CN104898671A - Automatic polling trolley with obstacle clearing function for track mine conveyer - Google Patents
Automatic polling trolley with obstacle clearing function for track mine conveyer Download PDFInfo
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- CN104898671A CN104898671A CN201510227916.5A CN201510227916A CN104898671A CN 104898671 A CN104898671 A CN 104898671A CN 201510227916 A CN201510227916 A CN 201510227916A CN 104898671 A CN104898671 A CN 104898671A
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Abstract
The invention discloses an automatic polling trolley with an obstacle clearing function for a track mine conveyer. The trolley comprises a chassis, a detection system, a liftable detection platform, an obstacle clearing system, a trolley shell, and an electronic control and communication system; the detection system consists of a sound acquisition sensor, a smog and CO concentration detector and an image acquisition sensor; the liftable detection platform consists of a lifting rod, a slewing mechanism and a steering engine; and the obstacle clearing system consists of an ultrasonic ranging sensor, an arc scraper, a force sensor, a connecting rod and an obstacle clearing motor. The electronic control and communication system consists of a control circuit board, a power supply and a wireless communication module. The trolley has an automatic obstacle clearing function, and can acquire running data of different heights and different parts of a belt conveyer. The device is stable in operation and high in reliability, can realize continuous automatic polling, and has extensive generalization performance.
Description
Technical field
The present invention relates to a kind of band to remove obstacles the rail mounted mine conveyer automatic detecting dolly of function, belong to mine conveyer Condition Monitoring Technology field.Be particularly useful for the status monitoring that metallurgical mine, colliery etc. use rubber conveyer.
Background technology
Belt conveyor be a kind of can the equipment of continuative transport, both can delivery of bulk material, as coal, ore etc., again can the one integral piece material that installs of bull ladle.Belt conveyor has that movement capacity is high, transportation range is long, power consumption is low, can the feature such as continuous and stable transport, be now widely used in the industries such as electric power, metallurgy, chemical industry, coal.Due to the long-time load running of belt conveyor, easily all kinds of fault occurs, the safety of generation to personnel and plant equipment of these faults causes great hidden danger.Current most enterprises has the system of patrolling and examining, but patrols and examines work mostly by manually completing, and whole process of patrolling and examining mainly is operating by the pattern of artificial collection, manual analysis, artificial written transmission of information.This traditional routine inspection mode poor real, efficiency is low, human cost is high, security is low is no longer applicable to patrolling and examining of belt conveyor.
More there are many foreign material in the working environment of current mine conveyer, automatic detecting dolly often runs into various foreign material when touring along pre-determined route; In order to overcome the impact of foreign material on routing inspection trolley, arranging obstacle eliminating system, to realize that it automatically detects be vital.
Summary of the invention
The present invention is directed to the problem of the existing routine inspection mode mentioned in background technology, propose a kind of band and to remove obstacles the rail mounted mine conveyer automatic detecting dolly of function, routing inspection cost can be reduced, improve and patrol and examine efficiency, farthest avoid having an accident.
For achieving the above object by the following technical solutions for a kind of band is removed obstacles the rail mounted mine conveyer automatic detecting dolly of function, this dolly comprises chassis (2), detection system (5), liftable detection platform (4), obstacle eliminating system (1), dolly shell (3), automatically controlled and communication system; Chassis (2) is made up of driving mechanism, follower, arrestment mechanism and vehicle frame; Driving mechanism is by direct current generator (13), speed reduction unit (14), motor fixing frame (15), shaft coupling (16), wheel shaft (7), bearing (8), bearing bracket stand (9), form with driving wheel (11); Follower is made up of with engaged wheel (10) wheel shaft (7), bearing (8), bearing bracket stand (9); Arrestment mechanism is made up of chassis web joint (12) and electromagnetic brake (17); Vehicle frame is made up of back up pad (6), handle (32), housing fixed head (33); Detection system (5) is made up of sound collection sensor (18), smog and CO concentrations detectors (19), image acquiring sensor (20); Liftable detection platform (4) is made up of elevating lever (26), rotating mechanism (28), steering wheel (29); Obstacle eliminating system is made up of ultrasonic distance-measuring sensor (30), arc scraper plate (21), force cell (22), connecting link (23), motor of removing obstacles (24); Automatically controlled and communication system is made up of with wireless communication module (25) control circuit board (31), power supply (27);
The driving wheel (11) of dolly matches with track (34) with engaged wheel (10), and dolly and track (34) are rail mounted fit system; Described driving wheel (11) and engaged wheel (10) are made up of weight-bearing surface and spigot surface, and weight-bearing surface contacts with the upper surface of track (34), and spigot surface contacts with the inner side of track (34); Driving wheel (11) is arranged on dolly afterbody, and engaged wheel (10) is arranged on dolly front end; Driving wheel (11) parallels with engaged wheel (10); Direct current generator (13) is fixed in the back up pad (6) of car frame by motor fixing frame (15); Direct current generator (13) is connected with speed reduction unit (14), and speed reduction unit (14) is connected with driving wheel (11) by shaft coupling (16); Described electromagnetic brake (17) is divided into two panels, and a slice is arranged on chassis web joint (12), and chassis web joint (12) is fixed in the back up pad (6) of car frame; The driving wheel (10) of another sheet and dolly is fixed, and when needing to slow down, electromagnetic brake (17) can be energized, and the adhesive of two panels detent, reaches the object of braking by the mode of two panels brake friction; Engaged wheel (10) is connected by wheel shaft (7); Wheel shaft (7) is coordinated with bearing bracket stand (9) by bearing (8); Bearing bracket stand (9) is fixed in the back up pad (6) of car frame;
Be provided with steering wheel (29) in the middle of the back up pad (6) of car frame, steering wheel (29) is connected with rotating mechanism (28), and rotating mechanism (28) is connected with elevating lever (26); The end of elevating lever (26) is provided with detection system (5), wireless communication module (25); The sound collection sensor (18) of described detection system (5), smog and CO concentrations detectors (19), image acquiring sensor (20) are mutual with monitoring fixed station by wireless communication module (25);
Ultrasonic distance-measuring sensor (30) is installed in four bights of car frame, simultaneously, motor (24) of removing obstacles is arranged on motor fixing frame of removing obstacles (35), and motor fixing frame of removing obstacles (35) is arranged in back up pad (6).The output shaft of motor (24) of removing obstacles is connected with connecting link (23) one end, and connecting link (23) other end is connected with arc scraper plate (21); Described arc scraper plate (21) is provided with force cell (22); Realize the foreign material cleaning around routing inspection trolley by arc scraper plate (21); Housing fixed head (33) is arranged on the side place of car frame; Power supply (27), control circuit board (31) are separately fixed at back up pad (6) rear and front end along dolly working direction; Case top lid (36) top of dolly has rectangular opening, so that elevating lever (26) completes elevating movement along this rectangular opening; Shell (3) edge has power supply fluting (37), and power supply fluting (37) is in order to change dismantling power (27); The both sides of back up pad (6) are respectively equipped with handle (32).
In order to enable routing inspection trolley adapt to belt conveyor normal operating conditions and inspecting state, routing inspection trolley is provided with two kinds of mode of operations and is respectively automatic detecting and manually patrols and examines.When belt conveyor normally works, routing inspection trolley adopts automatic detecting pattern, route planning can be carried out according to actual conditions, regulate polling rate, change patrol and examine direction, regulate liftable detection platform height, automatic data collection diagnostic result is reached monitoring fixed station.When belt conveyor is in inspecting state, routing inspection trolley adopts manual patrol mode, routing inspection trolley can arrive at emphasis maintenance position fast according to the requirement of fixed station in this mode, gather these place's data by result feedback to fixed station, fixed station can assist the service work of belt conveyor according to this result.
Accompanying drawing explanation
Fig. 1 is mine belt conveyor automatic detecting dolly general structure schematic diagram
Fig. 2 is that mine belt conveyor automatic detecting dolly is without shell structure schematic diagram
Fig. 3 is mine belt conveyor automatic detecting dolly chassis structural representation
Fig. 4 is mine belt conveyor automatic detecting dolly shell structure schematic diagram
In figure: 1, obstacle eliminating system, 2, chassis, 3, shell, 4, liftable detection platform, 5, detection system, 6, back up pad, 7, wheel shaft, 8, bearing, 9, bearing bracket stand, 10, engaged wheel, 11, driving wheel, 12, chassis web joint, 13, direct current generator, 14, speed reduction unit, 15, motor fixing frame, 16, shaft coupling, 17, electromagnetic brake, 18, sound collection sensor, 19, smog and CO concentrations detectors, 20, image acquiring sensor, 21, arc scraper plate, 22, force cell, 23, connecting link, 24, to remove obstacles motor, 25, wireless communication module, 26, elevating lever, 27, power supply, 28, rotating mechanism, 29, steering wheel, 30, ultrasonic distance-measuring sensor, 31, control circuit board, 32, handle, 33, housing fixed head, 34, track, 35, to remove obstacles motor fixing frame 36, case top lid, 37, power supply is slotted.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
Shown in Fig. 1-4, described infrared collecting sensor is arranged on The Cloud Terrace, can rotate along with The Cloud Terrace, can without the observation belt conveyor operation conditions at dead angle.Described smog and CO concentrations detectors can set safe concentration limit value, and when gas concentration exceedes this limit value, routing inspection trolley should send continuously violent sound and light alarm, and prompting related personnel evacuates in time, avoids production development security incident.Described wireless communication module adopts the communication mode of WiFI, and the route of patrolling and examining arranges a wireless bridge AP every 50m, realizes interconnected communication between each bridge, the covering making wireless signal seamless is whole patrols and examines route.
Patrol and examine in process at automatic detecting dolly, ultrasonic distance-measuring sensor detects the distance with front in real time, sets certain safe distance and distance of automatically removing obstacles.When the ultrasonic distance-measuring sensor in obstacle eliminating system detects barrier, and the time in that measurement result being less than safe distance, open arrestment mechanism, routing inspection trolley is reduced speed now.Remove obstacles apart from time interior when routing inspection trolley is decelerated to, driven by motor of removing obstacles connecting link and arc scraper plate rotate, until stop the rotation when arc scraper plate contacts with track.In the contact process of arc scraper plate and barrier, the change of force cell detect force, testing result is when removing obstacles in resistance limit value, and barrier is pushed into outside track by arc scraper plate.Testing result exceed remove obstacles resistance limit value time, routing inspection trolley stop, resistance safety limit of wherein removing obstacles is set as a fixed value.After barrier is removed, driven by motor of removing obstacles connecting link and arc scraper rotary go to original vertical position, close arrestment mechanism, and dolly continues to patrol and examine with former speed, thus realize patrolling and examining automatically removing obstacles and barrier avoiding function in process.
Be equipped with track in belt conveyor side, routing inspection trolley adopts the mode of patrolling and examining in-orbit to patrol and examine between head to tail.Owing to will gather belt conveyor differing heights in the process of patrolling and examining, the service data of different parts, therefore routing inspection trolley is with liftable detection platform.This platform is made up of steering wheel, elevating lever, base for supporting, rotating mechanism, platform frame.Steering wheel is fixed on chassis on the steering engine seat connected, steering wheel is connected with rotating mechanism, rotating mechanism is connected with elevating lever, realize servos control elevating lever to swing, make the height change of the detection system in the vertical direction be fixed in liftable detection platform, be conducive to the data gathering belt conveyor differing heights.
The case top lid of routing inspection trolley is provided with fluting, when liftable detection platform height change, elevating lever can fluting in self-swinging; Case top lid can completely outwards be opened, and after patrolling and examining end, liftable detection platform can be fully retracted to enclosure interior; Housing is provided with battery fluting, can facilitate the replacing of battery.
In order to enable routing inspection trolley adapt to belt conveyor normal operating conditions and inspecting state, routing inspection trolley is provided with two kinds of mode of operations and is respectively automatic detecting and manually patrols and examines.When belt conveyor normally works, routing inspection trolley adopts automatic detecting pattern, route planning can be carried out according to actual conditions, regulate polling rate, change patrol and examine direction, regulate liftable detection platform height, automatic data collection diagnostic result is reached monitoring fixed station.When belt conveyor is in inspecting state, routing inspection trolley adopts manual patrol mode, routing inspection trolley can arrive at emphasis maintenance position fast according to the requirement of fixed station in this mode, gather these place's data by result feedback to fixed station, fixed station can assist the service work of belt conveyor according to this result.
Specific works process is: be positioned over by routing inspection trolley on track (34), open dolly case top lid (36) laterally, liftable detection platform (4) drives detection system (5) to stretch out shell (3), dolly case top lid of closing (36); The direct current generator (13) of trolley driving mechanism drives driving wheel (11) motion by speed reduction unit (14), and engaged wheel (10) moves thereupon; In the process of motion, liftable detection platform (4) drives detection system (5) constantly to change at the height of vertical direction, thus enabling routing inspection trolley gather the service data of belt conveyor differing heights, different parts, described detection system (5) gathers the image of belt conveyor, sound, smog and CO concentration data; Meanwhile, ultrasonic distance-measuring sensor (30) detects in real time the distance with front, when patrol and examine route there is barrier time, start obstacle eliminating system (1) and barrier removed, avoid dolly and barrier to bump against; After completing patrol task, closing driving mechanism makes dolly stop, open dolly case top lid (36) laterally, it is inner that liftable detection platform (4) drives detection system (5) to be reduced to housing (3), dolly case top lid of closing (36), utilize handle (32) dolly to be moved away from track (34), terminate routing inspection trolley patrolling and examining belt conveyor.
Claims (3)
1. band is removed obstacles a rail mounted mine conveyer automatic detecting dolly for function, it is characterized in that: this dolly comprises chassis (2), detection system (5), liftable detection platform (4), obstacle eliminating system (1), dolly shell (3), automatically controlled and communication system; Chassis (2) is made up of driving mechanism, follower, arrestment mechanism and vehicle frame; Driving mechanism is by direct current generator (13), speed reduction unit (14), motor fixing frame (15), shaft coupling (16), wheel shaft (7), bearing (8), bearing bracket stand (9), form with driving wheel (11); Follower is made up of with engaged wheel (10) wheel shaft (7), bearing (8), bearing bracket stand (9); Arrestment mechanism is made up of chassis web joint (12) and electromagnetic brake (17); Vehicle frame is made up of back up pad (6), handle (32), housing fixed head (33); Detection system (5) is made up of sound collection sensor (18), smog and CO concentrations detectors (19), image acquiring sensor (20); Liftable detection platform (4) is made up of elevating lever (26), rotating mechanism (28), steering wheel (29); Obstacle eliminating system is made up of ultrasonic distance-measuring sensor (30), arc scraper plate (21), force cell (22), connecting link (23), motor of removing obstacles (24); Automatically controlled and communication system is made up of with wireless communication module (25) control circuit board (31), power supply (27);
The driving wheel (11) of dolly matches with track (34) with engaged wheel (10), and dolly and track (34) are rail mounted fit system; Described driving wheel (11) and engaged wheel (10) are made up of weight-bearing surface and spigot surface, and weight-bearing surface contacts with the upper surface of track (34), and spigot surface contacts with the inner side of track (34); Driving wheel (11) is arranged on dolly afterbody, and engaged wheel (10) is arranged on dolly front end; Driving wheel (11) parallels with engaged wheel (10); Direct current generator (13) is fixed in the back up pad (6) of car frame by motor fixing frame (15); Direct current generator (13) is connected with speed reduction unit (14), and speed reduction unit (14) is connected with driving wheel (11) by shaft coupling (16); Described electromagnetic brake (17) is divided into two panels, and a slice is arranged on chassis web joint (12), and chassis web joint (12) is fixed in the back up pad (6) of car frame; The driving wheel (10) of another sheet and dolly is fixed, and when needing to slow down, electromagnetic brake (17) can be energized, and the adhesive of two panels detent, reaches the object of braking by the mode of two panels brake friction; Engaged wheel (10) is connected by wheel shaft (7); Wheel shaft (7) is coordinated with bearing bracket stand (9) by bearing (8); Bearing bracket stand (9) is fixed in the back up pad (6) of car frame;
Be provided with steering wheel (29) in the middle of the back up pad (6) of car frame, steering wheel (29) is connected with rotating mechanism (28), and rotating mechanism (28) is connected with elevating lever (26); The end of elevating lever (26) is provided with detection system (5), wireless communication module (25); The sound collection sensor (18) of described detection system (5), smog and CO concentrations detectors (19), image acquiring sensor (20) are mutual with monitoring fixed station by wireless communication module (25);
Ultrasonic distance-measuring sensor (30) is installed in four bights of car frame, simultaneously, motor (24) of removing obstacles is arranged on motor fixing frame of removing obstacles (35), and motor fixing frame of removing obstacles (35) is arranged in back up pad (6); The output shaft of motor (24) of removing obstacles is connected with connecting link (23) one end, and connecting link (23) other end is connected with arc scraper plate (21); Described arc scraper plate (21) is provided with force cell (22); Realize the foreign material cleaning around routing inspection trolley by arc scraper plate (21); Housing fixed head (33) is arranged on the side place of car frame; Power supply (27), control circuit board (31) are separately fixed at back up pad (6) rear and front end along dolly working direction; Case top lid (36) top of dolly has rectangular opening, so that elevating lever (26) completes elevating movement along this rectangular opening; Shell (3) edge has power supply fluting (37), and power supply fluting (37) is in order to change dismantling power (27); The both sides of back up pad (6) are respectively equipped with handle (32).
2. a kind of belt conveyor automatic detecting dolly according to claim 1, is characterized in that: routing inspection trolley is provided with automatic detecting and manually patrols and examines two kinds of mode of operations.
3. a kind of belt conveyor automatic detecting dolly according to claim 1, it is characterized in that: routing inspection trolley is positioned on track (34), open dolly case top lid (36) laterally, liftable detection platform (4) drives detection system (5) to stretch out shell (3), dolly case top lid of closing (36); The direct current generator (13) of trolley driving mechanism drives driving wheel (11) motion by speed reduction unit (14), and engaged wheel (10) moves thereupon; In the process of motion, liftable detection platform (4) drives detection system (5) constantly to change at the height of vertical direction, thus enabling routing inspection trolley gather the service data of belt conveyor differing heights, different parts, described detection system (5) gathers the image of belt conveyor, sound, smog and CO concentration data; Meanwhile, ultrasonic distance-measuring sensor (30) detects in real time the distance with front, when patrol and examine route there is barrier time, start obstacle eliminating system (1) and barrier removed, avoid dolly and barrier to bump against; After completing patrol task, closing driving mechanism makes dolly stop, open dolly case top lid (36) laterally, it is inner that liftable detection platform (4) drives detection system (5) to be reduced to housing (3), dolly case top lid of closing (36), utilize handle (32) dolly to be moved away from track (34), terminate routing inspection trolley patrolling and examining belt conveyor.
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