CN207726224U - Coal mine leather belt machine automatic crusing robot - Google Patents
Coal mine leather belt machine automatic crusing robot Download PDFInfo
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- CN207726224U CN207726224U CN201721747771.2U CN201721747771U CN207726224U CN 207726224 U CN207726224 U CN 207726224U CN 201721747771 U CN201721747771 U CN 201721747771U CN 207726224 U CN207726224 U CN 207726224U
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Abstract
The utility model discloses a kind of coal mine leather belt machine automatic crusing robots, including rail mounted walking unit and robot control system, chassis shell body, i-beam track, sloping bottom and column, the rail mounted walking unit and robot control system are mounted in chassis shell body and are erected on i-beam track, the lower surface both ends of the i-beam track bottom plate are respectively arranged with sloping bottom, one sloping bottom connects column one, another sloping bottom connects column two, and column one and two length of column are unequal；The rail mounted walking unit includes drive part and targeting part, the robot control system includes visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller, lithium battery, and the visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller are connect with lithium battery respectively.
Description
Technical field
The utility model is related to a kind of walking unit, especially a kind of coal mine leather belt machine automatic crusing robot belongs to work
Industry automatic field.
Background technology
Robot technology and its Drive technology have pole as a kind of strategic high-tech technology to the following new industry
Strong drive and technology radiation, development robot technology, actuation techniques and cognition technology, to promote socio-economic development,
Strengthening the defense capabilities, improve accident Ability of emergency management, improve People's livelihood etc. has far reaching significance.Currently, robot is in people
Machine interaction field has been widely applied, and such as in industrial circle, robot has begun to participate in human labour, and cooperates with people
Completion task；In service industry, it is also proposed catering trade service robot, anthropomorphic robot etc..
In current industrialized production, mine belt conveyor most common failure includes：Belt fracture, sideslip, skidding, carrying roller card
Dead and load spontaneous combustion etc..When belt feeder breaks down, the production efficiency of enterprise is not only influenced, worker's life but will be pacified
It threatens entirely.Therefore the problem of real-time monitoring of belt feeder travel position being paid close attention to jointly as enterprise.
At present before belt feeder most of coal mining enterprises for routine inspection mode still be manual patrol based on, this mode is main
Belt feeder state is judged by the sense organ for making an inspection tour worker, routing inspection efficiency is low, of high cost, and dependent on the master of worker
It sees and judges, poor reliability.Therefore by computer vision, various kinds of sensors, it is equipped on control cabinet, is transmitted by wireless bridge,
The automatic crusing robot being integrated in one becomes the demand of enterprise.Automatic crusing robot passes through all kinds of thecamera head skins
Band machine working condition is transferred to terminal interface by wireless communication technique, and Appliance computer vision and computer programming are real
Existing automatic alarm, substantially increases inspection reliability, saves cost.
Nowadays more universal to the use of crusing robot in substation, but one side coal mine leather belt machine working environment is disliked
Bad, especially for open coal mine, robot needs to overcome the extreme environments such as climbing, frost, dust, pavement state complexity, power transformation
The type of drive of crusing robot of standing cannot be met the requirements；Another aspect Intelligent Mobile Robot takes electricity by slip mostly,
The spark that easy tos produce within coal mines causes danger；And need to pinpoint charging with the robot of storage battery power supply, it can not achieve complete
Its monitoring, while conventional accumulators decline in face of low temperature environment battery performance, cannot effectively power.
Invention content
The purpose of this utility model is to provide a kind of coal mine leather belt machine automatic crusing robot, the robot not only structure
Simply, bearing capacity is big and slope climbing movement may be implemented, high transmission accuracy, while by infrared imaging and can automatically analyze,
To judge the movement of belt feeder.
In order to achieve the above object, technical solution used by the utility model is：A kind of coal mine leather belt machine automatic detecting
Robot, including rail mounted walking unit and robot control system, chassis shell body, i-beam track, sloping bottom and column, institute
It states rail mounted walking unit and robot control system is mounted in chassis shell body and is erected on i-beam track, the I-shaped
The lower surface both ends of steel track bottom plate are respectively arranged with sloping bottom, and one sloping bottom connects column one, another sloping bottom
Column two is connected, column one and two length of column are unequal；
The rail mounted walking unit includes drive part and targeting part,
The drive part includes servo motor, robot platform, gear, rack-track, and the robot platform is set up
In the top of i-beam track, mounting hole is provided on robot platform, the output shaft of the servo motor is vertical by mounting hole
Mounted on i-beam track side, the output shaft of the servo motor is connect with gear, and the rack-track is parallel to be fixed on work
On word steel track, the rack is engaged with rack-track；
The targeting part includes support wheel group, and the support wheel group is 4, is divided into two groups, each two support wheel group pair
Title is arranged in the both sides of i-beam track, and the support wheel group is connected to by nut at robot platform following four corners, described
Support wheel group includes wheel shell, support wheel, and the support wheel is made of nylon material, passes through spiral shell on one wheel shell
Bolt installation is there are two support wheel, and the support wheel rolls on two flanks of i-beam track bottom plate, the chassis shell body and vehicle
Hub cap connects；
The robot control system include visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller,
Lithium battery, the automatically controlled holder are arranged by bolt on robot platform, the visible light camera and the infrared photography
Machine is all mounted on automatically controlled holder, and the sound pick-up is mounted on the side wall of chassis shell body, and the controller connects with automatically controlled holder
It connecing, by floor installation on robot platform, the lithium battery is limited by deck on robot platform the controller,
The lithium battery uses low temperature lithium battery, the visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller point
It is not connect with lithium battery；
Further, include that rail mounted walking unit controller, cradle head controllor and wireless transmission are set in the controller
Standby, rail mounted walking unit controller is connect with servo motor, and cradle head controllor is connect with automatically controlled holder.
Further, the side of the chassis shell body is equipped with infrared glass, and the other side is equipped with chamber door, and the chamber door passes through
Door-hinge is mounted in chassis shell body.
Further, the both ends of the wheel shell are equipped with the bending part radially extended towards i-beam track.
Further, the rack-track and i-beam track equal length.
Further, the output shaft of the servo motor is connect by keyway and jackscrew with gear.
Further, the positioning outer rim coordinated with i-beam track is provided on the support wheel.
Compared with prior art, the automatic crusing robot, due to making robot complete machine base closed using chassis shell body,
It can stop the coal ash to wave on belt feeder, prevent dust from hindering camera coverage, infrared glass that infrared camera can be allowed normal
Work is not influenced by the light transmittance of glass itself and refractive index, ensures the accuracy of thermometric, the setting of chamber door is convenient for low temperature lithium electricity
The replacement in pond.
Automatically controlled holder receives and sends control command by being wirelessly transmitted to terminal, realizes pitching and left-right rotation, adjustment
Camera position；Low temperature lithium battery is servo motor and each controller of platform and sensor power supply, thermal camera and visible
The data of light video camera are programmed by controller transimission and storage to remote terminal by the computer picture recognition preset,
Intelligent distinguishing goes out the current motion state of belt feeder, and analyses whether normal and alarm.
Rail mounted walking unit does linear reciprocating motion by servo motor driving, while using the tooth being most widely used
Rack-driving is taken turns, such kind of drive is higher than the power that simple frictionally is realized and transmits, and lost motion is reduced, and avoids list
The generation for the slipping phenomenon that pure frictionally driving occurs, since rack pinion has, bearing capacity is big, may be implemented to climb
Movement, and high transmission accuracy, the features such as useful life is long.Rail mounted walking unit installation, maintenance are convenient, cost-effective, adopt
The mode being fixed to each other with servo motor and robot platform, without removing servo motor projecting shaft, it is only necessary to remove robot
Platform can easily overhaul gear, rack, support wheel etc..The utility model is used using i-beam track as main orbit
Eight nylon wheels are symmetrically distributed in as support wheel and directive wheel on the flank of I-steel bottom, while servo motor passes through robot
Platform middle through-hole, such main screw lift concentrate on middle part, can be to avoid the uneven stress of I-steel floor, to extend
The service life of walking unit.
The lower surface both ends of the i-beam track bottom plate are respectively arranged with sloping bottom, and one sloping bottom connects column
One, another sloping bottom connects column two, and the length of column one and column two can be with according to needing to adjust.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the front view that the utility model removes cabinet shell；
Fig. 3 is the vertical view that the utility model removes cabinet shell；
Fig. 4 is the rearview of Fig. 1；
In figure：1, column, 2, sloping bottom, 3, i-beam track, 4, rack-track, 5, chassis shell body, 6, chamber door, 7, door
Axis, 8, wheel shell, 9, support wheel group, 10, sound pick-up, 11, lithium battery, 12, servo motor, 13, thermal camera, 14, can
Light-exposed video camera, 15, controller, 16, gear, 17, robot platform, 18, automatically controlled holder, 19, deck, 20, infrared glass.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As Figure 1-Figure 4, a kind of coal mine leather belt machine automatic crusing robot, including rail mounted walking unit and robot
Control system, chassis shell body 5, i-beam track 3, sloping bottom 2 and column 1, the rail mounted walking unit and robot control
System is mounted in chassis shell body 5 and is erected on i-beam track 3, the lower surface both ends point of 3 bottom plate of the i-beam track
It is not provided with sloping bottom 2, one sloping bottom 2 connects column one, another sloping bottom connects column two, column one and column
Two length are unequal, and the column is connected by the foundation bolt being embedded in concrete stake；
The rail mounted walking unit, including drive part and targeting part,
The drive part includes servo motor 12, robot platform 17, gear 16, rack-track 4, i-beam track 3,
The robot platform 17 is erected at the top of i-beam track 3, and mounting hole, the servo motor are provided on robot platform 17
12 output shaft is vertically mounted on 3 side of i-beam track, output shaft and the gear 16 of the servo motor 12 by mounting hole
Connection, the parallel side for being fixed on 3 intermediate support plate of i-beam track of the rack-track 4, the gear 16 and rack-track 4
Engagement；The servo motor 12 is for linear motion on rack-track 4 with moving gear 16；Since rack-track 4 is in bull headction
On road 3 and positioned at support plate side, be connected with i-beam track 3 by screw, in this way, so that rack-track 4 and
Gear 16 is intermeshed and does not interfere.
Rack-track 4 is fixed to each other with i-beam track 3, since i-beam track 3 is fixed, to servo motor 12
It drives entire walking unit to be moved back and forth on i-beam track 3, completes the transmission of torque.
The targeting part includes support wheel group 9, and the support wheel group 9 is 4, is divided into two groups, each two support wheel group 9
The both sides of i-beam track 3 are symmetricly set on, the support wheel group 9 is connected to 17 following four corners of robot platform by nut
Place, the support wheel group 9 include wheel shell 8, support wheel, and the support wheel is made of nylon material, outside one wheel
By bolt installation there are two support wheel on shell, the support wheel rolls on two flanks of 3 bottom plate of i-beam track, the machine
Tank shell 5 is connect with wheel shell 8；
By taking above-mentioned guiding scheme, support wheel to play the role of guiding, support, limit to walking unit, by institute
It is main orbit to state i-beam track 3, is symmetrically distributed in 3 both sides of i-beam track by eight support wheels, in this way the rail mounted row
The weight for walking unit concentrates on middle part, and the weight of walking unit entire in this way is evenly distributed on i-beam track 3, to gear,
The transverse bending moment of rack-track engagement reduces, and keeps movement more steady.
The robot control system includes visible light camera 14, thermal camera 13, automatically controlled holder 18, sound pick-up
10, controller 15, lithium battery 11, the automatically controlled holder 18 are arranged by bolt on robot platform 17, and the visible light is taken the photograph
Camera 14 and the thermal camera 13 are all mounted on automatically controlled holder 18, and the sound pick-up 10 is mounted on the side of chassis shell body 5
On wall, the controller 15 is connect with automatically controlled holder 18, and the controller 15 is mounted on by pedestal 17 on robot platform 17,
The lithium battery 11 by deck 19 limit on robot platform 17, the lithium battery 11 use low temperature lithium battery, it is described can
Light-exposed video camera 14, thermal camera 13, automatically controlled holder 18, sound pick-up 10, controller 15 are connect with lithium battery 11 respectively；
Further, include rail mounted walking unit controller, cradle head controllor and wireless transmission in the controller 15
Equipment, rail mounted walking unit controller are connect with servo motor, and cradle head controllor is connect with automatically controlled holder.
By using above structure, automatically controlled holder 18 receives and sends control command by being wirelessly transmitted to terminal, automatically controlled
Holder 18 realizes pitching and left-right rotation, adjusts camera position；Lithium battery 11 is servo motor 12 and each controller of platform
It powers with sensor, is limited by deck, it is convenient and efficient when the battery replacement is required.
Robot realizes remote control and data transmission by robot control system and radio transmission apparatus, when long-range whole
When end sends control command, the functions such as the startup, stopping and speed governing of robot motor, while 13 He of thermal camera can be controlled
The data of visible light camera 14 are known by 15 transimission and storage of controller to remote terminal by the computer picture preset
It does not program, intelligent distinguishing goes out the current motion state of belt feeder, and analyses whether normal and alarm.
Further, the side of the chassis shell body 5 is equipped with infrared glass 20, infrared glass 20 can allow infrared camera just
Often work is not influenced by the light transmittance of glass itself and refractive index, ensures the accuracy of thermometric；The other side is equipped with chamber door 6, institute
It states chamber door 6 to be mounted in chassis shell body 5 by door-hinge 7, chamber door 6 can realize that chamber door 6 switchs along 7 axial rotation of door-hinge.
Further, the both ends of the wheel shell 8 are equipped with the bending part radially extended towards i-beam track 3, in this way may be used
To play the role of protecting support wheel.
Further, the rack-track 4 and 3 equal length of i-beam track can be incited somebody to action using rack pinion mode
The setting of the two track length is very long, meets the requirement of industrial application long range, heavy load, high-precision applications.
Further, the output shaft of the servo motor 12 is connect by keyway and jackscrew with gear, when 12 work of servo motor
When making, servo motor 12 transmits torque to gear 9 by the fixed function of keyway and jackscrew, and gear 9 is dynamic by engaged transmission
Power delivers torque to rack-track 4.
Further, the positioning outer rim coordinated with i-beam track 3 is provided on the support wheel, the support wheel setting exists
The side of i-beam track 3, positioning outer rim play anti-tipping effect.
When work, start servo motor 12 first, servo motor 12 passes torque by the fixed function of keyway and jackscrew
Gear 16 is passed, since gear 16 is engaged with rack-track 4, this kind of drive is far above the power that simple frictionally is realized
It transmits, motion accuracy improves and lost motion is reduced, and avoids the skidding that simple frictionally driving occurs.Support wheel
Group 9 is distributed to the gravity of complete machine on 3 bottom plate of i-beam track, keeps movement more steady, and will not damage rack, to prolong
The service life of walking unit is grown；Automatically controlled holder 18 receives and sends control command, automatically controlled cloud by being wirelessly transmitted to terminal
Platform 18 realizes pitching and left-right rotation, adjusts camera position；Low temperature lithium battery 11 is servo motor 12 and each control of platform
Device and sensor power supply, robot realize remote control and data transmission by robot control system and radio transmission apparatus,
When remote terminal sends control command, the functions such as the startup, stopping and speed governing of robot motor can be controlled, while infrared taking the photograph
The data of camera 13 and visible light camera 14 by 15 transimission and storage of controller to remote terminal, by the calculating preset
Machine image recognition programs, and intelligent distinguishing goes out the current motion state of belt feeder, and analyses whether normal and alarm.
Claims (7)
1. a kind of coal mine leather belt machine automatic crusing robot, which is characterized in that controlled including rail mounted walking unit and robot
System, chassis shell body, i-beam track, sloping bottom and column, the rail mounted walking unit and robot control system installation
It in chassis shell body and is erected on i-beam track, the lower surface both ends of the i-beam track bottom plate are respectively arranged with wedged bottom
Seat, one sloping bottom connect column one, another sloping bottom connects column two, and column one and two length of column are unequal；
The rail mounted walking unit includes drive part and targeting part,
The drive part includes servo motor, robot platform, gear, rack-track, and the robot platform is erected at work
The top of word steel track is provided with mounting hole on robot platform, and the output shaft of the servo motor passes through mounting hole right angle setting
Output shaft in i-beam track side, the servo motor is connect with gear, and the rack-track is parallel to be fixed on I-steel
On track, the rack is engaged with rack-track；
The targeting part includes support wheel group, and the support wheel group is 4, is divided into two groups, each two support wheel group 11 is symmetrical
It is arranged in the both sides of i-beam track 4, the support wheel group is connected to by nut at robot platform following four corners, the branch
It includes wheel shell, support wheel to support wheel group, and the support wheel is made of nylon material, passes through bolt on one wheel shell
There are two support wheel, the support wheels to be rolled on two flanks of i-beam track bottom plate for installation, the chassis shell body 5 and wheel
Cage connection；
The robot control system includes visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller, lithium electricity
Pond, the automatically controlled holder are arranged by bolt on robot platform, and the visible light camera and the thermal camera are all
On automatically controlled holder, the sound pick-up is mounted on the side wall of chassis shell body, and the controller is connect with automatically controlled holder, institute
Controller is stated by floor installation on robot platform, the lithium battery is limited by deck on robot platform, described
Lithium battery use low temperature lithium battery, the visible light camera, thermal camera, automatically controlled holder, sound pick-up, controller respectively with
Lithium battery connects.
2. a kind of coal mine leather belt machine automatic crusing robot according to claim 1, which is characterized in that in the controller
Including rail mounted walking unit controller, cradle head controllor and radio transmission apparatus, rail mounted walking unit controller with watch
Motor connection is taken, cradle head controllor is connect with automatically controlled holder.
3. a kind of coal mine leather belt machine automatic crusing robot according to claim 1 or 2, which is characterized in that the cabinet
The side of shell is equipped with infrared glass, and the other side is equipped with chamber door, and the chamber door is mounted on by door-hinge in chassis shell body.
4. a kind of coal mine leather belt machine automatic crusing robot according to claim 3, it is characterised in that：The wheel shell
Both ends be equipped with the bending part that is radially extended towards i-beam track.
5. a kind of coal mine leather belt machine automatic crusing robot according to claim 3, which is characterized in that the rack-track
With i-beam track equal length.
6. a kind of coal mine leather belt machine automatic crusing robot according to claim 3, which is characterized in that the servo motor
Output shaft connect with gear by keyway and jackscrew.
7. a kind of coal mine leather belt machine automatic crusing robot according to claim 3, which is characterized in that the support wheel 10
On be provided with the positioning outer rim coordinated with i-beam track 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721747771.2U CN207726224U (en) | 2017-12-15 | 2017-12-15 | Coal mine leather belt machine automatic crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721747771.2U CN207726224U (en) | 2017-12-15 | 2017-12-15 | Coal mine leather belt machine automatic crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207726224U true CN207726224U (en) | 2018-08-14 |
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ID=63098497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721747771.2U Active CN207726224U (en) | 2017-12-15 | 2017-12-15 | Coal mine leather belt machine automatic crusing robot |
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| CN (1) | CN207726224U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082885A (en) * | 2017-12-15 | 2018-05-29 | 中国矿业大学 | A kind of coal mine leather belt machine automatic crusing robot |
| CN112374082A (en) * | 2020-11-24 | 2021-02-19 | 南京双京电博特种机器人产业研究院有限公司 | Be applied to robot that patrols and examines of belt conveyor in pit |
| RU2784683C1 (en) * | 2022-05-28 | 2022-11-29 | Алексей Геннадьевич Придорожный | Method and device for monitoring technical condition of conveyor belt elements |
| WO2023234805A1 (en) * | 2022-05-28 | 2023-12-07 | Алексей Геннадьевич ПРИДОРОЖНЫЙ | Monitoring the technical condition of conveyor belt components |
-
2017
- 2017-12-15 CN CN201721747771.2U patent/CN207726224U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082885A (en) * | 2017-12-15 | 2018-05-29 | 中国矿业大学 | A kind of coal mine leather belt machine automatic crusing robot |
| CN112374082A (en) * | 2020-11-24 | 2021-02-19 | 南京双京电博特种机器人产业研究院有限公司 | Be applied to robot that patrols and examines of belt conveyor in pit |
| RU2784683C1 (en) * | 2022-05-28 | 2022-11-29 | Алексей Геннадьевич Придорожный | Method and device for monitoring technical condition of conveyor belt elements |
| WO2023234805A1 (en) * | 2022-05-28 | 2023-12-07 | Алексей Геннадьевич ПРИДОРОЖНЫЙ | Monitoring the technical condition of conveyor belt components |
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