Inspection system of traction inspection robot

Abstract

The present invention overcomes the shortcomings of the prior art, provides an inspection system of a traction-type inspection robot, and solves the potential safety hazard problems of manual inspection in the prior art; in order to solve the above technical problems, the technical solution adopted by the present invention is: the inspection system of a traction-type inspection robot comprises a general track structure, an inspection robot body and a driving device, the general track structure and the driving device are both arranged on a scraper, the inspection robot body is movably arranged on the general track structure, and the inspection robot body can move along the general track structure under the traction of the driving device through a steel wire rope to inspect the comprehensive mining working face; the present invention can be widely used in the field of safe production in coal mines.

Description

Technical Field

[0001] The invention discloses an inspection system of a traction inspection robot, belonging to the technical field of coal mine production safety inspection. Background Art

[0002] At present, the inspection work of coal mining working faces relies on manual work, and the working face environment is complex, with serious spalling, narrow space, common water accumulation, and serious potential disaster and accident hazards. On the one hand, due to the dangerous environment and harsh working conditions of the comprehensive mining face, the safety of the inspectors themselves cannot be guaranteed; on the other hand, because the inspectors are easily influenced by personal experience, emotions, and subjective consciousness, and are restricted by monitoring methods, data recording, and data analysis, the inspection is not in place, and effective data results cannot be obtained. The data obtained is difficult to form a system, and potential accidents are often missed and underreported, posing a great safety hazard. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art, provides an inspection system of a traction-type inspection robot, and solves the potential safety hazard problem of manual inspection in the prior art.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: the inspection system of a traction-type inspection robot includes a main track structure, an inspection robot body and a driving device, the main track structure and the driving device are both arranged on a scraper, the inspection robot body is movably arranged on the main track structure, and the inspection robot body can move along the main track structure under the traction of the driving device through a steel wire rope to inspect the comprehensive mining working face.

[0005] The overall track structure comprises: a plurality of track bodies, a first elastic connector, a support frame and a limit block, one side of the support frame is fixedly arranged on the scraper, and the other side of the support frame is provided with two baffles parallel to each other, one end of the two baffles is fixedly arranged on the support frame, and the other ends of the two baffles are provided with a track body, the two track bodies are arranged parallel to each other, and an arc-shaped one-way baffle is movably arranged at the end located on one side of the track body between the two baffles, and a revolving body roller with a concave waist is movably arranged at the end located on one side of the support frame between the two baffles, and the channel formed by the revolving body roller, the two baffles and the one-way baffle is used to limit the activity space of the wire rope, the plurality of track bodies are connected in sequence, and the adjacent two track bodies are connected together by the first elastic connector, and the first elastic connector is used for the adjacent two track bodies to be adjusted within a range of 360° to adapt to the lane structure, and one or more limit blocks are arranged between the two track bodies parallel to each other, and the limit blocks are used to limit the wire rope to be located on the inner side of the track body.

[0006] The limit block includes a first limit bracket and a first limiter, the first limit bracket is fixedly arranged on the track body located below, the second limiter is in an inverted J shape, the first limiter is fixedly arranged on the upper end of the first limit bracket, and a space for the inspection robot body to pass through is left between the top of the first limiter and the track body located above it.

[0007] The limit block includes a second limit bracket and a second limiter, the second limit bracket is fixedly arranged on the track body located below, the second limiter is an eccentric structure with the center of gravity moved downward, the lower part of the second limiter is movably hinged to the upper end of the second limit bracket, the upper end of the second limiter is arranged tightly against the track body located above it, and the second limiter is used for the inspection robot body to automatically reset after it is crushed and passed.

[0008] The inspection robot body includes at least one sliding mounting structure, and adjacent sliding mounting structures are connected together by a second elastic connecting member. A sliding block with an E-shaped cross-section is provided in the middle of the sliding mounting structure, and grooves matching the track body are provided on the inner sides of the upper and lower ends of the sliding block to ensure that the sliding mounting structure can slide smoothly on the track body.

[0009] The driving device includes a mounting frame, a rope winding wheel and a driving motor. The mounting frame is U-shaped, and the bottom of the mounting frame is fixedly arranged on the scraper, and the two ends of the rope winding wheel are movably arranged on the upper part of the mounting frame. The body of the driving motor is fixedly arranged on one side of the mounting frame, and the power output end of the driving motor is arranged through the middle part of the rope winding wheel, and the power output end of the driving motor and the rope winding wheel are connected by a key to transmit power.

[0010] The upper part of the one-way baffle is inserted into the slot located at the lower side of the upper baffle, the lower part of the one-way baffle is against the upper side of the upper baffle, and the center of the one-way baffle is located on the side close to the rotating body roller.

[0011] The first elastic connecting member and the second elastic connecting member are both spring structures.

[0012] The inner sides of the upper and lower ends of the sliding block are both provided with double groove structures as spare sliding grooves.

[0013] Compared with the prior art, the present invention has the following beneficial effects: the present invention is used to develop a wire traction inspection robot for the working face to replace inspection personnel, observe the mining posture of the coal mining machine, the distance between the hydraulic support and the coal mining machine drum, etc., effectively improve the level of automation of coal mine comprehensive mining, improve the accuracy of the monitoring and control system, and realize operation with few or no people. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below in conjunction with the accompanying drawings.

[0015] Figure 1 It is a schematic diagram of the structure of the present invention.

[0016] Figure 2 Schematic diagram of the overall track structure of the present invention.

[0017] Figure 3 Schematic diagram of the driving device in the present invention.

[0018] Figure 4 It is a schematic diagram of the inspection robot body in the present invention.

[0019] Figure 5 for Figure 1 A partial enlarged view of middle A.

[0020] Figure 6 for Figure 1 A partial enlarged view of B.

[0021] Figure 7 It is a schematic diagram of the use state of the support frame in the present invention.

[0022] Figure 8 It is a side view of the support frame in the present invention when in use.

[0023] Fig. 9 It is a schematic diagram of the cooperation of the rotary roller, two baffles and one-way baffle bar in the present invention.

[0024] Fig.10 Schematic diagram of the limit block in the present invention Figure 1 .

[0025] Fig.11 Schematic diagram of the limit block in the present invention Figure 2 .

[0026] In the figure: 1 is the overall track structure, 11 is the track body, 12 is the first elastic connecting member, 13 is the supporting frame, 14 is the limiting block, 141 is the first limiting bracket, 142 is the first limiter, 143 is the second limiting bracket, 144 is the second limiter, 15 is the baffle, 16 is the one-way baffle bar, 17 is the rotating body roller, 2 is the inspection robot body, 21 is the sliding mounting structure, 22 is the second elastic connecting member, 23 is the sliding block, 3 is the driving device, 31 is the mounting frame, 32 is the rope winding wheel, 33 is the driving motor, and 4 is the scraper. DETAILED DESCRIPTION

[0027] like Figures 1 to 11As shown, the inspection system of a traction-type inspection robot of the present invention includes a main track structure 1, an inspection robot body 2 and a driving device 3. The main track structure 1 and the driving device 3 are both arranged on a scraper 4. The inspection robot body 2 is movably arranged on the main track structure 1, and the inspection robot body 2 can move along the main track structure 1 under the traction of the driving device 3 through a steel wire rope to inspect the comprehensive mining working face.

[0028] The overall track structure 1 includes: a plurality of track bodies 11, a first elastic connector 12, a support frame 13 and a limit block 14, one side of the support frame 13 is fixedly arranged on the scraper 4, and the other side of the support frame 13 is provided with two baffles 15 parallel to each other, one end of the two baffles 15 is fixedly arranged on the support frame 13, and the other ends of the two baffles 15 are each provided with a track body 11, the two track bodies 11 are arranged parallel to each other, and an arc-shaped one-way baffle 16 is movably arranged at the end located on one side of the track body 11 between the two baffles 15, and the two baffles 15 are arranged at the end located on one side of the support frame 13. A rotatable roller 17 with a concave waist is movably provided at the end. The channel formed by the rotatable roller 17, two baffles 15 and a one-way baffle 16 is used to limit the movable space of the wire rope. The multiple track bodies 11 are connected in sequence, and the two adjacent track bodies 11 are connected together by a first elastic connecting member 12. The first elastic connecting member 12 is used for the two adjacent track bodies 11 to be adjusted within a range of 360° to adapt to the tunnel structure. One or more limit blocks 14 are provided between the two upper and lower parallel track bodies 11. The limit block 14 is used to limit the wire rope to be located on the inner side of the track body 11.

[0029] The limit block 14 includes a first limit bracket 141 and a first limiter 142. The first limit bracket 141 is fixedly arranged on the track body 11 located below, and the second limiter 142 is in an inverted J shape. The first limiter 142 is fixedly arranged on the upper end of the first limit bracket 141, and a space for the inspection robot body 2 to pass is left between the top of the first limiter 142 and the track body 11 located above it.

[0030] The limit block 14 includes a second limit bracket 143 and a second limiter 144. The second limit bracket 143 is fixedly arranged on the track body 11 located below. The second limiter 144 is an eccentric structure with the center of gravity moved downward. The lower part of the second limiter 144 is movably hinged to the upper end of the second limit bracket 143. The upper end of the second limiter 144 is arranged tightly against the track body 11 located above it. The second limiter 144 is used to automatically reset the inspection robot body 2 after it is overwhelmed and passed.

[0031] The two structural modes of the limit block 14 in the present invention can appear in any one form, or both can appear at the same time.

[0032] The inspection robot body 2 includes at least one sliding mounting structure 21, and adjacent sliding mounting structures 21 are connected together by a second elastic connecting member 22. A slider 23 with an E-shaped cross-section is provided in the middle of the sliding mounting structure 21, and grooves matching the track body 11 are provided on the inner sides of the upper and lower ends of the slider 23 to ensure that the sliding mounting structure 21 can slide smoothly on the track body 11.

[0033] The driving device 3 includes a mounting frame 31, a rope wheel 32 and a driving motor 33. The mounting frame 31 is U-shaped, and the bottom of the mounting frame 31 is fixedly arranged on the scraper 4. The two ends of the rope wheel 32 are movably arranged on the upper part of the mounting frame 31. The body of the driving motor 33 is fixedly arranged on one side of the mounting frame 31. The power output end of the driving motor 33 is arranged through the middle of the rope wheel 32, and the power output end of the driving motor 33 and the rope wheel 32 are connected by a key to transmit power.

[0034] The upper portion of the one-way baffle 16 is inserted into the slot located at the lower side of the upper baffle 15 , the lower portion of the one-way baffle 16 abuts against the upper side surface of the upper baffle 15 , and the center of the one-way baffle 16 is located on the side close to the rotating body roller 17 .

[0035] The first elastic connecting member 12 and the second elastic connecting member 22 are both spring structures.

[0036] The inner sides of the upper and lower ends of the sliding block 23 are both provided with double groove structures as spare sliding grooves.

[0037] The present invention comprises: a main track structure 1, an inspection robot body 2, a driving device 3, etc. The main track structure 1 is installed on a scraper, and the inspection robot body 2 is driven and moved along the main track structure 1 by the driving device 3 to inspect the comprehensive mining working face.

[0038] In the present invention, the main track structure 1 is installed on the scraper 4, and the inspection robot body 2 moves along the main track structure 1 to inspect the comprehensive mining working face, replacing the inspection personnel to observe the mining posture of the coal mining machine, the distance between the hydraulic support and the coal mining machine drum, etc., effectively improving the automation level of coal mine comprehensive mining, improving the accuracy of the monitoring and control system, and realizing operation with few or no people.

[0039] The overall track structure 1 is composed of a plurality of track bodies 11 , a single track body 11 is installed on a single-frame scraper, and the plurality of track bodies 11 are connected in this way, and the single track bodies 11 are flexibly connected to each other.

[0040] The inspection robot body 2 includes one or more sliding mounting structures, multiple functional modules, flexible connection parts, etc. Each sliding mounting structure mounts multiple functional modules, and the two sliding mounting structures are connected by a flexible connection part. The two sliding mounting structures move along the overall track structure.

[0041] The present invention is used to develop a wire traction inspection robot on the working face to replace inspection personnel, observe the mining posture of the coal mining machine, the distance between the hydraulic support and the coal mining machine drum, etc., effectively improve the level of automation of coal mine comprehensive mining, enhance the accuracy of the monitoring and control system, and realize operation with few or no people.

[0042] The present invention has a wide range of applications, and the application equipment can be a scraper or other equipment. Taking a scraper as an example: the first track component is installed on a single-frame scraper; the second track component is installed on the scraper, and so on, one to one. The first track component is connected to the second track component. Similarly, multiple tracks are connected in this way. Each track component includes a straight track and a flexible track, thereby ensuring the passability of the inspection robot body part on the total track part. When the ground is undulating, the working principle is the same as above.

[0043] The present invention will be further described below in conjunction with specific embodiments.

[0044] This embodiment includes: a general track part, a patrol robot body part, a driving part, etc. The general track part is installed on the scraper, and the patrol robot body part is driven to move along the general track part by the driving part, and the driving part is installed on the scraper to complete the patrol inspection of the fully mechanized mining working face.

[0045] The total track part is composed of multiple track components, a single track component 2 is installed on a single-frame scraper, multiple track components are connected in this way, and the single track components are flexibly connected.

[0046] The total track part includes: the first track component is installed on the first scraper; the second track component is installed on the second scraper, and so on, one to one. The first track component is connected to the second track component. Similarly, multiple tracks are connected in this way.

[0047] In this embodiment, the first track component includes: an upper straight track component, a lower straight track component, a baffle component, a first support component, a second support component, a first flexible track component, a second flexible track component, etc. The upper straight track component is fixedly connected to the first support component and the second support component; the lower straight track component is fixedly connected to the first support component and the second support component; the baffle component is connected to the lower straight track component, and the number of baffle components depends on the length of the lower straight track component; the upper straight track component is connected to the first flexible track component; and the lower straight track component is connected to the second flexible track component.

[0048] In this embodiment, the baffle component includes: a fixed plate, a wire rope baffle, a first fixing screw, a second fixing screw, etc. The fixed plate is fixed to the lower straight track component with the first fixing screw; the wire rope baffle is fixed to the fixed plate with the second fixing screw; there is a distance requirement between the wire rope baffle and the upper straight track component.

[0049] Among them, the wire rope baffle in this embodiment includes: a wire rope baffle opening, an inner concave surface of the wire rope baffle, a top surface of the wire rope baffle, etc. The wire rope baffle opening is used for the second fixing screw to pass through to fix the wire rope baffle on the fixing plate; the concave surface of the inner concave surface of the wire rope baffle faces the direction of the wire rope to prevent the wire rope from running out of the total track part when the scraper is pushed; the top surface of the wire rope baffle should be designed to facilitate the passage of the inspection robot body and be higher than the running height of the wire rope.

[0050] In this embodiment, the inspection robot body includes: multiple mounting parts, two connecting plates, a first slider, a flexible connecting part, a second slider, two connecting bolts, etc. The first slider and the second slider are connected to the mounting parts through the connecting plates respectively, and the first slider and the second slider are connected by the flexible connecting part, and the first slider and the second slider move along the total track part. The multiple mounting parts are functional modules such as camera modules, inertial navigation modules, sensor modules (such as angular displacement sensors, mining height sensors, gas monitoring sensors, acceleration sensors, etc.), laser scanning modules, intercom modules, battery modules, etc.; the two connecting plates connect the mounting parts with the first slider and the second slider respectively; the flexible connecting part connects the first slider and the second slider at both ends with two connecting bolts respectively.

[0051] In the above-mentioned embodiment, the main body of the inspection robot utilizes automation, communication, mechanical and other technologies to move freely on the main track part. It can not only inspect the comprehensive mining working face as required, but also use the advantage of its small size to accurately move to the site and provide timely feedback on the site situation.

[0052] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. The inspection system of the traction inspection robot is characterized by: The invention comprises a main track structure (1), an inspection robot body (2) and a driving device (3), wherein the main track structure (1) and the driving device (3) are both arranged on a scraper (4), the inspection robot body (2) is movably arranged on the main track structure (1), and the inspection robot body (2) can move along the main track structure (1) by means of a steel wire rope under the traction of the driving device (3) to inspect the fully mechanized mining working face; The overall track structure (1) comprises: a plurality of track bodies (11), a first elastic connecting member (12), a support frame (13) and a limit block (14); one side of the support frame (13) is fixedly arranged on the scraper (4); the other side of the support frame (13) is provided with two baffles (15) which are parallel to each other in the vertical direction; one end of the two baffles (15) is fixedly arranged on the support frame (13); the other ends of the two baffles (15) are each provided with a track body (11); the two track bodies (11) are arranged parallel to each other in the vertical direction; an arc-shaped one-way baffle (16) is movably arranged between the two baffles (15) at the end located on one side of the track body (11); and a spacer (16) is provided between the two baffles (15) at the end located on the support frame ( 13) A rotary roller (17) with a concave waist is movably provided at the end of one side, and a channel formed by the rotary roller (17), two baffles (15) and a one-way baffle (16) is used to limit the movable space of the wire rope. A plurality of the track bodies (11) are connected in sequence, and two adjacent track bodies (11) are connected together by a first elastic connecting member (12). The first elastic connecting member (12) is used to adjust the two adjacent track bodies (11) within a range of 360 degrees to adapt to the tunnel structure. One or more limit blocks (14) are provided between the two upper and lower parallel track bodies (11), and the limit blocks (14) are used to limit the wire rope to be located on the inner side of the track body (11); The driving device (3) comprises a mounting frame (31), a rope wheel (32) and a driving motor (33); the mounting frame (31) is U-shaped; the bottom of the mounting frame (31) is fixedly arranged on the scraper (4); the two ends of the rope wheel (32) are movably arranged on the upper part of the mounting frame (31); the body of the driving motor (33) is fixedly arranged on one side of the mounting frame (31); the power output end of the driving motor (33) is arranged through the middle of the rope wheel (32); and the power output end of the driving motor (33) and the rope wheel (32) are connected by a key to transmit power.

2. The inspection system of the traction inspection robot according to claim 1, characterized in that: The limit block (14) comprises a first limit bracket (141) and a first limiter (142); the first limit bracket (141) is fixedly arranged on the track body (11) located below; the first limiter (142) is in an inverted J shape; the first limiter (142) is fixedly arranged on the upper end of the first limit bracket (141); and a space for the inspection robot body (2) to pass is reserved between the upper part of the first limiter (142) and the track body (11) located above it.

3. The inspection system of the traction inspection robot according to claim 1, characterized in that: The limit block (14) comprises a second limit bracket (143) and a second limiter (144); the second limit bracket (143) is fixedly arranged on the track body (11) located below; the second limiter (144) is an eccentric structure with a center of gravity shifted downward; the lower part of the second limiter (144) is movably hinged to the upper end of the second limit bracket (143); the upper end of the second limiter (144) is arranged in close contact with the track body (11) located above it; and the second limiter (144) is used for the inspection robot body (2) to automatically reset after it is pressed down and passed.

4. The inspection system of the traction inspection robot according to claim 1, characterized in that: The inspection robot body (2) comprises at least one sliding mounting structure (21), adjacent sliding mounting structures (21) are connected together via a second elastic connecting member (22), a sliding block (23) having an E-shaped cross section is provided in the middle of the sliding mounting structure (21), and grooves matching the track body (11) are provided on the inner sides of the upper and lower ends of the sliding block (23), thereby ensuring that the sliding mounting structure (21) can slide smoothly on the track body (11).

5. The inspection system of the traction inspection robot according to claim 1, characterized in that: The upper portion of the one-way baffle (16) is inserted into a slot located at the lower side of the upper baffle (15), the lower portion of the one-way baffle (16) abuts against the upper side surface of the upper baffle (15), and the center of the one-way baffle (16) is located on a side close to the rotating body roller (17).

6. The inspection system of the traction inspection robot according to claim 4, characterized in that: The first elastic connecting member (12) and the second elastic connecting member (22) are both spring structures.

7. The inspection system of the traction inspection robot according to claim 4, characterized in that: The inner sides of the upper and lower ends of the sliding block (23) are both provided with double groove structures, which serve as spare sliding grooves.

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