plate of the main body and outside the standby battery; the sensing component is arranged around the outer side of the shell; the shell is arranged below the main body bottom plate. The scheme moves on the rail by taking the monorail crane as power, carries the camera, the ultrasonic sensor and the acceleration sensor, develops a rail parameter identification detection system, can detect rail parameters (Y-direction dislocation, Z-direction dislocation and straightness) and position defects, realizes autonomous detection of rail dislocation defects and straightness, facilitates workers to master the safety state of a transportation system, and is beneficial to improving unmanned operation capability of mining enterprises and reducing personnel and property loss.
Description
Technical Field
The invention relates to the technical field of rail inspection, and particularly discloses a monorail crane rail inspection robot.
Background
The underground electromechanical transportation of a coal mine is an important component of a mine production link, which runs through each production link of the mine, the prior roadway transportation adopts a rail lifting transportation mode, along with the continuous development of coal mine roadway auxiliary transportation, a monorail crane is widely used due to the advantages of high utilization rate, low maintenance convenience and cost, capability of running in various vertical curves, horizontal curves and complex curves, capability of directly reaching a mining working surface and the like, but the safety and reliability of the monorail crane are greatly reduced because the rail is fixed in a suspension mode, the machine body is easy to swing in the running of a heavy-load monorail crane, the rail is impacted frequently and greatly, the defects of joint dislocation, rail deformation and the like are easily caused to the hoisting rail, the health condition of the monorail crane directly determines the life and property safety of each production worker, but the prior manual inspection does not ensure the safety of the workers, the subjective judgment and low efficiency of inspection personnel are also a big problem, and due to the factors of short development history of the monorail crane, bad and inferior conditions of a mine roadway and the like, no efficient and reliable defect detection device exists at present, and a natural state parameter identification system of the monorail crane, which can replace manual inspection to perform efficient and automatic inspection, is designed, so that the monorail crane has high practical application value.
Disclosure of Invention
In view of the above, the invention provides a single-track crane inspection robot device, which aims at the problems of dislocation of a single-track crane track, track deformation and the like in an underground coal mine electromechanical transportation system.
In order to achieve the aim, the invention provides a monorail crane inspection robot, which comprises a main body bottom plate, a moving part, a guide part, a driving part, a sensing part and a shell, wherein the moving part, the guide part, the driving part, the sensing part and the shell are arranged on the main body bottom plate;
a plurality of assembling holes and concave grooves are formed in the main body bottom plate, and the bearing walking mechanism, the lateral limiting mechanism and the longitudinal limiting mechanism are connected to the main body bottom plate through pins, so that vibration isolation and driving of the monorail hoist are realized; is connected with the monorail crane rail through a wedge-shaped opening and closing mechanism;
the moving part is arranged above the main body bottom plate; the guide part is arranged above the main body bottom plate and outside the moving part; the driving part is arranged below the main body bottom plate and outside the standby battery; the shell is arranged below the main body bottom plate; the sensing component is arranged around the outer side of the shell;
the movable part comprises two bearing walking wheels, a bearing walking wheel base, an upper limiting support rod and a spring, the bearing walking wheel base is fixed on a concave groove of the main body bottom plate through bolt holes, the upper limiting support rod is connected to the other side of the bearing walking wheel base through bolt holes, the two bearing walking wheels are respectively connected to the bearing walking wheel base and the upper limiting support rod through bolts, and the spring is connected to spring hooks on the bearing walking wheel base and the upper limiting support rod so as to adjust the distance between the two bearing walking wheels;
the guide part comprises a side guide wheel bracket, a side guide wheel, a side limiting wheel base, a spring and a pin, wherein the side limiting wheel base is fixed on the concave groove of the main body bottom plate;
the driving part comprises a pin shaft connecting rod, an RFID radio frequency identifier, a Wi-Fi antenna and a standby battery, the pin shaft connecting rod is connected to the outer side of the standby battery shell through a bolt, the RFID radio frequency identifier and the Wi-Fi antenna are fixed to the outer side of the shell, and the standby battery is fixed in the standby battery shell;
the sensing component comprises a camera, an ultrasonic sensor and an acceleration sensor; the shell is connected below the main body bottom plate through bolts, and the camera base is fixed below the shell through bolts.
Further, bearing walking wheel base, side spacing wheel base are all fixed on the concave groove of main part bottom plate, bearing walking wheel base opposite side and last spacing branch pass through the hinge hole and articulate, two bearing walking wheels are fixed respectively on bearing walking wheel base and last spacing branch, use spring coupling between the two-wheeled for adjusting the position, side guide wheel support is fixed on side spacing wheel base through round pin and spring, the spring is used for the vertical small displacement of side guide wheel, slow down the impact, side guide wheel is fixed on side guide wheel support, the Wi-Fi antenna is fixed on side spacing wheel base.
Furthermore, the bearing traveling wheels work on the inner track of the monorail crane track, and the side guide wheels work on the outer track of the monorail crane track.
Further, the spare battery shell is connected to the lower portion of the main body bottom plate through bolts, and the spare battery is embedded into the spare battery shell and sealed by the detachable cover plate. The pin shaft connecting rod is connected with the outside of the standby battery shell, and the standby battery shell provides standby for the robot sensor.
Furthermore, the camera is hinged with the camera and can rotate in a certain angle.
According to the scheme, the monorail crane is used as power to move on the rail, the camera, the ultrasonic sensor and the acceleration sensor are carried, the rail parameter identification detection system is developed, rail parameters (Y-direction dislocation, Z-direction dislocation and straightness) can be detected, defects can be located, autonomous detection of rail dislocation defects and straightness is achieved, workers can conveniently master the safety state of the transportation system, unmanned operation capacity of mining enterprises is improved, and personnel and property loss are reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
FIG. 1 is a schematic structural view of a monorail crane inspection robot of the invention;
FIG. 2 is a schematic diagram of a main body bottom plate part of the monorail crane inspection robot;
FIG. 3 is a structural block diagram of the monorail crane inspection robot of the invention;
FIG. 4 is an assembly schematic diagram of the monorail crane inspection robot of the invention;
FIG. 5 is a side limiting wheel component diagram of the monorail crane inspection robot of the invention;
FIG. 6 is a part diagram of a load-bearing traveling wheel of the monorail crane inspection robot;
FIG. 7 is a diagram of the camera components of the monorail crane inspection robot of the present invention;
FIG. 8 is a schematic diagram of the detection of the monorail crane inspection robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in figure 1, the invention relates to a monorail crane inspection robot, which comprises a main body base plate 1, a moving part 2, a guide part 3, a driving part 4, a sensing part 5 and a shell 6, wherein the moving part 2, the guide part 3, the driving part 4, the sensing part 5 and the shell are arranged on the main body base plate 1.
As shown in fig. 2, a main body bottom plate 1 is provided with a plurality of assembling holes and concave grooves for realizing bolt connection among all parts and installation of a bearing walking wheel base 2-1 and a lateral limiting guide wheel base 3-1.
As shown in fig. 3, the load-bearing traveling mechanism 2, the lateral limiting mechanism 3 and the longitudinal limiting mechanism are connected to a main body bottom plate through pins, so that vibration isolation and driving of the monorail hoist are realized; the wedge-shaped opening and closing mechanism is connected with the monorail crane rail, so that the rapid disassembly can be realized.
As shown in fig. 4, 5, 6 and 7, the housing 6 is arranged below the main body bottom plate 1, the driving part 4 is arranged on the outer side of the housing 6 and the outer side of the standby battery 4-3, and the driving part 4 comprises a pin shaft connecting rod 4-1, an RFID radio frequency identifier 4-5, a Wi-Fi antenna 4-6 and the standby battery 4-3. The pin shaft connecting rod 4-1 is connected to the outer side of the standby battery shell 4-2 through a bolt, the RFID radio frequency identifier 4-5 and the Wi-Fi antenna 4-6 are fixed to the outer side of the shell 6, and the standby battery 4-3 is fixed in the standby battery shell 4-2.
The moving part 2 is arranged above the main body bottom plate 1, and the moving part 2 comprises bearing walking wheels (2-4, 2-5), a bearing walking wheel base 2-1, an upper limiting support rod 2-3 and a spring 2-2. A bearing walking wheel base 2-1 is fixed on a concave groove of a main body bottom plate 1 through a bolt hole 2-1-1, an upper limiting support rod 2-3 is connected to the other side of the bearing walking wheel base 2-1 through a bolt hole 2-1-4, two bearing walking wheels (2-4, 2-5) are respectively connected to the bearing walking wheel base 2-1 and the upper limiting support rod 2-3 through bolts, and a spring 2-2 is connected to a spring hook 2-1-2 on the bearing walking wheel base 2-1 and the upper limiting support rod 2-3 so as to adjust the distance between the two bearing walking wheels (2-4, 2-5).
The guide part 3 is arranged above the main body bottom plate 1, the outer side of the moving part 2 is arranged, and the guide part 3 comprises a side guide wheel bracket 3-4, a side guide wheel 3-5, a side limiting wheel base 3-1, a spring 3-3 and a pin 3-2. The side limiting wheel base 3-1 is fixed on a concave groove of the main body bottom plate 1, the side guide wheel support 3-4 is fixed on the side limiting wheel base 3-1 through a pin 3-2 and a spring 3-3, the spring 3-3 is used for longitudinal micro displacement of the side guide wheel to reduce impact, and the side guide wheel 3-5 is fixed on the side guide wheel support 3-4.
The sensing part 5 is arranged around the outside of the housing 6, and the sensing part 5 includes a camera 5-1, an ultrasonic sensor, and an acceleration sensor. The shell is connected below the main body bottom plate 1 through bolts, the base of the camera 5-1 is fixed below the shell through bolts, and the camera is hinged with the camera and can rotate in a certain angle.
As shown in fig. 8, the monorail crane inspection robot detects the dislocation gap through the ultrasonic displacement sensor, detects the deformation of the rail through the picture shot by the machine vision processing camera, performs defect location through the RFID radio frequency and inertial navigation methods, and identifies the rail defect together with the upper computer through information control such as video monitoring, defect display, data acquisition and the like. The inspection method comprises the following steps:
firstly, a strategy design of track defect detection and positioning based on multi-sensor fusion is carried out on an inspection robot, an ultrasonic displacement sensor and an acceleration sensor are adopted to detect the dislocation defect of a track joint, and a detection strategy for solving displacement change under the condition of micro vibration is researched; and developing a routing inspection robot defect positioning system based on RFID (radio frequency identification).
Then, selecting a proper visual sensor and a proper light source according to the characteristics of uneven ambient light of the detection object, small vibration in operation and the like; in order to obtain image information of the whole trend of the track, an image perception model facing the track straightness is constructed, and the relation between perception parameters and robot body parameters in the image acquisition process, including focal length, working distance, inspection speed and the like, is analyzed; on the basis, an efficient image acquisition strategy is provided, and continuous image acquisition is realized. Aiming at the problem of rail vibration, an anti-shake image reconstruction algorithm is improved and designed to obtain clearer image data; and developing software for the detection system by adopting a Python language and an OpenCV (open circuit vehicle) program package, wherein the software development comprises common threshold algorithm research, image noise type research, anti-shake image reconstruction algorithm research, track bottom edge extraction algorithm research and threshold value evaluation research.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the present invention.
Claims (6)
1. A monorail crane inspection robot is characterized by comprising a main body bottom plate, and a moving part, a guide part, a driving part, a sensing part and a shell which are arranged on the main body bottom plate;
a plurality of assembling holes and concave grooves are formed in the main body bottom plate, and the bearing walking mechanism, the lateral limiting mechanism and the longitudinal limiting mechanism are connected to the main body bottom plate through pins, so that vibration isolation and driving of the monorail hoist are realized; is connected with the monorail crane rail through a wedge-shaped opening and closing mechanism;
the moving part is arranged above the main body bottom plate; the guide part is arranged above the main body bottom plate and outside the moving part; the driving part is arranged below the main body bottom plate and outside the standby battery; the shell is arranged below the main body bottom plate; the sensing component is arranged around the outer side of the shell;
the movable part comprises two bearing walking wheels, a bearing walking wheel base, an upper limiting support rod and a spring, the bearing walking wheel base is fixed on a concave groove of the main body bottom plate through bolt holes, the upper limiting support rod is connected to the other side of the bearing walking wheel base through bolt holes, the two bearing walking wheels are respectively connected to the bearing walking wheel base and the upper limiting support rod through bolts, and the spring is connected to spring hooks on the bearing walking wheel base and the upper limiting support rod so as to adjust the distance between the two bearing walking wheels;
the guide part comprises a side guide wheel bracket, a side guide wheel, a side limiting wheel base, a spring and a pin, wherein the side limiting wheel base is fixed on the concave groove of the main body bottom plate;
the driving part comprises a pin shaft connecting rod, an RFID radio frequency identifier, a Wi-Fi antenna and a standby battery, the pin shaft connecting rod is connected to the outer side of the standby battery shell through a bolt, the RFID radio frequency identifier and the Wi-Fi antenna are fixed to the outer side of the shell, and the standby battery is fixed in the standby battery shell;
the sensing component comprises a camera, an ultrasonic sensor and an acceleration sensor; the shell is connected below the main body bottom plate through bolts, and the camera base is fixed below the shell through bolts.
2. The monorail crane inspection robot according to claim 1, wherein the bearing walking wheel base and the side limiting wheel base are fixed on a concave groove of a main body bottom plate, the other side of the bearing walking wheel base is hinged with the upper limiting support rod through a hinge hole, the two bearing walking wheels are respectively fixed on the bearing walking wheel base and the upper limiting support rod, the two wheels are connected through springs and used for adjusting positions, the side guide wheel support is fixed on the side limiting wheel base through a pin and a spring, the spring is used for longitudinal micro displacement of the side guide wheel and is used for reducing impact, the side guide wheel is fixed on the side guide wheel support, and a Wi-Fi antenna is fixed on the side limiting wheel base.
3. The monorail crane inspection robot according to claim 1 or 2, wherein the load-bearing traveling wheels work on an inner rail of the monorail crane track, and the side guide wheels work on an outer rail of the monorail crane track.
4. The monorail crane inspection robot according to claim 1 or 2, wherein the backup battery enclosure is bolted to the underside of the main body floor, and the backup battery is embedded therein and sealed by a removable cover plate.
5. The monorail crane inspection robot as defined by claim 4, wherein a pin shaft connecting rod is connected to the outside of the standby battery shell to provide a standby function for the robot sensor.
6. The monorail crane inspection robot according to claim 1 or 2, further comprising a camera, wherein the camera is hinged to the camera and can rotate within a certain angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204081.1A CN114909582A (en) | 2022-03-03 | 2022-03-03 | Single track hangs track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204081.1A CN114909582A (en) | 2022-03-03 | 2022-03-03 | Single track hangs track inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114909582A true CN114909582A (en) | 2022-08-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210204081.1A Pending CN114909582A (en) | 2022-03-03 | 2022-03-03 | Single track hangs track inspection robot |
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| Country | Link |
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| CN (1) | CN114909582A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116242406A (en) * | 2023-03-02 | 2023-06-09 | 苏州倍斯维尔自动化科技有限公司 | Logistics storage inspection robot |
-
2022
- 2022-03-03 CN CN202210204081.1A patent/CN114909582A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116242406A (en) * | 2023-03-02 | 2023-06-09 | 苏州倍斯维尔自动化科技有限公司 | Logistics storage inspection robot |
| CN116242406B (en) * | 2023-03-02 | 2023-09-19 | 苏州倍斯维尔自动化科技有限公司 | Logistics storage inspection robot |
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