CN112761723A - Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method - Google Patents
Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
本发明涉及一种综放工作面支架后部放煤状态智能巡检机器人及工作方法，属于巡检机器人领域。包括主动摩擦轮支架和被动摩擦轮支架，其中主动摩擦轮支架上设有主动摩擦轮和用以驱动主动摩擦轮的电机，被动摩擦轮支架上设有被动摩擦轮，主动摩擦轮与被动摩擦轮之间设有钢丝缆绳，钢丝缆绳上通过吊舱连接件连接有机器人主体，钢丝缆绳上设有辅助支撑和张紧装置。工作时机器人固连在钢丝缆绳上由主动摩擦轮驱动，运行到液压支架的间隙处，蛇形机械臂将检测组件伸出检测放煤口动态参数，并由计算机分析传出，实现放煤口动态参数的实时监测。整体结构简单，灵活度高，可应用于综采工作面复杂的现场环境。
The invention relates to an intelligent inspection robot and a working method for a coal caving state at the rear of a fully mechanized caving working face support, belonging to the field of inspection robots. Including an active friction wheel bracket and a passive friction wheel bracket, wherein the active friction wheel bracket is provided with an active friction wheel and a motor for driving the active friction wheel, the passive friction wheel bracket is provided with a passive friction wheel, the active friction wheel and the passive friction wheel A steel wire cable is arranged between, the robot main body is connected to the steel wire cable through a pod connector, and an auxiliary support and a tensioning device are arranged on the steel wire cable. When working, the robot is fixed on the steel wire rope and driven by the active friction wheel, and runs to the gap of the hydraulic support. Real-time monitoring of dynamic parameters. The overall structure is simple and the flexibility is high, and it can be applied to the complex site environment of the fully mechanized mining face.
Description
Technical Field
The invention relates to an intelligent inspection robot and a working method thereof, in particular to an intelligent inspection robot and a working method thereof which are suitable for the field of inspection robots and are used in a coal discharge state at the rear part of a fully mechanized caving face support.
Background
The caving coal mining is that a longwall working face is arranged at the bottom of a thick coal seam, the thickness of the bottom part of the mined coal seam (the thickness is generally 2.2-3.5 m) is obtained by a comprehensive mechanical coal mining method, the rest part (the thickness is generally 3-12 m) above the bottom part is top coal, the top coal is damaged and crushed under the action of supporting pressure formed in front of the working face, the crushed top coal is discharged and transported away through a special coal discharging mechanism of a support after the dead weight of the coal is behind a hydraulic support along with the forward advance of the working face, and the once mining full-thickness mining of the thick coal seam is realized.
In the process of fully mechanized caving mining of coal mines, one of the problems to be solved urgently is how to correctly judge the optimal opening and closing time of a coal caving port, which is a technical problem to be solved urgently at present and matched with intelligent fully mechanized caving mining. At present, two methods are mainly used for the opening and closing time of a coal discharging opening, one method is that a coal discharging worker determines the opening and closing of the coal discharging opening through vision, hearing and experience accumulation, the mode can bring the over-discharging or under-discharging condition, the phenomenon that a large amount of coal is lost or gangue is mixed is caused, the resource waste is caused, the later washing cost is increased, meanwhile, a large amount of dust and gas can be generated in the coal discharging process, and the life health of the coal discharging operation worker is greatly threatened. And secondly, the opening and closing of the coal discharging port are realized by applying an electro-hydraulic control system, and the basic method is to embed a preset coal discharging program into the electro-hydraulic control system and realize the opening and closing of the coal discharging port according to the preset coal discharging action and coal discharging time. Due to the change of factors such as the thickness of the coal seam, if the opening and closing time of the coal discharging opening is unchanged, the situation of over-discharging or under-discharging is inevitably caused in the coal discharging process, so that the coal quality is reduced or resources are lost. Therefore, in the intelligent coal caving process, the on-line monitoring of the coal caving amount is a key technology for accurate coal caving, and the dynamic parameters of the coal flow at the coal caving port are important basis for the action and control of a coal caving mechanism.
The special inspection robot is adopted to monitor the dynamic parameters of the coal discharge port of the fully mechanized coal face in real time, and the interference of factors such as limited space at the rear part of the support, dust in the coal discharge process and the like can be avoided. The existing inspection robots are provided with rails arranged on a scraper conveyor or inspection robots arranged on a top beam of a hydraulic support through a steel wire rope, and are used for monitoring the environment and equipment in the advancing direction of a working face and cannot monitor a coal discharge mechanism behind the hydraulic support.
In order to overcome the defects, a working surface inspection robot capable of monitoring the coal discharge port behind the hydraulic support is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the intelligent patrol robot for the coal discharge state at the rear part of the fully mechanized coal mining face support and the working method thereof, which can realize the real-time monitoring of the dynamic parameters of the coal discharge port at the rear part of the fully mechanized coal mining face support, improve the control reliability of a coal discharge mechanism and be more beneficial to realizing the safe production of a coal mine.
In order to achieve the technical purpose, the intelligent patrol robot for the coal caving state at the rear part of the fully mechanized caving face support comprises an active friction wheel support and a passive friction wheel support, wherein the active friction wheel support is provided with an active friction wheel and a motor used for driving the active friction wheel, the passive friction wheel support is provided with a passive friction wheel, a steel wire cable is arranged between the active friction wheel and the passive friction wheel, and the steel wire cable is connected with a robot main body through a pod connecting piece.
The robot main body comprises a robot controller and a snake-shaped mechanical arm, the robot controller comprises a snake-shaped mechanical arm control mechanism and a robot nacelle balancing mechanism, an upper cavity and a lower cavity are arranged in the robot nacelle, the snake-shaped mechanical arm control mechanism is arranged in the upper cavity, the robot nacelle balancing mechanism is arranged in the lower cavity, the snakelike mechanical arm control mechanism comprises a control module arranged in the middle of the upper chamber, a battery and a snakelike mechanical arm motor set are respectively arranged at two sides of the control module, an inclination angle sensor is arranged above the control module, the snakelike mechanical arm motor set is connected with the head end of the snakelike mechanical arm, the robot pod balancing mechanism comprises a driving motor arranged in the lower cavity, an output shaft of the driving motor is connected with a transversely arranged lead screw through a coupling, and a balancing block controlled by the driving motor to move left and right on the lead screw is arranged on the lead screw; the tail end of the snake-shaped mechanical arm is provided with an information acquisition and processing device through a support.
One end of the lead screw is fixed with the other end, fixed to the explosion-proof shell, of the lead screw through a lead screw support frame.
The information acquisition and processing device comprises a laser scanning sensor, a battery, a CCD camera and an explosion-proof computer; the battery supplies power for the laser scanning sensor, the CCD camera and the explosion-proof computer.
The auxiliary supports used for ensuring that the steel wire cable cannot be seriously deformed due to overlarge load are arranged on the steel wire cable between the driving friction wheel and the driven friction wheel at intervals, the auxiliary supports counteract the bending deformation of the steel wire cable caused by self gravity and the weight of the robot body, and gaps allowing the robot body to pass through are reserved between the auxiliary supports.
The steel wire rope is also provided with a tensioning device for tensioning the steel wire rope, and when the distance between the driving friction wheel support and the driven friction wheel support is shortened or prolonged, the steel wire rope can be ensured to be straight.
The tensioning device comprises two balancing weight support frames which are arranged on a steel wire rope near a driven friction wheel side by side, the steel wire rope penetrates through the lower portion between the balancing weight support frames, a balancing weight is hung on the steel wire rope between the two balancing weight support frame supports through a movable pulley, and the balancing weight can influence the tension of the part of the overlong steel wire rope which is straight and flat.
Snakelike arm is rope driven arm, and snakelike arm is driven by snakelike arm motor unit, and snakelike arm motor unit comprises four motors, and the flexible rotation of control snakelike arm is sent laser scanning sensor and CCD camera to the hydraulic support rear and is monitored the state of coal discharge mouth.
A use method of the intelligent patrol robot for the coal discharge state at the rear part of the fully mechanized caving face support comprises the following steps:
respectively fixing an active friction wheel support and a passive friction wheel support on top beams of hydraulic supports on two sides of a working surface, enabling a steel wire cable to pass through all the hydraulic supports between the hydraulic supports on the two sides, straightening the steel wire cable by using a tensioning device, controlling a robot main body to move back and forth on the steel wire cable, and monitoring the coal discharge state at the rear part of the hydraulic support by using an information acquisition processing device at the tail end of a snake-shaped mechanical arm;
when the robot main body moves, the snake-shaped mechanical arm naturally hangs down, when the robot main body moves to a gap between the two hydraulic supports, the control module controls the snake-shaped mechanical arm motor set to drive the snake-shaped mechanical arm to move towards the rear of the hydraulic supports, the condition of a coal discharge port at the rear of the hydraulic supports is monitored by using a laser scanning sensor and a CCD camera in the information acquisition and processing device, the snake-shaped mechanical arm stretches out, the laser scanning sensor and the CCD camera work, the laser scanning sensor emits infrared light beams and receives emitted contour point cloud information, and the CCD camera acquires images of a coal pile at the rear of the hydraulic supports; the laser scanning sensor and the CCD camera transmit measured data to the explosion-proof computer, the explosion-proof computer processes the data to obtain a scanning section profile, the measured scanning section profile data is transmitted to the remote control room through a wireless network, the remote control room calculates coal discharge through the scanning data, and the opening and closing of the hydraulic coal discharge port are controlled.
When the snakelike arm stretches out, the robot nacelle of the robot main body can incline, at the moment, the inclination angle sensor feeds back the detected inclination information to the control module, the control module controls the driving motor of the robot nacelle balancing mechanism to work according to the inclination degree, the driving motor controls the driving balance block to move on the lead screw, so that the robot main body keeps the balance of the robot nacelle when stretching out the snakelike arm, when the detection is finished, the control module controls the driving balance block to return through the driving motor, and the horizontal position of the robot nacelle is kept all the time.
When the fully mechanized mining face moves the frame, the hydraulic support adopts a single frame continuous support moving mode or a sectional staggered support moving mode; form the dislocation between the hydraulic support when moving the frame, the steel wire hawser is elongated, because the effect of overspeed device tensioner on the steel wire hawser provides the sufficient deformation allowance of steel wire hawser, makes the intelligence patrol and examine the robot and keeps normal operating condition.
Has the advantages that:
the invention drives the steel wire cable and the robot body to move through the friction force of the friction wheel, and the steel wire cable is always in a tensioned state due to the action of the gravity of the balancing weight in the moving process. And can provide enough deformation allowance under the condition that the hydraulic support is dislocated; the laser scanning sensor and the CCD camera are arranged at the tail end of the snake-shaped mechanical arm and are conveyed to a coal discharge port behind the hydraulic support, and dynamic parameters of the coal discharge port are detected. An operator only needs to control the remote operation center, and does not need to go to a field for detection, so that the system is safe and reliable;
the technical scheme of the invention has wide measurement range, the snake-shaped mechanical arm can flexibly move in a narrow space, the monitoring of all directions of the working surface is realized, and the measurement range is wide; the device has simple structure and high flexibility, and can be applied to the complex field environment of the fully mechanized coal mining face.
Drawings
FIG. 1 is a schematic structural diagram of a coal discharge state intelligent inspection robot at the rear part of a fully mechanized caving face support;
FIG. 2 is a view showing the construction of a main body of the robot of the present invention;
FIG. 3 is a diagram of the relative positions of the active friction wheel, the active friction wheel carrier and the robot body of the present invention;
FIG. 4 is a perspective view of the robot body of the present invention extending from between the hydraulic supports;
FIG. 5 is a perspective view of the intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support of the invention installed at the top of a hydraulic support for caving coal;
FIG. 6 is a state diagram of the intelligent patrol robot for the coal caving state at the rear part of the fully mechanized caving face support in the case of dislocation of the hydraulic support during movement;
FIG. 7 is a state diagram of the intelligent patrol robot for the coal discharge state at the rear part of the fully mechanized caving face support when the hydraulic support moves and is staggered.
In the figure: 1-active friction wheel, 2-steel wire cable, 3-passive friction wheel, 4-passive friction wheel support, 5-counterweight block support frame, 6-auxiliary support, 7-active friction wheel support frame, 8-nacelle connecting piece, 9-robot nacelle, 10-movable pulley, 11-counterweight block, 12-control module, 13-battery, 14-lead screw, 15-counterweight block, 16-lead screw support frame, 17-coupler, 18-driving motor, 19-serpentine mechanical arm motor set, 20-inclination angle sensor, 21-serpentine mechanical arm, 22-laser scanning sensor, 23-battery, 24-CCD camera, 25-explosion-proof computer, and 26-motor.
Detailed Description
The invention is further described with reference to the drawings and the detailed description.
As shown in fig. 1 and 3, the intelligent patrol robot for the coal discharge state at the rear part of the fully mechanized caving face support comprises an active friction wheel support 7 and a passive friction wheel support 4, wherein the active friction wheel support 7 is provided with an active friction wheel 1 and a motor 26 for driving the active friction wheel 1, the active friction wheel 1 is fixedly arranged on an output shaft of the motor 26, the passive friction wheel support 4 is provided with a passive friction wheel 3, a steel wire cable 2 is arranged between the active friction wheel 1 and the passive friction wheel 3, and the steel wire cable 2 is connected with a robot main body through a pod connecting piece 8.
The auxiliary supports 6 used for ensuring that the steel wire cable 2 is not seriously deformed due to overlarge load are arranged on the steel wire cable 2 between the driving friction wheel 1 and the driven friction wheel 3 at intervals, the auxiliary supports 6 are arranged at the top of a hydraulic support of a fully mechanized mining face, and the length of the fully mechanized mining face can be from dozens of meters to hundreds of meters, so that the steel wire cable 2 between the driving friction wheel 1 and the driven friction wheel 3 can droop due to the self gravity and the weight of the robot, and the auxiliary supports 6 can counteract the bending deformation of the steel wire cable 3 due to the self gravity and the weight of the robot; the auxiliary support 6 offsets the bending deformation of the steel wire cable 3 generated by the self gravity and the weight of the robot main body, a gap allowing the robot main body to pass through is reserved between the auxiliary supports 6, the steel wire rope 2 is also provided with a tensioning device for tensioning the steel wire cable 2, and the steel wire cable 2 can be ensured to be straight when the distance between the driving friction wheel support 7 and the driven friction wheel support 4 is shortened or prolonged. Overspeed device tensioner is including setting up two balancing weight support frames 5 on being close to 3 side wire hawsers of driven friction pulley 2 side by side, the below passes wire hawser 2 between the balancing weight support frame 5, and hang balancing weight 11 through movable pulley 10 on wire hawser 2 between two balancing weight support frames 5 supports, balancing weight 11 will influence the partial tensioning of 2 straight overlength wire hawsers of wire hawser through the dead weight, balancing weight support frame 5 is connected on wire hawser 2, hoist balancing weight 11.
As shown in fig. 2, the robot body comprises a robot controller and a serpentine mechanical arm 21, the robot controller comprises a serpentine mechanical arm control mechanism and a robot pod balancing mechanism, an upper cavity and a lower cavity are arranged in the robot pod 9, the serpentine mechanical arm control mechanism and the robot pod balancing mechanism are respectively arranged in the upper cavity and the lower cavity in the robot pod 9, the serpentine mechanical arm control mechanism is arranged in the upper cavity, the robot pod balancing mechanism is arranged in the lower cavity, the serpentine mechanical arm control mechanism comprises a control module 12 arranged in the middle of the upper cavity, a battery 13 and a serpentine mechanical arm motor set 19 are respectively arranged on two sides of the control module 12, an inclination angle sensor 20 is arranged above the control module 12, the serpentine mechanical arm motor set 19 is connected with the head end of the serpentine mechanical arm 21 and drives the serpentine mechanical arm 21 to move, the robot pod balancing mechanism comprises a driving motor 18 arranged in the lower cavity, an output shaft of the driving motor 18 is connected with a transversely arranged lead screw 14 through a coupler 17, and a balancing block 15 controlled by the driving motor 18 to move left and right on the lead screw 17 is arranged on the lead screw 14; the tail end of the snake-shaped mechanical arm 21 is provided with an information acquisition and processing device through a support. One end of the screw 14 is fixed with the explosion-proof shell, and the other end is fixed through a screw support frame 16. The information acquisition and processing device comprises a laser scanning sensor 22, a battery 23, a CCD camera 24 and an explosion-proof computer 25; wherein the battery 23 supplies power to the laser scanning sensor 22, the CCD camera 24 and the explosion-proof computer 25.
A use method of an intelligent inspection robot for a coal discharge state at the rear part of a fully mechanized caving face support comprises the following steps:
as shown in fig. 4 and 5, the driving friction wheel support 7 and the driven friction wheel support 4 are respectively fixed on the hydraulic support top beams at two sides of the working surface, the steel wire cable 2 passes through all the hydraulic supports between the hydraulic supports at two sides, the steel wire cable 2 is straightened by using the tensioning device, then the robot main body is controlled to move back and forth on the steel wire cable 2, and the coal discharge state at the rear part of the hydraulic support is monitored by using an information acquisition processing device at the tail end of the snake-shaped mechanical arm 21;
when the robot main body moves, the snake-shaped mechanical arm 21 naturally hangs down, when the robot main body moves to a gap between two hydraulic supports, the control module 12 controls the snake-shaped mechanical arm motor set 19 to drive the snake-shaped mechanical arm 21 to move towards the rear of the hydraulic supports, the situation of a coal discharge port at the rear of the hydraulic supports is monitored by using the laser scanning sensor 22 and the CCD camera 23 in the information acquisition and processing device, at the moment, the snake-shaped mechanical arm 21 extends out, the laser scanning sensor 22 and the CCD camera 24 work, the laser scanning sensor 22 emits infrared light beams and receives back emitted outline point cloud information, and the CCD camera 24 acquires images of a coal pile at the rear of the hydraulic supports; the laser scanning sensor 22 and the CCD camera 24 transmit measured data to the explosion-proof computer 25, the explosion-proof computer 25 processes the data to obtain a scanning section profile, the measured scanning section profile data is transmitted to the remote control room through a wireless network, the remote control room calculates coal discharge flow through the scanning data, and the opening and closing of the hydraulic coal discharge port are controlled.
When the snake-shaped mechanical arm 21 extends out, the robot nacelle 9 of the robot main body can incline, the inclination angle sensor 20 feeds detected inclination information back to the control module 12, the control module 12 controls the driving motor 18 of the robot nacelle balancing mechanism to work according to the inclination degree, the driving motor 18 controls the driving balance block 15 to move on the lead screw 14, so that the robot nacelle 9 keeps balance when the snake-shaped mechanical arm 21 extends out, and when the snake-shaped mechanical arm 21 is retracted after detection is finished, the control module 12 controls the driving balance block 15 to return to the original position through the driving motor 18, so that the horizontal position of the robot nacelle 9 is always kept.
When the fully mechanized mining face moves the frame, the hydraulic support adopts a single frame continuous support moving mode or a sectional staggered support moving mode; the hydraulic supports are staggered when the intelligent inspection robot moves, as shown in figure 6, the steel wire cable 2 is elongated, as shown in figure 7, due to the effect of the tensioning device on the steel wire cable 2, sufficient deformation allowance of the steel wire cable is provided, and the intelligent inspection robot keeps a normal working state.
Claims (10)
1. The utility model provides a combine and put working face support rear portion state intelligence of putting and patrol and examine robot which characterized in that: the robot comprises an active friction wheel support (7) and a passive friction wheel support (4), wherein the active friction wheel support (7) is provided with an active friction wheel (1) and a motor (26) for driving the active friction wheel (1), the passive friction wheel support (4) is provided with a passive friction wheel (3), a steel wire cable (2) is arranged between the active friction wheel (1) and the passive friction wheel (3), and the steel wire cable (2) is connected with a robot main body through a pod connecting piece (8).
2. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 1, which is characterized in that: the robot main body comprises a robot controller and a snake-shaped mechanical arm (21), the robot controller comprises a snake-shaped mechanical arm control mechanism and a robot nacelle balance mechanism, an upper cavity and a lower cavity are arranged in a robot nacelle (9), the snake-shaped mechanical arm control mechanism is arranged in the upper cavity, the robot nacelle balance mechanism is arranged in the lower cavity, the snake-shaped mechanical arm control mechanism comprises a control module (12) arranged in the middle of the upper cavity, a battery (13) and a snake-shaped mechanical arm motor set (19) are respectively arranged on two sides of the control module (12), an inclination angle sensor (20) is arranged above the control module (12), the snake-shaped mechanical arm motor set (19) is connected with the head end of the snake-shaped mechanical arm (21) and drives the snake-shaped mechanical arm (21) to move, the robot nacelle balance mechanism comprises a driving motor (18) arranged in the, an output shaft of the driving motor (18) is connected with a transversely arranged lead screw (14) through a coupling (17), and a balance block (15) which is controlled by the driving motor (18) to move left and right on the lead screw (17) is arranged on the lead screw (14); the tail end of the snake-shaped mechanical arm (21) is provided with an information acquisition and processing device through a support.
3. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 2, characterized in that: one end of the lead screw (14) is fixed with the other end of the explosion-proof shell through a lead screw support frame (16).
4. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 2, characterized in that: the information acquisition and processing device comprises a laser scanning sensor (22), a battery (23), a CCD camera (24) and an explosion-proof computer (25); the battery (23) supplies power for the laser scanning sensor (22), the CCD camera (24) and the explosion-proof computer (25).
5. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 1, which is characterized in that: the auxiliary supports (6) used for ensuring that the steel wire cable (2) is not seriously deformed due to overlarge load are arranged on the steel wire cable (2) between the driving friction wheel (1) and the driven friction wheel (3) at intervals, the auxiliary supports (6) counteract the bending deformation of the steel wire cable (3) caused by self gravity and the weight of the robot body, and gaps allowing the robot body to pass through are reserved between the auxiliary supports (6).
6. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 1, which is characterized in that: the steel wire rope (2) is also provided with a tensioning device for tensioning the steel wire rope (2), and when the distance between the driving friction wheel support (7) and the driven friction wheel support (4) is shortened or prolonged, the steel wire rope (2) can be ensured to be straight.
7. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 6, wherein: the tensioning device comprises two balancing weight support frames (5) which are arranged side by side on a steel wire rope (2) close to a passive friction wheel (3), the steel wire rope (2) is passed between the two balancing weight support frames (5), a balancing weight (11) is hung on the steel wire rope (2) between the two balancing weight support frames (5) through a movable pulley (10), and the balancing weight (11) influences the straight overlong steel wire rope part tensioning of the steel wire rope (2) through self weight.
8. The intelligent inspection robot for the coal caving state at the rear part of the fully mechanized caving face support according to claim 1, which is characterized in that: snakelike arm (21) are rope driven's arm, and snakelike arm (21) are driven by snakelike arm motor unit (19), and snakelike arm motor unit (19) comprise four motors, and the flexible rotation of control snakelike arm (21) is sent laser scanning sensor (22) and CCD camera (24) to hydraulic support rear and is monitored the state of putting the coal mouthful.
9. A use method of the intelligent inspection robot for the coal caving state of the rear part of the fully mechanized caving face support is characterized by comprising the following steps:
respectively fixing an active friction wheel support (7) and a passive friction wheel support (4) on top beams of hydraulic supports on two sides of a working surface, enabling a steel wire cable (2) to penetrate through all the hydraulic supports between the hydraulic supports on the two sides, utilizing a tensioning device to straighten the steel wire cable (2), then controlling a robot main body to move back and forth on the steel wire cable (2), and utilizing an information acquisition processing device at the tail end of a snake-shaped mechanical arm (21) to monitor the coal discharge state at the rear part of the hydraulic support;
when a robot main body moves, a snake-shaped mechanical arm (21) naturally hangs down, when the robot main body moves to a gap between two hydraulic supports, a control module (12) controls a snake-shaped mechanical arm motor set (19) to drive the snake-shaped mechanical arm (21) to move towards the rear of the hydraulic supports, the situation of a coal discharge port at the rear of the hydraulic supports is monitored by using a laser scanning sensor (22) and a CCD camera (23) in an information acquisition and processing device, the snake-shaped mechanical arm (21) extends out at the moment, the laser scanning sensor (22) and the CCD camera (24) work, the laser scanning sensor (22) emits infrared light beams and receives radiated contour point cloud information, and the CCD camera (24) acquires images of a coal pile at the rear of the hydraulic supports; the laser scanning sensor (22) and the CCD camera (24) transmit measured data to the explosion-proof computer (25), the explosion-proof computer (25) processes the data to obtain a scanning section profile, the measured scanning section profile data is transmitted to the remote control room through a wireless network, and the remote control room calculates coal discharge flow through the scanning data and controls the opening and closing of the hydraulic coal discharge port.
When the snake-shaped mechanical arm (21) extends out, the robot nacelle (9) of the robot main body can incline, the inclination angle sensor (20) feeds detected inclination information back to the control module (12), the control module (12) controls the driving motor (18) of the robot nacelle balancing mechanism to work according to the inclination degree, the driving motor (18) controls the driving balance block (15) to move on the lead screw (14), so that the robot main body keeps balance of the robot nacelle (9) when the snake-shaped mechanical arm (21) extends out, and when the snake-shaped mechanical arm (21) is retracted after detection is finished, the control module (12) controls the driving balance block (15) to return through the driving motor (18), so that the horizontal position of the robot nacelle (9) is kept all the time.
10. Use according to claim 9, characterized in that: when the fully mechanized mining face moves the frame, the hydraulic support adopts a single frame continuous support moving mode or a sectional staggered support moving mode; form the dislocation between the hydraulic support when moving the frame, steel wire hawser (2) are elongated, because the effect of overspeed device tensioner on steel wire hawser (2), provide the sufficient deformation allowance of steel wire hawser, make the intelligence patrol and examine the robot and keep normal operating condition.
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| CN202011559337.8A CN112761723A (en) | 2020-12-25 | 2020-12-25 | Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method |
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| CN202011559337.8A CN112761723A (en) | 2020-12-25 | 2020-12-25 | Intelligent inspection robot for coal discharge state at rear part of fully mechanized caving face support and working method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114370304A (en) * | 2022-01-19 | 2022-04-19 | 中煤科工集团沈阳研究院有限公司 | Mine roadway environment information measuring system and method |
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