Coal mine inspection robot

Abstract

The invention relates to the technical field of coal mine inspection, and discloses a coal mine inspection robot which comprises a track body and an inspection machine body, an inspection head is mounted on the surface of the inspection machine body, connecting frames are fixedly connected to the two sides of the inspection machine body, a plurality of main rollers are rotationally connected to the surfaces of the connecting frames, and the main rollers abut against the surface of the track body. A penetrating rod is arranged in the main roller in a penetrating mode, the main roller is connected with an auxiliary roller through the penetrating rod, the main roller and the auxiliary roller are equal in size and can be attached to each other to form a whole, a clamping groove is formed in the surface of the main roller, the main roller is connected with a plurality of ratchets through the clamping groove, and a plurality of clamping teeth matched with the ratchets are fixedly connected to the surface of the auxiliary roller. The method has the effect of effectively improving the braking capacity and safety of the inspection robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine inspection, in particular to a coal mine inspection robot. BACKGROUND

[0002] With the advancement of intelligent construction of coal mines, the coal mine inspection robot has become the core equipment to replace manual inspection of underground inspection tasks. Traditional manual inspection is threatened by harsh environments such as underground gas, dust and moisture, and has problems such as low inspection efficiency and untimely data recording. The inspection robot can realize automatic detection and real-time transmission of parameters such as roadway structure, equipment running state and harmful gas concentration by carrying components such as high-definition cameras, infrared thermal imagers and gas sensors.

[0003] To adapt to the complex spatial layout of the underground and avoid mutual interference with the transportation equipment, the existing inspection robot adopts a monorail as a running carrier. The monorail realizes the movement of the robot by being suspended on the track of the roadway roof, has the advantages of small space occupation, fixed running path and adaptation to multi-bend roadway, and has been widely applied to various underground inspection scenes of coal mines.

[0004] However, due to the influence of geological conditions, there are often large inclined sections in the underground roadway of coal mines. The monorail track needs to be inclined synchronously with the slope of the roadway. When the inspection robot runs in the inclined roadway, especially in the downhill working condition, the running speed needs to be controlled by the brake system to avoid the risk of vehicle sliding. In the current robot brake design, the brake is realized by hydraulic or electromagnetic brake. In the case of emergency braking or heavy load, the brake wheel is easy to lock, and the normal pressure between the driving wheel and the track decreases with the increase of the inclination angle. The brake system is easy to appear heat recession phenomenon due to continuous load. The roller changes from normal rolling state to sliding friction state with the track, which will cause the brake to slip out of control due to the fact that the sliding friction coefficient is lower than the rolling friction coefficient, causing the robot to slide, derail and exist safety hazards. SUMMARY

[0005] The purpose of the present application is to provide a coal mine inspection robot to solve the problems in the background art.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a coal mine inspection robot, comprising a track body and an inspection body, an inspection head is installed on the surface of the inspection body, a connecting frame is fixedly connected on both sides of the inspection body, a plurality of main rollers are rotatably connected on the surface of the connecting frame, the main rollers abut on the surface of the track body, a rod is arranged in the main roller, and a secondary roller is connected to the rod, the size of the main roller and the secondary roller is equivalent, and they can be mutually attached to form a whole, a clamping groove is formed on the surface of the main roller, and a plurality of ratchets are connected to the clamping groove, and a plurality of clamping teeth matched with the ratchets are fixedly connected to the surface of the secondary roller.

[0007] Preferably, the penetrating rod is connected with the main roller through a spring.

[0008] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0009] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0010] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0011] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0012] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0013] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0014] Preferably, the auxiliary block is provided with a torsion spring A at the hinged position with the connecting frame.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1. The wheel body is divided into two parts, namely the main roller and the auxiliary roller, and the auxiliary roller can continue to roll on the surface of the track body under the cooperation of the ratchet and the toothed wheel, and the friction between the auxiliary roller and the track body is increased, and the rolling friction is ensured, thereby improving the braking ability and safety of the inspection robot.

[0017] 2. The auxiliary block is rotatable, and a plurality of sets of brake frames are arranged on the surface of the track body, so that the brake block is clamped on the brake frame to actively brake the inspection robot, thereby preventing the problem of skidding and further improving the braking performance. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the whole structure of the present application;

[0019] Figure 2 It is a sectional view of the present application for showing the internal structure of the main roller and the auxiliary roller;

[0020] Figure 3 It is a split schematic diagram of the present application for showing the main roller and the auxiliary roller;

[0021] Figure 4 It is a schematic diagram of the present application for showing the split of the other side of the main roller and the auxiliary roller;

[0022] Figure 5 It is a schematic diagram of the present application for showing the state after the clamping of the brake block and the brake frame;

[0023] Figure 6 It is an enlarged view of A in the present application Figure 5

[0024] In the figure: 1, track body; 11, mounting frame; 12, brake frame; 2, inspection machine body; 21, inspection head; 22, connecting frame; 221, main roller; 222, clamping groove; 223, ratchet; 23, auxiliary roller; 231, buffer piece; 232, clamping tooth; 233, through rod; 234, spring; 3, auxiliary block; 31, torsion spring A; 311, positioning groove; 32, brake block; 321, brake rope; 322, brake wheel; 323, torsion spring B; 324, guide wheel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0026] A coal mine inspection robot is disclosed in the embodiments of the present application, like Figures 1-4 ​As shown, including track body 1 and inspection machine body 2, the top of the track body 1 is provided with several mounting frames 11, the mounting frame 11 is used to connect the track body 1 on the top of the tunnel, the mounting frame 11 can be fixed on the top of the track body 1 by bolt or welding, and several mounting frames 11 are arranged at intervals on the top of the track body 1 and laid in the mine tunnel, the inspection head 21 is mounted on the surface of the inspection machine body 2, the camera, infrared thermal imager and gas sensor are integrated in the inspection head 21, the connecting frame 22 is fixedly connected on both sides of the inspection machine body 2, the connecting frame 22 is fixed on both sides of the inspection machine body 2 by bolt or welding, and the connecting frame 22 is rotatably connected with several main rollers 221, wherein, the driving motor can be arranged on the connecting frame 22 and axially connected to the main roller 221, so as to drive the main roller 221 to rotate, thereby driving the whole inspection device to move and inspect, in addition, the brake device is arranged in the connecting frame 22, which is used for braking the main roller 221, which is generally hydraulic brake or electromagnetic brake, which is prior art, and will not be described here, the main roller 221 abuts against the surface of the track body 1, the main roller 221 is provided with a penetrating rod 233, and the vice roller 23 is connected through the penetrating rod 233, the penetrating rod 233 is fixedly connected with the vice roller 23, the size of the main roller 221 and the vice roller 23 is equivalent, and they can be mutually adhered to form a whole, in the conventional state, the two are adhered and rolled at the same time, and move on the surface of the track body 1, the surface of the main roller 221 is provided with a clamping groove 222, and several ratchets 223 are connected through the clamping groove 222, the ratchet 223 is a one-way tooth, and the surface of the vice roller 23 is fixedly connected with several clamping teeth 232 matched with the ratchet 223, the clamping tooth 232 is adhered in the ratchet 223, because the ratchet 223 is a one-way tooth, the clamping tooth 232 can be one-way disengaged from the ratchet 223, and when reversely moving, the ratchet 223 drives the clamping tooth 232 to move synchronously, and the clamping tooth 232 cannot be disengaged from the ratchet 223.

[0027] Specifically, in a normal state, the rotation of the main roller 221 is driven by the power system, which will simultaneously drive the pawl 232 to move synchronously under the one-way tooth locking force of the ratchet 223. At this time, the pawl 232 will not be disengaged from the ratchet 223, so the main roller 221 will synchronously drive the secondary roller 23 to rotate. When the brake device is in the brake state, the main roller 221 is subjected to resistance and reduces the speed. In the case of loss of control, the main roller 221 slips and is locked, and the secondary roller 23 connected with the main roller 221 is not subjected to the resistance of the brake due to the independent arrangement. At this time, the entire device is still moving forward, and the secondary roller 23 can still rotate under the friction force of the track body 1. Therefore, the secondary roller 23 and the locked main roller 221 form an opposite speed difference, and the pawl 232 will be disengaged from the surface of the ratchet 223, so that the secondary roller 23 moves away from the main roller 221. Correspondingly, the secondary roller 23 moves towards the side wall of the track body 1 and is in friction with the surface of the side wall of the track body 1, thereby effectively increasing the friction force with the track body 1 to provide resistance for braking. In addition, the secondary roller 23 rolls under the friction force of the track body 1, and there is a constant collision between the ratchet 223 and the pawl 232, which further provides rolling resistance for the secondary roller 23. Under the premise of ensuring the existence of rolling resistance, the secondary roller 23 can further assist in braking, thereby improving the braking force and safety of the entire device.

[0028] Further, the rod 233 is connected to the main roller 221 through the spring 234, and the two ends of the spring 234 are fixedly connected to the rod 233 and the main roller 221, respectively. In this way, when the ratchet 223 and the pawl 232 relatively move, the main roller 221 and the secondary roller 23 move away from each other, the spring 234 is compressed, and after a single pawl 232 passes the ratchet 223, the spring 234 rebounds to return the rod 233 to the original position, thereby pulling the secondary roller 23 back. Through the constant friction and rolling between the pawl 232 and the ratchet 223, and the rolling friction between the secondary roller 23 and the track body 1, the braking force is further improved.

[0029] Among them, the side of the secondary roller 23 close to the track body 1 is fixedly connected with a buffer sheet 231, which is a silicone rubber sheet or a sanding sheet, etc. to improve the friction force. When the secondary roller 23 approaches the track body 1, the buffer sheet 231 contacts the track body 1 to improve the contact friction resistance, thereby further improving the braking force.

[0030] As Figure 2 , Figure 5 and Figure 6As shown, in the embodiment, an auxiliary assembly is further included, the auxiliary assembly includes an auxiliary block 3 hinged on the surface of the connecting frame 22, a torsion spring A31 is arranged at the hinge between the auxiliary block 3 and the connecting frame 22, a positioning groove 311 adapted to the through rod 233 is arranged on the side of the auxiliary block 3 close to the connecting frame 22, when the through rod 233 is clamped in the positioning groove 311, the auxiliary block 3 is arranged in parallel with the connecting frame 22, and the torsion spring A31 is compressed, a brake block 32 is arranged on the surface of the auxiliary block 3, and a plurality of brake frames 12 adapted to the brake block 32 are arranged on the top of the track body 1.

[0031] Specifically, when the through rod 233 is separated from the positioning groove 311 following the movement of the auxiliary roller 23, the auxiliary block 3 losing the limiting of the through rod 233 will rotate upward under the rebounding force of the torsion spring A31, and then the brake block 32 on the surface of the auxiliary block 3 will move upward to the height of the brake frame 12, so that when the brake block 32 is continuously moved to the brake frame 12 by the whole device, the whole device will be stopped under the fixed limiting of the brake frame 12, thereby effectively avoiding the problems of coasting and insufficient braking force, and ensuring that the inspection robot can be smoothly stopped, and further improving the braking effect.

[0032] The surface of the brake block 32 is fixedly connected with a brake rope 321, the brake rope 321 penetrates into the auxiliary block 3, a brake wheel 322 is rotatably connected in the auxiliary block 3, a torsion spring B323 is arranged at the rotatable connection between the brake wheel 322 and the auxiliary block 3, the two ends of the torsion spring B323 are fixedly connected with the brake wheel 322 and the auxiliary block 3 respectively, and the brake rope 321 is wound on the surface of the brake wheel 322. In a normal state, when the torsion spring B323 is in a relaxed state, the brake rope 321 is completely wound on the surface of the brake wheel 322. After the brake block 32 is clamped on the surface of the brake frame 12, under the inertia of the continuous movement of the whole body, the brake block 32 will pull out the brake rope 321 on the surface of the brake wheel 322 in the opposite direction, and drive the brake wheel 322 to rotate, so that the torsion spring B323 is compressed, and the parking buffer is realized through the deformation force of the torsion spring B323, thereby avoiding damage to the whole inspection device caused by instantaneous stop.

[0033] A guide wheel 324 is rotatably connected in the auxiliary block 3, the brake rope 321 winds on the surface of the brake wheel 322 after passing through the guide wheel 324, and the guide wheel 324 can guide the brake rope 321 to avoid contact and friction with the inner wall of the auxiliary block 3, thereby improving the buffer stability.

[0034] The brake rope 321 is a synthetic fiber rope or a nylon rope, which has strong toughness and tensile strength.

[0035] The content not described in detail in the specification belongs to the prior art known to those skilled in the art, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A coal mine inspection robot, comprising a track body (1) and an inspection body (2), wherein an inspection head (21) is mounted on the surface of the inspection body (2), characterized in that, The inspection machine body (2) is fixedly connected to both sides of the connecting frame (22). Several main rollers (221) are rotatably connected to the surface of the connecting frame (22). The main rollers (221) abut against the surface of the track body (1). A through rod (233) is inserted inside the main roller (221), and a secondary roller (23) is connected through the through rod (233). The main rollers (221) and the secondary rollers (23) are of similar size and can fit together to form a whole. A slot (222) is opened on the surface of the main roller (221), and several ratchet teeth (223) are connected through the slot (222). Several teeth (232) that are adapted to the ratchet teeth (223) are fixedly connected to the surface of the secondary roller (23).

2. The coal mine inspection robot according to claim 1, characterized in that: The through rod (233) is connected to the main roller (221) via a spring (234).

3. The coal mine inspection robot according to claim 1, characterized in that: The auxiliary roller (23) is fixedly connected to a buffer plate (231) on the side near the track body (1).

4. A coal mine inspection robot according to any one of claims 1-3, characterized in that: It also includes auxiliary components, including an auxiliary block (3) hinged to the surface of the connecting frame (22), a torsion spring A (31) is provided at the hinge of the auxiliary block (3) and the connecting frame (22), a positioning groove (311) adapted to the through rod (233) is provided on the side of the auxiliary block (3) near the connecting frame (22), a brake block (32) is provided on the surface of the auxiliary block (3), and a number of brake frames (12) adapted to the brake block (32) are provided on the top of the track body (1).

5. A coal mine inspection robot according to claim 4, characterized in that: A brake rope (321) is fixedly connected to the surface of the brake block (32). The brake rope (321) passes through the auxiliary block (3). A brake wheel (322) is rotatably connected inside the auxiliary block (3). A torsion spring B (323) is provided at the rotatable connection between the brake wheel (322) and the auxiliary block (3). The brake rope (321) is wound around the surface of the brake wheel (322).

6. A coal mine inspection robot according to claim 5, characterized in that: The auxiliary block (3) is rotatably connected to a guide wheel (324). The brake rope (321) passes around the guide wheel (324) and then winds around the surface of the brake wheel (322).

7. A coal mine inspection robot according to claim 5, characterized in that: The brake rope (321) is a synthetic fiber rope or a nylon rope.

8. A coal mine inspection robot according to claim 1, characterized in that: The track body (1) is provided with several mounting brackets (11) on its top, which are used to connect the track body (1) to the top of the tunnel.

9. A coal mine inspection robot according to claim 1, characterized in that: The inspection head (21) integrates a camera, an infrared thermal imager, and a gas sensor.

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