Inspection drying robot for coal conveying trestle

Abstract

The invention discloses a coal conveying trestle inspection drying robot which comprises a robot host and a chain transmission device, a control module and a power module are carried in a cabin of the robot host, and the power module is electrically connected with the control module; the chain transmission device comprises a driving chain wheel and a driven chain wheel, the driving chain wheel is in power connection with a driving motor, a chain is connected between the driving chain wheel and the driven chain wheel in a sleeved mode, and the robot host is fixedly connected with the chain on the lower side. The chain transmission device fixed to the middle frame or the supporting legs of the belt conveyor is used for dragging the inspection drying robot to walk, a driving motor device of a traditional inspection robot is replaced, the battery capacity requirement can be lowered, the self weight of the robot is reduced, meanwhile, the walking difficulty of the robot in a trestle is lowered, and the working efficiency is improved. Robot energy consumption and the number of charging stations are reduced, and space is saved.

Description

Technical Field

[0001] The invention relates to a coal conveying trestle inspection and drying robot, belonging to the technical field of power plant operating equipment. Background Art

[0002] The coal conveying system is an important part of a coal-fired thermal power plant. It is responsible for conveying coal from the coal yard or coal unloading ditch to the raw coal bunker through the coal conveyor belt. Dust or material scattering will be generated during the material conveying process, resulting in a bad environment for the trestle along the line. The traditional rail-mounted robot structure is hung on the track through a support mechanism, and the support mechanism can rotate relatively to provide the robot with flexible steering capabilities. The driving mechanism is clamped on both sides of the track to provide the robot with walking power. Batteries are used as the power source of the robot's electrical system. Since its power structure is mounted on the robot body, the robot's own weight is increased, and the power consumption is large. It is necessary to carry a large-capacity battery, which further increases the robot's own weight and power consumption. In addition, the existing machine inspection robot has a single function. In the existing technology, water flushing is usually used to clean the coal conveying trestle without drying, which makes the trestle floor slippery and brings safety hazards to the operators. Therefore, we propose a coal conveying trestle inspection and drying robot. Summary of the invention

[0003] The purpose of the present invention is to provide a coal conveying trestle inspection and drying robot. The present invention adopts a chain transmission device to drag the inspection and drying robot to walk, replacing the driving motor device of the traditional inspection robot, which can reduce the battery capacity requirement and thus reduce the robot's own weight, while reducing the difficulty of the robot walking in the trestle.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a coal handling trestle inspection and drying robot, comprising: a robot host and a chain transmission device, wherein a control module and a power module are mounted in the cabin of the robot host, and the power module is electrically connected to the control module;

[0005] The chain transmission device comprises a driving sprocket and a driven sprocket, the driving sprocket is connected to a driving motor, a chain is sleeved between the driving sprocket and the driven sprocket to achieve power transmission between the driving sprocket and the driven sprocket, and the robot host is fixedly connected to the lower chain and is placed below the lower chain;

[0006] The present invention installs a support on the middle frame or the legs at the head and tail of the belt conveyor to fix the driving sprocket and the driven sprocket. A chain transmission device installed on the middle frame or the legs of the belt conveyor is used to provide power for the robot host to walk. The driving motor of the transmission device is located at the head of the belt conveyor. By controlling its forward and reverse rotation, the chain is driven to reverse, thereby moving the robot host forward or backward.

[0007] The bottom of the robot mainframe is equipped with a purging and drying device, and the purging and drying device is electrically connected to the control module and the power module respectively.

[0008] The aforementioned coal conveyor trestle inspection and drying robot has connecting columns on the top of the front and rear sides of the robot main body, and the outer chain links of the chain are provided with external accessories. The top end of the connecting column is installed and connected to the bottom end of the external accessory to fix the robot main body on the chain.

[0009] In the aforementioned coal handling trestle inspection and drying robot, a roof is provided on the cabin top of the robot mainframe, a thread is provided on the bottom of the connecting column, and the bottom end of the connecting column passes through the end of the roof and is provided with an adjusting nut. The length of the connecting column extending out of the roof is adjusted by adjusting the nut, thereby adjusting the installation angle of the robot mainframe.

[0010] The aforementioned coal conveying trestle inspection and drying robot, the purging and drying device includes a fan main unit and an air outlet component, the fan main unit is arranged in the robot main unit cabin, the fan main unit is connected to the air outlet component through a flexible air duct, the air outlet component is arranged at the bottom of the robot main unit, and the tops of the four corners of the air outlet component are connected to the robot main unit through adjustable telescopic rods, the robot main unit cabin is equipped with a gyroscope, the gyroscope and the adjustable telescopic rod are electrically connected to the control module, the gyroscope is used to obtain the posture angle data of the robot main unit, and the robot main unit posture data is uploaded to the control module in real time through the RS communication interface as the logic input for automatically adjusting the blowing air angle, and the air outlet angle of the air outlet component is adjusted by adjusting the length of the adjustable telescopic rod respectively, to ensure that the blowing air direction is kept perpendicular to the ground at all times to obtain the highest drying efficiency.

[0011] The aforementioned coal conveying trestle inspection and drying robot, the adjustable telescopic rod comprises an upper rod and a lower rod, the bottom end of the lower rod is fixedly connected to the air outlet component, the top end of the lower rod is provided with a threaded groove, the surface of the upper rod is provided with a thread and the bottom end is screwed in the threaded groove, the top end of the upper rod is rotatably mounted on the lower side wall of the robot main body and penetrates into the inner cavity of the robot main body, an adjusting motor is provided on the bottom surface of the inner cavity of the robot main body, the top end of the upper rod is connected to the output end power of the adjusting motor through a gear, the adjusting motors are electrically connected to the control module, the adjusting motor drives the upper rod to rotate eastward, and then adjusts the length of the upper rod inserted into the threaded groove of the lower rod, thereby adjusting the overall length of the adjustable telescopic rod by controlling the forward and reverse rotation and the number of rotations of the adjusting motor.

[0012] The aforementioned coal conveyor trestle inspection and drying robot, the power module includes a battery and a battery management system, the battery is used to provide power to the equipment in the robot host, the battery management system is provided with an overcharge protection module, an over-discharge protection module, an overcurrent protection module, a short circuit protection module, and an over-temperature protection module, and the battery management system is electrically connected to the control module, and the battery is connected to a wireless charging device.

[0013] The aforementioned coal conveyor trestle inspection and drying robot has a position sensor installed on the robot main body, and adopts a positioning solution of RFID, encoder, and proximity switch. The RFID and encoder position sensors are used for initial positioning, and the position sensors and magnets are used for precise positioning. Ultrasonic radars and anti-collision switch strips are arranged around the outer side wall of the robot main body. A multi-dimensional and multi-level anti-collision solution is adopted to automatically detect the surrounding environment. When it is identified that there are obstacles on the inspection route and it cannot pass safely, it automatically stops and alarms. The position sensor, ultrasonic radar, and anti-collision switch strip are all electrically connected to the control module.

[0014] The aforementioned coal conveyor trestle inspection and drying robot has a detection device installed on the robot host, and the detection device includes an infrared dual-spectrum camera, temperature and humidity, gas and dust concentration detection sensors, and the infrared dual-spectrum camera, temperature and humidity, gas and dust concentration detection sensors are all electrically connected to the control module to monitor the on-site equipment, surrounding personnel and environmental conditions in real time.

[0015] The aforementioned coal conveyor trestle inspection and drying robot has a plurality of indicator lights of different colors on the robot main body shell, and a voice announcer is also provided on the outer side wall of the robot main body, and the indicator lights and the voice announcer are both electrically connected to the control module.

[0016] The aforementioned coal handling trestle inspection and drying robot, the robot main body is equipped with a wireless communication roaming device, the wireless communication roaming device is electrically connected to the control module, and the inspection data is transmitted back to the control room server in real time through various wireless base stations along the line.

[0017] Compared with the prior art, the present invention adopts a chain transmission device fixed on the middle frame or support leg of the belt conveyor to drag the inspection and drying robot to walk, replacing the driving motor device of the traditional inspection robot, which can reduce the battery capacity requirement and thus reduce the robot's own weight, while reducing the difficulty of the robot walking in the trestle, reducing the robot's energy consumption and the number of charging stations, and saving space; at the same time, the present invention introduces a gyroscope to adjust the blowing angle in real time according to the robot's posture angle to obtain the highest drying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the connection structure between the chain and the robot host of the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the purge drying device of the present invention;

[0021] Figure 4 It is a schematic diagram of the installation structure of the adjustable telescopic rod of the present invention;

[0022] Figure 5 It is a schematic diagram of an inspection robot in the prior art.

[0023] Figure markings: 1-robot host, 2-chain transmission device, 3-driving sprocket, 4-driven sprocket, 5-driving motor, 6-chain, 7-purge and drying device, 701-blower host, 702-air outlet component, 703-flexible air duct, 704-upper rod, 705-lower rod, 706 adjusting motor, 8-connecting column, 9-external accessories, 10-top plate, 11-adjusting nut. DETAILED DESCRIPTION

[0024] The structure of traditional rail-mounted robots is generally as follows: Figure 5 As shown in the figure, the robot is hung on the track through the support mechanism, which can rotate relatively to provide the robot with flexible steering ability. The driving mechanism is clamped on both sides of the track to provide the robot with walking power. The battery inside is the only power source for the robot's electrical system. It is the largest and heaviest device in the robot, followed by the motor and its driver. Although the choice of battery capacity will vary depending on the inspection mileage, climbing ability, and the type of detection equipment carried, the motor and driver are the largest power-consuming equipment, which determines the size of the battery capacity. Therefore, it has a large weight, requires a lot of power, and consumes a lot of energy.

[0025] The present invention adopts a chain transmission device fixed on the middle frame or support leg of the belt conveyor to drag the inspection drying robot to walk, replacing the driving motor device of the traditional inspection robot, which can reduce the battery capacity requirement and thus reduce the robot's own weight, while reducing the difficulty of the robot walking in the trestle, reducing the robot's energy consumption and the number of charging stations to be set up.

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0027] Embodiment 1 of the present invention: A coal handling trestle inspection and drying robot comprises: a robot host 1 and a chain transmission device 2, wherein a control module and a power module are mounted in a cabin of the robot host 1, and the power module is electrically connected to the control module;

[0028] The chain transmission device 2 includes a driving sprocket 3 and a driven sprocket 4. The driving sprocket 3 is connected to a driving motor 5. A chain 6 is sleeved between the driving sprocket 3 and the driven sprocket 4 to achieve power transmission between the driving sprocket 3 and the driven sprocket 4. The robot host 1 is fixedly connected to the lower chain 6 and is placed below the lower chain 6.

[0029] Specifically, a support is installed on the middle frame or leg at the head and tail of the belt conveyor to fix the driving sprocket 3 and the driven sprocket 4. A chain transmission device 2 installed on the middle frame or leg of the belt conveyor is used to provide power for the robot host 1 to walk. The driving motor 5 of the transmission device 2 is located at the head of the belt conveyor. By controlling its forward and reverse rotation, it drives the chain 6 to reverse forward and reverse, thereby moving the robot host 1 forward or backward.

[0030] Among them, a purge and drying device 7 is mounted on the bottom of the robot main body 1, and the purge and drying device 7 is electrically connected to the control module and the power module respectively.

[0031] Embodiment 2 of the present invention: A coal handling trestle inspection and drying robot comprises: a robot host 1 and a chain transmission device 2, wherein a control module and a power module are mounted in a cabin of the robot host 1, and the power module is electrically connected to the control module;

[0032] The chain transmission device 2 includes a driving sprocket 3 and a driven sprocket 4. The driving sprocket 3 is connected to a driving motor 5. A chain 6 is sleeved between the driving sprocket 3 and the driven sprocket 4 to realize power transmission between the driving sprocket 3 and the driven sprocket 4. The robot host 1 is fixedly connected to the chain 6 at the lower side and is placed below the chain 6 at the lower side. The top of the front and rear sides of the robot host 1 are provided with connecting columns 8. The outer chain links of the chain 6 are provided with external accessories 9. The top of the connecting column 8 is installed and connected to the bottom of the external accessories 9, so that the robot host 1 is fixed on the chain 6. The top of the cabin of the robot host 1 is provided with a top plate 10. The bottom of the connecting column 8 is provided with a thread. The bottom end of the connecting column 8 passes through the end of the top plate 10 and is provided with an adjusting nut 11. The length of the connecting column 8 extending out of the top plate 10 is adjusted by adjusting the nut 11, thereby adjusting the installation angle of the robot host 1.

[0033] Specifically, a support is installed on the middle frame or leg at the head and tail of the belt conveyor to fix the driving sprocket 3 and the driven sprocket 4. A chain transmission device 2 installed on the middle frame or leg of the belt conveyor is used to provide power for the robot host 1 to walk. The driving motor 5 of the transmission device 2 is located at the head of the belt conveyor. By controlling its forward and reverse rotation, it drives the chain 6 to reverse forward and reverse, thereby moving the robot host 1 forward or backward.

[0034] Among them, the bottom of the robot host 1 is equipped with a purge and drying device 7, and the purge and drying device 7 is electrically connected to the control module and the power module respectively; wherein the purge and drying device 7 includes a fan host 701 and an air outlet component 702, the fan host 701 is arranged in the robot host 1 cabin, the fan host 701 is connected to the air outlet component 702 through a flexible air duct 703, the air outlet component 702 is arranged at the bottom of the robot host 1, and the tops of the four corners of the air outlet component 702 are connected to the robot host 1 through adjustable telescopic rods, and a gyroscope is carried in the cabin of the robot host 1, and the gyroscope and the adjustable telescopic rod are electrically connected to the control module, the gyroscope is used to obtain the posture angle data of the robot host 1, and the posture data of the robot host 1 is uploaded to the control module in real time through the RS485 communication interface as the logic input for automatically adjusting the blowing angle, and the length of the adjustable telescopic rod is adjusted respectively, and then the air outlet angle of the air outlet component 702 is adjusted to ensure that the blowing direction is kept perpendicular to the ground at any time to obtain the highest drying efficiency.

[0035] Among them, the adjustable telescopic rod includes an upper rod 704 and a lower rod 705, the bottom end of the lower rod 705 is fixedly connected to the air outlet component 702, the top of the lower rod 705 is provided with a threaded groove, the surface of the upper rod 704 is provided with a thread and the bottom end is screwed in the threaded groove, the top of the upper rod 704 is rotatably installed on the lower side wall of the robot host 1 and penetrates into the inner cavity of the robot host 1, and an adjusting motor 706 is provided on the bottom surface of the inner cavity of the robot host 1. The top of the upper rod 704 is connected to the output end of the adjusting motor 706 through a gear, and the adjusting motor 706 is electrically connected to the control module. The adjusting motor 706 drives the upper rod 704 to rotate eastward, thereby adjusting the length of the upper rod 704 inserted into the threaded groove of the lower rod 705, thereby adjusting the overall length of the adjustable telescopic rod by controlling the forward and reverse rotation and the number of rotations of the adjusting motor 706.

[0036] Specifically, the power module includes a battery and a battery management system. The battery is used to provide power to the equipment in the robot host 1. The battery management system is provided with an overcharge protection module, an over-discharge protection module, an overcurrent protection module, a short circuit protection module, and an over-temperature protection module. The battery management system is electrically connected to the control module, and the battery is connected to a wireless charging device.

[0037] Among them, because a chain transmission device 2 fixed on the middle frame or support leg of the belt conveyor is used to replace the driving motor of the traditional inspection robot to drag the inspection drying robot to walk, the power consumption and weight of the robot body are greatly reduced. Therefore, the battery capacity of the robot can be reduced from DC24V 20Ah to 7.5Ah. When equipped with a 5A wireless charging device, the charging time is also shortened from about 5h to 2h, achieving fast charging.

[0038] Specifically, a position sensor is installed on the robot host 1, and a positioning solution of RFID, encoder, and proximity switch is adopted. The RFID and encoder position sensors are used for initial positioning, and the position sensors and magnets are used for precise positioning, with a positioning accuracy of less than ±1cm; ultrasonic radars and anti-collision switch strips are arranged around the outer wall of the robot host 1, and a multi-dimensional and multi-level anti-collision solution is adopted to automatically detect the surrounding environment. When it is identified that there are obstacles on the inspection route and it cannot pass safely, it automatically stops and alarms. The position sensor, ultrasonic radar, and anti-collision switch strip are all electrically connected to the control module.

[0039] Specifically, the robot host 1 is provided with a detection device, which includes an infrared dual-spectrum camera, temperature and humidity, gas and dust concentration detection sensors, and the infrared dual-spectrum camera, temperature and humidity, gas and dust concentration detection sensors are all electrically connected to the control module to monitor the on-site equipment, surrounding personnel and environmental conditions in real time, and realize real-time video synchronization of the on-site situation during the robot inspection process, acquisition of the current environmental status, equipment status identification and autonomous identification and alarm of abnormal situations.

[0040] Specifically, a plurality of indicator lights of different colors are arranged on the shell of the robot host 1, and a voice announcer is also arranged on the outer side wall of the robot host 1. Both the indicator lights and the voice announcer are electrically connected to the control module.

[0041] Among them, the current status of the inspection robot is indicated by different colors or flashing frequencies. When the inspection robot is performing a task or a fault occurs, the voice announcer plays the current status in a loop to remind the staff. Based on the voice intercom function of the robot pan-tilt device, the mobile robot is equipped with a sound pickup device and a speaker, which can achieve full-duplex voice intercom through on-site wireless AP network transmission. The staff in the control room and the staff on site can maintain smooth communication through the voice intercom function, with clear and loud voices.

[0042] Specifically, the robot host 1 is equipped with a wireless communication roaming device, which is electrically connected to the control module and transmits the inspection data back to the control room server in real time through various wireless base stations along the line.

[0043] Among them, the inspection data is transmitted back to the control room server in real time through the wireless base stations along the line. The wireless base stations adopt multi-link transmission technology, support high-speed seamless roaming between different APs, and achieve "0" packet loss seamless switching.

[0044] Working principle of an embodiment of the present invention: During use, the present invention can be set to three operating states: manual mode, semi-automatic mode and automatic mode, wherein:

[0045] Manual mode: remotely open and close the power circuit of the robot's purge and drying device at the robot control interface at the control room operation station, and start and stop the purge and drying operation.

[0046] Semi-automatic mode: The operation time can be set on the robot control interface deployed at the operation station in the control room, and the purging and drying operations can be performed regularly.

[0047] (1) Start: When the preset operation time comes, the robot control system issues an operation instruction and transmits it to the robot main control unit through wireless communication. The robot automatically connects to the power circuit of the purge and drying device and starts the purge and drying operation.

[0048] (2) Stop: After the robot has traveled back and forth twice along the chain drive track, it automatically returns to the starting position (charging station) and automatically cuts off the power circuit of the purge and drying device, stopping the purge and drying operation.

[0049] Automatic mode: The robot control system deployed on the operation station in the control room reads the working status of the intelligent water flushing system through OPC communication, and sends it to the robot main control unit in real time through wireless communication.

[0050] (1) Start: When the robot main control unit receives the "intelligent water flushing system ends operation" signal, it automatically connects the power circuit of the purge and drying device to start the purge and drying operation.

[0051] (2) Stop: After the robot has traveled back and forth twice along the chain drive track, it automatically returns to the starting position (charging station) and automatically cuts off the power circuit of the purge and drying device, stopping the purge and drying operation.

Claims

1. A coal handling trestle inspection and drying robot, characterized in that: include: A robot host (1) and a chain transmission device (2), wherein a control module and a power module are mounted in a cabin of the robot host (1), and the power module is electrically connected to the control module; The chain transmission device (2) comprises a driving sprocket (3) and a driven sprocket (4); the driving sprocket (3) is connected to a driving motor (5) by power; a chain (6) is sleeved between the driving sprocket (3) and the driven sprocket (4) to achieve power transmission between the driving sprocket (3) and the driven sprocket (4); the robot host (1) is fixedly connected to the lower chain (6) and is placed below the lower chain (6); The bottom of the robot main body (1) is provided with a purge and drying device (7), and the purge and drying device (7) is electrically connected to the control module and the power module respectively.

2. A coal handling trestle inspection and drying robot according to claim 1, characterized in that: The robot main body (1) is provided with connecting columns (8) at the top of both the front and rear sides, and the outer chain links of the chain (6) are provided with external accessories (9), and the top end of the connecting column (8) is installed and connected to the bottom end of the external accessory (9).

3. A coal handling trestle inspection and drying robot according to claim 2, characterized in that: A top plate (10) is arranged on the top of the cabin of the robot main body (1), a thread is arranged on the bottom of the connecting column (8), and the bottom end of the connecting column (8) passes through the end of the top plate (10) and is provided with an adjusting nut (11).

4. A coal handling trestle inspection and drying robot according to claim 1, characterized in that: The purging and drying device (7) comprises a blower main unit (701) and an air outlet component (702); the blower main unit (701) is arranged in a cabin of a robot main unit (1); the blower main unit (701) is connected to the air outlet component (702) via a flexible air duct (703); the air outlet component (702) is arranged at the bottom of the robot main unit (1); the tops of the four corners of the air outlet component (702) are connected to the robot main unit (1) via adjustable telescopic rods; a gyroscope is mounted in the cabin of the robot main unit (1); the gyroscope and the adjustable telescopic rod are both electrically connected to a control module.

5. A coal handling trestle inspection and drying robot according to claim 4, characterized in that: The adjustable telescopic rod comprises an upper rod (704) and a lower rod (705); the bottom end of the lower rod (705) is fixedly connected to the air outlet component (702); a thread groove is provided at the top end of the lower rod (705); a thread is provided on the surface of the upper rod (704) and the bottom end is screwed into the thread groove; the top end of the upper rod (704) is rotatably mounted on the lower side wall of the robot main body (1) and penetrates into the inner cavity of the robot main body (1); an adjusting motor (706) is provided on the bottom surface of the inner cavity of the robot main body (1); the top end of the upper rod (704) is connected to the output end of the adjusting motor (706) through a gear, and the adjusting motor (706) is electrically connected to the control module.

6. A coal handling trestle inspection and drying robot according to claim 1, characterized in that: The power module comprises a battery and a battery management system, wherein the battery is used to provide power to the equipment in the robot host (1), and the battery management system is provided with an overcharge protection module, an over-discharge protection module, an overcurrent protection module, a short circuit protection module, and an over-temperature protection module, and the battery management system is electrically connected to the control module, and the battery is connected to a wireless charging device.

7. The coal handling trestle inspection and drying robot according to claim 1, characterized in that: A position sensor is installed on the robot main body (1), and an ultrasonic radar and an anti-collision switch strip are arranged around the outer side wall of the robot main body (1); the position sensor, the ultrasonic radar and the anti-collision switch strip are all electrically connected to the control module.

8. The coal handling trestle inspection and drying robot according to claim 1, characterized in that: The robot host (1) is provided with a detection device, which includes an infrared dual-spectrum camera, a temperature and humidity, a gas and a dust concentration detection sensor, and the infrared dual-spectrum camera, the temperature and humidity, the gas and the dust concentration detection sensor are all electrically connected to the control module.

9. The coal handling trestle inspection and drying robot according to claim 1, characterized in that: The housing of the robot host (1) is provided with a plurality of indicator lights of different colors, and the outer wall of the robot host (1) is also provided with a voice announcer, and the indicator lights and the voice announcer are both electrically connected to the control module.

10. The coal handling trestle inspection and drying robot according to claim 1, characterized in that: The robot main body (1) is equipped with a wireless communication roaming device, and the wireless communication roaming device is electrically connected to the control module.

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