CN215109035U

CN215109035U - Mining suspension traction type inspection device for return air roadway

Info

Publication number: CN215109035U
Application number: CN202120553117.8U
Authority: CN
Inventors: 王雷; 王新铭; 赵红菊; 姜宇; 邱教伟; 许国峰; 张维娜
Original assignee: Shenyang Research Institute Co Ltd of CCTEG
Current assignee: Shenyang Research Institute Co Ltd of CCTEG
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-12-10
Anticipated expiration: 2031-03-17

Abstract

The utility model relates to a mining towed inspection device that hangs in return air tunnel, include: the system comprises a main control module, a hanging traction wire rail, an inspection module arranged on the hanging traction wire rail, a driving module used for driving the hanging traction wire rail, and a position sensor unit used for detecting the position of the inspection module. The main control module is electrically connected with the driving module and the position sensor unit respectively; the module of patrolling and examining is including electric connection in proper order: the system comprises an inspection terminal, a wireless charging receiving unit and a battery unit; mining suspension traction type inspection device in return air tunnel still includes: and the wireless charging transmitting unit is used for charging through the wireless charging receiving unit when the inspection module runs to a preset charging position. The utility model discloses a rope towed structure avoids the danger of the easy spark that produces of current rail mounted structure. Adopt wireless charging mode, metal exposes danger when avoiding plug, socket butt joint to charge.

Description

Mining suspension traction type inspection device for return air roadway

Technical Field

The utility model relates to an automatic field of patrolling and examining in colliery, especially a return air tunnel is mining hangs towed inspection device.

Background

The return airway is one of important routing inspection tunnels of a coal mine, has the characteristics of complex internal ground condition, severe working condition, high wind speed and the like, mainly depends on manual routing inspection at present, and has the problems of high manual working strength, low safety guarantee, low working efficiency and the like. The intelligent coal mine inspection system is an important component of a coal mine operation management system, is basic supporting and guaranteeing equipment of a future intelligent mine, is an effective scheme for solving the problems, and has a plurality of difficulties in the existing robot capable of being used for a return air roadway.

In the existing automatic inspection system, an inspection track is provided with a power line, and an inspection vehicle needs to move for a long time and a long distance on the track, so that the power line can generate sparks due to friction, and safety accidents can be caused; in addition, in equipment such as a track, a patrol car and the like, sparks can be generated due to friction of metal parts, the metal parts need to be covered by insulating materials, but the service life of the equipment is short, the cost of production, maintenance and the like is high, and safety accidents are easily caused; the charging of the inspection vehicle has high accuracy on the running track, and the plug and the socket are exposed underground and are easy to cause danger.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the problem that above-mentioned prior art exists, provide a mining towed inspection device that hangs in return air tunnel, be applicable to the return air tunnel, difficult production spark has guaranteed the security of patrolling and examining the operation.

The utility model discloses a mining towed inspection device that hangs in return air tunnel, include: the system comprises a main control module, a hanging traction wire rail, an inspection module arranged on the hanging traction wire rail, a driving module used for driving the hanging traction wire rail, and a position sensor unit used for detecting the position of the inspection module;

the main control module is electrically connected with the driving module and the position sensor unit respectively; patrol and examine the module including electric connection in proper order: the system comprises an inspection terminal, a wireless charging receiving unit and a battery unit; mining pull-type inspection device that hangs of return air tunnel still includes: and the wireless charging transmitting unit is used for charging when the inspection module runs to a preset charging position through the wireless charging receiving unit.

Further, the apparatus further comprises: set up the air door module between return air tunnel and electromechanical pump room, the air door module with the host system electricity is connected, is used for patrolling and examining the module and moving and open when predetermineeing air window control position.

Further, the air door module comprises an entrance window unit, and the entrance window unit comprises:

the first air window is close to the electromechanical pump room side, is electrically connected with the main control module, and is used for being opened when the inspection module runs to a first air window control position and being closed when the inspection module runs to a second air window control position;

and the second air window is close to the side of the return airway, is electrically connected with the main control module, and is used for opening when the inspection module runs to the second air window control position and closing when the inspection module runs to the third air window control position.

Further, the suspension traction wire track is a closed traction loop, and specifically includes: the driving-in wind window unit is arranged corresponding to the driving-in line rail;

the air window unit that rolls off in the air door module sets up with roll off the line rail and correspond, roll off the air window unit and include:

the third air window is close to the side of the return airway, is electrically connected with the main control module, and is used for being opened when the routing inspection module runs to a fourth air window control position and being closed when the routing inspection module runs to a fifth air window control position;

and the fourth air window is close to the electromechanical pump room side, is electrically connected with the main control module, and is used for opening the inspection module when the inspection module runs to the fifth air window control position and closing the inspection module when the inspection module runs to the sixth air window control position.

Furthermore, the main control module is also connected with a wind window sensor for detecting the opening and closing state of the wind door module.

Furthermore, the inspection terminal is also connected with a camera; mining pull-type inspection device that hangs of return air tunnel still includes: and the cleaning unit is connected with the main control module and used for cleaning the camera when the inspection module runs to a preset cleaning position.

Further, the module of patrolling and examining still including respectively with patrol and examine the terminal electricity and be connected: the device comprises a wind speed detector, a section detector, a camera and a mining multi-parameter sensor;

mining pull-type inspection device that hangs of return air tunnel still includes: a computer module;

the inspection terminal is also connected with a wireless communication unit, and the computer module is in communication connection with the inspection terminal through the wireless communication unit.

Further, the apparatus further comprises:

the directional pulley acts on the suspension traction lead rail and is connected with one end of the suspension traction lead rail in the return air roadway;

and the guide pulley acts on the suspension traction wire rail and is arranged on the side wall of the return air roadway.

Furthermore, the directional pulley is movably arranged on the fixed support, and the pulley is connected with a tensioning unit and used for tensioning the suspension traction wire rail by moving the directional pulley. The inner wall of the return air roadway is provided with a fixed hanging bracket, and the guide pulley is movably arranged on the fixed hanging bracket.

Further, the driving module includes: a motor and an encoder acting on the motor.

The utility model discloses following beneficial effect has at least:

the utility model discloses a rope towed structure avoids the danger of the easy spark that produces of current rail mounted structure. Adopt wireless charging mode, metal exposes danger when avoiding plug, socket butt joint to charge. Adopt and hang towed structure, the installation is maintained conveniently, is applicable to the colliery and patrols and examines the arrangement in the pit long distance, is particularly useful for the return air tunnel, solves the return air tunnel and need the manual work to patrol and examine the problem, accomplishes really that unmanned patrols and examines, has someone on duty.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is the embodiment of the utility model discloses a mining towed inspection device that hangs of return air tunnel's structure schematic diagram.

Fig. 2 is the embodiment of the utility model discloses a mining towed inspection device that hangs of return air tunnel's circuit schematic diagram.

The system comprises a driving module, an approaching photoelectric switch, a cleaning unit, a return air roadway, a guide pulley, a hanging traction rail, a directional pulley, a mechanical and electrical pump room, a computer module, a wireless charging transmitting unit, a routing inspection module, a tensioning unit, a third air window, a fourth air window, a first air window, a second air window, a 151 driving-in line rail and a 152 driving-out line rail, wherein the driving module is 10-the approaching photoelectric switch, the cleaning unit is 12-the return air roadway, the guide pulley is 14-the hanging traction line rail, the directional pulley is 16-the directional pulley, the electromechanical pump room is 17-the computer module is 18-the computer module, the wireless charging transmitting unit is 20-the routing inspection module, the tensioning unit is 21-the third air window, the fourth air window, the first air window, the 34-the second air window, the 151-the driving-in line rail and the 152-driving-out line rail.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 and fig. 2, the utility model discloses a mining towed inspection device that hangs in return air tunnel, include: the system comprises a main control module, a hanging traction wire rail 15, an inspection module 20 arranged on the hanging traction wire rail 15, a driving module 10 used for driving the hanging traction wire rail 15, and a position sensor unit used for detecting the position of the inspection module 20.

The inspection module 20 can be fixed on the suspension traction wire rail 15 by adopting any existing connecting structure, the suspension traction wire rail 15 determines the inspection route of the inspection module 20, and the inspection module is arranged in an overhead installation mode by adopting a steel wire rope and is not contacted with the ground. Preferably, one end of the driving module is connected with the driving module 10 and is arranged in the electromechanical pump room 17 for moving under the action of the driving module 10; the other end sets up in return air tunnel 13 to can adopt pulley drive's mode to act on suspension traction wire rail 15, play driven effect, it is preferred, the pulley that acts on this end can set up on the inner wall of the depths of return air tunnel 13, can patrol and examine the module 20 and comprehensively patrol and examine return air tunnel 13 in order to guarantee. When patrolling and examining module 20 and removing in return air tunnel 13 and patrolling and examining, it does not have friction also need not to set up the cable conductor to patrol and examine between module 20 and the suspension pull wire rail 15 as the track, prevents that the spark from appearing and leads to the incident.

The driving module 10 can drive the suspension traction wire track 15 under the control of the main control module, preferably, the driving module 10 adopts a single-wheel driving mode, the components comprise an explosion-proof three-phase asynchronous motor, a speed reducer, a coupler and a driving wheel, and the driving wheel acts on the suspension traction wire track 15 to provide power for the movement of the suspension traction wire track.

The position sensor unit preferably adopts a non-contact triggered proximity photoelectric switch 11, an infrared position sensor and the like, and can be uniformly laid in the return air roadway 13 and the electromechanical pump room 17 so as to accurately master the position of the inspection module 20. Preferably, can only be in each corresponding position sensor unit of predetermined effect position installation, position sensor unit can send detected signal and be discerned by host system when patrolling and examining module 20 and reaching this position, and then issue control command to corresponding module/unit and carry out corresponding operation, and this has reduced the overall cost of device, also is convenient for installation and later maintenance more.

The main control module is electrically connected with the driving module 10 and the position sensor unit respectively. The main control module includes a processor, has functions of receiving and sending instructions, processing and storing data, and may specifically adopt a PLC device available in the market, and the specific working principle thereof is not described herein again. The main control module can control the driving module 10 to operate or stop according to the instruction, and can determine the current position of the inspection module 20 by receiving the detection signals of the position sensor units.

The utility model discloses a module 20 patrols and examines replaces the equipment that the staff patrolled and examined at return air tunnel 13, can carry on all kinds of sensors to be used for acquireing relevant detected data, and it is including electricity connection in proper order: patrol and examine terminal, wireless receiving unit and battery unit that charges. The inspection terminal can detect the electric quantity of the battery unit and perform corresponding operation according to a preset instruction when the electric quantity is insufficient; the inspection terminal can also receive detection signals of various inspection sensors and process the detection signals to obtain specific detection information, and the detection information can be uploaded to designated computer equipment through the inspection terminal, can also be stored locally in the inspection terminal through a storage unit, and can be called. The wireless receiving unit that charges includes the charging coil, charges for power supply unit based on the electromagnetic induction principle, and is preferred, and the wireless receiving unit that charges can also include other current wireless charging parts to utilize current resonance charging mode to charge for battery unit.

The utility model discloses a mining towed inspection device that hangs of return air tunnel still includes: and the wireless charging transmitting unit 19 is used for charging through the wireless charging receiving unit when the polling module 20 runs to a preset charging position. In the existing inspection system, the traditional socket and plug connection mode is adopted for charging, the requirement on the running track control of an inspection vehicle is extremely high, electric sparks are easily generated at the moment of butt joint of the socket and plug, and further serious safety accidents are caused. And the utility model discloses a patrol and examine module 20 and adopt the wireless mode of charging, as long as patrol and examine the car and move to the wireless charging emission unit 19 the charging range in can, reduced the requirement to patrolling and examining module 20 orbit control precision, and charge and do not have the metal parts contact throughout, avoided producing the electric spark.

In some embodiments of the present invention, since the environmental condition of the air return tunnel 13 is severe, in order to ensure the long-term effective operation of the device, the driving module 10 and the main control module can be disposed in the electromechanical pump room 17, and in order to prevent the electromechanical pump room 17 from being affected by the environment of the air return tunnel 13, the air door module can be disposed between the two, and the structure of the air door module will not interfere with the movement of the suspension traction wire 15 itself, the air door module is electrically connected with the main control module, and can be opened and closed under the control of the main control module, when it is opened, the inspection module 20 suspended on the traction wire 15 can pass through the air door module, preferably, the air window control position can be preset, when the inspection module 20 is operated to this position, the main control module can control the air window to be opened, further, the position corresponding to the air window control position is disposed near the photoelectric switch 11, when the inspection module 20 runs to the air window control position, the proximity photoelectric switch 11 is triggered, the main control module receives a detection signal of the proximity photoelectric switch, confirms the position of the inspection module 20 and controls the opening of the air door module. After the inspection module 20 completely passes through, the main control module controls the air door module to be closed. Preferably, the air door module structurally comprises an air window for isolating the space, and a motor for driving the window to open and close and controlled by the main control module.

The utility model discloses an in some embodiments, open to the period of closing at the air door module, electromechanical pump room 17 and return air tunnel 13 are UNICOM, for preventing electromechanical pump room 17 from being contaminated, the air door module can include two wind windows, specifically does: be close to first wind window 33 of electromechanical pump room 17 side with be close to the second wind window 34 of return air tunnel 13 side, first wind window 33 and second wind window 34 respectively with the host system electricity is connected, and wind window control position is located the both sides of first wind window 33 and second wind window 34 respectively and is close to one side of return air tunnel 13, for the convenience of explanation, the utility model discloses show the precedence order of the predetermined wind window control position of patrolling and examining module 20 operation process with the mode of "first", "second". Patrol and examine module 20 and move first wind window 33 of master control module control when first wind window control position (S4), and patrol and examine module 20 and move first wind window when second wind window control position (S5) and close, master control module control second wind window 34 simultaneously opens, when patrolling and examining module 20 and moving to third wind window control position (S6), second wind window 34 closes, it has got into return air tunnel 13 through the wind door module to patrol and examine module 20 this moment, the whole process of wind window switching has guaranteed that electromechanical pump room 17 does not directly UNICOM with return air tunnel 13.

The utility model discloses an in some embodiments, host system still even has the wind window sensor, is used for detecting the switching state of air door module, but host system confirms under the condition that actually does not open according to the wind window sensor when the wind window should be opened appearing, control drive module 10 stops, prevents to patrol and examine module 20 and collides the wind window and causes the damage. Preferably, the wind window sensor can adopt the existing proximity photoelectric switch 11, an infrared switch and the like, so that the contact friction with the wind door module during detection is avoided.

The utility model discloses an in some embodiments, it still has the appearance of making a video recording to patrol and examine the terminal, and the camera lens of the appearance of making a video recording is easy to be polluted, and then influences the collection of normally patrolling and examining the operation to data, consequently the mining towed inspection device that hangs of return air tunnel still includes: and the cleaning unit 12 is connected with the main control module and used for cleaning the camera when the inspection module 20 runs to a preset cleaning position. Preferably, all set up in the position that is close to the air door module in return air tunnel 13 in cleaning unit 12 and washing position, the washing position is equipped with corresponding position sensor unit for when patrolling and examining module 20 and reaching the washing position, position sensor unit sends detected signal to host system, and host system confirms that module 20 reaches the washing position of patrolling and examining.

The utility model discloses an in some embodiments, the mining towed inspection device that hangs of return air tunnel still includes: a third air window 31 acting on the hanging and pulling track 15 is provided with a directional pulley 16, and the directional pulley 16 is connected with one end of the hanging and pulling track 15 in the return air channel 13. The directional pulley 16 is movably arranged on the fixed support, and the pulley is connected with a tensioning unit 21 for tensioning the suspension traction wire track 15 by moving the directional pulley 16. Preferably, a directional pulley 16 is installed at the innermost part inside the return air channel 13 through an iron bracket (fixed on the bottom plate of the return air channel 13) and used for realizing the reciprocating motion of the steel wire rope.

The utility model discloses an in some embodiments, the mining towed inspection device that hangs of return air tunnel still includes: and the guide pulley 14 acts on the suspension traction guide rail 15, and the guide pulley 14 is arranged on the side wall of the return air channel 13. The inner wall of the return air roadway 13 is provided with a fixed hanging bracket, and the guide pulley 14 is movably arranged on the fixed hanging bracket. Preferably, install guide pulley 14 through the iron gallows on return air tunnel 13 both sides lateral wall, the pulley can reciprocate the regulation on the gallows, can compensate drive actuating mechanism's levelness and straightness installation error that hangs down.

The utility model discloses an in some embodiments, according to the structure of the suspension traction wire rail 15 of difference, it can be that the single line operation also can be the double-line operation to patrol and examine module 20, and under the condition of single line operation, the motor of drive module 10 can realize patrolling and examining module 20's returning voyage through the reversal. When entering the return air roadway 13, the control mode of the air door module can refer to the above embodiment; when the inspection module 20 returns to the electromechanical pump room 17 from the return air roadway 13, the sequence of the inspection module 20 passing through the air window control bits is opposite to that of entering, but no matter which direction the inspection module 20 moves towards, the air window control bit which the inspection module 20 firstly reaches is the first air window control bit, the air window which is closest to the current inspection module 20 is the first air window, the other air window is the second air window 34, the air window control bit which is reached again is the second air window control bit, and the air window control bit which is reached finally is the third air window control bit. Therefore, no matter patrol and examine module 20 and drive into or return air tunnel 13, the utility model discloses can both guarantee that the wind window realizes corresponding the isolation of isolation and can not influence the motion of patrolling and examining module 20.

The utility model discloses a suspension traction rail 15 can be for closed traction circuit, specifically including driving in the line rail 151 and driving off the line rail 152, patrol and examine module 20 and adopt the double-line operation, under this condition, patrol and examine module 20 and get into air return tunnel 13 from electromechanical pump room 17 through driving in the line rail 151, in reacing air return tunnel 13 deepest, through directional pulley 16 back, the entering is driven off line rail 152, changes direction of motion and makes it opposite with previous direction, returns electromechanical pump room 17 from air return tunnel 13. The damper modules may act on both the incoming line rail 151 and the outgoing line rail 152, and the specific control method may refer to the scheme disclosed above with respect to the single-line operation embodiment.

In another preferred scheme, corresponding air windows can be respectively arranged on the two line rails so as to separate the electromechanical pump room 17 from the return air channel 13. Specifically, the air door module includes an entrance window unit and an exit window unit, the entrance window unit is disposed corresponding to the entrance track 151, and includes the first and second air windows 34 and the corresponding first, second, and third air window control positions as disclosed in the above embodiments. The exit window unit is provided corresponding to the exit rail 152, and includes:

be close to the third windshield 31 of return air tunnel 13 side, third windshield 31 with the host system electricity is connected, is used for patrolling and examining module 20 and opening when moving to fourth windshield control position (patrolling and examining module 20 promptly and moving before third windshield 31), and is in it closes to patrol and examine module 20 and move when to fifth windshield control position.

Be close to the fourth windshield 32 of electromechanical pump room 17 side, fourth windshield 32 with the host system electricity is connected, is used for patrol and examine module 20 and move extremely open when fifth windshield control position (patrol and examine module 20 promptly and be located between third windshield 31 and fourth windshield 32), and patrol and examine module 20 and close when moving to sixth windshield control position, at this moment, patrol and examine module 20 and have passed through fourth windshield 32 completely.

The air window sensor that host system connects for detect the open and close state of all air windows, host system judges whether the condition that the air window is not normally opened exists according to the detection signal that uploads, if have, then control drive module 10 and stop the drive, prevent to patrol and examine module 20 and collide the air window and cause the device to damage.

It is worth mentioning that the incoming line rail 151 and the outgoing line rail 152 are determined with reference to the direction of operation of the return air lane 13 and the inspection module 20, and are not changed by the influence of the operation or stop of the suspension traction line rail 15 itself.

The utility model discloses an in some embodiments, the utility model discloses can also realize specifically can adopting the encoder of current arbitrary model and correspond the setting on the motor to the control of patrolling and examining 20 positions of module through the encoder. The origin of the time coordinate is determined on the suspended traction wire track 15, and this time is used to define the speed and position of travel of the drive module 10 during one revolution of the encoder. When the inspection robot passes through the air door module and enters the air return roadway 13, the main control module realizes the track planning and the speed and position control of the inspection robot through the calculus of the speed or the position to the time.

In some cases, the window/windows in the damper module may not open properly, either due to a failure of the window itself or due to a failure of the position sensor such that the main control module cannot determine that the patrol module 20 has reached the corresponding window control position. Therefore, the utility model discloses can also master the position of patrolling and examining module 20 through the processing of setting up cooperation host system of encoder to data, for example, confirm to patrol and examine module 20 through the encoder when host system and reach certain wind window control position, but when host system did not receive position sensor's detected signal, explain that this position sensor probably breaks down, control drive arrangement stop drive, prevent to damage relevant device.

In some embodiments of the present invention, the inspection module 20 further comprises a connector respectively connected to the inspection terminal: the system comprises a wind speed detector, a section detector, a camera and a mining multi-parameter sensor, wherein the sensors can detect various indexes in the return air roadway 13, and a main control module respectively receives detection signals of the sensors, processes the detection signals to obtain specific parameters and stores the specific parameters locally in the routing inspection module 20. In addition, this device still includes computer module 18, and it still has wireless communication unit to patrol and examine the terminal, computer module 18 with pass through wireless communication unit with patrol and examine terminal communication connection, for example, WIFI communication, bluetooth communication etc. patrol and examine module 20 and can upload the parameter of each item index to computer module 18. The computer is preferably an explosion-proof computer.

The utility model discloses an in some embodiments, wireless transmitting unit 19 that charges still even has the flexible unit that charges, charge flexible unit with the host system electricity is connected, is used for the adjustment wireless transmitting unit 19's that charges position. As shown in fig. 1, the wireless charging transmission unit 19 is fixed to the side of the return air duct 13. The D2 point in the electromechanical pump room 17 is provided with the proximity photoelectric switch 11, after the inspection robot (the inspection module 20) reaches the position, the wireless charging transmitting unit 19 retracts, and the inspection robot is in wireless butt joint with the wireless charging transmitting unit 19 to complete charging. The inside transmitting coil that charges that contains of wireless transmitting unit 19 that charges, the inside wireless receiving unit that charges of robot that patrols and examines contains the receiving coil that charges, and the two can respond to the completion of charging apart from certain within range, need not carry out accurate position control to patrolling and examining the robot. After charging, the wireless charging transmitting unit 19 extends out, keeps a power-off state, and waits for next charging.

The utility model also discloses a return air tunnel is mining to hang towed inspection device's concrete implementation method, include:

controlling a driving module 10 to drive a suspension traction wire track 15, so that a detection module on the suspension traction wire track 15 drives in/out of an air return roadway 13;

receiving a charging position detection signal when the inspection module 20 is at the charging position;

controlling the driving module 10 to stop driving the suspension traction wire track 15;

and controlling the wireless charging transmitting unit 19 to charge the inspection module 20.

In some embodiments of the present invention, the method further comprises:

acquiring a first position detection signal when the inspection module 20 is at a first air window control position; and controlling the first air window to be opened so that the inspection module 20 can pass through the first air window.

Receiving a second position detection signal when the inspection module 20 is at the second windshield control position; and controlling the first air window to be closed and controlling the second air window 34 to be opened, so that the inspection module 20 can pass through the second air window 34.

Receiving a third position detection signal when the inspection module 20 is at a third windshield control position; the second louvers 34 are controlled to be closed.

Under the condition that the inspection module 20 is at the fourth air window control position, acquiring a fourth position detection signal; and controlling the third air window 31 to be opened so that the inspection module 20 can pass through the third air window 31.

Receiving a fifth position detection signal when the inspection module 20 is at the fifth window control position; the third air window 31 is controlled to be closed, and the fourth air window 32 is controlled to be opened, so that the inspection module 20 can pass through the fourth air window 32.

Receiving a sixth position detection signal when the inspection module 20 is at a sixth louver control position; the fourth louver 32 is controlled to be closed.

The first louver 34 and the second louver 34 are disposed corresponding to an incoming line rail 151 of the suspension traction line rail 15, and the third louver 31 and the fourth louver 32 are disposed corresponding to an outgoing line rail 152 of the suspension traction line rail 15. Regarding the position structure relation of each wind window and the wind window control position that corresponds, can refer to the utility model discloses a mining towed inspection device that hangs in return air tunnel's embodiment corresponds the part, and this place is no longer repeated.

In some embodiments of the present invention, the method further comprises:

acquiring a detection signal of a wind window sensor; judging whether the first air window, the second air window 34, the third air window 31 and the fourth air window 32 are not normally opened or not based on the detection signal; if so, the driving module 10 is controlled to stop driving.

In some embodiments of the present invention, the method further comprises:

acquiring a cleaning position detection signal under the condition that the inspection module 20 is at the cleaning position;

sending a shutdown instruction to the inspection module 20, for controlling the inspection module 20 to shutdown;

controlling a cleaning unit 12 to clean the camera of the cruise module;

in some embodiments of the present invention, the method further comprises:

under the condition that the inspection module 20 is at the inspection end point position, acquiring a terminal position detection signal;

and controlling the driving module 10 to stop driving the hanging traction wire rail 15, so that the inspection module 20 can be in communication connection with the computer module 18 in the electromechanical pump room 17.

In some embodiments of the present invention, the method further comprises:

acquiring electric quantity information reflecting the electric quantity of the detection module; and under the condition that the charging is required based on the electric quantity information, controlling the driving module 10 to drive the suspension traction wire track 15 so as to drive the inspection module 20 to move to the charging position.

The utility model discloses a following embodiment to clear, complete explanation the technical scheme of the utility model.

As shown in fig. 1 and 2, the utility model discloses install drive module 10 in electromechanical pump room 17, drive module 10 adopts the single round drive mode, fixes on return air tunnel 13 bottom plate through the iron support, and it constitutes including flame proof type three-phase asynchronous motor, speed reducer, shaft coupling and drive wheel. Guide pulleys 14 are installed on the side walls of the two sides of the return air roadway 13 through iron hangers, and the pulleys can be adjusted by moving up and down on the hangers, so that the levelness and perpendicularity installation errors of the driving actuating mechanism can be compensated. A directional pulley 16 is arranged at the innermost part in the return air tunnel 13 through an iron bracket (fixed on the bottom plate of the return air tunnel 13) and is used for realizing the reciprocating motion of a steel wire rope (a suspension traction wire rail 15). The directional pulley 16 is connected with the tensioning unit 21 through a guide rail, and a load is arranged at the tail of the tensioning unit 21 to adjust the directional pulley 16 to horizontally move on the guide rail, so that the tensioning adjustment of the steel wire rope is realized.

The utility model discloses a wireless transmitting unit 19 that charges and be close photoelectric switch 11 and fix in the side of return air tunnel 13, the 19 horizontal motions of wireless transmitting unit that charges. When the inspection robot (the inspection module 20) detects that the battery power of the inspection robot is lower than a set value, the inspection robot runs into the electromechanical pump room 17. The D2 point in the electromechanical pump room 17 is provided with the proximity photoelectric switch 11, after the inspection robot reaches the position, the wireless charging transmitting unit 19 retracts, the inspection robot is in wireless butt joint with the wireless charging transmitting unit 19, and charging is completed. The wireless transmitting unit 19 that charges inside contains the transmitting coil that charges, and the robot that patrols and examines inside containing the receiving coil that charges, the two can respond to the completion and charge apart from certain within range, need not carry out accurate position control to the robot that patrols and examines. After charging, the wireless charging transmitting unit 19 extends out, keeps a power-off state, and waits for next charging.

The inspection robot consists of an intelligent terminal (inspection terminal), a wireless charging receiving unit, an intrinsic safety battery (battery unit), a mining wind speed detector, a section detector, a camera and a mining multi-parameter sensor. The intelligent terminal is communicated with the explosion-proof computer through the wireless communication module and is used for receiving an inspection instruction of the ground monitoring center, and meanwhile, collecting an intrinsic safety battery power supply of the inspection robot, so that electric quantity monitoring is realized, when the electric quantity is normal, the working states of the mining wind speed detector, the section detector, the camera and the mining multi-parameter sensor are controlled, and data detection and scanning are started; on one hand, the acquired data result is transmitted and stored in the intelligent terminal, and meanwhile, the data result is wirelessly transmitted to the explosion-proof computer for data analysis of the client.

According to the overall dimension of the inspection robot, four air windows (31-34) are arranged at the upper opening of an air door between the electromechanical pump room 17 and the return air roadway 13, and the front and rear positions of the air windows are respectively provided with an approach photoelectric switch 11 for detecting the control position of the air windows. When the inspection robot runs to the position of the air door module, the corresponding air window is automatically opened, and the inspection robot is ensured to pass through smoothly.

The main control module comprises a PLC and a 24V switching power supply, can control and monitor the motion state of the inspection robot, and realizes the instant control and data transmission with the driving module 10, the wireless charging transmitting unit 19, the air door module and the inspection module 20.

In the driving module 10, a high-precision encoder is installed at the explosion-proof type three-phase asynchronous motor, so that the position of the inspection robot can be calculated in real time. The arrangement structure of the suspension traction wire track 15 determines a walking track model of the inspection module 20, nine virtual safety control points P1-P9 (software design) are set in the track model, ten detection points S1-S6 and D1-D4 are set, and the proximity photoelectric switch 11 is installed at the positions S1-S6 and D1-D4. D4 is the position calibration point, can eliminate and patrol and examine the robot and patrol and examine the in-process, because the relative error that factors such as sensor precision, mechanical error produced. The point D3 is the origin of time coordinate, and the time is used to define the speed and position of the driving mechanism when the encoder makes one turn. When the robot that patrols and examines gets into inside back in return air tunnel 13 through the air door module promptly, through the calculus of speed or position to the time, carry out the trajectory planning and speed and position control of master control module to the robot body of patrolling and examining. The inspection process comprises the following steps:

and (4) starting polling, resetting the polling robot in a timing way, and starting timing by the PLC.

When the inspection robot reaches the detection point S4, the first air window is opened; when the first air window is fully opened and the inspection robot runs between D2 and P5, the first air window is opened. The first louver may not be closed until reaching detection point S5. If the first air window is not normally opened, namely the detection signal of S4 is failed, the inspection robot stops running, and protection is generated.

When the detection point S5 is reached, the first air window can be closed, and then the second air window 34 is opened; when the second louver 34 is fully opened and the inspection robot operates between P6 and P7, the second louver 34 is passed. Until reaching detection point S6, second louver 34 may not be closed. If the second air window 34 is not normally opened, namely the detection signal of S5 is failed, the inspection robot stops running, and protection is generated.

Upon reaching detection point S6, second louver 34 may be closed.

And (4) the inspection robot continues to operate, operates between the P8 and the P9, and when the inspection point D3 is reached, the coordinate time of the inspection robot is cleared, the timing is started, and the inspection is started. And the inspection robot starts each power supply, executes the acquisition actions of the mining wind speed detector, the section detector, the camera and the mining multi-parameter sensor, and performs off-line control in the whole process to complete the detection of the internal environment of the return air roadway 13.

And the inspection robot continues to operate, stops operating when reaching the detection point D1, finishes timing, turns off all paths of power supplies, and cleans the camera through the camera cleaning device.

When the detection point S1 is reached, the third air window 31 is opened; when the third air window 31 is fully opened and the inspection robot runs between the D1 and the P1, the third air window 31 is opened. Until reaching detection point S2, third louver 31 may not be closed. If the third air window 31 is not normally opened, namely the detection signal of S1 is failed, the inspection robot stops running, and protection is generated.

When reaching the detection point S2, the third louver 31 may be closed, and then the fourth louver 32 is opened; when the fourth louver 32 is fully opened and the inspection robot operates between P2 and P3, the fourth louver 32 is opened. Until detection point S3 is reached, fourth louver 32 may not be closed. If the fourth air window 32 is not normally opened, namely the detection signal of S2 is failed, the inspection robot stops running, and protection is generated.

Upon reaching detection point S3, fourth louver 32 may be closed.

The inspection robot continues to operate, operates between P4 and D2, and stops operating when the detection point D2 is reached. And establishing communication connection with an explosion-proof computer, transmitting data acquired by various sensors, and finishing the inspection once after the uploading is finished.

In practical application, the utility model adopts a rope traction type structure, thereby avoiding the danger of spark easily generated by a track type structure; a wireless charging mode is adopted, so that the danger of metal exposure during butt joint charging of a plug and a socket is avoided; adopt and hang towed structure, the installation is maintained conveniently, is applicable to the colliery and patrols and examines the arrangement in the pit long distance, is particularly useful for the return air tunnel, solves the return air tunnel and need the manual work to patrol and examine the problem, accomplishes really that unmanned patrols and examines, has someone on duty.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a mining towed inspection device that hangs of return air tunnel, its characterized in that includes: the system comprises a main control module, a hanging traction wire rail, an inspection module arranged on the hanging traction wire rail, a driving module used for driving the hanging traction wire rail, and a position sensor unit used for detecting the position of the inspection module;

2. The mining suspension traction inspection device for return air tunnels according to claim 1, characterized in that the device further comprises: set up the air door module between return air tunnel and electromechanical pump room, the air door module with the host system electricity is connected, is used for patrolling and examining the module and moving and open when predetermineeing air window control position.

3. The mining hanging traction type inspection device for the return air roadway according to claim 2, wherein the air door module comprises an entrance air window unit, and the entrance air window unit comprises:

4. The mining suspension traction inspection device for return air tunnels according to claim 3, wherein the suspension traction wire track is a closed traction loop and specifically comprises: the driving-in wind window unit is arranged corresponding to the driving-in line rail;

5. The mining suspension traction inspection device for the return air roadway according to claim 4, wherein the main control module is further connected with an air window sensor for detecting the opening and closing state of the air door module.

6. The suspended traction type inspection device for the return air roadway mine according to claim 1, wherein the inspection terminal is further connected with a camera; mining pull-type inspection device that hangs of return air tunnel still includes: and the cleaning unit is connected with the main control module and used for cleaning the camera when the inspection module runs to a preset cleaning position.

7. The mining hanging traction inspection device for the return air roadway according to claim 1, wherein the inspection module further comprises: the device comprises a wind speed detector, a section detector, a camera and a mining multi-parameter sensor;

8. The mining suspension traction inspection device for return air tunnels according to claim 1, characterized in that the device further comprises:

9. The suspended traction type inspection device for the return air roadway mine according to claim 8, wherein the directional pulley is movably arranged on a fixed support, and the pulley is connected with a tensioning unit for tensioning the suspended traction wire rail by moving the directional pulley;

the inner wall of the return air roadway is provided with a fixed hanging bracket, and the guide pulley is movably arranged on the fixed hanging bracket.

10. The mining suspension traction inspection device for return air tunnels according to claim 1, wherein the driving module comprises: a motor and an encoder acting on the motor.