CN117140544A - Robot is patrolled and examined to colliery dust - Google Patents
Robot is patrolled and examined to colliery dust Download PDFInfo
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- CN117140544A CN117140544A CN202311161240.5A CN202311161240A CN117140544A CN 117140544 A CN117140544 A CN 117140544A CN 202311161240 A CN202311161240 A CN 202311161240A CN 117140544 A CN117140544 A CN 117140544A
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- 239000000428 dust Substances 0.000 title claims abstract description 124
- 238000001514 detection method Methods 0.000 claims abstract description 137
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 47
- 239000003245 coal Substances 0.000 claims abstract description 43
- 238000010438 heat treatment Methods 0.000 claims abstract description 42
- 238000007689 inspection Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000004140 cleaning Methods 0.000 claims description 54
- 230000000087 stabilizing effect Effects 0.000 claims description 25
- 238000003860 storage Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 3
- 238000005485 electric heating Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 14
- 238000001035 drying Methods 0.000 abstract description 7
- 230000002349 favourable effect Effects 0.000 abstract description 7
- 238000007605 air drying Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 238000005065 mining Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 241000883990 Flabellum Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000037406 food intake Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
-
- 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
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Dispersion Chemistry (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention relates to the technical field of coal mine inspection, and discloses a coal mine dust inspection robot, which comprises a robot body, wherein walking tracks for moving are arranged on the left side and the right side of the robot body, a rotating mechanism is fixedly arranged on the upper side of the robot body, a detecting component for detecting dust is arranged on the upper side of the rotating mechanism, and a visual sensing mechanism for conducting visual data is fixedly arranged on the upper side of the detecting component. This robot is patrolled and examined to colliery dust utilizes the heating copper wire to produce corresponding heat and dries to the hydrone in the air through the battery circular telegram, makes it dry, and then reaches the air current that passes here and carry out drying treatment purpose, can play damp-proofing effect on the one hand, effectively avoids because the hydrone in the air current causes the damage to the inside electronic components of detection part, and then promotes its life, on the other hand can make the air drying of detection abundant, is favorable to the accurate detection to dust concentration.
Description
Technical Field
The invention belongs to the technical field of coal mine inspection, and particularly relates to a coal mine dust inspection robot.
Background
The energy structure mainly based on coal is a necessary choice of the existing state of energy resource occurrence in China, and is long-standing, along with the gradual reduction of shallow coal resources, coal development is shifted to deep, and the coal development is faced with dangerous mining environments with unclear geological conditions, unknown threat and frequent disasters.
Along with the continuous development of coal mining, the environment-friendly intelligent mine construction of 'mechanical person changing, automatic person subtracting and intelligent unmanned' is greatly promoted, the requirement of intelligent mine is gradually put forward, the robot is used as a strategic high-tech technology, remarkable effects are achieved in the industrial field, the inspection robot is applied to the coal mine construction, the labor quantity of working faces can be reduced, the labor intensity of workers is reduced, and the working efficiency is improved.
The existing coal mining industry is required to carry out inspection operation on a coal mine working environment, the coal mine inspection is taken as an important component of a coal mine operation management system, the coal mine electromechanical equipment is ensured to run safely and reliably, inspection robots are adopted in the existing coal mine electromechanical inspection, at present, most of the inspection robots are fixed track traction robots, running tracks are required to be laid in advance before the use, the manufacturing cost is high, the equipment is self-weight and the inspection range is narrow, the equipment is required to be detached from the tracks during maintenance, and the equipment is inconvenient, and secondly, because of heavy moisture in the coal mine air environment, the monitoring data of dust concentration is easily influenced, great difficulty is often brought to the inspection operation of the dust inspection robots, and a large amount of dust is accumulated in the inspection structure of the inspection robots, so that the inspection effect of the inspection robots is influenced; therefore, the method has the defect that the requirement of quick inspection in the existing coal mining industry is not met, and therefore, further improvement is needed.
Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to provide a robot for inspecting dust in a coal mine, which has a high practical value.
Disclosure of Invention
In order to solve the technical problems, the invention provides a coal mine dust inspection robot, which is realized by the following specific technical means:
the utility model provides a colliery dust inspection robot, includes the robot body, the left and right sides of robot body is provided with the walking track that is used for removing, the fixed rotating mechanism that is provided with in upside of robot body, rotating mechanism's upside is provided with the detection component that detects the dust, the fixed vision sensing mechanism that carries out vision data conduction that is provided with in detection component's upside, the fixed control assembly that is provided with in front of robot body;
the detection part is characterized in that a detection port is formed in the front side of the detection part, a protection plate is fixedly arranged on the detection port, a plurality of through holes are formed in the protection plate, a fixing frame is fixedly arranged in the detection part, an exhaust fan and a limiting assembly are fixedly arranged on the fixing frame, the exhaust fan is located between the limiting assembly and the protection plate, and outside air and dust are driven to enter the detection part along the through holes in the protection plate through the operation of the exhaust fan;
the inside of detecting part is provided with detection tube and detection subassembly, and the detection tube is located between detection subassembly and the mount, the fixed setting of detection subassembly is on the inner wall of detecting part, detects the air dust in the detection tube through detection subassembly to with detection data passes through detection subassembly transmission to the master console.
Further, the control assembly comprises a display screen, an indicator light and a control button;
the utility model discloses a robot, including display screen, pilot lamp and control button have set gradually to the below of display screen, through the display screen shows dust content data, through the running condition of robot is looked over to the pilot lamp, through control button controls the robot.
Through adopting above-mentioned structure, be favorable to the control to the robot body through control button's setting, can look over the running state of robot body in real time through the pilot lamp, can show the relative dust mass concentration data of detection through the display screen.
Further, the limiting component comprises a limiting block, an elastic connecting piece and a limiting plate;
the outer side wall of the limiting block is fixedly connected with the inner side wall of the fixing frame, a limiting plate is arranged on one side, far away from the exhaust fan, of the limiting block, a groove is formed in one side, facing the limiting plate, of the limiting block, an elastic connecting piece is arranged in the groove, and one side, facing the limiting plate, of the elastic connecting piece is fixedly connected with the elastic connecting piece;
the central shaft of the limiting block is provided with an air inlet hole, the limiting plate is provided with a plurality of uniformly distributed air holes, the air inlet hole and the air holes are staggered, and the limiting plate and the limiting block are mutually attached to realize the sealing of the air inlet hole and the air holes.
Through adopting above-mentioned structure, make its automatic opening when moving through this setting, automatic closure when stopping effectively isolated external impurity's entering, further promotion equipment's result of use.
Further, be provided with the heating copper wire on the inlet port lateral wall of stopper, the inside of stopper is fixed to be provided with the battery, the battery is electric connection with the setting of heating copper wire, through the battery will electric energy transmission to the heating copper wire in and make the heating copper wire produce the heat and dry the operation to the humid air that passes the inlet port.
Through adopting above-mentioned structure, can play damp-proofing effect through this setting on the one hand, effectively avoid because the hydrone in the air current leads to the fact the damage to the inside electronic components of detection part, and then promote its life, on the other hand can make the air drying who detects abundant, is favorable to the accurate detection to dust concentration.
Further, the detection assembly comprises a control assembly, a laser generator and a photoelectric converter;
the control assembly is fixedly arranged on the inner wall of the detection part, a laser generator and a photoelectric converter are arranged on one side, facing the detection tube, of the control assembly, the photoelectric converter is located under the laser generator, parallel light irradiation is carried out on air dust in the detection tube through the laser generator, scattered light of the dust is converted into photocurrent through the photoelectric converter, and relative mass concentration data are converted through the control assembly and transmitted to the display screen and the master control desk.
Through adopting above-mentioned structure, carry out parallel light through laser generator to the air dust in the detecting tube and shine to make the scattered light of dust utilize photoelectric converter to convert photocurrent, reuse control assembly to convert out relative mass concentration data and with data transmission to display screen and master console, the relevant personnel of being convenient for can real-time supervision dust concentration data, be favorable to carrying out real-time supervision to the dust concentration in the air in colliery tunnel.
Further, a rotating shaft is fixedly arranged on one side, facing the limiting assembly, of the exhaust fan, extends towards the limiting assembly and penetrates through the limiting plate to be fixedly connected with the first ratchet wheel, a cleaning assembly for cleaning dust on the heating copper wire is arranged on the rotating shaft and located at the center of the heating copper wire, and the cleaning assembly comprises a cleaning ring, a cleaning connecting rod and a cleaning brush;
the cleaning ring is fixedly sleeved on the periphery of the rotating shaft, a plurality of cleaning connecting rods are arranged on the periphery of the cleaning ring, one end, away from the cleaning ring, of each cleaning connecting rod is fixedly connected with the cleaning brush, and the cleaning connecting rods rotate through the rotating shaft and drive the cleaning brush to clean dust on the surface of the heating copper wire.
Through adopting above-mentioned structure, can effectively clear up the surface of heating copper wire through the cleaning brush, realize the automatic clearance of dust, avoid a large amount of dust to pile up the result of use that influences the heating copper wire at the surface of heating copper wire.
Further, a movable plate is fixedly sleeved on the periphery of one side, facing the detection assembly, of the detection tube, and an elastic pad is fixedly connected between one side, facing the detection tube, of the movable plate and the inner wall of the detection part;
the bottom of detecting tube has seted up a plurality of dust hole, the dust groove has been seted up to the bottom that just is located detecting tube on detecting element's the inner wall, dust exhaust pipeline has been seted up to the bottom in dust groove.
Through adopting above-mentioned structure, produce vibration frequency through fly leaf and detection pipe under the effect of elastic pad to make the detection pipe can keep high vibration frequency, and make the dust in the detection pipe follow the pipe wall landing to the dust hole of arranging, outwards discharge along the dust exhaust pipeline again, and can effectively avoid the dust in the detection pipe to fall on the pipe wall to influence the use of equipment through this setting.
Further, a movable shaft is movably arranged in the detection part, a ratchet wheel II and a swinging piece are arranged on the movable shaft, and the rotating shaft drives the ratchet wheel I to rotate and be meshed with the ratchet wheel II.
Through adopting above-mentioned structure, through ratchet one and the mutual meshing transmission of ratchet two, impel loose axle and swinging member to rotate under the drive of ratchet two, realize the transmission effect of structure.
Further, fixed frames are arranged in the detection part and positioned on the upper side and the lower side of the movable shaft, a linkage assembly is arranged in the fixed frames, and the linkage assembly comprises a linkage block, a reset spring, a knocking piece and a stabilizing groove;
the linkage block is fixedly connected with the inner wall of the fixed frame through a reset spring, a knocking part is fixedly arranged on one side, far away from the reset spring, of the linkage block, a stabilizing groove is formed in the linkage block, and the swinging part knocks the linkage block and enables the knocking part to knock the movable plate, so that the detection tube generates vibration frequency.
Through adopting above-mentioned structure, through under the effort that the knocking part was beaten, impel fly leaf and detection pipe under the effect of elastic pad produce vibration frequency to make the detection pipe can keep high vibration frequency, and can effectively avoid the dust in the detection pipe to fall on the pipe wall to influence the use of equipment through this setting, further promote its result of use.
Further, stabilizing frames are arranged on the inner wall of the fixed frame and located on two sides of the linkage assembly, stabilizing rods are fixedly arranged on one sides of the stabilizing frames, facing the linkage block, of the stabilizing frames, and the stabilizing rods are located in the stabilizing grooves.
Through adopting above-mentioned structure, can strengthen the stability when linkage subassembly operation through this setting.
Advantageous effects
Compared with the prior art, the invention provides the coal mine dust inspection robot, which has the following beneficial effects:
1. this robot is patrolled and examined to colliery dust, the device is through the battery to heating copper wire circular telegram, utilizes the heating copper wire to produce corresponding heat and dry to the hydrone in the air, makes its drying, and then reaches the air current that passes here and carry out drying treatment purpose, can play damp-proofing effect on the one hand, effectively avoid because the hydrone in the air current causes the damage to the inside electronic components of detection part, and then promotes its life, on the other hand can make the air drying of detection abundant, is favorable to the accurate detection to dust concentration.
2. This robot is patrolled and examined to colliery dust, the device carries out parallel light through laser generator to the air dust in the detecting tube and shines to make the scattered light of dust utilize photoelectric converter to convert photocurrent, reuse control assembly conversion out relative mass concentration data and with data transmission to display screen and master control board, the relevant personnel of being convenient for can real-time supervision dust concentration data, is favorable to carrying out real-time supervision to the dust concentration in the air in colliery tunnel.
3. This robot is patrolled and examined to colliery dust, the device passes through the air exhauster and produces suction at the detection mouth of detecting element, and inhale outside air current and dust to detecting element's inside, and promote limiting plate pulling elastic connection spare under the effort of air current and remove, make limiting plate and stopper mutual separation, make the air current pass along the gap between limiting plate and the limiting plate, in the rethread ventilation hole gets into the detecting tube, realize outside air's ingestion, be favorable to carrying out real-time detection to the dust in the air, and make its automatic opening when moving through this setting, automatic closure when stopping, effectively isolated external impurity's entering, further the result of use of lifting means.
4. This robot is patrolled and examined to colliery dust, the device utilizes the pivot to drive the clearance subassembly and rotates in step when the flabellum through the air exhauster is pivoted, utilizes the clearance brush to carry out effective clearance to the surface of heating copper wire, realizes the automatic clearance of dust, avoids a large amount of dust to pile up the result of use that influences the heating copper wire at the surface of heating copper wire.
5. This robot is patrolled and examined to colliery dust, the device is through the air exhauster, the test tube, the fly leaf, the elastic pad, the pivot, ratchet one, the loose axle, ratchet two, swing piece and linkage are mutually supported and are acted on between the subassembly, strike the fly leaf through the plexor, make fly leaf and test tube produce vibration frequency under the effect of elastic pad, and make the test tube can keep high vibration frequency, and make the dust in the test tube slide to the dust exhaust hole along the pipe wall, follow the outwards discharge of dust exhaust pipeline again, and can effectively avoid the dust in the test tube to fall on the pipe wall to influence the use of equipment through this setting, further promote its result of use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of the whole structure of the present invention;
FIG. 2 is a schematic view of the mounting structure of the rotating mechanism and the detecting unit of the present invention;
FIG. 3 is a schematic view showing the internal structure of the detecting unit of the present invention;
FIG. 4 is a schematic view of the mounting structure of the detection component and the fixing frame of the present invention;
FIG. 5 is a schematic view of the mounting structure of the mount and suction fan and spacing assembly of the present invention;
FIG. 6 is a schematic view of the internal structure of the spacing assembly of the present invention;
FIG. 7 is a schematic view of the shaft and cleaning assembly mounting structure of the present invention;
FIG. 8 is a schematic view of the mounting structure of the detection component and the detection tube of the present invention;
FIG. 9 is a schematic view of the mounting structure of the test tube and test assembly of the present invention;
FIG. 10 is a schematic view of the mounting structure of the fixed frame and linkage assembly of the present invention;
FIG. 11 is a schematic view of the overall structure of the linkage assembly of the present invention;
fig. 12 is an enlarged schematic view of portion a of fig. 9 in accordance with the present invention.
In the figure: 1. a robot body; 2. a walking track; 3. a rotating mechanism; 4. a detection section; 41. a protection plate; 5. a visual sensing mechanism; 6. a control assembly; 61. a display screen; 62. an indicator light; 63. a control button; 7. a fixing frame; 8. an exhaust fan; 9. a limit component; 91. a limiting block; 911. an air inlet hole; 92. an elastic connection member; 93. a limiting plate; 931. a vent hole; 10. a detection tube; 101. a movable plate; 102. an elastic pad; 11. a detection assembly; 111. a control assembly; 112. a laser generator; 113. a photoelectric converter; 12. heating the copper wire; 121. a storage battery; 13. a rotating shaft; 131. a ratchet wheel I; 14. cleaning the assembly; 141. cleaning the ring; 142. cleaning a connecting rod; 143. cleaning brushes; 15. a movable shaft; 151. a ratchet wheel II; 152. a swinging member; 16. a fixed frame; 17. a linkage assembly; 171. a linkage block; 172. a return spring; 173. a knocking member; 174. a stabilizing groove; 18. a stabilizing rack; 181. a stabilizer bar; 19. dust exhaust holes; 20. a dust collecting tank; 21. dust exhaust pipeline.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention, and that the embodiments of the present invention and features in the embodiments may be combined with each other without conflict, and in the following, for convenience of description, the terms such as "up", "down", "left", "right" and "up", "down", "are merely shown in correspondence with the up, down, left and right directions of the drawings themselves, and do not limit the structure, and based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of the present invention.
Referring to fig. 1 to 12, a robot for inspecting dust in a coal mine comprises a robot body 1, wherein walking tracks 2 for moving are arranged on the left side and the right side of the robot body 1, a rotating mechanism 3 is fixedly arranged on the upper side of the robot body 1, a detecting component 4 for detecting dust is arranged on the upper side of the rotating mechanism 3, a visual sensing mechanism 5 for conducting visual data is fixedly arranged on the upper side of the detecting component 4, and a control component 6 is fixedly arranged on the front side of the robot body 1; the front side of the detection part 4 is provided with a detection port, the detection port is fixedly provided with a protection plate 41, the protection plate 41 is provided with a plurality of through holes, the inside of the detection part 4 is fixedly provided with a fixing frame 7, the fixing frame 7 is fixedly provided with an exhaust fan 8 and a limiting assembly 9, the exhaust fan 8 is positioned between the limiting assembly 9 and the protection plate 41, and outside air and dust are driven to enter the inside of the detection part 4 along the through holes in the protection plate 41 through the operation of the exhaust fan 8; the detection component 4 is internally provided with a detection tube 10 and a detection assembly 11, the detection tube 10 is positioned between the detection assembly 11 and the fixing frame 7, the detection assembly 11 is fixedly arranged on the inner wall of the detection component 4, the detection assembly 11 is used for detecting air dust in the detection tube 10, and detection data are transmitted to a master control console through the detection assembly 11; suction is generated at a detection port of the detection component 4 through the exhaust fan 8, external air flow and dust are sucked into the detection component 4, the detection component 11 is used for detecting relative mass concentration data and transmitting the data to the control component 6 and the master console, and relevant personnel can monitor the dust concentration data in real time, so that the dust concentration in the air of a coal mine roadway can be monitored in real time.
The control assembly 6 comprises a display screen 61, an indicator light 62 and control buttons 63; an indicator lamp 62 and a control button 63 are sequentially arranged below the display screen 61, dust content data is displayed through the display screen 61, the running condition of the robot body 1 is checked through the indicator lamp 62, and the robot body 1 is controlled through the control button 63; the control of the robot body 1 is facilitated by the arrangement of the control button 63, the running state of the robot body 1 can be checked in real time by the indicator lamp 62, and the detected relative dust mass concentration data can be displayed by the display screen 61.
The limiting assembly 9 comprises a limiting block 91, an elastic connecting piece 92 and a limiting plate 93; the outer side wall of the limiting block 91 is fixedly connected with the inner side wall of the fixing frame 7, a limiting plate 93 is arranged on one side, far away from the exhaust fan 8, of the limiting block 91, a groove is formed in one side, facing the limiting plate 93, of the limiting block 91, an elastic connecting piece 92 is arranged in the groove, and one side, facing the limiting plate 93, of the elastic connecting piece 92 is fixedly connected with the limiting plate 93; the central shaft of the limiting block 91 is provided with an air inlet hole 911, the limiting plate 93 is provided with a plurality of uniformly distributed air vent holes 931, the air inlet hole 911 and the air vent holes 931 are staggered, and the sealing between the air inlet hole 911 and the air vent holes 931 is realized through the mutual lamination of the limiting plate 93 and the limiting block 91; the limiting plate 93 is pushed to pull the elastic connecting piece 92 to move under the action force of the air flow, the limiting plate 93 and the limiting plate 91 are mutually separated, the air flow passes through a gap between the limiting plate 91 and the limiting plate 93, and then enters the detection tube 10 through the vent hole, so that the intake of external air is realized, and the real-time detection of dust in the air is facilitated.
The detection assembly 11 comprises a control assembly 111, a laser generator 112 and a photoelectric converter 113; the control assembly 111 is fixedly arranged on the inner wall of the detection part 4, a laser generator 112 and a photoelectric converter 113 are arranged on one side, facing the detection tube 10, of the control assembly 111, the photoelectric converter 113 is positioned right below the laser generator 112, parallel light irradiation is carried out on air dust in the detection tube 10 through the laser generator 112, scattered light of the dust is converted into photocurrent through the photoelectric converter 113, relative mass concentration data are converted through the control assembly 111, and the data are transmitted to the display screen 61 and the total control desk; the laser generator 112 is used for carrying out parallel light irradiation on air dust in the detection tube 10, scattered light of the dust is converted into photocurrent by the photoelectric converter 113, and the control assembly 111 is used for converting relative mass concentration data and transmitting the data to the display screen 61 and the master console, so that related personnel can monitor the dust concentration data in real time.
A heating copper wire 12 is arranged on the side wall of an air inlet hole 911 of the limiting block 91, a storage battery 121 is fixedly arranged in the limiting block 91, the storage battery 121 is electrically connected with the heating copper wire 12, electric energy is transmitted into the heating copper wire 12 through the storage battery 121, and the heating copper wire 12 generates heat to dry moist air passing through the air inlet hole 911; the storage battery 121 is used for electrifying the heating copper wire 12, the heating copper wire 12 is used for generating corresponding heat and drying water molecules in the air, so that the drying is realized, the purpose of drying the air flow passing through the storage battery is achieved, and the accurate detection of dust concentration is facilitated.
A rotating shaft 13 is fixedly arranged on one side, facing the limiting assembly 9, of the exhaust fan 8, the rotating shaft 13 extends towards the limiting assembly 9 and penetrates through the limiting plate 93 to be fixedly connected with the ratchet wheel I131, a cleaning assembly 14 for cleaning dust of the heating copper wire 12 is arranged on the rotating shaft 13 and positioned in the center of the heating copper wire 12, and the cleaning assembly 14 comprises a cleaning ring 141, a cleaning connecting rod 142 and a cleaning brush 143; the cleaning ring 141 is fixedly sleeved on the periphery of the rotating shaft 13, a plurality of cleaning connecting rods 142 are arranged on the periphery of the cleaning ring 141, one end, far away from the cleaning ring 141, of each cleaning connecting rod 142 is fixedly connected with the cleaning brush 143, and the cleaning connecting rods 142 drive the cleaning brush 143 to clean dust on the surface of the heating copper wire 12 through the rotation of the rotating shaft 13; the cleaning assembly 14 is driven to synchronously rotate by the rotating shaft 13 while the fan blade of the exhaust fan 8 rotates, and the cleaning brush 143 is used for effectively cleaning the outer surface of the heating copper wire 12, so that automatic dust cleaning is realized.
The inside of the detection part 4 is movably provided with a movable shaft 15, the movable shaft 15 is provided with a ratchet wheel II 151 and a swinging piece 152, and the rotating shaft 13 drives the ratchet wheel I131 to rotate and be meshed with the ratchet wheel II 151; the first ratchet wheel 131 is driven to synchronously rotate in the rotating process of the rotating shaft 13, and the first ratchet wheel 131 and the second ratchet wheel 151 are meshed to drive each other, so that the movable shaft 15 and the swinging piece 152 are driven to rotate by the second ratchet wheel 151, and the transmission effect of the structure is achieved.
The inside of the detection part 4 and positioned on the upper side and the lower side of the movable shaft 15 are respectively provided with a fixed frame 16, a linkage assembly 17 is arranged in the fixed frame 16, and the linkage assembly 17 comprises a linkage block 171, a return spring 172, a knocking member 173 and a stabilizing groove 174; the linkage block 171 is fixedly connected with the inner wall of the fixed frame 16 through a return spring 172, a knocking member 173 is fixedly arranged on one side of the linkage block 171 away from the return spring 172, a stabilizing groove 174 is formed in the linkage block 171, and the swinging member 152 knocks the linkage block 171 and the knocking member 173 knocks the movable plate 101 to enable the detection tube 10 to generate vibration frequency; the swinging piece 152 collides with the linkage block 171 in the rotating process, so that the linkage assembly 17 is caused to generate acting force for moving towards the movable plate 101, the knocking piece 173 is caused to contact with the movable plate 101, the movable plate 101 and the detection tube 10 are caused to generate vibration frequency under the action of the elastic pad 102 under the acting force of the knocking piece 173, the detection tube 10 can keep high vibration frequency, and dust in the detection tube 10 can be effectively prevented from falling on the tube wall to affect the use of equipment through the arrangement.
The stabilizing frames 18 are arranged on the inner wall of the fixed frame 16 and positioned on two sides of the linkage assembly 17, one side of the stabilizing frames 18 facing the linkage block 171 is fixedly provided with a stabilizing rod 181, and the stabilizing rod 181 is positioned in the stabilizing groove 174; by this arrangement, the stability of the linkage assembly 17 in operation can be enhanced.
A movable plate 101 is fixedly sleeved on the periphery of one side, facing the detection assembly 11, of the detection tube 10, and an elastic pad 102 is fixedly connected between one side, facing the detection tube 10, of the movable plate 101 and the inner wall of the detection part 4; the bottom of the detection pipe 10 is provided with a plurality of dust discharging holes 19, the inner wall of the detection part 4 and the bottom of the detection pipe 10 are provided with dust collecting grooves 20, and the bottom of the dust collecting grooves 20 is provided with a dust discharging pipeline 21; the movable plate 101 and the detection tube 10 generate vibration frequency under the action of the elastic pad 102, so that the detection tube 10 can keep high vibration frequency, dust in the detection tube 10 slides to the dust discharge hole 19 along the tube wall and is discharged outwards along the dust discharge pipeline 21, and the dust in the detection tube 10 can be effectively prevented from falling on the tube wall to affect the use of the device through the arrangement.
Specific use and action of the embodiment:
working principle: the coal mining industry is required to carry out inspection operation on a coal mine working environment, the coal mine inspection is an important component of a coal mine operation management system, the coal mine inspection is an important ring for ensuring safe and reliable operation of coal mine electromechanical equipment, the inspection robot is used for inspecting a coal mine roadway, when the coal mine mining operation is used, the control component 6 on the robot body 1 is controlled to start the robot body 1 to operate, the walking crawler 2 drives the robot body 1 to carry out reciprocating inspection in the coal mine roadway, the robot body 1 is controlled to carry out inspection, meanwhile, the exhaust fan 8 in the detection part 4 is started under the control of a program, suction is generated at a detection port of the detection part 4 by using the exhaust fan 8, external air flow and dust are sucked into the detection part 4, meanwhile, the air flow passes through the air inlet hole 911 of the limiting block 91 and contacts with the limiting plate 93, and the elastic connecting piece 92 is pulled to move under the action force of the air flow, the limiting plate 93 and the limiting plate 91 are mutually separated, the air flow is enabled to pass through a gap between the limiting block 91 and the limiting plate 93, and the air flow is enabled to enter the detection pipe 10, and the intake of external air is realized;
because the moisture is heavier in the air environment of the coal mine, a small amount of water molecules are contained in the air flow, the heating copper wire 12 is electrified through the storage battery 121, the heating copper wire 12 is utilized to generate corresponding heat and dry the water molecules in the air, so that the air flow passing through the heating copper wire is dried, the purpose of drying the air flow passing through the heating copper wire is achieved, on one hand, the moisture-proof effect can be achieved, the damage to electronic components in the detection part 4 caused by the water molecules in the air flow is effectively avoided, the service life of the electronic components is prolonged, on the other hand, the detected air is sufficiently dried, and the accurate detection of dust concentration is facilitated; the laser generator 112 is used for carrying out parallel light irradiation on the air dust in the detection tube 10, the scattered light of the dust is converted into photocurrent by the photoelectric converter 113, the control assembly 111 is used for converting relative mass concentration data and transmitting the data to the display screen 61 and the master console, so that related personnel can monitor the dust concentration data in real time, and the real-time monitoring of the dust concentration in the air of a coal mine tunnel is facilitated;
because a large amount of dust exists in the detected air, along with the long-time operation of the detection component 4, the dust is easy to accumulate on the outer surface of the heating copper wire 12, the cleaning component 14 is driven to synchronously rotate by the rotating shaft 13 while the fan blade of the exhaust fan 8 rotates, the outer surface of the heating copper wire 12 is effectively cleaned by the cleaning brush 143, the automatic cleaning of the dust is realized, and the phenomenon that the use effect of the heating copper wire 12 is influenced due to the fact that a large amount of dust is accumulated on the surface of the heating copper wire 12 is avoided;
in addition, the rotating shaft 13 drives the ratchet wheel 131 to synchronously rotate in the rotating process, the ratchet wheel 131 and the ratchet wheel 151 are meshed with each other to drive the movable shaft 15 and the swinging member 152 to rotate under the driving of the ratchet wheel 151, and the swinging member 152 collides with the linkage block 171 in the rotating process, so that the linkage assembly 17 generates acting force for moving towards the movable plate 101, the knocking member 173 contacts the movable plate 101, and the movable plate 101 and the detection tube 10 generate vibration frequency under the action of the knocking member 173, so that the detection tube 10 can keep high vibration frequency, dust in the detection tube 10 slides to the dust discharge hole 19 along the tube wall and is discharged outwards along the dust discharge pipeline 21, the dust in the detection tube 10 can be effectively prevented from falling on the tube wall to influence the use of the device, and the use effect of the device is further improved.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description of the preferred embodiments of the invention of is provided only as an aid in the description of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (10)
1. The utility model provides a robot is patrolled and examined to colliery dust, includes robot body (1), its characterized in that:
the robot comprises a robot body (1), wherein walking tracks (2) for moving are arranged on the left side and the right side of the robot body (1), a rotating mechanism (3) is fixedly arranged on the upper side of the robot body (1), a detection component (4) for detecting dust is arranged on the upper side of the rotating mechanism (3), a visual sensing mechanism (5) for conducting visual data is fixedly arranged on the upper side of the detection component (4), and a control component (6) is fixedly arranged on the front side of the robot body (1);
the detection device is characterized in that a detection port is formed in the front side of the detection part (4), a protection plate (41) is fixedly arranged on the detection port, a plurality of through holes are formed in the protection plate (41), a fixing frame (7) is fixedly arranged in the detection part (4), an exhaust fan (8) and a limiting assembly (9) are fixedly arranged on the fixing frame (7), the exhaust fan (8) is located between the limiting assembly (9) and the protection plate (41), and outside air and dust are driven to enter the detection part (4) along the through holes in the protection plate (41) through the operation of the exhaust fan (8);
the inside of detecting part (4) is provided with detection tube (10) and detection subassembly (11), and detection tube (10) are located between detection subassembly (11) and mount (7), detection subassembly (11) are fixed to be set up on the inner wall of detecting part (4), detect the air dust in detection tube (10) through detection subassembly (11) to with detection data through detection subassembly (11) transmission to total control cabinet.
2. The coal mine dust inspection robot of claim 1, wherein: the control assembly (6) comprises a display screen (61), an indicator lamp (62) and a control button (63);
an indicator lamp (62) and a control button (63) are sequentially arranged below the display screen (61), dust content data are displayed through the display screen (61), the running condition of the robot body (1) is checked through the indicator lamp (62), and the robot body (1) is controlled through the control button (63).
3. The coal mine dust inspection robot of claim 1, wherein: the limiting assembly (9) comprises a limiting block (91), an elastic connecting piece (92) and a limiting plate (93);
the outer side wall of the limiting block (91) is fixedly connected with the inner side wall of the fixing frame (7), a limiting plate (93) is arranged on one side, far away from the exhaust fan (8), of the limiting block (91), a groove is formed in one side, facing the limiting plate (93), of the limiting block (91), an elastic connecting piece (92) is arranged in the groove, and one side, facing the limiting plate (93), of the elastic connecting piece (92) is fixedly connected with the limiting plate;
the limiting block is characterized in that an air inlet hole (911) is formed in the central shaft of the limiting block (91), a plurality of uniformly distributed vent holes (931) are formed in the limiting plate (93), the air inlet hole (911) and the vent holes (931) are staggered, and the limiting plate (93) and the limiting block (91) are mutually attached to achieve sealing of the air inlet hole (911) and the vent holes (931).
4. A coal mine dust inspection robot according to claim 3, wherein: the electric heating device is characterized in that a heating copper wire (12) is arranged on the side wall of an air inlet hole (911) of the limiting block (91), a storage battery (121) is fixedly arranged in the limiting block (91), the storage battery (121) is electrically connected with the heating copper wire (12), electric energy is transmitted into the heating copper wire (12) through the storage battery (121), and the heating copper wire (12) generates heat to dry humid air passing through the air inlet hole (911).
5. The coal mine dust inspection robot of claim 1, wherein: the detection assembly (11) comprises a control assembly (111), a laser generator (112) and a photoelectric converter (113);
the control assembly (111) is fixedly arranged on the inner wall of the detection part (4), a laser generator (112) and a photoelectric converter (113) are arranged on one side, facing the detection tube (10), of the control assembly (111), the photoelectric converter (113) is located right below the laser generator (112), parallel light irradiation is carried out on air dust in the detection tube (10) through the laser generator (112), scattered light of the dust is converted into photocurrent through the photoelectric converter (113), and relative mass concentration data are converted through the control assembly (111) and are transmitted to the display screen (61) and the master control desk.
6. The coal mine dust inspection robot of claim 4, wherein: a rotating shaft (13) is fixedly arranged on one side, facing the limiting component (9), of the exhaust fan (8), the rotating shaft (13) extends towards the limiting component (9) and penetrates through the limiting plate (93) to be fixedly connected with the ratchet wheel I (131), a cleaning component (14) for cleaning dust on the heating copper wire (12) is arranged on the rotating shaft (13) and positioned in the center of the heating copper wire (12), and the cleaning component (14) comprises a cleaning ring (141), a cleaning connecting rod (142) and a cleaning brush (143);
the cleaning ring (141) is fixedly sleeved on the periphery of the rotating shaft (13), a plurality of cleaning connecting rods (142) are arranged on the periphery of the cleaning ring (141), one end, away from the cleaning ring (141), of each cleaning connecting rod (142) is fixedly connected with the cleaning brush (143), and the cleaning connecting rods (142) are driven to clean dust on the surface of the heating copper wire (12) through rotation of the rotating shaft (13).
7. The coal mine dust inspection robot of claim 1, wherein: a movable plate (101) is fixedly sleeved on the periphery of one side, facing the detection assembly (11), of the detection tube (10), and an elastic pad (102) is fixedly connected between one side, facing the detection tube (10), of the movable plate (101) and the inner wall of the detection part (4);
the bottom of detecting tube (10) has seted up a plurality of dust hole (19), dust groove (20) have been seted up to the bottom that just is located detecting tube (10) on the inner wall of detecting element (4), dust pipe (21) have been seted up to the bottom of dust groove (20).
8. The coal mine dust inspection robot of claim 6, wherein: the detection part (4) is internally and movably provided with a movable shaft (15), the movable shaft (15) is provided with a ratchet wheel II (151) and a swinging piece (152), and the rotating shaft (13) drives the ratchet wheel I (131) to rotate and be meshed with the ratchet wheel II (151).
9. The coal mine dust inspection robot of claim 8, wherein: the detection device is characterized in that a fixed frame (16) is arranged in the detection part (4) and positioned on the upper side and the lower side of the movable shaft (15), a linkage assembly (17) is arranged in the fixed frame (16), and the linkage assembly (17) comprises a linkage block (171), a reset spring (172), a knocking piece (173) and a stabilizing groove (174);
the linkage block (171) is fixedly connected with the inner wall of the fixed frame (16) through a reset spring (172), a knocking piece (173) is fixedly arranged on one side, far away from the reset spring (172), of the linkage block (171), a stabilizing groove (174) is formed in the linkage block (171), the swinging piece (152) is used for knocking the linkage block (171) and the knocking piece (173) is used for knocking the movable plate (101) so that the detection tube (10) generates vibration frequency.
10. The coal mine dust inspection robot of claim 9, wherein: the stabilizing device is characterized in that stabilizing frames (18) are arranged on the inner wall of the fixed frame (16) and located on two sides of the linkage assembly (17), stabilizing rods (181) are fixedly arranged on one sides, facing the linkage block (171), of the stabilizing frames (18), and the stabilizing rods (181) are located in the stabilizing grooves (174).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311161240.5A CN117140544A (en) | 2023-09-11 | 2023-09-11 | Robot is patrolled and examined to colliery dust |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311161240.5A CN117140544A (en) | 2023-09-11 | 2023-09-11 | Robot is patrolled and examined to colliery dust |
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| Publication Number | Publication Date |
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| CN117140544A true CN117140544A (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311161240.5A Pending CN117140544A (en) | 2023-09-11 | 2023-09-11 | Robot is patrolled and examined to colliery dust |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117464703A (en) * | 2023-12-06 | 2024-01-30 | 中科泰检测(江苏)有限公司 | Environment health detects mobile robot |
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- 2023-09-11 CN CN202311161240.5A patent/CN117140544A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117464703A (en) * | 2023-12-06 | 2024-01-30 | 中科泰检测(江苏)有限公司 | Environment health detects mobile robot |
| CN117464703B (en) * | 2023-12-06 | 2024-04-19 | 中科泰检测(江苏)有限公司 | Environment health detects mobile robot |
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