CN116000898A - Inspection robot for coal conveying system of coal mine - Google Patents
Inspection robot for coal conveying system of coal mine Download PDFInfo
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- CN116000898A CN116000898A CN202310162800.2A CN202310162800A CN116000898A CN 116000898 A CN116000898 A CN 116000898A CN 202310162800 A CN202310162800 A CN 202310162800A CN 116000898 A CN116000898 A CN 116000898A
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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
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- 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]
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Abstract
The invention discloses a patrol robot of a coal conveying system of a coal mine, which relates to the technical field of coal mine transportation monitoring, when serious deformation occurs on a track and when the track is launched and turned, the travel of two groups of moving rollers along the track is different, the moving speeds of the two groups of moving rollers are required to be adjusted, so that the patrol equipment is ensured not to generate deflection.
Description
Technical Field
The invention relates to the technical field of coal mine transportation monitoring, in particular to a patrol robot of a coal mine coal conveying system.
Background
The coal mine transportation is based on the fact that underground coal mine resources are transported to the ground through a transportation belt, operations such as excavation transportation processing of coal are achieved, in the coal mine transportation process, safety of the coal mine transportation process is required to be monitored, in the prior art, a ground robot is mostly adopted for monitoring, the robot walks on the ground, real-time monitoring is carried out along a transportation line, or an overhead inspection robot is adopted for inspection, the robot moves above the transportation line along with the direction of the transportation line, and the transportation production line is monitored.
The application number is: 201910519455.7 discloses mining unmanned inspection robot, mainly discloses setting up climbing subassembly, promotes the removal of inspection robot, and its climbing of being convenient for, and sets up traction assembly, buckles when turning to, more easily passes through the turn.
In the above-mentioned document, through dividing the mobile part of inspection robot into two parts, take place to buckle when its turns, more pass through the turn, but because the track is through long-term use, orbital radian of buckling generally can change, become irregular, when passing through the track and buckle the position, easily produce vibration or rock, influence the precision of inspection, and when turning, the distance that the both sides gyro wheel of track walked is different, so the track both sides need adopt two sets of motors, control the rotational speed of two sets of gyro wheels respectively, thereby control the stability of inspection robot walking, but the rotational speed of two sets of motors is all set for based on the radian of buckling that does not change, after the radian of buckling irregularly changes, adopt original rotational speed, can not guarantee the balance performance of inspection robot, can lead to inspection robot to appear the skew, influence the inspection quality of inspection robot.
Disclosure of Invention
The invention aims to provide a robot for inspecting a coal conveying system of a coal mine.
The technical problems solved by the invention are as follows: when turning, the bending radian of the track is changed usually and becomes irregular due to long-term use of the track, and vibration or shaking is easy to generate when the track passes through the bending position of the track, so that the inspection precision is influenced.
The invention can be realized by the following technical scheme: the utility model provides a colliery coal conveying system inspection robot, includes track and inspection equipment, and inspection equipment sets up on the movable support, and inspection equipment and track are connected at the removal gyro wheel of track side through the symmetry setting, and the removal gyro wheel outside is fixed to be provided with sticiss the rubber ring, is provided with pressure sensor between sticiss the rubber ring and the removal gyro wheel, and pressure sensor signal output part is provided with adjustment mechanism, and adjustment mechanism acts on the removal gyro wheel.
The invention further technically improves that: the adjusting mechanism comprises a telescopic rod, the telescopic rod is fixed inside the power box, a gear set is fixed at the end of the telescopic rod and is respectively connected with a first gear and a second gear in a meshed mode, the first gear and the second gear are respectively connected with the movable support in a rotating mode, the first gear is driven by a driving motor, a third gear is arranged on the side edge of the second gear in a meshed mode, and the first gear and the third gear are respectively connected with the movable idler wheel in a transmission mode.
The invention further technically improves that: the gear set comprises a gear seat, wherein a first layer of teeth, a second layer of teeth and a third layer of teeth are longitudinally arranged on the gear seat, and the number of gears of the first layer of teeth, the second layer of teeth and the third layer of teeth is sequentially increased.
The invention further technically improves that: the first gear is fixed on the third rotating shaft, the third rotating shaft is rotationally connected with the movable support, a fourth driving wheel is further installed on the third rotating shaft, the movable support is rotationally provided with a first rotating shaft, the first rotating shaft is fixedly provided with a third driving wheel and a first driving wheel respectively, the third driving wheel and the fourth driving wheel are connected through a second driving belt, the third gear is fixed on the gear rotating shaft, driving components are arranged on the gear rotating shaft and the first rotating shaft, and the output end of the driving component is arranged on the movable roller.
The invention further technically improves that: the transmission assembly comprises a transmission belt, the movable roller is arranged on a second rotating shaft, the second rotating shaft is rotationally connected with the movable support, a second transmission wheel is fixed on the second rotating shaft, and the second transmission wheel is connected with the first transmission wheel through the transmission belt.
The invention further technically improves that: the movable roller is internally provided with a base, a ball groove is formed in the base, and a plurality of groups of balls are filled in the ball groove.
The invention further technically improves that: the movable roller is provided with a roller cavity, an internal spring is arranged in the roller cavity, a sliding plate is fixed at the end part of the internal spring, and the base is fixedly connected with the sliding plate.
Compared with the prior art, the invention has the following beneficial effects:
1. when serious deformation occurs on a track and the track is launched and turned, at the moment, the two groups of moving rollers have different moving strokes along the track, the moving speeds of the two groups of moving rollers need to be adjusted, so that inspection equipment is guaranteed not to deviate.
2. In the moving process, as the inspection equipment has certain gravity, in the moving process of the moving roller, the bottom of the moving roller and the track generate friction force to limit the rotation of the moving roller, the sliding plate moves downwards by utilizing the elasticity of the internal spring, the base can be pushed to move downwards at the moment, the friction force of the moving roller and the track can be effectively reduced by utilizing the rolling connection of the bottom of the ball and the track, the normal rotation of the moving roller is ensured, and the moving roller is realized to move on the track.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a schematic perspective view of a moving mechanism according to the present invention;
FIG. 3 is a schematic plan view of a moving mechanism according to the present invention;
FIG. 4 is a schematic view of an adjustment mechanism according to the present invention;
FIG. 5 is a schematic diagram of a gear set of the present invention;
FIG. 6 is a schematic view of a bending track according to the present invention;
FIG. 7 is a schematic diagram of the power box position of the present invention;
fig. 8 is a schematic view of a moving roller structure according to the present invention.
In the figure: 1. a track; 2. a moving mechanism; 3. an adjusting mechanism; 4. a movable support; 5. a power box; 21. moving the roller; 22. compacting the rubber ring; 23. a limiting end head; 24. a roller cavity; 25. a sliding plate; 26. a ball groove; 27. a ball; 28. a base; 29. a pressure sensor; 210. an internal spring; 31. a transmission belt; 32. a first driving wheel; 33. a second driving wheel; 34. a second rotating shaft; 35. a first rotating shaft; 36. a first gear; 37. a gear set; 38. a second gear; 39. a third gear; 310. a telescopic rod; 311. a driving motor; 312. a third driving wheel; 313. a second belt; 314. a fourth driving wheel; 315. a third rotating shaft; 371. a gear seat; 372. a third layer of teeth; 373. a second layer of teeth; 374. a first layer of teeth.
Detailed Description
In order to further describe the technical means and effects adopted by the invention for achieving the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects according to the invention with reference to the attached drawings and the preferred embodiment.
Referring to fig. 1-8, a robot for inspecting coal mine coal conveying system includes a track 1, wherein an inspection device is arranged on the track 1 through a moving mechanism 2, that is, the inspection device moves on the track 1 through the moving mechanism 2, the moving mechanism 2 is arranged on a moving support 4, the moving support 4 is fixed on the inspection device, and an adjusting mechanism 3 is further arranged on the moving support 4, wherein the adjusting mechanism 3 acts on the moving mechanism 2 and is used for adjusting the moving mechanism 2, so that the robot is suitable for being used on an irregular track 1, and the stability of the inspection device is ensured.
First of all the moving mechanism 2 in this application includes and removes gyro wheel 21 and sticiss the rubber ring 22, wherein remove the gyro wheel 21 and set up at the output of guiding mechanism 3, drive and remove gyro wheel 21 and rotate, remove gyro wheel 21 and be located the both sides of track 1, in this application, track 1 is the I shape, set up sticiss the rubber ring 22 in the removal gyro wheel 21 outside, wherein sticiss the rubber ring 22 and be used for sticiss on the lateral wall of track 1, when removing gyro wheel 21 and rotate, utilize sticiss the rubber ring 22 and provide great frictional force, remove on track 1.
In order to respectively adjust and control the rotation speed of the movable roller 21, a pressure sensor 29 is arranged between the movable roller 21 and the compacting rubber ring 22, when the inspection equipment moves normally, the pressure change of the compacting rubber ring 22 compacting on the track 1 is within a certain range, when the inspection equipment turns or when the track 1 deforms seriously, the pressure sensed by the pressure sensor 29 is in an abnormal state, and at the moment, the pressure of the pressure sensor 29 is transmitted to a processing terminal for processing, and in the processing process, the rotation speeds of the two movable rollers 21 need to be respectively adjusted, so that the inspection equipment always keeps the normal moving angle, and the blocking state caused by the offset of the inspection equipment is avoided.
Specifically, in this application, the adjustment mechanism 3 includes a telescopic rod 310, wherein a power box 5 is fixed at the bottom of the moving support 4, a telescopic rod 310 is fixed inside the power box 5, a gear set 37 is fixed at the end of the telescopic rod 310, a first gear 36 and a second gear 38 are respectively meshed with two sides of the gear set 37, so that in order to make the rotation directions of two groups of moving rollers 21 opposite, a third gear 39 is further meshed with the side edge of the second gear 38, the first gear 36 and the third gear 39 respectively transmit rotation force to the moving rollers 21, a driving motor 311 arranged inside the power box 5 is used for driving the first gear 36, so that the transmission of the third gear 39 is ensured under the action of the gear set 37, thereby ensuring that the two groups of moving rollers 21 can rotate, and the directions of rotation are opposite, the moving rollers 21 drive the inspection equipment to move on the track 1, and when the gear set 37 is controlled by the telescopic rod 310, the number of times of meshing is controlled, so that the rotation speeds of the first gear 36 and the third gear 39 are controlled to be adjusted in a matched manner, and specifically, the control of the telescopic rod 310 is controlled by a processing terminal.
Specifically, the gear set 37 includes a gear seat 371, and a first layer of teeth 374, a second layer of teeth 373 and a third layer of teeth 372 are longitudinally disposed on the gear seat 371, where in this application, the first layer of teeth 374 have a minimum number of teeth, the second layer of teeth 373 have a larger number of teeth than the first layer of teeth 374, and the third layer of teeth 372 have a larger number of teeth than the second layer of teeth 373. The telescopic rod 310 controls the gear seat 371 to stretch and retract, and the first layer of teeth 374, the second layer of teeth 373, the third layer of teeth 372, the first gear 36 and the second gear 38 are respectively engaged and connected, so that the rotation speed of the second gear 38 can be controlled to be adjusted compared with that of the first gear 36, and the rotation speeds of the two groups of movable rollers 21 are adjusted.
In the present application, the first gear 36 is fixed on the third rotating shaft 315, the third rotating shaft 315 is rotationally connected with the moving bracket 4, the third rotating shaft 315 is installed at the output end of the driving motor 311, the fourth driving wheel 314 is further installed on the third rotating shaft 315, the first rotating shaft 35 is rotationally arranged on the moving bracket 4, the first rotating shaft 35 is respectively fixed on the third driving wheel 312 and the first driving wheel 32, the third driving wheel 312 and the fourth driving wheel 314 are connected through the second driving belt 313, specifically, the third gear 39 is fixed on the gear rotating shaft, the gear rotating shaft and the first rotating shaft 35 are both provided with driving components for driving the moving roller 21 to rotate, so the driving components comprise driving belts 31, the moving roller 21 is installed on the second rotating shaft 34, the second rotating shaft 34 is rotationally connected with the moving bracket 4, the second driving wheel 33 is further fixed on the second rotating shaft 34, the second driving wheel 33 is in driving connection with the first driving wheel 32 through the driving belts 31 for realizing the rotation of the moving roller 21, and the limiting end 23 is arranged on the second rotating shaft 34 in a threaded manner for enabling the moving roller 21 to be replaced.
In this application, the inspection apparatus has a certain gravity, which causes friction between the bottom of the moving roller 21 and the rail 1, which limits the rotation of the moving roller 21, and generates a great amount of heat to damage the moving roller 21. Therefore, in the present application, the roller cavity 24 is formed at the bottom of the moving roller 21, the internal spring 210 is installed in the roller cavity 24, the sliding plate 25 is fixed at the end of the internal spring 210, and the sliding plate 25 and the roller cavity 24 are slidably connected, wherein the other end of the sliding plate 25 is fixed on the base 28, the ball groove 26 is formed on the base 28, and multiple groups of balls 27 are placed in the ball groove 26. In this embodiment, the sliding plate 25 moves downward by the elastic force of the internal spring 210, and at this time, the base 28 is pushed to move downward, and the friction force between the moving roller 21 and the track 1 can be effectively reduced by rolling connection between the balls 27 and the bottom of the track 1.
The utility model provides an inspection equipment adopts 5G intelligent robot, combines 5G communication system, perception system, backstage software and relevant annex, can take agency the manual work to carry out the equipment in the belt computer lab and the incessant inspection of 24 hours on a large scale of environment, can realize the collection of all-round video image, has solved the problem that traditional control exists the blind area.
Specifically, the on-site sound can be collected in real time by adopting the airborne pickup and uploaded to the control center, the background software automatically analyzes, the equipment faults are prejudged in advance, the readings of various instruments and meters are intelligently identified, the environmental information such as gas, smoke, temperature and humidity is accurately analyzed, early warning and forecasting are achieved, when the equipment breaks down, the inspection robot can reach the fault position at the first time after receiving the fault signal, relevant data are collected and uploaded, and the function of actively checking the faults is realized.
And this application carries on a plurality of Wi F i infrared network cameras on 5G intelligent robot and realizes the image acquisition to equipment, cable, pipeline, ponding etc. in the whole equipment corridor, and image information passes through giga wireless communication, transmits to remote end host computer and shows and store, through the browse analysis to the image, confirms whether equipment has unusually, the damage degree of equipment, fault location, confirms whether need shut down to overhaul and have conditions such as violating regulations operating personnel.
Therefore, the 5G intelligent robot further comprises a mobile video image acquisition module, a sound acquisition module, a wireless charging module, a gas monitoring module, a temperature detection module, a directional ranging module, an auxiliary lighting module, a loudspeaker playing module, an automatic electric quantity monitoring module, a data storage inquiring module and a remote control positioning module.
Firstly, a mobile video image acquisition module is used in a workplace under a coal mine, with the continuous penetration of intelligent equipment of the coal mine, the application range of video monitoring is wider, and the places under the coal mine, which need to transmit video, mainly comprise: the middle part, the head and the tail of the belt conveyor, a coal dropping point and a coal receiving point; distribution room, distribution point, pump room and drainage point of the electromechanical chamber; gas extraction drilling sites; front, middle and rear parts of the yard; digging a frame-carried video of the working surface; carrying out video on the coal mining machine; and an onboard video of inspection equipment such as robots.
When the inspection equipment is used, the inspection equipment moves on the track 1 through the moving mechanism 2, namely the driving motor 311 drives the third rotating shaft 315, at the moment, the first gear 36 is driven to rotate, the second gear 38 is driven to rotate through the transmission function of the gear set 37, so that the third gear 39 is driven to rotate, the two groups of moving rollers 21 are driven to rotate in opposite directions under the action of related transmission parts, and the two groups of moving rollers are tightly pressed on the side wall of the track 1 by the tightly pressed rubber ring 22 to provide certain friction force, so that the inspection equipment can move along the track 1 when the moving rollers 21 rotate, and the moving function is realized;
when the track 1 is severely deformed and the track 1 is turned, at the moment, the travel of the two groups of moving rollers 21 along the track 1 is different, the moving speed of the two groups of moving rollers 21 is required to be adjusted, so that the inspection equipment is not deflected;
in the moving process, the inspection equipment has certain gravity, in the moving process of the moving roller 21, friction force is generated between the bottom of the moving roller 21 and the track 1, the rotation of the moving roller 21 is limited, the sliding plate 25 moves downwards by utilizing the elastic force of the internal spring 210, the base 28 is pushed to move downwards at the moment, the friction force between the moving roller 21 and the track 1 can be effectively reduced by utilizing the rolling connection between the ball 27 and the bottom of the track 1, the normal rotation of the moving roller 21 is ensured, and the moving roller 21 moves on the track 1.
The present invention is not limited to the above embodiments, but is capable of modification and variation in all aspects, including those of ordinary skill in the art, without departing from the spirit and scope of the present invention.
Claims (7)
1. The utility model provides a colliery coal conveying system inspection robot, includes track (1) and inspection equipment, inspection equipment sets up on movable support (4), its characterized in that: the inspection equipment is connected with the track (1) through a movable roller (21) symmetrically arranged on the side edge of the track (1), a compressed rubber ring (22) is fixedly arranged on the outer side of the movable roller (21), a pressure sensor (29) is arranged between the compressed rubber ring (22) and the movable roller (21), an adjusting mechanism (3) is arranged at the signal output end of the pressure sensor (29), and the adjusting mechanism (3) acts on the movable roller (21).
2. The inspection robot for the coal mine coal conveying system according to claim 1, wherein the adjusting mechanism (3) comprises a telescopic rod (310), the telescopic rod (310) is fixed inside the power box (5), a gear set (37) is fixed at the end part of the telescopic rod (310), the gear set (37) is respectively meshed with a first gear (36) and a second gear (38), the first gear (36) and the second gear (38) are respectively connected with the movable support (4) in a rotating mode, the first gear (36) is driven by a driving motor (311), a third gear (39) is meshed with the side edge of the second gear (38), and the first gear (36) and the third gear (39) are respectively connected with the movable roller (21) in a transmission mode.
3. The inspection robot for the coal conveying system of the coal mine as claimed in claim 2, wherein the gear set (37) comprises a gear seat (371), a first layer of teeth (374), a second layer of teeth (373) and a third layer of teeth (372) are longitudinally arranged on the gear seat (371), and the number of gears of the first layer of teeth (374), the second layer of teeth (373) and the third layer of teeth (372) is sequentially increased.
4. The inspection robot for the coal conveying system of the coal mine according to claim 2, wherein the first gear (36) is fixed on a third rotating shaft (315), the third rotating shaft (315) is rotationally connected with the movable support (4), a fourth driving wheel (314) is further installed on the third rotating shaft (315), a first rotating shaft (35) is further rotationally arranged on the movable support (4), a third driving wheel (312) and a first driving wheel (32) are fixedly arranged on the first rotating shaft (35) respectively, the third driving wheel (312) and the fourth driving wheel (314) are connected through a second driving belt (313), the third gear (39) is fixed on the gear rotating shaft, driving components are arranged on the gear rotating shaft and the first rotating shaft (35), and the output end of each driving component is arranged on the movable roller (21).
5. The inspection robot for the coal conveying system of the coal mine as claimed in claim 4, wherein the transmission assembly comprises a transmission belt (31), the movable roller (21) is installed on a second rotating shaft (34), the second rotating shaft (34) is rotatably connected with the movable support (4), a second transmission wheel (33) is fixed on the second rotating shaft (34), and the second transmission wheel (33) is connected with the first transmission wheel (32) through the transmission belt (31).
6. The inspection robot for the coal conveying system of the coal mine according to claim 1, wherein a base (28) is arranged inside the movable roller (21), a ball groove (26) is formed in the base (28), and a plurality of groups of balls (27) are filled inside the ball groove (26).
7. The inspection robot for the coal conveying system of the coal mine as claimed in claim 6, wherein a roller cavity (24) is formed in the movable roller (21), an internal spring (210) is installed in the roller cavity (24), a sliding plate (25) is fixed at the end of the internal spring (210), and the base (28) is fixedly connected with the sliding plate (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310162800.2A CN116000898A (en) | 2023-02-24 | 2023-02-24 | Inspection robot for coal conveying system of coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310162800.2A CN116000898A (en) | 2023-02-24 | 2023-02-24 | Inspection robot for coal conveying system of coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116000898A true CN116000898A (en) | 2023-04-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310162800.2A Pending CN116000898A (en) | 2023-02-24 | 2023-02-24 | Inspection robot for coal conveying system of coal mine |
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| Country | Link |
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| CN (1) | CN116000898A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116276892A (en) * | 2023-05-12 | 2023-06-23 | 广州交投机电工程有限公司 | Driving force adjusting device and track inspection robot |
| CN116872175A (en) * | 2023-09-01 | 2023-10-13 | 高维智控机器人科技(苏州)有限公司 | Security patrol robot |
-
2023
- 2023-02-24 CN CN202310162800.2A patent/CN116000898A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116276892A (en) * | 2023-05-12 | 2023-06-23 | 广州交投机电工程有限公司 | Driving force adjusting device and track inspection robot |
| CN116276892B (en) * | 2023-05-12 | 2023-09-26 | 广州交投机电工程有限公司 | Driving force adjusting device and track inspection robot |
| CN116872175A (en) * | 2023-09-01 | 2023-10-13 | 高维智控机器人科技(苏州)有限公司 | Security patrol robot |
| CN116872175B (en) * | 2023-09-01 | 2023-12-22 | 高维智控机器人科技(苏州)有限公司 | Security patrol robot |
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