CN217751442U - Explosion-proof four-wheel inspection robot in coal mine - Google Patents
Explosion-proof four-wheel inspection robot in coal mine Download PDFInfo
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- CN217751442U CN217751442U CN202221330918.9U CN202221330918U CN217751442U CN 217751442 U CN217751442 U CN 217751442U CN 202221330918 U CN202221330918 U CN 202221330918U CN 217751442 U CN217751442 U CN 217751442U
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Abstract
The utility model provides a robot is patrolled and examined to explosion-proof four-wheel in pit in colliery, belongs to and patrols and examines equipment technical field in the pit, including explosion-proof chassis, automobile body guard shield and running gear, install explosion-proof chassis on the running gear, install the automobile body guard shield on the explosion-proof chassis, be provided with multisource detection sensing system on the automobile body guard shield. The underground coal mine explosion-proof four-wheel inspection robot monitors underground coal mine equipment and environmental states in real time through collection equipment such as an explosion-proof holder camera and a multi-parameter sensor, uploads collected data to a monitoring platform, analyzes and manages in a unified mode, achieves real-time alarm of various abnormal conditions and informs related personnel, improves the intelligent degree of a coal conveying belt, effectively reduces economic loss caused by safety accidents, reduces manual inspection operation burden, reduces inspection operation risks, and achieves man-reduction and efficiency improvement.
Description
Technical Field
The utility model belongs to the technical field of the equipment of patrolling and examining in the pit, concretely relates to explosion-proof four-wheel in pit in colliery patrols and examines robot.
Background
Coal is one of energy mainly used by human, the coal demand of China is large, but the mining environment is severe and high in danger, the million-ton death rate in coal mine production is always high, in order to guarantee the life safety of personnel and the normal operation of work, the monitoring of the underground environment and the coal conveying belt is very important, the monitoring of the underground environment of the coal mine mainly monitors various harmful gases and other operation conditions, such as gas concentration, wind speed, pressure, air temperature, dust concentration and the like, and the monitoring of the coal conveying belt mainly monitors the tearing and sliding loss of the belt. At present, the detection of the underground environment and the coal conveying belt of the coal mine is mainly manual monitoring, and in view of the severe underground working environment and poor illumination, the manual monitoring is not beneficial to patrol inspection personnel and find problems in time, and meanwhile, the labor intensity of workers is high, and the detection effect is unstable; moreover, manual monitoring needs polling personnel to participate in the process, once an accident occurs, the life safety of the polling personnel is greatly threatened, and the monitoring points are fixed in the polling point monitoring mode, so that the coverage range is limited.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a colliery is explosion-proof four-wheel in pit and is patrolled and examined robot for solve the problem that workman intensity of labour is big, detection effect is unstable and the risk is high.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a colliery is explosion-proof four-wheel in pit patrols and examines robot, includes explosion-proof chassis, automobile body guard shield and running gear, the last explosion-proof chassis of installing of running gear installs the automobile body guard shield on the explosion-proof chassis, is provided with multisource on the automobile body guard shield and surveys sensing system.
The walking mechanism comprises a universal transmission shaft, an independent suspension damping assembly and a tire assembly; each tire assembly is connected to the explosion-proof chassis through a set of independent suspension shock absorber assemblies and a universal transmission shaft.
The independent suspension shock absorber assembly comprises a rocker arm support and a universal transmission shaft, one end of the rocker arm support is hinged to one end of an upper connecting frame and one end of a lower connecting frame respectively, the other ends of the upper connecting frame and the lower connecting frame are hinged to an explosion-proof chassis respectively, the explosion-proof chassis is hinged to the top end of a shock absorption device, the bottom end of the shock absorption device is hinged to the upper connecting frame, one end of the universal transmission shaft is connected with a tire assembly, and the other end of the universal transmission shaft is hinged to a driving unit on the explosion-proof chassis.
The explosion-proof chassis is divided into three cavities, namely a wiring cavity, a component cavity and a battery cavity; the explosion-proof type wall-through terminal is adopted in the connection of cable between every chamber, the battery chamber is located explosion-proof chassis front end upper portion, embeds there is the group battery, provides the power energy for the robot, the components and parts chamber is located explosion-proof chassis bottom, middle part and rear end right side upper portion, and four drive unit are arranged to explosion-proof chassis bottom, and drive unit comprises servo motor and planetary reducer, servo motor's output links to each other with planetary reducer's input for provide power for running gear, a motor driver is respectively installed to explosion-proof chassis middle part left and right both sides, and wherein left side motor driver controls two left drive unit, and two right side motor driver control two drive unit in right side, explosion-proof chassis middle part intermediate position installation power supply module and control unit subassembly, and power supply module is arranged for the power supply of electrical components among the detection multisource sensing system, and the control unit subassembly is used for controlling whole car system, navigation industrial control system is arranged on explosion-proof chassis right side upper portion, and the wiring chamber is located explosion-proof chassis rear left side upper portion, and the built-in binding post row.
The multi-source detection sensing system comprises a methane sensor, a multi-parameter sensor, a wireless router, an emergency stop switch, an alarm lamp, an audible and visual alarm, an explosion-proof holder camera, an explosion-proof laser radar, an explosion-proof depth camera, a lighting lamp and an ultrasonic avoidance radar; the illuminating lamp, the ultrasonic avoiding radar, the explosion-proof laser radar and the explosion-proof depth camera are arranged at the front end of the vehicle body shield; the camera of the explosion-proof cradle head platform is arranged at the middle end of the vehicle body shield; the methane sensor, the multi-parameter sensor, the wireless router, the emergency stop switch, the alarm lamp and the audible and visual alarm are arranged at the rear end of the right side of the car body shield; the output ends of the methane sensor, the multi-parameter sensor, the explosion-proof holder camera, the explosion-proof laser radar, the explosion-proof depth camera and the ultrasonic wave avoiding radar are connected with the input end of the control unit assembly, the output end of the control unit assembly is connected with the input ends of the emergency stop switch, the alarm lamp and the audible and visual alarm respectively, and the control unit assembly is communicated with the ground remote monitoring platform.
The technical effects of the utility model are that:
the underground coal mine explosion-proof four-wheel inspection robot monitors underground coal mine equipment and environmental states in real time through collection equipment such as an explosion-proof holder camera and a multi-parameter sensor, uploads collected data to a ground remote monitoring platform, analyzes and manages in a unified mode, achieves real-time alarm of various abnormal conditions and informs related personnel, improves the intelligent degree of a coal conveying belt, effectively reduces economic loss caused by safety accidents, reduces manual inspection operation burden, reduces inspection operation risks, and achieves people reduction and efficiency improvement.
Drawings
FIG. 1 is an outline drawing of the novel coal mine underground explosion-proof four-wheel inspection robot;
FIG. 2 is a perspective view of the internal structure of the coal mine underground explosion-proof four-wheel inspection robot of the utility model;
FIG. 3 is a cross-sectional view of the driving unit of the coal mine underground explosion-proof four-wheel inspection robot of the utility model;
FIG. 4 is an independent suspension structure diagram of the coal mine underground explosion-proof four-wheel inspection robot of the utility model;
1-an explosion-proof chassis, 2-a vehicle body shield, 4-a walking mechanism, 5-a methane sensor, 6-a multi-parameter sensor, 7-a wireless router, 8-an emergency stop switch, 9-an alarm lamp, 10-an audible and visual alarm, 11-an explosion-proof pan-tilt camera, 12-an explosion-proof laser radar, 13-an explosion-proof depth camera, 14-a lighting lamp, 15-an ultrasonic wave avoidance radar, 16-a power battery pack, 17-a power supply component, 18-a motor driver, 19-a navigation industrial control system, 20-a wiring terminal row, 21-a control unit component, 22-a driving unit, 23-a universal transmission shaft, 24-an upper connecting frame, 25-a lower connecting frame, 26-a damping device, 27-a rocker arm support, 28-a tire assembly, 29-a wiring cavity, 30-a component cavity and 31-a battery cavity.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in figures 1 to 4, explosion-proof four-wheel inspection robot in pit in colliery, including explosion-proof chassis 1, automobile body guard shield 2 and running gear 4, install explosion-proof chassis on the running gear, install the automobile body guard shield on the explosion-proof chassis, install multisource detection sensing system on the automobile body guard shield for realize the parameter and the state monitoring of each executive component of robot, and be used for gathering the robot and go the interior gas concentration information of environmental point cloud information, depth image information, obstacle information, coal conveying belt state and the environment of in-process.
The walking mechanism 4 adopts a differential motion mode to realize the functions of advancing, retreating and rotating of the robot and comprises a universal transmission shaft 23, an independent suspension damping assembly and a tire assembly 28; each tire assembly 28 is connected to the explosion-proof chassis 1 through a set of independent suspension damper assembly and a universal transmission shaft 23, the independent suspension damper assembly comprises an upper connecting frame 24, a lower connecting frame 25, a damping device 26 and a rocker arm support 27 sleeved on a wheel shaft of the tire assembly, one side of the rocker arm support 27 is hinged to one end of the upper connecting frame 24 and one end of the lower connecting frame 25 respectively, the other end of the upper connecting frame 24 and the other end of the lower connecting frame 25 are hinged to a connecting seat of the explosion-proof chassis 1 respectively, the top end of the damping device 26 is hinged to the explosion-proof chassis 1, the bottom end of the damping device 26 is hinged to the upper connecting frame 24, one end of the universal transmission shaft 23 is connected with the tire assembly 28, the other end of the universal transmission shaft 23 is hinged to a driving unit 22 on the explosion-proof chassis 1, and when the driving unit 22 works, the universal transmission shaft 23 drives the tire assembly 28 to rotate, so as to realize the walking function of the vehicle.
The explosion-proof chassis 1 effectively utilizes the space of the chassis and simultaneously ensures the explosion-proof performance of the robot, and the explosion-proof chassis 1 is divided into three cavities, namely a wiring cavity 29, a component cavity 30 and a battery cavity 31; the connection of cable all adopts the flame-proof type to wear the wall terminal between every chamber, and the wiring chamber 29 meshes is for avoiding line contact department to produce the spark, influences all the other cavitys, and 30 meshes all electrical components in components and parts chamber are independent with this chamber to be equipped with explosion-proof barrier, the design of three cavity guarantees the independent flame-proof in every chamber, and utilizes SolidWorks static stress analysis, observes its deflection volume, whole steel sheet thickness attenuate, increases the enclosing rib, under the authentication experimental conditions, reduces whole chassis weight. The battery cavity 31 is positioned at the upper part of the front end of the explosion-proof chassis 1, and a 72V power battery pack 16 is arranged in the battery cavity to provide power energy for the robot; the component cavity 30 is located at the bottom of the front end, the middle of the explosion-proof chassis 1 and the upper portion of the right side of the rear end of the explosion-proof chassis 1, four driving units 22 are arranged at the bottom of the explosion-proof chassis 1, each driving unit 22 consists of a servo motor and a planetary reducer, the output end of each servo motor is connected with the input end of each planetary reducer and used for providing power for a travelling mechanism, motor drivers 18 are respectively installed on the left side and the right side of the middle of the explosion-proof chassis 1, the left motor driver 18 controls the two driving units 22 on the left side, the right motor driver 18 controls the two driving units 22 on the right side, and the functions of advancing, retreating and rotating of the robot are achieved by means of a differential motion mode. The middle position of the middle part of the explosion-proof chassis 1 is provided with a power supply assembly 17 and a control unit assembly 21 which are composed of a plurality of intrinsic safety power supplies arranged in a battery fixing frame, the control unit assembly 21 is formed by integrating a PLC (programmable logic controller), a switch, a wireless router, 485 communication, a 485 isolation grating, a network safety isolation grating, a battery power supply fuse, a current divider and a battery management system on a bakelite plate, the intrinsic safety power supply assembly 17 supplies power for electrical components in a multi-source detection sensing system, the control unit assembly 21 is used for controlling a whole vehicle system, and controls the power supply, acceleration, deceleration and steering actions of a robot complete machine through a decision instruction given by a navigation industrial control system 19, the navigation industrial control system 19 can calculate and analyze environment point cloud information, depth image information and obstacle information collected in the traveling process of the robot and plan a reliable path, if the robot reaches a fixed-point detection position of main equipment, the robot is controlled to decelerate and measure the distance between the robot and a parking mark in real time by using a laser ranging principle, so that the robot is effectively controlled; the wiring cavity 29 is positioned at the upper part of the rear left side of the explosion-proof chassis 1, and a wiring terminal block 20 is arranged in the wiring cavity for wiring.
The multi-source detection sensing system comprises an intrinsic safety type methane sensor 5, a multi-parameter sensor 6, a wireless router 7, an emergency stop switch 8, an alarm lamp 9, an audible and visual alarm 10, an explosion-proof holder camera 11, an explosion-proof laser radar 12, an explosion-proof depth camera 13, a lighting lamp 14 and an ultrasonic avoidance radar 15; the illuminating lamp 14, the ultrasonic avoiding radar 15, the explosion-proof laser radar 12 and the explosion-proof depth camera 13 are arranged at the front end of the vehicle body shield 2; the camera 11 of the anti-explosion cradle head platform is arranged at the middle end of the vehicle body shield 2; the intrinsically safe methane sensor 5, the multi-parameter sensor 6 and the wireless router 7 are arranged at the rear end of the right side of the vehicle body shield 2; the emergency stop switch 8, the alarm lamp 9 and the audible and visual alarm 10 are arranged at the rear left end of the vehicle body shield 2. The output ends of the methane sensor 5, the multi-parameter sensor 6, the explosion-proof holder camera 11, the explosion-proof laser radar 12, the explosion-proof depth camera 13 and the ultrasonic wave avoiding radar 15 are all connected with the input end of the control unit component 21, the output end of the control unit component 21 is connected with the input ends of the emergency stop switch 8, the alarm lamp 9 and the audible and visual alarm 10 respectively, and the control unit component 21 is communicated with a ground remote monitoring platform. The explosion-proof depth camera 13 collects video data, infrared images and depth distance information of a robot running environment, the explosion-proof laser radar 12 obtains a point cloud model of the robot running environment, and the ultrasonic avoidance radar 15 detects obstacle information and the approaching condition of underground moving objects in real time through the emitted millimeter wave radar. The environmental point cloud information, the depth image information and the barrier information collected in the robot traveling process are calculated and analyzed through the navigation industrial control system 19, and a reliable traveling path is planned, the explosion-proof cradle head camera 11, the intrinsic safety type methane sensor 5 and the multi-parameter sensor 6 can effectively collect the coal conveying belt state, the carrier roller temperature, the field temperature and humidity and the field gas concentration, the collected data are uploaded to a monitoring platform, analysis and management are carried out uniformly, and when various abnormal conditions are found, the sound-light alarm 10 gives an alarm in real time and informs related personnel.
The working process of the explosion-proof four-wheel inspection robot under the coal mine comprises an explosion-proof chassis 1, a multi-source detection sensing system, a ground remote monitoring platform and a navigation industrial control system 19; the robot is carried by an explosion-proof chassis 1; the method comprises the steps that a multi-source detection sensing system is utilized to monitor parameters and states of all executing parts of a robot, and environmental point cloud information, depth image information and obstacle information in the traveling process of the robot are obtained; receiving the environmental depth image and point cloud information sent by the multi-source detection sensor system 3 by using the navigation industrial control system 19, calculating and analyzing to obtain barrier information of the running environment of the robot, and planning a reliable running path at the position; when the robot finds abnormal conditions in the process of inspection, the robot is powered off and stops, the audible and visual alarm 10 rings, and an alarm signal is transmitted to the ground remote monitoring platform. When the navigation industrial control system 19 breaks down, the robot stops to brake and sends failure information, and the ground remote monitoring platform can remotely control the robot to reach a designated position for maintenance.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An explosion-proof four-wheel inspection robot in a coal mine well is characterized by comprising an explosion-proof chassis, a vehicle body shield and a travelling mechanism, wherein the travelling mechanism is provided with the explosion-proof chassis;
the multi-source detection sensing system comprises a methane sensor, a multi-parameter sensor, a wireless router, an emergency stop switch, an alarm lamp, an audible and visual alarm, an explosion-proof holder camera, an explosion-proof laser radar, an explosion-proof depth camera, a lighting lamp and an ultrasonic avoidance radar; the illuminating lamp, the ultrasonic avoidance radar, the explosion-proof laser radar and the explosion-proof depth camera are arranged at the front end of the car body shield; the camera of the explosion-proof cradle head platform is arranged at the middle end of the vehicle body shield; the methane sensor, the multi-parameter sensor, the wireless router, the emergency stop switch, the alarm lamp and the audible and visual alarm are arranged at the rear end of the right side of the car body shield.
2. The underground coal mine explosion-proof four-wheel inspection robot according to claim 1, which is characterized in that: the walking mechanism comprises a universal transmission shaft, an independent suspension damping assembly and a tire assembly; each tire assembly is connected to the explosion-proof chassis through a set of independent suspension shock absorber assemblies and a universal transmission shaft.
3. The underground coal mine explosion-proof four-wheel inspection robot according to claim 2, characterized in that: the independent suspension shock absorber assembly comprises a rocker arm support and a universal transmission shaft, one end of the rocker arm support is hinged to one end of an upper connecting frame and one end of a lower connecting frame respectively, the other ends of the upper connecting frame and the lower connecting frame are hinged to an explosion-proof chassis respectively, the explosion-proof chassis is hinged to the top end of a shock absorption device, the bottom end of the shock absorption device is hinged to the upper connecting frame, one end of the universal transmission shaft is connected with a tire assembly, and the other end of the universal transmission shaft is hinged to a driving unit on the explosion-proof chassis.
4. The underground coal mine explosion-proof four-wheel inspection robot according to claim 1, which is characterized in that: the explosion-proof chassis is divided into three cavities, namely a wiring cavity, a component cavity and a battery cavity; the explosion-proof type wall-through terminal is adopted in the connection of cable between every chamber, the battery chamber is located explosion-proof chassis front end upper portion, and built-in group battery, provides the power energy for the robot, the components and parts chamber is located explosion-proof chassis bottom, middle part and back right side upper portion, and four drive unit are arranged to explosion-proof chassis bottom, and drive unit comprises servo motor and planetary reducer, servo motor's output links to each other with planetary reducer's input for provide power for running gear, a motor driver is respectively installed to explosion-proof chassis middle part left and right both sides, and wherein left side motor driver controls two left drive unit, and two drive unit in right side motor driver control right side, explosion-proof chassis middle part intermediate position installation power supply module and control unit subassembly, and power supply module is arranged for the power supply of electrical components among the detection sensing system, and control unit subassembly is used for controlling whole car system, navigation industrial control system is arranged on explosion-proof chassis right side upper portion, and the wiring chamber is located explosion-proof chassis back left side upper portion, and built-in-proof wiring terminal row.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221330918.9U CN217751442U (en) | 2022-05-31 | 2022-05-31 | Explosion-proof four-wheel inspection robot in coal mine |
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| CN202221330918.9U CN217751442U (en) | 2022-05-31 | 2022-05-31 | Explosion-proof four-wheel inspection robot in coal mine |
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| CN217751442U true CN217751442U (en) | 2022-11-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246152A (en) * | 2021-05-31 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intelligent inspection robot for underground substation for mine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246152A (en) * | 2021-05-31 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intelligent inspection robot for underground substation for mine |
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