A device and method for replacing inner lining of mining skip

Abstract

The present invention discloses a device and method for replacing the inner lining of a mining skip, the device comprising a mobile platform, a traction device, a profile bracket, a guide wheel frame and a lining grabbing mechanism. The present invention can realize the damage identification, positioning, grabbing and replacement of the inner lining of a mine skip, and realize the mechanized replacement and transportation of the damaged lining. The device uses the inner lining replacement device of the skip to enter the interior of the skip to replace the lining, thereby reducing labor costs, ensuring the safety of production personnel, and improving the efficiency of lining replacement.

Description

Technical Field

[0001] The invention relates to a device and method for replacing an internal lining plate of a mining skip. Background Art

[0002] In the process of coal mine hoisting, the skip is the most common coal hoisting container. When the skip is loaded with coal and gangue in the mine, the inner wall of the skip will be subjected to severe impact. Under the severe impact and friction of coal and gangue, the service life of the skip will be greatly shortened. In order to extend the service life of the skip, most skip designs now adopt the scheme of installing wear-resistant lining on the inner wall of the skip. According to the working intensity of the skip, the replacement time of the wear-resistant lining of the skip is roughly calculated. When replacing the wear-resistant lining of the skip, the skip needs to be parked at a height that can be entered by humans, and workers enter the skip to replace it.

[0003] Since the environment inside the skip is relatively small and there is no supporting platform, workers need to be suspended by ropes to work. Because it is a manual operation, the existing liner replacement work has a series of problems such as low replacement efficiency, high risk factor, and high work intensity of workers. In view of this problem, there is an urgent need for a mechanical device that can enter the skip and replace the liner instead of manual labor. Summary of the invention

[0004] Technical problem: The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a device for replacing the internal lining of a mining skip, which utilizes a mechanical device to replace manual labor in detecting, identifying, transporting and replacing damaged linings.

[0005] Technical solution: In order to achieve the above technical objectives, the present invention adopts the following technical solution:

[0006] A device for replacing the inner lining of a mining skip, comprising:

[0007] Profile bracket;

[0008] The guide wheel frame comprises two guide wheel frames, which are symmetrically arranged on the left and right sides of the profile support, the inner sides of the guide wheel frames are connected to the support through a first linear telescopic unit, and the outer sides of the guide wheel frames are provided with guide wheels, and the first linear telescopic unit can drive the guide wheel frames to move along the X-axis relative to the profile support, so that the guide wheels are connected to the inner wall support of the bucket;

[0009] The lining plate grabbing mechanism is arranged on one side of the profile bracket through a position adjustment mechanism and is used to grab the damaged lining plate, comprising:

[0010] The slide rail is fixedly arranged on the profile bracket along the X-axis direction.

[0011] A frame plate is slidably connected to the slide rail via a slider, and a second length telescopic unit is fixedly connected to the frame plate;

[0012] A main board connected to the second linear telescopic unit, wherein the second linear telescopic unit can drive the main board to move relative to the frame along the Y axis;

[0013] The grabbing side plates include two grabbing side plates symmetrically arranged on the left and right sides of the main board, and the inner sides of the grabbing side plates are connected to the main board through a third linear telescopic unit, and the third linear telescopic unit can drive the two grabbing side plates to move relative to the main board along the X-axis to change the spacing between the two grabbing side plates;

[0014] A ball screw mechanism is fixedly connected to the profile bracket, and a nut moving pair thereon is fixedly connected to the frame plate, and the ball screw mechanism is used to drive the entire frame plate to move along the X-axis direction on the slide rail;

[0015] A first industrial camera, mounted on the main board, for obtaining the relative position of the lining plate and the main board, and collecting an image of the surface of the lining plate;

[0016] The second industrial camera includes a plurality of second industrial cameras installed on the profile bracket to collect images and measure the left and right distances between the entire skip internal liner replacement device and the skip;

[0017] The first pulling pressure sensor comprises a plurality of first pulling pressure sensors, one end of which is threadedly connected to the ejection rod of the first linear telescopic unit, and the other end is fixedly connected to the guide wheel frame to monitor the pressure of the guide wheel on the inner wall of the bucket.

[0018] The second tension pressure sensor includes multiple ones, one end of which is connected to the push rod of the third linear telescopic unit through a thread, and the other end is fixedly connected to the grabbing side plate to monitor the grabbing force of the grabbing side plate on the lining plate.

[0019] An external traction device is arranged outside the bucket and connected to the top of the profile bracket through a traction rope, and is used to achieve traction of the entire internal lining replacement device of the bucket;

[0020] A laser positioning sensor is installed on the external traction device and is used to obtain the depth of the entire skip internal liner replacement device inside the skip and the distance from the liner;

[0021] The host computer is connected to the first linear telescopic unit, the second linear telescopic unit, the third linear telescopic unit, the first industrial camera, the second industrial camera, the first tension and pressure sensor, the second tension and pressure sensor, the external traction device and the laser positioning sensor signal.

[0022] The profile bracket includes: a profile bracket body, which is a rectangular parallelepiped structure, and the middle part of the profile bracket body is used to arrange the slide rail and the frame plate; a top plate, which is fixed on the top of the profile bracket body; and a pull ring, which is fixedly connected to the upper center of the top plate and connected to the traction rope of the external traction device.

[0023] The linear telescopic unit is an electric cylinder.

[0024] The external traction device comprises:

[0025] Lifting platforms and lifting devices, wherein:

[0026] The lifting platform is located at the bottom of the entire traction device;

[0027] The lifting device comprises a support frame, a hoist, a lifting wire rope, a first fixed pulley and a second fixed pulley, wherein the support frame and the hoist are fixed on the lifting platform;

[0028] The support frame includes a vertical support rod and a transverse cantilever rod, a first fixed pulley is installed on the top of the vertical support rod, and a second fixed pulley is installed on the cantilevered end of the transverse cantilever rod, and the lifting wire rope released by the winch is connected to the lifting ring on the top of the bracket through the first fixed pulley and the second fixed pulley;

[0029] A transverse laser positioning sensor is installed on the cantilevered end of the transverse cantilever rod, and determines the transverse position of the entire skip internal liner replacement device by measuring the distance to the skip wall;

[0030] A longitudinal laser positioning sensor is installed on the cantilevered end of the transverse cantilever rod, and determines the longitudinal position of the entire skip internal liner replacement device by measuring the distance to the profile support cover plate.

[0031] The lifting platform is a scissor-type lifting structure, comprising:

[0032] Pedestal;

[0033] Scissor lift structure;

[0034] Base plate;

[0035] Universal wheel;

[0036] Lifting electric cylinder;

[0037] Wherein, the four universal wheels 1 are connected under the bottom plate by bolts;

[0038] The lower end of the scissor-type lifting mechanism is hinged to the bottom plate, and the upper end is hinged to the base;

[0039] The lifting electric cylinder is arranged between two forks of the scissor lift.

[0040] A groove for increasing friction is provided on the inner side surface of the grabbing side plate.

[0041] The main board also includes a hook and a compression spring, wherein the main board is rectangular in shape.

[0042] The hooks include four hooks, which are respectively arranged at four corners of the rectangular main board through hinged parts;

[0043] The compression spring is arranged between the hook claw and the main board. When the main board approaches the lining plate, the upper and lower ends of the lining plate will push the hook claw. The hook claw overcomes the elastic force of the compression spring and rotates backward with the hinge as the fulcrum until the hook claw clamps the upper and lower ends of the lining plate.

[0044] The present invention further discloses a replacement method based on the internal lining replacement device of the mining skip, comprising the following steps:

[0045] S1, external traction device is connected with whole described skip inner lining plate replacement device by traction rope, and skip inner lining plate replacement device is aimed at skip entrance position;

[0046] S2, start the first linear telescopic unit, push the guide wheel outside the guide wheel frame to contact the inner wall of the skip on both sides, until the first tension pressure sensor reaches the required pressure, stop the first linear telescopic unit;

[0047] S3, by external traction device, the whole described skip inner lining plate replacement device is decentralized, while decentralizing, utilize laser positioning sensor to obtain the skip inner lining plate replacement device depth and the distance from liner, make the skip inner lining plate replacement device slide down to the skip inner lining plate position;

[0048] S4. Use the first industrial camera to obtain the relative position of the lining plate and the main board, and return the adjustment parameters;

[0049] S5. The host computer gives the posture adjustment parameters, and uses the third linear telescopic unit, the second linear telescopic unit and the ball screw mechanism to adjust the gripping positions of the left and right gripping side plates;

[0050] S6. After the positioning is completed, the second linear telescopic unit is started to extend the main board and the left and right grabbing side plates into the gap between the lining plates;

[0051] S7, controlling the third linear telescopic unit to clamp the lining plate until the second tension pressure sensor reaches the required clamping force;

[0052] S8, control the external traction device to pull the wire rope, and take out the entire skip internal liner replacement device from the skip.

[0053] Step S4 also includes using the first industrial camera to collect the liner surface image, processing the liner surface image, and obtaining the geometric size and position coordinates of the surface defects of the bucket liner, specifically:

[0054] S41, segmenting the image using a global threshold segmentation method;

[0055] S42, using bilateral filtering to filter the interference in the image and suppress the high-frequency noise in the original image;

[0056] S43, using morphological operation methods to refine and trim the burrs in the image so that it presents a continuous and smooth edge;

[0057] S44, using the Canny edge detection operator to perform edge detection on the result image obtained in step S43;

[0058] S45, performing circumscribed rectangle fitting on the defect pattern on the single lining plate, and then filtering the pseudo-marks in the image by the area of ​​the circumscribed rectangle, specifically including the following sub-steps:

[0059] S451, the defect contour is fitted for the segmented single liner, using the circumscribed rectangle R a The detected defect contour C a Fitting, circumscribed rectangle R a The definition of each parameter is as follows: First, determine the contour C to be fitted a The point P1 (x1, y1) with the largest ordinate on the upper side is drawn, and a horizontal line L1 is drawn through the point; then, the contour to be fitted C is determined a The point P2 (x2, y2) with the largest horizontal coordinate on the contour is drawn, and a horizontal line L2 is drawn through the point. Next, the intersection point P3 of the horizontal lines L1 and L2 is calculated as a vertex of the circumscribed rectangle. Finally, the difference between the ordinate of the point with the smallest ordinate on the contour and P1 is taken as the circumscribed rectangle R. a The first side length of the contour, the difference between the point with the smallest horizontal coordinate and P2 is the circumscribed rectangle R a The other side length of a ;

[0060] S452, through the circumscribed rectangle R a The area S a Eliminate the pseudo-marks that appear in the previous step by calculating the bounding rectangle R a The area S a The ratio k to the total image area S is:

[0061]

[0062] According to the proportion of lining board defects to the map area, a reasonable value interval Z is set, and all rectangles whose k values ​​do not belong to this interval are considered as false marks and filtered out;

[0063] S46, recording the position and size information of the defect, feeding back to the client, completing the skip liner defect detection work, if the defect reaches the condition that needs to be replaced, then proceeding to step S5;

[0064] If the defect does not meet the conditions that require replacement, the defect information will be fed back to the client, and the external traction device will tow the entire skip internal lining replacement device away from the skip. The client will calculate the replacement time based on the defect information and the working intensity of the skip.

[0065] Beneficial effects:

[0066] The present invention can replace manual identification and mechanized transportation and replacement of damaged liner plates, and its main advantages are:

[0067] (1) The liner replacement device is pulled into the bucket by an external traction device. The liner replacement device can accurately identify and locate the damaged liner, and use the liner grabbing mechanism to grab and replace the damaged liner, thereby reducing labor costs and risk factors.

[0068] (2) The liner replacement device of the present invention uses the first industrial camera to determine the damage condition of the liner surface, and determines whether the liner needs to be replaced based on the damage condition of the liner, thereby avoiding the technical problem of untimely or inaccurate liner replacement caused by roughly calculating the replacement time of the bucket wear-resistant liner based on the working intensity of the bucket.

[0069] (3) The present invention enables the bucket internal lining replacement device to move more stably inside the bucket through the guide wheel frames on both sides of the profile bracket, and effectively prevents the bucket internal lining replacement device from tipping over after grabbing the lining. The crawling mode of the bucket internal lining replacement device can effectively overcome the uneven inner wall of the bucket.

[0070] (4) The present invention realizes image acquisition of the bucket lining through the industrial camera on the lining grabbing mechanism, and processes the surface image of the lining through image processing means, instead of manually entering the bucket for internal inspection. Furthermore, in order to solve the problem that defects on the bucket lining are difficult to detect and there is a lot of background interference, an image processing algorithm is proposed. The algorithm proposes an area screening method to filter out false marks in the image, thereby completing the bucket lining defect detection work of the vertical shaft hoisting method and improving the accuracy of bucket lining damage detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 It is a front view of the overall structure of the present invention;

[0072] Among them: 1. Universal wheel; 2. Bottom plate; 3. Lifting electric cylinder; 4. Scissor-type lifting mechanism; 5. Base; 6. Winch; 7. Traction wire rope; 8. Counterweight; 9. Strengthening rod; 10. Column; 11. Extension rod; 12. Guide pulley; 13. Laser positioning sensor; 14. Bucket internal lining replacement device;

[0073] Figure 2 This is a front view of the device for replacing the inner lining of the bucket of the present invention;

[0074] Among them: 15, guide wheel frame; 16, second industrial camera; 17, profile bracket; 18, top plate; 19, pull ring; 20, lining plate grabbing mechanism;

[0075] Figure 3 This is a schematic diagram of the structure of the wall-climbing robot of the present invention;

[0076] Wherein: 21, guide wheel; 22, first tension pressure sensor; 23, guide wheel frame transverse support plate; 24, guide wheel frame vertical support plate; 25, first linear telescopic unit; 26, first linear telescopic unit mounting plate,

[0077] Figure 4 The liner grabbing mechanism of the present invention;

[0078] Among them: 27, slide rail; 28, slider; 29, second linear telescopic unit bottom plate; 30, ball screw mechanism; 31, middle connecting plate; 32, side plate; 33, second linear telescopic unit; 34, main board; 35, grab side plate; 36, third linear telescopic unit; 37, third linear telescopic unit bottom plate; 38, first industrial camera; 39, grab plate; 40, second tension pressure sensor; 41, hook

[0079] Figure 5 The ball screw mechanism of the present invention;

[0080] Among them: 42, stepper motor; 43, coupling; 44, slider; 45, lead screw; 46, base.

[0081] Figure 6 This is the grayscale effect of the liner image of the present invention;

[0082] Figure 7 This is the bilateral filtering effect of the liner image of the present invention;

[0083] Figure 8 It is the processing result of the liner image global threshold method of the present invention;

[0084] Fig. 9 It is the Canny edge detection effect of the liner defect feature of the present invention;

[0085] Fig.10This is the lining image straight line segmentation and lining defect feature marking filtering effect of the present invention. DETAILED DESCRIPTION

[0086] The technical solution of the present invention is described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0087] A device for replacing the internal liner of a mining skip comprises a mobile platform, a traction device, a guide wheel frame and a liner grabbing mechanism; the mobile platform is used for ground movement and lifting of the device, the traction device is used for traction and positioning of the device for replacing the internal liner of the skip, the guide wheel frame is used for stabilizing and moving the device for replacing the internal liner of the skip, and the liner grabbing mechanism is used for locating the liner position and effectively grabbing the liner.

[0088] In this embodiment, the internal lining replacement device for the mining skip, the mobile platform includes a base 5, a scissors-type lifting structure 4 for platform lifting, a bottom plate 2, four universal wheels for horizontal movement and a lifting electric cylinder 1 for platform lifting, the four universal wheels 1 are connected under the bottom plate 2 by bolts, the scissors-type lifting mechanism 4 is connected to the bottom plate 2 by a hinged manner, the lifting electric cylinder is arranged between the two forks of the scissors-type lifting mechanism 4, and the upper end of the scissors-type lifting mechanism 4 is connected to the base 5 by a hinge.

[0089] The scissor-type lifting mechanism 4 is connected to the bottom plate 2 and the base 5 by rollers on one side and connected in the middle by hinges, and the lifting electric cylinder 1 is used to achieve the purpose of platform lifting.

[0090] In this embodiment, the internal lining replacement device for a mining skip, the external traction device includes a column 10, a winch 6, a traction wire rope 7 for traction of the internal lining replacement device for a mining skip, two guide pulleys 12, an extension rod 11, a reinforcing rod 9, a counterweight 8, and a laser positioning sensor 13 for distance positioning of the internal lining replacement device for a mining skip. The column 10 and the winch 6 are fixed to the base 5 by a plurality of bolts, the extension rod 11 is connected to the column 10 by welding, the reinforcing rod 9 is fixed between the extension rod 11 and the column 10 by welding, the two guide pulleys 12 are fixed to the extension rod 11 by bolts, the counterweight 8 is fixed to the opposite position of the extension rod 11 by welding, the laser positioning sensor 13 is fixed to the bottom of the guide pulley 12 by bolts, the traction wire rope 7 is wound out from the winch 6, and is connected to the internal lining replacement device for a mining skip through the two guide pulleys 12.

[0091] The laser positioning sensor 13 realizes non-contact long-distance measurement and is installed at the end of the extension rod 11 to measure the distance from the top plate of the internal lining replacement device of the mining skip to the extension rod 11 and sense the descending depth of the internal lining replacement device of the mining skip.

[0092] In this embodiment, the internal lining replacement device for a mining skip comprises a frame including a profile bracket 17, a second industrial camera 16, a top plate 18 and a pull ring 19. The top plate 18 is fixed to the top of the profile bracket 17 by a plurality of bolts, serving as a reflection source of the laser positioning sensor 13 and a load-bearing connecting component of the entire internal lining replacement device for a mining skip. The pull ring 19 is fixed to the upper center of the top plate 18 by welding and is connected to the traction wire rope 7. The second industrial camera 16 is installed on the profile bracket 17 by bolts for collecting lining images and measuring the left-right distance between the internal lining replacement device for a mining skip and the skip.

[0093] The top plate 18 and the pull ring 19 are connected by welding, and the pull ring 19 is connected to the traction wire rope 7. The whole structure is used to bear the weight of the internal lining replacement device of the mining skip.

[0094] The profile bracket 17 is a rectangular parallelepiped structure, and the middle part is used to arrange the driving part of the lining plate grabbing mechanism.

[0095] In the present embodiment, the internal lining replacement device for the mining skip, the guide wheel frame includes symmetrically arranged guide wheels 21, a guide wheel frame 15, a first linear telescopic unit 25, and a first linear telescopic unit bottom plate 26. The guide wheels 21 are 16 in total, 4 in a row, and 8 in a side, which are fixed to the guide wheel frame 15 by bolts, and are used to guide the mobile internal lining replacement device for the mining skip. The guide wheel frame 15 is symmetrically arranged on both sides of the frame, and is connected to the upper and lower groups of symmetrically arranged first linear telescopic units 25 by threads, which are used to fix the guide wheel 21 and connect the first linear telescopic units 25, wherein each group has two first linear telescopic units 25, two of the first linear telescopic units 25 are in a row, four in a side, a total of 8, which are symmetrically arranged on both sides of the frame, the first linear telescopic unit 25 is fixed to the first linear telescopic unit bottom plate 26 by bolts, and the first linear telescopic unit bottom plate 26 is fixed to the profile bracket 17 by bolts, which is used to push out the guide wheel frame 15 so that the guide wheel 21 contacts the wall of the skip.

[0096] The first linear telescopic units 25 on the same side of the guide wheel frame jointly drive the guide wheel frame 15 on the same side to telescopically move, and the first linear telescopic units 25 on both sides may be asynchronous, so that the guide wheels 21 contact the inner walls of the buckets on both sides.

[0097] In this embodiment, the internal lining replacement device of the mining skip, the lining grabbing mechanism includes a second linear telescopic unit 33, a ball screw mechanism 30, a middle connecting plate 31, a second linear telescopic unit bottom plate 29, a slide rail 27, a slider 28, a side plate 32, a main board 34, a grabbing side plate 35, a grabbing plate 39, a first industrial camera 38, a third linear telescopic unit bottom plate 37 and a third linear telescopic unit 36, wherein the second linear telescopic unit 33 has a total of 2 The two electric cylinders are arranged up and down and are respectively fixed on the second linear telescopic unit bottom plate 29 by bolts. The second linear telescopic unit bottom plate 29 is fixed on the slider 28 on the slide rail 27 by bolts. The slide rail 27 is fixed on the profile bracket 17 by bolts. The two second linear telescopic unit bottom plates 29 are welded and fixedly connected with the middle connecting plate 24 through the side vertical plates 32. The ball screw mechanism 23 fixed on the profile bracket 16 is connected with the middle connecting plate 31 by bolts for the lateral movement of the entire grasping mechanism. The main board 34 is connected to the second linear telescopic unit through a pin shaft. 33 is connected with the extension rod, four third linear telescopic units 36 are symmetrically arranged on the front side of the main board 34, the third linear telescopic unit 36 ​​is fixed on the third linear telescopic unit bottom plate 37, a plurality of third linear telescopic unit bottom plates 37 are welded on the main board 34, and every two third linear telescopic units 36 are connected with a grabbing side plate 35 by threads, which is used for the lateral movement of the two grabbing side plates 35, and each grabbing side plate 35 is evenly arranged with four grabbing plates 39 above and below for grabbing the lining, and the first industrial camera 38 is connected with the main board 34 by threads for the precise positioning of the lining.

[0098] The second linear telescopic unit 33 is connected to the main board in a hinged manner, and the upper and lower second linear telescopic units 33 jointly drive the main board 34 to move forward, backward, and left.

[0099] The inner side of the grab plate 39 has a plurality of grooves to increase the friction force of grabbing and prevent the lining plate from falling off.

[0100] The replacement method of the internal lining plate replacement device of the mining bucket described in the profile bracket comprises the following steps:

[0101] S1, external traction device is connected with whole described skip inner lining plate replacement device by traction rope, and skip inner lining plate replacement device is aimed at skip entrance position;

[0102] S2, start the first linear telescopic unit, push the guide wheel outside the guide wheel frame to contact the inner wall of the skip on both sides, until the first tension pressure sensor detects the pressure, stop the first linear telescopic unit;

[0103] S3, lowering the entire skip internal lining replacement device by an external traction device, while lowering, using a laser positioning sensor to obtain the depth of the mining skip internal lining replacement device and the distance from the liner, so that the mining skip internal lining replacement device slides down to the skip internal lining position;

[0104] S4. Use the first industrial camera to obtain the relative position of the lining plate and the main board, and return the adjustment parameters;

[0105] S5. The host computer gives the posture adjustment parameters, and uses the third linear telescopic unit, the second linear telescopic unit and the ball screw mechanism to adjust the gripping positions of the left and right gripping side plates;

[0106] S6. After the positioning is completed, the second linear telescopic unit is started to extend the main board and the left and right grabbing side plates into the gap between the lining plates;

[0107] S7, controlling the third linear telescopic unit to clamp the lining plate;

[0108] S8, control the external traction device to pull the wire rope, and take out the entire skip internal liner replacement device from the skip.

[0109] Furthermore, step S4 also includes using the first industrial camera to collect the liner surface image, processing the liner surface image, and obtaining the geometric size and position coordinates of the surface defects of the bucket liner, specifically:

[0110] S41, segmenting the image using a global threshold segmentation method;

[0111] S42, using bilateral filtering to filter the interference in the image and suppress the high-frequency noise in the original image;

[0112] S43, using morphological operation methods to refine and trim the burrs in the image so that it presents a continuous and smooth edge;

[0113] S44, using the Canny edge detection operator to perform edge detection on the result image obtained in step S43;

[0114] S45, performing circumscribed rectangle fitting on the defect pattern on the single lining plate, and then filtering the pseudo-marks in the image by the area of ​​the circumscribed rectangle, specifically including the following sub-steps:

[0115] S451, the defect contour is fitted for the segmented single liner, using the circumscribed rectangle R a The detected defect contour C a Fitting, circumscribed rectangle R a The definition of each parameter is as follows: First, determine the contour C to be fitted aThe point P1 (x1, y1) with the largest ordinate on the upper side is drawn, and a horizontal line L1 is drawn through the point; then, the contour to be fitted C is determined a The point P2 (x2, y2) with the largest horizontal coordinate on the contour is drawn, and a horizontal line L2 is drawn through the point. Next, the intersection point P3 of the horizontal lines L1 and L2 is calculated as a vertex of the circumscribed rectangle. Finally, the difference between the ordinate of the point with the smallest ordinate on the contour and P1 is taken as the circumscribed rectangle R. a The first side length of the contour, the difference between the point with the smallest horizontal coordinate and P2 is the circumscribed rectangle R a The other side length of a ;

[0116] S452, through the circumscribed rectangle R a The area S a Eliminate the pseudo-marks that appear in the previous step by calculating the bounding rectangle R a The area S a The ratio k to the total image area S is:

[0117]

[0118] According to the proportion of lining board defects to the map area, a reasonable value interval Z is set, and all rectangles whose k values ​​do not belong to this interval are considered as false marks and filtered out;

[0119] S46, recording the position and size information of the defect, feeding back to the client, completing the skip liner defect detection work, if the defect reaches the condition that needs to be replaced, then proceeding to step S5;

[0120] If the defect does not meet the conditions that require replacement, the defect information will be fed back to the client, and the external traction device will tow the entire skip internal lining replacement device away from the skip. The client will calculate the replacement time based on the defect information and the working intensity of the skip.

[0121] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A device for replacing the inner lining of a mining skip, characterized in that: include: Profile bracket; The guide wheel frame comprises two guide wheel frames, which are symmetrically arranged on the left and right sides of the profile support, the inner sides of the guide wheel frames are connected to the support through a first linear telescopic unit, and the outer sides of the guide wheel frames are provided with guide wheels, and the first linear telescopic unit can drive the guide wheel frames to move along the X-axis relative to the profile support, so that the guide wheels are connected to the inner wall support of the bucket; The lining plate grabbing mechanism is arranged on one side of the profile bracket through a position adjustment mechanism and is used to grab the damaged lining plate, comprising: The slide rail is fixedly arranged on the profile bracket along the X-axis direction. A frame plate is slidably connected to the slide rail via a slider, and a second length telescopic unit is fixedly connected to the frame plate; A main board connected to the second linear telescopic unit, wherein the second linear telescopic unit can drive the main board to move relative to the frame along the Y axis; The grabbing side plates include two grabbing side plates symmetrically arranged on the left and right sides of the main board, and the inner sides of the grabbing side plates are connected to the main board through a third linear telescopic unit, and the third linear telescopic unit can drive the two grabbing side plates to move relative to the main board along the X-axis to change the spacing between the two grabbing side plates; A ball screw mechanism is fixedly connected to the profile bracket, and a nut moving pair thereon is fixedly connected to the frame plate, and the ball screw mechanism is used to drive the entire frame plate to move along the X-axis direction on the slide rail; A first industrial camera, mounted on the main board, for obtaining the relative position of the lining plate and the main board, and collecting an image of the surface of the lining plate; The second industrial camera includes a plurality of second industrial cameras installed on the profile bracket to collect images and measure the left and right distances between the entire skip internal liner replacement device and the skip; The first tension pressure sensor comprises a plurality of first tension pressure sensors, one end of which is connected to the push rod of the first linear telescopic unit through a thread, and the other end is fixedly connected to the guide wheel frame to monitor the pressure of the guide wheel on the inner wall of the bucket; The second tension pressure sensor includes a plurality of second tension pressure sensors, one end of which is connected to the push rod of the third linear telescopic unit through a thread, and the other end is fixedly connected to the grabbing side plate, so as to monitor the grabbing force of the grabbing side plate on the lining plate; An external traction device is arranged outside the bucket and connected to the top of the profile bracket through a traction rope, and is used to achieve traction of the entire internal lining replacement device of the bucket; A laser positioning sensor is installed on the external traction device and is used to obtain the depth of the entire skip internal liner replacement device inside the skip and the distance from the liner; The host computer is connected to the first linear telescopic unit, the second linear telescopic unit, the third linear telescopic unit, the first industrial camera, the second industrial camera, the first tension and pressure sensor, the second tension and pressure sensor, the external traction device and the laser positioning sensor signal.

2. The device for replacing the inner lining of a mining skip according to claim 1, characterized in that: The profile bracket comprises: The profile bracket body is a rectangular parallelepiped structure, and the middle part of the profile bracket body is used to arrange the slide rail and the frame plate; A top plate, fixed on the top of the profile support body; The pull ring is fixedly connected at the upper center of the top plate and is connected to the traction rope of the external traction device.

3. The device for replacing the inner lining of a mining skip according to claim 1, characterized in that: The linear telescopic unit is an electric cylinder.

4. The device for replacing the inner lining of a mining skip according to claim 1, characterized in that: The external traction device comprises: Lifting platforms and lifting devices, wherein: The lifting platform is located at the bottom of the entire traction device; The lifting device comprises a support frame, a hoist, a lifting wire rope, a first fixed pulley and a second fixed pulley, wherein the support frame and the hoist are fixed on the lifting platform; The support frame includes a vertical support rod and a transverse cantilever rod, a first fixed pulley is installed on the top of the vertical support rod, and a second fixed pulley is installed on the cantilevered end of the transverse cantilever rod, and the lifting wire rope released by the winch is connected to the lifting ring on the top of the bracket through the first fixed pulley and the second fixed pulley; A transverse laser positioning sensor is installed on the cantilevered end of the transverse cantilever rod, and determines the transverse position of the entire skip internal liner replacement device by measuring the distance to the skip wall; A longitudinal laser positioning sensor is installed on the cantilevered end of the transverse cantilever rod, and determines the longitudinal position of the entire skip internal liner replacement device by measuring the distance to the profile support cover plate.

5. The device for replacing the inner lining of a mining skip according to claim 4, characterized in that: The lifting platform is a scissor-type lifting structure, comprising: Pedestal; Scissor lift structure; Base plate; Universal wheel; Lifting electric cylinder; Wherein, the four universal wheels are connected under the bottom plate by bolts; The lower end of the scissor-type lifting mechanism is hinged to the bottom plate, and the upper end is hinged to the base; The lifting electric cylinder is arranged between two forks of the scissor lift.

6. The device for replacing the inner lining of a mining skip according to claim 1, characterized in that: A groove for increasing friction is provided on the inner side surface of the grabbing side plate.

7. The device for replacing the inner lining of a mining skip according to claim 1, characterized in that: The main board also includes a hook and a compression spring, wherein the main board is rectangular in shape. The hooks include four hooks, which are respectively arranged at four corners of the rectangular main board through hinged parts; The compression spring is arranged between the hook claw and the main board. When the main board approaches the lining plate, the upper and lower ends of the lining plate will push the hook claw. The hook claw overcomes the elastic force of the compression spring and rotates backward with the hinge as the fulcrum until the hook claw clamps the upper and lower ends of the lining plate.

8. A method for replacing the internal lining plate of a mining skip based on the device for replacing the internal lining plate of any one of claims 1 to 7, characterized in that: The following steps are involved: S1, external traction device is connected with whole described skip inner lining plate replacement device by traction rope, and skip inner lining plate replacement device is aimed at skip entrance position; S2, start the first linear telescopic unit, push the guide wheel outside the guide wheel frame to contact the inner wall of the skip on both sides, until the first tension pressure sensor reaches the required pressure, stop the first linear telescopic unit; S3, by external traction device, the whole described skip inner lining plate replacement device is lowered, while lowering, utilize laser positioning sensor to obtain the skip inner lining plate replacement device depth and the distance from liner, make the skip inner lining plate replacement device slide down to the skip inner lining plate position; S4. Use the first industrial camera to obtain the relative position of the lining plate and the main board, and return the adjustment parameters; S5. The host computer gives the posture adjustment parameters, and uses the third linear telescopic unit, the second linear telescopic unit and the ball screw mechanism to adjust the gripping positions of the left and right gripping side plates; S6. After the positioning is completed, the second linear telescopic unit is started to extend the main board and the left and right grabbing side plates into the gap between the lining plates; S7, controlling the third linear telescopic unit to clamp the lining plate until the second tension pressure sensor reaches the required clamping force; S8, control the external traction device to pull the wire rope, and take out the entire skip internal liner replacement device from the skip.

9. The method for replacing the internal lining plate of a mining skip according to claim 8, characterized in that: Step S4 also includes using the first industrial camera to collect the liner surface image, processing the liner surface image, and obtaining the geometric size and position coordinates of the surface defects of the bucket liner, specifically: S41, segmenting the image using a global threshold segmentation method; S42, using bilateral filtering to filter the interference in the image and suppress the high-frequency noise in the original image; S43, using morphological operation methods to refine and trim the burrs in the image so that it presents a continuous and smooth edge; S44, using the Canny edge detection operator to perform edge detection on the result image obtained in step S43; S45, performing circumscribed rectangle fitting on the defect pattern on the single lining plate, and then filtering the pseudo-marks in the image by the area of ​​the circumscribed rectangle, specifically including the following sub-steps: S451, the defect contour is fitted for the segmented single liner, using the circumscribed rectangle R a The detected defect contour C a Fitting, circumscribed rectangle R a The definition of each parameter is as follows: First, determine the contour C to be fitted a The point P1 (x1, y1) with the largest ordinate on the upper side is drawn, and a horizontal line L1 is drawn through the point; then, the contour to be fitted C is determined a The point P2 (x2, y2) with the largest horizontal coordinate on the contour is drawn, and a horizontal line L2 is drawn through the point. Next, the intersection point P3 of the horizontal lines L1 and L2 is calculated as a vertex of the circumscribed rectangle. Finally, the difference between the ordinate of the point with the smallest ordinate on the contour and P1 is taken as the circumscribed rectangle R. a The first side length of the contour, the difference between the point with the smallest horizontal coordinate and P2 is the circumscribed rectangle R a The other side length of a ; S452, through the circumscribed rectangle R a The area S a Eliminate the pseudo-marks that appear in the previous step by calculating the bounding rectangle R a The area S a The ratio k to the total image area S is: According to the proportion of lining board defects to the map area, a reasonable value interval Z is set, and all rectangles whose k values ​​do not belong to this interval are considered as false marks and filtered out; S46, recording the position and size information of the defect, feeding back to the client, completing the skip liner defect detection work, if the defect reaches the condition that needs to be replaced, then proceeding to step S5; If the defect does not meet the conditions that require replacement, the defect information will be fed back to the client, and the external traction device will tow the entire skip internal lining replacement device away from the skip. The client will calculate the replacement time based on the defect information and the working intensity of the skip.

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