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A mining crawler intelligent inspection robot system

A robot system and intelligent inspection technology, applied in crawler vehicles, instruments, motor vehicles, etc., can solve problems such as affecting the layout of the mine, unable to work, wasting time, etc., to achieve small size and weight restrictions, and improved endurance. , the effect of reducing production costs

Active Publication Date: 2021-08-27
安徽铜冠智能科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 1) Steel wire ropes must be laid in the existing mine tunnel, otherwise the suspended inspection robot cannot work normally
The additional wire ropes not only affect the layout of the mine, but also increase the cost of construction and maintenance.
[0006] 2) Although the existing suspended inspection robot will be installed with a wind speed sensor for measuring the wind speed inside the mine tunnel, since the suspended inspection robot is in the process of walking, there is a relative movement between the suspended inspection robot and the wind, therefore, In order to ensure the accuracy of wind speed measurement results, it is usually necessary to stop moving forward and then measure again, which wastes time and affects the inspection efficiency
[0008] 4) Due to the limitation of the wire rope, the weight and volume of the suspended inspection robot should be as small as possible. Therefore, the power supply, sensors and other equipment need to be small in size and light in weight. The limited volume of the power supply will limit the increase of its capacity, resulting in Suspended inspection robots have low battery life; and sensors with small size and light weight cost more
[0009] 5) Once there is an emergency situation, the suspended inspection robot needs to go to check it quickly. Due to the limited forward speed of the suspended inspection robot, this work cannot be carried out
Therefore, it is usually necessary to purchase additional robots with greater mobility as a backup, which will increase production costs

Method used

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  • A mining crawler intelligent inspection robot system
  • A mining crawler intelligent inspection robot system
  • A mining crawler intelligent inspection robot system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, the mine crawler-type intelligent inspection robot system includes an obstacle-crossing robot and an inspection mechanism, and the obstacle-crossing robot includes a car body 11 and two groups of crawler-type walking mechanisms, and the two groups of crawler-type walking mechanisms are symmetrically arranged on On both sides of the car body 11, the crawler-type traveling mechanism includes a waist-shaped main crawler device, a triangular crawler device located at one end of the main crawler device, and a swing arm device located at the other end of the main crawler device. The main crawler device includes a first Driving wheel, the first driven wheel, the first track 19, the first driving wheel and the first driven wheel are all arranged in the inside of the first track 19, and the first driving wheel cooperates with the first driven wheel to drive the first track 19 Walking; the triangular crawler device includes a second driving wheel 12, th...

Embodiment 2

[0051] Based on Example 1, such as Figure 1-3 As shown, the top of the vehicle body 11 is provided with a bracket for fixing the static wind speed measuring tube 20, and a linear motion mechanism for driving the dynamic wind speed measuring tube 30 to perform reciprocating linear motion is installed between the dynamic wind speed measuring tube 30 and the bracket. 70, the dynamic wind speed measuring tube 30 and the static wind speed measuring tube 20 are arranged in relative motion, the linear motion mechanism 70 includes a linear motor guide rail 71, a slide plate 72 matched with the linear motor guide rail 71, and the bracket includes a Linear motor guide rail 71 is the straight bar 62 that is arranged in parallel, two first connecting rods 63 that are respectively arranged on the two ends of linear motor guide rail 71, the second connecting rod 64 that is arranged between two first connecting rods 63, is arranged on the second connecting rod. The third connecting rod 61 b...

Embodiment 3

[0054] Based on Example 2, such as Figure 4 As shown, the static wind speed measuring tube 20 includes a round tubular first pipe body 21, a round rod-shaped second wind speed sensor 22 installed inside the first pipe body 21, and the second wind speed sensor 22 is connected to the first pipe body 21. Coaxial arrangement, a sixth connecting rod 23 is arranged between the second wind speed sensor 22 and the tail end of the first pipe body 21, one end of the sixth connecting rod 23 is fixedly connected with the second wind speed sensor 22, the The other end of the sixth connecting rod 23 is fixedly connected with the tail end of the first tube body 21 .

[0055] The static wind speed measuring tube 20 with this structure can be used to measure the wind speed passing through the inside of the first tube body 21 .

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Abstract

The invention relates to a mining crawler-type intelligent inspection robot system, which includes an obstacle-crossing robot and an inspection mechanism. The obstacle-over-obstacle robot includes a car body and two sets of crawler-type walking mechanisms. tube, a dynamic wind speed measuring tube for measuring wind speed, and a first wind speed sensor. The invention does not need to lay steel wire ropes in the mine tunnel, and the operation cost is low; realizes 24-hour unattended continuous operation inspection, realizes online monitoring of dust content, harmful gas content, oxygen content, wind speed, temperature and humidity and other indicators; When the internal wind speed is measured, there is no need to stop the measurement, saving measurement time, and the accuracy of the measurement results exceeds 98.9%. The walking of the obstacle-climbing robot is not restricted by the terrain, and it can autonomously and smoothly cross obstacles, turn, go uphill and downhill at a constant speed, and do not slip; it has strong battery life and high reliability.

Description

technical field [0001] The invention relates to a mine crawler-type intelligent inspection robot system, which belongs to the technical field of mine intelligent equipment. Background technique [0002] At present, robot technology is becoming more and more mature, and coal mine production is also developing in the direction of unattended and intelligent. Many mining robots are used in coal mine production, including the field of coal mine inspection. The traditional inspection method is manual inspection. Manual inspection mainly relies on the senses and experience of inspection personnel to detect the status of equipment. Manual inspection is inefficient, labor-intensive, and the working environment is harsh and dangerous. Personnel may cause safety accidents during the inspection process. [0003] And adopt inspection robot to carry out inspection, as the publication number is CN210819536U " a kind of new mining suspension type intrinsically safe type inspection robot ",...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/065B62D55/116G01D21/02
CPCB62D55/065B62D55/116G01D21/02
Inventor 周广辉丁勇邱金峰魏安东张仲秦晓军李正奎
Owner 安徽铜冠智能科技有限责任公司
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