Coal bunker inspection system and method

Abstract

The present application relates to a kind of coal bunker inspection system and method, including bottom plate, support being arranged on the bottom plate, telescopic rod being connected with the support, inspection robot being connected at the end of the telescopic rod and winch being arranged on the bottom plate, the winch has wire rope, the support is provided with multiple guide wheels for guiding the wire rope, the wire rope passes through the multiple guide wheels in sequence and is connected to the end of the telescopic rod by being inserted into the inside of the telescopic rod, the wire rope is released by the winch control, the telescopic rod is unfolded, and the inspection robot enters coal bunker and carries out inspection operation by the avoiding passage.The coal bunker inspection system of the present application can realize that the inspection robot can smoothly and reliably probe along the vertical direction, effectively eliminate the blind area of deep coal bunker inspection, greatly expand the coverage range of inspection, and the installation of the inspection system is more convenient and efficient, safer and more widely applicable.

Description

Technical Field

[0001] This invention relates to the field of coal bunker inspection technology, specifically to a coal bunker inspection system and method. Background Technology

[0002] As the core facility for the storage and transfer of raw coal in coal mines and coal preparation plants, the coal bunker presents an extreme environment characterized by being enclosed, high dust levels, accumulation of harmful gases, and dim lighting.

[0003] Traditional coal bunker inspections are mainly divided into two categories: one is manual entry into the coal bunker for observation, which poses significant safety risks such as falls from heights, poisoning, and explosions; the other is monitoring using hoist chains to suspend cameras, but the lack of rigid support in the chains makes them prone to swaying, resulting in blurry images and inability to turn around, making effective inspections difficult.

[0004] Currently, robot-based inspection solutions have emerged in the industry. These solutions involve installing tracks on the top of the tunnel and using winches combined with multi-stage telescopic booms to extend cameras into the coal bunker and capture the necessary monitoring footage. However, installation remains extremely inconvenient and difficult. Safety hazards exist during track installation, and sometimes the environment does not allow for track installation, necessitating manual inspections or using hoist chains to suspend the cameras. This approach lacks versatility. Summary of the Invention

[0005] In view of this, the present invention provides a coal bunker inspection system and method that is more convenient to install, more efficient and safer, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0006] To achieve the aforementioned objective, the first aspect of the present invention provides a coal bunker inspection system, which includes a base plate, a support mounted on the base plate, a telescopic rod connected to the support, an inspection robot connected to the end of the telescopic rod, and a winch mounted on the base plate. An avoidance passage for avoiding the inspection robot is provided on the base plate at the position corresponding to the position of the inspection robot.

[0007] The winch has a wire rope, and the support is equipped with multiple guide wheels for guiding the wire rope. The wire rope passes through the multiple guide wheels in sequence and extends into the interior of the telescopic rod, connecting to the end of the telescopic rod. The winch controls the release of the wire rope, the telescopic rod unfolds, and the inspection robot enters the coal bunker through the avoidance passage to perform inspection operations.

[0008] In the coal bunker inspection system described above, optionally, the support includes multiple legs, multiple columns, multiple crossbars connected between two adjacent columns, and a top plate connected to the top of the multiple columns. Each leg is provided with a corresponding column. The upper end of the telescopic rod is connected to the top plate. The top plate and the crossbars are respectively provided with guide wheels.

[0009] Optionally, the bracket further includes a limiting plate disposed on the lower part of the column or the support leg, wherein a limiting hole is provided on the limiting plate corresponding to the position of the telescopic rod, and the telescopic rod is inserted into the limiting hole.

[0010] Optionally, each of the outriggers extends outward at an angle from top to bottom, and the winch is located on the side of the outrigger. The bracket also includes support rods respectively located on opposite sides of the winch and connected between the base plate and the column, and a baffle located between the support rods on both sides. The baffle is located above the winch and is used to isolate the winch.

[0011] In the coal bunker inspection system described above, optionally, the telescopic rod includes at least two nested hollow sleeve rods, the upper end of the outermost sleeve rod is fixedly connected to the top of the support, the remaining sleeve rods are telescopic, and the inspection robot is fixedly installed at the lower end of the innermost sleeve rod.

[0012] Optionally, the lower end of the outermost sleeve is connected to a tail limiting block, the upper end of the innermost sleeve is connected to a head limiting block, and the upper and lower ends of the middle sleeve are respectively connected to a head limiting block and a tail limiting block, with each head limiting block cooperating with the tail limiting block of the adjacent outer sleeve.

[0013] Each of the head limiting blocks has a head roller protruding from its outer peripheral side connected to its outer peripheral side. The head roller makes rolling contact with the inner wall of the sleeve rod of the adjacent outer layer. Each of the tail limiting blocks has a tail roller protruding from its inner peripheral side connected to its inner peripheral side. The tail roller makes rolling contact with the outer wall of the sleeve rod of the adjacent inner layer.

[0014] Optionally, each of the aforementioned sleeves is a square sleeve.

[0015] In the coal bunker inspection system described above, optionally, a load-bearing shaft is provided at the end of the telescopic rod, and the end of the wire rope is fixedly connected to the load-bearing shaft;

[0016] The telescopic rod is also connected to a mounting frame at its end. The inspection robot includes a power supply and a camera respectively mounted on the mounting frame. The power supply is used to provide power to the camera.

[0017] In the coal bunker inspection system described above, optionally, the system also includes a monitoring center, the camera is connected to the monitoring center via a wireless signal, and the winch is electrically connected to the monitoring center.

[0018] A second aspect of the present invention provides a coal bunker inspection method, employing the coal bunker inspection system as described above, the method comprising the following steps:

[0019] The base plate of the coal bunker inspection system is erected on top of the coal bunker, and the base plate is fixed to the coal bunker.

[0020] Control the winch to work, release the wire rope, and use the inspection robot's own weight to descend while the telescopic rod unfolds. The inspection robot descends into the coal bunker through the avoidance passage on the bottom plate to capture the required monitoring footage.

[0021] After the inspection is completed, the winch is controlled to work and the wire rope is retrieved. The inspection robot rises while the telescopic rod retracts. The inspection robot leaves the coal bunker through the avoidance passage and returns to the space between the support and the bottom plate.

[0022] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] The coal bunker inspection system of the present invention enables the inspection robot to operate smoothly and reliably in the vertical direction, effectively eliminating blind spots in the deep inspection of the coal bunker and greatly expanding the inspection coverage. At the same time, the installation of the inspection system is more convenient and efficient, safer, and more universal. Attached Figure Description

[0024] The disclosure of this invention will become more apparent from the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0025] Figure 1 This is a three-dimensional structural diagram of a coal bunker inspection system according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure from another angle;

[0027] Figure 3 for Figure 1 Side view of the coal bunker inspection system;

[0028] Figure 4 for Figure 1 A schematic diagram of the telescopic rod structure of the coal bunker inspection system;

[0029] Figure 5 for Figure 4 A three-dimensional structural diagram of the outermost sleeve rod in a telescopic rod;

[0030] Figure 6 for Figure 4 A three-dimensional structural diagram of the innermost sleeve rod in a telescopic rod;

[0031] Figure 7 for Figure 4 A three-dimensional structural diagram of one of the intermediate sleeve rods in a telescopic rod;

[0032] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0033] Figure 9 for Figure 7 Enlarged view of point B in the middle;

[0034] Figure 10 for Figure 9 A schematic diagram of the tail limit block in the middle;

[0035] In the picture:

[0036] 1. Base plate; 2. Bracket; 21. Support leg; 22. Column; 23. Crossbar; 24. Top plate; 25. Limiting plate; 26. Support rod; 27. Baffle; 3. Telescopic rod; 31. Outermost sleeve rod; 32. Innermost sleeve rod; 33. Middle sleeve rod; 34. Head limiting block; 34a. Head limiting end face; 35. Tail limiting block; 35a. Connecting part; 35b. Limiting part; 35c. Tail limiting end face; 36. Head roller; 37. Tail roller; 4. Inspection robot; 41. Power supply; 42. Camera; 5. Winch; 51. Motor; 52. Drum; 6. Guide wheel; 7. Clearance passage; 8. Mounting frame. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0038] For any single technical feature described or implied in the embodiments submitted herein, or any single technical feature shown or implied in the various drawings, the present invention still operates in any combination or deletion among these technical features or their equivalents without any technical obstacle, and thus these further embodiments according to the present invention should also be considered within the scope of the description herein.

[0039] See Figures 1 to 3The coal bunker inspection system provided in this embodiment of the invention includes a base plate 1, a support 2, a telescopic rod 3, an inspection robot 4, and a winch 5. The support 2 is fixedly mounted on the base plate 1. The telescopic rod 3 can extend or retract. The upper end of the telescopic rod 3 is fixedly connected to the top of the support 2. The inspection robot 4 is connected to the end of the telescopic rod 3. The winch 5 is mounted on the base plate 1. A clearance passage 7 for avoiding the inspection robot 4 is opened on the base plate 1 at the position corresponding to the inspection robot 4.

[0040] The winch 5 has a wire rope, and the support 2 is equipped with multiple guide wheels 6 for guiding the wire rope. The wire rope passes through the multiple guide wheels 6 in sequence and extends into the interior of the telescopic rod 3 and connects to the end of the telescopic rod 3. The winch 5 controls the release or retraction of the wire rope, and the telescopic rod 3 unfolds or retracts. The inspection robot 4 descends and enters the coal bunker through the avoidance passage 7 to carry out inspection work, or the inspection robot 4 rises and leaves the interior of the coal bunker through the avoidance passage 7 and is retracted between the support 2 and the bottom plate 1.

[0041] When an inspection of the coal bunker's interior is required, the base plate 1 is simply erected on top of the bunker and then fixed to it. This avoids the existing method of installing tracks on the tunnel roof, eliminating the need for manual installation using ladders or other equipment, which also poses a safety hazard of tracks falling off. The coal bunker inspection system of this invention is more convenient and efficient to install, safer, and more widely applicable. Furthermore, the extension and retraction of the telescopic rod and the descent and ascent of the inspection robot are fully automated, ensuring stable operation and ease of use. It is adaptable to the complex and harsh working conditions of coal mine bunkers, significantly improving inspection efficiency and equipment environmental adaptability.

[0042] Then by Figures 1 to 3 As can be seen, the support 2 includes multiple legs 21, multiple columns 22, multiple crossbars 23 connected between two adjacent columns 22, a top plate 24 connected to the top of the multiple columns 22, and a limiting plate 25 set on the lower part of the column 22 or on the legs 21. Each leg 21 is provided with a corresponding column 22. The upper end of the telescopic rod 3 is connected to the top plate 24. The top plate 24 and the crossbars 23 are respectively provided with guide wheels 6. The limiting plate 25 has a limiting hole corresponding to the position of the telescopic rod 3. The telescopic rod 3 is inserted into the limiting hole, which improves the stability of the telescopic rod 3.

[0043] Multiple horizontal bars 23 are arranged sequentially and at intervals in the vertical direction between each pair of adjacent columns 22, which increases the strength of the support 2 and reduces the weight of the support.

[0044] Each support leg 21 extends outward from top to bottom at an angle. The winch 5 is located on the side of the support leg 21. The bracket 2 also includes support rods 26 respectively located on opposite sides of the winch 5 and connected between the base plate 1 and the column 22, and baffles 27 located between the support rods 26 on both sides. The baffles 27 are located above the winch 5 and are used to isolate the winch 5 to prevent accidents.

[0045] In this example, four outriggers 21 are provided.

[0046] The winch 5 is fixedly mounted on the base plate 1 and located on the side of the support. Guide wheels 6 are distributed on the top plate 24 and on the crossbar 23 on the side where the winch 5 is located. For example, guide wheels are distributed on the crossbar closest to the top plate 24 on the side where the winch 5 is located, and on the crossbar closest to the winch on the side where the winch 5 is located. The winch 5 includes a motor 51 and a drum 52. The wire rope is wound on the drum 52. The winch adopts an existing winch, and its specific structure is not limited.

[0047] Figures 4 to 7 The diagrams show the structure of the telescopic rod, the outermost sleeve rod, the innermost sleeve rod, and the middle sleeve rod.

[0048] The telescopic rod 3 includes at least two nested hollow sleeve rods, such as 3, 4, 5, 6, 7 or more. The upper end of the outermost sleeve rod is fixedly connected to the top of the bracket 2. The other sleeve rods are telescopic. The inspection robot is fixedly set to the lower end of the innermost sleeve rod, such as the upper end of the outermost sleeve rod being fixedly connected to the top plate 24.

[0049] In an optional embodiment, the telescopic rod 3 includes at least an outermost sleeve rod 31, an innermost sleeve rod 32, and an intermediate sleeve rod 33, with one or more intermediate sleeve rods 33.

[0050] The lower end of the outermost sleeve rod 31 is connected to a tail limiting block 35, the upper end of the innermost sleeve rod 32 is connected to a head limiting block 34, and the upper and lower ends of the middle sleeve rod 33 are respectively connected to the head limiting block 34 and the tail limiting block 35. Each head limiting block cooperates with the tail limiting block of the adjacent outer sleeve rod to restrict the sleeve rod with the head limiting block from sliding out.

[0051] See also Figure 8 The outer periphery of the head limiting block 34 is connected to a plurality of head rollers 36 protruding from the side of the outer periphery. Each head roller 36 is rotatably arranged along its own axis and rolls in contact with the inner wall of the adjacent outer sleeve rod. In a specific embodiment, the plurality of head rollers 36 are spaced apart along the circumferential direction of the head limiting block 34 and also spaced apart along the vertical direction. The outer periphery of the head limiting block 34 protrudes from the outer wall of the corresponding sleeve rod, so that the lower end surface of the head limiting block 34 forms a head limiting end surface 34a.

[0052] See Figure 9 and Figure 10 Each tail limiting block 35 has a plurality of tail rollers 37 protruding from its inner circumference connected to its inner circumference side. Each tail roller 37 can roll along its own axis. The tail rollers 37 roll into contact with the outer wall of the adjacent inner sleeve rod, so that the sliding friction between the sleeve rods changes from sliding friction to rolling friction, resulting in less friction and smoother extension or retraction of the telescopic rod 3. In a specific embodiment, each tail limiting block 35 includes a connecting part 35a fixedly connected to the corresponding sleeve rod and a limiting part 35b integrally formed on the inner wall of the connecting part 35a. The plurality of tail rollers 37 are distributed sequentially at intervals along the circumferential direction of the limiting part 35b, and the tail rollers 37 protrude from the inner side of the limiting part 35b. The upper end of the limiting part 35b forms a tail limiting end face 35c. Each head limiting end face 34a and the tail limiting end face 35c of the adjacent outer sleeve rod cooperate to restrict the sleeve rod with the head limiting block from sliding out.

[0053] Each telescopic rod is square to prevent rotation during sliding. In practical applications, the number of telescopic rods is selected based on the depth of the coal bunker; in some embodiments, the maximum travel of the telescopic rod can reach 30 meters.

[0054] A load-bearing shaft is installed at the end of the telescopic rod 3. The load-bearing shaft is fixedly inserted at the end of the innermost sleeve of the telescopic rod 3. The end of the wire rope is fixedly connected to the load-bearing shaft. A mounting frame 8 is also fixedly connected at the end of the innermost sleeve. The inspection robot 4 is installed on the mounting frame 8.

[0055] In this example, the inspection robot 4 includes a power supply 41 and a camera 42, which are respectively fixed on the mounting frame 8. The power supply 41 is used to provide power to the camera 42. The camera 42 can be a spherical camera or other types of cameras for all-round inspection.

[0056] In this example, the coal bunker inspection system also includes a monitoring center. The camera 42 can be connected to the monitoring center wirelessly, such as via Wi-Fi. The winch is electrically connected to the monitoring center. The monitoring center controls the operation of the winch and the camera.

[0057] Another embodiment of the present invention provides a coal bunker inspection method, which employs the aforementioned coal bunker inspection system. In the initial state of the coal bunker inspection system, as follows: Figure 1 As shown, the telescopic rod 3 retracts, and the inspection robot 4 is folded between the bracket 2 and the base plate 1.

[0058] The coal bunker inspection method includes the following steps:

[0059] Step S1: When it is necessary to inspect the coal bunker, set up the base plate on top of the coal bunker and fix the base plate to the coal bunker.

[0060] At this time, the support frame, winch, and inspection robot are all located outside the coal bunker, and the support frame, winch, and inspection robot are all located above the bottom plate. The inspection robot is located above the coal bunker and is retracted between the support frame and the bottom plate.

[0061] Step S2: Control the winch to operate and release the wire rope. The inspection robot descends using its own weight while the telescopic rod unfolds. The inspection robot descends into the coal bunker through the clearance passage on the bottom plate. At the same time, the winch controls the release speed and amount of the wire rope. When the required inspection height is reached, the winch stops, the wire rope pulls the inspection robot, and the inspection robot is stationary. Control the camera to capture the required monitoring footage to achieve monitoring of the designated location in the coal bunker.

[0062] The captured footage is transmitted to the monitoring center for processing and analysis of the detection situation inside the coal bunker.

[0063] By controlling the elongation of the wire rope using a winch, the inspection robot can reach any height in the coal bunker, enabling comprehensive inspection of the coal bunker.

[0064] Step S3: When the inspection is completed, control the winch to retract the wire rope, the inspection robot rises while the telescopic rod retracts, and the inspection robot leaves the coal bunker through the avoidance passage and retracts between the support and the bottom plate.

[0065] This coal bunker inspection system enables inspection robots to descend vertically smoothly and reliably, effectively eliminating blind spots in deep coal bunker inspections, significantly expanding the inspection coverage area, and improving the safety of unmanned inspection operations in underground and high-risk areas of the coal bunker. Furthermore, the extension and retraction of the telescopic boom and the descent and ascent of the inspection robot are fully automated, ensuring stable operation and ease of use. It is adaptable to the complex and harsh working conditions of coal mine bunkers, significantly improving inspection efficiency and equipment environmental adaptability. In addition, this coal bunker inspection system is more convenient and efficient to install, safer, and more widely applicable.

[0066] The above embodiments are only used to illustrate the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of the present invention, and the patent protection scope of the embodiments of the present invention should be defined by the claims.

Claims

1. A coal bunker inspection system, characterized in that, The system includes a base plate, a bracket set on the base plate, a telescopic rod connected to the bracket, an inspection robot connected to the end of the telescopic rod, and a winch set on the base plate. A clearance passage for avoiding the inspection robot is opened on the base plate corresponding to the position of the inspection robot. The winch has a wire rope, and the support is equipped with multiple guide wheels for guiding the wire rope. The wire rope passes through the multiple guide wheels in sequence and extends into the interior of the telescopic rod, connecting to the end of the telescopic rod. The winch controls the release of the wire rope, the telescopic rod unfolds, and the inspection robot enters the coal bunker through the avoidance passage to perform inspection operations.

2. The coal bunker inspection system according to claim 1, characterized in that, The support includes multiple legs, multiple columns, multiple crossbars connected between two adjacent columns, and a top plate connected to the top of the columns. Each leg is provided with a corresponding column. The upper end of the telescopic rod is connected to the top plate. Guide wheels are provided on the top plate and the crossbars.

3. The coal bunker inspection system according to claim 2, characterized in that, The bracket also includes a limiting plate disposed on the lower part of the column or the support leg, and a limiting hole is provided on the limiting plate corresponding to the position of the telescopic rod, and the telescopic rod is inserted into the limiting hole.

4. The coal bunker inspection system according to claim 2, characterized in that, Each of the outriggers extends outward at an angle from top to bottom. The winch is located on the side of the outrigger. The bracket also includes support rods respectively located on opposite sides of the winch and connected between the base plate and the column, and a baffle located between the support rods on both sides. The baffle is located above the winch and is used to isolate the winch.

5. The coal bunker inspection system according to claim 1, characterized in that, The telescopic rod includes at least two nested hollow sleeve rods. The upper end of the outermost sleeve rod is fixedly connected to the top of the support, and the remaining sleeve rods are telescopic. The inspection robot is fixedly installed at the lower end of the innermost sleeve rod.

6. The coal bunker inspection system according to claim 5, characterized in that, The lower end of the outermost sleeve is connected to a tail limiting block, the upper end of the innermost sleeve is connected to a head limiting block, the upper and lower ends of the middle sleeve are respectively connected to a head limiting block and a tail limiting block, and each head limiting block cooperates with the tail limiting block of the adjacent outer sleeve. Each of the head limiting blocks has a head roller protruding from its outer peripheral side connected to its outer peripheral side. The head roller makes rolling contact with the inner wall of the sleeve rod of the adjacent outer layer. Each of the tail limiting blocks has a tail roller protruding from its inner peripheral side connected to its inner peripheral side. The tail roller makes rolling contact with the outer wall of the sleeve rod of the adjacent inner layer.

7. The coal bunker inspection system according to claim 6, characterized in that, Each of the aforementioned sleeves is a square sleeve.

8. The coal bunker inspection system according to claim 1, characterized in that, The telescopic rod is provided with a load-bearing shaft at its end, and the end of the wire rope is fixedly connected to the load-bearing shaft. The telescopic rod is also connected to a mounting frame at its end. The inspection robot includes a power supply and a camera respectively mounted on the mounting frame. The power supply is used to provide power to the camera.

9. The coal bunker inspection system according to claim 1, characterized in that, The system also includes a monitoring center, the camera is connected to the monitoring center via a wireless signal, and the winch is electrically connected to the monitoring center.

10. A method for inspecting a coal bunker, characterized in that, The coal bunker inspection system according to any one of claims 1 to 9, the method comprising the following steps: The base plate of the coal bunker inspection system is erected on top of the coal bunker, and the base plate is fixed to the coal bunker. Control the winch to work, release the wire rope, and use the inspection robot's own weight to descend while the telescopic rod unfolds. The inspection robot descends into the coal bunker through the avoidance passage on the bottom plate to capture the required monitoring footage. After the inspection is completed, the winch is controlled to work and the wire rope is retrieved. The inspection robot rises while the telescopic rod retracts. The inspection robot leaves the coal bunker through the avoidance passage and returns to the space between the support and the bottom plate.

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