CN116394221A - Intelligent safety detection lifting rail inspection robot for coal mine - Google Patents
Intelligent safety detection lifting rail inspection robot for coal mine Download PDFInfo
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- CN116394221A CN116394221A CN202310362163.3A CN202310362163A CN116394221A CN 116394221 A CN116394221 A CN 116394221A CN 202310362163 A CN202310362163 A CN 202310362163A CN 116394221 A CN116394221 A CN 116394221A
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- 238000007689 inspection Methods 0.000 title claims abstract description 94
- 239000003245 coal Substances 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 208000002925 dental caries Diseases 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 19
- 238000012423 maintenance Methods 0.000 abstract description 18
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 239000000428 dust Substances 0.000 abstract description 5
- 239000010883 coal ash Substances 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 4
- 230000000903 blocking effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 7
- 238000005065 mining Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910052500 inorganic mineral Inorganic materials 0.000 description 3
- 239000011707 mineral Substances 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000191 radiation effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses an intelligent safety detection lifting rail inspection robot for a coal mine, which comprises an inspection robot body, a rail and an electromagnetic linkage structure, wherein the electromagnetic linkage structure comprises a permanent magnet assembly, an electromagnetic driving assembly and a roller assembly, and the inspection robot body comprises an outer cover, a frame, a camera module, a main control module, an obstacle avoidance module, a wireless charging module, a battery module, a communication module, a voiceprint sensor module, a gas sensor and a temperature and humidity sensor. According to the invention, electromagnetic force movement is realized by arranging the electromagnetic linkage structure, so that the situations of slipping, blocking and stopping and the like of the rail caused by coal mine dust, coal ash and the like are prevented, the inspection efficiency is improved, the friction force is reduced, the inspection robot realizes quick response and high-speed operation, and the operation response rate is improved; the voiceprint sensor module is used for monitoring abnormal sound generated when each driving part and each linkage part operate, so that abnormal prompting efficiency is improved, and subsequent maintenance is facilitated.
Description
Technical Field
The invention relates to the technical field of coal mine inspection devices, in particular to an intelligent coal mine safety detection hanging rail inspection robot.
Background
The existing coal mining industry mainly adopts a conveyor belt conveyor to transport coal and the like, although the conveyor belt conveyor has own belt protection measures, maintenance and the like of the conveyor belt conveyor still need to be completed manually, and due to the problems of topography, installation and the like of the conveyor belt conveyor, the problems of falling, belt tearing, roller stripping and the like of the coal in the transportation process can be caused, in the traditional mode, a manual inspection mode is adopted, so that time and labor are wasted, the environment is bad, and a great safety risk exists. To solve the problems, the application number is: 202222379053.1 it discloses a rail-mounted intelligent inspection robot for a coal conveying corridor, which comprises a hanging rail, a rail-mounted driving module hung on the hanging rail, and an intelligent main body module and a cradle head module which are connected below the rail-mounted driving module, wherein the rail-mounted driving module comprises a hanging frame for the installation and connection of the intelligent main body module and the cradle head module and a rail-mounted driving mechanism arranged on the hanging frame, the rail-mounted driving mechanism is at least two groups which are arranged at intervals along the advancing direction of the hanging rail, the rail-mounted driving mechanisms of each group are respectively rotatably arranged and connected on the hanging frame, and each group of rail-mounted driving mechanisms is provided with an independent driving structure and hung on the hanging rail. It also has the following problems: 1. the rail hanging driving module mainly comprises a motor, a driving wheel and a driven wheel for moving in the advancing direction, but due to the severe internal environment of a coal mine, more dust, coal ash and the like on a rail, the driven wheel has the conditions of slipping, blocking and stopping and the like, and adopts belt linkage, the belt is easy to wear due to long-time use or environmental influence, the advancing and inspection efficiency of the inspection robot are influenced, and the maintenance time is long and the cost is high; 2. the intelligent inspection robot has no abnormal sound automatic monitoring function, can not start to know whether abnormal problems exist in the linkage part and the driving part of the inspection robot, can know that faults exist when the inspection robot is stopped, timely prompts that the feedback efficiency is low, can not timely carry out maintenance actions, and influences the normal use of the inspection robot; 3. the adopted rail hanging driving module also has the advantages of matching tolerance or abrasion tolerance, slower running action and poor climbing performance, and can not meet the requirement of quick inspection in the existing coal mining industry.
Disclosure of Invention
The invention provides an intelligent safety detection lifting rail inspection robot for a coal mine, aiming at the defects of the prior art.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the intelligent safety detection hanging rail inspection robot for the coal mine comprises an inspection robot body and a rail, wherein the rail is arranged on a hanging frame or a support provided with a hanging beam, the inspection robot body is arranged on the rail and can move in and out along the direction of the rail, an electromagnetic linkage structure is arranged between the inspection robot body and the rail, the electromagnetic linkage structure comprises a permanent magnet assembly, an electromagnetic driving assembly and a roller assembly, the permanent magnet assembly is arranged on the rail, and the electromagnetic driving assembly and the roller assembly are arranged on the inspection robot body;
the inspection robot body comprises an outer cover, a frame, a camera shooting module and a main control module, wherein the outer cover is arranged on the outer side face of the frame, the camera shooting module is arranged on the bottom of the frame, the main control module is arranged in the frame, the inspection robot body is further provided with an obstacle avoidance module, a wireless charging module, a battery module, a communication module, a voiceprint sensor module, a gas sensor and a temperature and humidity sensor, and the main control module is electrically connected with the obstacle avoidance module, the wireless charging module, the battery module, the communication module, the voiceprint sensor module, the gas sensor and the temperature and humidity sensor through conducting wires.
The utility model discloses a permanent magnet assembly, including orbital, the orbital top is equipped with the installation department, the installation department is equipped with the notch, the notch is equipped with detains the chamber, the orbital is equipped with two spouts, two the spout sets up with the mirror image mode relatively on the orbital side, the orbital still is equipped with two cavitys and recess, the recess sets up orbital bottom, the permanent magnet assembly sets up in the recess, be equipped with detachable connection structure between permanent magnet assembly and the recess.
The permanent magnet assembly comprises a plurality of permanent magnet modules, wherein the permanent magnet modules comprise a connecting plate and one or more permanent magnets, the permanent magnets are arranged at the bottom of the connecting plate, equal intervals are arranged between the permanent magnets and the permanent magnets, the permanent magnets comprise N poles and S poles, the N poles of one permanent magnet face upwards towards the grooves, the N poles of the permanent magnets arranged at the two ends of the permanent magnets with the N poles upwards face downwards towards the rack, and the N poles of the permanent magnets and the S poles of the other permanent magnets at intervals are arranged linearly along the track direction.
The detachable connecting structure comprises a plurality of screws and a plurality of threaded holes, the threaded holes are formed in the grooves, the connecting plates are all provided with a plurality of through holes, the screws are respectively arranged in the through holes and connected with the threaded holes, and a heat-conducting silica gel layer is arranged between the connecting plates and the grooves.
The top of frame is equipped with recess one, recess one is equipped with the mount pad, roller assembly includes two roller modules, electromagnetic drive subassembly sets up on the intermediate position of mount pad, the both sides of mount pad all are equipped with the draw-in groove, two roller modules set up respectively in the draw-in groove, roller modules all include installation piece, go up roller group, lower roller group and two tight fixed rollers, go up roller group and lower roller group with mirror image opposite mode setting be in the upper and lower of the medial surface of installation soon, be equipped with the interval between roller group and the lower roller group, go up roller group and set up respectively below through the interval in the spout, the medial surface top both ends of installation piece all are equipped with mount pad one, tight fixed roller sets up respectively in the mount pad one, just the lateral surface of tight fixed roller with the laminating of side of spout.
The upper roller set and the lower roller set are composed of a plurality of rollers, the mounting block is further provided with a notch, the mounting plate is arranged on two inner side walls of the first groove, the mounting plate is provided with a brake assembly and a connector, the brake assembly comprises a mounting block II, a brake motor, a gear set and a brake block, the mounting block II is arranged on the inner side face of the mounting plate, the gear set comprises two gears, the two gears are arranged on the mounting block II in a vertical mode, the outer side faces of the two gears are attached to form a gear linkage structure, the gears arranged above are provided with rotating rods, the brake block is arranged at the end parts of the rotating rods and above the lower roller set, the brake motor is arranged on the outer side face of the mounting plate, the brake motor is provided with a rotating shaft I, the gears arranged below the end parts of the rotating shaft I, and the brake block is provided with brake grooves.
The camera shooting device comprises a frame, a camera shooting module and a main control module, wherein the frame is provided with a holder fixing frame and a fixing frame, the camera shooting module is an infrared double camera shooting holder, the camera shooting module comprises a rotary holder and two infrared cameras, the rotary holder is arranged on the holder fixing frame, the rotary holder is provided with a rotary shaft, the rotary shaft is provided with a connecting part, the two infrared cameras are fixed on the connecting part, a sealing ring is arranged between the frame and the rotary holder, the fixing frame is arranged above the holder fixing frame, the main control module and the battery module are arranged in the fixing frame one, the battery module comprises a control circuit board and a battery assembly, the gas sensor is arranged in the fixing frame, a through hole is formed in the bottom of the fixing frame, a transparent waterproof outer cover is arranged at the bottom of the through hole, and an analysis platform is further arranged between the analysis platform and the main control module and the gas sensor.
The wireless charging module is arranged on the first mounting plate and comprises two communication antennas, the wireless charging module comprises a conversion module and a coil module, a second groove and a second mounting plate are further arranged at the bottom of the frame, the voiceprint sensor module is arranged in the second groove, a socket connector is further arranged in the second groove, and the second mounting plate is provided with a control button, a talkback sound amplifying assembly and a power prompt lamp.
The outer cover is further improved, the outer cover is provided with two panels, the two panels are respectively arranged at the front end and the rear end of the frame, the panels are respectively provided with three-color warning lamps, the obstacle avoidance module comprises two groups of ultrasonic obstacle avoidance sensor groups, the two groups of ultrasonic obstacle avoidance sensor groups are respectively arranged below the three-color warning lamps, and the two groups of ultrasonic obstacle avoidance sensor groups are composed of a plurality of ultrasonic obstacle avoidance sensors.
The invention has the beneficial effects that: the invention realizes electromagnetic force driving movement through the electromagnetic linkage structure formed by the permanent magnet assembly and the electromagnetic driving assembly, the permanent magnet assembly is used for providing interval magnetic field force, and the mutual attraction or repulsion force formed between the magnetic force generated by the electromagnetic driving assembly is matched, so that the inspection robot body and the track are mutually attracted or repelled, the inspection robot body is enabled to move back and forth along the track direction or brake the moving inspection robot body, the situation that the track slips, blocks and stops and the like due to coal mine dust and coal ash and the like is effectively prevented, the inspection efficiency is improved, the stability of the inspection robot body when moving on the track is ensured by matching with the roller assembly, the stability of the movement is ensured, the influence of noise and vibration is reduced, and the quality of subsequent inspection is ensured; the detachable connecting structure is arranged to facilitate the rapid mounting or dismounting action between the permanent magnet assembly and the track, so that the maintenance and replacement actions of the permanent magnet are facilitated, when one permanent magnet is abnormal, the permanent magnet assembly is not required to be replaced integrally, only the permanent magnet module at the abnormal part is required to be replaced, the maintenance cost is reduced, the maintenance time is shortened, and the maintenance efficiency is improved; the voiceprint sensor module is used for monitoring the operation of each driving part and each linkage part in the inspection process, so that whether abnormal conditions of abnormal sounds exist in the driving part or the linkage part or not is judged, the prompting efficiency of abnormal judgment is improved, quick maintenance is facilitated, and the normal use of the inspection robot is ensured; through setting up heat conduction silica gel layer and two cavitys and being used for improving radiating efficiency to reduce heat and pile up in the permanent magnet in time long, extension permanent magnet's performance and life.
According to the invention, electromagnetic force driving is provided by arranging the electromagnetic linkage structure, so that linkage components are saved, friction force existing in each linkage component is reduced, and friction force is greatly reduced, so that the inspection robot realizes actions of quick response and high-speed operation, the reaction rate is improved, and bidirectional operation is realized by arranging permanent magnets at opposite intervals of N poles and S poles, and the requirement of quick inspection in the existing coal mining industry is met.
The invention will be further described with reference to the drawings and the detailed description.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a lifting rail inspection robot for intelligent safety inspection of coal mine in the embodiment;
fig. 2 is an exploded schematic view of the intelligent safety detection lifting rail inspection robot for the coal mine according to the embodiment;
FIG. 3 is an enlarged schematic view of FIG. 3A;
fig. 4 is a schematic structural diagram of the electromagnetic driving assembly and the roller assembly according to the present embodiment;
fig. 5 is a schematic view of the bottom structure of the inspection robot body of the present embodiment;
fig. 6 is a schematic diagram of the permanent magnet module structure and permanent magnet arrangement of the present embodiment.
Detailed Description
The following description is of the preferred embodiments of the invention, and is not intended to limit the scope of the invention.
Referring to fig. 1-6, an intelligent safety inspection lifting rail inspection robot 1 for a coal mine comprises an inspection robot body 2 and a rail 3, wherein the rail 3 is arranged on a hanger or a bracket provided with a lifting beam, the inspection robot body 2 is arranged on the rail 3 and can move in and out along the direction of the rail 3, an electromagnetic linkage structure 4 is arranged between the inspection robot body 2 and the rail 3, the electromagnetic linkage structure 4 comprises a permanent magnet assembly 40, an electromagnetic driving assembly 41 and a roller assembly 42, the permanent magnet assembly 40 is arranged on the rail 3, and the electromagnetic driving assembly 41 and the roller assembly 42 are arranged on the inspection robot body 2;
the inspection robot body 2 comprises an outer cover 20, a frame 21, a camera shooting module 22 and a main control module 23, wherein the outer cover 20 is arranged on the outer side face of the frame 21, the camera shooting module 22 is arranged on the bottom of the frame 21, the main control module 23 is arranged in the frame 21, the inspection robot body 2 is further provided with an obstacle avoidance module 24, a wireless charging module 25, a battery module 26, a communication module 27, a voiceprint sensor module 28, a gas sensor 29 and a temperature and humidity sensor 5, and the main control module 23 is electrically connected with the obstacle avoidance module 24, the wireless charging module 25, the battery module 26, the communication module 27, the voiceprint sensor module 28, the gas sensor 29 and the temperature and humidity sensor 5 through wires.
The utility model discloses a magnetic field inspection robot, including track 3, installation department 30 is equipped with at the top of track 3, installation department 30 is equipped with the notch, the notch is equipped with and buckles chamber 300, it is convenient for track 3 install fast to support or gallows to buckle chamber 300 on, track 3 is equipped with two spouts 31, two spout 31 sets up with mirror image opposite mode on the side of track 3, track 3 still is equipped with two cavitys 32 and recess 33, recess 33 sets up the bottom of track 3, permanent magnet assembly 40 sets up in recess 33, be equipped with detachable connection structure 6 between permanent magnet assembly 40 and the recess 33, permanent magnet assembly 40 includes polylith permanent magnet module 400, the polylith permanent magnet module 400 all includes connecting plate 4000 and one or more permanent magnet 4001, permanent magnet 4001 sets up the bottom of connecting plate 4000, be equipped with the equidistant between permanent magnet 4001 and the permanent magnet 4001, permanent magnet 4001 all includes N utmost point and S utmost point, wherein N utmost point orientation recess 33 of permanent magnet 4001 both ends, the permanent magnet that sets up N utmost point orientation is down is in recess 33, permanent magnet assembly 40 and recess 40 are equipped with the permanent magnet assembly 2 along the magnetic field of mutual attraction between the motion robot body and the mutual magnetic field inspection robot motion along the direction of moving along the magnetic field of the track 2 that the mutual magnetic field inspection robot' S2 is formed between the mutual magnetic field inspection robot motion assembly and the body or the mutual magnetic field inspection robot is arranged along the direction of moving along the direction of the track 2.
The detachable connection structure 6 comprises a plurality of screws 60 and a plurality of threaded holes 61, the plurality of threaded holes 61 are formed in the groove 33, the connecting plate 4000 is provided with a plurality of through holes, the screws 60 are respectively arranged in the through holes and connected with the threaded holes 61, a heat conducting silica gel layer 7 is arranged between the connecting plate 4000 and the groove 33, the heat conducting silica gel layer 7 is used for improving heat dissipation efficiency in cooperation with the two cavities 32, heat accumulation in the permanent magnet 4001 is reduced, the service performance and the service life of the permanent magnet 4001 are prolonged, the detachable connection structure 6 is convenient for carrying out quick installation or detachment action between the permanent magnet assembly 40 and the track 3, so that maintenance and replacement action of the permanent magnet 4001 are facilitated, when one permanent magnet 4001 is abnormal, the permanent magnet assembly 40 is not required to be replaced integrally, only the permanent magnet module 4001 of an abnormal part is required to be replaced, the maintenance cost is reduced, and the maintenance efficiency is improved.
The top of the frame 21 is provided with a first groove, the first groove is provided with a mounting seat 210, the roller assembly 42 comprises two roller assemblies 420, the electromagnetic driving assembly 41 is arranged at the middle position of the mounting seat 210, the electromagnetic driving assembly 41 is used for providing electromagnetic driving force, thereby matching with the permanent magnet assembly 40 to provide running power for the inspection robot body 2, two sides of the mounting seat 210 are respectively provided with a clamping groove, the two roller assemblies 420 are respectively arranged in the clamping grooves, the roller assemblies 420 respectively comprise a mounting block 4200, an upper roller assembly 4201, a lower roller assembly 4202 and two fixed rollers 4203, the upper roller assembly 4201 and the lower roller assembly 4202 are arranged above and below the inner side of the mounting block in a mirror image opposite mode, a distance is arranged between the upper roller assembly 4201 and the lower roller assembly 4202, the upper roller assembly 4201 and the lower roller assembly 4202 are respectively arranged in the sliding groove 31 and below through the distance, two ends above the inner side of the mounting block 4200 are respectively provided with a first roller assembly, the fixed rollers 4203 are respectively arranged in the inner side of the mounting block 4203, and the roller assembly is respectively arranged on the outer side of the sliding groove 31, and the quality of the inspection robot body is guaranteed to be stably and stably moving along the sliding groove, and the movement of the roller assembly is guaranteed, and the quality of the movement of the roller assembly is guaranteed when the movement of the roller assembly is guaranteed.
The upper roller group 4201 and the lower roller group 4202 are composed of a plurality of rollers, the mounting block 4200 is further provided with a notch, two inner side walls of the first groove are respectively provided with a mounting plate, the mounting plates are respectively provided with a brake assembly 43 and a connector 44, the connector 44 is a waterproof aviation connector, the brake assemblies 43 respectively comprise a mounting block II, a brake motor, a gear set and a brake block, the mounting block II is arranged on the inner side surface of the mounting plate, the gear set comprises two gears, the two gears are arranged on the mounting block II in an up-down manner, the outer side surfaces of the two gears are attached to form a gear linkage structure, the gears arranged above are provided with rotating rods, the brake blocks are arranged at the end parts of the rotating rods and are arranged above the lower roller group 4202, the brake motor is arranged on the outer side surface of the mounting plate, the brake motor is provided with a rotating shaft I, the gears arranged below are arranged at the end parts of the first rotating shaft, the brake block is provided with brake teeth, the brake assembly 43 is used for providing an emergency brake action, and the outer side surfaces of the mounting block is attached to the mounting block II, the gears are attached to form a gear linkage structure, and the electromagnetic linkage structure 4 is matched to form a dual brake structure.
The frame 21 is provided with a holder 211 and a holder 212, the camera module 22 is an infrared double camera holder, the camera module 22 comprises a rotary holder and two infrared cameras, the rotary holder is arranged on the holder 211, the rotary holder is provided with a rotary shaft, the rotary shaft is provided with a connecting part, the two infrared cameras are fixed on the connecting part, a sealing ring is arranged between the frame 21 and the rotary holder, the camera module 22 is used for providing image information acquisition, the infrared cameras are used for providing real-time camera shooting and infrared camera shooting in the detection process, the positions of personnel, personnel wearing, equipment positions, equipment states, mineral types and mineral positions can be determined through real-time images, and the image data and information are transmitted to the main control module 23, the main control module 23 identifies whether personnel are within a safety limit, whether personnel wear compliance, whether equipment placement is compounded with mining area requirements, whether equipment states are normal, mineral types and position information uploading databases according to the information, the infrared camera can detect the temperature state of an object and information according to the infrared radiation effect of the object and transmit the temperature state and the information to the main control module 23, the main control module 23 can judge the safety condition in the mining area according to the information, the data acquisition precision and efficiency are improved, a fixing frame one 213 is arranged above a holder fixing frame 212, the main control module 23 and a battery module 26 are arranged in the fixing frame one 213, the battery module 26 comprises a control circuit board and a battery assembly, the battery module 26 is used for providing driving energy, the gas sensor 29 is arranged in the fixing frame 212, the fixing frame 212 is also provided with an analysis platform, the analysis platform is electrically connected with the main control module 23 and the gas sensor 29, the bottom of mount 212 is equipped with the opening, the bottom of opening is equipped with transparent waterproof dustcoat 2120, transparent waterproof dustcoat 2120 is equipped with inlet port 2121, gas sensor 29 is used for gathering all kinds of gas and dust information when patrolling and examining to carry out real-time monitoring with the various material content circumstances that contain in the air in the region of patrolling and examining, improve and patrol and examine efficiency.
The frame 21 is also provided with a fixed seat 214 and a first mounting plate 215, the communication module 27 is arranged on the fixed seat 214, the wireless charging module 25 is arranged on the first mounting plate 215, the communication module 27 comprises two communication antennas, the communication antennas are in threaded connection with the fixed seat 214, the wireless charging module 25 comprises a conversion module 250 and a coil module 251, the wireless charging module 25 is used for providing wireless charging function, improving charging convenience, the communication module 27 is used for realizing remote data transmission, feedback and receiving actions of control signals, the bottom of the frame 21 is also provided with a second groove 216 and a second mounting plate 217, the voiceprint sensor module 28 is arranged in the second groove 216, the voiceprint sensor module 28 comprises a plurality of voiceprint sensors, the voiceprint sensor module 28 is used for monitoring operation of each driving part and linkage part in the inspection process, thereby judging whether abnormal conditions of abnormal sounds exist in the driving component or the linkage component, improving the prompt efficiency of abnormal judgment, facilitating quick maintenance, ensuring the normal use of the inspection robot 1, the second groove 216 is also provided with a socket connector 330, the socket connector 330 adopts an elbow waterproof socket connector, the socket connector 330 is used for the electric connection of external equipment, facilitating the subsequent upgrading, the second mounting plate 215 is provided with a control button 2150, an intercom amplifying component 2151 and a power prompt lamp 2152, the control button 2150 is used for starting or closing control, the intercom amplifying component 2151 is used for improving the expansion enhancement effect of intercom sound, improving the communication efficiency with the inspection field staff, the temperature and humidity sensor 5 is arranged at the bottom of the second mounting plate 215, the temperature and humidity sensor 5 is used for collecting humidity and temperature information of an inspection environment of an inspection site and monitoring the temperature and humidity conditions inside the inspection robot 1.
The dustcoat 20 is equipped with two panels 200, all be equipped with waterproof washer between dustcoat 20 and the frame 21, two panel 200 sets up respectively the front and back both ends of frame 21, panel 200 all is equipped with three-color warning light 201 is used for its audio-visual feedback's effect, better know the running state of inspection robot 1, keep away barrier module 24 and keep away barrier sensor group including two sets of ultrasonic wave, two sets of ultrasonic wave keep away barrier sensor group and set up respectively the below of three-color warning light 201, two sets of ultrasonic wave keep away barrier sensor group and are kept away the barrier sensor by a plurality of ultrasonic waves and constitute, keep away barrier module 24 and be used for detecting the barrier in the route of patrolling to judge whether there is the obstacle in the route of patrolling and give main control module 23 thereby control inspection robot body 2 in time brake with barrier information transfer.
The working principle of the invention is as follows: the touch control button is powered on and started, the electromagnetic driving assembly generates magnetic field force after being electrified, the main control module adjusts the current direction of the electromagnetic driving assembly according to the advancing direction, so that magnetic force in different directions is generated, a plurality of permanent magnets arranged on a track at intervals are matched, the magnetic poles of the separated permanent magnets are opposite, mutual attractive force or repulsive force is formed between the electromagnetic driving assembly and the permanent magnets, so that the inspection robot body advances or retreats, and when the inspection is carried out, the image pickup module, the gas sensor and the temperature and humidity sensor collect and feed back image information, gas information, temperature information and humidity information in an inspection site, so that remote inspection is realized.
The invention realizes electromagnetic force driving movement through the electromagnetic linkage structure formed by the permanent magnet assembly and the electromagnetic driving assembly, the permanent magnet assembly is used for providing interval magnetic field force, and the mutual attraction or repulsion force formed between the magnetic force generated by the electromagnetic driving assembly is matched, so that the inspection robot body and the track are mutually attracted or repelled, the inspection robot body is enabled to move back and forth along the track direction or brake the moving inspection robot body, the situation that the track slips, blocks and stops and the like due to coal mine dust and coal ash and the like is effectively prevented, the inspection efficiency is improved, the stability of the inspection robot body when moving on the track is ensured by matching with the roller assembly, the stability of the movement is ensured, the influence of noise and vibration is reduced, and the quality of subsequent inspection is ensured; the detachable connecting structure is arranged to facilitate the rapid mounting or dismounting action between the permanent magnet assembly and the track, so that the maintenance and replacement actions of the permanent magnet are facilitated, when one permanent magnet is abnormal, the permanent magnet assembly is not required to be replaced integrally, only the permanent magnet module at the abnormal part is required to be replaced, the maintenance cost is reduced, the maintenance time is shortened, and the maintenance efficiency is improved; the voiceprint sensor module is used for monitoring the operation of each driving part and each linkage part in the inspection process, so that whether abnormal conditions of abnormal sounds exist in the driving part or the linkage part or not is judged, the prompting efficiency of abnormal judgment is improved, quick maintenance is facilitated, and the normal use of the inspection robot is ensured; through setting up heat conduction silica gel layer and two cavitys and being used for improving radiating efficiency to reduce heat and pile up in the permanent magnet in time long, extension permanent magnet's performance and life.
According to the invention, electromagnetic force driving is provided by arranging the electromagnetic linkage structure, so that linkage components are saved, friction force existing in each linkage component is reduced, and friction force is greatly reduced, so that the inspection robot realizes actions of quick response and high-speed operation, the reaction rate is improved, and bidirectional operation is realized by arranging permanent magnets at opposite intervals of N poles and S poles, and the requirement of quick inspection in the existing coal mining industry is met.
The invention is not limited to the above embodiment, and other intelligent detection hanging rail inspection robots for coal mines, which are obtained by adopting the same or similar structures, devices, processes or methods as the above embodiment of the invention, are all within the protection scope of the invention.
Claims (9)
1. Intelligent safety detection hanging rail inspection robot for coal mine is characterized in that: the inspection robot comprises an inspection robot body and a track, wherein the track is arranged on a hanger or a bracket provided with a hanging beam, the inspection robot body is arranged on the track and can move back and forth along the track direction, an electromagnetic linkage structure is arranged between the inspection robot body and the track, the electromagnetic linkage structure comprises a permanent magnet assembly, an electromagnetic driving assembly and a roller assembly, the permanent magnet assembly is arranged on the track, and the electromagnetic driving assembly and the roller assembly are arranged on the inspection robot body;
the inspection robot body comprises an outer cover, a frame, a camera shooting module and a main control module, wherein the outer cover is arranged on the outer side face of the frame, the camera shooting module is arranged on the bottom of the frame, the main control module is arranged in the frame, the inspection robot body is further provided with an obstacle avoidance module, a wireless charging module, a battery module, a communication module, a voiceprint sensor module, a gas sensor and a temperature and humidity sensor, and the main control module is electrically connected with the obstacle avoidance module, the wireless charging module, the battery module, the communication module, the voiceprint sensor module, the gas sensor and the temperature and humidity sensor through conducting wires.
2. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 1, wherein: the top of track is equipped with the installation department, the installation department is equipped with the notch, the notch is equipped with detains the chamber, the track is equipped with two spouts, two the spout sets up with the opposite mode of mirror image on the orbital side, the track still is equipped with two cavitys and recess, the recess sets up orbital bottom, the permanent magnet subassembly sets up in the recess, be equipped with detachable connection structure between permanent magnet subassembly and the recess.
3. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 2, wherein: the permanent magnet assembly comprises a plurality of permanent magnet modules, the permanent magnet modules comprise a connecting plate and one or more permanent magnets, the permanent magnets are arranged at the bottom of the connecting plate, equal intervals are arranged between the permanent magnets and the permanent magnets, the permanent magnets comprise N poles and S poles, one of the N poles of the permanent magnets faces upwards towards the grooves, the N poles of the permanent magnets arranged at the two ends of the permanent magnets with the N poles upwards face downwards towards the rack, and the N poles of the permanent magnets and the S poles of the permanent magnets at intervals are arranged linearly along the track direction.
4. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 3, wherein: the detachable connection structure comprises a plurality of screws and a plurality of threaded holes, the threaded holes are formed in the grooves, the connecting plates are all provided with a plurality of through holes, the screws are respectively arranged in the through holes and connected with the threaded holes, and a heat conduction silica gel layer is arranged between the connecting plates and the grooves.
5. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 4, wherein: the top of frame is equipped with recess one, recess one is equipped with the mount pad, roller assembly includes two roller modules, electromagnetic drive subassembly sets up on the intermediate position of mount pad, the both sides of mount pad all are equipped with the draw-in groove, two roller modules set up respectively in the draw-in groove, roller modules all include the installation piece, go up roller train, lower roller train and two tight gyro wheels, go up roller train and lower roller train with the mirror image mode setting up the upper and lower of the medial surface of installation soon, go up the roller train and be equipped with the interval between the roller train down, go up roller train and lower roller train and set up respectively in the spout and the below through the interval, the medial surface top both ends of installation piece all are equipped with mount pad one, tight gyro wheel setting respectively in the mount pad one, just the lateral surface of tight gyro wheel with the laminating of the side of spout.
6. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 5, wherein: the upper roller set and the lower roller set are composed of a plurality of rollers, the mounting block is further provided with a notch, the mounting plate is arranged on two inner side walls of the first groove, the mounting plate is provided with a brake assembly and a connector, the brake assembly comprises a mounting block II, a brake motor, a gear set and a brake block, the mounting block II is arranged on the inner side face of the mounting plate, the gear set comprises two gears, the gears are arranged on the mounting block II in a vertical mode, the outer side faces of the two gears are attached to form a gear linkage structure, the gears arranged above are provided with rotating rods, the brake block is arranged at the end parts of the rotating rods and above the lower roller set, the brake motor is arranged on the outer side face of the mounting plate, the brake motor is provided with a rotating shaft I, the gears arranged below the rotating shaft I are arranged at the end parts, and the brake block is provided with brake insections.
7. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 6, wherein: the frame is equipped with cloud platform mount and mount, the module of making a video recording is infrared two cloud platforms of taking a video recording, the module of making a video recording is including rotatory cloud platform and two infrared cameras, rotatory cloud platform sets up on the cloud platform mount, rotatory cloud platform is equipped with the rotation axis, the rotation axis is equipped with connecting portion, two infrared cameras are fixed on connecting portion, be equipped with the sealing washer between frame and the rotatory cloud platform, the top of cloud platform mount is equipped with mount one, main control module and battery module set up in the mount one, the battery module includes control circuit board and battery pack, gas sensor sets up in the mount, the bottom of mount is equipped with the through-hole, the bottom of through-hole is equipped with transparent waterproof dustcoat, the mount still is equipped with analysis platform, electric connection between analysis platform and main control module and the gas sensor.
8. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 7, wherein: the wireless charging system is characterized in that the rack is further provided with a fixing seat and a first mounting plate, the communication module is arranged on the fixing seat, the wireless charging module is arranged on the first mounting plate, the communication module comprises two communication antennas, the wireless charging module comprises a conversion module and a coil module, the bottom of the rack is further provided with a second groove and a second mounting plate, the voiceprint sensor module is arranged in the second groove, the second groove is further provided with a socket connector, and the second mounting plate is provided with a control button, an intercom amplifying assembly and a power prompt lamp, and the temperature and humidity sensor is arranged at the bottom of the second mounting plate.
9. The intelligent safety detection hanging rail inspection robot for coal mines according to claim 8, wherein: the dustcoat is equipped with two panels, two the panel sets up respectively the front and back both ends of frame, the panel all is equipped with the three-colour warning light, keep away the barrier module and keep away the barrier sensor group including two sets of ultrasonic waves, two sets of ultrasonic waves keep away the barrier sensor group and set up respectively the below of three-colour warning light, two sets of ultrasonic waves keep away barrier sensor group and keep away the barrier sensor by a plurality of ultrasonic waves and constitute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310362163.3A CN116394221A (en) | 2023-03-29 | 2023-03-29 | Intelligent safety detection lifting rail inspection robot for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310362163.3A CN116394221A (en) | 2023-03-29 | 2023-03-29 | Intelligent safety detection lifting rail inspection robot for coal mine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116614696A (en) * | 2023-07-20 | 2023-08-18 | 合肥优尔电子科技有限公司 | Multi-row frame electric power pipe gallery inspection robot |
| CN118003007A (en) * | 2024-04-09 | 2024-05-10 | 哈尔滨学院 | Metal support welding robot |
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2023
- 2023-03-29 CN CN202310362163.3A patent/CN116394221A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116614696A (en) * | 2023-07-20 | 2023-08-18 | 合肥优尔电子科技有限公司 | Multi-row frame electric power pipe gallery inspection robot |
| CN116614696B (en) * | 2023-07-20 | 2023-10-10 | 合肥优尔电子科技有限公司 | Multi-row frame electric power pipe gallery inspection robot |
| CN118003007A (en) * | 2024-04-09 | 2024-05-10 | 哈尔滨学院 | Metal support welding robot |
| CN118003007B (en) * | 2024-04-09 | 2024-06-11 | 哈尔滨学院 | Metal support welding robot |
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