CN116896135A - Charging safety house for underground coal mine belt inspection robot and wireless charging method - Google Patents
Charging safety house for underground coal mine belt inspection robot and wireless charging method Download PDFInfo
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- CN116896135A CN116896135A CN202310860054.4A CN202310860054A CN116896135A CN 116896135 A CN116896135 A CN 116896135A CN 202310860054 A CN202310860054 A CN 202310860054A CN 116896135 A CN116896135 A CN 116896135A
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- 238000007689 inspection Methods 0.000 title claims abstract description 91
- 239000003245 coal Substances 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 239000000463 material Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000002360 explosive Substances 0.000 abstract description 3
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000005065 mining Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Computer Networks & Wireless Communication (AREA)
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- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention belongs to the technical field of application of underground coal mine inspection robots, and particularly discloses a charging safety house for an underground coal mine belt inspection robot. The invention can ensure that the robot can be safely, reliably, quickly, efficiently and automatically charged under the condition of no human intervention; the automatic charging of the battery is determined by the attribute of the underground running environment of the inspection robot, and the battery charging system is a charging mode in an explosive environment, so that a safe charging environment is provided for the inspection robot, the automatic charging process and equipment of the inspection robot are ensured to meet the requirements of GB3836.1-4, the inspection robot can realize a long-term on-duty and fully-automatic working mode, the manual intervention is reduced, the time and the labor are saved, and the safety and the reliability are improved.
Description
Technical Field
The invention belongs to the technical field of application of underground coal mine inspection robots, and particularly relates to a charging safety house and a wireless charging method for an underground coal mine belt inspection robot.
Background
The underground coal mine guide rail type inspection robot is charged by a storage battery, and the inspection frequency is high and low, so that the battery power is used quickly (before the power is exhausted) and the underground coal mine guide rail type inspection robot can be used by a charging party in time.
Because the underground coal mine has the environmental factors that can explode, the inspection robot can not be directly charged in the naked environment according to the safety standard requirements of the underground coal mine operation. At present, the charging mode of the inspection robot is that the battery of the inspection robot is taken down by manual operation and is charged after leaving the underground environment, and the battery is returned to the underground installation of the coal mine after the charging is completed.
Therefore, based on the problems, the invention provides a charging safety house for a coal mine underground belt inspection robot and a wireless charging method.
Disclosure of Invention
The invention aims to: the invention aims to provide a charging safety house and a wireless charging method for a coal mine underground belt inspection robot, which solve the problem that the mining belt conveyor inspection robot (the inspection robot for short) with an automatic charging function can safely and automatically charge in an explosive environment under a coal mine underground (namely, the track type movement attribute of the inspection robot determines that the inspection robot is suitable for being supplied with power by a cable-free battery, but the battery capacity is limited and can generally only be maintained for a few hours, so that once the battery is insufficient in electric quantity, the charging is needed in time, and if the battery is manually charged or replaced, the robot cannot realize complete autonomous operation), so that the coal mine underground belt conveyor inspection robot can safely charge under the coal mine, the working efficiency is improved, the time and labor are saved, the charging process is safe and reliable, and intelligent and automatic charging is realized.
The technical scheme is as follows: the invention provides a charging safety house for a coal mine underground belt inspection robot, which comprises a control cabin, a charging cabin, a cabin door automatic switch assembly, a cabin door automatic locking/unlocking assembly and a guide rail automatic telescopic assembly, wherein the cabin door automatic switch assembly, the cabin door automatic locking/unlocking assembly and the guide rail automatic telescopic assembly are matched with the control cabin and the charging cabin for use, and a safety house master controller matched with the cabin door automatic switch assembly, the cabin door automatic locking/unlocking assembly and the guide rail automatic telescopic assembly for use; the cabin door automatic switch assembly comprises a door shaft fixing seat, an optical axis, a linear bearing, a door body, a rotary support, a connecting rod, a cabin door switch motor, a cabin door switch speed reducer, a screw rod module and a guide shaft, wherein the door shaft fixing seat, the optical axis, the linear bearing, the door body and the rotary support are arranged on the outer wall of one end of a charging cabin and are matched for use; the cabin door automatic locking/unlocking assembly comprises an automatic locking unlocking motor arranged in a control cabin, an automatic locking unlocking speed reducer connected with the automatic locking unlocking motor, a shaft support connected with the automatic locking unlocking speed reducer, a rotating rod connected with the shaft support, and a cam shaft connected with the rotating rod, wherein a locking block matched with the cam shaft is arranged on one side of the inner part of the door body, a plurality of buckles are arranged on the end face of the upper part of the door body, and a frame plate matched with the door body and the buckles is arranged on the end face of one end of the charging cabin; the guide rail automatic telescopic assembly comprises an automatic telescopic control motor arranged in a control cabin, an automatic telescopic control speed reducer connected with the automatic telescopic control motor, an automatic telescopic control screw rod module connected with the automatic telescopic control speed reducer, a group of linear sliding blocks arranged on the automatic telescopic control screw rod module, an automatic telescopic control guide rod connected with the automatic telescopic control screw rod module, and a material receiving support arm arranged on the group of linear sliding blocks; the inner wall of the charging cabin is provided with a wireless charging device.
The technical scheme is that the charging safety house for the underground coal mine belt inspection robot further comprises a cam shaft supporting seat which is arranged on the inner wall of one end of the control cabin and matched with the rotating rod, the material receiving supporting arm is arranged to comprise but not limited to an I-shaped structure, and the automatic telescopic control screw rod module and the automatic telescopic control guide rod are respectively arranged in a group.
According to the cabin door automatic switch assembly, when the cabin door automatic switch assembly works, after a main controller of a safety house receives a door opening or closing signal, a control signal is sent to a voltage-stabilizing drive protection module, the voltage-stabilizing drive protection module adjusts power output through the specification of a cabin door switch motor, the cabin door switch motor works, at the moment, the cabin door switch motor drives a cabin door switch speed reducer to rotate, a connecting screw rod module realizes rotation, a screw rod moves forwards, a guide shaft is lifted forwards along a fixed support, a connecting rod swings at an angle, and a door body is opened in place in a rotary mode; when the door needs to be closed, the door switch motor is reversed, and the movement sequence of the mechanism is reversed.
According to the automatic cabin door locking/unlocking assembly, when the automatic cabin door locking/unlocking assembly is ready for unlocking, the automatic locking/unlocking speed reducer is driven by the automatic locking/unlocking rotation to realize rotation, the rotating rod is fixed to the shaft support to realize rotation so as to drive the cam shaft to rotate to jack up the locking piece on the door body, and the buckle is also displaced upwards and separated, so that the unlocking function is realized; when the door is locked, the cam shaft reversely rotates to move downwards to press the lower edge of the door body, the door body is clamped by the buckle, and the door body is locked.
According to the technical scheme, after the safety room master controller receives a charging instruction and confirms that the door body is in an open state, the automatic telescopic control motor drives the automatic telescopic control speed reducer to rotate, the automatic telescopic control screw rod module drives a group of linear sliding blocks to do linear forward movement along guide rods on two sides, meanwhile, the group of linear sliding blocks drive the material receiving support arms to lift forward to a track butt joint position, after waiting for the inspection robot to move to the relative position of the material receiving support arms, the material receiving support arms retract back to the original position, and after the door body is closed and locked, the wireless charging device starts to charge the inspection robot.
The invention further provides a wireless charging method for the charging safety house of the underground coal mine belt inspection robot, which comprises the following steps that step 1, after a safety house main controller receives a charging signal of the inspection robot, a cabin door is opened through a cabin door automatic opening and closing assembly; step 2, a safety room master controller controls a guide rail automatic telescopic component to be connected with a guide rail of the inspection robot through a material receiving support arm, the inspection robot automatically moves to the material receiving support arm, and the guide rail automatic telescopic component retracts the inspection robot into a charging cabin through the material receiving support arm; step 3, the safety house master controller detects a signal that the inspection robot is completely in the charging cabin, and the cabin door is closed through the cabin door automatic opening and closing component; and 4, controlling the wireless charging device to start charging the inspection robot by the safety host controller.
The charging safety house for the underground coal mine belt inspection robot further comprises a door state sensor, a lock state sensor, a guide rail state sensor, a robot track entering state sensor, a power supply, a communication module, a display module and an early warning module which are connected with a safety house main controller, wherein the door state sensor, the lock state sensor, the guide rail state sensor and the robot track entering state sensor are respectively matched with a cabin door automatic switch assembly, a cabin door automatic lock/unlock assembly and a guide rail automatic telescopic assembly.
The working state of the charging safety house in the technical scheme has three control modes of remote control, automatic control and manual control; remote control: the background control center sends out a charging signal through a network; automatic control: the inspection robot sends out a charging signal through a network; and (3) manual control: the manual work is through panel direct control, sends the charge signal.
The charging safety house for the underground coal mine belt inspection robot and the application of the wireless charging method are applicable to charging of rail-defining inspection robots and wheel-type inspection robots.
Compared with the prior art, the charging safety house for the underground coal mine belt inspection robot and the wireless charging method have the beneficial effects that: 1. the robot is ensured to be charged safely, reliably, quickly and efficiently under the condition of no human intervention; 2. the automatic charging mode of the battery is determined by the underground running environment attribute of the inspection robot, and the automatic charging mode of the battery is in an environment which is possibly explosive, so that the automatic charging process and equipment of the inspection robot meet the requirements of GB3836.1-4, the inspection robot can realize a long-term on-duty and fully-automatic control working mode, the manual intervention is reduced, the time and the labor are saved, and the safety and the reliability are improved.
Drawings
FIG. 1 is a schematic diagram of one of the control cabin, charging cabin, automatic cabin door opening and closing assembly, automatic cabin door falling/unlocking assembly and automatic guide rail telescoping assembly of the charging safety house for the underground coal mine belt inspection robot;
fig. 2 is a schematic structural diagram of a control cabin, a charging cabin, a cabin door automatic switch assembly, a cabin door automatic falling lock/unlock assembly and a guide rail automatic telescopic assembly of the charging safety house for the underground coal mine belt inspection robot;
FIG. 3 is a schematic diagram of one of the control cabin, charging cabin, automatic cabin door opening and closing assembly, automatic cabin door falling/unlocking assembly and automatic guide rail telescoping assembly of the charging safety house for the underground coal mine belt inspection robot;
fig. 4 is a block diagram of a safety house master controller, a door status sensor, a lock status sensor, a rail status sensor, a robot in-orbit status sensor, etc. of the charging safety house wireless charging method for the underground coal mine belt inspection robot according to the present invention.
Detailed Description
The invention is further elucidated below in connection with the accompanying drawings.
The charging safety house for the underground coal mine belt inspection robot as shown in fig. 1, 2 and 3 comprises a control cabin 23, a charging cabin 24, a cabin door automatic opening and closing assembly, a cabin door automatic locking/unlocking assembly and a guide rail automatic telescopic assembly, which are matched with the control cabin 23 and the charging cabin 24, and a safety house main controller matched with the cabin door automatic opening and closing assembly, the cabin door automatic locking/unlocking assembly and the guide rail automatic telescopic assembly; the automatic cabin door opening and closing assembly comprises a door shaft fixing seat 10, an optical axis 7, a linear bearing 8, a door body 9, a rotary support 6, a connecting rod 5, a cabin door opening and closing motor 1, a cabin door opening and closing speed reducer 2, a screw rod module 3, a guide shaft 4, a sealing frame 29 and a door opening and closing speed reducer 2, wherein the door shaft fixing seat 10, the optical axis 7, the linear bearing 8, the door body 9, the rotary support 6, the connecting rod 5 and the connecting rod 5 are arranged on the outer wall of one end of a charging cabin 24 and are matched with each other for use, the cabin door opening and closing motor 1 is arranged in a control cabin 23, the cabin door opening and closing speed reducer 2 is connected with the cabin door opening and closing motor 1, the screw rod module 3 is connected with the cabin door opening and closing speed reducer 2, and the guide shaft 4 is respectively connected with the connecting rod 5 and the screw rod module 3, and one end of the control cabin 23 is provided with a sealing frame 29; the cabin door automatic locking/unlocking assembly comprises an automatic locking/unlocking motor 15 arranged in a control cabin 23, an automatic locking/unlocking speed reducer 14 connected with the automatic locking/unlocking motor 15, a shaft support 13 connected with the automatic locking/unlocking speed reducer 14, a rotating rod 12 connected with the shaft support 13, and a cam shaft 27 connected with the rotating rod 12, wherein a locking block 28 matched with the cam shaft 27 is arranged on one side of the interior of a door body 9, a plurality of buckles 16 are arranged on the upper end face of the door body 9, and a frame plate 26 matched with the door body 9 and the plurality of buckles 16 is arranged on the end face of one end of a charging cabin 24; the guide rail automatic telescopic assembly comprises an automatic telescopic control motor 22 arranged in a control cabin 23, an automatic telescopic control speed reducer 21 connected with the automatic telescopic control motor 22, an automatic telescopic control screw rod module 20 connected with the automatic telescopic control speed reducer 21, a group of linear sliding blocks 19 arranged on the automatic telescopic control screw rod module 20, an automatic telescopic control guide rod 18 connected with the automatic telescopic control screw rod module 20 and a material receiving support arm 17 arranged on the group of linear sliding blocks 19; the inner wall of the charging cabin 24 is provided with a wireless charging device 30.
The charging safety house for the underground coal mine belt inspection robot of the invention preferably further comprises a camshaft supporting seat 11 which is arranged on the inner wall of one end of the control cabin 24 and is matched with the rotating rod 12 for use, the material receiving supporting frame arm 17 is of an I-shaped structure, the automatic telescopic control screw rod module 20 and the automatic telescopic control guide rod 18 are respectively provided with a group, a partition plate 25 is arranged between the control cabin 23 and the charging cabin 24, the size of the control cabin 23 is smaller than that of the charging cabin 24, and a transparent window can be arranged on the door body 9.
The automatic cabin door opening and closing assembly for the charging safety house of the underground coal mine belt inspection robot is characterized in that when the automatic cabin door opening and closing assembly is in operation, after a main controller of the safety house receives a door opening or closing signal, a control signal is sent to a voltage-stabilizing driving protection module, the voltage-stabilizing driving protection module adjusts power output through the specification of a cabin door opening and closing motor 1, the cabin door opening and closing motor 1 works, at the moment, the cabin door opening and closing motor 1 drives a cabin door opening and closing speed reducer 2 to rotate, a connecting screw rod module 3 realizes rotation, a screw rod moves forwards at the same time, a guide shaft 4 is lifted forwards along a fixed support, a connecting rod 5 swings at an angle, and a door body 9 is opened in place in a rotary mode; when the door needs to be closed, the door switch motor 1 is reversed, and the movement sequence of the mechanism is reversed.
The automatic cabin door falling lock/unlocking assembly is used for a charging safety house of a belt inspection robot in a coal mine, when the automatic cabin door falling lock/unlocking assembly is ready for unlocking, the automatic falling lock unlocking speed reducer 14 is driven to rotate by the automatic falling lock unlocking 15 to realize rotation, the rotating rod 12 is fixed to the shaft support 13 to realize rotation so as to drive the cam shaft 27 to rotate to jack up the locking block 28 on the door body 9, and the buckle 16 is also displaced upwards and separated to realize the unlocking function; during falling locking, the cam shaft 27 reversely rotates to move downwards at a high point to press the lower edge of the door body 27, the buckle 16 clamps the door body 9, and the door body 9 realizes locking falling locking.
The invention is used for a charging safety house of a coal mine underground belt inspection robot, a guide rail automatic telescopic assembly, after a safety house main controller receives a charging instruction and confirms that a door body 9 is in an open state, an automatic telescopic control motor 22 drives an automatic telescopic control speed reducer 21 to rotate, an automatic telescopic control screw rod module 20 drives a group of linear sliding blocks 19 to do linear forward movement along guide rods 18 on two sides, meanwhile, the group of linear sliding blocks 19 drives a material receiving support arm 17 to lift forward to a track butt joint position, after waiting for the inspection robot to move to the relative position of the material receiving support arm 17, the material receiving support arm 17 is retracted back to the original position, and after the door body 9 is closed and falls down, a wireless charging device 30 starts to charge the inspection robot.
The invention relates to a wireless charging method for a charging safety house of a coal mine underground belt inspection robot, which comprises the following steps that step 1, after a safety house master controller receives a charging signal of the inspection robot, a door body 9 is opened through a cabin door automatic opening and closing assembly; step 2, a safety room master controller controls a guide rail automatic telescopic component to be connected with a guide rail of the inspection robot through a material receiving support arm 17, the inspection robot automatically moves to the material receiving support arm 17, and the guide rail automatic telescopic component retracts the inspection robot into a charging cabin 24 through the material receiving support arm 17; step 3, the safety house master controller detects a signal that the inspection robot is completely in the charging cabin 24, and the door body 9 is closed through the cabin door automatic opening and closing component; and 4, controlling the wireless charging device 30 to start charging the inspection robot by the safety host controller.
According to the wireless charging method for the charging safety house of the underground coal mine belt inspection robot, when the safety house main controller detects a fully closed or opened state signal of the cabin door, the guide rail automatic telescopic control assembly is started; after the cabin door is completely opened, the main controller starts the guide rail automatic telescopic assembly, stretches out the movable guide rail to a specific position and gives a confirmation signal; after the cabin door is completely closed, the main controller starts the guide rail automatic telescopic assembly, and the movable guide rail is contracted to the original position and a confirmation signal is given.
The charging safety house for the underground coal mine belt inspection robot according to the invention shown in fig. 4 preferably further comprises a door state sensor, a lock state sensor, a guide rail state sensor, a robot in-orbit state sensor, a power supply, a communication module, a display module and an early warning module which are connected with a safety house main controller, wherein the door state sensor, the lock state sensor, the guide rail state sensor and the robot in-orbit state sensor are respectively matched with a cabin door automatic switch assembly, a cabin door automatic lock/unlock assembly and a guide rail automatic telescopic assembly (the door state sensor, the lock state sensor, the guide rail state sensor, the robot in-orbit state sensor, the power supply, the communication module, the display module and the early warning module are not shown in fig. 1, 2 and 3).
The charging safety house for the underground coal mine belt inspection robot is preferable, and the working state of the charging safety house is provided with three control modes, namely remote control mode, automatic control mode and manual control mode; remote control: the background control center sends out a charging signal through a network; automatic control: the inspection robot sends out a charging signal through a network; and (3) manual control: the manual work is through panel direct control, sends the charge signal.
The charging safety house for the underground coal mine belt inspection robot and the application of the wireless charging method are applicable to charging of rail-defining inspection robots and wheel-type inspection robots.
The charging safety house for the underground coal mine belt inspection robot is arranged above a belt conveying line, is the same as the track of the inspection robot in a horizontal direction, and comprises a control cabin and a charging cabin, wherein a cabin door automatic switching device is arranged in the charging cabin and the driving direction of the inspection robot; the cabin door is provided with an automatic/manual falling lock and an unlocking component; the automatic telescopic assembly of the guide rail is positioned at the top of the inner side of the cabin body, and the telescopic guide rail is connected with the track of the inspection robot; the electric control device of the driving mechanism is arranged in the control cabin.
The invention relates to a charging safety house for a coal mine underground belt inspection robot, which also comprises a magnetic navigation and RFID positioning component and a non-contact lateral charging docking component (neither shown in figures 1, 2 and 3) which are matched with a wireless charging device 30.
The automatic cabin door opening and closing assembly for the charging safety house of the underground coal mine belt inspection robot has the advantages that the transmission of the screw rod is stable and reliable, the door opening and closing process is light and natural, the humanized design is met, the door body 10 is connected with the optical axis 7, the linear bearing 8 replaces a conventional door hinge to be used, the gap is small, the structure is firm and reliable, the motor is utilized to rotate and convert linear motion, the door body is driven to automatically rotate around the linear bearing 8, the door body 9 is automatically opened and closed, the door opening process is intelligent, time-saving and labor-saving, the door opening is smooth, the sealing effect of the safety house is improved, and the door opening/closing state detection process is the initial state of the cabin door and is closed; when the door body is in a fully closed or open state, a door body open/close state signal is sent out, and the safety homeowner controller can detect the state signal.
According to the charging safety house for the underground coal mine belt inspection robot, the motor and the speed reducer are adopted by the lock body of the automatic cabin door falling lock/unlocking assembly, the rotary rod is connected with the cam rotary mechanism to realize that the door body can be lifted and then rotated to be opened in place when the door is opened, the cam mechanism rotates and is pressed downwards when the door body is closed, and the surrounding buckles of the door body can clamp and lock the door body; when the safety house master controller detects a fully closed or opened state signal of the door body, the door body is automatically locked or opened through the door lock; when the door is required to be maintained or is abnormal, the door body can be opened manually.
The wireless charging of the present invention as shown in fig. 3 includes, but is not limited to, using a contactless lateral charging docking mode.
The foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.
Claims (9)
1. A safe room that charges that is used for colliery belt in pit to patrol and examine robot, its characterized in that: the automatic cabin door locking/unlocking device consists of a control cabin (23), a charging cabin (24), an automatic cabin door opening/closing assembly, an automatic cabin door locking/unlocking assembly and an automatic guide rail telescoping assembly which are matched with the control cabin (23) and the charging cabin (24), and a safe host controller matched with the automatic cabin door opening/closing assembly, the automatic cabin door locking/unlocking assembly and the automatic guide rail telescoping assembly; the automatic cabin door opening and closing assembly comprises a door shaft fixing seat (10), an optical axis (7), a linear bearing (8), a door body (9), a rotary support (6), a connecting rod (5) connected with the rotary support (6), a cabin door opening and closing motor (1), a cabin door opening and closing speed reducer (2), a screw rod module (3), a guide shaft (4) and a sealing frame (29), wherein the door shaft fixing seat (10), the optical axis (7), the linear bearing (8), the door body (9), the rotary support (6) are arranged on the outer wall of one end of a charging cabin (24) and are matched with each other, the cabin door opening and closing motor (1), the cabin door opening and closing speed reducer (2) is arranged in a control cabin (23), the screw rod module (3) is connected with the cabin door opening and closing speed reducer (2), and the guide shaft (4) is respectively connected with the connecting rod (5) and the screw rod module (3), and one end of the control cabin (23) is provided with the sealing frame (29). The cabin door automatic locking/unlocking assembly comprises an automatic locking/unlocking motor (15) arranged in a control cabin (23), an automatic locking/unlocking speed reducer (14) connected with the automatic locking/unlocking motor (15), a shaft support (13) connected with the automatic locking/unlocking speed reducer (14), a rotating rod (12) connected with the shaft support (13), and a cam shaft (27) connected with the rotating rod (12), wherein a locking block (28) matched with the cam shaft (27) is arranged on one side of the inside of a door body (9), a plurality of buckles (16) are arranged on the upper end face of the door body (9), and a frame plate (26) matched with the door body (9) and the plurality of buckles (16) is arranged on one end face of a charging cabin (24); the guide rail automatic telescopic assembly comprises an automatic telescopic control motor (22) arranged in a control cabin (23), an automatic telescopic control speed reducer (21) connected with the automatic telescopic control motor (22), an automatic telescopic control screw rod module (20) connected with the automatic telescopic control speed reducer (21), a group of linear sliding blocks (19) arranged on the automatic telescopic control screw rod module (20), an automatic telescopic control guide rod (18) connected with the automatic telescopic control screw rod module (20) and a material receiving support arm (17) arranged on the group of linear sliding blocks (19); the inner wall of the charging cabin (24) is provided with a wireless charging device (30).
2. The charging safety house for a coal mine underground belt inspection robot according to claim 1, wherein: the charging safety house for the underground coal mine belt inspection robot further comprises a cam shaft supporting seat (11) which is arranged on the inner wall of one end of the control cabin (24) and is matched with the rotary rod (12), the material receiving supporting arm (17) is arranged to comprise an I-shaped structure, and the automatic telescopic control screw rod module (20) and the automatic telescopic control guide rod (18) are respectively arranged in a group.
3. The charging safety house for a coal mine underground belt inspection robot according to claim 1, wherein: the automatic cabin door opening and closing assembly is characterized in that when the automatic cabin door opening and closing assembly works, after a main controller of a safety house receives a door opening or closing signal, a control signal is sent to a voltage-stabilizing driving protection module, the voltage-stabilizing driving protection module adjusts power output through the specification of a cabin door opening and closing motor (1), the cabin door opening and closing motor (1) works, at the moment, the cabin door opening and closing motor (1) drives a cabin door opening and closing speed reducer (2) to rotate, a connecting screw rod module (3) is connected to realize rotation, a screw rod moves forwards, a guide shaft (4) is lifted forwards along a fixed support, a connecting rod (5) swings at an angle, and a door body (9) is opened in place in a rotating mode; when the door needs to be closed, the door switch motor (1) is reversed, and the movement sequence of the mechanism is reversed.
4. The charging safety house for a coal mine underground belt inspection robot according to claim 1, wherein: when the cabin door automatic locking/unlocking assembly is used for preparing unlocking, the automatic locking unlocking (15) is used for rotationally driving the automatic locking unlocking speed reducer (14) to rotate, the rotating rod (12) is fixed to the shaft support (13) to rotate so as to drive the cam shaft (27) to rotate to jack up the locking piece (28) on the door body (9), and the buckle (16) is also displaced upwards and separated so as to realize the unlocking function; when the door is locked, the cam shaft (27) moves downwards at a high point in the reverse rotation mode to press the lower edge of the door body (27), the buckle (16) clamps the door body (9), and the door body (9) is locked.
5. The charging safety house for a coal mine underground belt inspection robot according to claim 1, wherein: the automatic telescopic assembly of guide rail, after the safe room master controller receives the instruction of charging and confirms that door body (9) is in the open state, automatic telescopic control motor (22) drive automatic telescopic control speed reducer (21) rotation, automatic telescopic control lead screw module (20) drive a set of sharp slider (19) and do sharp forward motion along both sides guide arm (18), simultaneously a set of sharp slider (19) drive connect material support arm (17) forward jack-up to track butt joint position, wait to patrol and examine behind the robot moved to connect material support arm (17) relative position, connect material support arm (17) back to the normal position, behind door body (9) close the falling lock, wireless charging device (30) begin to patrol and examine the robot charge.
6. A wireless charging method for a charging safety house of a coal mine underground belt inspection robot, which is used for the charging safety house of the coal mine underground belt inspection robot according to any one of claims 1 to 5, and is characterized by comprising the following steps:
step 1, after a safety house master controller receives a charging signal of a patrol robot, opening a door body (9) through a cabin door automatic opening and closing assembly;
step 2, a safety room master controller controls a guide rail automatic telescopic component to be connected with a guide rail of a patrol robot through a material receiving support arm (17), the patrol robot moves onto the material receiving support arm (17) independently, and the guide rail automatic telescopic component retracts the patrol robot into a charging cabin (24) through the material receiving support arm (17);
step 3, the safety house master controller detects a signal that the inspection robot is completely in the charging cabin (24), and the door body (9) is closed through the cabin door automatic opening and closing assembly;
and 4, controlling the wireless charging device (30) to start charging the inspection robot by the safety host controller.
7. The wireless charging method for the coal mine underground belt inspection robot charging safety house according to claim 6, wherein the wireless charging method comprises the following steps: the system further comprises a door state sensor, a lock state sensor, a guide rail state sensor, a robot track entering state sensor, a power supply, a communication module, a display module and an early warning module which are connected with the safety house main controller, wherein the door state sensor, the lock state sensor, the guide rail state sensor and the robot track entering state sensor are respectively matched with the cabin door automatic switch assembly, the cabin door automatic lock/unlock assembly and the guide rail automatic telescopic assembly.
8. The wireless charging method for the coal mine underground belt inspection robot charging safety house according to claim 6, wherein the wireless charging method comprises the following steps: the working state of the charging safety house is provided with three control modes, namely remote control mode, automatic control mode and manual control mode; remote control: the background control center sends out a charging signal through a network; automatic control: the inspection robot sends out a charging signal through a network; and (3) manual control: the manual work is through panel direct control, sends the charge signal.
9. The application of the charging safety house of the underground coal mine belt inspection robot, which is applicable to the charging safety house of the underground coal mine belt inspection robot according to any one of claims 1 to 5, and is characterized in that: the charging safety house is suitable for charging including but not limited to a rail-fixing inspection robot and a wheel-type inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310860054.4A CN116896135A (en) | 2023-07-13 | 2023-07-13 | Charging safety house for underground coal mine belt inspection robot and wireless charging method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310860054.4A CN116896135A (en) | 2023-07-13 | 2023-07-13 | Charging safety house for underground coal mine belt inspection robot and wireless charging method |
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| Publication Number | Publication Date |
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| CN116896135A true CN116896135A (en) | 2023-10-17 |
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| CN202310860054.4A Withdrawn CN116896135A (en) | 2023-07-13 | 2023-07-13 | Charging safety house for underground coal mine belt inspection robot and wireless charging method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113725969A (en) * | 2021-08-30 | 2021-11-30 | 南京双京电博特种机器人产业研究院有限公司 | Charging safety room for underground coal mine belt inspection robot and wireless charging method |
| CN113725969B (en) * | 2021-08-30 | 2024-05-28 | 南京双京电博特种机器人产业研究院有限公司 | Charging safety house for underground coal mine belt inspection robot and wireless charging method |
-
2023
- 2023-07-13 CN CN202310860054.4A patent/CN116896135A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113725969A (en) * | 2021-08-30 | 2021-11-30 | 南京双京电博特种机器人产业研究院有限公司 | Charging safety room for underground coal mine belt inspection robot and wireless charging method |
| CN113725969B (en) * | 2021-08-30 | 2024-05-28 | 南京双京电博特种机器人产业研究院有限公司 | Charging safety house for underground coal mine belt inspection robot and wireless charging method |
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