Mining rail type inspection robot

Abstract

The invention discloses a mining rail-mounted inspection robot, and the robot comprises an inspection unit which comprises an inspection robot body, a guide rail, and collection boxes which are symmetrically distributed at the two sides of the inspection robot body; the support driving unit comprises a main driving wheel which is in rolling connection in the guide rail and a first rotating shaft which is fixedly connected in the main driving wheel; the steering connecting unit comprises two groups of symmetrically distributed U-shaped frames fixedly connected to the upper surface of the bearing plate and first T-shaped sliding blocks fixedly connected to the upper surfaces of the two groups of symmetrically distributed U-shaped frames; by means of a sliding block, a transmission gear, a T-shaped push-pull rod and a first micro electric push rod, when the inspection robot body inspects an end point or a starting point, the transmission gear is engaged with a driven gear to drive a driven rod to rotate, and the whole inspection robot body is driven to rotate through a driving motor to a certain extent; and one side of the camera is deflected to carry out synchronous inspection recording.

Description

Technical Field

[0001] The invention relates to the technical field of mine track inspection robot structures, and in particular to a mine track inspection robot. Background Art

[0002] The mining track inspection robot is one of the important intelligent equipment in coal mines. The inspection robot walks on the track, detects through the dual-light camera and multi-function sensor carried by the robot, and transmits the on-site information to the host computer through the network for image recognition, thereby realizing inspection.

[0003] The existing track-type inspection robots mainly use a preset track system to perform stable movement and inspection inside the mine. This type of robot combines advanced drive technology, sensor technology and data processing technology, and can monitor the environmental parameters, equipment status and personnel activities inside the mine in real time, so as to promptly discover potential safety hazards and provide strong protection for the safe production of the mine. However, due to factors such as the unevenness and slipperiness of the track and mine dust, the track-type inspection robots usually need to patrol back and forth during the driving process, and usually need to use cameras to record the status inside the mine in real time. If multiple sets of cameras are added, the weight of the equipment and the capital investment will increase, thereby reducing the practicality of the equipment. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problems existing in the existing track-type inspection robot for mining, the present invention is proposed.

[0006] Therefore, the purpose of the present invention is to provide a mine track inspection robot, which is suitable for solving the problems of track inspection robots due to factors such as unevenness, slippery tracks and mine dust, and the robot usually needs to patrol back and forth during the driving process, and usually needs to use a camera to record the status in the mine tunnel in real time. If multiple sets of cameras are added, the weight of the equipment and capital investment will easily increase, thereby reducing the practicality of the equipment.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a mine track inspection robot, the track inspection robot comprising:

[0008] The inspection unit includes an inspection robot body and a guide rail, and collection boxes symmetrically distributed on both sides of the inspection robot body. The upper surface of the inspection robot body is provided with a connecting and deflecting unit, and the connecting and deflecting unit contains a load-bearing plate;

[0009] A support driving unit, comprising a main driving wheel rollingly connected in a guide rail and a first rotating shaft fixedly connected in the main driving wheel, a first moving wheel and a second moving wheel rollingly connected in the guide rail, a plurality of symmetrically distributed rubber friction strips fixedly connected on both sides of the guide rail, a third moving wheel rollingly connected on the side of the rubber friction strip away from the guide rail, the third moving wheel fixedly connected to the lower surface of a fixed plate through a second rotating shaft, and one side of the fixed plate rotatably connected to the outer surface of the third rotating shaft of the second moving wheel;

[0010] The steering connection unit includes two groups of symmetrically distributed U-shaped frames fixedly connected to the upper surface of the load-bearing plate, and the upper surfaces of the two groups of symmetrically distributed U-shaped frames are fixedly connected to the first T-shaped slider, the outer surface of the first T-shaped slider is slidably connected to the annular plate, the annular plate is hollowed out with a first T-shaped slide groove, and the inner surface of the first T-shaped slide groove is slidably connected to the outer surface of the first T-shaped slider, and the upper surface of the annular plate is fixedly connected to a driving motor and an n-shaped fixing frame.

[0011] As a preferred solution of the mining track inspection robot described in the present invention, the connection and deflection unit also includes a collection box upper surface fixedly connected to a support plate, one side of the support plate is fixedly connected to a connecting plate, the upper surface of the connecting plate is fixedly connected to a rotating rod, one side of the inspection robot body is fixedly connected to two groups of symmetrically distributed triangular plates, one side of the collection box is fixedly connected to a swing plate, the triangular plate and the swing plate are rotatably connected with a rotating rod, the upper surfaces of the triangular plate and the swing plate are fixedly connected to a connection rod, the upper surfaces of the connection rod are respectively fixedly connected to a first synchronization plate and a second synchronization plate, the lower surface of the first synchronization plate is fixedly connected to the lower surface of the collection box, the lower surface of the second synchronization plate is fixedly connected to a rubber pad, the lower surface of the rubber pad is fixedly connected to the upper surface of the inspection robot body, and the upper surface of the second synchronization plate is in contact with the lower surface of the load-bearing plate.

[0012] As a preferred solution of the mining track-type inspection robot described in the present invention, wherein: symmetrically distributed RFID readers are fixedly connected on both sides of the inspection robot body, symmetrically distributed mine-specific three-dimensional laser scanners are fixedly connected on both sides of the inspection robot body, an emergency stop button is fixedly connected to one side of the inspection robot body, a display is fixedly connected to the side of the inspection robot body away from the emergency stop button, a camera is fixedly connected to one side of the collection box, laser obstacle avoiders are fixedly connected to one side of two groups of collection boxes, a communication antenna is fixedly connected to the upper surface of the inspection robot body, and a speaker is fixedly connected to the lower surface of the inspection robot body.

[0013] As a preferred scheme of the mining rail inspection robot described in the present invention, the first moving wheel is rotatably connected with a fourth rotating shaft, and both sides of the fourth rotating shaft are fixedly connected to the inner surface of the wheel frame, and the lower surface of the wheel frame is fixedly connected with a first spring, and the lower surface of the first spring is fixedly connected with a lifting ring, and the lifting ring is slidably connected with a limit rod, and the upper surface of the limit rod is fixedly connected with a buffer pad, and the end of the limit rod away from the buffer pad is fixedly connected to the wheel frame, and there are several wheel frames, and each two groups of wheel frames are symmetrically distributed, and one side of the wheel frame of one group is fixedly connected with a connecting plate, and the connecting plate is fixedly connected with a second spring, and the upper surface of the second spring is fixedly connected with an auxiliary block, and lifting grooves are opened on both sides of the auxiliary block, and the inner surface of the lifting groove is slidably connected with a guide rod, and the lower surface of the guide rod is fixedly connected to the inner surface of the connecting plate, and the connecting plate is fixedly connected with the secondary moving wheel connecting frame on the side away from the wheel frame.

[0014] As a preferred solution of the mining track inspection robot described in the present invention, the upper surface of the rotating rod is fixedly connected to a fixed plate, the upper outer surface of the rotating rod is slidably connected in a fixed frame, an arc groove is opened in the fixed frame, the outer surface of the rotating rod is slidably connected to the inner surface of the arc groove, the upper surface of the fixed frame is fixedly connected to a top plate, the upper surfaces of the fixed frame and the top plate are both fixedly connected to the lower surface of the secondary driving wheel connecting frame, and an axle ring is fixedly connected in the n-shaped fixed frame.

[0015] As a preferred solution of the mining track inspection robot described in the present invention, wherein: the inner surface of the shaft ring is rotatably connected with a driving rod, the driving rod is fixedly connected with a secondary gear near one end of the shaft ring, one side of the secondary gear is meshingly connected with a transmission gear, and the transmission gear is meshingly connected with a driving gear on the side away from the secondary gear, a fifth rotating shaft is fixedly connected inside the driving gear, the outer surface of the fifth rotating shaft is rotatably connected with a transmission strap, and the inner surface of the other side of the transmission strap is rotatably connected to the outer surface of the first rotating shaft.

[0016] As a preferred solution of the mining track inspection robot described in the present invention, wherein: the lower surface of the transmission gear is rotatably connected to a sliding block, one side of the sliding block is fixedly connected to a third spring, and one side of the third spring is fixedly connected to the inner surface of the n-shaped fixed frame, the side of the sliding block away from the third spring is fixedly connected to a T-shaped push-pull rod, the side of the T-shaped push-pull rod close to the sliding block is fixedly connected to a symmetrically distributed fourth spring, one side of the T-shaped push-pull rod is fixedly connected to a first micro electric push rod through a short plate, and one side of the first micro electric push rod is fixedly connected to one side of the n-shaped fixed frame.

[0017] As a preferred solution of the mining rail inspection robot described in the present invention, the second T-shaped slider is slidably connected in the n-shaped fixed frame, the lower surface of the second T-shaped slider is fixedly connected to a pillar, the lower surface of the pillar is fixedly connected to the upper surface of the load-bearing plate, trapezoidal grooves are provided on both sides of the n-shaped fixed frame, a fixed shaft is fixedly connected in the trapezoidal groove, a deflection rod is rotatably connected to the outer surface of the fixed shaft, the deflection rod is rotatably connected to a mounting block in one end away from the fixed shaft, and one side of the mounting block is fixedly connected to one side of the special-shaped frame.

[0018] As a preferred solution of the mining track inspection robot described in the present invention, the third driving wheel is fixedly connected to the upper surface of the special-shaped frame through the second rotating shaft, one side of the special-shaped frame is fixedly connected to one side of the secondary driving wheel connecting frame through a pulling plate, the U-shaped frame is fixedly connected to the upper surface of the load-bearing plate by bolts, the lower surface of the load-bearing plate is fixedly connected with equidistant and symmetrically distributed load-bearing support rods, and the lower surface of the load-bearing support rods is fixedly connected to the upper surface of the inspection robot body.

[0019] As a preferred solution of the mining track inspection robot described in the present invention, the first supporting plate is fixedly connected to one side of the connecting plate, the second micro electric push rod is fixedly connected to the lower surface of the first supporting plate, the second micro electric push rod is fixedly connected to the second supporting plate on the lower surface, and the scraper is fixedly connected to the lower surface of the second supporting plate.

[0020] Beneficial effects of the present invention:

[0021] 1. Using the inspection robot body, RFID reader, mine-specific 3D laser scanner, collection box, laser obstacle avoider, camera and communication antenna, the inspection robot body scans the internal state of the mine tunnel through the mine-specific 3D laser scanner, and then transmits the internal information of the mine tunnel to the monitoring equipment through the communication antenna. The laser obstacle avoider is further used to scan whether there are obstacles in the forward direction of the equipment during driving, so as to prevent the equipment from hitting foreign objects on the track during movement, so as to avoid damage to the equipment in the normal inspection state;

[0022] 2. The output shaft of the driving motor drives the first rotating shaft to rotate by using the main driving wheel, the first moving wheel, the second moving wheel, the third moving wheel, the second moving wheel connecting frame, the connecting plate and the special-shaped frame, so that the first rotating shaft drives the main driving wheel to move in the guide rail, and the main driving wheel drives the first moving wheel, the second moving wheel and the third moving wheel to support the inspection robot body on the guide rail, so that multiple groups of wheels drive the equipment to move synchronously, and further, the wheel frame and the first spring are used to buffer the first moving wheel during the movement, so as to improve the driving stability of the equipment to a certain extent;

[0023] 3. By using the sliding block, the transmission gear, the secondary gear, the first T-shaped slide groove, the first T-shaped slider, the fifth rotating shaft, the driving gear, the transmission leather strip, the third spring, the fourth spring, the top plate, the T-shaped push-pull rod and the first micro electric push rod, when the inspection robot body reaches the end point or the starting point for inspection, it is necessary to reuse the camera on the equipment to record and shoot the state in the mine tunnel, so that the first micro electric push rod pushes the T-shaped push-pull rod to move, so that the transmission gear can move closer to or away from the secondary gear and the driving gear under the drive of the T-shaped push-pull rod, and then the transmission gear is meshed with the secondary gear to drive the driving rod to rotate, so that the inspection robot body is driven to rotate as a whole through the driving motor to a certain extent, so that one side of the camera is deflected for synchronous inspection and recording;

[0024] 4. Utilize the first synchronous plate, the load-bearing plate, the second synchronous plate, the connecting rod, the rubber pad, the triangular plate, the swing plate and the rotating rod, so that the inspection robot body can rotate the triangular plate and the swing plate on its outer surface through the rotating rod while following the movement of the guide rail, so that the collection box and the inspection robot body can be deflected according to the guide track of the guide rail during the movement, thereby improving the stability of the equipment movement to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0026] Figure 1 This is a schematic diagram of the overall structure of a mine track inspection robot proposed by the present invention;

[0027] Figure 2 This is a schematic structural diagram of the other side of the inspection robot body of a mining rail-type inspection robot proposed by the present invention;

[0028] Figure 3 This is a schematic diagram of the distribution structure of the joint deflection unit of a mine track inspection robot proposed by the present invention;

[0029] Figure 4 This is a schematic diagram of the enlarged structure of the secondary driving wheel connecting frame and the wheel frame of a mining rail-type inspection robot proposed by the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of a steering connection unit of a mine track inspection robot proposed by the present invention;

[0031] Figure 6This is a schematic diagram of the structure of a sliding block of a mine track inspection robot proposed by the present invention;

[0032] Figure 7 This is a schematic diagram of the transmission gear structure of a mine track inspection robot proposed by the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of a support drive unit of a mine track inspection robot proposed by the present invention.

[0034] Description of the drawings: 100, inspection unit; 101, inspection robot body; 102, speaker; 103, guide rail; 104, rubber friction strip; 105, RFID reader; 106, mine-specific 3D laser scanner; 107, emergency stop button; 108, collection box; 109, laser obstacle avoider; 110, camera; 111, communication antenna; 112, display; 200, support drive unit; 201, drive motor; 202, main drive wheel; 203, secondary drive wheel connecting frame; 204, wheel frame; 205, auxiliary block; 206, first moving wheel; 207, second moving wheel; 208, fixed plate; 209, fourth rotating shaft; 210, lifting slot; 211, first spring; 212, lifting ring; 213, limit rod; 214, second bearing plate; 215, second micro electric push rod; 216, first bearing plate; 217, second spring; 218, connecting plate; 219, third moving wheel; 220, special-shaped frame; 221, first rotating shaft; 222, scraper; 223, guide rod; 300, steering Connecting unit; 301, U-shaped frame; 302, annular plate; 303, pillar; 304, trapezoidal groove; 305, rotating rod; 306, fixed plate; 307, arc groove; 308, fixed frame; 309, n-shaped fixed frame; 310, fixed shaft; 311, deflection rod; 312, mounting block; 313, driving rod; 314, second T-shaped slider; 315, sliding block; 316, transmission gear; 317, secondary gear; 318, first T-shaped slide groove; 319, first T-shaped slider; 320, fifth rotating shaft ; 321, driving gear; 322, transmission leather strip; 323, third spring; 324, fourth spring; 325, top plate; 326, T-shaped push-pull rod; 327, first micro electric push rod; 328, shaft ring; 400, connecting deflection unit; 401, support plate; 402, load-bearing support rod; 403, connecting plate; 404, first synchronous plate; 405, load-bearing plate; 406, second synchronous plate; 407, connecting rod; 408, rubber pad; 409, triangle plate; 410, swing plate; 411, rotating rod. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0038] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0039] Embodiment 1:

[0040] Reference Figure 1 - Figure 8 , which is an embodiment of the present invention, provides a mining rail inspection robot, including an inspection unit 100, a support drive unit 200, a steering connection unit 300 and a connection and deflection unit 400.

[0041] The inspection unit 100 includes an inspection robot body 101 and a guide rail 103, and collection boxes 108 are symmetrically distributed on both sides of the inspection robot body 101. A connecting deflection unit 400 is provided on the upper surface of the inspection robot body 101, and a load-bearing plate 405 is included in the connecting deflection unit 400.

[0042] Secondly, the support driving unit 200 includes a main driving wheel 202 rollingly connected in the guide rail 103 and a first rotating shaft 221 fixedly connected in the main driving wheel 202, a first moving wheel 206 and a second moving wheel 207 rollingly connected in the guide rail 103, a plurality of symmetrically distributed rubber friction strips 104 fixedly connected on both sides of the guide rail 103, a third moving wheel 219 rollingly connected on the side of the rubber friction strip 104 away from the guide rail 103, the third moving wheel 219 fixedly connected to the lower surface of the fixed plate 208 through the second rotating shaft, and one side of the fixed plate 208 is rotatably connected to the outer surface of the third rotating shaft of the second moving wheel 207;

[0043] Then, the steering connection unit 300 includes two groups of symmetrically distributed U-shaped frames 301 fixedly connected to the upper surface of the load-bearing plate 405, and the upper surfaces of the two groups of symmetrically distributed U-shaped frames 301 are fixedly connected to the first T-shaped slider 319, the outer surface of the first T-shaped slider 319 is slidably connected to the annular plate 302, the annular plate 302 is hollowed out with a first T-shaped slide groove 318, and the inner surface of the first T-shaped slide groove 318 is slidably connected to the outer surface of the first T-shaped slider 319, and the upper surface of the annular plate 302 is fixedly connected to the driving motor 201 and the n-shaped fixing frame 309;

[0044] Finally, the connecting and deflection unit 400 also includes a support plate 401 fixedly connected to the upper surface of the collection box 108, a connecting plate 403 fixedly connected to one side of the support plate 401, a rotating rod 305 fixedly connected to the upper surface of the connecting plate 403, two groups of symmetrically distributed triangular plates 409 fixedly connected to one side of the inspection robot body 101, a swing plate 410 fixedly connected to one side of the collection box 108, a rotating rod 411 rotatably connected inside the triangular plate 409 and the swing plate 410, connecting rods 407 fixedly connected to the upper surfaces of the triangular plate 409 and the swing plate 410, the upper surfaces of the connecting rods 407 are respectively fixedly connected to the first synchronization plate 404 and the second synchronization plate 406, the lower surface of the first synchronization plate 404 is fixedly connected to the lower surface of the collection box 108, the lower surface of the second synchronization plate 406 is fixedly connected to the rubber pad 408, the lower surface of the rubber pad 408 is fixedly connected to the upper surface of the inspection robot body 101, and the upper surface of the second synchronization plate 406 is in contact with the lower surface of the load-bearing plate 405.

[0045] Furthermore, symmetrically distributed RFID readers 105 are fixedly connected on both sides of the inspection robot body 101, symmetrically distributed mine-specific three-dimensional laser scanners 106 are fixedly connected on both sides of the inspection robot body 101, an emergency stop button 107 is fixedly connected to one side of the inspection robot body 101, a display 112 is fixedly connected to the side of the inspection robot body 101 away from the emergency stop button 107, a camera 110 is fixedly connected to one side of the collection box 108, and a laser obstacle avoider 109 is fixedly connected to one side of the two sets of collection boxes 108. A communication antenna 111 is fixedly connected to the upper surface of the inspection robot body 101, and a speaker 102 is fixedly connected to the lower surface of the inspection robot body 101. The speaker 102 can be used to make a simple report on the internal status of the mine tunnel, so that the staff inside the mine tunnel can quickly grasp the basic information inside the mine tunnel when working. At the same time, the internal status of the mine tunnel is scanned by the mine-specific three-dimensional laser scanner 106, and the internal information of the mine tunnel is transmitted to the monitoring equipment by using the communication antenna 111.

[0046] Furthermore, a second T-shaped slider 314 is slidably connected in the n-shaped fixed frame 309, and a pillar 303 is fixedly connected to the lower surface of the second T-shaped slider 314, and the lower surface of the pillar 303 is fixedly connected to the upper surface of the load-bearing plate 405. Trapezoidal grooves 304 are opened on both sides of the n-shaped fixed frame 309, and a fixed shaft 310 is fixedly connected in the trapezoidal grooves 304. A deflection rod 311 is rotatably connected to the outer surface of the fixed shaft 310, and a mounting block 312 is rotatably connected in the end of the deflection rod 311 away from the fixed shaft 310, and one side of the mounting block 312 is fixedly connected to one side of the special-shaped frame 220, wherein, the first T-shaped slider 319 and the second T-shaped slider 314 drive the driving rod 313 to drive the inspection robot body 101 to rotate as a whole, and at the same time, the deflection rod 311 is used to connect the n-shaped fixed frame 309 with the special-shaped frame 220, so that to a certain extent, the collection box 108 and the inspection robot body 101 are synchronously carried by the guide rail 103.

[0047] Furthermore, the third driving wheel 219 is fixedly connected to the upper surface of the special-shaped frame 220 through the second rotating shaft, one side of the special-shaped frame 220 is fixedly connected to the side of the secondary driving wheel connecting frame 203 through the pulling plate, the U-shaped frame 301 is fixedly connected to the upper surface of the load-bearing plate 405 by bolts, the lower surface of the load-bearing plate 405 is fixedly connected with equidistant and symmetrically distributed load-bearing support rods 402, the lower surface of the load-bearing support rods 402 is fixedly connected to the upper surface of the inspection robot body 101, wherein the first T-shaped slider 319 connected to its upper surface is rotated on the lower surface of the annular plate 302 through the U-shaped frame 301, and then the annular plate 302 bears the weight of the inspection robot body 101, thereby improving the connection effect of the equipment to a certain extent.

[0048] Furthermore, a first supporting plate 216 is fixedly connected to one side of the connecting plate 218, a second micro electric push rod 215 is fixedly connected to the lower surface of the first supporting plate 216, a second micro electric push rod 215 is fixedly connected to the lower surface of the second supporting plate 214, and a scraper 222 is fixedly connected to the lower surface of the second supporting plate 214, wherein the second micro electric push rod 215 drives the second supporting plate 214 to be raised and lowered, so that when multiple groups of wheels pass through the guide rail 103, the scraper 222 is used to scrape the area of ​​the guide rail 103 to which they are about to move, so as to prevent dust on the surface from causing unstable operation of the wheels.

[0049] Working principle: using the inspection robot body 101, RFID reader 105, mine-specific three-dimensional laser scanner 106, collection box 108, laser obstacle avoider 109, camera 110 and communication antenna 111, the inspection robot body 101 scans the internal state of the mine tunnel through the mine-specific three-dimensional laser scanner 106, and then transmits the internal information of the mine tunnel to the monitoring equipment through the communication antenna 111, and further uses the laser obstacle avoider 109 to scan whether there are obstacles in the forward direction during the driving process of the equipment, so as to prevent the equipment from hitting foreign objects on the track during the movement, so that the equipment is in a normal inspection state and avoids damage to the equipment;

[0050] The output shaft of the driving motor 201 drives the first rotating shaft 221 to rotate by using the main driving wheel 202, the first moving wheel 206, the second moving wheel 207, the third moving wheel 219, the secondary moving wheel connecting frame 203, the connecting plate 218 and the special-shaped frame 220, so that the first rotating shaft 221 drives the main driving wheel 202 to move in the guide rail 103, so that the main driving wheel 202 drives the first moving wheel 206, the second moving wheel 207 and the third moving wheel 219 to support the inspection robot body 101 on the guide rail 103, so that multiple groups of wheels synchronously drive the equipment to move, and further, the wheel frame 204 and the first spring 211 are used to buffer the first moving wheel 206 during the movement, so as to improve the driving stability of the equipment to a certain extent;

[0051] By using the sliding block 315, the transmission gear 316, the secondary gear 317, the first T-shaped slide groove 318, the first T-shaped slider 319, the fifth rotating shaft 320, the driving gear 321, the transmission leather strip 322, the third spring 323, the fourth spring 324, the top plate 325, the T-shaped push-pull rod 326 and the first micro electric push rod 327, when the inspection robot body 101 inspects to the end point or the starting point, it is necessary to reuse the camera 110 on the equipment to record and shoot the status in the mine tunnel, so as to The first micro electric push rod 327 pushes the T-shaped push-pull rod 326 to move, so that the transmission gear 316 can move closer to or away from the secondary gear 317 and the driving gear 321 under the drive of the T-shaped push-pull rod 326, and then the transmission gear 316 is meshed with the secondary gear 317 to drive the driving rod 313 to rotate, so that the inspection robot body 101 is driven to rotate as a whole through the driving motor 201 to a certain extent, so that one side of the camera 110 is deflected to perform synchronous inspection and recording;

[0052] By utilizing the first synchronization plate 404, the load-bearing plate 405, the second synchronization plate 406, the connecting rod 407, the rubber pad 408, the triangular plate 409, the swing plate 410 and the rotating rod 411, the inspection robot body 101 can rotate the triangular plate 409 and the swing plate 410 on its outer surface through the rotating rod 411 while following the movement of the guide rail 103, so that the collection box 108 and the inspection robot body 101 can be deflected according to the guide track of the guide rail 103 during the movement, thereby improving the stability of the equipment movement to a certain extent.

[0053] Embodiment 2

[0054] Reference Figure 4 - Figure 7 , compared with the first embodiment, the difference is that: the first moving wheel 206 is rotatably connected with the fourth rotating shaft 209, both sides of the fourth rotating shaft 209 are fixedly connected to the inner surface of the wheel frame 204, the lower surface of the wheel frame 204 is fixedly connected with the first spring 211, the lower surface of the first spring 211 is fixedly connected with the lifting ring 212, the lifting ring 212 is slidably connected with the limit rod 213, the upper surface of the limit rod 213 is fixedly connected with a buffer pad, the end of the limit rod 213 away from the buffer pad is fixedly connected with the wheel frame 204, and the number of wheel frames 204 is several, and each two groups of wheel frames 204 are symmetrically distributed, and one side of one group of wheel frames 204 is fixedly connected with a connecting plate 218, and the connecting plate 218 is fixedly connected with the second spring 217 The upper surface of the second spring 217 is fixedly connected with an auxiliary block 205, and lifting grooves 210 are opened on both sides of the auxiliary block 205. The inner surface of the lifting groove 210 is slidably connected with a guide rod 223, and the lower surface of the guide rod 223 is fixedly connected to the inner surface of the connecting plate 218. The connecting plate 218 is fixedly connected with the secondary moving wheel connecting frame 203 on the side away from the wheel frame 204. The second spring 217 and the first spring 211 inside the connecting plate 218 are used to buffer the movement of the first moving wheel 206 to prevent the dust remaining in the guide rail 103 from affecting the overall operation stability of the equipment. At the same time, multiple sets of symmetrically designed wheel frames 204 are used to evenly distribute the weight of the inspection robot body 101 on the guide rail 103.

[0055] Further, the upper surface of the rotating rod 305 is fixedly connected with a fixed plate 306, the upper outer surface of the rotating rod 305 is slidably connected to the fixed frame 308, the fixed frame 308 is provided with an arc groove 307, the outer surface of the rotating rod 305 is slidably connected to the inner surface of the arc groove 307, the upper surface of the fixed frame 308 is fixedly connected with a top plate 325, the upper surfaces of the fixed frame 308 and the top plate 325 are both fixedly connected to the lower surface of the secondary driving wheel connecting frame 203, and the n-shaped fixed frame 309 is fixedly connected with a shaft ring 328, wherein, through the arc groove 307 and the rotating The rotating rod 305 causes the inspection robot body 101 to rotate while the inspection robot body 101 is rotating, so that the collection box 108 drives the rotating rod 305 to rotate and insert into the fixed frame 308 on the other side during the rotation, so that the wheel frame 204 can support the equipment again after the turning is completed. At the same time, the inner surface of the arc groove 307 is provided with a locking spring, so that during the inspection process, the locking spring can be used to lock and limit the rotating rod 305, thereby preventing the equipment from rotating autonomously during the inspection process.

[0056] Furthermore, the inner surface of the shaft ring 328 is rotatably connected to the driving rod 313, and the driving rod 313 is fixedly connected to the secondary gear 317 at one end close to the shaft ring 328, and the secondary gear 317 is meshedly connected to the transmission gear 316 on one side, and the transmission gear 316 is meshedly connected to the driving gear 321 on the side away from the secondary gear 317, and the driving gear 321 is fixedly connected to the fifth rotating shaft 320, and the outer surface of the fifth rotating shaft 320 is rotatably connected to the transmission strap 322, and the inner surface of the other side of the transmission strap 322 is rotatably connected to the outer surface of the first rotating shaft 221, wherein, through the moving direction of the transmission gear, the drive motor 201 will not randomly drive the equipment to turn when in working state.

[0057] Furthermore, a sliding block 315 is rotatably connected to the lower surface of the transmission gear 316, and a third spring 323 is fixedly connected to one side of the sliding block 315, and one side of the third spring 323 is fixedly connected to the inner surface of the n-shaped fixing frame 309, and a T-shaped push-pull rod 326 is fixedly connected to the side of the sliding block 315 away from the third spring 323, and a symmetrically distributed fourth spring 324 is fixedly connected to the side of the T-shaped push-pull rod 326 close to the sliding block 315, and a first micro electric push rod 327 is fixedly connected to one side of the n-shaped fixing frame 309 through a short plate on one side of the T-shaped push-pull rod 326, and one side of the first micro electric push rod 327 is fixedly connected to one side of the n-shaped fixing frame 309, wherein when the first micro electric push rod 327 is working, it can drive the transmission gear 316 to move, thereby pushing the transmission gear 316 back to its original position through the third spring 323 and the fourth spring 324, to prevent the equipment from rotating during normal inspection.

[0058] Working principle: First, when the equipment is driven forward, the output shaft of the driving motor 201 is used to drive the first rotating shaft 221 to rotate, so that the main driving wheel 202 rolls on the outer surface of the guide rail 103, thereby driving the remaining wheels to roll on the outer surface of the guide rail 103 through the main driving wheel 202, and then the inspection robot as a whole moves on the lower surface of the guide rail 103. At the same time, the first moving wheel 206 and the second moving wheel 207 roll on the guide rail 103 to provide additional support and stability, especially on uneven and slippery tracks. At the same time, the third moving wheel 219 increases the traction and anti-skid ability of the robot through the friction between the rubber friction strip 104 and the two sides of the guide rail 103. The design of the auxiliary block 205 and the spring assembly is used to absorb the vibration caused by the uneven track to ensure the smooth operation of the robot. Furthermore, the RFID reader 105 is used to read the identification information of the equipment in the mine, the mine-specific three-dimensional laser scanner 106 is used to generate a three-dimensional map inside the mine and monitor the equipment status in real time. The camera 110 and the laser obstacle avoider 109 are used Monitor the activities of people and obstacles in the mine to ensure the safety of the robot inspection. All sensor data are transmitted to the ground control center through the communication antenna 111 for real-time analysis and processing. At the same time, in some complex mine environments, the scraper 222 is designed to clean the mine dust and debris on the track to ensure the smooth operation of the robot. The second micro electric push rod 215 is used to control the lifting and lowering of the scraper 222 to meet different track cleaning needs. When the equipment is driven to the starting point, the design of the T-shaped push-pull rod 326 and the micro electric push rod allows the robot to adjust the steering angle as needed to achieve precise steering control. Then, the drive motor 201 transmits power to the driving gear 321 through the transmission leather strip 322 and the transmission gear 316 system, and then drives the secondary driving gear 317 and the driving rod 313 to rotate, so that the rotation of the driving rod 313 drives the rotating rod 305 to slide in the arc groove 307 of the fixed frame 308, thereby realizing the deflection of the steering connection unit 300, thereby turning the direction of the camera 110 and re-recording and shooting the forward direction.

[0059] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mine track inspection robot, characterized in that: The track inspection robot comprises: An inspection unit (100) comprises an inspection robot body (101) and a guide rail (103), and collection boxes (108) symmetrically arranged on both sides of the inspection robot body (101); a connection and deflection unit (400) is arranged on the upper surface of the inspection robot body (101), and a load-bearing plate (405) is included in the connection and deflection unit (400); A support drive unit (200) comprises a main drive wheel (202) rollingly connected in a guide rail (103) and a first rotating shaft (221) fixedly connected in the main drive wheel (202); a first moving wheel (206) and a second moving wheel (207) rollingly connected in the guide rail (103); a plurality of symmetrically distributed rubber friction strips (104) fixedly connected on both sides of the guide rail (103); a third moving wheel (219) rollingly connected on the side of the rubber friction strip (104) away from the guide rail (103); the third moving wheel (219) fixedly connected to the lower surface of a fixed plate (208) via a second rotating shaft; and one side of the fixed plate (208) rotatably connected to the outer surface of the third rotating shaft of the second moving wheel (207); The steering connection unit (300) comprises two groups of symmetrically distributed U-shaped frames (301) fixedly connected to the upper surface of a load-bearing plate (405), and the upper surfaces of the two groups of symmetrically distributed U-shaped frames (301) are both fixedly connected to first T-shaped sliders (319), the outer surface of the first T-shaped slider (319) is slidably connected to an annular plate (302), a first T-shaped slide groove (318) is hollowed out in the annular plate (302), and the inner surface of the first T-shaped slide groove (318) is slidably connected to the outer surface of the first T-shaped slider (319), and the upper surface of the annular plate (302) is fixedly connected to a driving motor (201) and an n-shaped fixing frame (309).

2. A mine track inspection robot according to claim 1, characterized in that: The connecting deflection unit (400) further includes a support plate (401) fixedly connected to the upper surface of the collection box (108), a connecting plate (403) fixedly connected to one side of the support plate (401), a rotating rod (305) fixedly connected to the upper surface of the connecting plate (403), two groups of symmetrically distributed triangular plates (409) fixedly connected to one side of the inspection robot body (101), a swing plate (410) fixedly connected to one side of the collection box (108), a rotating rod (411) rotatably connected to the triangular plate (409) and the swing plate (410), and the triangular plate ( 409) and the upper surface of the swing plate (410) are fixedly connected with a connecting rod (407), and the upper surface of the connecting rod (407) is respectively fixedly connected with a first synchronization plate (404) and a second synchronization plate (406), the lower surface of the first synchronization plate (404) is fixedly connected to the lower surface of the collection box (108), and the lower surface of the second synchronization plate (406) is fixedly connected to a rubber pad (408), and the lower surface of the rubber pad (408) is fixedly connected to the upper surface of the inspection robot body (101), and the upper surface of the second synchronization plate (406) is in contact with the lower surface of the load-bearing plate (405).

3. A mine track inspection robot according to claim 1, characterized in that: Both sides of the inspection robot body (101) are fixedly connected with symmetrically distributed RFID readers (105), both sides of the inspection robot body (101) are fixedly connected with symmetrically distributed mine-specific three-dimensional laser scanners (106), one side of the inspection robot body (101) is fixedly connected with an emergency stop button (107), the side of the inspection robot body (101) away from the emergency stop button (107) is fixedly connected with a display (112), one side of the collection box (108) is fixedly connected with a camera (110), one side of two groups of collection boxes (108) are fixedly connected with laser obstacle avoiders (109), the upper surface of the inspection robot body (101) is fixedly connected with a communication antenna (111), and the lower surface of the inspection robot body (101) is fixedly connected with a speaker (102).

4. A mine track inspection robot according to claim 1, characterized in that: The first driving wheel (206) is rotatably connected to a fourth rotating shaft (209), both sides of the fourth rotating shaft (209) are fixedly connected to the inner surface of the wheel frame (204), the lower surface of the wheel frame (204) is fixedly connected to a first spring (211), the lower surface of the first spring (211) is fixedly connected to a lifting ring (212), a limiting rod (213) is slidably connected to the lifting ring (212), the upper surface of the limiting rod (213) is fixedly connected to a buffer pad, the end of the limiting rod (213) away from the buffer pad is fixedly connected to the wheel frame (204), and the number of wheel frames (204) is several, and each two groups of wheel frames ( 204) are symmetrically distributed, one group of the wheel frames (204) is fixedly connected to a connecting plate (218) on one side, a second spring (217) is fixedly connected inside the connecting plate (218), an auxiliary block (205) is fixedly connected to the upper surface of the second spring (217), both sides of the auxiliary block (205) are provided with lifting grooves (210), the inner surface of the lifting groove (210) is slidably connected to a guide rod (223), the lower surface of the guide rod (223) is fixedly connected to the inner surface of the connecting plate (218), and the connecting plate (218) is fixedly connected to the secondary driving wheel connecting frame (203) on the side away from the wheel frame (204).

5. A mine track inspection robot according to claim 2, characterized in that: The upper surface of the rotating rod (305) is fixedly connected to a fixed disk (306); the upper outer surface of the rotating rod (305) is slidably connected to a fixed frame (308); an arc-shaped groove (307) is provided in the fixed frame (308); the outer surface of the rotating rod (305) is slidably connected to the inner surface of the arc-shaped groove (307); the upper surface of the fixed frame (308) is fixedly connected to a top plate (325); the upper surfaces of the fixed frame (308) and the top plate (325) are both fixedly connected to the lower surface of the secondary driving wheel connecting frame (203); and the inner surface of the n-shaped fixed frame (309) is fixedly connected to a shaft ring (328).

6. A mine track inspection robot according to claim 5, characterized in that: The inner surface of the shaft ring (328) is rotatably connected to a driving rod (313); one end of the driving rod (313) close to the shaft ring (328) is fixedly connected to a secondary gear (317); one side of the secondary gear (317) is meshedly connected to a transmission gear (316); the side of the transmission gear (316) away from the secondary gear (317) is meshedly connected to a driving gear (321); a fifth rotating shaft (320) is fixedly connected inside the driving gear (321); the outer surface of the fifth rotating shaft (320) is rotatably connected to a transmission belt (322); the inner surface of the other side of the transmission belt (322) is rotatably connected to the outer surface of the first rotating shaft (221).

7. A mine track inspection robot according to claim 6, characterized in that: The lower surface of the transmission gear (316) is rotatably connected to a sliding block (315), one side of the sliding block (315) is fixedly connected to a third spring (323), and one side of the third spring (323) is fixedly connected to the inner surface of the n-shaped fixing frame (309), the side of the sliding block (315) away from the third spring (323) is fixedly connected to a T-shaped push-pull rod (326), the side of the T-shaped push-pull rod (326) close to the sliding block (315) is fixedly connected to a symmetrically distributed fourth spring (324), one side of the T-shaped push-pull rod (326) is fixedly connected to a first micro electric push rod (327) via a short plate, and one side of the first micro electric push rod (327) is fixedly connected to one side of the n-shaped fixing frame (309).

8. A mine track inspection robot according to claim 7, characterized in that: A second T-shaped slider (314) is slidably connected inside the n-shaped fixed frame (309), a pillar (303) is fixedly connected to the lower surface of the second T-shaped slider (314), and the lower surface of the pillar (303) is fixedly connected to the upper surface of the load-bearing plate (405). Trapezoidal grooves (304) are provided on both sides of the n-shaped fixed frame (309), a fixed shaft (310) is fixedly connected inside the trapezoidal groove (304), a deflection rod (311) is rotatably connected to the outer surface of the fixed shaft (310), and a mounting block (312) is rotatably connected inside one end of the deflection rod (311) away from the fixed shaft (310), and one side of the mounting block (312) is fixedly connected to one side of the special-shaped frame (220).

9. A mine track inspection robot according to claim 4, characterized in that: The third driving wheel (219) is fixedly connected to the upper surface of the special-shaped frame (220) via a second rotating shaft; one side of the special-shaped frame (220) is fixedly connected to one side of the secondary driving wheel connecting frame (203) via a pulling plate; the U-shaped frame (301) is fixedly connected to the upper surface of the load-bearing plate (405) via bolts; the lower surface of the load-bearing plate (405) is fixedly connected to load-bearing support rods (402) that are equidistantly and symmetrically distributed; and the lower surface of the load-bearing support rods (402) is fixedly connected to the upper surface of the inspection robot body (101).

10. A mine track inspection robot according to claim 9, characterized in that: A first bearing plate (216) is fixedly connected to one side of the connecting plate (218); a second micro electric push rod (215) is fixedly connected to the lower surface of the first bearing plate (216); a second bearing plate (214) is fixedly connected to the lower surface of the second micro electric push rod (215); and a scraper (222) is fixedly connected to the lower surface of the second bearing plate (214).

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