CN220331289U - Waste dump spontaneous combustion risk point detection robot - Google Patents
Waste dump spontaneous combustion risk point detection robot Download PDFInfo
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- CN220331289U CN220331289U CN202321967098.9U CN202321967098U CN220331289U CN 220331289 U CN220331289 U CN 220331289U CN 202321967098 U CN202321967098 U CN 202321967098U CN 220331289 U CN220331289 U CN 220331289U
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- 238000001514 detection method Methods 0.000 title claims abstract description 98
- 238000002485 combustion reaction Methods 0.000 title claims abstract description 32
- 230000002269 spontaneous effect Effects 0.000 title claims abstract description 31
- 239000002699 waste material Substances 0.000 title claims description 5
- 238000009413 insulation Methods 0.000 claims abstract description 27
- 239000012774 insulation material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- 239000003245 coal Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005553 drilling Methods 0.000 description 4
- 239000010878 waste rock Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000010259 detection of temperature stimulus Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005338 heat storage Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
The utility model relates to a gangue hill spontaneous combustion risk point detection robot, which consists of a robot body and a remote controller, wherein the robot body consists of an insulation box body and an opening and closing door connected to the bottom of the insulation box body, a power supply, a central controller and a motor system are arranged in the insulation box body, and a drill bit system and a detection system are arranged in a cavity formed by the insulation box body and the opening and closing door; the power supply and the central controller are connected with the motor system, the drill bit system and the detection system through heat-resistant cables, and the power supply and the central controller are also connected through heat-resistant cables. Compared with the prior art, the gangue hill spontaneous combustion risk point detection robot can automatically and efficiently detect the temperature and gas components in the gangue hill.
Description
Technical Field
The utility model relates to the field of gangue treatment, in particular to a gangue hill spontaneous combustion risk point detection robot.
Background
Gangue hill is the place where the gangue is concentrated in coal mine and coal preparation factory, the gangue yield is about 10% -15% of the coal yield, and along with the expansion of the economic development scale and the continuous increase of energy demand in China, the year-by-year reduction of coal reserves and the continuous increase of the yield, the proportion of the gangue to the coal yield is in a continuous rising trend, thousands of gangue hill with the size are formed, and about 1/3 of gangue hill in China is burning.
The conditions under which the spontaneous combustion of the coal gangue hill occurs include combustible substances, air flow channels, heat storage capacity and a temperature higher than the combustion temperature. When inflammable gas is accumulated in the gangue hill and the temperature reaches a critical value, the temperature is generally 80-90 ℃, namely, the gangue hill has spontaneous combustion condition.
Therefore, to effectively monitor the spontaneous combustion risk point in the gangue hill and prevent the spontaneous combustion phenomenon of the gangue hill in advance, the temperature change condition and the gas composition in the gangue hill need to be monitored. The existing gangue hill monitoring method mainly comprises the steps of firstly drilling holes in a gangue hill by using a perforating machine, then sequentially placing a temperature detection device and a gas detection device in a temperature measurement hole, finally comprehensively judging spontaneous combustion risk by a detection person, and is complex in detection process, long in operation flow, more in needed instruments and poor in detection efficiency.
Disclosure of Invention
The utility model aims to provide a waste rock mountain spontaneous combustion risk point detection robot which solves the defects in the prior art, and aims to solve the technical problem of providing a waste rock mountain device spontaneous combustion risk point detection robot capable of automatically and efficiently detecting the temperature and gas components in waste rock mountain.
The utility model provides a waste rock mountain spontaneous combustion risk point detection robot, comprises robot body and remote controller, its improvement lies in: the robot body consists of an insulating box body and a door connected to the bottom of the insulating box body, a power supply, a central controller and a motor system are arranged in the insulating box body, and a drill system and a detection system are arranged in a cavity formed by the insulating box body and the door; the power supply and the central controller are connected with the motor system, the drill bit system and the detection system through heat-resistant cables, and the power supply and the central controller are also connected through heat-resistant cables.
Preferably, a layer of high-temperature heat insulation material is arranged inside the heat insulation box body.
Preferably, the motor system is composed of a motor controller, a motor main body and a telescopic shaft, wherein the motor controller receives instructions of the central controller and controls the rotation speed of the motor main body and the telescopic shaft to stretch and retract.
Preferably, the drill system is composed of a drill mechanical arm controller, a first opening and closing device, a drill mechanical arm and a drill, wherein the drill mechanical arm controller is positioned in the heat insulation box, the first opening and closing device, the drill mechanical arm and the drill are positioned in a cavity formed by the heat insulation box and the opening and closing door, and the drill mechanical arm controller receives instructions of the central controller and controls the drill mechanical arm to mount or dismount the drill on or off the telescopic shaft.
Preferably, the drill mechanical arm controller also controls the opening and closing device to open or close the opening and closing door.
Preferably, the detection system comprises a detection mechanical arm controller, a second opening and closing device, a detection mechanical arm and a detection tube, wherein the detection mechanical arm controller is positioned in the heat insulation box, the second opening and closing device, the detection mechanical arm and the detection tube are positioned in a cavity formed by the heat insulation box and the opening and closing door, and the detection mechanical arm controller receives an instruction of the central controller and controls the detection mechanical arm to mount or dismount the detection tube on or off the telescopic shaft.
Preferably, the detection mechanical arm controller also controls the second opening and closing device to open or close the opening and closing door.
Preferably, a linkage relationship exists among the motor controller, the drill mechanical arm controller and the detection mechanical arm controller, and when the motor controller controls the telescopic shaft to extend, the drill mechanical arm controller and the detection mechanical arm controller respectively control the first opening and closing device and the second opening and closing device to open and close the door.
Preferably, the remote controller is composed of a control panel, a signal converter, a signal transmitter, a signal receiver and an alarm, wherein after the instruction input by the control panel is converted by the signal converter, the instruction is transmitted to the central controller by the signal transmitter to control the robot body, the signal receiver receives a detection result signal transmitted by the central controller, and when the detection result exceeds an alarm threshold value, the alarm alarms.
Preferably, the detection tube consists of a heat conduction tube cover and a heat conduction tube body, a plurality of ventilation holes are formed in the heat conduction tube body, and a gas signal transmitter, a gas sensor, a temperature signal transmitter and a thermocouple are arranged in the heat conduction tube body.
When the gangue hill spontaneous combustion risk point detection robot is used, an operator inputs an instruction through a panel of a control remote controller, the instruction is converted by a signal converter and then is sent to a central controller of a robot body by a signal transmitter, and after information processing, the central controller respectively sends the instruction to a motor controller, a detection mechanical arm controller and a drill mechanical arm controller to carry out detection operation.
Firstly, a drill mechanical arm controller controls a drill mechanical arm, and a drill is mounted on a telescopic shaft of a motor; then, the motor controller controls the extension shaft to extend, and simultaneously, the drill mechanical arm controller and the detection mechanical arm controller respectively control the first opening and closing device and the second opening and closing device to open and close the door, and after the extension shaft extends out of the opening and closing door, the motor controller controls the motor to increase the rotating speed to drill the temperature measuring hole.
After drilling, the motor telescopic shaft is retracted, the drill bit mechanical arm controller controls the drill bit mechanical arm to take down the drill bit, then the detection mechanical arm controller controls the detection mechanical arm to install the detection tube on the telescopic shaft, the telescopic shaft stretches out the opening and closing door again under the control of the motor controller, and the detection tube is placed in the temperature measuring hole to finish detection of temperature and gas components.
And finally, the temperature signal transmitter and the gas signal transmitter respectively transmit the temperature information and the gas component information to the central controller, the central controller comprehensively processes the received information and then transmits the information to the remote controller, and when the comprehensive spontaneous combustion risk of the temperature and the gas component is higher, the central controller instructs the remote controller to send an alarm signal.
Compared with the prior art, the utility model can automatically complete the whole process from drilling, temperature detection, gas component detection, comprehensive information processing and spontaneous combustion risk point alarming according to the requirements of detection personnel, so that the monitoring operation is convenient and efficient, the workload of the monitoring personnel is reduced, and the monitoring work efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a control module of a gangue hill spontaneous combustion risk point detection robot;
FIG. 2 is a schematic diagram of a body structure of the gangue hill spontaneous combustion risk point detection robot;
fig. 3 is a schematic diagram of a temperature measuring tube of the gangue hill spontaneous combustion risk point detection robot.
The reference numerals in the drawings are in turn: 1. the robot comprises a robot body, 11, a heat insulation box body, 12, a high-temperature heat insulation material, 13, a power supply, 14, a heat-resistant cable, 15, a central controller, 161, a motor controller, 162, a motor body, 163, a telescopic shaft, 171, a drill mechanical arm controller, 172, a first opening and closing device, 173, a drill mechanical arm, 174, a drill, 181, a detection mechanical arm controller, 182, a second opening and closing device, 183, a detection mechanical arm, 184, a detection pipe, 1841, a heat-conducting pipe cover, 1842, a heat-conducting pipe body, 1843, a gas signal transmitter, 1844, a gas sensor, 1845, a temperature signal transmitter, 1846, a thermocouple, 19, an opening and closing door, 2 and a remote controller.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, the gangue hill spontaneous combustion risk point detection robot comprises a robot body (1) and a remote controller (2), wherein the robot body (1) comprises an insulation box body (11) and a opening and closing door (19) connected to the bottom of the insulation box body (11), a power supply (13), a central controller (15) and a motor system are arranged in the insulation box body (11), and a drill bit system and a detection system are arranged in a cavity formed by the insulation box body (11) and the opening and closing door (19); the power supply (13) and the central controller (15) are connected with the motor system, the drill bit system and the detection system through heat-resistant cables (14), and the power supply (13) is also connected with the central controller (15) through the heat-resistant cables (14).
In this embodiment, a layer of high-temperature heat insulation material (12) is arranged inside the heat insulation box (11), so that a relatively low temperature is maintained inside the heat insulation box (11), and normal operation of the motor system, the central controller (15), and the controllers and the signal transmitters is protected.
In the embodiment, the motor system is composed of a motor controller (161), a motor main body (162) and a telescopic shaft (163), wherein the motor controller (161) receives an instruction of the central controller (15) and controls the rotating speed of the motor main body (162) and the telescopic shaft (163).
In this embodiment, the drill system is composed of a drill mechanical arm controller (171), a first opening and closing device (172), a drill mechanical arm (173) and a drill (174), wherein the drill mechanical arm controller (171) is located in the heat insulation box (11), the first opening and closing device (172), the drill mechanical arm (173) and the drill (174) are located in a cavity formed by the heat insulation box (11) and the opening and closing door (19), and the drill mechanical arm controller (171) receives instructions of the central controller (15) and controls the drill mechanical arm (173) to mount or dismount the drill (174) on or from the telescopic shaft (163); the drill mechanical arm controller (171) also controls the first opening and closing device (172) to open or close the opening and closing door (19).
In this embodiment, the detection system is composed of a detection mechanical arm controller (181), a second opening and closing device (182), a detection mechanical arm (183) and a detection tube (184), wherein the detection mechanical arm controller (181) is located in the insulation box body (11), the second opening and closing device (182), the detection mechanical arm (183) and the detection tube (184) are located in a cavity formed by the insulation box body (11) and the opening and closing door (19), and the detection mechanical arm controller (181) receives an instruction of the central controller (15) and controls the detection mechanical arm (183) to mount or dismount the detection tube (184) on or off the telescopic shaft (163); the detection mechanical arm controller (181) also controls the second opening and closing device (182) to open or close the opening and closing door (19).
In this embodiment, there is a linkage relationship among the motor controller (161), the drill mechanical arm controller (171) and the detection mechanical arm controller (181), and when the motor controller (161) controls the extension shaft (163) to extend, the drill mechanical arm controller (171) and the detection mechanical arm controller (181) respectively control the first opening/closing device (172) and the second opening/closing device (182) to open the opening/closing door (19).
In this embodiment, the remote controller (2) is composed of a control panel, a signal converter, a signal transmitter, a signal receiver and an alarm, wherein an instruction input by the control panel is converted by the signal converter, and then is transmitted to the central controller (15) by the signal transmitter to control the robot body (1), the signal receiver receives a detection result signal transmitted by the central controller (15), and when the detection result exceeds an alarm threshold value, the alarm alarms.
In this embodiment, the detection tube (184) is composed of a heat-conducting tube cover (1841) and a heat-conducting tube body (1842), a plurality of ventilation holes are formed in the heat-conducting tube body (1842), and a gas signal transmitter (1843), a gas sensor (1844), a temperature signal transmitter (1845) and a thermocouple (1846) are arranged in the heat-conducting tube body (1842).
The power supply in this embodiment may be an energy storage power supply, or an external power supply connected by a heat-resistant cable.
The gangue hill spontaneous combustion risk point detection robot of this embodiment adopts wireless transmission between remote controller and robot body, adopts the heat-resistant cable to carry out signal transmission in the inside whole of robot body for the required electric energy of operation of whole robot reduces, with the vast majority of electric power that guarantees the power is used for supplying with the motor and promotes the drilling.
The full-flow automatic detection of the spontaneous combustion risk points of the waste dump is realized by the waste dump spontaneous combustion risk point detection robot, so that the monitoring operation is convenient and efficient, the workload of monitoring staff is reduced, and the monitoring work efficiency is improved.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or groups thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways, such as rotated 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly.
In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components unless context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (9)
1. The utility model provides a waste dump spontaneous combustion risk point detects robot, comprises robot body (1) and remote controller (2), its characterized in that: the robot body (1) consists of an insulation box body (11) and a door opening and closing (19) connected to the bottom of the insulation box body (11), a power supply (13), a central controller (15) and a motor system are arranged in the insulation box body (11), and a drill bit system and a detection system are arranged in a cavity formed by the insulation box body (11) and the door opening and closing (19); the power supply (13) and the central controller (15) are connected with the motor system, the drill bit system and the detection system through heat-resistant cables (14), and the power supply (13) is also connected with the central controller (15) through the heat-resistant cables (14); the detection system comprises a detection mechanical arm controller (181), a second opening and closing device (182), a detection mechanical arm (183) and a detection tube (184), wherein the detection mechanical arm controller (181) is positioned in the heat insulation box body (11), the second opening and closing device (182), the detection mechanical arm (183) and the detection tube (184) are positioned in a cavity formed by the heat insulation box body (11) and the opening and closing door (19), the detection mechanical arm controller (181) receives an instruction of the central controller (15), and the detection mechanical arm (183) is controlled to install or detach the detection tube (184) to the telescopic shaft (163).
2. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: a layer of high-temperature heat insulation material (12) is arranged in the heat insulation box body (11).
3. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: the motor system consists of a motor controller (161), a motor main body (162) and a telescopic shaft (163), wherein the motor controller (161) receives instructions of the central controller (15) and controls the rotating speed of the motor main body (162) and the telescopic shaft (163) to stretch.
4. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: the drill bit system comprises a drill bit mechanical arm controller (171), a first opening and closing device (172), a drill bit mechanical arm (173) and a drill bit (174), wherein the drill bit mechanical arm controller (171) is located in an insulating box body (11), the first opening and closing device (172), the drill bit mechanical arm (173) and the drill bit (174) are located in a cavity formed by the insulating box body (11) and an opening and closing door (19), and the drill bit mechanical arm controller (171) receives instructions of the central controller (15) and controls the drill bit mechanical arm (173) to install or detach the drill bit (174) to extend and retract the H-shaped shaft (163).
5. The gangue hill auto-ignition risk point detection robot of claim 4, wherein: the drill mechanical arm controller (171) also controls the first opening and closing device (172) to open or close the opening and closing door (19).
6. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: the detection mechanical arm controller (181) also controls the second opening and closing device (182) to open or close the opening and closing door (19).
7. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 5 or 6, wherein a linkage relationship exists among a motor controller (161), a drill mechanical arm controller (171) and a detection mechanical arm controller (181), and when the motor controller (161) controls the extension shaft (163) to extend, the drill mechanical arm controller (171) and the detection mechanical arm controller (181) respectively control the first opening/closing device (172) and the second opening/closing device (182) to open the opening/closing door (19).
8. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: the remote controller (2) is composed of a control panel, a signal converter, a signal transmitter, a signal receiver and an alarm, wherein an instruction input by the control panel is converted by the signal converter and then is transmitted to the central controller (15) by the signal transmitter to control the robot body (1), the signal receiver receives a detection result signal transmitted by the central controller (15), and the alarm alarms when the detection result exceeds an alarm threshold value.
9. The gangue hill spontaneous combustion risk point detection robot as claimed in claim 1, wherein: the detection tube (184) is composed of a heat conduction tube cover (1841) and a heat conduction tube body (1842), a large number of air holes are formed in the heat conduction tube body (1842), and a gas signal transmitter (1843), a gas sensor (1844), a temperature signal transmitter (1845) and a thermocouple (1846) are arranged in the heat conduction tube body (1842).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321967098.9U CN220331289U (en) | 2023-07-25 | 2023-07-25 | Waste dump spontaneous combustion risk point detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321967098.9U CN220331289U (en) | 2023-07-25 | 2023-07-25 | Waste dump spontaneous combustion risk point detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220331289U true CN220331289U (en) | 2024-01-12 |
Family
ID=89450618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321967098.9U Active CN220331289U (en) | 2023-07-25 | 2023-07-25 | Waste dump spontaneous combustion risk point detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220331289U (en) |
-
2023
- 2023-07-25 CN CN202321967098.9U patent/CN220331289U/en active Active
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