CN213946458U

CN213946458U - Intelligent inspection robot for mining belt conveyor

Info

Publication number: CN213946458U
Application number: CN202022418794.7U
Authority: CN
Inventors: 肖鹿; 王伟; 杨晓东; 杨孝新; 李凯
Original assignee: Xinjiang Tianchi Energy Sources Co ltd
Current assignee: Xinjiang Tianchi Energy Sources Co ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-08-13
Anticipated expiration: 2030-10-27

Abstract

The utility model relates to a check out test set's field discloses an intelligence patrols and examines robot for mining belt feeder, including the confined casing, the bottom of casing is provided with rotatory cloud platform, and the top links to each other with the guide rail through walking unit, and inside is provided with the control unit, the frame setting of mining belt feeder is followed to the guide rail the both sides of rotatory cloud platform respectively set up one set of test unit, carry out image, rotational speed and sound to two bearing rollers that appear in the mining belt feeder respectively and detect, rotatory cloud platform is used for through rotatory, adjusts the relative position appearance between test unit and the corresponding bearing roller, realizes daily detection and the further detection to the fault location, walking unit is used for controlling intelligence and patrols and examines the robot and removes along the guide rail. The utility model discloses a carry computer vision, all kinds of sensors in the control box, utilize wireless network bridge transmission, the robot has satisfied the demand of enterprise in intelligent inspection of an organic whole of integration.

Description

Intelligent inspection robot for mining belt conveyor

Technical Field

The utility model relates to a technical field of check out test set, concretely relates to intelligence inspection robot for mining belt feeder.

Background

The traditional inspection of the carrier roller condition in the belt conveyor mainly depends on manual work, the belt is too long, the inspection workload is large, the manual hand-held temperature measuring instrument and the manual vibration measuring instrument are not in time for inspection and problem finding, and the important potential safety hazard of equipment exists.

In the current industrial production, common faults of mining belt conveyors include: belt fracture, off tracking, skid, the dead and shipment thing spontaneous combustion of support car Kun Ka etc. when the belt feeder broke down, not only influenced the production efficiency of enterprise, more can cause the threat to workman life safety. Therefore, the real-time monitoring of the transportation state of the belt conveyor becomes a common concern of enterprises. At present, most coal mine enterprises still regard the mode of patrolling the belt conveyor as the main mode of manual patrol, and the mode mainly depends on the sense organ of patrolling workers to judge the state of the belt conveyor, so that the patrol efficiency is low, the cost is high, and the reliability is poor due to the subjective judgment of the workers.

SUMMERY OF THE UTILITY MODEL

The utility model provides an intelligence inspection robot for mining belt feeder has solved current manual work and has patrolled and examined mode inefficiency, the poor scheduling problem of reliability.

The utility model discloses the following technical scheme of accessible realizes:

the utility model provides a robot is patrolled and examined to intelligence for mining belt feeder, includes the confined casing, the bottom of casing is provided with rotatory cloud platform, and the top links to each other with the guide rail through walking unit, and inside is provided with the control unit, the frame setting of mining belt feeder is followed to the guide rail the both sides of rotatory cloud platform respectively set up one set of test unit, carry out image, rotational speed and sound detection to two bearing rollers that appear in the mining belt feeder respectively, rotatory cloud platform is used for through rotatory, adjusts the relative position appearance between test unit and the corresponding bearing roller, realizes daily detection and to the further detection of fault location, walking unit is used for control intelligence to patrol and examine the robot and removes along the guide rail.

Further, the rotating holder comprises an inverted T-shaped support, a cross bar in the inverted T-shaped support is parallel to a guide rail, two ends of the inverted T-shaped support are respectively provided with a mounting seat, the mounting seats are connected with an output shaft of a first motor, the surface of the mounting seats is provided with a test unit, the first motor is used for driving the mounting seats and the test units on the mounting seats to rotate around the positive direction or the negative direction of an X axis, so that the test units rotate towards the corresponding carrier rollers, and daily detection is realized;

the free end of a vertical rod in the inverted T-shaped support is connected with an output shaft of a second motor, and the second motor is used for driving the whole inverted T-shaped support to rotate around the Z-axis direction, so that the distance between the test unit and the corresponding carrier roller in the Y-axis direction is adjusted, and further detection of a fault position is realized.

Further, the test unit comprises a visible light camera, an infrared camera, a laser velometer and a sound pickup.

Further, inside obstacle avoidance module and the communication module of still being provided with of casing, obstacle avoidance module sets up to panoramic camera, communication module sets up to 5G CPE equipment, panoramic camera's camera is provided with the glass window towards the direction of advance that robot was patrolled and examined to intelligence for the position on the corresponding casing is used for shooing the barrier of direction of advance, 5G CPE equipment is used for realizing that intelligence patrols and examines the communication between robot and the monitored control system the top of casing still is provided with the alarm.

Furthermore, the guide rail is of an I-shaped steel structure and comprises a vertical plate in the middle, and an upper transverse plate and a lower transverse plate which are vertically connected with the vertical plate, the walking unit comprises two driving wheels, the two driving wheels are respectively arranged in grooves on two sides of the I-shaped steel, a transmission shaft in the center of the driving wheels is connected with an output shaft of a corresponding servo motor, and the vertical distance between the output shaft of the servo motor and the vertical plate is smaller than the radius of the driving wheels, so that the surfaces of the driving wheels are tightly pressed on the vertical plate and can move along the surface of the vertical plate under the driving of the servo motor;

and two driven wheels are respectively arranged on two sides of each driving wheel, and each driven wheel moves along the lower transverse plate and is connected with the shell through a connecting plate.

Furthermore, the contact surface of the vertical plate and the driving wheel is set as a friction surface, and a power supply sliding contact line device is arranged along the upper transverse plate frame.

Further, still include position confirmation module, position confirmation module is used for retesting the walking position of robot is patrolled and examined to intelligence, includes the edge the RFID label that the even interval of guide rail was pasted to and the RFID label card reader that sets up on the casing, the RFID label all is provided with the positional information who corresponds its position.

The utility model discloses profitable technological effect lies in:

utilize being equipped with infrared thermal imager, the adapter, high definition digtal camera, the laser velometer etc. replace artifical at the uniform velocity along the line and patrol and examine, upload the measured data in real time, predict equipment trouble through logical operation and send the early warning, remind relevant personnel in time to inspect and overhaul the trouble equipment, improve equipment's operational reliability, greatly improved and patrolled and examined the reliability, save the cost, simultaneously, this kind is through carrying computer vision, all kinds of sensors in the control box, utilize wireless network bridge transmission, the intelligent robot of patrolling and examining of integration in an organic whole has satisfied the demand of enterprise.

Drawings

Fig. 1 is a front view schematically illustrating the overall structure of the present invention;

fig. 2 is a schematic side view of the overall structure of the present invention;

fig. 3 is a schematic bottom view of the overall structure of the present invention;

the device comprises a shell, a rotating holder, a guide rail, a testing unit, a panoramic camera, a CPE (customer premise equipment) device, a driving wheel, a servo motor, a driven wheel, a RFID (radio frequency identification) tag card reader and a trolley line, wherein the shell is 1, the rotating holder is 2, the guide rail is 3, the testing unit is 4, the panoramic camera is 5, the CPE device is 6-5G, the driving wheel is 7, the servo motor is 8, the driven wheel is 9, the RFID tag card reader is 10, and the trolley line is 11.

Detailed Description

The following detailed description of the preferred embodiments of the present invention is provided in connection with the accompanying drawings.

As shown in fig. 1-3, the utility model provides an intelligent inspection robot for a mining belt conveyor, which comprises a closed shell 1, a rotary cradle head 2 is arranged at the bottom of the shell 1, the top is connected with a guide rail 3 through a walking unit, a control unit, a communication module, an obstacle avoidance module and the like are arranged inside the shell, the guide rail 3 is arranged along the frame of the mining belt conveyor, a set of test unit 4 is respectively arranged at two sides of the rotary cradle head 2 to respectively detect images and sounds of two carrier rollers which are generated in the mining belt conveyor in a paired way, the rotary cradle head 3 is used for adjusting the relative pose between the test unit 4 and the corresponding carrier roller through rotation to realize daily detection and further detection of fault positions, the walking unit is used for controlling the intelligent inspection robot to move along the guide rail, the communication module is used for realizing communication between the control unit and a monitoring system, the obstacle avoidance module is used for achieving obstacle avoidance in the walking process of the intelligent patrol robot. In this way, the intelligent inspection robot is driven to move along the frame of the mining belt conveyor by means of the cooperation of the walking unit, the guide rail and the obstacle avoidance module, the two sets of test units 4 on the rotary holder 2 are utilized to detect images, rotating speeds and sounds of two carrier rollers which appear in pairs, then the control unit transmits detection data to the monitoring system through the communication module and receives an analysis result of the monitoring system, the next step action of the intelligent inspection robot is controlled, if a fault is found, the rotary holder is controlled to drive the test units to rotate to the fault position, and the fault position is further detected; if an obstacle is found in the front of the belt conveyor, the intelligent inspection robot is controlled to stop moving through the walking unit, obstacle avoidance operation is performed, and the like, so that intelligent inspection of the belt conveyor of a miner is achieved, the purpose of remotely monitoring the running states of the belt and the carrier roller is achieved, monitoring of the running state of the conveyor can be assisted by workers, working efficiency is improved, labor intensity is reduced, meanwhile, the roller and the carrier roller are early warned through image analysis, the adhesive tape deviation and unstable adhesive tape running are caused, other faults such as high temperature cause fire disasters, the failure outage rate of equipment can be effectively reduced, the belt conveying capacity in unit time is increased, and the risks of a series of machine faults and safety accidents are reduced.

This rotatory cloud platform 2 is including falling T shape support, horizontal pole and 3 parallel arrangement of guide rail in this falling T shape support, its both ends respectively set up a mount pad, this mount pad links to each other with the output shaft of first motor, its surface is provided with test unit 4, this test unit 4 includes visible light camera, infrared camera, laser velometer and adapter, be used for gathering the regional plane image of bearing roller respectively, infrared image, rotational speed and sound information, this first motor is used for driving the mount pad and rotates around the positive direction or the negative direction of X axle together with the test unit above that, thereby it is rotatory to make the test unit orientation bearing roller that corresponds separately, realize daily detection. Because the X axle direction promptly be with guide rail parallel direction, form and be the top and the below of guide rail respectively to two bearing rollers that appear, consequently, two test unit need a rotation downwards, and a rotation upwards can just obtain better collection angle, acquires more accurate data, and simultaneously, whole intelligence is patrolled and examined the robot and is removed along the guide rail, and preceding test unit 4 can accomplish earlier and detect, and two test unit's check-out time has some intervals.

The free end of the vertical rod in the inverted T-shaped support is connected with an output shaft of a second motor, and the second motor is used for driving the whole inverted T-shaped support to rotate around the Z-axis direction, so that the distance between the test unit and the corresponding carrier roller in the Y-axis direction is adjusted, and further detection of a fault position is realized. When the monitoring system analyzes the detection data detected daily, the data exceeds the standard, and when a fault is possibly caused, the second motor can drive the whole inverted T-shaped support to rotate around the Z-axis direction, so that the corresponding test unit is closer to the position of the carrier roller, the detection is performed again, the data of a smaller area position can be acquired, the acquired data is more accurate, and the further detection of the fault position is completed.

The obstacle avoidance module can be set as a panoramic camera 5, a camera of the panoramic camera 5 faces the advancing direction of the intelligent patrol robot, a glass window is arranged at the position corresponding to the shell and is used for shooting the barrier in the advancing direction, the communication module can be set as 5G CPE equipment 6, because the mining belt conveyor is mostly used for open pit coal mines, the outdoor temperature difference is large, the content of floating impurities such as coal dust in the air is high, the communication environment is not good, the 5G CPE equipment 6 is 5G wireless terminal access equipment which is self-developed by China, adopts a multimode chip Balong 5000 based on the 3GPP R15 standard in the first edition in the industry, has strong performance and low power consumption, supports the Sub-6G full frequency band, and has the actual measurement speed of the current network reaching 3.2Gbps, the user can be quickly accessed into a high-speed network of the 5G super optical fiber, and the network experience of the user in the whole scene is improved, so that the communication between an intelligent inspection person and a monitoring system can be ensured. Meanwhile, the intelligent inspection robot supplies power by using a low-voltage trolley line 11-wire groove mode, if 24V, a lithium battery is adopted as a standby power supply, and the power is not lower than 20 Ah.

This guide rail 3 adopts H shape structure, like the I-steel structure, including the riser in the middle and the perpendicular continuous last diaphragm and the lower diaphragm with it, this walking unit includes two action wheels 7, these two action wheels 7 set up respectively in the recess of I-steel both sides, its central transmission shaft all links to each other with the output shaft of the servo motor 8 that corresponds, vertical distance between the output shaft of this servo motor 8 and the riser is less than action wheel 7's radius, thereby ensure that action wheel 7's surface sticiss the riser, move along the riser surface under servo motor 8's drive, in order to increase the frictional force between action wheel 7 and the riser, can be on the contact surface that the riser corresponds spraying grit, increase roughness. In addition, the whole guide rail 3 is laid along the frame of the mining belt conveyor according to a certain height, and the intelligent inspection robot runs on the guide rail at a constant speed, so that the instability of monitoring the rotating speed of the carrier roller is avoided.

Each set up one in the both sides of every action wheel 7 and follow driving wheel 9, every is followed driving wheel 9 and all is removed along the diaphragm down, still is connected with the casing through the connecting plate, like this, can undertake the weight that intelligence patrolled and examined the robot from driving wheel 9, reduces the bearing of action wheel 6 in vertical direction, makes things convenient for the rotation of action wheel 7 more.

The top of the shell 1 is also provided with an alarm, and when any condition occurs, the alarm can give an alarm for prompt.

In addition, the servo motor 7 is provided with an encoder, the number of the rotating cycles of the rotating shaft is measured through the encoder, the circumference of the driving wheel is fixed, so the running distance of the intelligent inspection robot can be accurately measured through the encoder, the starting point of the guide rail is determined through the robot limiting trigger device, the position of the intelligent inspection robot can be determined through the running distance, but if a slipping condition is met, the test is inaccurate, therefore, the intelligent inspection robot of the utility model is also provided with a position confirmation module which is used for retesting the running position of the intelligent inspection robot and comprises RFID labels which are pasted at even intervals along the guide rail 3 and RFID label readers 10 which are arranged on the shell 1, specifically, the RFID labels are pasted on the guide rail at intervals of 6 meters, the position information of the points is written in the labels, the RFID label readers 10 are equipped, and the running distance of the encoder is more than 6 meters, and if the RFID label card reader does not read the next label, the phenomenon that the driving wheel slips or other emergency situations occur is indicated, and fault early warning is triggered.

Utilize the utility model discloses an intelligence is patrolled and examined the machine and is patrolled and examined when patrolling and examining, monitored control system assigns and patrols and examines the task, the robot is at the uniform velocity traveles along the guide rail, through the angle of two test elements of rotatory cloud platform adjustment, it is rotatory with the upper and lower bearing roller that corresponds downwards to make it make progress respectively, utilize visible light camera, infrared camera carries out real-time image acquisition, utilize the adapter to catch the operation sound of belt feeder in real time, utilize the laser tester to carry out the rotational speed and detect, the testing data passes through 5G CPE equipment and transmits to monitored control system's host computer. If the pickup catches abnormal audio signals, in order to further confirm the source of the abnormality, the servo motor controls the rotary holder to rotate left and right, of course, the first motor or the second motor can also drive the corresponding test unit to be finely adjusted, so that the test unit is closer to the abnormal position, then, the visible light camera, the infrared camera and the laser velocimeter can be immediately aligned with the carrier roller to monitor, the infrared camera monitors temperature abnormality, the laser velocimeter detects speed abnormality, the upper computer receives the abnormal signals and sends out danger early warning information, relevant personnel immediately overhaul the carrier roller at the position, when the problem is processed, the abnormal signals disappear, and the inspection robot continues to finish the inspection task issued. Still can monitor the biological activity orbit along the way on the way of traveling, when people or animal are close to the belt feeder, gather the image through panoramic camera, carry out the image processing back, send danger warning immediately, the suggestion or drive the biology and keep away from the belt feeder, guarantee belt feeder safe operation.

Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made therein without departing from the principles and spirit of the invention, and therefore, the scope of the invention is defined by the appended claims.

Claims

1. The utility model provides a robot is patrolled and examined to intelligence for mining belt feeder which characterized in that: including the confined casing, the bottom of casing is provided with rotatory cloud platform, and the top links to each other with the guide rail through walking unit, and inside is provided with the control unit, the frame setting of mining belt feeder is followed to the guide rail the both sides of rotatory cloud platform respectively set up one set of test unit, carry out image, rotational speed and sound detection to two bearing rollers that appear in the mining belt feeder respectively, rotatory cloud platform is used for through rotatory, adjusts the relative position appearance between test unit and the corresponding bearing roller, realizes daily detection and to the further detection of fault location, walking unit is used for controlling intelligence and patrols and examines the robot and remove along the guide rail.

2. The intelligent inspection robot for the mining belt conveyor according to claim 1, characterized in that: the rotary holder comprises an inverted T-shaped support, a cross bar in the inverted T-shaped support is parallel to a guide rail, two ends of the inverted T-shaped support are respectively provided with a mounting seat, the mounting seats are connected with an output shaft of a first motor, the surface of the mounting seats is provided with a test unit, and the first motor is used for driving the mounting seats and the test units on the mounting seats to rotate around the positive direction or the negative direction of an X axis, so that the test units rotate towards corresponding carrier rollers, and daily detection is realized;

3. The intelligent inspection robot for the mining belt conveyor according to claim 2, characterized in that: the test unit comprises a visible light camera, an infrared camera, a laser velometer and a sound pick-up.

4. The intelligent inspection robot for the mining belt conveyor according to claim 1, characterized in that: the inside obstacle avoidance module and the communication module of still being provided with of casing, obstacle avoidance module sets up to panoramic camera, communication module sets up to 5G CPE equipment, panoramic camera's camera is provided with the glass window towards the direction of advance that the robot was patrolled and examined to intelligence for the position on the corresponding casing is used for shooing the barrier of direction of advance, 5G CPE equipment is used for realizing the intelligence and patrols and examines the communication between robot and the monitored control system the top of casing still is provided with the alarm.

5. The intelligent inspection robot for the mining belt conveyor according to claim 1, characterized in that: the guide rail is of an I-shaped steel structure and comprises a vertical plate in the middle, an upper transverse plate and a lower transverse plate which are vertically connected with the vertical plate, the walking unit comprises two driving wheels, the two driving wheels are respectively arranged in grooves on two sides of the I-shaped steel, a transmission shaft in the center of the driving wheels is connected with an output shaft of a corresponding servo motor, and the vertical distance between the output shaft of the servo motor and the vertical plate is smaller than the radius of the driving wheels, so that the surfaces of the driving wheels are tightly pressed on the vertical plate and move along the surface of the vertical plate under the driving of the servo motor;

6. The intelligent inspection robot for the mining belt conveyor according to claim 5, characterized in that: the contact surface of the vertical plate and the driving wheel is set as a friction surface, and a power supply sliding contact line device is arranged along the upper transverse plate frame.

7. The intelligent inspection robot for the mining belt conveyor according to claim 1, characterized in that: still include position confirmation module, position confirmation module is used for patrolling and examining the walking position of robot to intelligence and retests, includes the edge the RFID label that the even interval of guide rail was pasted to and the RFID label card reader that sets up on the casing, the RFID label all is provided with the positional information who corresponds its position.