A hanging rail type coal mine inspection robot with automatic aiming and fire extinguishing function

Abstract

The application discloses a coal mine inspection robot with automatic aiming and fire extinguishing functions. The robot body is connected with a trailing fire-fighting water cannon at the rear side, and is provided with a thermal imager and a visible light dual-spectrum holder and an audible-light alarm at the front side. The power box comprises an explosion-proof box body, and driving wheel devices and two guide wheel devices are installed on the explosion-proof box body. The lower end of the driving wheel device is slidably connected with the explosion-proof box body. The two guide wheel devices are arranged at the front and rear sides of the driving wheel device, and the lower end of the guide wheel device is pivotally connected with the explosion-proof box body. The thermal imager and the visible light dual-spectrum holder and the trailing fire-fighting water cannon can discover and deal with the fire in the first time, and the handheld water-based fire extinguisher is convenient to replace. The explosion-proof and intrinsically safe robot body is provided with the driving wheel device and the guide wheel device, the driving wheel device adopts a sliding structure, and the guide wheel device adopts a rotary structure, so that the robot has a small turning radius and is convenient to inspect.

Description

Technical Field

[0001] This invention relates to the field of mining robot technology, specifically to a coal mine inspection robot with automatic aiming and fire extinguishing function. Background Technology

[0002] In recent years, coal mine inspection robots have been widely used in underground coal mines to inspect equipment and the environment. In particular, they can carry thermal imagers to collect temperature data and issue over-temperature alarms for equipment that is prone to fire, which can effectively reduce the occurrence of coal mine fire accidents and play a good preventive role.

[0003] However, the current coal mine inspection robots have two problems: (1) the robots can only detect fire hazards, but cannot deal with them immediately; (2) the turning radius of the rail-mounted robots is large, which is not suitable for inspection with small turning radius.

[0004] Therefore, it is of great significance to further enhance the practical value of coal mine inspection robots by enabling them to not only detect fire hazards at the first time but also to deal with them in a timely manner, and to carry out inspection work in confined spaces with small turning radii. Summary of the Invention

[0005] This invention addresses the technical problems of current rail-mounted coal mine inspection robots having a large turning radius and lacking fire hazard handling capabilities by providing a rail-mounted coal mine inspection robot with a small turning radius and automatic aiming and fire extinguishing functions.

[0006] This invention is achieved through the following technical solution: a coal mine inspection robot with automatic aiming and fire extinguishing function, comprising an explosion-proof and intrinsically safe robot body that is slidably installed on an I-beam rail;

[0007] The explosion-proof and intrinsically safe robot body is connected to a towable fire monitor at the rear, and the towable fire monitor is slidably mounted on an I-beam rail.

[0008] The explosion-proof and intrinsically safe robot body includes a power box, which is slidably mounted on an I-beam rail. A thermal imager, a visible light dual-spectrum gimbal, and an audible and visual alarm are installed on the front side of the explosion-proof and intrinsically safe robot body. The thermal imager and the visible light dual-spectrum gimbal are used to measure the temperature of the equipment to be inspected and collect image information in real time. When the equipment temperature exceeds the preset temperature, the audible and visual alarm will sound and the fire monitor will be dragged to extinguish the fire.

[0009] The power box includes an explosion-proof enclosure, a drive wheel assembly, and two guide wheel assemblies. The upper end of the drive wheel assembly is rolledly connected to an I-beam rail, and the lower end of the drive wheel assembly is slidably connected to the explosion-proof enclosure. The sliding direction of the drive wheel assembly and the explosion-proof enclosure is perpendicular to the I-beam rail. The two guide wheel assemblies are respectively located in front of and behind the drive wheel assembly. The upper end of the guide wheel assembly is rolledly connected to the I-beam rail, and the lower end of the guide wheel assembly is rotatably connected to the explosion-proof enclosure.

[0010] Furthermore, the explosion-proof and intrinsically safe robot body is also equipped with a face recognition camera, an infrared obstacle avoidance sensor and a limit switch on the front side; the face recognition camera is used to identify unauthorized personnel entering the inspection area, and when an unauthorized person is detected, an audible and visual alarm will sound.

[0011] The explosion-proof enclosure includes an equipment cavity and two wiring cavities, which are located at the front and rear of the equipment cavity, respectively. Each wiring cavity is connected to a cable entry device. Cables enter the wiring cavity from the cable entry device and then enter the equipment cavity from the wiring cavity to connect with the components in the equipment cavity.

[0012] The drive wheel device includes a support frame and a pair of small explosion-proof motors mounted on the support frame. The output shafts of the small explosion-proof motors are connected to drive wheels. One side of the small explosion-proof motor is hinged to the support frame via a rotating shaft, and the other side of the small explosion-proof motor is connected to the support frame via a compression spring and a compression nut. Under the elastic force of the compression spring, the two drive wheels are pressed against both sides of the I-beam rail.

[0013] A slider is fixed to the lower side of the support frame, and the slider is slidably connected to a guide rail, which is fixed to the upper side of the explosion-proof enclosure.

[0014] The guide wheel device includes a pair of guide wheel brackets, and a base mounting plate is fixedly connected to the lower end of the two guide wheel brackets; a hanging wheel and two guide wheels are rotatably installed on the inner side of the guide wheel brackets, and the two guide wheels are respectively placed on the front and rear sides of the hanging wheel; the hanging wheel is rolled on the I-beam rail, and the guide wheels press against the side of the I-beam rail;

[0015] The base mounting plate is provided with mounting through holes;

[0016] The explosion-proof enclosure is fixed with a bolt fixing base, and an external hexagonal bolt is fixedly connected to the bolt fixing base through a bolt head cover; the external hexagonal bolt is inserted from the lower side of the base mounting plate into the mounting through hole of the base mounting plate; a thrust bearing is installed on the external hexagonal bolt and presses against the upper side of the base mounting plate; a nut for limiting the thrust bearing is also installed on the external hexagonal bolt.

[0017] The towed fire monitor includes a towed housing, which is connected to the rear side of the explosion-proof and intrinsically safe robot body. A guide wheel device that is rolled and connected to the I-beam rail is fixed on the towed housing.

[0018] The lower end of the towable housing is equipped with a water cannon head with flame tracking function, and portable water-based fire extinguishers are installed on both sides of the towable housing through fire extinguisher fixing clamps; the two portable water-based fire extinguishers are connected to the water cannon head with flame tracking function through a three-way pipe, and a solenoid valve is installed in the three-way pipe.

[0019] Compared with the prior art, the beneficial effects of the present invention are: by setting up a thermal imager and a visible light dual-spectrum gimbal and a towed fire monitor, fires can be detected and dealt with in the first instance; the portable water-based fire extinguisher is easy to replace; the explosion-proof and intrinsically safe robot body is equipped with a drive wheel device and a guide wheel device. The drive wheel device adopts a sliding structure, and the guide wheel device adopts a rotary structure, which makes the robot have a small turning radius and facilitates inspection. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention;

[0021] Figure 2 This is a structural diagram of an explosion-proof and intrinsically safe robot body;

[0022] Figure 3 This is a side view of the power box shaft;

[0023] Figure 4 This is the front view of the power box;

[0024] Figure 5 This is a schematic diagram of the drive wheel device. Figure 1 ;

[0025] Figure 6 This is a schematic diagram of the drive wheel device. Figure 2 ;

[0026] Figure 7 This is a schematic diagram of the guide wheel device;

[0027] Figure 8 This is a schematic diagram of the robot's guide wheel and drive wheel devices in a small turning radius.

[0028] Figure 9 This is a side view of a dragged fire monitor;

[0029] Figure 10 This is the main view of dragging the fire monitor.

[0030] In the picture: 1. I-beam rail, 2. Explosion-proof and intrinsically safe robot body, 3. Towed fire monitor;

[0031] 2-1 Power box, 2-2 Audible and visual alarm, 2-3 Intrinsically safe cavity housing, 2-4 Infrared obstacle avoidance sensor, 2-5 Face recognition camera, 2-6 Thermal imager and visible light dual-spectrum pan-tilt unit, 2-7 Limit switch, 2-8 Explosion-proof housing cover;

[0032] 2-1-1 Cable entry device, 2-1-2 Guide wheel device, 2-1-3 Drive wheel device, 2-1-4 Drag plate I, 2-1-5 Wiring cavity cover I, 2-1-6 Equipment cavity cover, 2-1-7 Wiring cavity cover II, 2-1-8 Explosion-proof enclosure, 2-1-9 Bolt fixing base, 2-1-10 Bolt head cover, 2-1-11 Nut, 2-1-12 Thrust bearing, 2-1-13 External hex bolt, 2-1-14 Slider, 2-1-15 Guide rail;

[0033] 2-1-2-1 Guide wheel, 2-1-2-2 Hanging wheel, 2-1-2-3 Guide wheel bracket, 2-1-2-4 Base mounting plate;

[0034] 2-1-3-1 Drive wheel, 2-1-3-2 Small explosion-proof motor, 2-1-3-3 Support frame, 2-1-3-4 Rotating shaft, 2-1-3-5 Compression spring, 2-1-3-6 Compression nut;

[0035] 3-1 Water cannon head with flame tracking function; 3-2 Towing shell; 3-3 Towing plate II; 3-4 Hand-held water-based fire extinguisher; 3-5 Fire extinguisher fixing clamp; 2-1-2 Guide wheel device; 3-6 T-pipe; 3-7 Solenoid valve. Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Combination Figure 1 As shown, a coal mine inspection robot with automatic aiming and fire extinguishing function includes an explosion-proof and intrinsically safe robot body 2 that is slidably mounted on an I-beam rail 1. A drag-mounted fire monitor 3 is connected to the rear of the explosion-proof and intrinsically safe robot body 2, and the drag-mounted fire monitor 3 is slidably mounted on the I-beam rail 1. The explosion-proof and intrinsically safe robot body 2 moves on the I-beam rail 1, dragging the drag-mounted fire monitor 3 at the rear for inspection.

[0038] Combination Figure 2As shown, the explosion-proof and intrinsically safe robot body 2 includes a power box 2-1, with an explosion-proof housing 2-8 installed on the outside of the power box 2-1. The power box 2-1 is slidably mounted on the I-beam rail 1, providing power to the robot. An intrinsically safe cavity housing 2-3 is located on the front of the explosion-proof and intrinsically safe robot body 2-2. The intrinsically safe cavity housing 2-3 is equipped with a thermal imager and visible light dual-spectrum pan-tilt unit 2-6, an audible and visual alarm 2-2, a face recognition camera 2-5, an infrared obstacle avoidance sensor 2-4, and a limit switch 2-7. The thermal imager and visible light dual-spectrum pan-tilt unit 2-6 is used to measure the temperature of the equipment to be inspected and acquire image information in real time. When the equipment temperature exceeds a preset temperature, the audible and visual alarm 2-2 sounds an alarm and triggers a fire monitor 3 to extinguish the fire. The face recognition camera 2-5 is used to identify unauthorized personnel entering the inspection area. When unauthorized personnel are detected, the audible and visual alarm 2-2 sounds an alarm. The infrared obstacle avoidance sensor 2-4 is used to stop the robot when an obstacle appears in front of it.

[0039] Combination Figure 3 and Figure 4 As shown, the power box 2-1 includes an explosion-proof enclosure 2-1-8, a drive wheel assembly 2-1-3, and two guide wheel assemblies 2-1-2. The upper end of the drive wheel assembly 2-1-3 is rolledly connected to the I-beam rail 1, and the lower end of the drive wheel assembly 2-1-3 is slidably connected to the explosion-proof enclosure 2-1-8. The sliding direction of the drive wheel assembly 2-1-3 and the explosion-proof enclosure 2-1-8 is perpendicular to the I-beam rail 1. The two guide wheel assemblies 2-1-2 are located in front of and behind the drive wheel assembly 2-1-3, respectively. The upper end of the guide wheel assembly 2-1-2 is rolledly connected to the I-beam rail 1, and the lower end of the guide wheel assembly 2-1-2 is rotatably connected to the explosion-proof enclosure 2-1-8.

[0040] To meet explosion-proof requirements, the explosion-proof enclosure 2-1-8 includes an equipment cavity B and wiring cavities A and C, located at the front and rear of equipment cavity B, respectively. Wiring cavity covers II 2-1-7, equipment cavity cover 2-1-6, and wiring cavity cover I 2-1-5 are fixed to the outer sides of equipment cavity B and wiring cavities A and C, respectively. A cable entry device 2-1-1 is welded to the outside of the wiring cavities of the explosion-proof enclosure 2-1-8 and connects to the two wiring cavities. In this embodiment, the cables for the audible and visual alarm 2-2, infrared obstacle avoidance sensor 2-4, face recognition camera 2-5, thermal imager and visible light dual-spectrum pan / tilt unit 2-6, and limit switch 2-7 enter the wiring cavities of the explosion-proof enclosure 2-1-8 through the cable entry device 2-1-1, and then enter the equipment cavity from the wiring cavity. All electrical equipment required for controlling the robot's movement is installed in the equipment cavity.

[0041] Combination Figures 3 to 6As shown, the drive wheel device 2-1-3 includes a support frame 2-1-3-3 and a pair of small explosion-proof motors 2-1-3-2 mounted on the support frame 2-1-3-3. Drive wheels 2-1-3-1 are connected to the output flanges at the upper ends of the small explosion-proof motors 2-1-3-2. One side lug of the small explosion-proof motor 2-1-3-2 is hinged to the support frame 2-1-3-3 via a rotating shaft 2-1-3-4, allowing the small explosion-proof motor 2-1-3-2 to rotate around the rotating shaft 2-1-3-4. The other side lug of the small explosion-proof motor 2-1-3-2 is connected to the support frame 2-1-3-3 via a compression spring 2-1-3-5 and a compression nut 2-1-3-6. Under the elastic force of the compression springs 2-1-3-5 on both sides, the two drive wheels 2-1-3-1 are pressed against both sides of the I-beam track 1, providing driving force for the robot. A slider 2-1-14 is bolted to the lower side of the support frame 2-1-3-3. The slider 2-1-14 is slidably connected to a guide rail 2-1-15, which is welded to the upper side of the explosion-proof enclosure 2-1-8. The drive wheel device 2-1-3 can slide along the guide rail 2-1-15 under the action of the slider 2-1-14.

[0042] Combination Figure 3 , Figure 4 and Figure 7 As shown, the guide wheel device 2-1-2 includes a pair of guide wheel brackets 2-1-2-3, the lower ends of which are fixedly connected to the base mounting plate 2-1-2-4 by bolts. A hanging wheel 2-1-2-2 and two guide wheels 2-1-2-1 are rotatably mounted on the inner side of the guide wheel brackets 2-1-2-3. The two guide wheels 2-1-2-1 are positioned at the front and rear sides of the hanging wheel 2-1-2-2. The hanging wheel 2-1-2-2 is rolled on the I-beam rail 1, and the guide wheels 2-1-2-1 press against the side of the I-beam rail 1. The hanging wheel 2-1-2-2 provides support, and the guide wheels 2-1-2-1 guide the direction of movement.

[0043] The base mounting plate 2-1-2-4 has a mounting through hole. A bolt-fixed base 2-1-9 is fixed to the explosion-proof housing 2-1-8. An external hexagonal bolt 2-1-13 is fixedly connected to the bolt-fixed base 2-1-9 via a bolt head cap 2-1-10. The external hexagonal bolt 2-1-13 passes from the underside of the base mounting plate 2-1-2-4 into the mounting through hole of the base mounting plate 2-1-2-4. A thrust bearing 2-1-12 is mounted on the external hexagonal bolt 2-1-13, pressing against the upper side of the base mounting plate 2-1-2-4. A nut 2-1-11 for limiting the movement of the thrust bearing 2-1-12 is also mounted on the external hexagonal bolt 2-1-13. Under the action of the thrust bearing 2-1-12, the guide wheel bracket 2-1-2-3 and the base mounting plate 2-1-2-4 can rotate around the external hexagonal bolt 2-1-13.

[0044] Combination Figure 3 , Figure 9 and Figure 10 As shown, the towable fire monitor 3 includes a towable housing 3-2. A towable plate II 3-3 is fixed to the front of the towable housing 3-2, and a towable plate I 2-1-4 is connected to the rear of the explosion-proof enclosure 2-1-8. The towable plates I 2-1-4 and II 3-3 are connected by pins. A guide wheel device 2-1-2, which is rotatably connected to the I-beam rail 1, is fixed on the towable housing 3-2. A fire monitor head 3-1 with flame tracking function is installed at the lower end of the towable housing 3-2. Handheld water-based fire extinguishers 3-4 are installed on both sides of the towable housing 3-2 via fire extinguisher fixing clamps 3-5. The two handheld water-based fire extinguishers 3-4 are connected to the fire monitor head 3-1 with flame tracking function via a three-way pipe 3-6. A solenoid valve 3-7 is installed in the three-way pipe 3-6.

[0045] Working principle:

[0046] The explosion-proof and intrinsically safe robot body of this invention is equipped with a drive wheel device and a guide wheel device. The drive wheel device adopts a sliding structure, and the guide wheel device adopts a rotating structure, which gives the robot a small turning radius, facilitating inspection. Figure 8 As shown;

[0047] During the robot inspection process, a fire warning is first issued using a thermal imager and a visible light dual-spectrum gimbal 2-6. Once an open flame is detected, the robot stops moving, and the water cannon head 3-1 with flame tracking function locates the fire point through program control. At the same time, it controls the solenoid valve 3-7 to open, and sprays the fire-fighting liquid in the portable water-based fire extinguisher through the water cannon head 3-1 with flame tracking function to extinguish the fire immediately.

[0048] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A coal mine inspection robot with automatic aiming fire extinguishing function, comprising an explosion-proof and intrinsically safe robot body slidingly installed on an I-beam track; characterized in that: the explosion-proof and intrinsically safe robot body is connected with a trailing fire-fighting water cannon at the rear side, and the trailing fire-fighting water cannon is slidingly installed on the I-beam track; the explosion-proof and intrinsically safe robot body comprises a power box slidingly installed on the I-beam track; a thermal imager and visible light dual-spectrum holder and an audible and visual alarm are arranged at the front side of the explosion-proof and intrinsically safe robot body; the thermal imager and visible light dual-spectrum holder are used for measuring the temperature of the equipment to be inspected and collecting image information in real time, and when the temperature of the equipment exceeds the preset temperature, the audible and visual alarm alarms and the trailing fire-fighting water cannon extinguishes the fire; the power box comprises an explosion-proof box body, a driving wheel device and two guide wheel devices; the upper end of the driving wheel device is rollingly connected with the I-beam track, the lower end of the driving wheel device is slidingly connected with the explosion-proof box body, and the sliding direction of the driving wheel device and the explosion-proof box body is perpendicular to the I-beam track; the two guide wheel devices are arranged at the front and rear sides of the driving wheel device, the upper end of the guide wheel device is rollingly connected with the I-beam track, and the lower end of the guide wheel device is rotatably connected with the explosion-proof box body; the driving wheel device comprises a support frame and a pair of small explosion-proof motors installed on the support frame, and the output shaft of the upper end of the small explosion-proof motor is connected with a driving wheel; one side of the small explosion-proof motor is hinged to the support frame through a rotating shaft, and the other side of the small explosion-proof motor is connected to the support frame through a compression spring and a compression nut; under the elastic force of the compression spring, the two driving wheels are pressed on both sides of the I-beam track; a sliding block is fixed to the lower side of the support frame, a guide rail is slidingly connected with the sliding block, and the guide rail is fixed to the upper side of the explosion-proof box body; the guide wheel device comprises a pair of guide wheel supports, and a base mounting plate is fixedly connected to the lower end of the guide wheel support; a lifting wheel and two guide wheels are rotatably installed in the inner side of the guide wheel support; the two guide wheels are arranged at the front and rear sides of the lifting wheel; the lifting wheel is rollingly installed on the I-beam track, and the guide wheels are pressed on the side surface of the I-beam track; a mounting through hole is formed in the base mounting plate; a bolt fixing base is fixed to the explosion-proof box body, an external hexagonal bolt is fixedly connected to the bolt head gland on the bolt fixing base; the external hexagonal bolt is inserted into the mounting through hole of the base mounting plate from the lower side of the base mounting plate; a thrust bearing is installed on the external hexagonal bolt and pressed on the upper side of the base mounting plate, and a nut is further installed on the external hexagonal bolt for limiting the thrust bearing.

2. The coal mine inspection robot with automatic aiming and fire extinguishing function according to claim 1, characterized in that: a human face recognition camera, an infrared obstacle avoidance sensor and a travel switch are further arranged at the front side of the explosion-proof and intrinsically safe robot body; the human face recognition camera is used for identifying unauthorized personnel entering the inspection area, and when unauthorized personnel are found, the audible and visual alarm alarms.

3. The coal mine inspection robot with automatic aiming and fire extinguishing function according to claim 1, characterized in that: the explosion-proof box body comprises an equipment cavity and two wiring cavities, and the two wiring cavities are arranged at the front and rear sides of the equipment cavity; the wiring cavities are connected with cable introduction devices; the cable enters the wiring cavities from the cable introduction devices, and then enters the equipment cavity from the wiring cavities and is connected with the components in the equipment cavity.

4. The coal mine inspection robot with automatic aiming and fire extinguishing function according to claim 1, characterized in that: The dragging fire-fighting monitor comprises a dragging shell connected to the rear side of the explosion-proof and intrinsically safe robot body, and a guide wheel device fixed on the dragging shell and rolling connected with the I-beam track; A water monitor head with a flame tracking function is installed at the lower end of the dragging shell, and handheld water-based fire extinguishers are installed on both sides of the dragging shell through fire extinguisher fixing hoops; the two handheld water-based fire extinguishers are connected to the water monitor head with the flame tracking function through a tee pipe, and a solenoid valve is installed in the tee pipe.

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