CN210428195U - Underground coal mine track type large inclination angle inspection robot - Google Patents
Underground coal mine track type large inclination angle inspection robot Download PDFInfo
- Publication number
- CN210428195U CN210428195U CN201921974955.1U CN201921974955U CN210428195U CN 210428195 U CN210428195 U CN 210428195U CN 201921974955 U CN201921974955 U CN 201921974955U CN 210428195 U CN210428195 U CN 210428195U
- Authority
- CN
- China
- Prior art keywords
- assembly
- inspection robot
- lifting
- clamping
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 67
- 239000003245 coal Substances 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 239000000428 dust Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a track type large inclination angle inspection robot in a coal mine, which comprises a control box assembly, wherein the control box assembly is positioned at the front part of the inspection robot and provides detection control of power control and visual identification; the inspection robot comprises a frame assembly, a tensioning assembly and a guide assembly, wherein the frame assembly is used for fixing a speed limiter, the tensioning assembly and the guide assembly, the speed limiter is locked when the speed of the inspection robot is higher than a set value, the tensioning assembly is used for tensioning a belt to drive, and the guide assembly realizes the guide of the inspection robot on a track; the battery box assembly provides power for the inspection robot and adopts a wireless charging mode; the hoisting frame assembly is used for installing a lower camera, and the inspection of a lower belt is realized. The utility model discloses an intelligence inspection robot that provides can gather in real time, transmit, the image along the line of identification equipment, dynamic monitoring band conveyer's upper portion foreign matter, smog and dust condition in the real-time supervision tunnel.
Description
Technical Field
The utility model relates to an inspection robot technical field especially relates to a colliery is big inclination of track formula in pit and is patrolled and examined robot.
Background
The energy structure mainly using coal is a necessary choice for the current situation of energy resources in China, and can exist for a long time, along with the gradual reduction of shallow coal resources, the development of coal is transferred to the deep part, and the coal is confronted with dangerous mining environment with unclear geological conditions, unclear threat and frequent disasters.
With the continuous development of coal mining, the construction of 'mechanical person changing, automatic person reducing and intelligent unmanned' green intelligent mines is greatly promoted, and the requirements of intelligent mines are gradually brought forward. As a strategic high-tech technique, robots have achieved significant success in the industrial field, the field of human interaction. The inspection robot is applied to intelligent mine construction, the number of workers on a working surface can be reduced, the labor intensity of workers is reduced, and the working efficiency is improved.
The underground belt conveyor is important equipment for coal production, the operation efficiency of the underground belt conveyor is directly related to the production capacity of a coal mine, and once the underground belt conveyor breaks down, the underground coal mining and transporting system can not work normally, so that the production process of the coal mine is seriously influenced. Therefore, in order to ensure the normal operation of the underground belt conveyor and the normal production of the coal mine, the management and maintenance level of the underground belt conveyor must be improved. Currently, face belt conveyors are ubiquitous: the belt is torn, the off tracking, skids, the bearing roller is cracked, the equipment is abnormal and illegal, the coal contains the anchor rod and piles of coal, the coal blockage, the personnel in danger area invade illegally and the like. Once the belt conveyor breaks down in the working process, the working efficiency is influenced slightly, and the life safety of personnel is caused seriously. Therefore, how to effectively monitor and early warn the motion state of the belt conveyor in real time becomes a common problem to be solved urgently.
At present, there are two types of current monitoring and inspection modes: manual inspection and wireless camera monitoring. The labor cost of enterprises is increased by manual inspection, and due to the fact that the distance of an underground belt conveying roadway is long, moisture is heavy, and light is poor, great difficulty is often brought to inspection work of a belt conveyor. In the actual underground production process, the belt conveyor is difficult to ensure to produce all the time only by depending on the manual inspection. The inspection work of the underground tunnel is tedious, and in the inspection process, workers can hardly ensure that the attention is concentrated all the time, and even the phenomena of few detection, missing detection, negative coping and the like occur. The occurrence of these phenomena causes a severe degradation of the quality of the inspection. The wireless camera can only monitor some key parts, but cannot monitor the whole transmission belt. Therefore, the existing inspection method has great hidden trouble for the safety production of the belt conveyor under the coal mine.
At present, belt conveyor's the mode of patrolling and examining mostly uses the manual work as the owner, mainly judges the transport state of belt through workman's sense organ, patrols and examines inefficiency, and the error is higher, and the cost of labor is high, and the reliability is low.
In addition, a part of mines begin to adopt a tape type inspection robot, and the inspection robot is hung and installed on a rail, and an inspection robot driving wheel walks on the rail, and has the main functions of detecting the damage condition of a belt conveyor, abnormal sound of a carrier roller and the like. The inspection robot is suitable for occasions with good and dry field environments, runs in severe and humid environments, is severe in underground working environments of coal mines, is easy to slip due to the fact that the robot needs to overcome extreme complex environments such as climbing and dust, and brings adverse effects to inspection work. When the robot fails, the robot slides down along the track, and no feasible braking device exists. Therefore, there is a need for a patrol robot capable of operating in a harsh and humid environment, not slipping during operation, having a climbing capability, and being capable of realizing safety braking in a failure state.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of above-mentioned prior art, the utility model provides a colliery is big inclination in pit and is patrolled and examined robot has mainly solved the big inclination climbing operation of robot, has replaced the manual work to patrol and examine and realize safety braking scheduling problem.
The utility model adopts the technical proposal that: a rail type large inclination angle inspection robot in a coal mine well comprises a control box assembly, wherein the control box assembly is positioned at the front part of the inspection robot and provides detection control of power control and visual identification;
the inspection robot comprises a frame assembly, a tensioning assembly and a guide assembly, wherein the frame assembly is used for fixing a speed limiter, the tensioning assembly and the guide assembly, the speed limiter is locked when the speed of the inspection robot is higher than a set value, the tensioning assembly is used for tensioning a belt to drive, and the guide assembly realizes the guide of the inspection robot on a track;
the battery box assembly provides power for the inspection robot and adopts a wireless charging mode;
the lifting frame assembly is used for mounting a lower camera and realizing the inspection of a lower belt;
the driving assembly provides walking power for the inspection robot;
a clamp assembly that provides a tension between the inspection robot and the track.
Further, the control box assembly includes explosion-proof casing, explosion-proof casing's horizontal tangent plane is the convex, explosion-proof casing surface is provided with two perspective windows, perspective window provides the window for camera and lighting device, explosion-proof casing's salient corner is provided with a plurality of binding post, the inside side-mounting driving motor of explosion-proof casing, the controller is installed to the opposite side, explosion-proof casing surface is provided with hoisting pulley and driving sprocket, the hoisting pulley is connected with the hoisting frame assembly, driving sprocket links to each other with the walking wheel.
Furthermore, the speed limiter comprises a speed limiter mounting seat, a pair of pawls is arranged on the surface of the speed limiter mounting seat, pawl limiting columns are arranged in the middle of each pawl, the two pawl limiting columns are connected through an adjusting spring, a plurality of stopping pin shafts are dispersedly arranged on the surface of the speed limiter mounting seat, the pawls are thrown out at a certain speed and clamped into the stopping pin shafts through collision to realize braking, and the adjusting springs are used for adjusting the throwing-out speed of the pawls and realizing braking protection at different speeds.
Further, the battery box assembly comprises a rechargeable battery arranged inside the battery box, and the rechargeable battery realizes charging of the battery through a wireless charging coil.
Furthermore, the lifting frame assembly comprises a lifting frame, one end of the lifting frame is provided with a camera mounting frame, the other end of the lifting frame is provided with a lifting mounting frame, and the lifting frame adopts a parallelogram structure, so that the camera mounting frame is always kept horizontal in the lifting process of the lifting frame; the utility model discloses a lifting frame assembly, including hoisting frame, driving motor, lifting belt, camera mounting bracket, battery box, lifting belt, lifting frame middle part transversely is provided with a plurality of lifting rollers, lifting roller middle part is connected with the lifting belt, drives the lifting belt through driving motor and convolutes, realizes the lift action of hoisting frame assembly, the lifting mounting bracket is fixed in the battery box below, the camera mounting bracket is used for installing camera for visual identification.
Furthermore, the clamping assembly comprises a clamping support, two ends of the clamping support are fixed with the rack assembly through bolts, the clamping force is adjusted by adjusting the length of the bolts, a clamping wheel is arranged in the clamping support, and the clamping wheel is in a rubber-coated wheel structure and is tightly pressed on the bottom surface of the track; and a plurality of clamping pressing blocks are arranged on the surface of the frame of the clamping support, and the clamping pressing blocks fix the clamping wheel shaft on the clamping support.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the clamping assembly is arranged below the inspection robot, a vertical pressing mode is adopted, gravity and component force effects of the gravity are effectively utilized, power waste is saved, and anti-skid driving under a large inclination angle is realized.
(2) The inspection robot is provided with a speed limiter device, a pawl and a pawl limiting column are adopted, and according to the centrifugal principle, the speed limiting protection under different speeds is realized through an adjusting spring, so that the out-of-control speed of the inspection robot due to shaft breakage and belt breakage is prevented.
(3) The battery box assembly adopts a wireless charging mode, and the butt joint difficulty under wired charging is avoided.
(4) The utility model discloses an intelligence inspection robot that intelligence provided possesses wireless power supply, functions such as automatic walking, but real-time collection, the transmission, the analysis, the image along the line of identification equipment, and it is comparatively abominable that the personnel that replace to patrol and examine get into the environment at the rubber belt conveyor operation in-process, there is the main inclined drifts of fortune of danger factor along the line, the upper portion foreign matter of dynamic monitoring rubber belt conveyor, the edge form of contrast sticky tape fast, one by one detect and generate two side bearing rollers, the rotatory envelope figure of middle bearing roller and belt bottom bearing roller, smog and the dust condition in the real-time supervision tunnel, thereby prevent that the sticky tape from vertically tearing, take the scheduling problem violating regulations, discover hidden danger such as "off tracking" and "tear limit undercut" early.
Drawings
FIG. 1 is a schematic structural view of the underground rail-mounted large inclination angle inspection robot for coal mines of the utility model;
fig. 2 is a schematic structural view of the driving device of the present invention;
fig. 3 is a schematic structural diagram of the speed limiter of the present invention;
fig. 4 is a schematic structural view of the lifting frame assembly of the present invention;
fig. 5 is a schematic view of the clamping assembly of the present invention.
Wherein: 1-a control box assembly, 1-1-a perspective window, 1-2-an explosion-proof shell, 1-3-a wiring terminal, 1-4-a lifting belt wheel, 1-5-a driving chain wheel, 1-6-a driving motor, 2-a frame assembly, 3-a speed limiter, 3-1-a speed limiter mounting seat, 3-2-a pawl, 3-3-a pawl limiting column, 3-4-an adjusting spring, 3-5-a stop pin shaft, 4-a tensioning assembly, 5-a battery box assembly, 6-a lifting frame assembly, 6-1-a camera mounting frame, 6-2-a lifting frame, 6-3-a lifting roller, 6-4-a lifting belt and 6-5-a lifting mounting frame, 7-a guide assembly, 8-a drive assembly, 9-a clamping assembly, 9-1-a clamping support, 9-2-a clamping wheel shaft, 9-3-a clamping pressing block and 9-4-a clamping wheel.
Detailed Description
In order to deepen the understanding of the present invention, the present invention is further explained with reference to the drawings and the embodiments, which are only used to explain the present invention and are not limited to the protection scope of the present invention.
As shown in fig. 1, the underground coal mine rail type large inclination angle inspection robot comprises a control box assembly 1, wherein the control box assembly 1 is positioned at the front part of the inspection robot and provides detection control of power control and visual identification; the inspection robot comprises a frame assembly 2, wherein the frame assembly 2 is used for fixing a speed limiter 3, a tensioning assembly 4 and a guide assembly 7, the speed limiter 3 locks when the speed of the inspection robot is higher than a set value, the tensioning assembly 4 is used for tensioning a belt to drive, and the guide assembly 7 realizes the guide of the inspection robot on a track; the battery box assembly 5 is used for providing power for the inspection robot and adopts a wireless charging mode; the lifting frame assembly 6 is used for mounting a lower camera and realizing the inspection of a lower belt; the driving assembly 8 provides walking power of the inspection robot; a clamping assembly 9, the clamping assembly 9 providing a tension between the inspection robot and the track.
In the above embodiment, in order to prevent the intelligent inspection robot from slipping due to friction on the slope track and even falling down reversely, when the robot is hung on the walking track, the driving wheels of the robot need to be pressed against the lower bottom plate of the track by adjusting the clamping assembly 9. Then the direct current power supply transmits an alternating magnetic field through a transmitting end of the wireless charging module, then a power receiving coil on the intelligent inspection robot generates induced current under the alternating magnetic field, and the induced current is modulated into direct current through a rectifying and filtering circuit so as to charge a battery of the inspection robot. When the intelligent inspection robot walks and works in a discharging state, the intelligent inspection robot mainly comprises a driving part, a walking part, a lifting part and a protection part.
In the above embodiment, the driving part includes three brushless dc motors and their associated speed reducers, motor driving shafts, small pulleys and toothed synchronous belts. Wherein 2 brushless DC motors are respectively used for driving the driving chain wheels 1-5 at two sides of the intelligent inspection robot, and 1 brushless DC motor is used for driving the lifting belt wheels 1-4 so as to control the lifting of the camera placed on the lifting frame 6-2. The three brushless direct current motors are all connected with a motor controller, the controller controls the positive and negative rotation, the rotating speed and the acceleration and deceleration time of the motors, and the left and right driving motors 1-6 must be kept synchronous. The motor worm gear reducer is connected with the motor to achieve the purpose of speed reduction; one end of a motor driving shaft is connected with a speed reducer through a flat key, the other end of the motor driving shaft is matched with a driving chain wheel 1-5 or a lifting belt wheel through the flat key, a controller controls a motor to rotate, the motor drives the speed reducer, the speed reducer transmits rotation to a motor shaft, and the motor shaft drives the driving chain wheel 1-5 or the lifting belt wheel to rotate through a tooth-shaped synchronous belt or a lifting belt 6-4.
In the above embodiment, the walking part comprises the driving sprockets 1 to 5, the driving shaft, the driving wheel and the tooth-shaped synchronous belt, the tooth-shaped synchronous belt is connected with the driving sprockets 1 to 5 and the driving wheel, the driving sprockets 1 to 5 are connected with the driving shaft and transmit rotation to the driving shaft, and the driving shaft is connected with the driving wheel through the flat key, so that the driving wheel is driven to rotate, and the walking motion of the robot is realized.
In the above embodiment, the lifting portion includes the lifting pulleys 1-4, the lifting belts 1-4 and the lifting frame assembly 6, the brushless dc motor controlling the lifting pulleys 1-4 rotates to drive the lifting pulleys 1-4 to rotate, and the lifting pulleys 1-4 controls the lifting and lowering of the lifting frame 6-2 through the lifting belts 6-4, so as to control the telescoping control of the camera on the lifting frame assembly 6.
In the above embodiment, the protection part comprises a pawl disc, a pawl 3-2, a pin, a support cover, a tension spring and the like, the pawl 3-2 is fixed on the pawl disc through the pin and can ensure free rotation, the pawl disc is matched with the driving shaft through a flat key and is connected with a central threaded hole of the driving shaft through an M5 hexagon socket head cap screw, and the connection stability is ensured. Therefore, the speed limiter of the protection part can be guaranteed to rotate synchronously with the driving shaft, the two pin shafts are connected to the support cover, when the robot slides down, the driving shaft rotates reversely, the rotation is transmitted to the ratchet wheel disc, the pawls 3-2 are opened under the action of centrifugal force to hook the pin columns on the support cover, so that the rotation of the driving shaft is limited, the purpose of mechanical speed limitation is achieved, and the robot is protected from safety accidents caused by backward sliding due to factors such as belt breakage.
The embodiment of the present invention discloses a preferred embodiment, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention according to the above embodiment, and make different extensions and changes, but do not depart from the spirit of the present invention, all of which are within the protection scope of the present invention.
Claims (6)
1. The utility model provides a big inclination of colliery underground rail way formula patrols and examines robot which characterized in that:
the inspection robot comprises a control box assembly (1), wherein the control box assembly (1) is positioned at the front part of the inspection robot and provides detection control of power control and visual identification;
the inspection robot comprises a frame assembly (2), wherein the frame assembly (2) is used for fixing a speed limiter (3), a tensioning assembly (4) and a guide assembly (7), when the speed limiter (3) is higher than a set value, the speed limiter (3) is locked, the tensioning assembly (4) is used for tensioning a belt to drive, and the guide assembly (7) realizes the guide of the inspection robot on a track;
the battery box assembly (5) provides power for the inspection robot and adopts a wireless charging mode;
the lifting frame assembly (6) is used for mounting a lower camera, and the inspection of a lower belt is realized;
the driving assembly (8), the said driving assembly (8) provides the walking power which patrols and examines the robot;
a clamp assembly (9), the clamp assembly (9) providing a tension between the inspection robot and the track.
2. The underground coal mine rail type large inclination angle inspection robot according to claim 1, which is characterized in that: the control box assembly (1) comprises an explosion-proof shell (1-2), the horizontal section of the explosion-proof shell (1-2) is convex, two perspective windows (1-1) are arranged on the surface of the explosion-proof shell (1-2), the perspective windows (1-1) provide windows for a camera and a lighting device, a plurality of wiring terminals (1-3) are arranged at the convex corners of the explosion-proof shell (1-2), one side of the interior of the explosion-proof shell (1-2) is provided with a driving motor (1-6), the other side is provided with a controller, the surface of the explosion-proof shell (1-2) is provided with a lifting belt wheel (1-4) and a driving chain wheel (1-5), the lifting belt wheels (1-4) are connected with a lifting frame assembly (6), and the driving chain wheels (1-5) are connected with the walking wheels.
3. The underground coal mine rail type large inclination angle inspection robot according to claim 1, which is characterized in that: the speed limiter (3) comprises a speed limiter mounting seat (3-1), a pair of pawls (3-2) are arranged on the surface of the speed limiter mounting seat (3), pawl limiting columns (3-3) are arranged in the middle of the pawls (3-2) respectively, the pawl limiting columns (3-3) are connected through adjusting springs (3-4), a plurality of stop pin shafts (3-5) are arranged on the surface of the speed limiter mounting seat (3-1) in a dispersed mode, the pawls (3-2) are thrown out at a certain speed, braking is achieved by collision and clamping into the stop pin shafts (3-5), and the adjusting springs (3-4) are used for adjusting the throwing-out speed of the pawls (3-2) and achieving braking protection at different speeds.
4. The underground coal mine rail type large inclination angle inspection robot according to claim 1, which is characterized in that: the battery box assembly (5) comprises a rechargeable battery arranged inside the battery box, and the rechargeable battery realizes charging of the battery through a wireless charging coil.
5. The underground coal mine rail type large inclination angle inspection robot according to claim 1, which is characterized in that: the lifting frame assembly (6) comprises a lifting frame (6-2), one end of the lifting frame (6-2) is provided with a camera mounting frame (6-1), the other end of the lifting frame is provided with a lifting mounting frame (6-5), the lifting frame (6-2) adopts a parallelogram structure, and the camera mounting frame (6-1) is always kept horizontal in the lifting process of the lifting frame (6-2); the lifting frame is characterized in that a plurality of lifting carrier rollers (6-3) are transversely arranged in the middle of the lifting frame (6-2), the middle of each lifting carrier roller (6-3) is connected with a lifting belt (6-4), the lifting belts (6-4) are driven to be wound through driving motors (1-6), the lifting action of the lifting frame assembly (6) is achieved, the lifting mounting frame (6-5) is fixed below the battery box, and the camera mounting frame (6-1) is used for mounting a camera for visual recognition.
6. The underground coal mine rail type large inclination angle inspection robot according to claim 1, which is characterized in that: the clamping assembly (9) comprises a clamping support (9-1), two ends of the clamping support (9-1) are fixed with the rack assembly (2) through bolts, the clamping force is adjusted by adjusting the length of the bolts, a clamping wheel (9-4) is arranged inside the clamping support (9-1), and the clamping wheel (9-4) is in a rubber covered wheel structure and is pressed on the bottom surface of the track; the clamping device is characterized in that a plurality of clamping pressing blocks (9-3) are arranged on the surface of the frame of the clamping support (9-1), and the clamping pressing blocks (9-3) fix the clamping wheel shaft (9-2) on the clamping support (9-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921974955.1U CN210428195U (en) | 2019-11-15 | 2019-11-15 | Underground coal mine track type large inclination angle inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921974955.1U CN210428195U (en) | 2019-11-15 | 2019-11-15 | Underground coal mine track type large inclination angle inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210428195U true CN210428195U (en) | 2020-04-28 |
Family
ID=70369621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921974955.1U Active CN210428195U (en) | 2019-11-15 | 2019-11-15 | Underground coal mine track type large inclination angle inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210428195U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716556A (en) * | 2019-11-15 | 2020-01-21 | 中国矿业大学 | Underground coal mine track type large inclination angle inspection robot |
| CN112606856A (en) * | 2020-12-28 | 2021-04-06 | 榆林神华能源有限责任公司 | Climbing device and system of inspection robot |
| CN113110454A (en) * | 2021-04-15 | 2021-07-13 | 山东东辰共赢服务有限公司 | Rail type inspection robot for electric power system |
-
2019
- 2019-11-15 CN CN201921974955.1U patent/CN210428195U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716556A (en) * | 2019-11-15 | 2020-01-21 | 中国矿业大学 | Underground coal mine track type large inclination angle inspection robot |
| CN112606856A (en) * | 2020-12-28 | 2021-04-06 | 榆林神华能源有限责任公司 | Climbing device and system of inspection robot |
| CN113110454A (en) * | 2021-04-15 | 2021-07-13 | 山东东辰共赢服务有限公司 | Rail type inspection robot for electric power system |
| CN113110454B (en) * | 2021-04-15 | 2022-12-27 | 山东东辰共赢服务有限公司 | Rail type inspection robot for electric power system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110716556A (en) | Underground coal mine track type large inclination angle inspection robot | |
| CN210428195U (en) | Underground coal mine track type large inclination angle inspection robot | |
| CN111217108B (en) | A single track robot system of patrolling and examining for extreme environment band conveyer | |
| CN210971057U (en) | A drive structure that is used for colliery big inclination of down-hole rail mounted to patrol and examine robot | |
| CN106698147A (en) | Intelligent fall prevention method and device of deep well lifting system | |
| CN110421579B (en) | Mining intrinsically safe type track inspection robot automatic walking system | |
| CN113510715B (en) | All-round robot that patrols and examines of self-charging formula sealing-tape machine | |
| CN111823214A (en) | Track inspection robot driving device capable of automatically adjusting clamping force | |
| CN210589311U (en) | Automatic traveling system of mine intrinsically safe track inspection robot | |
| CN104044883B (en) | Mining belt detection device | |
| CN215949586U (en) | Intelligent mining inspection robot | |
| CN205419395U (en) | Elevator anti -falling device | |
| CN209096712U (en) | A kind of overhead manned equipment chair lift storage device | |
| CN110077426B (en) | Rope track inspection robot anti-drop device | |
| CN220201078U (en) | Elevator T-shaped guide rail joint detection device | |
| CN210176265U (en) | Single-rail climbing-free device | |
| CN108910413B (en) | Mineral transportation and manned integrated system | |
| CN221876227U (en) | Inclined shaft skip falling monitoring system based on machine vision | |
| CN219031460U (en) | Lifting device for underground sensor | |
| CN209226041U (en) | Conveying equipment is used in a kind of coal mining | |
| CN218988522U (en) | Active traction device of elevator | |
| CN105084187B (en) | The speed controllable method of a kind of mine overhead passenger device and device | |
| CN218178420U (en) | Lifting device of head-on sensor of underground coal mine tunneling working face | |
| CN205346539U (en) | Intelligent elevator of thing networking | |
| CN215046349U (en) | Belt feeder sticky tape protrusion detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |