CN104898671B - A kind of band is removed obstacles the rail mounted mine conveyer automatic detecting dolly of function - Google Patents

Abstract

An automatic inspection trolley for track-type mining conveyors with obstacle-clearing function, the trolley includes a chassis, a detection system, a liftable detection platform, an obstacle-clearing system, a trolley shell, an electric control and a communication system; the detection system consists of a sound collection sensor , smoke and CO concentration detectors, and image acquisition sensors; the liftable detection platform is composed of a lifting rod, a rotating mechanism, and a steering gear; the obstacle removal system is composed of an ultrasonic ranging sensor, an arc scraper, a force sensor, a connecting rod, barrier motor composition. The electronic control and communication system consists of a control circuit board, a power supply and a wireless communication module. The trolley has the function of automatic obstacle removal, and can collect the operation data of different heights and different parts of the belt conveyor. The device runs smoothly, has high reliability, can realize continuous and uninterrupted automatic inspection, and has wide popularization.

Description

A track-type mining conveyor automatic inspection trolley with obstacle-clearing function

technical field

The invention relates to an automatic inspection trolley for a track-type mining conveyor with a function of clearing obstacles, and belongs to the technical field of state monitoring of mining conveyors. It is especially suitable for condition monitoring of belt conveyors used in metallurgical mines and coal mines.

Background technique

Belt conveyor is a kind of equipment capable of continuous transportation, which can not only transport bulk materials, such as coal, ore, etc., but also transport packaged whole materials. The belt conveyor has the characteristics of high transportation capacity, long transportation distance, low power consumption, and continuous and stable transportation. It has been widely used in electric power, metallurgy, chemical industry, coal and other industries. Due to the long-term load operation of the belt conveyor, various failures are prone to occur, and the occurrence of these failures has caused great hidden dangers to the safety of personnel and mechanical equipment. At present, most enterprises have established inspection systems, but most of the inspection work is done manually. The entire inspection process is mainly operated by manual collection, manual analysis, and manual written transmission of information. This traditional inspection method has poor real-time performance, low efficiency, high labor cost, and low safety, which is no longer suitable for the inspection of belt conveyors.

At present, there are many sundries in the working environment of mining conveyors, and the automatic inspection trolley often encounters various sundries when patrolling along the established route; Detection is critical.

Contents of the invention

Aiming at the problems of the existing inspection methods mentioned in the background technology, the present invention proposes an automatic inspection trolley for track-type mine conveyors with a clearing function, which can reduce inspection costs, improve inspection efficiency, and maximize Avoid accidents to the greatest extent.

In order to achieve the above purpose, the following technical scheme is adopted as an automatic inspection trolley for track-type mining conveyors with a clearing function. The trolley includes a chassis (2), a detection system (5), a liftable detection platform (4), a clearing barrier system (1), trolley shell (3), electric control and communication system; chassis (2) is composed of driving mechanism, driven mechanism, braking mechanism and vehicle frame; driving mechanism is composed of DC motor (13), reducer ( 14), motor fixing frame (15), shaft coupling (16), wheel shaft (7), bearing (8), bearing frame (9), and drive wheel (11); driven mechanism is made up of wheel shaft (7), The bearing (8), the bearing frame (9) and the driven wheel (10); the braking mechanism is composed of the chassis connection plate (12) and the electromagnetic brake (17); the frame is composed of the support plate (6), the handle (32) , housing fixing plate (33); the detection system (5) is composed of a sound collection sensor (18), a smoke and CO concentration detector (19), and an image collection sensor (20); the liftable detection platform (4) consists of a lift Rod (26), rotating mechanism (28), steering gear (29); the obstacle removal system consists of ultrasonic ranging sensor (30), arc scraper (21), load cell (22), connecting rod (23) , obstacle removal motor (24); the electric control and communication system is composed of a control circuit board (31), a power supply (27) and a wireless communication module (25);

The driving wheel (11) of the dolly is matched with the driven wheel (10) and the track (34), and the dolly and the track (34) are track-type cooperation; Composed of a guide surface, the load-bearing surface is in contact with the upper surface of the track (34), and the guide surface is in contact with the inner side of the track (34); the driving wheel (11) is arranged at the rear of the dolly, and the driven wheel (10) is arranged at the front end of the dolly; The driving wheel (11) is parallel to the driven wheel (10); the DC motor (13) is fixed on the support plate (6) of the trolley frame through the motor fixing bracket (15); the DC motor (13) and the reducer (14) connected, the speed reducer (14) is connected with the driving wheel (11) through a shaft coupling (16); the electromagnetic brake (17) is divided into two pieces, one piece is installed on the chassis connection plate (12), and the chassis The plate (12) is fixed on the support plate (6) of the trolley frame; the other piece is fixed to the driving wheel (10) of the trolley, and the electromagnetic brake (17) will be energized when deceleration is required, and the two brakes will be attracted, and the two brakes will pass through The way of brake friction achieves the purpose of braking; the driven wheel (10) is connected through the axle (7); the axle (7) cooperates with the bearing frame (9) through the bearing (8); the bearing frame (9) is installed and fixed on the trolley frame on the support plate (6);

Steering gear (29) is installed in the middle of the support plate (6) of dolly frame, and steering gear (29) is connected with turning mechanism (28), and turning mechanism (28) is connected with elevating rod (26); The end is provided with a detection system (5), a wireless communication module (25); the sound acquisition sensor (18), smoke and CO concentration detector (19), and image acquisition sensor (20) of the detection system (5) pass through wireless The communication module (25) interacts with the monitoring fixed station;

Ultrasonic distance measuring sensors (30) are installed at four corners of the dolly frame, meanwhile, the obstacle removal motor (24) is installed on the obstacle removal motor fixed mount (35), and the obstacle removal motor fixed mount (35) is installed on the support plate ( 6) on. The output shaft of the obstacle removal motor (24) is connected with one end of the connecting rod (23), and the other end of the connecting rod (23) is connected with the arc scraper (21); the arc scraper (21) is provided with a load cell (22); through the arc-shaped scraper (21), the sundries around the inspection trolley are cleaned; the housing fixing plate (33) is installed on the side of the trolley frame; the power supply (27), the control circuit board (31) They are respectively fixed at the front and rear ends of the support plate (6) along the forward direction of the trolley; there is a rectangular hole on the top of the casing upper cover (36) of the trolley, so that the lifting rod (26) can complete the lifting movement along the rectangular hole; the shell (3 ) edge has a power supply slot (37), and the power supply slot (37) is used to replace and disassemble the power supply (27); both sides of the support plate (6) are respectively provided with handles (32).

In order to make the inspection trolley adapt to the normal working state and maintenance state of the belt conveyor, the inspection trolley has two working modes: automatic inspection and manual inspection. When the belt conveyor is working normally, the inspection trolley adopts the automatic inspection mode, which can plan the route, adjust the inspection speed, change the inspection direction, adjust the height of the lifting detection platform, automatically collect data and report the diagnosis results according to the actual situation. transmitted to the monitoring fixed station. When the belt conveyor is in the inspection state, the inspection trolley adopts the manual inspection mode. In this mode, the inspection trolley can quickly reach the key inspection position according to the requirements of the fixed station, collect the data there and feed back the results to the fixed station. The station can assist the maintenance work of the belt conveyor according to the results.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the automatic inspection trolley for the mine belt conveyor

Figure 2 is a schematic diagram of the structure of the mine-used belt conveyor automatic inspection trolley without a shell

Figure 3 is a schematic diagram of the chassis structure of the automatic inspection trolley of the mine belt conveyor

Figure 4 is a schematic diagram of the shell structure of the automatic inspection trolley of the mine belt conveyor

In the figure: 1. Obstacle removal system, 2. Chassis, 3. Shell, 4. Liftable detection platform, 5. Detection system, 6. Support plate, 7. Wheel shaft, 8. Bearing, 9. Bearing frame, 10. From Drive wheel, 11, driving wheel, 12, chassis connecting plate, 13, DC motor, 14, reducer, 15, motor fixing frame, 16, shaft coupling, 17, electromagnetic brake, 18, sound collection sensor, 19, smoke and CO concentration detector, 20. Image acquisition sensor, 21. Arc scraper, 22. Load cell, 23. Connecting rod, 24. Obstruction motor, 25. Wireless communication module, 26. Lifting rod, 27. Power supply, 28. Turning mechanism, 29. Steering gear, 30. Ultrasonic ranging sensor, 31. Control circuit board, 32. Handle, 33. Housing fixing plate, 34. Track, 35. Obstacle-cleaning motor fixing frame 36, Housing Loam cake, 37, power supply slotting.

detailed description

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1-4, the infrared acquisition sensor is installed on the platform, which can rotate with the platform, and can observe the operation status of the belt conveyor without any dead angle. The smoke and CO concentration detectors can be set to a safe concentration limit. When the gas concentration exceeds the limit, the inspection trolley should send out a continuous and severe sound and light alarm to remind relevant personnel to evacuate in time to avoid production safety accidents. The wireless communication module adopts the WiFI communication mode, and a wireless bridge AP is arranged every 50m on the inspection route, and interconnection communication is realized between each bridge, so that the wireless signal seamlessly covers the entire inspection route.

During the inspection process of the automatic inspection car, the ultrasonic ranging sensor detects the distance to the front in real time, and sets a certain safety distance and automatic obstacle clearance distance. When the ultrasonic ranging sensor in the obstacle removal system detects an obstacle and the measurement result is less than the safe distance, the brake mechanism is turned on to make the patrol car start to decelerate. When the inspection trolley decelerates to within the clearance distance, the clearance motor drives the connecting rod and the arc-shaped scraper to rotate until the arc-shaped scraper contacts the track and stops rotating. During the contact process between the arc-shaped scraper and the obstacle, the load cell detects the change of the force, and when the detection result is within the limit value of the obstacle-clearing resistance, the arc-shaped scraper pushes the obstacle to the outside of the track. When the detection result exceeds the limit value of the obstacle-clearing resistance, the inspection trolley stops, and the safety limit value of the obstacle-clearing resistance is set as a fixed value. When the obstacle is cleared, the obstacle removal motor drives the connecting rod and the arc-shaped scraper to rotate to the initial vertical position, the brake mechanism is closed, and the trolley continues to inspect at the original speed, thereby realizing automatic obstacle removal and obstacle avoidance during the inspection process Function.

A track is laid on one side of the belt conveyor, and the inspection trolley uses the on-rail inspection method to inspect from the nose to the tail. Since the operation data of different heights and different parts of the belt conveyor must be collected during the inspection process, the inspection trolley is equipped with a detection platform that can be lifted. The platform is composed of a steering gear, a lifting rod, a supporting base, a rotating mechanism and a platform supporting frame. The steering gear is fixed on the steering gear seat connected to the chassis, the steering gear is connected with the rotating mechanism, and the rotating mechanism is connected with the lifting rod, so that the steering gear can control the swinging of the lifting rod, so that the detection system fixed on the liftable detection platform can move vertically The height change in the direction is beneficial to collect data at different heights of the belt conveyor.

The upper cover of the patrol trolley is equipped with slots, and when the height of the lifting detection platform changes, the lifting rod can swing in the slot; the upper cover of the housing can be fully opened outwards, and can be lifted and detected after the inspection The platform can be fully retracted into the housing; the housing is provided with battery slots for easy battery replacement.

In order to make the inspection trolley adapt to the normal working state and maintenance state of the belt conveyor, the inspection trolley has two working modes: automatic inspection and manual inspection. When the belt conveyor is working normally, the inspection trolley adopts the automatic inspection mode, which can plan the route, adjust the inspection speed, change the inspection direction, adjust the height of the lifting detection platform, automatically collect data and report the diagnosis results according to the actual situation. transmitted to the monitoring fixed station. When the belt conveyor is in the inspection state, the inspection trolley adopts the manual inspection mode. In this mode, the inspection trolley can quickly reach the key inspection position according to the requirements of the fixed station, collect the data there and feed back the results to the fixed station. The station can assist the maintenance work of the belt conveyor according to the results.

The specific working process is as follows: place the inspection trolley on the track (34), open the trolley casing upper cover (36) to the outside, the liftable detection platform (4) drives the detection system (5) out of the casing (3), and closes Upper trolley housing upper cover (36); the DC motor (13) of the trolley drive mechanism drives the driving wheel (11) to move through the reducer (14), and the driven wheel (10) moves accordingly; during the movement, it can be lifted The detection platform (4) drives the detection system (5) to continuously change the height in the vertical direction, so that the inspection trolley can collect the operation data of different heights and different parts of the belt conveyor. The detection system (5) collects belt Conveyor image, sound, smoke and CO concentration data; at the same time, the ultrasonic ranging sensor (30) detects the distance to the front in real time, and when an obstacle appears on the inspection route, the obstacle removal system (1) is activated to remove the obstacle Clear the car to avoid collisions with obstacles; after completing the inspection task, close the drive mechanism to stop the car, open the upper cover (36) of the car shell to the outside, and the lifting detection platform (4) drives the detection system (5) to shrink To the inside of the housing (3), close the upper cover (36) of the trolley housing, and use the handle (32) to move the trolley away from the track (34), and end the patrol inspection of the belt conveyor by the patrol trolley.

Claims (3)

1. A track-type mining conveyor automatic inspection trolley with a clearing function, is characterized in that: the trolley comprises a chassis (2), a detection system (5), a liftable detection platform (4), a clearing system ( 1), trolley shell (3), electric control and communication system; chassis (2) consists of driving mechanism, driven mechanism, braking mechanism and frame; driving mechanism consists of DC motor (13), reducer (14), Motor fixed frame (15), shaft coupling (16), wheel shaft (7), bearing (8), bearing frame (9), and drive wheel (11) form; Driven mechanism is made up of wheel shaft (7), bearing (8 ), a bearing frame (9) and a driven wheel (10); the braking mechanism is composed of a chassis connection plate (12) and an electromagnetic brake (17); the frame is composed of a support plate (6), a handle (32), a housing The fixed plate (33) is composed of; the detection system (5) is composed of a sound collection sensor (18), a smoke and CO concentration detector (19), and an image collection sensor (20); the liftable detection platform (4) is composed of a lifting rod (26 ), a rotating mechanism (28), and a steering gear (29); Composed of a motor (24); the electric control and communication system consists of a control circuit board (31), a power supply (27) and a wireless communication module (25); The driving wheel (11) of the dolly is matched with the driven wheel (10) and the track (34), and the dolly and the track (34) are track-type cooperation; Composed of a guide surface, the load-bearing surface is in contact with the upper surface of the track (34), and the guide surface is in contact with the inner side of the track (34); the driving wheel (11) is arranged at the rear of the dolly, and the driven wheel (10) is arranged at the front end of the dolly; The driving wheel (11) is parallel to the driven wheel (10); the DC motor (13) is fixed on the support plate (6) of the trolley frame through the motor fixing bracket (15); the DC motor (13) and the reducer (14) connected, the speed reducer (14) is connected with the drive wheel (11) through a shaft coupling (16); the electromagnetic brake (17) is divided into two pieces, one piece is installed on the chassis connecting plate (12), and the chassis is connected The plate (12) is fixed on the support plate (6) of the trolley frame; the other piece is fixed to the driving wheel (10) of the trolley, and the electromagnetic brake (17) will be energized when deceleration is required, and the two brakes will be attracted, and the two brakes will pass through The way of brake friction achieves the purpose of braking; the driven wheel (10) is connected through the axle (7); the axle (7) cooperates with the bearing frame (9) through the bearing (8); the bearing frame (9) is installed and fixed on the trolley frame on the support plate (6); Steering gear (29) is installed in the middle of the support plate (6) of dolly frame, and steering gear (29) is connected with turning mechanism (28), and turning mechanism (28) is connected with elevating rod (26); The end is provided with a detection system (5), a wireless communication module (25); the sound acquisition sensor (18), smoke and CO concentration detector (19), and image acquisition sensor (20) of the detection system (5) pass through wireless The communication module (25) interacts with the monitoring fixed station; Ultrasonic distance measuring sensors (30) are installed at four corners of the dolly frame, meanwhile, the obstacle removal motor (24) is installed on the obstacle removal motor fixed mount (35), and the obstacle removal motor fixed mount (35) is installed on the support plate ( 6) on; the output shaft of the obstacle removal motor (24) is connected to one end of the connecting rod (23), and the other end of the connecting rod (23) is connected to the arc scraper (21); the arc scraper (21) is provided with There is a load cell (22); through the arc scraper (21), the sundries around the inspection trolley are cleaned; the housing fixing plate (33) is installed on the side of the trolley frame; the power supply (27), the control circuit The plates (31) are respectively fixed on the front and rear ends of the support plate (6) along the forward direction of the trolley; a rectangular hole is opened on the top of the casing upper cover (36) of the trolley, so that the elevating rod (26) can complete the lifting movement along the rectangular hole. There is a power slot (37) on the edge of the shell (3), and the power slot (37) is used to replace and disassemble the power supply (27); the two sides of the support plate (6) are respectively provided with handles (32). 2. A rail-type mine conveyor automatic inspection trolley with obstacle-clearing function according to claim 1, characterized in that: the inspection trolley is provided with two working modes: automatic inspection and manual inspection. 3. The automatic inspection trolley of a rail-type mining conveyor with a clearing function according to claim 1, characterized in that: the inspection trolley is placed on the track (34), and the trolley shell is opened outwards Cover (36), the lifting detection platform (4) drives the detection system (5) to extend out of the casing (3), and closes the trolley housing upper cover (36); the DC motor (13) of the trolley drive mechanism passes through the reducer (14 ) drives the driving wheel (11) to move, and the driven wheel (10) moves accordingly; during the movement, the height of the detection system (5) driven by the lifting detection platform (4) in the vertical direction is constantly changing, so that the patrol inspection The trolley can collect the operation data of different heights and different parts of the belt conveyor, and the detection system (5) collects the image, sound, smoke and CO concentration data of the belt conveyor; meanwhile, the ultrasonic distance measuring sensor (30) real-time Detect the distance to the front, and when there is an obstacle on the inspection route, start the obstacle removal system (1) to remove the obstacle to avoid collision between the car and the obstacle; after completing the inspection task, turn off the driving mechanism to stop the car, Open the trolley housing upper cover (36) to the outside, the lifting detection platform (4) drives the detection system (5) to shrink to the inside of the housing (3), close the trolley housing upper cover (36), and use the handle (32 ) the dolly is moved away from the track (34), and the inspection dolly to the belt conveyor is finished.