CN210392665U - Remote control inspection robot for mining belt conveyor - Google Patents
Remote control inspection robot for mining belt conveyor Download PDFInfo
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- CN210392665U CN210392665U CN201920877763.2U CN201920877763U CN210392665U CN 210392665 U CN210392665 U CN 210392665U CN 201920877763 U CN201920877763 U CN 201920877763U CN 210392665 U CN210392665 U CN 210392665U
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Abstract
The utility model discloses a mining rubber belt conveyor remote control patrols and examines robot in technical field is patrolled and examined in colliery, aim at solving the current technical problem who patrols and examines the robot and hinder the difficulty more and incline to empty, this robot includes the remote controller, the robot, communication antenna, hinder the mechanism more and prevent empting the mechanism, hinder the mechanism more including setting up in robot front end and inclination adjustable's vice track, prevent empting the mechanism including setting up in the support arm and the supporting wheel of robot both sides, support arm length adjustable and its top rotate with the robot and be connected. The utility model adopts a remote control mode to lead the robot to carry out information acquisition operation in the well, and has the advantages of low cost and wide applicability; meanwhile, the obstacle crossing mechanism arranged on the front side of the robot body is beneficial to the robot body to smoothly cross over the obstacle, and the anti-toppling mechanisms arranged on the two sides of the robot body can effectively prevent the robot body from tilting in the process of advancing or crossing over the obstacle.
Description
Technical Field
The utility model relates to a technical field is patrolled and examined in the colliery, concretely relates to mining rubber belt conveyor remote control patrols and examines robot.
Background
The belt conveyor is also called as a belt conveyor and is the most common equipment in a mine conveying system, however, in the operation process of the belt conveyor, accidents such as roller damage, belt breakage, longitudinal tearing, deviation, fire and the like easily occur, and great potential safety hazards are caused to personnel and equipment. The environment in the tunnel of the belt conveyor is harsh, the illumination is poor, the walking of inspection personnel is not facilitated, and the problems are found in time, so that the inspection equipment of the belt conveyor is required to replace the inspection personnel to complete the information acquisition of the belt conveyor.
Chinese patent with publication number CN104632274B discloses a "mining safety monitoring patrol robot", which includes a robot body, an infrared thermal imager, a high-definition camera, a flame sensor, a temperature sensor, a smoke sensor, a multi-parameter sensor, a communication antenna, a communication base station arranged outside the well, and an aboveground monitoring server. Chinese patent No. CN108773641A discloses "a novel inspection robot for mining belt conveyor", which includes a control center, a receiving antenna, a thermal imaging infrared camera, etc. The current robot of patrolling and examining gathers the real-time information of rubber belt conveyor through the various sensors that set up on the robot body, and then replaces the manual work to accomplish the inspection of rubber belt conveyor.
The existing inspection robots are generally rail robots, namely rails need to be laid in a hoistway, the robots advance or retreat along the rails to complete information acquisition work, the robots are easy to control by adopting the rail robots, the automation degree is high, the labor intensity of workers can be greatly reduced, but a large amount of manpower, material resources and financial resources are required for laying the rails in the early stage, and the cost is high; meanwhile, when an obstacle appears on a track laid in the hoistway, the inspection robot which can only move forward along the track is difficult to move forward, and workers need to go down the well to clean the obstacle, so that the inspection efficiency is seriously influenced; the existing inspection robot is not firmly combined with the track, so that the robot is easy to laterally topple in the traveling process, and the inspection efficiency is seriously influenced.
The remote control robot is a robot which completes various remote operations through remote control of an operator, is similar to a traditional remote controller, is added with various technologies for the robot, can be remotely controlled within a visible distance by the operator, and can also be monitored and operated in a television image.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a robot is patrolled and examined in mining rubber belt conveyor remote control to solve the current technical problem who patrols and examines the robot and hinder the difficulty more and easily side direction and empty.
The utility model discloses the technical scheme who adopts does:
the remote control inspection robot for the mining belt conveyor comprises a remote controller, a robot body, a driving mechanism and a communication antenna which are arranged on the robot body, an obstacle crossing mechanism arranged in the front of the robot body and anti-toppling mechanisms arranged on two sides of the robot body, wherein the driving mechanism comprises a first wheel shaft, traveling wheels and a main crawler belt;
the obstacle crossing mechanism comprises a second wheel shaft, a support plate, a support rod, an obstacle crossing front wheel, an obstacle crossing rear wheel and an auxiliary crawler, the obstacle crossing rear wheel is arranged on the first wheel shaft, the obstacle crossing front wheel is arranged on the second wheel shaft, the second wheel shaft is parallel to the first wheel shaft and is arranged on the front side of the robot body, one end of the support plate is rotatably connected with the first wheel shaft, the other end of the support plate is rotatably connected with the second wheel shaft, one end of the support rod is connected with the support plate, the other end of the support rod is connected with the robot body, and the auxiliary crawler is arranged between the obstacle crossing front wheel and the obstacle crossing rear wheel;
prevent empting the mechanism and include support arm, supporting wheel and drive hydraulic cylinder, the one end of support arm is rotated through pivot and robot body top and is connected, the other end links to each other with the supporting wheel, be equipped with the spout on the support arm, robot body side is equipped with and holds the chamber, drive hydraulic cylinder is fixed to be set up in holding the intracavity, and drives hydraulic cylinder's piston tip and pass through pivot and spout sliding connection.
Preferably, the support rod is a hydraulic cylinder, one end of the hydraulic cylinder of the support rod is rotatably connected with the middle of the support plate, and the other end of the hydraulic cylinder of the support rod is rotatably connected with the robot body.
Preferably, the supporting arm is a hydraulic cylinder, a connecting plate is arranged on the supporting arm, and a sliding groove is formed in the connecting plate.
Preferably, the robot body is provided with a first lifting rod, and the first lifting rod is provided with an observation camera.
Preferably, the robot body is provided with a second lifting rod, one end of the second lifting rod is rotatably connected with the robot body, the other end of the second lifting rod is connected with a cross rod, and the cross rod is provided with a nozzle for spraying marking liquid to the belt conveyor.
Preferably, a proximity switch for controlling the power-on state of a safety warning lamp on the remote controller is arranged on one side of the robot body.
Compared with the prior art, the utility model has the advantages that:
1. the utility model provides a patrol and examine the mode that the robot adopted the remote control of distal end and carry out the operation of sticky tape cargo airplane information acquisition in the well, have easy operation, low cost, extensive applicability's advantage.
2. The utility model discloses be equipped with at the robot front side and hinder the mechanism more, through hindering the climbing effect of the vice track on the barrier of mechanism more, make the robot overturn the barrier more smoothly, the supporting role of the support wheel pair robot of the anti-overturning mechanism of fuselage both sides can prevent effectively that the robot from advancing the process or overturning the barrier in-process and taking place the slope, turning on one's side the phenomenon.
3. The utility model discloses be equipped with proximity switch in robot side, after the distance between robot and the well lateral wall is less than safe distance, the safety warning light on the remote controller will be circular telegram, reminds operating personnel in time to change the robot gesture.
4. The utility model discloses be equipped with the second lifter at the robot top, be connected with the horizontal pole on the lifter, be equipped with the nozzle of spraying mark liquid on the horizontal pole, when the robot detects out the rubber belt conveyor trouble, the nozzle is to trouble position spraying mark liquid immediately for remind maintainer trouble position.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is a right side view of the present invention;
FIG. 4 is a schematic structural view of an obstacle crossing mechanism;
the robot comprises a robot body 1, a remote controller 2, a first lifting rod 3, an observation camera 4, a first wheel shaft 5, a travelling wheel 6, a main crawler belt 7, a second wheel shaft 8, a support plate 9, a support rod 10, a front obstacle-surmounting wheel 11, a rear obstacle-surmounting wheel 12, an auxiliary crawler belt 13, a support arm 14, a support wheel 15, a driving hydraulic cylinder 16, a connecting plate 17, a sliding groove 18, a second lifting rod 19, a cross rod 20, a nozzle 21, a safety warning lamp 22, a proximity switch 23 and a display 24.
Detailed Description
The following embodiments are only intended to illustrate the present invention in detail, and do not limit the scope of the present invention in any way. The unit module components, structures, mechanisms, sensors and other devices referred to in the following examples are all conventional and commercially available products unless otherwise specified.
Example (b): as shown in fig. 1-4, a remote control inspection robot for a mining belt conveyor comprises a remote controller 2 and a robot body 1, wherein the remote controller 2 and the robot body 1 are both provided with communication antennas to realize wireless communication between the remote controller 2 and the robot body 1, and the robot body 1 is also provided with various known sensors for detecting data information of the belt conveyor; the top of robot body 1 is equipped with first lifter 3, is equipped with on the first lifter 3 and observes camera 4, is equipped with display 24 on the remote controller 2, controls the field of vision of observing camera 4 through the height of adjusting first lifter 3 to show on display 24, and then realize the remote control to the robot body 1 gesture in marcing. Still be equipped with actuating mechanism, obstacle crossing mechanism and anti-overturning mechanism on robot 1, actuating mechanism includes first shaft 5, walking wheel 6 and main track 7, and two first shafts 5 set up both ends around robot 1 respectively, and four walking wheels 6 set up in the both ends of first shaft 5, and main track 7 sets up on two walking wheels 6 of robot 1 homonymy, advances through main track 7 drive robot 1.
The obstacle crossing mechanism is arranged at the front part of the robot body 1 and comprises a second wheel shaft 8, a supporting plate 9, a supporting rod 10, an obstacle crossing front wheel 11, an obstacle crossing rear wheel 12 and an auxiliary crawler 13, wherein the obstacle crossing rear wheel 12 is arranged on a first wheel shaft 5, the radial dimension of the obstacle crossing rear wheel 12 is 1/3-1/2 of the radial dimension of a travelling wheel 6, the obstacle crossing front wheel 11 is arranged on the second wheel shaft 8, the second wheel shaft 8 is parallel to the first wheel shaft 5 and is arranged at the front side of the robot body 1, the supporting rod 10 is a hydraulic cylinder, one end of the supporting rod 10 is rotatably connected with the middle part of the supporting plate 9, the other end of the supporting rod is rotatably connected with the robot body 1, the auxiliary crawler 13 is arranged between the obstacle crossing front wheel 11 and the obstacle crossing rear wheel 12, and the inclination angle of the auxiliary crawler 13 is.
Anti-toppling mechanism sets up in the left and right sides of robot 1, this anti-toppling mechanism includes support arm 14, supporting wheel 15 and drive hydraulic cylinder 16, support arm 14 is the pneumatic cylinder, be equipped with connecting plate 17 on this support arm 14, be equipped with spout 18 on the connecting plate 17, the one end of support arm 14 is passed through the pivot and is connected with the rotation of robot 1 top, the other end links to each other with supporting wheel 15, robot 1 side is equipped with holds the chamber, drive hydraulic cylinder 16 fixed the setting in holding the intracavity, and drive hydraulic cylinder 16's tailpiece of the piston passes through pivot and 18 sliding connection of spout.
In this embodiment, be equipped with second lifter 19 on the robot 1, the one end of second lifter 19 rotates with robot 1 to be connected, and the other end is connected with horizontal pole 20, is equipped with the nozzle 21 that is used for to adhesive tape transport machine spraying mark liquid on horizontal pole 20, is equipped with liquid reserve tank and the pump (not drawn) that link to each other with nozzle 21 on the robot 1.
In this embodiment, robot 1 one side is equipped with the proximity switch 23 that is used for controlling safety warning light 22 on remote controller 2 on the on-state, through safety warning light 22 suggestion operating personnel in time adjust robot 1's gesture, prevents that robot 1 from colliding the well lateral wall.
The operation and use method of the remote control inspection robot comprises the following steps:
the robot body 1 is placed in a coal mine shaft, an operator remotely controls the robot body 1 to move forward outside the shaft through a remote controller 2 at the far end and collects data information of the belt conveyor, an observation camera 4 on a first lifting rod 3 at the top of the robot body 1 faces the front of the robot body 4 and is used for observing road conditions in front of the robot and displaying the road conditions in front of the robot through a display 24 on the remote controller 2, and the operator observes the road conditions in front of the robot body 1 through the display 24 and timely adjusts the posture of the robot; when an obstacle appears in front of the robot, the operator remotely controls the robot body 1 to avoid the obstacle to detour, or adjusts the inclination angle of the auxiliary crawler 13 to enable the robot body 1 to cross the obstacle; in the process of advancing the robot, the operator should in time adjust the contained angle between support arm 14 and the robot body 1 top and the length of support arm 14 according to the road conditions through the remote controller, make supporting wheel 15 provide the support for robot body 1, prevent that robot body 1 from taking place to incline or even turn on one's side. When the sensor on the robot body 1 detects the fault of the belt conveyor, the nozzle 21 is controlled by the remote controller 2 to spray marking liquid to the fault position so as to prompt the fault position of a maintainer.
When transporting the robot patrolling and examining, need with in first lifter 3 and the second lifter 19 income robot body 1 to reduce the robot volume.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. A remote control inspection robot for a mining belt conveyor comprises a remote controller, a robot body, and a driving mechanism and a communication antenna which are arranged on the robot body, wherein the driving mechanism comprises a first wheel shaft, traveling wheels and a main crawler belt;
the method is characterized in that: the obstacle crossing mechanism comprises a second wheel shaft, a supporting plate, a supporting rod, obstacle crossing front wheels, obstacle crossing rear wheels and auxiliary tracks, the obstacle crossing rear wheels are arranged on the first wheel shaft, the obstacle crossing front wheels are arranged on the second wheel shaft, the second wheel shaft is parallel to the first wheel shaft and is arranged on the front side of the robot body, one end of the supporting plate is rotatably connected with the first wheel shaft, the other end of the supporting plate is rotatably connected with the second wheel shaft, one end of the supporting rod is connected with the supporting plate, the other end of the supporting rod is connected with the robot body, and the auxiliary tracks are arranged between the obstacle crossing front wheels and the obstacle crossing rear wheels;
prevent empting the mechanism and include support arm, supporting wheel and drive hydraulic cylinder, the one end of support arm is rotated through pivot and robot body top and is connected, the other end links to each other with the supporting wheel, be equipped with the spout on the support arm, robot body side is equipped with and holds the chamber, drive hydraulic cylinder is fixed to be set up in holding the intracavity, and drives hydraulic cylinder's piston tip and pass through pivot and spout sliding connection.
2. The mining belt conveyor remote control inspection robot according to claim 1, characterized in that: the bracing piece is the pneumatic cylinder, the one end and the backup pad middle part of bracing piece are rotated and are connected, and the other end rotates with the robot body and is connected.
3. The mining belt conveyor remote control inspection robot according to claim 1, characterized in that: the support arm is a hydraulic cylinder, a connecting plate is arranged on the support arm, and a sliding groove is formed in the connecting plate.
4. The mining belt conveyor remote control inspection robot according to claim 1, characterized in that: the robot is characterized in that a first lifting rod is arranged on the robot body, and an observation camera is arranged on the first lifting rod.
5. The mining belt conveyor remote control inspection robot according to claim 1, characterized in that: the robot is characterized in that a second lifting rod is arranged on the robot body, one end of the second lifting rod is rotatably connected with the robot body, the other end of the second lifting rod is connected with a cross rod, and a nozzle used for spraying marking liquid to the belt conveyor is arranged on the cross rod.
6. The mining belt conveyor remote control inspection robot according to claim 1, characterized in that: and one side of the robot body is provided with a proximity switch for controlling the power-on state of a safety warning lamp on the remote controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920877763.2U CN210392665U (en) | 2019-06-12 | 2019-06-12 | Remote control inspection robot for mining belt conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920877763.2U CN210392665U (en) | 2019-06-12 | 2019-06-12 | Remote control inspection robot for mining belt conveyor |
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| Publication Number | Publication Date |
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| CN210392665U true CN210392665U (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920877763.2U Active CN210392665U (en) | 2019-06-12 | 2019-06-12 | Remote control inspection robot for mining belt conveyor |
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| CN (1) | CN210392665U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894751A (en) * | 2021-01-18 | 2021-06-04 | 李爽剑 | Obstacle crossing robot |
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2019
- 2019-06-12 CN CN201920877763.2U patent/CN210392665U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894751A (en) * | 2021-01-18 | 2021-06-04 | 李爽剑 | Obstacle crossing robot |
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