CN114944021A - 5G intelligent coal mine inspection system - Google Patents
5G intelligent coal mine inspection system Download PDFInfo
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- CN114944021A CN114944021A CN202210317262.5A CN202210317262A CN114944021A CN 114944021 A CN114944021 A CN 114944021A CN 202210317262 A CN202210317262 A CN 202210317262A CN 114944021 A CN114944021 A CN 114944021A
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- wire rope
- steel wire
- inspection
- climbing robot
- coal mine
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a 5G intelligent coal mine inspection system which comprises an inspection climbing robot, an intelligent control system and a steel wire rope guide rail mechanism, wherein the inspection climbing robot is connected with the intelligent control system through a cable; the steel wire rope guide rail mechanism comprises a placing frame placed at the upper end of a coal mine shaft, and a steel wire rope which is vertically placed downwards is arranged in the middle of the placing frame; the inspection climbing robot is correspondingly installed on the steel wire rope in a climbing mode and can climb and move on the steel wire rope. The 5G intelligent coal mine inspection system can be applied to the inspection effect of a deep shaft of a coal mine, can detect gas in the deep shaft through the inspection climbing robot, can acquire internal image information and the like, ensures the safety of the coal mine, and increases the safety coefficient; in addition, a steel wire rope guide rail mechanism for extending the steel wire rope is arranged for extending and fixing the steel wire rope, so that the walking operation of the climbing robot is more stable and reliable.
Description
Technical Field
The invention relates to the technical field of routing inspection in coal mine safety production, in particular to a 5G intelligent coal mine routing inspection system.
Background
In the prior art, coal mine inspection is very important in the production process of coal mines, and the coal mine inspection is mainly used for inspecting gas components, images, humidity, temperature and the like in an inspection area; especially, with the increase of the mining depth of a coal mine, a deep well barrel developed by the coal mine is taken as the key point of the routing inspection of the coal mine, the routing inspection of the deep well barrel of the coal mine is difficult because the deep well barrel is deeper, and some deep well barrels are narrower, so that the routing inspection climbing robot cannot be placed well.
And the authorization notice number: CN 110782543B discloses "system and method for inspecting ultra-deep vertical shaft, in this technical scheme, a steel wire rope moving device, a downhole steel wire rope moving device and a steel wire rope are used as guide rails, and a climbing type inspection climbing robot is set by the steel wire rope, but in this technical scheme, the structure of the steel wire rope moving device is not ideal, and after the steel wire rope moves downward and extends, the steel wire rope is not fixed correspondingly, which results in that the installation and setting of the steel wire rope are not stable enough, and the inspection climbing robot is not stable enough when climbing and walking on the steel wire rope, and may shake and the like.
Therefore, in order to solve the above problems, it is necessary to develop a 5G smart coal mine inspection system capable of stably moving in a mine shaft of a coal mine.
Disclosure of Invention
The purpose of the invention is as follows: to the not enough of above-mentioned prior art existence, provide the 5G wisdom colliery system of patrolling and examining that a structure is firm.
The technical scheme is as follows: in order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: the utility model provides a 5G wisdom colliery system of patrolling and examining, is including patrolling and examining climbing formula robot, wisdom control system and wire rope guide rail mechanism.
The steel wire rope guide rail mechanism comprises a placing frame placed at the upper end of a coal mine shaft, and a steel wire rope which is hung downwards is arranged in the middle of the placing frame; the inspection climbing robot is correspondingly installed on the steel wire rope in a climbing mode and can climb and move on the steel wire rope.
Wire rope guide rail mechanism still include demountable installation in the cyclic annular mount pad of patrolling and examining upper and lower tip of climbing formula robot, the centre of this cyclic annular mount pad is provided with central annular ring, wire rope pass from central annular ring, and still install the thrust devices of two horizontal settings and corresponding symmetry in this cyclic annular mount pad, two thrust devices's the pole homogeneous phase that bulldozes should stretch out from the inner wall in central annular ring to the rod end that bulldozes the pole still all installs arc splint, the position of both sides arc splint corresponds, and can inwards bulldoze the wire rope in the middle of the back clamp tight.
The outer side wall of the annular mounting seat is also provided with a circle of inner grooves, a circle of expansion bodies used for fixing the steel wire rope are further arranged in the inner grooves, the annular mounting seat is also internally provided with an inflation tube, one end of the inflation tube extends into the inner grooves, and the other end of the inflation tube extends to form a plug interface; and an inflation device is further installed in the inspection climbing robot, an inflation opening is formed in the inflation device, and the inflation opening and the insertion opening are installed in an insertion mode.
The intelligent control system comprises a first control module arranged in the inspection climbing robot and a second control module arranged in the annular mounting seat; the first control module correspondingly controls and drives the inspection climbing robot to climb up and down; the second control module correspondingly controls the clamping and fixing in the annular mounting seat.
Preferably, the inflation tube in the inner groove is further provided with an electromagnetic valve, the groove wall of the inner groove and the position of the inflation tube on the same vertical plane are further provided with a distance sensor, the electromagnetic valve, the distance sensor and the pushing device are correspondingly connected with the second control module, the second control module is further provided with a 5G transmission module, and the 5G transmission module is connected with the first control module.
Preferably, the inflation tube and the corresponding distance sensor are arranged on the wall of the inner groove at four positions; the inner side of the arc-shaped clamping plate is also provided with a friction bulge.
Preferably, the inspection climbing robot comprises an annular shell, wherein a notch is formed in the annular shell, and a steel wire rope is placed from the notch to the inner side; and a pinch roller for compressing the steel wire rope and a driving device for driving the pinch roller are further arranged in the annular shell, and the first control module is connected with the driving device and the inflating device.
As preferred, patrol and examine climbing robot's last lower extreme still be provided with the dismouting groove, and the department that corresponds of cyclic annular mount pad terminal surface be provided with the cardboard of L shape, when this cyclic annular mount pad docks with patrolling and examining climbing robot, the cardboard is placed the dismouting inslot, and still installs advancing device in patrolling and examining climbing robot, installs the push pedal on this advancing device, the push pedal can transversely stretch into to the dismouting inslot and block the cardboard, fixes cyclic annular mount pad.
Preferably, four groups of pinch rollers are arranged in the inspection climbing robot, and each group is provided with an upper pinch roller and a lower pinch roller; and a visual image acquisition module, a gas acquisition module, a 5G transmission and transmission module, an infrared sensor, an illumination module and a radar sensor are also arranged in the inspection climbing robot.
Preferably, still install the take-up reel through downwardly extending's mounting panel on the cyclic annular mount pad of tip installation under patrolling and examining climbing robot, wire rope twine on the take-up reel to still install the rolling motor that is used for driving the rotation of take-up reel on the mounting panel, and can set up this rolling motor and the drive arrangement synchronous operation or the stop motion of pinch roller correspondingly.
Has the beneficial effects that: compared with the prior art, the invention has the following advantages: the 5G intelligent coal mine inspection system can be applied to the inspection effect of a deep shaft of a coal mine, can detect gas in the deep shaft through the inspection climbing robot, can acquire internal image information and the like, ensures the safety of the coal mine, and increases the safety coefficient; in addition, a steel wire rope guide rail mechanism for extending the steel wire rope is arranged for extending and fixing the steel wire rope, so that the walking operation of the climbing robot is more stable and reliable.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a cross-sectional view taken along line B-B of FIG. 1;
FIG. 4 is a view taken along line C of FIG. 1;
fig. 5 is an enlarged view of fig. 1 at D.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 5, a 5G intelligent coal mine inspection system comprises an inspection climbing robot 1, an intelligent control system and a steel wire rope guide rail mechanism.
The steel wire rope guide rail mechanism comprises a placing frame 2 placed at the upper end of a coal mine shaft, and a steel wire rope 3 which is vertically placed downwards is arranged in the middle of the placing frame 2; the inspection climbing robot 1 is correspondingly mounted on the steel wire rope 3 in a climbing mode and can climb and move on the steel wire rope 3.
Wire rope guide rail mechanism still includes demountable installation in patrolling and examining the cyclic annular mount pad 4 of climbing robot 1 upper and lower tip, the centre of this cyclic annular mount pad 4 is provided with central annular ring 5, wire rope 3 passes from central annular ring 5, and still install in this cyclic annular mount pad 4 two horizontal settings and the thrust devices 6 of corresponding symmetry, two thrust devices 6 bulldoze the pole 7 homogeneous phase and follow the inner wall of central annular ring 5 and stretch out, and bulldoze the pole end of pole 7 and still all install arc splint 8, the position of both sides arc splint 8 corresponds, and can inwards bulldoze the wire rope 3 of back clamp centre in the centre of tight.
The outer side wall of the annular mounting seat 4 is also provided with a circle of inner grooves 9, a circle of expansion bodies 10 for fixing the steel wire rope 3 are also arranged in the inner grooves 9, an inflation tube 11 is also arranged in the annular mounting seat 4, one end of the inflation tube 11 extends into the inner grooves 9, and the other end of the inflation tube 11 extends to be provided with a plug-in port 12; and an inflation device 13 is further installed in the inspection climbing robot 1, an inflation port 14 is arranged on the inflation device 13, and the inflation port 14 is inserted into the insertion port 12.
The intelligent control system comprises a first control module 15 arranged in the inspection climbing robot 1 and a second control module 16 arranged in the annular mounting seat 4; the first control module 15 correspondingly controls and drives the inspection climbing robot 1 to climb up and down; the second control module 16 controls the clamping and fixing in the annular mounting seat 4 correspondingly.
The solenoid valve 17 is further installed on the inflation tube 11 in the inner groove 9, the distance sensor 18 is further arranged at the position, located on the same vertical plane, of the wall of the inner groove 9 and the inflation tube 11, the solenoid valve 17, the distance sensor 18 and the pushing device 6 are correspondingly connected with the second control module 16, the 5G transmission module 19 is further arranged on the second control module 16, and the 5G transmission module 19 is connected with the first control module 15 through the 5G transmission module 19.
The inflatable tube 11 and the corresponding distance sensor 18 are arranged on the wall of the inner groove 9 at four positions; the inner side of the arc-shaped clamping plate 8 is also provided with a friction bulge 81.
The inspection climbing robot 1 comprises an annular shell 101, wherein a notch 102 is formed in the annular shell 101, and a steel wire rope 3 is placed into the inner side from the notch 102; and a pressing wheel 103 for pressing the steel wire rope 3 and a driving device 104 for driving the pressing wheel 103 are further installed in the annular shell 101, and the first control module 15 is connected with the driving device 104 and the inflating device 13.
Patrol and examine climbing robot 1's last lower extreme and still be provided with dismouting groove 20, and the department that corresponds of 4 terminal surfaces of cyclic annular mount pad is provided with the cardboard 21 of L shape, when this cyclic annular mount pad 4 docks with patrol and examine climbing robot 1, in dismouting groove 20 is placed to cardboard 21, and patrol and examine still install advancing device 22 in climbing robot 1, install push pedal 23 on this advancing device 22, push pedal 23 can transversely stretch into to chucking cardboard 21 in dismouting groove 20, it is fixed with cyclic annular mount pad 4.
Four groups of pinch rollers 103 are arranged in the inspection climbing robot 1, and each group is provided with an upper pinch roller and a lower pinch roller; and a visual image acquisition module 105, a gas acquisition module, a 5G transmission and transmission module, an infrared sensor, an illumination module and a radar sensor are also arranged in the inspection climbing robot 1.
Still install the take-up reel 25 through downwardly extending's mounting panel 24 on patrolling and examining the cyclic annular mount pad 4 of tip installation under climbing robot 1, wire rope 3 twine on the take-up reel 25 to still install the rolling motor 26 that is used for driving the rotation of take-up reel 25 on the mounting panel 24, and can corresponding set up this rolling motor 26 and pinch roller 103's drive arrangement 104 synchronous operation or stop motion.
The coal mine inspection system is mainly used for inspection of mine shafts, deep well barrels and the like; when the pit shaft is patrolled and examined, need will patrol and examine climbing formula robot and place the pit shaft in, can adopt the patrol and examine climbing formula robot that patrols and examines that moves on the pit shaft lateral wall among the prior art, but because unevenness on the pit shaft wall, so the degree of difficulty is great, and adopt the patrol and examine climbing formula robot that patrols and examines that can climb on wire rope, then the degree of difficulty is less.
When the inspection climbing robot is used, the inspection climbing robot is tightly pressed on a steel wire rope through a pinch roller arranged inside the inspection climbing robot, and the steel wire rope extending downwards is wound on a winding disc; during the specific use, can place in the top of colliery pit shaft through taking the frame earlier, wire rope hangs down and puts, it places on wire rope to patrol and examine climbing formula robot, when patrolling and examining, through the drive arrangement downward climbing formula removal of patrolling and examining the inside second control module control pinch roller of climbing formula robot, when moving down, the illumination is opened to lighting module, image acquisition module gathers the wall of a well image, the inside gas of pit shaft is gathered to gas acquisition module and is carried out the analysis, 5G transmission module then correspondingly transmits the information of gathering for the outside staff of pit shaft, and realize first control module and second control module's information intercommunication.
When the inspection climbing robot moves downwards, the steel wire rope guide rail mechanisms arranged at the upper end and the lower end can be correspondingly controlled according to the downward moving position to fix the position of the steel wire rope; for example, after the steel wire rope descends by about 5 meters, the annular mounting base positioned above the steel wire rope can be controlled to be separated and the steel wire rope at the middle position can be fixed; the specific fixed position depends on the well depth, and usually, during inspection, the lower half part of the shaft is mainly inspected, and the shaft part below 5 meters is mainly inspected.
When the steel wire rope is separated from and fixed, the pushing devices in the annular mounting seat are controlled to be started through the second control module, the pushing devices on the two sides control the arc-shaped clamping plates to move backwards, so that the steel wire rope in the middle position can be clamped, the steel wire rope is fixed from the inside, and the friction bulges are further arranged on the arc-shaped clamping plates, so that the stability can be ensured; the steel wire rope is arranged in the middle of the arc-shaped clamping plates on the two sides, and when the inspection climbing robot moves, the arc-shaped clamping plates on the two sides cannot influence the inspection climbing robot to move.
Then, the first control module correspondingly controls an inflating device in the inspection climbing robot to inflate the inner groove on the outer side of the annular mounting seat, meanwhile, the second control module controls the electromagnetic valve to be opened, and as a circle of expansion body is arranged in the inner groove, the expansion body is inflated and gradually expanded, and finally the expansion body is tightly pressed on the wall of the shaft to realize fixation, so that the steel wire rope is fixed; in the process, when the expansion body expands, the distance between the inner wall of the expansion body and the distance sensor can be correspondingly monitored by the distance sensor arranged on the side wall of the inner groove, so that the inflation speed of the expansion body is regulated and the peripheral position of the expansion body is regulated and controlled, and the steel wire rope can be positioned in the middle of the shaft; for example, if there is a large difference between the data of the distance sensor on one side and the data of the distance sensors on other positions, the opening degree of the electromagnetic valve corresponding to the position of the distance sensor is correspondingly controlled, the inflation quantity is increased or decreased, so that the position of the fixed steel wire rope is adjusted, and the fixed steel wire rope can be ensured to be located in the middle position under the condition that the distance data finally measured by the distance sensors on the periphery is almost the same, thereby facilitating the up-and-down movement of the climbing robot.
After the steel wire rope is fixed by the annular mounting seat, the annular mounting seat is separated from the inspection climbing robot, and the annular mounting seat is separated from the inspection climbing robot correspondingly as long as the first control module correspondingly controls the propulsion device to start, the push plate is withdrawn from the dismounting groove, the clamping plate is not limited, and the annular mounting seat is correspondingly separated from the inspection climbing robot; and the inflation device in the inspection climbing robot and the interface in the annular mounting seat are installed through the inflation inlet in an inserting mode, and the inspection climbing robot can not be influenced no matter whether the inspection climbing robot is separated from or butted with the interface.
Later, control patrols and examines climbing formula robot and move down the bobbin base position department of pit shaft, through same mode, with wire rope fixed back, patrols and examines climbing formula robot and break away from, so patrol and examine climbing formula robot and just can make a round trip stable removal between two cyclic annular mount pads, patrol and examine the monitoring, wire rope is very firm, patrols and examines climbing formula robot and remove comparatively smoothly, convenience that can be more.
In addition, in the process that the inspection climbing robot walks downwards, a winding disc arranged on a lower annular mounting seat through a vertically extending connecting rod can continuously pay off, a winding motor is arranged on the winding disc, and the winding motor and a driving device of a pressing wheel are arranged to synchronously run, so that the inspection climbing robot can continuously pay off a steel wire rope while moving downwards; after the steel wire rope is fixed by the annular mounting seat at the lower end, the second control module in the annular mounting seat correspondingly controls the winding motor to stop, the winding drum stops paying off, the upper end and the lower end of the whole steel wire rope are fixed in the deep shaft, the inspection climbing robot is also separated from the upper annular mounting seat and the lower annular mounting seat, and the inspection climbing robot can move up and down on the steel wire rope for inspection.
After the inspection is finished, the inspection climbing robot firstly descends to the position of the lower annular mounting seat, the clamping plate of the annular mounting seat extends into the dismounting groove, the propelling device extends out to clamp the clamping plate and fix the annular mounting seat, then the second control module in the annular mounting seat correspondingly controls the electromagnetic valve to deflate and the inner side pushing device to loosen the middle steel wire rope, so that the steel wire rope is correspondingly loosened, then the inspection climbing robot drives the annular mounting seat to move upwards, and meanwhile, the second control module controls the winding motor on the winding wire disc to be synchronous with the driving device and winds and recovers the steel wire rope.
And then the inspection climbing robot moves up to the position of the annular mounting seat at the upper end of the steel wire rope, and the annular mounting seat is clamped and fixed in the same way, so that the recovery of the whole device can be realized.
The detailed description is to be construed as exemplary only and is not intended to limit the invention from practice or the scope of the appended claims, which are intended to include all equivalent variations and modifications within the scope of the invention as claimed.
Claims (7)
1. A5G intelligent coal mine inspection system is characterized by comprising an inspection climbing robot (1), an intelligent control system and a steel wire rope guide rail mechanism;
the steel wire rope guide rail mechanism comprises a placing frame (2) placed at the upper end of a coal mine shaft, and a steel wire rope (3) which is hung downwards is arranged in the middle of the placing frame (2); the inspection climbing robot (1) is correspondingly mounted on the steel wire rope (3) in a climbing manner and can climb and move on the steel wire rope (3);
the steel wire rope guide rail mechanism further comprises an annular mounting seat (4) which is detachably mounted at the upper end part and the lower end part of the patrol climbing robot (1), a central annular hole (5) is formed in the middle of the annular mounting seat (4), the steel wire rope (3) penetrates through the central annular hole (5), two transversely-arranged pushing devices (6) which are correspondingly symmetrical are further mounted in the annular mounting seat (4), pushing rods (7) of the two pushing devices (6) extend out of the inner wall of the central annular hole (5), arc-shaped clamping plates (8) are further mounted at the rod ends of the pushing rods (7), the arc-shaped clamping plates (8) at the two sides correspond to each other in position, and the steel wire rope (3) in the middle can be clamped after inward pushing;
the outer side wall of the annular mounting seat (4) is further provided with a circle of inner grooves (9), a circle of expansion bodies (10) used for fixing the steel wire rope (3) are further mounted in the inner grooves (9), an inflation tube (11) is further arranged in the annular mounting seat (4), one end of the inflation tube (11) extends into the inner grooves (9), and the other end of the inflation tube is provided with a plug-in port (12) in an extending manner; an inflation device (13) is further installed in the inspection climbing robot (1), an inflation port (14) is formed in the inflation device (13), and the inflation port (14) is installed with the insertion port (12) in an insertion mode;
the intelligent control system comprises a first control module (15) arranged in the inspection climbing robot (1) and a second control module (16) arranged in the annular mounting seat (4); the first control module (15) correspondingly controls and drives the inspection climbing robot (1) to climb up and down; the second control module (16) correspondingly controls the clamping and fixing in the annular mounting seat (4).
2. The 5G intelligent coal mine inspection system according to claim 1, wherein: still install solenoid valve (17) on gas tube (11) in inner grove (9) to still be provided with distance sensor (18) with gas tube (11) position department that is located same vertical plane on the cell wall of inner grove (9), solenoid valve (17), distance sensor (18) and thrust device (6) all corresponding link to each other with second control module (16), and still be provided with 5G transmission module (19) on second control module (16), link to each other with first control module (15) through this 5G transmission module (19).
3. The 5G intelligent coal mine inspection system according to claim 2, wherein: the inflatable tubes (11) and the corresponding distance sensors (18) are arranged on the wall of the inner groove (9) at four positions; the inner side of the arc-shaped clamping plate (8) is also provided with a friction bulge (81).
4. The 5G intelligent coal mine inspection system according to claim 1, wherein: the inspection climbing robot (1) comprises an annular shell (101), wherein a notch (102) is formed in the annular shell (101), and a steel wire rope (3) is placed into the inner side from the notch (102); and a pressing wheel (103) used for pressing the steel wire rope (3) and a driving device (104) used for driving the pressing wheel (103) are further installed in the annular shell (101), and the first control module (15) is connected with the driving device (104) and the inflating device (13).
5. The 5G intelligent coal mine inspection system according to claim 1, wherein: patrol and examine climbing formula robot (1) go up the lower extreme still be provided with dismouting groove (20), and the department that corresponds of cyclic annular mount pad (4) terminal surface be provided with cardboard (21) of L shape, when this cyclic annular mount pad (4) docks with patrolling and examining climbing formula robot (1), cardboard (21) are placed in dismouting groove (20), and patrol and examine climbing formula robot (1) and still install advancing device (22), install push pedal (23) on this advancing device (22), push pedal (23) can transversely stretch into cardboard (21) of chucking in dismouting groove (20), it is fixed with cyclic annular mount pad (4).
6. The 5G intelligent coal mine inspection system according to claim 4, wherein: four groups of pinch rollers (103) are arranged in the inspection climbing robot (1), and each group is provided with an upper pinch roller and a lower pinch roller; and a visual image acquisition module (105), a gas acquisition module, a 5G transmission and transmission module, an infrared sensor, an illumination module and a radar sensor are also arranged in the inspection climbing robot (1).
7. The 5G intelligent coal mine inspection system according to claim 4, wherein: still install coiling dish (25) through mounting panel (24) of downwardly extending on cyclic annular mount pad (4) of tip installation under patrolling and examining climbing robot (1), wire rope (3) winding on coiling dish (25) to still install on mounting panel (24) and be used for driving rotatory rolling motor (26) of coiling dish (25), and can correspond drive arrangement (104) synchronous operation or the stop motion of setting up this rolling motor (26) and pinch roller (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317262.5A CN114944021B (en) | 2022-07-25 | 2022-07-25 | 5G wisdom colliery inspection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210317262.5A CN114944021B (en) | 2022-07-25 | 2022-07-25 | 5G wisdom colliery inspection system |
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| CN114944021A true CN114944021A (en) | 2022-08-26 |
| CN114944021B CN114944021B (en) | 2023-08-18 |
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| CN202210317262.5A Active CN114944021B (en) | 2022-07-25 | 2022-07-25 | 5G wisdom colliery inspection system |
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| CN105035200A (en) * | 2015-07-02 | 2015-11-11 | 中国矿业大学 | Perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide |
| CN107434198A (en) * | 2016-09-30 | 2017-12-05 | 上海深邦电气有限公司 | A kind of elevator wire rope rope brake |
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| CN110782543A (en) * | 2019-09-23 | 2020-02-11 | 中国矿业大学 | Ultra-deep vertical shaft inspection system and method |
| CN111515967A (en) * | 2020-04-20 | 2020-08-11 | 中国矿业大学 | Air shaft inspection system |
| CN111706765A (en) * | 2020-07-23 | 2020-09-25 | 中国矿业大学 | Composite track steel wire rope traction coal mine inspection robot |
| CN114029964A (en) * | 2021-08-26 | 2022-02-11 | 中国矿业大学 | Deep well moving track type inspection robot and rope crossing obstacle crossing method thereof |
| CN114248278A (en) * | 2021-12-23 | 2022-03-29 | 安徽理工大学 | Remote coal mine safety early warning equipment |
| CN114673482A (en) * | 2022-03-29 | 2022-06-28 | 无锡工艺职业技术学院 | Portable system of patrolling and examining in 5G wisdom colliery |
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2022
- 2022-07-25 CN CN202210317262.5A patent/CN114944021B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035200A (en) * | 2015-07-02 | 2015-11-11 | 中国矿业大学 | Perpendicular rope climbing patrolling robot in ultra-deep vertical shaft steel-rope guide |
| CN107434198A (en) * | 2016-09-30 | 2017-12-05 | 上海深邦电气有限公司 | A kind of elevator wire rope rope brake |
| CN108762125A (en) * | 2018-02-08 | 2018-11-06 | 中信重工开诚智能装备有限公司 | A kind of coal mine fully-mechanized mining working crusing robot and system |
| CN110782543A (en) * | 2019-09-23 | 2020-02-11 | 中国矿业大学 | Ultra-deep vertical shaft inspection system and method |
| CN111515967A (en) * | 2020-04-20 | 2020-08-11 | 中国矿业大学 | Air shaft inspection system |
| CN111706765A (en) * | 2020-07-23 | 2020-09-25 | 中国矿业大学 | Composite track steel wire rope traction coal mine inspection robot |
| CN114029964A (en) * | 2021-08-26 | 2022-02-11 | 中国矿业大学 | Deep well moving track type inspection robot and rope crossing obstacle crossing method thereof |
| CN114248278A (en) * | 2021-12-23 | 2022-03-29 | 安徽理工大学 | Remote coal mine safety early warning equipment |
| CN114673482A (en) * | 2022-03-29 | 2022-06-28 | 无锡工艺职业技术学院 | Portable system of patrolling and examining in 5G wisdom colliery |
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| Publication number | Publication date |
|---|---|
| CN114944021B (en) | 2023-08-18 |
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