An inspection robot for coal mine safety monitoring

Abstract

The present application discloses a patrol robot for coal mine safety monitoring, including: a track, a monitoring main body is arranged at the lower side of the track, driving wheels are arranged at the positions on the front and rear sides of the track on the upper surface of the monitoring main body, the monitoring main body drives the driving wheels to rotate and contact the side walls of the track, auxiliary wheels are arranged at the positions on the left and right sides of the driving wheels on the upper surface of the monitoring main body, the wheel bodies of the auxiliary wheels contact the bottom wall of the track, a resistance mechanism is jointly arranged on the monitoring main body and the driving wheels, and the resistance mechanism is connected to the auxiliary wheels to limit the rotation speed of the auxiliary wheels when sliding down. The present invention has the effect of restricting the rotation of the auxiliary wheels, so that the rolling friction between the wheel bodies of the auxiliary wheels and the bottom wall of the track is changed into sliding friction, and through the sliding friction resistance between the auxiliary wheels and the track, the sliding distance of the monitoring main body is reduced, and the influence of slipping on the patrol efficiency of the patrol robot is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of coal mine monitoring equipment, and in particular to a patrol robot for coal mine safety monitoring. Background Art

[0002] A coal mine refers to an area where humans mine coal resources in a coal-rich mining area. After coal mining, mining equipment needs to be installed in the mine. To reduce the impact of damage to these equipment on coal mine safety, coal mine patrol robots are usually used to regularly inspect the above-mentioned equipment.

[0003] Some existing coal mine patrol robots are composed of a track, walking wheels, auxiliary wheels and a monitoring body. During operation, the walking wheels and auxiliary wheels are connected to the track. Then, the walking wheels are rotated, and the monitoring body is driven to move along the track by the friction force between the walking wheels and the side wall of the track, so that the monitoring mechanism monitors the equipment in the coal mine. However, during the above process, since there are often uphill and downhill slopes inside the coal mine, when the patrol robot goes uphill, due to its large own weight or the presence of moisture on the side wall of the track, the patrol robot may slip, thus affecting the patrol efficiency of the patrol robot. Summary of the Invention

[0004] The present application provides a patrol robot for coal mine safety monitoring, which has the advantage of reducing the sliding distance, and is used to solve the problem that slipping affects the patrol efficiency of the patrol robot.

[0005] To achieve the above object, the present application adopts the following technical solution: A patrol robot for coal mine safety monitoring, comprising: a track, a monitoring body is arranged at the lower side of the track, driving wheels are arranged at the positions on the upper surface of the monitoring body on the front and rear sides of the track, the monitoring body drives the driving wheels to rotate and contact the side wall of the track, auxiliary wheels are arranged at the positions on the upper surface of the monitoring body on the left and right sides of the driving wheels, the wheel body of the auxiliary wheel contacts the bottom wall of the track, a resistance mechanism is jointly arranged on the monitoring body and the driving wheels, and the resistance mechanism is connected to the auxiliary wheel to limit the rotation speed of the auxiliary wheel when it slides down.

[0006] Further, the resistance mechanism includes a driving gear, a rotating member, a driven gear, a liquid storage member, a liquid cavity, a pressing member and an elastic member. A driving gear is arranged on the rod body of the driving wheel to rotate synchronously with the driving wheel. A rotating member is arranged on the upper surface of the monitoring body at a position between the driving wheel and the auxiliary wheel. A driven gear is arranged on the upper surface of the rotating member. When the driving gear rotates, the rotating member is driven to rotate through the driven gear. A liquid storage member is arranged on one side of the auxiliary wheel facing away from the track. The liquid storage member is connected to the wheel body of the auxiliary wheel. Liquid cavities are circumferentially and equidistantly arranged inside the liquid storage member. A pressing member is arranged in the liquid cavity for contacting the rotating member. The inner end of the pressing member is hermetically and movably connected to the liquid cavity. An elastic member is fixedly installed between the inner end of the pressing member and the inner wall of the liquid cavity to drive the pressing member to reset.

[0007] Further, a liquid guiding hole is jointly opened at the central positions inside the auxiliary wheel and the liquid storage member. Telescopic cavities are circumferentially and equidistantly arranged inside the wheel body of the auxiliary wheel. The reciprocating flow of the medium between the liquid cavity and the telescopic cavity is realized through the liquid guiding hole. A telescopic member is arranged in the telescopic cavity. The inner end of the telescopic member is hermetically and movably connected to the telescopic cavity. The outer end of the telescopic member extends out of the auxiliary wheel.

[0008] Further, a liquid medium is filled at the connection of the liquid cavity, the liquid guiding hole and the telescopic cavity.

[0009] Further, an extension member is arranged on the side of the auxiliary wheel facing the track. The extension member is communicated with the liquid guiding hole. An extension rod is arranged inside the extension member. When the extension rod is pushed by the liquid in the liquid guiding hole, it extends out towards the track. Dial plates are circumferentially and equidistantly arranged on the circumferential side of the extension rod for scraping the water droplets on the track.

[0010] Further, the rotating member and the pressing member are smoothly connected. The outer ends of both the pressing member and the telescopic member are arranged in an arc structure.

[0011] Further, rotating grooves are circumferentially and equidistantly arranged inside the extension rod. Water absorbing members are circumferentially and equidistantly arranged on the circumferential outer side of the extension rod. Each water absorbing member consists of a rotating body and a water absorbing cloth. The inner end of the rotating body is rotatably connected to the inner side surface of the rotating groove. A torsion spring is arranged in the rotating groove to realize the rotational reset of the rotating body. Pulling ropes are circumferentially and equidistantly fixedly installed on the side of the auxiliary wheel facing the track. The other ends of the pulling ropes are wound and connected to the rotating body. When the extension rod does not extend out, the rotating body and the wheel body of the auxiliary wheel jointly press the water absorbing cloth.

[0012] A patrol robot for coal mine safety monitoring provided by the present application realizes the effect of reducing the sliding distance when the patrol robot slips through the resistance mechanism. Description of the Drawings

[0013] The accompanying drawings forming a part of the specification illustrate embodiments disclosed in the present application and, together with the specification, are used to explain the principles disclosed in the present application.

[0014] Referring to the accompanying drawings, the present disclosure can be more clearly understood from the following detailed description, wherein:

[0015] Figure 1 It is a schematic diagram of the overall structure state of the present invention;

[0016] Figure 2 It is a schematic diagram of the meshing state of the driving gear and the driven gear of the present invention;

[0017] Figure 3 It is a schematic diagram of the internal structure of the liquid storage member of the present invention;

[0018] Figure 4 It is a schematic diagram of the internal structure of the auxiliary wheel of the present invention;

[0019] Figure 5 It is a schematic diagram of the dial plate in the first embodiment of the present invention;

[0020] Figure 6 It is a schematic diagram of the connection state of the water absorption member and the extension rod in the second embodiment of the present invention;

[0021] Figure 7 For the present invention Figure 6 Partial enlarged schematic diagram of the structure at A;

[0022] Figure 8 It is a schematic diagram of the structure of the existing equipment of the present invention;

[0023] Figure 9 It is a schematic diagram of the rotation direction of the driving wheel and the auxiliary wheel of the present invention when going uphill.

[0024] Reference numerals:

[0025] 1, track; 2, monitoring main body; 3, driving wheel; 4, auxiliary wheel; 5, driving gear; 6, rotating member; 7, driven gear; 8, liquid storage member; 9, liquid cavity; 10, extrusion member; 11, elastic member; 12, liquid guide hole; 13, telescopic cavity; 14, telescopic member; 15, extension member; 16, dial plate; 17, rotating groove; 18, water absorption member; 19, torsion spring; 20, pull rope. Detailed Description of the Invention

[0026] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0027] Example 1

[0028] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 8 , an inspection robot for coal mine safety monitoring, including a track 1, the track 1 is fixedly installed in the coal mine roadway, a monitoring main body 2 is arranged at the lower side position of the track 1, a monitoring mechanism (such as a camera, a smoke sensor, etc. in the prior art) and a power mechanism (such as a motor) are arranged inside the monitoring main body 2, driving wheels 3 are arranged at the positions on the front and rear sides of the track 1 on the upper surface of the monitoring main body 2, the rod body of the driving wheel 3 is connected with the power mechanism inside the monitoring main body 2, the wheel body of the driving wheel 3 is in contact with the side wall of the track 1, auxiliary wheels 4 are arranged at the positions on the left and right sides of the driving wheel 3 on the upper surface of the monitoring main body 2, the rod body of the auxiliary wheel 4 is fixedly welded to the upper surface of the monitoring main body 2, the wheel body of the auxiliary wheel 4 is in contact with the bottom wall of the track 1, a power gear 5 is fixedly sleeved on the rod body of the driving wheel 3, rotating members 6 are rotatably installed at the positions between the driving wheel 3 and the auxiliary wheel 4 on the upper surface of the monitoring main body 2, a driven gear 7 is welded to the upper surface of the rotating member 6, the driven gear 7 is in meshing transmission connection with the power gear 5, a liquid storage member 8 is arranged on the side of the auxiliary wheel 4 facing away from the track 1, the liquid storage member 8 is fixedly welded to the wheel body of the auxiliary wheel 4, liquid cavities 9 are circumferentially and equidistantly arranged inside the liquid storage member 8, an extrusion member 10 is slidably installed in the liquid cavity 9, the inner end of the extrusion member 10 is in sealed sliding connection with the liquid cavity 9 (this connection relationship is similar to the connection relationship between an oil cylinder and a piston in the prior art), the outer end of the extrusion member 10 extends out of the liquid storage member 8 and meshes with the contact member of the rotating member 6 (since the rotation speed of the auxiliary wheel 4 is affected by the driving wheel 3, through adaptive setting, only a meshing relationship is generated between the extrusion member 10 and the contact member, and no force is applied to each other), an elastic member 11 is fixedly installed between the inner end of the extrusion member 10 and the inner wall of the liquid cavity 9. When the monitoring main body 2 goes uphill, the rotation directions of the driving wheel 3 and the auxiliary wheel 4 are as Figure 9 shown. At this time, the rotation directions of the driving wheel 3 and the auxiliary wheel 4 are opposite. After that, when the driving wheel 3 slips, the monitoring main body 2 will slide down, causing the rotation direction of the auxiliary wheel 4 to change, and driving the liquid storage member 8 and the extrusion member 10 to change the rotation direction synchronously. At this time, since the driving wheel 3 drives the power gear 5 to mesh with the driven gear 7, the driven gear 7 drives the rotating member 6 to rotate, causing the contact member of the rotating member 6 to move relative to the extrusion member 10 and squeeze each other. Through this action, the rotation of the auxiliary wheel 4 is restricted, so that the wheel body of the auxiliary wheel 4 changes from rolling friction to sliding friction with the bottom wall of the track 1. Through the sliding friction resistance between the auxiliary wheel 4 and the track 1, the sliding distance of the monitoring main body 2 is reduced, and the influence of slipping on the inspection efficiency is reduced.

[0029] Please refer to Figure 1 、 Figure 3 andFigure 4 At the central position inside the auxiliary wheel 4 and the central position inside the liquid storage member 8, a liquid guiding hole 12 is provided. The cavity inside the liquid chamber 9 at the inner side position of the pressing member 10 communicates with the liquid guiding hole 12. Inside the wheel body of the auxiliary wheel 4, expansion chambers 13 are circumferentially and equidistantly arranged. The expansion chambers 13 are located at the outer side position of the liquid guiding hole 12. Inside the expansion chambers 13, expansion members 14 are slidably installed. The inner end of the expansion member 14 forms a sealed sliding connection with the expansion chamber 13. The outer end of the expansion member 14 extends out of the auxiliary wheel 4. The cavity inside the expansion chamber 13 at the inner side position of the expansion member 14 communicates with the liquid guiding hole 12. A liquid medium (such as hydraulic oil) is filled at the communication positions of the liquid chamber 9, the liquid guiding hole 12, and the expansion chamber 13. During the process of mutual extrusion between the contact member and the pressing member 10, since the driving wheel 3 continuously applies force to the contact member, the contact member will continuously be extruded with the pressing member 10. After that, when the extrusion force overcomes the elastic force of the elastic member 11, the pressing member 10 will be pushed into the liquid chamber 9 by the contact member and compress the corresponding elastic member 11. At the same time, the pressing member 10 will extrude the liquid medium in the liquid chamber 9, causing part of the liquid medium to enter the expansion chamber 13 through the liquid guiding hole 12, thereby pushing the expansion member 14 to extend out of the auxiliary wheel 4. Since at this time, the auxiliary wheel 4 rotates, the rotating auxiliary wheel drives the extended expansion member 14 to rotate, causing the expansion member 14 to contact and rub against the track 1. Through this action, the sliding distance of the monitoring body 2 is further reduced.

[0030] Please refer to Figure 1 、 Figure 3 and Figure 5 On the side of the wheel body of the auxiliary wheel 4 facing the track 1, an extension member 15 is fixedly installed. The extension member 15 communicates with the liquid guiding hole 12. Inside the extension member 15, an extension rod is slidably installed in a sealed manner. On the circumferential side of the extension rod, a plurality of dial plates 16 are fixedly clamped at equal distances. During the process of extrusion of the liquid medium in the liquid chamber 9, part of the liquid medium will apply a driving force to the extension rod, causing the extension rod to extend out of the extension member 15 and drive the dial plates 16 to contact the side wall of the track 1. Through this action, the frictional resistance between the auxiliary wheel 4 and the track 1 is increased. At the same time, during the above process, the auxiliary wheel 4 will drive the dial plates 16 to scrape the water droplets on the side wall of the track 1, so that when the monitoring body 2 slides down, less water is in contact with the driving wheel 3, thereby indirectly increasing the frictional force between the driving wheel 3 and the track 1 and prompting the driving wheel 3 to drive the monitoring body 2 uphill faster.

[0031] Both sides of the contact member are of an arc-shaped structure, and both the pressing member 10 and the outer ends of the expansion members 14 are arranged in an arc-shaped structure.

[0032] When the driving wheel 3 drives the monitoring body 2 uphill, both the driving wheel 3 and the auxiliary wheel 4 are in contact with the track 1, and their rotation directions are opposite, as Figure 9As shown in the figure, afterwards, when the driving wheel 3 slips, the monitoring body 2 will drive the auxiliary wheel 4 to slide downwards, making the rotation direction of the auxiliary wheel 4 the same as that of the driving wheel 3. At this time, since the driving wheel 3 still continuously drives the power gear 5 to mesh and drive with the driven gear 7, the rotating member 6 drives the contact member to approach and press against the pressing member 10, causing the contact member and the pressing member 10 to press against each other. Through this action, the frictional resistance between the auxiliary wheel 4 and the track 1 is increased. Afterwards, the contact member passes over the pressing member 10, causing the pressing member 10 to press the liquid medium in the corresponding liquid cavity 9 and the elastic member 11. Part of the squeezed liquid medium enters the telescopic cavity 13 through the liquid guiding hole 12 and pushes the telescopic member 14 to extend. The extended telescopic member 14 contacts and rubs against the track 1. At the same time, the squeezed liquid medium also exerts a thrust on the extension rod, causing the extension rod to drive the dial 16 to extend and contact the side wall of the track 1, scraping off the moisture remaining on the side wall of the track 1 from the downward sliding path of the driving wheel 3, prompting the driving wheel 3 to drive the monitoring body 2 to go uphill faster. Afterwards, the contact member that has passed over the pressing member 10 continues to rotate and contacts the pressing member 10 at the next position. During this process, the elastic member 11 drives the above structure to reset, and so on in a cycle until the slipping phenomenon disappears.

[0033] Embodiment Two

[0034] Please refer to Figure 1 、 Figure 6 and Figure 7 , this embodiment is a further improvement based on Embodiment One. The improvement lies in that, in this embodiment, rotation grooves 17 are circumferentially and equidistantly formed inside the extension rod, and water-absorbing members 18 are circumferentially and equidistantly arranged on the circumferential outer side of the extension rod. The water-absorbing member 18 is composed of a rotating body and a water-absorbing cloth. The inner end of the rotating body extends into the rotation groove 17 and forms a rotational connection with the inner side surface of the rotation groove 17. A torsion spring 19 is arranged in the rotation groove 17. One end of the torsion spring 19 is connected to the rotating body, and the other end of the torsion spring 19 is connected to the inner wall of the rotation groove 17. On the side surface of the auxiliary wheel 4 facing the track 1, pull ropes 20 are circumferentially and equidistantly fixedly installed. The other ends of the pull ropes 20 are wound around the rotating body and form a fixed connection with the rotating body. When the extension rod does not extend, the rotating body and the wheel body of the auxiliary wheel 4 jointly press the water-absorbing cloth. During the process of the extension rod extending out of the extension member 15, the extension rod will tighten the pull ropes 20, causing the water-absorbing member 18 to rotate and twist the torsion spring 19. Afterwards, the rotated water-absorbing member 18 contacts the side wall of the track 1. Through the above actions, the moisture remaining on the side wall of the track 1 is further reduced, enabling the driving wheel 3 to drive the monitoring body 2 to go uphill faster. At the same time, when the water-absorbing member 18 absorbs the moisture on the side wall of the track 1, an adhesive force will be generated between the water-absorbing member 18 and the side wall of the track 1. Through this adhesive force, the sliding distance of the monitoring body 2 is further reduced.

[0035] Embodiment Three

[0036] This embodiment is a further improvement based on Embodiment 2. The improvement lies in that, in this embodiment, when the water-absorbing member 18 works for a long time, it will adsorb a large amount of dust in the coal mine. After that, when the water-absorbing member 18 contacts the side wall of the track 1 again, through the above-mentioned dust, a frictional force is generated between the water-absorbing member 18 and the track 1. Through this frictional force, the sliding distance of the monitoring main body 2 is further reduced.

Claims

1. An inspection robot for coal mine safety monitoring, comprising: Track (1), a monitoring body (2) is arranged at the lower side position of the track (1), driving wheels (3) are arranged at the positions on the upper surface of the monitoring body (2) on the front and rear sides of the track (1), the monitoring body (2) drives the driving wheels (3) to rotate and contact the side wall of the track (1), auxiliary wheels (4) are arranged at the positions on the upper surface of the monitoring body (2) on the left and right sides of the driving wheels (3), and the wheel body of the auxiliary wheel (4) contacts the bottom wall of the track (1). It is characterized in that a resistance mechanism is jointly arranged on the monitoring body (2) and the driving wheels (3), and the resistance mechanism is connected to the auxiliary wheels (4) to limit the rotation speed of the auxiliary wheels (4) when sliding down; The resistance mechanism includes a power gear (5), a rotating member (6), a driven gear (7), a liquid storage member (8), a liquid cavity (9), a squeezing member (10) and an elastic member (11). A power gear (5) is arranged on the rod body of the driving wheel (3) to rotate synchronously with the driving wheel (3). A rotating member (6) is arranged at the position on the upper surface of the monitoring body (2) between the driving wheel (3) and the auxiliary wheel (4). A driven gear (7) is arranged on the upper surface of the rotating member (6). When the power gear (5) rotates, the rotating member (6) is driven to rotate through the driven gear (7). A liquid storage member (8) is arranged on the side of the auxiliary wheel (4) facing away from the track (1). The liquid storage member (8) is connected to the wheel body of the auxiliary wheel (4). Liquid cavities (9) are circumferentially and equidistantly arranged inside the liquid storage member (8). A squeezing member (10) is arranged in the liquid cavity (9) to contact the rotating member (6). The inner end of the squeezing member (10) is hermetically and movably connected to the liquid cavity (9). An elastic member (11) is fixedly installed between the inner end of the squeezing member (10) and the inner wall of the liquid cavity (9) to drive the squeezing member (10) to reset.

2. The inspection robot for coal mine safety monitoring according to claim 1, characterized in that, A liquid guiding hole (12) is jointly opened at the central positions inside the auxiliary wheel (4) and the central position inside the liquid storage member (8). Expansion cavities (13) are circumferentially and equidistantly arranged inside the auxiliary wheel (4). The reciprocating flow of the medium in the liquid cavity (9) and the expansion cavities (13) is realized through the liquid guiding hole (12). An expansion member (14) is arranged in the expansion cavity (13). The inner end of the expansion member (14) is hermetically and movably connected to the expansion cavity (13). The outer end of the expansion member (14) extends out of the auxiliary wheel (4).

3. The inspection robot for coal mine safety monitoring according to claim 2, characterized in that, The communicating parts of the liquid cavity (9), the liquid guiding hole (12) and the expansion cavities (13) are filled with a liquid medium.

4. The inspection robot for coal mine safety monitoring according to claim 3, wherein, An extension member (15) is arranged on the side of the auxiliary wheel (4) facing the track (1). The extension member (15) is communicated with the liquid guiding hole (12). An extension rod is arranged inside the extension member (15). When the extension rod is pushed by the liquid in the liquid guiding hole (12), it extends out towards the track (1). Dial plates (16) are circumferentially and equidistantly arranged on the circumferential side surface of the extension rod to scrape the water droplets on the track (1).

5. The patrol robot for coal mine safety monitoring according to claim 2, characterized in that, The rotating member (6) and the pressing member (10) are smoothly connected, and the outer ends of both the pressing member (10) and the telescopic member (14) are provided with arc-shaped structures.

6. The patrol robot for coal mine safety monitoring according to claim 4, characterized in that, The inner circumference of the extension rod is equidistantly provided with rotating grooves (17) in the circumferential direction. The circumferential outer side of the extension rod is equidistantly provided with water-absorbing members (18). The water-absorbing member (18) is composed of a rotating body and a water-absorbing cloth. The inner side end of the rotating body is rotatably connected to the inner side surface of the rotating groove (17). A torsion spring (19) is arranged in the rotating groove (17) to realize the rotation and reset of the rotating body. The circumferential outer side of the side surface of the auxiliary wheel (4) facing the track (1) is equidistantly fixedly installed with pull ropes (20). The other ends of the pull ropes (20) are wound and connected to the rotating body. When the extension rod does not extend, the rotating body and the wheel body of the auxiliary wheel (4) jointly press the water-absorbing cloth.

Images