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1. WO2020134187 - MINING WORKFACE INSPECTION ROBOT AND APPLICATION THEREOF

Publication Number WO/2020/134187
Publication Date 02.07.2020
International Application No. PCT/CN2019/105330
International Filing Date 11.09.2019
IPC
B25J 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
E21F 17/18 2006.01
EFIXED CONSTRUCTIONS
21EARTH OR ROCK DRILLING; MINING
FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINAGE IN OR OF MINES OR TUNNELS
17Methods or devices for use in mines or tunnels, not covered elsewhere
18Special adaptations of signalling or alarm devices
CPC
B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B62D 57/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
E21F 17/18
EFIXED CONSTRUCTIONS
21EARTH DRILLING; MINING
FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
17Methods or devices for use in mines or tunnels, not covered elsewhere
18Special adaptations of signalling or alarm devices
E21F 17/185
EFIXED CONSTRUCTIONS
21EARTH DRILLING; MINING
FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
17Methods or devices for use in mines or tunnels, not covered elsewhere
18Special adaptations of signalling or alarm devices
185Rock-pressure control devices with or without alarm devices; Alarm devices in case of roof subsidence
G08C 17/02
GPHYSICS
08SIGNALLING
CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
17Arrangements for transmitting signals characterised by the use of a wireless electrical link
02using a radio link
H04N 5/2257
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
NPICTORIAL COMMUNICATION, e.g. TELEVISION
5Details of television systems
222Studio circuitry; Studio devices; Studio equipment ; ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
225Television cameras ; ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
2257Mechanical and electrical details of cameras or camera modules for embedding in other devices
Applicants
  • 山东科技大学 SHANDONG UNIVERSITY OF SCIENCE AND TECHNOLOGY [CN]/[CN]
Inventors
  • 曾庆良 ZENG, Qingliang
  • 孙志远 SUN, Zhiyuan
  • 万丽荣 WAN, Lirong
  • 戴汉政 DAI, Hanzheng
  • 田明倩 TIAN, Mingqian
  • 杨扬 YANG, Yang
  • 逯振国 LU, Zhenguo
Agents
  • 济南金迪知识产权代理有限公司 JINAN JINDI INTELLECTUAL PROPERTY AGENCY CO., LTD
Priority Data
201910803529.X28.08.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) MINING WORKFACE INSPECTION ROBOT AND APPLICATION THEREOF
(FR) ROBOT D'INSPECTION DE FACE OUVRÉE D'EXPLOITATION MINIÈRE ET SON APPLICATION
(ZH) 一种采掘工作面巡检机器人及其应用
Abstract
(EN)
A mining workface inspection robot and an application thereof, said inspection robot comprising a machine body (1), an explosion-proof omnidirectional vehicle-mounted platform (32), a sensor integration module (34), an explosion-proof infrared camera (323) and an intrinsically safe wireless communication device (17); four independent suspension apparatuses (14) are symmetrically arranged around a chassis (11), and respectively connected to locomotion apparatuses (4); an explosion-proof servo motor (12) is connected to a transmission apparatus (13), and the transmission apparatus is connected to the locomotion apparatuses; an explosion-proof steering gear (15) is connected to the independent suspension apparatuses, and controls the steering of the locomotion apparatuses. The mining workface inspection robot can monitor workface roof deformation, gushing water and equipment operations in real time, and can monitor workface temperatures and harmful gas concentrations in real time. The mounted locomotion apparatuses can switch between wheel-type and track-type, and can perform all-terrain operations. The present invention not only enables inspection personnel to be removed from dangerous environments to ensure their safety, but also discovers abnormal mining workface conditions in real time, for timely detection and treatment.
(FR)
L'invention concerne un robot d'inspection de face ouvrée d'exploitation minière et une application y relative, ledit robot d'inspection comprenant une carrosserie d’engin (1), une plate-forme embarquée de véhicule (32) omnidirectionnelle antidéflagrante, un module d'intégration de capteur-s (34), une caméra infrarouge (323) antidéflagrante et un dispositif de communication sans fil de sécurité intrinsèque (17) ; quatre appareils de suspension (14) indépendants sont disposés symétriquement autour d'un châssis (11) et connectés respectivement à des appareils de locomotion (4) ; un servomoteur (12) antidéflagrant est connecté à un appareil de transmission (13), et l'appareil de transmission est connecté aux appareils de locomotion ; un boîtier de direction (15) antidéflagrant est relié aux appareils de suspension indépendants et commande la direction des appareils de locomotion. Le robot d'inspection de face ouvrée d'exploitation minière peut surveiller toute déformation de toit de la face ouvrée, des jaillissements d’eau et des opérations d'équipement en temps réel, et peut surveiller des températures de face ouvrée et des concentrations de gaz nocifs en temps réel. Les appareils de locomotion embraqués peuvent commuter entre le mode « roues » et le mode « chenilles », et peuvent effectuer des opérations tout terrain. La présente invention non seulement permet de retirer le personnel d'inspection d'environnements dangereux afin d’assurer leur sécurité mais aussi découvre en temps réel les conditions anormales de la face ouvrée d'exploitation minière pour une détection et un traitement à un moment opportun.
(ZH)
一种采掘工作面巡检机器人及其应用,该巡检机器人包括机体(1)、防爆全向车载云台(32)、传感器集成模块(34)、防爆红外摄像头(323)、本安型无线通讯器(17);四个独立悬挂装置(14)对称设置在机架(11)的前后左右,并分别连接行走装置(4);防爆伺服电机(12)连接传动装置(13),传动装置连接行走装置;防爆舵机(15)与独立悬挂装置连接,控制行走装置的转向。该采掘工作面巡检机器人,能够实时监控工作面顶板变形、突涌水和设备运行情况,能够实时监测工作面的温度和有害气体浓度,其搭载的行走装置能够实现轮式和履带式的转换,可进行全地形作业,不仅能够使巡检人员从危险环境中脱离保证巡检人员的安全,而且能够及时发现采掘工作面的异常情况,做到及时发现及时处理。
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