Intelligent automatic pulverized coal receiving device and method based on coal mine rock burst prevention and control

Abstract

The invention discloses an intelligent automatic pulverized coal receiving device based on coal mine rock burst control, and belongs to the field of coal mine rock burst control. The intelligent automatic pulverized coal receiving device comprises a driving vehicle body, wheels with a moving function are arranged on the driving vehicle body, and a central processing unit is arranged in the driving vehicle body; supporting mechanisms with overturning and folding functions are symmetrically arranged on the two sides of the driving vehicle body, a pulverized coal storage box and a cross-shaped double-frame positioning mechanism are arranged at the top end of the driving vehicle body, a pulverized coal receiving pipe is arranged on the cross-shaped double-frame positioning mechanism, a binocular camera is arranged at the pulverized coal receiving pipe, a pulverized coal inlet is formed in one end of the pulverized coal receiving pipe, and a pulverized coal outlet is formed in the other end of the pulverized coal receiving pipe. The other end of the pulverized coal receiving pipe communicates with the pulverized coal storage box through a connecting pipeline, and the cross-shaped double-frame positioning mechanism is connected with the driving vehicle body through a telescopic mechanism. Various sensors are matched with the central processing unit to realize automatic positioning and automatic receiving of pulverized coal, so that the system is more intelligent and convenient to operate, the labor cost is reduced, the manual safety is improved, and the system is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine rock burst prevention and control, and in particular to an intelligent automatic receiving device and method for coal dust based on coal mine rock burst prevention and control. Background Art

[0002] Coal mine impact pressure, also known as rock burst, is a dynamic disaster in coal mining. The prevention and control of coal dust reception mainly refers to the process of receiving the coal dust brought out by the drill bit of the drill during the overshoot of the drill hole. The drill rig is often used in conjunction with the coal dust receiving device. How to safely and effectively receive the coal dust brought out by the drill hole is an important issue in the field of coal mine impact pressure prevention and control.

[0003] In the prior art, patent CN118547991A discloses a coal mine rock burst prevention and control monitoring drilling coal dust receiving device, including a movable base, a positioning component for positioning the drilling is arranged on the top of the base, a pressing component for improving the stability of its receiving device is arranged on the bottom of the base, and a driving component for extending and driving the positioning component and the pressing component is arranged on the top of the base. The coal mine rock burst prevention and control monitoring drilling coal dust receiving device, through the setting of the driving component, can not only drive the positioning component to perform telescopic drive, but also drive the pressing component to perform telescopic movement, has a good linkage function, not only reduces the use of additional electric drive sources, but also ensures that when the positioning component is positioning the drilling, its pressing component can ensure the stability of its overall equipment in real time, improve the collection effect of its positioning component on the coal dust generated during drilling, and prevent the problem of coal dust spilling. However, the above device still needs to be manually pushed to move as a whole, and cannot automatically position and collect coal dust. It has a low degree of intelligence and is inconvenient to operate. At the same time, it increases labor costs and increases the danger of workers' work, which is extremely inconvenient. Summary of the invention

[0004] In order to solve the problems in the above-mentioned background technology, the purpose of the present invention is to provide an intelligent automatic receiving device and method for coal powder based on the prevention and control of coal mine impact rock pressure. It realizes automatic positioning and automatic receiving of coal powder through multiple sensors in conjunction with a central processing unit. It is more intelligent, easy to operate, reduces labor costs, increases work safety, and is more convenient.

[0005] To achieve the above-mentioned purpose, the present invention provides an intelligent automatic coal powder receiving device based on the prevention and control of coal mine impact ground pressure, including a driving vehicle body, the driving vehicle body is provided with wheels with a moving function, the driving vehicle body is provided with a central processing unit, support mechanisms with a flipping and folding function are symmetrically provided on both sides of the driving vehicle body, a coal powder storage box and a cross double-frame positioning mechanism are provided at the top of the driving vehicle body, a coal powder receiving tube is provided on the cross double-frame positioning mechanism, a binocular camera is provided at the coal powder receiving tube, one end of the coal powder receiving tube is a coal powder inlet, and the other end of the coal powder receiving tube is connected to the coal powder storage box through a connecting pipe, and the cross double-frame positioning mechanism is connected to the driving vehicle body through a telescopic mechanism.

[0006] Preferably, an infrared sensor 1 is provided at the center of the wheel, and the infrared sensor 1 is used to detect the distance between the wheel and the ground; the connecting pipe includes connecting pipe 1 and connecting pipe 2, connecting pipe 1 is a hose, one end of connecting pipe 1 is connected to the coal powder receiving pipe, and the other end of connecting pipe 1 is connected to the dust collection element, and the dust collection element is connected to the interior of the dust collection box through connecting pipe 2.

[0007] Preferably, the supporting mechanism includes a fixed plate, an electric hydraulic cylinder is provided at the top of the fixed plate, the hydraulic rod of the electric hydraulic cylinder passes through the fixed plate and is connected to the top of the supporting plate, one side of the fixed plate is rotatably connected to the side of the driving vehicle body, and the fixed plate is connected to the top of the driving vehicle body through a rotating structure.

[0008] Preferably, sensor boxes are provided at both ends of the fixed plate and the front and rear ends of the driving vehicle body, a visual sensor is provided in the sensor box, and an infrared sensor 2 is provided on the sensor box. The visual sensor is used to detect obstacles at the front and rear ends and the left and right sides of the driving vehicle body, and the infrared sensor 2 is used to detect the distance between the driving vehicle body and the obstacle.

[0009] Preferably, the rotating structure includes a fixed block arranged at the top of the driving vehicle body, on which an electric hydraulic cylinder 2 is arranged, the hydraulic rod of the electric hydraulic cylinder 2 is hinged to the top of the fixed plate, and the bottom end of the electric hydraulic cylinder 2 is hinged to the fixed block; pressure sensors are arranged at positions of the fixed plates on both sides of the driving vehicle body, and the pressure sensors are used to detect the pressure between the fixed plates and the driving vehicle body.

[0010] Preferably, the cross double-frame positioning mechanism includes frame one and frame two, the four corners of frame one are connected to the four corners of frame two through connecting columns, frame one is connected to the telescopic mechanism through fixed columns, frame one is provided with a longitudinal movement adjustment structure, and frame two is provided with a lateral movement adjustment structure.

[0011] Preferably, the longitudinal movement adjustment structure includes two lead screws 1, a moving seat 1 is sleeved on the lead screw 1, one end of the coal powder receiving tube is arranged on the moving seat 1, the lead screw 1 is connected to the moving seat 1 through a thread, the top of the frame 1 is provided with an upper opening, the bottom of the frame 1 is provided with a lower opening, a sliding seat 1 is slidably arranged in the upper opening, a sliding seat 2 is arranged in the lower opening, a servo motor 1 is arranged on the sliding seat 1, the output shaft of the servo motor 1 is connected to one end of the lead screw 1, and the other end of the lead screw 1 is rotatably connected to the sliding seat 2;

[0012] The lateral movement adjustment structure includes two lead screws 2, on which a moving seat 2 is sleeved, and the other end of the coal powder receiving tube is arranged on the moving seat 2. The lead screw 2 is connected to the moving seat 2 through a thread, one side of the frame 1 is provided with a left opening, and the other side is provided with a right opening, a sliding seat 1 is slidably arranged in the upper opening, and a sliding seat 2 is arranged in the lower opening, a servo motor 1 is arranged on the sliding seat 1, the output shaft of the servo motor 1 is connected to one end of the lead screw 1, and the other end of the lead screw 1 is rotatably connected to the sliding seat 2, and a binocular camera is arranged on the moving seat 2.

[0013] Preferably, the telescopic mechanism includes a sliding body slidably arranged on the driving vehicle body, the lower part of the sliding body is slidably connected to the inner side of the fixed block, and an electric hydraulic cylinder three is arranged on the coal powder storage box, and the hydraulic cylinder rod of the electric hydraulic cylinder three is connected to one end of the sliding body.

[0014] Preferably, a double-axis cylinder is arranged below the coal powder receiving pipe, and the double-axis cylinder is arranged on a cross double-frame positioning mechanism. The cylinder rod of the double-axis cylinder is connected to one end of the collecting box, and the other end of the collecting box is provided with an arc-shaped opening. The arc-shaped opening is connected to an inclined collecting shovel, and the collecting shovel is used to collect the coal powder extracted from the drill hole by the drilling rig.

[0015] The present invention also provides a receiving method of a coal dust intelligent automatic receiving device based on coal mine rock burst prevention and control, comprising the following steps:

[0016] Step 1: Use the wheels to drive the vehicle to move to the target location, and use visual sensors and infrared sensors to avoid obstacles during the movement;

[0017] Step 2: Use infrared sensor 2 and binocular camera to detect the distance between the driving vehicle body and the drilling position of the drilling rig, and adjust the position of the driving vehicle body;

[0018] Step 3: After the vehicle body is driven to adjust its position, the electric hydraulic cylinder 2 drives the fixed plate to rotate and unfold it. After the pressure sensor reaches the set pressure value, the electric hydraulic cylinder 2 stops, and the electric hydraulic cylinder 1 drives the support plate to descend to support the vehicle body. After the infrared sensor 1 detects that the distance between the center of the wheel and the ground is greater than the set distance, the electric hydraulic cylinder 1 stops;

[0019] Step 4: Use a binocular camera to detect the position of the drilling rig's hole and complete the initial positioning. First, servo motor 1 drives screw 1 to rotate, thereby driving moving seat 1 to move on screw 1 and adjusting the position of moving seat 1; then servo motor 2 drives screw 2 to rotate, thereby driving moving seat 2 to move on screw 2 and adjusting the position of moving seat 2, thereby adjusting the longitudinal and transverse positions of the coal powder receiving tubes on moving seat 1 and moving seat 2, so that the coal powder receiving tubes move to the drilling position of the drilling rig;

[0020] Step 5: Use the binocular camera to detect the drilling position of the drilling rig again to complete the secondary positioning. Servo motor 1 and servo motor 2 are started again to adjust the position of the coal powder receiving tube. After the adjustment is completed, the electric hydraulic cylinder 3 drives the sliding body to slide forward, and the sliding of the sliding body drives the fixed column to slide, thereby driving the entire cross double frame positioning mechanism to extend forward, so that the coal powder inlet of the coal powder receiving tube is close to the drilling position of the drilling rig;

[0021] Step six, the dust collecting element is started, and the coal powder enters the coal powder storage box through the coal powder receiving pipe, connecting pipe 1, the dust collecting element, and connecting pipe 2 in sequence, completing one coal powder reception.

[0022] Therefore, the present invention adopts the above-mentioned coal powder intelligent automatic receiving device and method based on coal mine rock burst prevention and control, which has the following beneficial effects:

[0023] (1) The present invention enables the wheels to leave the ground through the support plate of the support mechanism, thereby increasing the stability of the device during operation; the support mechanism is retracted through the flippable fixed plate, thereby saving space; the pressure sensor can detect the pressure between the fixed plate and the side of the driving vehicle body, so that the support mechanism automatically stops after flipping; the driving vehicle body is enabled to avoid obstacles through the infrared sensor and the visual sensor, without the need for manual pushing of the vehicle body, thereby ensuring the personal safety of the staff;

[0024] (2) The present invention realizes the longitudinal and lateral movement of the pulverized coal receiving pipe by using the double frames of the cross double frame positioning mechanism in conjunction with the servo motor lead screw structure, thereby realizing the positioning of the pulverized coal receiving pipe, which is more convenient to use;

[0025] (3) The present invention realizes automatic positioning and automatic receiving of coal powder through multiple sensors in conjunction with a central processor, which is more intelligent, easy to operate, reduces labor costs, increases labor safety, and is more convenient.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A three-dimensional diagram of a device according to an embodiment of the present invention;

[0028] Figure 2It is a left view of the device according to an embodiment of the present invention;

[0029] Figure 3 It is a right side view of the device according to an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the rotation structure of an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of a slider and a slide groove of an embodiment of the present invention;

[0032] Figure 6 Schematic diagram of the collecting shovel structure according to an embodiment of the present invention.

[0033] Reference numerals

[0034] 1. Driving vehicle body; 2. Wheels; 3. Coal powder storage box; 4. Coal powder receiving tube; 5. Infrared sensor 1; 6. Infrared sensor 2; 7. Connecting pipe 1; 8. Connecting pipe 2; 9. Dust collecting element; 10. Fixing plate; 11. Electric hydraulic cylinder 1; 12. Electric hydraulic cylinder 2; 13. Electric hydraulic cylinder 3; 14. Support plate; 15. Sensor box; 16. Visual sensor; 17. Fixing block; 18. Pressure sensor; 19. Frame 1; 20. Frame 2; 21. Servo motor 1; 22. Screw 1; 23. Moving seat 1; 24. Sliding seat 1; 25. Sliding seat 2; 26. Servo motor 2; 27. Screw 2; 28. Moving seat 2; 29. ​​Sliding seat 3; 30. Sliding seat 4; 31. Binocular camera; 32. Fixed column; 33. Connecting column; 34. Sliding body; 35. Sliding block; 36. Slide groove; 37. Double-axis cylinder; 38. Collecting box; 39. Arc opening; 40. Collecting shovel. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0036] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0037] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0039] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Example 1

[0041] like Figure 1 , Figure 2 , Figure 3 As shown, the intelligent automatic receiving device for coal dust based on the prevention and control of coal mine rock burst described in the present invention includes a driving body 1, on which wheels 2 with a moving function are arranged, and a central processing unit is arranged in the driving body 1. A driving mechanism for driving the wheels 2 to move and turn is arranged in the driving body 1. The driving mechanism adopts an existing structure, and the driving mechanism is controlled by the central processing unit to control the movement of the driving body 1. A positioning sensor is also arranged in the driving body 1 for determining the position of the device. An infrared sensor 5 is arranged at the center of the wheel 2, and the infrared sensor 5 is used to detect the distance between the wheel 2 and the ground.

[0042] The connecting pipe includes a connecting pipe 1 7 and a connecting pipe 2 8. The connecting pipe 1 7 is a hose. One end of the connecting pipe 1 7 is connected to the coal powder receiving pipe 4, and the other end of the connecting pipe 1 7 is connected to the dust collecting element 9. The dust collecting element 9 is connected to the inside of the dust collecting box through the connecting pipe 2 8. The dust collecting element 9 adopts the existing structure, and transports the coal powder to the coal powder collecting box 3 through the motor and the fan.

[0043] The two sides of the driving body 1 are symmetrically provided with support mechanisms with the function of flipping and folding. The support mechanism includes a fixed plate 10, and two electric hydraulic cylinders 11 are provided at the top of the fixed plate 10. The hydraulic rods of the electric hydraulic cylinders 11 penetrate the fixed plate 10 and are connected to the top of the support plate 14. One side of the fixed plate 10 is rotatably connected to the side of the driving body 1, and the fixed plate 10 is connected to the top of the driving body 1 through a rotating structure. Figure 4 As shown, the rotating structure includes a fixed block 17 arranged at the top of the driving vehicle body 1, and two electric hydraulic cylinders 12 are arranged on the fixed block 17. The hydraulic rod of the electric hydraulic cylinder 12 is hinged to the top of the fixed plate 10, and the bottom of the electric hydraulic cylinder 12 is hinged to the fixed block 17. Sensor boxes 15 are arranged at both ends of the fixed plate 10 and the front and rear ends of the driving vehicle body 1. A visual sensor 16 is arranged in the sensor box 15, and an infrared sensor 6 is arranged on the sensor box 15. The visual sensor 16 is used to detect obstacles at the front and rear ends and the left and right sides of the driving vehicle body 1, and the infrared sensor 6 is used to detect the distance between the driving vehicle body 1 and the obstacles. Pressure sensors 18 are arranged at the positions of the fixed plates 10 on both sides of the driving vehicle body 1, and the pressure sensors 18 are used to detect the pressure between the fixed plates 10 and the driving vehicle body 1.

[0044] The hydraulic rod of the electric hydraulic cylinder 11 can drive the support plate 14 to move downward, lift the driving body 1, and make the wheels 2 leave the ground, thereby improving the stability of the device when working. A rubber pad with texture or particles or a small conical fixing nail can be provided at the bottom of the support plate 14 to further improve the stability of the connection between the support plate 14 and the ground. The hydraulic rod of the electric hydraulic cylinder 11 can drive the fixed plate 10 to rotate upward, so that the support mechanisms on both sides shrink inward, reducing the occupied space when not in use. When the fixed plate 10 is flipped upward, the electric hydraulic cylinder 2 12 is also flipped to the top of the driving body 1, and there is enough space on the driving body 1 to accommodate the electric hydraulic cylinder 2 12.

[0045] A coal powder storage box 3 and a cross double-frame positioning mechanism are provided at the top of the driving vehicle body 1. A coal powder receiving tube 4 is provided on the cross double-frame positioning mechanism, and a binocular camera 31 is provided at the coal powder receiving tube 4. One end of the coal powder receiving tube 4 is a coal powder inlet, and the other end of the coal powder receiving tube 4 is connected to the coal powder storage box 3 through a connecting pipe. The cross double-frame positioning mechanism includes a frame 19 and a frame 20, the four corners of the frame 19 are connected to the four corners of the frame 20 through a connecting column 33, and the frame 19 is connected to the telescopic mechanism through a fixed column 32. A longitudinal movement adjustment structure is provided on the frame 19, and a lateral movement adjustment structure is provided on the frame 20. The longitudinal movement adjustment structure includes two lead screws 122, a movable seat 123 is sleeved on the lead screw 122, one end of the coal powder receiving tube 4 is provided on the movable seat 123, and the lead screw 122 is connected to the movable seat 123 through a thread. The top of the frame 19 is provided with an upper opening and the bottom is provided with a lower opening. A sliding seat 1 24 is slidably provided in the upper opening, and a sliding seat 2 25 is provided in the lower opening. A servo motor 1 21 is provided on the sliding seat 1 24, and the output shaft of the servo motor 1 21 is connected to one end of a lead screw 1 22, and the other end of the lead screw 1 22 is rotatably connected to the sliding seat 2 25. The lateral movement adjustment structure includes two lead screws 27, and a moving seat 28 is sleeved on the lead screws 27. The other end of the coal powder receiving pipe 4 is provided on the moving seat 28, and the lead screw 27 is connected to the moving seat 28 through a thread. A left opening is provided on one side of the frame 19, and a right opening is provided on the other side. A sliding seat 1 24 is slidably provided in the upper opening, and a sliding seat 2 25 is provided in the lower opening. A servo motor 1 21 is provided on the sliding seat 1 24, and the output shaft of the servo motor 1 21 is connected to one end of a lead screw 1 22, and the other end of the lead screw 1 22 is rotatably connected to the sliding seat 2 25. The binocular camera 31 is arranged on the movable seat 28 and is located on both sides of the coal powder receiving pipe 4. Figure 5 As shown, both sides of the sliding seat 1 24, the sliding seat 25, the sliding seat 3 29, and the sliding seat 4 30 are provided with sliders 35, and the corresponding openings are provided with slide grooves 36 adapted to the sliders 35, and the sliders 35 are inserted in the slide grooves 36 and slidably connected with the slide grooves 36. The slider 35 and the slide groove 36 structure prevents each sliding seat from falling out of its own opening.

[0046] The output shafts of the two servo motors 1 21 drive their respective screws 1 22 to rotate, thereby causing the moving seat 1 23 to move up and down on the screw 1 22, thereby driving the coal powder receiving tube 4 to move longitudinally; the output shafts of the two servo motors 2 26 drive their respective screws 2 27 to rotate, thereby causing the moving seat 2 28 to move left and right on the screw 2 27, thereby driving the coal powder receiving tube 4 to move transversely, thereby completing the adjustment of the longitudinal and transverse positions of the coal powder receiving tube 4. Since the servo motor 1 21 and the servo motor 2 26 are both installed on their respective sliding seats, and the sliding seats are slidably arranged with the opening, when the servo motor 1 21 drives the moving seat 1 23 to move longitudinally, the servo motor 2 26 will also move longitudinally in the opening with the sliding seat, and when the servo motor 2 26 drives the moving seat 2 28 to move transversely, the servo motor 1 21 will also move transversely in the opening with the sliding seat, and will not affect the adjustment of the transverse and longitudinal positions of the coal powder receiving tube 4.

[0047] The cross double frame positioning mechanism is connected to the driving body 1 through a telescopic mechanism. The telescopic mechanism includes a sliding body 34 slidably arranged on the driving body 1, and the lower part of the sliding body 34 is slidably connected to the inner side of the fixed block 17. Four fixed rods are provided, one end of the fixed rod is connected to the frame 19, and the other end of the fixed rod is fixedly connected to the sliding body 34. The coal powder storage box 3 is provided with an electric hydraulic cylinder 3 13, and the hydraulic cylinder rod of the electric hydraulic cylinder 3 13 is connected to one end of the sliding body 34. The hydraulic rod of the electric hydraulic cylinder 3 13 can drive the sliding body 34 to extend or move backward, thereby driving the entire cross double frame positioning mechanism to extend or move forward or backward, and the bottom end of the cross double frame positioning mechanism is slidably connected to the top of the driving body 1. The fixed block 17 acts as a guide for the sliding start of the sliding body 34, so that the sliding of the sliding body 34 is more stable. The connecting pipe 17 is long enough and will not affect the lateral, longitudinal and telescopic movement of the coal powder receiving pipe 4.

[0048] The central processor adopts the existing Qualcomm Snapdragon 8295 chip, which has strong performance, low power consumption and small size. The driving mechanism of the driving body 1, the electric hydraulic cylinder 1 11, the electric hydraulic cylinder 2 12, the electric hydraulic cylinder 3 13, the servo motor 1 21, the servo motor 2 26, the visual sensor 16, the infrared sensor 1 5, the infrared sensor 2 6, the binocular camera 31 and the central processor adopt the existing structure electrical connection, and the central processor adopts the existing wireless communication module to connect with the PC end.

[0049] The receiving method of the coal dust intelligent automatic receiving device based on coal mine rock burst prevention and control according to the present invention comprises the following steps:

[0050] Step 1: Control the driving vehicle body 1 through the PC end in cooperation with the central processor, control the wheels 2 to drive the driving vehicle body 1 to move to the target location, detect obstacles through the visual sensor 16 and the infrared sensor during the movement, and avoid the obstacles;

[0051] Step 2: Use the infrared sensor 2 6 and the binocular camera 31 to detect the distance between the driving vehicle body 1 and the drilling position of the drilling rig, and adjust the position of the driving vehicle body 1;

[0052] Step 3: After the vehicle body 1 is driven to adjust its position, the electric hydraulic cylinder 2 12 drives the fixed plate 10 to rotate and unfold the fixed plate 10. After the pressure sensor 18 reaches the pressure setting value, the electric hydraulic cylinder 2 12 stops, and the electric hydraulic cylinder 1 11 drives the support plate 14 to descend to support the vehicle body 1. After the infrared sensor 1 5 detects that the distance between the center of the wheel 2 and the ground is greater than the set distance, the electric hydraulic cylinder 1 11 stops. At this time, the wheel 2 leaves the ground and is 4 cm away from the ground.

[0053] Step 4: The position of the drilling rig hole is detected by the binocular camera 31 to complete the initial positioning. First, the servo motor 1 21 drives the lead screw 1 22 to rotate, thereby driving the moving seat 1 23 to move on the lead screw 1 22 and adjusting the position of the moving seat 1 23; then the servo motor 2 26 drives the lead screw 2 27 to rotate, thereby driving the moving seat 2 28 to move on the lead screw 2 27 and adjusting the position of the moving seat 28, thereby adjusting the longitudinal and transverse positions of the coal powder receiving tube 4 on the moving seat 1 23 and the moving seat 2 28, so that the coal powder receiving tube 4 moves to the drilling position of the drilling rig;

[0054] Step 5: The drilling position of the drilling rig is detected again by the binocular camera 31 to complete the secondary positioning. The servo motor 1 21 and the servo motor 2 26 are started again to adjust the position of the coal powder receiving tube 4. After the adjustment is completed, the electric hydraulic cylinder 3 13 drives the sliding body 34 to slide forward, and the sliding of the sliding body 34 drives the fixed column 32 to slide, thereby driving the entire cross double frame positioning mechanism to extend forward, so that the coal powder inlet of the coal powder receiving tube 4 is close to the drilling position of the drilling rig;

[0055] Step six, the dust collecting element 9 is started, and the coal powder enters the coal powder storage box 3 through the coal powder receiving pipe 4, the connecting pipe 1 7, the dust collecting element 9, and the connecting pipe 2 8 in sequence, completing one coal powder reception.

[0056] Example 2

[0057] Different from Example 1, Figure 6 As shown, a double-axis cylinder 37 is also provided below the coal powder receiving pipe 4. The double-axis cylinder 37 is provided on the moving seat 28 of the cross double frame positioning mechanism. The double-axis cylinder 37 can move with the movement of the moving seat 28 to achieve up and down, left and right movement and adjust its position. The cylinder rod of the double-axis cylinder 37 is connected to one end of the collecting box 38. The other end of the collecting box 38 is provided with an arc opening 39. The arc opening 39 is connected to an inclined collecting shovel 40. The collecting shovel 40 is used to collect the coal powder extracted from the drill hole by the drilling rig.

[0058] In the receiving method, when the drill is pulled out of the hole after drilling, a portion of coal powder will be carried out, and this portion of coal powder will slide into the collection box 38 through the inclined collection shovel 40 for collection.

[0059] Therefore, the present invention adopts the above-mentioned intelligent automatic receiving device and method of coal powder based on coal mine impact pressure prevention and control, and realizes automatic positioning and automatic receiving of coal powder through multiple sensors in conjunction with the central processor. It is more intelligent, easy to operate, reduces labor costs, increases labor safety at work, and is more convenient.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control, characterized by: It includes a driving body, which is provided with wheels with a moving function, a central processing unit is provided in the driving body, supporting mechanisms with a flipping and folding function are symmetrically provided on both sides of the driving body, a coal powder storage box and a cross double-frame positioning mechanism are provided on the top of the driving body, a coal powder receiving tube is provided on the cross double-frame positioning mechanism, a binocular camera is provided at the coal powder receiving tube, one end of the coal powder receiving tube is a coal powder inlet, and the other end of the coal powder receiving tube is connected to the coal powder storage box through a connecting pipe, and the cross double-frame positioning mechanism is connected to the driving body through a telescopic mechanism.

2. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 1 is characterized by: An infrared sensor 1 is arranged at the center of the wheel, and the infrared sensor 1 is used to detect the distance between the wheel and the ground; the connecting pipe includes a connecting pipe 1 and a connecting pipe 2, and the connecting pipe 1 is a hose, one end of the connecting pipe 1 is connected to the coal powder receiving pipe, and the other end of the connecting pipe 1 is connected to the dust collecting element, and the dust collecting element is connected to the inside of the dust collecting box through the connecting pipe 2.

3. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 1 is characterized by: The supporting mechanism includes a fixed plate, an electric hydraulic cylinder 1 is arranged at the top of the fixed plate, the hydraulic rod of the electric hydraulic cylinder 1 passes through the fixed plate and is connected with the top of the supporting plate, one side of the fixed plate is rotatably connected with the side of the driving vehicle body, and the fixed plate is connected with the top of the driving vehicle body through a rotating structure.

4. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 3 is characterized by: Sensor boxes are provided at both ends of the fixed plate and the front and rear ends of the driving vehicle body. A visual sensor is provided in the sensor box, and an infrared sensor 2 is provided on the sensor box. The visual sensor is used to detect obstacles at the front and rear ends and the left and right sides of the driving vehicle body, and the infrared sensor 2 is used to detect the distance between the driving vehicle body and the obstacles.

5. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 3 is characterized by: The rotating structure includes a fixed block arranged at the top of the driving vehicle body, on which an electric hydraulic cylinder 2 is arranged, the hydraulic rod of the electric hydraulic cylinder 2 is hinged to the top of the fixed plate, and the bottom of the electric hydraulic cylinder 2 is hinged to the fixed block; pressure sensors are arranged at positions corresponding to the fixed plates on both sides of the driving vehicle body, and the pressure sensors are used to detect the pressure between the fixed plates and the driving vehicle body.

6. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 1 is characterized by: The cross double-frame positioning mechanism includes frame one and frame two. The four corners of frame one are connected to the four corners of frame two through connecting columns. Frame one is connected to the telescopic mechanism through fixed columns. Frame one is provided with a longitudinal movement adjustment structure, and frame two is provided with a lateral movement adjustment structure.

7. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 6 is characterized by: The longitudinal movement adjustment structure includes two lead screws 1, a moving seat 1 is sleeved on the lead screw 1, one end of the coal powder receiving tube is arranged on the moving seat 1, the lead screw 1 is connected to the moving seat 1 through a thread, the top of the frame 1 is provided with an upper opening, the bottom of the frame 1 is provided with a lower opening, a sliding seat 1 is slidably arranged in the upper opening, a sliding seat 2 is arranged in the lower opening, a servo motor 1 is arranged on the sliding seat 1, the output shaft of the servo motor 1 is connected to one end of the lead screw 1, and the other end of the lead screw 1 is rotatably connected to the sliding seat 2; The lateral movement adjustment structure includes two lead screws 2, on which a moving seat 2 is sleeved, and the other end of the coal powder receiving tube is arranged on the moving seat 2. The lead screw 2 is connected to the moving seat 2 through a thread, one side of the frame 1 is provided with a left opening, and the other side is provided with a right opening, a sliding seat 1 is slidably arranged in the upper opening, and a sliding seat 2 is arranged in the lower opening, a servo motor 1 is arranged on the sliding seat 1, the output shaft of the servo motor 1 is connected to one end of the lead screw 1, and the other end of the lead screw 1 is rotatably connected to the sliding seat 2, and a binocular camera is arranged on the moving seat 2.

8. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 5 is characterized by: The telescopic mechanism comprises a sliding body slidably arranged on the driving vehicle body, the lower part of the sliding body is slidably connected to the inner side of the fixed block, an electric hydraulic cylinder three is arranged on the coal powder storage box, and the hydraulic cylinder rod of the electric hydraulic cylinder three is connected to one end of the sliding body.

9. The intelligent automatic receiving device for coal dust based on coal mine rock burst prevention and control according to claim 1 is characterized by: A double-axis cylinder is arranged below the coal powder receiving pipe, and the double-axis cylinder is arranged on a cross double-frame positioning mechanism. The cylinder rod of the double-axis cylinder is connected to one end of the collecting box, and the other end of the collecting box is provided with an arc-shaped opening, and an inclined collecting shovel is connected to the arc-shaped opening. The collecting shovel is used to collect the coal powder extracted from the drill hole by the drilling rig.

10. A receiving method of a coal dust intelligent automatic receiving device based on coal mine rock burst prevention and control according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Use the wheels to drive the vehicle to move to the target location, and use visual sensors and infrared sensors to avoid obstacles during the movement; Step 2: Use infrared sensor 2 and binocular camera to detect the distance between the driving vehicle body and the drilling position of the drilling rig, and adjust the position of the driving vehicle body; Step 3: After the vehicle body is driven to adjust its position, the electric hydraulic cylinder 2 drives the fixed plate to rotate and unfold it. After the pressure sensor reaches the set pressure value, the electric hydraulic cylinder 2 stops, and the electric hydraulic cylinder 1 drives the support plate to descend to support the vehicle body. After the infrared sensor 1 detects that the distance between the center of the wheel and the ground is greater than the set distance, the electric hydraulic cylinder 1 stops; Step 4: Use a binocular camera to detect the position of the drilling rig's hole and complete the initial positioning. First, servo motor 1 drives screw 1 to rotate, thereby driving moving seat 1 to move on screw 1 and adjusting the position of moving seat 1; then servo motor 2 drives screw 2 to rotate, thereby driving moving seat 2 to move on screw 2 and adjusting the position of moving seat 2, thereby adjusting the longitudinal and transverse positions of the coal powder receiving tubes on moving seat 1 and moving seat 2, so that the coal powder receiving tubes move to the drilling position of the drilling rig; Step 5: Use the binocular camera to detect the drilling position of the drilling rig again to complete the secondary positioning. Servo motor 1 and servo motor 2 are started again to adjust the position of the coal powder receiving tube. After the adjustment is completed, the electric hydraulic cylinder 3 drives the sliding body to slide forward, and the sliding of the sliding body drives the fixed column to slide, thereby driving the entire cross double frame positioning mechanism to extend forward, so that the coal powder inlet of the coal powder receiving tube is close to the drilling position of the drilling rig; Step six, the dust collecting element is started, and the coal powder enters the coal powder storage box through the coal powder receiving pipe, connecting pipe 1, the dust collecting element, and connecting pipe 2 in sequence, completing one coal powder reception.

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