Drive device and inspection device

Abstract

The present invention discloses a driving device and an inspection device, wherein the driving device comprises a chassis, a power assembly, a first driving wheel, a second driving wheel and an elastic member, the power assembly comprises a first motor, a second motor, a first rotating shaft and a second rotating shaft, the first motor and the second motor are both arranged below the chassis, the upper end of the first rotating shaft is connected to the first motor so that the first motor drives the first rotating shaft to rotate, the upper end of the second rotating shaft is connected to the second motor so that the second motor drives the second rotating shaft to rotate, the first driving wheel is connected to the lower end of the first rotating shaft, the second driving wheel is connected to the lower end of the second rotating shaft, the elastic member is arranged on the chassis, one end of the elastic member is connected to the first rotating shaft, and the other end of the elastic member is connected to the second rotating shaft. The driving device of the present invention can walk on a track horizontally laid on a comprehensive mining working face to realize unmanned inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of fully mechanized mining of coal mines, and more specifically, to a driving device and an inspection device having the driving device. Background Art

[0002] In related technologies, many coal mining industries have applied visual remote intervention-type intelligent unmanned comprehensive mining, but at least one worker is still required to conduct inspection work in the comprehensive mining working face, which increases labor costs and easily causes safety hazards to workers performing inspection work. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, one embodiment of the present invention provides a driving device that can travel on a track horizontally laid on a comprehensive mining working face and can achieve truly unmanned inspection.

[0005] Another aspect of the present invention provides an inspection device having the driving device.

[0006] The driving device according to the first aspect of the embodiment of the present invention includes a chassis; a power assembly, the power assembly includes a first motor, a second motor, a first rotating shaft and a second rotating shaft, the first motor and the second motor are both arranged below the chassis, the upper end of the first rotating shaft is connected to the first motor so that the first motor drives the first rotating shaft to rotate, and the upper end of the second rotating shaft is connected to the second motor so that the second motor drives the second rotating shaft to rotate; a first driving wheel and a second driving wheel, the first driving wheel is connected to the lower end of the first rotating shaft, and the second driving wheel is connected to the lower end of the second rotating shaft; an elastic member, the elastic member is arranged on the chassis, one end of the elastic member is connected to the first rotating shaft, and the other end of the elastic member is connected to the second rotating shaft.

[0007] According to the driving device of the embodiment of the present invention, a first driving wheel and a second driving wheel are arranged below the chassis, the first driving wheel is movably installed on the first track along the horizontal direction, and the second driving wheel is movably installed on the second track along the horizontal direction. At the same time, an elastic member is arranged between the first rotating shaft and the second rotating shaft, and the elastic member 6 can be used to push the first bearing 45 and the second bearing 46 in the left and right directions, thereby making the first driving wheel 51 close to the first track 1, and the second driving wheel 52 close to the second track 2, which is beneficial to increase the friction between the above-mentioned driving wheels and the above-mentioned tracks, and is beneficial to improve the stability of the driving device 100.

[0008] In some embodiments, the driving device also includes a first bearing and a second bearing, the first bearing is arranged on the chassis and sleeved on the first rotating shaft, the second bearing is arranged on the chassis and sleeved on the second rotating shaft, one end of the elastic member is connected to the first bearing, and the other end of the elastic member is connected to the second bearing.

[0009] In some embodiments, the driving device also includes a guide rail assembly, the guide rail assembly includes a first guide rail and a second guide rail, the first guide rail and the second guide rail are spaced apart and arranged in parallel on the chassis, the first motor is movably arranged between the first guide rail and the second guide rail, and the second motor is movably arranged between the first guide rail and the second guide rail.

[0010] The inspection device according to the second aspect of the present invention includes: a first track and a second track, the first track and the second track are spaced apart and arranged in parallel; a driving device, the driving device is the driving device described in any one of the above embodiments, the first driving wheel is movably mounted on the first track in a horizontal direction, the second driving wheel is connected to the lower end of the second rotating shaft, and the second driving wheel is movably mounted on the second track in a horizontal direction.

[0011] In some embodiments, the inspection device further includes a shell, which is disposed on the chassis and is made of aviation composite material.

[0012] In some embodiments, the inspection device further includes a signal antenna, and the signal antenna includes a Lora antenna and a WiFi antenna, and both the Lora antenna and the WiFi antenna are disposed on the housing.

[0013] In some embodiments, the inspection device further includes a methane sensor, and the methane sensor is disposed on the housing.

[0014] In some embodiments, the inspection device further includes a microphone, and the microphone is disposed on the housing.

[0015] In some embodiments, the inspection device further includes a thermal imager, and the thermal imager is disposed on the housing.

[0016] In some embodiments, the inspection device further includes a camera, and the camera is disposed on the housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of an inspection device according to an embodiment of the present invention.

[0018] Figure 2is another schematic diagram of the inspection device according to an embodiment of the present invention.

[0019] Figure 3 is a front view of a driving device according to an embodiment of the present invention.

[0020] Figure 4 is a top view of a driving device according to an embodiment of the present invention.

[0021] Reference numerals:

[0022] The driving device 100,

[0023] first track 1, second track 2, chassis 3, power assembly 4, first motor 41, second motor 42, first rotating shaft 43, second rotating shaft 44, first bearing 45, second bearing 46, first reducer 47, second reducer 48, first driving wheel 51, second driving wheel 52, elastic member 6, guide rail assembly 7, first guide rail 71, second guide rail 72, first mounting frame 73, second mounting frame 74, first load-bearing wheel 81, second load-bearing wheel 82,

[0024] Inspection device 200,

[0025] Housing 201 , Lora antenna 202 , WiFi antenna 203 , methane sensor 204 , microphone 205 , thermal imager 206 , camera 207 , power button 208 , power status indicator light 209 , emergency stop button 210 , charging port 211 , and handle 212 . DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0027] like Figure 1-Figure 4 As shown, the inspection device 200 according to the embodiment of the present invention includes a first rail 1 , a second rail 2 and a driving device 100 .

[0028] The first track 1 and the second track 2 are spaced apart and arranged in parallel. Figure 3 As shown, the cross-sections of the first track 1 and the second track 2 are both circular, the first track 1 and the second track 2 are substantially cylindrical tracks, the first track 1 and the second track 2 are spaced apart and arranged in parallel along the left-right direction, and the first track 1 and the second track 2 are arranged along the right-left direction. Figure 4 The front-to-rear direction is shown extending horizontally.

[0029] The driving device 100 further includes a chassis 3 , a power assembly 4 , a first driving wheel 51 , a second driving wheel 52 and an elastic member 6 .

[0030] The power assembly 4 includes a first motor 41, a second motor 42, a first rotating shaft 43, and a second rotating shaft 44. The first motor 41 and the second motor 42 are both arranged below the chassis 3, the upper end of the first rotating shaft 43 is connected to the first motor 41 so that the first motor 41 drives the first rotating shaft 43 to rotate, and the upper end of the second rotating shaft 44 is connected to the second motor 42 so that the second motor 42 drives the second rotating shaft 44 to rotate.

[0031] The first driving wheel 51 is connected to the lower end of the first rotating shaft 43. The first driving wheel 51 is arranged in a horizontal direction (eg Figure 1 The second driving wheel 52 is movably mounted on the first track 1 (left and right directions shown in FIG). The second driving wheel 52 is connected to the lower end of the second rotating shaft 44, and the second driving wheel 52 is movably mounted on the second track 2 in the horizontal direction.

[0032] The elastic member 6 is disposed on the chassis 3, and one end of the elastic member 6 (eg Figure 3 The left end of the elastic member 6) is connected to the first rotating shaft 43, and the other end of the elastic member 6 (for example Figure 3 The right end of the middle elastic member 6 is connected to the second rotating shaft 44.

[0033] The elastic member 6 is used to push and retract the first rotating shaft 43 and the second rotating shaft 44 along the left-right direction.

[0034] When the elastic member 6 is used to push the first rotating shaft 43 and the second rotating shaft 44 in the left-right direction, the first rotating shaft 43 and the first driving wheel 51 move to the left, and the second rotating shaft 44 and the second driving wheel 52 move to the right. As a result, the first driving wheel 51 can be closely attached to the first track 1, and the second driving wheel 52 can be closely attached to the second track 2, which is beneficial to increase the friction between the above-mentioned driving wheels and the above-mentioned tracks, and is beneficial to improve the stability of the driving device 100.

[0035] When the elastic member 6 is used to pull and retract the first rotating shaft 43 and the second rotating shaft 44 along the left-right direction, the driving device 100 can be removed from between the first track 1 and the second track 2, making it more convenient to install and remove the driving device 100.

[0036] The specific implementation process of the driving device 100 according to the embodiment of the present invention is as follows:

[0037] The first track 1 and the second track 2 can be laid in parallel in the coal mine in the front-to-back direction. The chassis 3 is generally located above the first track 1 and the second track 2. The first motor 41 and the second motor 42 are provided below the chassis 3. The first motor 41 and the second motor 42 can respectively drive the first rotating shaft 43 and the second rotating shaft 44 to rotate. Furthermore, the first rotating shaft 43 and the second rotating shaft 44 can drive the first driving wheel 51 and the second driving wheel 52 to rotate.

[0038] The first driving wheel 51 is movably installed on the first track 1 along the horizontal direction, and the second driving wheel 52 is movably installed on the second track 2 along the horizontal direction. The first driving wheel 51 and the second driving wheel 52 rotate to move the chassis 3 along the front-rear direction.

[0039] The elastic member 6 is disposed between the first rotating shaft 43 and the second rotating shaft 44 .

[0040] Among them, the first driving wheel 51 and the second driving wheel 52 in the present invention are movably installed on the first rail 1 and the second rail 2 in the horizontal direction, so that the connection between the first driving wheel 51 and the second driving wheel 52 and the first rail 1 and the second rail 2 is more stable, so that the driving device 100 of the embodiment of the present invention can adapt to the complex terrain underground in the coal mine, and ensure that the driving device 100 of the embodiment of the present invention can be laid horizontally on the comprehensive mining working face.

[0041] Preferably, the first driving wheel 51 is slidable in the up-down direction and connected to the first rotating shaft 43, and the second driving wheel 52 is slidable in the up-down direction and connected to the second rotating shaft 44, thereby, the first driving wheel 51 and the second driving wheel 55 can slide up and down to adapt to the uneven first track 1 and second track 2 in the coal mine.

[0042] In some embodiments, Figure 3 As shown, the driving device 100 further includes a first bearing 45 and a second bearing 46. The first bearing 45 is disposed on the chassis 3 and sleeved on the first rotating shaft 43, and the second bearing 46 is disposed on the chassis 3 and sleeved on the second rotating shaft 44. One end of the elastic member 6 is connected to the first bearing 45, and the other end of the elastic member 6 is connected to the second bearing 46.

[0043] Specifically, Figure 3 As shown, the first bearing 45 and the second bearing 46 are disposed below the chassis 3, and the first bearing 45 and the second bearing 46 are respectively sleeved on the upper end of the first rotating shaft 43 and the upper end of the second rotating shaft 44. The first bearing 45 is conducive to improving the stability of the first rotating shaft 43 during rotation, and similarly, the second bearing 46 is conducive to improving the stability of the second rotating shaft 44 during rotation, thereby enabling the driving device 100 to move more stably along the first track 1 and the second track 2.

[0044] Meanwhile, the elastic member 6 is connected to the first bearing 45 and the second bearing 46 , so that the elastic member 6 is prevented from directly contacting the first rotating shaft 43 and the second rotating shaft 44 , which is beneficial to prolonging the service life of the first rotating shaft 43 and the second rotating shaft 44 .

[0045] In some embodiments, Figure 4As shown, the drive device 100 also includes a guide rail assembly 7, which includes a first guide rail 71 and a second guide rail 72, the first guide rail 71 and the second guide rail 72 are spaced apart and arranged in parallel on the chassis 3, the first motor 41 is movably arranged between the first guide rail 71 and the second guide rail 72, and the second motor 42 is movably arranged between the first guide rail 71 and the second guide rail 72.

[0046] Specifically, Figure 4 As shown, the first guide rail 71 and the second guide rail 72 are spaced apart and arranged in parallel on the chassis 3 in the left-right direction, and the first guide rail 71 and the second guide rail 72 are conducive to improving the convenience of moving the first motor 41 and the second motor 42 in the left-right direction.

[0047] In some embodiments, the driving device 100 further includes a first mounting frame 73 and a second mounting frame 74, wherein the first mounting frame 73 is movably disposed on the first guide rail 71 and the second guide rail 72, the first motor 41 is disposed on the first mounting frame 73, the second mounting frame 74 is movably disposed on the first guide rail 71 and the second guide rail 72, and the second motor 42 is disposed on the second mounting frame 74. Thus, it is beneficial to protect the first motor 41 and the second motor 42, and avoid the first motor 41 and the second motor 42 from directly contacting the first guide rail 71 and the second guide rail 72.

[0048] In some embodiments, the driving device 100 further includes a first reducer 47 and a second reducer 48. The first reducer 47 is disposed on the first motor 41, and the upper end of the first rotating shaft 43 is connected to the first reducer 47. The second reducer 48 is disposed on the second motor 42, and the upper end of the second rotating shaft 44 is connected to the second reducer 48. Thus, the first reducer 47 and the second reducer 48 can be used to reduce the rotation speed of the first rotating shaft 43 and the second rotating shaft 44, which is beneficial to prolonging the service life of the first rotating shaft 43 and the second rotating shaft 44.

[0049] In some embodiments, the driving device 100 further includes a first load-bearing wheel 81 and a second load-bearing wheel 82. The first load-bearing wheel 81 and the second load-bearing wheel 82 are arranged below the chassis 3, the first load-bearing wheel 81 is movably mounted on the first track 1 along the vertical direction, and the second load-bearing wheel 82 is movably mounted on the second track 2 along the vertical direction. Thus, the first load-bearing wheel 81 and the second load-bearing wheel 82 can increase the supporting force for the chassis 3, which is beneficial to improving the stability of the driving device 100 during the travel process.

[0050] Furthermore, the first track 1 and the second track 2 include but are not limited to parallel cylindrical tracks, and the shapes of the corresponding first driving wheel 51 and the second driving wheel 52 may also be changed according to the different shapes of the first track 1 and the second track 2.

[0051] In some embodiments, Figure 1As shown, the inspection device 200 also includes a shell 201, which is arranged on the chassis 3, and the material of the shell 201 is an aviation composite material. It can be understood that the aviation composite material is light in weight, which is conducive to reducing the overall weight of the inspection device 200 and improving the endurance of the inspection device 200. At the same time, the shell 201 is made of an aviation composite material, which makes the shell 201 easy to maintain.

[0052] In some embodiments, Figure 1 As shown, the inspection device 200 further includes a signal antenna, which includes a Lora antenna 202 and a WiFi antenna 203 . The Lora antenna 202 and the WiFi antenna 203 are both disposed on the housing 201 .

[0053] It can be understood that the Lora antenna 202 and the WiFi antenna 203 are the communication clients of the inspection device 200 , and the Lora antenna 202 and the WiFi antenna 203 provide a strong and stable communication system for the inspection device 200 .

[0054] Among them, WiFi is used for the communication of large data packets such as videos and images, and LoRa is used for the communication of command control, location information, gas sensors and other data.

[0055] Furthermore, WiFi base stations and LoRa base stations are respectively deployed in the inspection area, which can achieve data communication with the LoRa antenna 202 and WiFi antenna 203 on the inspection device 200.

[0056] In some embodiments, Figure 1 As shown, the inspection device 200 further includes a methane sensor 204 , which is disposed on the housing 201 .

[0057] It can be understood that the methane sensor 204 can collect the methane concentration in the comprehensive mining area in real time. When the collected methane concentration exceeds the set threshold, the methane sensor 204 can issue an alarm message, which is beneficial to improving the personal safety of workers in the comprehensive mining area.

[0058] In some embodiments, Figure 1 As shown, the inspection device 200 further includes a microphone 205 , which is disposed on the housing 201 .

[0059] It can be understood that the microphone 205 can complete sound extraction during the movement of the inspection device 200, and the microphone 205 can determine whether the coal mining machine has cut into the rock through the collected sound.

[0060] In some embodiments, Figure 1 As shown, the inspection device 200 further includes a thermal imager 206 , which is disposed on the housing 201 .

[0061] It is understandable that the thermal imager 206 should be installed facing the coal wall side. The thermal imager 206 is used to collect relevant information of the drum when the coal mining machine is working, and to mark the temperature and position the drum of the coal mining machine.

[0062] In some embodiments, Figure 1 As shown, the inspection device 200 further includes a camera 207 , which is disposed on the housing 201 .

[0063] It is understandable that the camera 207 has a certain degree of flexibility. The camera 207 can quickly patrol the equipment and environmental status of the working surface. The camera 207 can quickly run to observe the operation of the working surface and assist the staff to make timely judgments on problems arising from the working surface.

[0064] At the same time, the camera 207 can rotate along with the coal mining machine, and the mining process can be monitored more closely and intuitively through the camera 207.

[0065] Furthermore, the inspection device 200 also includes a battery (not shown). The battery is the energy core of the inspection device 200 and provides power for the entire inspection device.

[0066] The battery can be connected to the housing 201, the Lora antenna 202, the WiFi antenna 203, the methane sensor 204, the microphone 205, the thermal imager 206 and the camera 207 through the power circuit board. After the power switch is turned on, the above instruments can be powered normally.

[0067] Furthermore, the power button is 208 , the power status indicator light is 209 , the emergency stop button is 210 , the charging interface is 211 , and the inspection device 200 is also provided with a handle 212 .

[0068] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A driving device, characterized in that: include: Chassis; A power assembly, the power assembly comprising a first motor, a second motor, a first rotating shaft and a second rotating shaft, the first motor and the second motor are both arranged below the chassis, the upper end of the first rotating shaft is connected to the first motor so that the first motor drives the first rotating shaft to rotate, and the upper end of the second rotating shaft is connected to the second motor so that the second motor drives the second rotating shaft to rotate; A first driving wheel and a second driving wheel, wherein the first driving wheel is connected to the lower end of the first rotating shaft, the second driving wheel is connected to the lower end of the second rotating shaft, the first driving wheel is connected to the first rotating shaft in a sliding manner in the up-down direction, the second driving wheel is connected to the second rotating shaft in a sliding manner in the up-down direction, and the first driving wheel and the second driving wheel are arranged at intervals in the left and right directions in the horizontal direction; An elastic member, the elastic member is arranged on the chassis, one end of the elastic member is connected to the first rotating shaft, the other end of the elastic member is connected to the second rotating shaft, and the elastic member is used to push and pull the first rotating shaft and the second rotating shaft in the left and right directions; It also includes a guide rail assembly, which includes a first guide rail and a second guide rail, the first guide rail and the second guide rail are spaced apart in a horizontal direction and arranged in parallel on the chassis, the first motor is arranged between the first guide rail and the second guide rail so as to be movably disposed in the left-right direction, and the second motor is arranged between the first guide rail and the second guide rail so as to be movably disposed in the left-right direction.

2. The driving device according to claim 1, characterized in that: It also includes a first bearing and a second bearing, the first bearing is arranged on the chassis and sleeved on the first rotating shaft, the second bearing is arranged on the chassis and sleeved on the second rotating shaft, one end of the elastic member is connected to the first bearing, and the other end of the elastic member is connected to the second bearing.

3. A patrol inspection device, characterized in that: include: a first track and a second track, wherein the first track and the second track are spaced apart and arranged in parallel; The driving device is the driving device according to any one of claims 1 to 2, wherein the first driving wheel is movably mounted on the first track along a horizontal direction, and the second driving wheel is movably mounted on the second track along a horizontal direction.

4. The inspection device according to claim 3, characterized in that: It also includes a shell, which is arranged on the chassis and is made of aviation composite material.

5. The inspection device according to claim 4, characterized in that: It also includes a signal antenna, which includes a Lora antenna and a WiFi antenna, and both the Lora antenna and the WiFi antenna are arranged on the shell.

6. The inspection device according to claim 4, characterized in that: A methane sensor is also included, and the methane sensor is arranged on the housing.

7. The inspection device according to claim 4, characterized in that: Also included is a pickup, which is arranged on the housing.

8. The inspection device according to claim 4, characterized in that: It also includes a thermal imager, which is arranged on the housing.

9. The inspection device according to claim 4, characterized in that: It also includes a camera, which is arranged on the housing.

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