Robot for coal mine safety monitoring

Abstract

The utility model discloses a robot for coal mine safety monitoring. The robot comprises a vehicle body; the electric cabinet and the manipulator are mounted on the vehicle body; the end part of the manipulator is mounted on the mounting box, and the sensor is mounted on the manipulator through the mounting box; a heat dissipation fan, a cooling plate and a cooling fan are installed in the electric control box, and electronic elements are installed in the cooling plate. According to the utility model, the heat dissipation fan plays a role in primary heat dissipation, and the refrigeration sheet dissipates heat of an electrical component through the cooling plate; when a plurality of sensors are installed, heat dissipation of an electronic element needs to be increased, so that the refrigeration sheet can be used for refrigeration, and when a few sensors are installed, only the heat dissipation fan can be used for heat dissipation.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot for coal mine safety monitoring. Background Technology

[0002] Chinese Patent Application No. 202011064580.2 discloses a high-redundancy, multi-level safety protection device for a trackless auxiliary transport robot in coal mines. The device includes: a status monitoring and protection system comprising an intrinsically safe protection host and multiple intrinsically safe status monitoring sensors. The intrinsically safe protection host obtains the operating status parameters of the auxiliary transport robot based on the status monitoring sensors and issues graded safety commands to the overall controller according to the operating parameters; a collision avoidance real-time monitoring system comprising an explosion-proof millimeter-wave radar group and a laser ranging probe group, used to monitor the distance data between the auxiliary transport robot and the roadway wall and obstacles, and send this data to the overall controller; and a perception fusion early warning system comprising a lidar, a depth camera, and a high-performance graphics processor, used by the overall controller to execute graded response actions. This invention improves the operational safety of underground auxiliary transport robots in coal mines and can be widely applied in the field of coal mine transportation.

[0003] The patent, in paragraph 0016, describes the following: In this embodiment, the three subsystems—the state monitoring and protection system, the anti-collision real-time monitoring system, and the fusion perception and early warning system—process the collected information and send it to the overall controller. The overall controller generates safety instructions of different priorities based on the degree of security threat, thereby realizing the hierarchical response function of protection measures. Therefore, this invention has the ability to perceive and warn of system security under normal circumstances and the ability to quickly and effectively execute avoidance actions in emergency situations. The safety instructions are divided into four levels: (1) prediction and monitoring level; (2) alarm and deceleration level; (3) emergency braking level; and (4) overall power-off level, with their priorities increasing sequentially. Predictive monitoring and alarm deceleration safety commands are generated by the overall controller and then sent to the corresponding execution units to achieve functions such as status monitoring, safety warning, and overall speed reduction. Explosion-proof millimeter-wave radar and laser ranging probes collect real-time safety distance information and send it to the overall controller via a dedicated system bus. When the value is lower than the set safety threshold, the overall controller directly generates an emergency braking safety command and sends it to the corresponding execution unit to immediately execute braking and emergency obstacle avoidance actions to ensure the safety of personnel and equipment. The overall power-off safety command is also directly generated by the overall controller. Based primarily on the roadway gas concentration data collected by the intrinsically safe methane sensor, if the value exceeds the set safety threshold and the system operation may ignite ambient gas, the controller directly controls the battery management unit to cut off the overall power supply and implement braking and locking actions, possessing the highest execution priority.

[0004] In other words, within the existing system, it is necessary to design a control system for the robot itself so that it can be automatically controlled by the system in case of unexpected situations.

[0005] Chinese Patent Application No. 201510077104.7 discloses a mine safety monitoring and patrol robot. The robot has symmetrically arranged self-balancing devices on both sides of its back, and an anti-sway limiting device in the lower middle part of its back. A walking device that moves along a slide rail is also located on the back of the robot. A left robotic arm is located on one side of the robot, and a first integrated sensor is mounted on the left robotic arm. A right robotic arm is located on the other side of the robot, and a second integrated sensor is mounted on the right robotic arm. Both the first and second integrated sensors are connected to a robot controller. The advantages of this invention are: 1. It integrates multiple sensors related to underground coal mine safety, allowing for comprehensive application and uploading of multiple data sets to determine the safety of the underground environment. 2. It features a humanoid appearance and user-friendly design, including reminder voice prompts and humanized gestures.

[0006] Intrinsically safe robotic arms are expensive, and installing various types of sensors on robotic arms is a common practice in the field. However, setting up a highly redundant multi-level safety system requires increasing the system's computing power. Therefore, robots used for coal mine safety monitoring have high requirements for heat dissipation performance.

[0007] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Utility Model Content

[0008] The purpose of this invention is to provide a robot for coal mine safety monitoring that can effectively solve the above-mentioned technical problems.

[0009] To achieve the purpose of this utility model, the following technical solution is adopted:

[0010] A robot for coal mine safety monitoring includes: a vehicle body; an electrical control box and a robotic arm mounted on the vehicle body; the end of the robotic arm is mounted on a mounting box, and sensors are mounted on the robot through the mounting box; the electrical control box contains a cooling fan, a cooling plate, and a cooling fan; electronic components are mounted on the cooling plate; a cooling chip is mounted on the cooling plate; and the cooling fan is mounted on the cooling chip.

[0011] Furthermore: the mounting box includes a fixing frame, a gripper cylinder, and a connecting plate. The fixing frame is mounted on the end of the robot arm, the gripper cylinder is mounted on the fixing frame, and the gripper cylinder grips the connecting plate.

[0012] Furthermore: The connecting plate is equipped with a sensing element, a current plate one, and a current plate two, both of which are electrically connected to the sensing element.

[0013] Furthermore: the connecting plate is provided with multiple components.

[0014] Furthermore, elastic elements are installed on the current plate one and the current plate two.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The robot for coal mine safety monitoring of the present invention uses a cooling fan for initial heat dissipation, and a cooling plate for heat dissipation of electrical components through a cooling plate; when multiple sensors are installed, the heat dissipation of electronic components needs to be increased, so the cooling plate can be used for cooling; when fewer sensors are installed, only the cooling fan can be used for heat dissipation. Attached Figure Description

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0017] Figure 1 This is a schematic diagram illustrating the use of the robot for coal mine safety monitoring according to this utility model.

[0018] Figure 2 This is a schematic diagram of the structure of the robot for coal mine safety monitoring according to this utility model.

[0019] Figure 3 This is a schematic diagram of the electrical control box of the robot for coal mine safety monitoring according to this utility model.

[0020] Figure 4 This is a cross-sectional view of the electrical control box of the robot for coal mine safety monitoring according to this utility model.

[0021] Figure 5 This is a schematic diagram of the mounting box for the robot used for coal mine safety monitoring according to this utility model.

[0022] Figure 6 This is a schematic diagram of the connection plate of the robot for coal mine safety monitoring according to this utility model.

[0023] Figure 7 This is a schematic diagram of current plate one and current plate two of the robot for coal mine safety monitoring of this utility model.

[0024] In the diagram: 1. Vehicle body; 2. Electrical control box; 3. Robotic arm; 4. Mounting box; 5. Cooling fan; 6. Cooling plate; 7. Cooling fan; 8. Cooling element; 9. Fixing frame; 10. Gripper cylinder; 11. Connecting plate; 12. Current plate one; 13. Current plate two. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0026] In the description of this utility model, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. When a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intermediate component at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0027] like Figures 1 to 7 As shown, this utility model relates to a robot for coal mine safety monitoring, comprising: a vehicle body 1; an electrical control box 2 and a robotic arm 3 mounted on the vehicle body 1. It should be noted that the vehicle body 1 is an RGV (Remotely Reinforced Vehicle), and the robotic arm 3 is a six-axis robotic arm. The electrical control box 2 contains electronic components, such as a processor and communication components. A high-performance central processing unit (CPU) is typically selected to improve the redundancy of the safety system.

[0028] In this application, the central processing unit is connected to the control room via a communication component. Data detected by the sensors can be transmitted back to the control room through the communication component. At the same time, the control room remotely issues relevant instructions to the central processing unit through the communication component, which is a ZigBee wireless data transmission module.

[0029] The end of the robotic arm 3 is equipped with a mounting box 4, and the sensor is mounted on the robotic arm 3 through the mounting box 4; the robotic arm 3 can move the sensor through the mounting box 4.

[0030] The electrical control box 2 is equipped with a cooling fan 5, a cooling plate 6, and a cooling fan 7. Electronic components are mounted on the cooling plate 6, and a cooling chip 8 is mounted on the cooling plate 6. The cooling fan 7 is mounted on the cooling chip 8. The cooling plate 6 is generally made of aluminum and its alloys.

[0031] It should be noted in detail here that the cooling fan 5 can be a positive pressure fan or a negative pressure fan, which can accelerate the airflow between the inside and outside of the electrical control box 2, thereby achieving the purpose of heat dissipation. The cooling chip 8 is a semiconductor cooling chip 8. The working principle of semiconductor cooling is common knowledge, so it will not be described in detail. The cooling fan 7 can be directly installed on the cooling chip 8 to perform air extraction for heat dissipation, or it can be installed to the side of the cooling chip 8 to perform air blowing for heat dissipation. Considering the airflow direction, air blowing for heat dissipation is generally chosen.

[0032] In this application, the cooling fan 5 can provide initial cooling for the electrical control box 2. When the heat generation is large, the cooling plate 8 can be used for cooling, which can ensure the reasonable use of RGV power and extend the stroke.

[0033] The mounting box 4 includes a fixing frame 9, a gripper cylinder 10, and a connecting plate 11. The fixing frame 9 is mounted on the end of the robotic arm 3, and the gripper cylinder 10 is mounted on the fixing frame 9. The gripper cylinder 10 grips the connecting plate 11, and multiple connecting plates 11 are provided. That is to say, in this utility model, when multiple sensors are installed, the heat dissipation of the electronic components needs to be increased, so the cooling chip 8 can be used for cooling. When fewer sensors are installed, only the cooling fan 5 can be used for heat dissipation. The specific number of sensors can be flexibly set according to the type of sensors and experience. Of course, a control program can be set, such as when the processor senses one sensor, only the cooling fan 5 is used for heat dissipation, and when the processor senses three sensors, the cooling chip 8 can be used for cooling.

[0034] In other words, for those skilled in the art, it is necessary to set up a sensing mechanism so that the processor can automatically acquire the number of sensors.

[0035] The connecting plate 11 is equipped with a sensor, a first current plate 12, and a second current plate 13, both of which are electrically connected to the sensor. Elastic elements are mounted on the first current plate 12 and the second current plate 13. The sensor is a Hall element, capable of detecting changes in electrical charge. The sensor is communicatively connected to the processor. The first current plate 12 and the second current plate 13 are electrically connected to the power supply unit on the RGV. The Hall element can be mounted on the connecting plate 11, but is generally installed inside the electrical control box 2. Hall elements are common knowledge in the art and will not be described in detail here.

[0036] In this application, when the gripper cylinder 10 clamps the connecting plate 11, it will cause the current plate 12 and the current plate 13 to be in a conducting state, which will further cause the sensing element to sense the change in electrical quantity, so that the processor can automatically obtain the number of sensors.

[0037] It should be added here that the elastic element is preferably a spring. Guide rods are fixedly installed on the first current plate 12 and the second current plate 13, and springs are sleeved on the guide rods. The springs allow the first current plate 12 and the second current plate 13 to return to their original positions. Furthermore, indicator lights are electrically connected to the first current plate 12 and the second current plate 13. When the first current plate 12 and the second current plate 13 are in a conductive state, the indicator lights will illuminate. This serves two purposes: firstly, it indicates that the gripper cylinder 10 is clamping the connecting plate 11; secondly, it acts as a foolproof mechanism, indicating to the electrical control engineer that the connecting plate 11 corresponding to the gripper cylinder 10 has been fitted with a sensor.

[0038] Working principle:

[0039] The cooling fan 5 serves as the initial heat dissipation device, and the cooling plate 8 dissipates heat to the electrical components through the cooling plate 6. When multiple sensors are installed, the heat dissipation of the electronic components needs to be increased, so the cooling plate 8 can be used for cooling. When fewer sensors are installed, only the cooling fan 5 can be used for heat dissipation.

[0040] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0041] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot for coal mine safety monitoring, characterized in that: include: Vehicle body; The electrical control box and robotic arm are installed on the vehicle body; The end of the robotic arm is equipped with a mounting box, and the sensor is mounted on the robotic arm through the mounting box; The electrical control box is equipped with a cooling fan, a cooling plate, and a cooling fan. Electronic components are mounted on the cooling plate, and a cooling chip is mounted on the cooling plate. The cooling fan is mounted on the cooling chip.

2. The robot for coal mine safety monitoring as described in claim 1, characterized in that: The mounting box includes a fixed frame, a gripper cylinder, and a connecting plate. The fixed frame is mounted on the end of the robot arm, and the gripper cylinder is mounted on the fixed frame. The gripper cylinder grips the connecting plate.

3. The robot for coal mine safety monitoring as described in claim 2, characterized in that: The connecting plate is equipped with a sensing element, a current plate one, and a current plate two, both of which are electrically connected to the sensing element.

4. The robot for coal mine safety monitoring as described in claim 3, characterized in that: The connecting plate has multiple components.

5. The robot for coal mine safety monitoring as described in claim 3, characterized in that: Elastic elements are installed on the current plate one and the current plate two.

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