A ventilation shaft wall climbing robot

Abstract

The present invention relates to the technical field of wind shaft inspection, and discloses a wind shaft wall climbing robot, including a monitoring mechanism, wherein an expandable walking mechanism is provided around the top of the monitoring mechanism, and the walking mechanism obtains different support diameters by expanding. The monitoring mechanism includes an upper equipment compartment, and the bottom of the upper equipment compartment is fixedly connected to a lower equipment compartment, and a gas detection hole is provided on the outer surface of the lower equipment compartment, and an infrared thermometer extends from the outer surface of the lower equipment compartment, and the gas detection hole is connected to a gas detector provided inside the upper equipment compartment. The wind shaft wall climbing robot is provided with a traction rod to pull the support arm, so that the support arm can drive the omnidirectional wheels to expand and close, so that the omnidirectional wheels can cooperate with the wind shaft wall from multiple angles to be positioned in the wind shaft, and the transmission motor drives the omnidirectional wheels to work to realize multi-axis movement of the entire equipment such as lifting, turning, etc. in the wind shaft, thereby realizing a comprehensive inspection of the inside of the wind shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of ventilation shaft inspection, and in particular to a ventilation shaft wall climbing robot. Background Art

[0002] Air shafts are shafts used specifically for ventilation in mines. The shafts that allow fresh air in are called inlet shafts, while the shafts that allow contaminated air out are called outlet shafts. The number of air shafts installed in each mine field depends on the ventilation system used and the shaft layout. Each ventilation system must have at least one inlet and one outlet shaft.

[0003] Ventilation shafts are tens of meters deep and several meters in diameter. They lack hoisting equipment, experience high wind speeds, and contain dust and fog in the return air, resulting in low visibility. Shaft wall quality inspections require manual labor, climbing up and down ladders. This poses significant safety risks and hinders the quality and frequency of inspections.

[0004] In order to ensure safe production, eliminate the safety risks of manual inspections, and improve the quality and frequency of inspections, it is necessary to establish an unmanned well wall inspection system to realize dynamic unmanned inspections of the ventilation well wall, observe and compare changes in well wall temperature, cracks, water output, water temperature, water turbidity, etc., and issue timely warnings in case of abnormal situations.

[0005] Chinese Patent Publication No.: CN 113246654 A discloses "Omnidirectional Wheel and Mobile Equipment", which includes a hub bracket, a first roller assembly, and a second roller assembly; the first roller assembly includes a first shaft and a first roller, the first roller includes a connected rim portion and a spoke portion, the spoke portion is located in the middle of the rim portion, and partial structures of two second roller assemblies adjacent to the first roller assembly respectively extend into the axial side spaces of the spoke portion of the first roller assembly; the first roller assembly also includes a first bracket unit and a second bracket unit arranged separately, the first fixing portion of the first bracket unit and the second fixing portion of the second bracket unit are respectively located in the axial side spaces of the spoke portion and fixedly connected to the first shaft, achieving a high running smoothness effect.

[0006] Chinese Patent Publication No.: CN 114013214 A discloses "An Active Omnidirectional Wheel and Its Motion Method", which includes a hub frame with pitch wheels evenly distributed around the circumference that rotate left and right. The pitch wheels are fixedly connected to bevel gears through rotating shafts. The hub frame also includes a drive motor output shaft symmetrically arranged on both sides of the main hub to drive the corresponding bevel gear pair in the hub to rotate. The bevel gear pair in the hub consists of a large bevel gear and small bevel gears evenly distributed around the circumference. The large bevel gear of the bevel gear pair is coaxially connected to the hub frame, and the small bevel gears of the bevel gear pair are axially symmetrically arranged and respectively connected to the fixing holes around the hub frame.

[0007] The omnidirectional wheel can achieve omnidirectional motion through the combined motion of the hub and the joint wheel, and each motion direction is controlled independently.

[0008] Both of the above-mentioned existing technologies achieve the purpose of omnidirectional movement. When inspecting in the wind shaft, multi-dimensional displacement is required. Therefore, omnidirectional wheels are needed for cooperation. If omnidirectional wheels are used directly, the inspection equipment cannot be moved in the wall of the wind shaft. Therefore, the effective combination of wind shaft inspection equipment and omnidirectional wheels has become a problem that needs to be solved at present.

[0009] It can be seen that there is an urgent need for a wind shaft wall climbing robot to enable the wind shaft inspection device to effectively move in the wind shaft. Summary of the Invention

[0010] The purpose of the present invention is to provide a wind shaft wall climbing robot to solve the problems raised in the above background technology.

[0011] In order to solve the above technical problems, the present invention provides the following technical solutions: a wind shaft wall climbing robot, comprising a monitoring mechanism, wherein a deployable walking mechanism is provided around the top of the monitoring mechanism, and the walking mechanism can obtain different support diameters by being deployed;

[0012] The monitoring mechanism includes an upper equipment compartment, the bottom of the upper equipment compartment is fixedly connected to the lower equipment compartment, the outer surface of the lower equipment compartment is provided with a gas detection hole, the outer surface of the lower equipment compartment extends from an infrared thermometer, the gas detection hole is connected to a gas detector provided inside the lower equipment compartment, and a rotatable monitoring camera is installed at the bottom of the lower equipment compartment;

[0013] A wireless signal transmission device is also provided inside the lower equipment compartment;

[0014] A first hinge groove is formed around the top of the upper equipment compartment, a through hole is formed in the first hinge groove and extends to the interior of the lower equipment compartment, and a second hinge groove is formed on the top of the upper equipment compartment corresponding to the first hinge groove;

[0015] The walking mechanism includes a supporting arm and a traction rod, one end of the supporting arm is hinged inside the first hinge groove, a transmission motor is provided at the end of the supporting arm, the supporting arm and the transmission motor are connected by a flange, a wiring hole is opened at the axis of the supporting arm and passes through the supporting arm for wiring, an omnidirectional wheel is installed at the end of the transmission motor, and the omnidirectional wheel is driven by the transmission motor;

[0016] One end of the traction rod is hinged inside the second hinge groove, and the end of the traction rod is hinged with a connecting sleeve, and the connecting sleeve is sleeved on the outer surface of the supporting arm rod;

[0017] The connection between the traction rod and the second hinge groove is driven by the power equipment, so that the traction rod drives the supporting force arm to expand or close and fit into the wall of the wind shaft.

[0018] Preferably, the gas detection hole is divided into a plurality of sections, each section is independent of each other, and an independent gas detector is provided inside each section.

[0019] Preferably, the surveillance camera can rotate 360 ​​degrees, and the outer surface of the surveillance camera is sleeved with an explosion-proof cover.

[0020] Preferably, the number of the supporting force arms is four, and the four supporting force arms are equidistantly distributed in a rectangular shape.

[0021] Preferably, the traction rod is in an inverted L-shape, and the traction rod is parallel to the supporting arm.

[0022] Preferably, a gear groove is provided at the hinge between the bottom of the traction rod and the second hinge groove;

[0023] A transmission gear plate driven by a motor is also installed inside the upper equipment compartment, a transmission rod is meshed with the top of the transmission gear plate, and a worm is fixedly connected to the end of the transmission rod;

[0024] The worm is engaged with the gear groove, thereby driving the gear groove to rotate.

[0025] Preferably, an auxiliary mechanism is fixedly connected to the axis of the top of the upper equipment bin, the auxiliary mechanism extends upward, and the total height of the auxiliary mechanism does not exceed the height of the supporting arm.

[0026] Preferably, the auxiliary mechanism includes a lighting lamp, which is located at the top of the upper equipment bin, and the axis of the lighting lamp is fixedly connected to an extension rod, and the top of the extension rod is fixedly connected to a diffuse reflection component with an arc-shaped bottom, and the outer surface of the diffuse reflection component is a smooth surface, and the top axis of the diffuse reflection component is fixedly connected to a wired socket, and the wires of the wired socket extend to the interior of the upper equipment bin and the lower equipment bin, and the top of the diffuse reflection component is also fixedly connected to a hanging ring.

[0027] Preferably, a dust and defogging device is fixedly connected to the bottom of the lower equipment compartment, and the inner wall of the dust and defogging device overlaps the outer surface of the surveillance camera.

[0028] Preferably, the dust and mist removal device includes a connecting plate fixedly connected to the bottom of the lower equipment bin, the inner wall of the connecting plate is covered with cleaning sponge, the inner wall of the connecting plate is provided with a snap-fit ​​groove, the outer surface of the cleaning sponge is fixedly connected with a snap-fit, and the snap-fit ​​groove and the snap-fit ​​are snap-fitted.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] First, the present invention sets a traction rod to pull the supporting arm, so that the supporting arm can drive the omnidirectional wheel to expand and close, so that the omnidirectional wheel can be positioned in the wind shaft from multiple angles in coordination with the wind shaft wall, and the omnidirectional wheel is driven by the transmission motor to realize multi-axis movement such as lifting, turning, etc. of the entire equipment in the wind shaft, thereby realizing a comprehensive inspection of the interior of the wind shaft.

[0031] Second, the present invention arranges a lighting lamp on the top of the upper equipment compartment to illuminate upwards, and the lighting light is reflected by the bottom of the diffuse reflection component to illuminate the interior of the air shaft, thereby avoiding exposing the image of the surveillance camera when the light is set at the bottom, and the light reflected by the diffuse reflection component will be relatively soft and increase the lighting range.

[0032] Third, the present invention sets a dust and defogging device at the bottom of the lower equipment compartment. When the temperature difference between the inside and outside of the air shaft is large or the dust in the air shaft is large, water vapor or dust will adhere to the outer surface of the surveillance camera, resulting in unclear video images. At this time, the surveillance camera is rotated to cause friction between the outer surface of the surveillance camera and the inner wall of the dust and defogging device, thereby cleaning the water vapor or dust on the outer surface of the surveillance camera.

[0033] Fourth, the present invention flips the entire device over so that the omnidirectional wheels come into contact with the ground. During the transportation of the equipment, the omnidirectional wheels can be used as driving wheels to drive the entire device, thereby achieving automatic movement without the need for transportation through loading equipment, thereby achieving the effect of convenient movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the present invention;

[0035] Figure 2 It is a top view of the structure of the present invention;

[0036] Figure 3 It is a bottom view of the structure of the present invention;

[0037] Figure 4 This is a schematic diagram of the assembly structure of the walking mechanism of the present invention;

[0038] Figure 5 This is a schematic diagram of the transmission structure of the walking mechanism of the present invention;

[0039] Figure 6 For the present invention Figure 5 A schematic diagram of the structure at center A;

[0040] Figure 7 This is a schematic diagram of the traction rod structure of the present invention;

[0041] Figure 8 This is a schematic structural diagram of the dust and mist removal device of the present invention;

[0042] Figure 9 This is a schematic diagram of the structure and assembly of the dust and mist removal device of the present invention;

[0043] Figure 10 It is a schematic diagram of the present invention when walking on its own.

[0044] Among them: 1. Monitoring mechanism; 101. Upper equipment compartment; 102. Lower equipment compartment; 103. Gas detection hole; 104. Infrared thermometer; 105. Surveillance camera; 106. First hinge slot; 107. Second hinge slot; 108. Dust and mist removal device; 1081. Connecting plate; 1082. Cleaning sponge; 1083. Snap-on slot; 1084. Buckle; 2. Walking mechanism; 201. Support arm; 2011. Wiring hole; 202. Transmission motor; 203. Omnidirectional wheel; 204. Traction rod; 2041. Gear slot; 205. Connecting sleeve; 206. Transmission rod; 207. Worm; 208. Transmission gear plate; 3. Auxiliary mechanism; 301. Extension rod; 302. Diffuse reflection component; 303. Wired socket; 304. Lifting ring; 305. Lighting lamp. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Specific implementation method 1

[0047] See also Figure 1-7 A wind shaft wall climbing robot includes a monitoring mechanism 1, and a deployable walking mechanism 2 is provided around the top of the monitoring mechanism 1. The walking mechanism 2 can obtain different support diameters by being deployed or folded;

[0048] The monitoring mechanism 1 includes an upper equipment compartment 101, and a lower equipment compartment 102 is fixedly connected to the bottom of the upper equipment compartment 101. The upper equipment compartment 101 and the lower equipment compartment 102 are two relatively independent spaces, and a line is used to connect them to transmit power and signals. The interior of the upper equipment compartment 101 is mainly installed with transmission equipment for the walking mechanism 2, and the interior of the lower equipment compartment 102 is mainly installed with electrical components and power supply devices such as lithium batteries, so as to avoid the equipment in the upper equipment compartment 101 from interfering with the equipment in the lower equipment compartment 102, and the relatively fragile electrical components are protected by the lower equipment compartment 102 and the monitoring camera 105, which improves the explosion resistance of the device. The outer surface of the lower equipment compartment 102 is provided with a gas detection hole 103, and the outer surface of the lower equipment compartment 102 extends an infrared thermometer 1 04. A gas detector is provided inside the gas detection hole 103 and is connected to the lower equipment compartment 102. A rotatable monitoring camera 105 is installed at the bottom of the lower equipment compartment 102. Gas enters through the gas detection hole 103 and contacts the gas detection device to detect the gas composition in the air shaft, thereby determining the oxygen concentration, harmful gas concentration and composition and other data in the air shaft. The infrared thermometer 104 is used to detect the temperature in the air shaft, and also performs temperature detection in multiple directions to improve the accuracy of detection through multiple data. In the process of inspection, the monitoring camera 105 transmits real-time video of the environment in the air shaft, so as to facilitate intuitive observation of the condition of the air shaft wall and whether there is water in the air shaft, the location of the water outlet point and the amount of water output;

[0049] The above-mentioned gas, temperature and other data are transmitted to the control terminal and displayed in the form of curve charts;

[0050] The lower equipment compartment 102 is also provided with a wireless signal transmission device for facilitating remote sensing control of the entire equipment;

[0051] A first hinge slot 106 is provided around the top of the upper equipment compartment 101. A through hole is provided in the first hinge slot 106 and extends into the interior of the lower equipment compartment 102 to facilitate wiring. A second hinge slot 107 is provided on the top of the upper equipment compartment 101 corresponding to the first hinge slot 106.

[0052] The walking mechanism 2 includes a supporting arm 201 and a traction rod 204. One end of the supporting arm 201 is hinged inside the first hinge slot 106. A transmission motor 202 is provided at the end of the supporting arm 201. The power line and control line of the transmission motor 202 extend to the interior of the lower equipment compartment 102 and are remotely controlled. The transmission motor 202 is a servo motor to facilitate accurate control. The supporting arm 201 and the transmission motor 202 are connected by a flange. The axis of the supporting arm 201 is provided with a wiring hole 2011 that passes through the supporting arm 201 for leading the wires. An omnidirectional wheel 203 is installed at the end of the transmission motor 202, and the omnidirectional wheel 203 is driven by the transmission motor 202. The omnidirectional wheel 203 is a prior art disclosed in Patent Publication No. "CN 113246654 A", so its structure and control principle are not described in detail here.

[0053] One end of the traction rod 204 is hinged inside the second hinge groove 107. The end of the traction rod 204 is hinged with a connecting sleeve 205. The connecting sleeve 205 is sleeved on the outer surface of the support arm 201. The traction rod 204 is provided to pull the support arm 201 by rotating and cooperating with the connecting sleeve 205, so that the support arm 201 can be opened and closed to adapt to air shafts of different diameters and apply pressure to the inner wall of the air shaft to ensure the stability of the device in the air shaft.

[0054] The connection between the traction rod 204 and the second hinge groove 107 is driven by the power equipment, so that the traction rod 204 drives the supporting arm rod 201 to expand or close and fit the air shaft wall with different inner diameters.

[0055] Through the above technical solution, a traction rod 204 is set to pull the supporting arm 201, so that the supporting arm 201 can drive the omnidirectional wheel 203 to expand and close, so that the omnidirectional wheel 203 can cooperate with the shaft wall to be positioned in the shaft from multiple angles, and the omnidirectional wheel 203 is driven by the transmission motor 202 to realize the multi-axis movement of the entire equipment such as lifting, turning, etc. in the shaft, thereby realizing a comprehensive inspection of the inside of the shaft.

[0056] Specifically, the gas detection hole 103 is divided into a plurality of sections, each section is independent of each other, and an independent gas detector is provided inside each section.

[0057] Through the above technical solution, the gas detection hole 103 is set into multiple areas, and the multiple areas are made independent, so that when gas detection is carried out in the wind shaft, multiple detection data can be obtained at the same time, and comprehensive analysis can be performed through multiple data to improve the accuracy of gas detection.

[0058] Specifically, the surveillance camera 105 can rotate 360 ​​degrees, and an explosion-proof cover is sleeved on the outer surface of the surveillance camera 105 .

[0059] Through the above technical solution, the surveillance camera 105 is configured to be rotatable at multiple angles like a surveillance pan-tilt head. The purpose of the multi-angle rotation is to improve the observation range. Although the entire device can be rotated by the omnidirectional wheels 203, the operation of this rotation method is more complicated than the direct rotation method of the surveillance camera 105. An explosion-proof cover is covered on the outer surface of the surveillance camera 105 to protect the surveillance camera 105, thereby improving the service life of the surveillance camera 105 in high-risk areas.

[0060] Specifically, there are four supporting arm rods 201 , and the four supporting arm rods 201 are equidistantly distributed in a rectangular shape.

[0061] Through the above technical solution, the purpose of setting four supporting lever arms 201 is to improve the applicability of the entire device. It can be used when the cross-section of the air shaft is rectangular or circular. If the number of supporting lever arms 201 is two, there is a problem of unstable support. If there are three supporting lever arms 201, although they can provide stable support in the air shaft with a circular cross-section, there will be support problems in the air shaft with a rectangular cross-section. When the number of supporting lever arms 201 exceeds four, it is also impossible to effectively provide support in the rectangular cross-section.

[0062] Specifically, the traction rod 204 is in an inverted L-shape, and the traction rod 204 is parallel to the supporting arm rod 201 .

[0063] Through the above technical solution, the traction rod 204 is set to an inverted L shape, so that the traction rod 204 and the support arm rod 201 can always remain parallel when rotating, so that the pressure of the supporting force is shared by the traction rod 204 and the support arm rod 201 at the same time, thereby increasing stability.

[0064] Specifically, a gear groove 2041 is provided at the hinge between the bottom of the traction rod 204 and the second hinge groove 107;

[0065] A transmission gear plate 208 driven by a motor is also installed inside the upper equipment compartment 101. The top of the transmission gear plate 208 is meshed with a transmission rod 206, and the end of the transmission rod 206 is fixedly connected to a worm 207.

[0066] The worm 207 meshes with the gear slot 2041 , thereby driving the gear slot 2041 to rotate.

[0067] Through the above technical solution, the gear groove 2041 is used to mesh with the worm 207, so that when the worm 207 rotates, it can drive the support arm 201 to change its angle. The transmission characteristic of the worm 207 is self-locking, which can effectively maintain the angle of the support arm 201.

[0068] The top of the transmission gear plate 208 is provided with helical teeth, which mesh with the helical gear at the tail of the transmission rod 206. When the transmission gear plate 208 is driven to rotate, the transmission gear plate 208 can synchronously drive the four transmission rods 206 to rotate, thereby causing the four support arm rods 201 to expand or close synchronously.

[0069] The motor used to control the rotation of the transmission gear plate 208 is also a servo motor, and like the transmission motor 202 , can be controlled by remote sensing. Specific implementation method 2

[0071] This embodiment is further improved on the basis of the specific embodiment 1 to obtain a better inspection effect in the air shaft.

[0072] like Figure 1-4 As shown, the axis at the top of the upper equipment compartment 101 is fixedly connected to an auxiliary mechanism 3 , which extends upward, and the total height of the auxiliary mechanism 3 does not exceed the height of the supporting arm 201 .

[0073] Specifically, the auxiliary mechanism 3 includes a lighting lamp 305, which is located at the top of the upper equipment compartment 101. The axis of the lighting lamp 305 is fixedly connected to the extension rod 301. The top of the extension rod 301 is fixedly connected to a diffuse reflection component 302 with an arc at the bottom, and the outer surface of the diffuse reflection component 302 is a smooth surface. The top axis of the diffuse reflection component 302 is fixedly connected to a wired socket 303. The wires of the wired socket 303 extend to the interior of the upper equipment compartment 101 and the lower equipment compartment 102. The top of the diffuse reflection component 302 is also fixedly connected to a hanging ring 304.

[0074] The overall height of the auxiliary mechanism 3 is set so that when the entire device needs to be transported, the entire device can be turned over, and the support arm 201 is closed to allow the omnidirectional wheels 203 to contact the top surface to achieve self-movement. Since the end of the auxiliary mechanism 3 is shorter than the length of the support arm 201, the auxiliary mechanism 3 will not come into contact with the ground.

[0075] During use, in order to prevent the lighting from interfering with the surveillance camera 105 and causing the surveillance camera 105 to expose the image, the lighting lamp 305 emits light upward to illuminate the interior of the air shaft. In order to increase the ambient brightness when the surveillance camera 105 is working, the diffuse reflection component 302 is provided to block the upward light of the lighting lamp 305 and diffusely reflect it to the surroundings, thereby changing the lighting angle and intensity so that the light illuminates the bottom and surrounding areas of the air shaft, and the light does not directly act on the lens position of the surveillance camera 105 and cause the image to be exposed.

[0076] The purpose of providing the wired socket 303 is to connect the cable so that the cable can be directly connected to the entire device to control the device in a wired control manner, which has higher control accuracy than the delay of wireless signals;

[0077] The purpose of setting the lifting ring 304 is to facilitate the use of a crane to place the entire device into the air shaft. When in use, the hook is passed through the lifting ring 304 through a crane or other equipment to suspend the entire device in the air and slowly placed into the air shaft. Then the device is started to unfold the supporting arm 201, and the pressure of the omnidirectional wheel 203 and the wall of the air shaft is used to place the entire device in the air shaft. Then the hook is released so that the entire device can move on its own in the air shaft. Specific implementation method three

[0079] This embodiment is further improved on the basis of the specific embodiment 1, so that the device can obtain good observation conditions

[0080] like Figure 8-9 As shown, a dust and mist removal device 108 is fixedly connected to the bottom of the lower equipment compartment 102 , and the inner wall of the dust and mist removal device 108 overlaps with the outer surface of the surveillance camera 105 .

[0081] Through the above technical solution, the purpose of setting the dust and mist removal device 108 is to maintain the clarity of the image of the monitoring camera 105. When the equipment enters the air shaft, due to the temperature difference between the inside and outside, the increase in humidity in the air shaft, and the presence of dust in the air shaft, the outer surface of the monitoring camera 105 will be attached with water vapor, dust and other substances, resulting in blurred video images. Therefore, it is necessary to clean the outer surface of the monitoring camera 105 to ensure good viewing conditions during inspections.

[0082] The dust and defogging device 108 will affect the field of view of the surveillance camera 105 to a certain extent. When the surveillance camera 105 needs to observe the direction of the dust and defogging device 108, the dust and defogging device 108 can avoid blocking the line of sight by controlling the steering of the entire device.

[0083] Specifically, the dust and mist removal device 108 includes a connecting plate 1081 fixedly connected to the bottom of the lower equipment compartment 102, the inner wall of the connecting plate 1081 is covered with a cleaning sponge 1082, the inner wall of the connecting plate 1081 is provided with a snap-fit ​​groove 1083, the outer surface of the cleaning sponge 1082 is fixedly connected with a snap buckle 1084, and the snap-fit ​​groove 1083 and the snap buckle 1084 are snap-fitted.

[0084] Through the above technical solution, the connecting plate 1081 is used to support the cleaning sponge 1082, so that the soft cleaning sponge 1082 can be attached to the outer surface of the surveillance camera 105, and the snap groove 1083 and the buckle 1084 are provided to cooperate, so that the cleaning sponge 1082 can be easily disassembled and assembled, thereby improving the convenience of cleaning and replacement.

[0085] like Figure 10 As shown, by flipping the entire device over so that the omnidirectional wheels 203 are in contact with the ground, the omnidirectional wheels 203 can be used as driving wheels to drive the entire device during transportation, thereby achieving automatic movement without the need for transportation through loading equipment, thereby achieving the effect of convenient movement.

[0086] When in use, the traction rod 204 is provided to pull the support arm 201, so that the support arm 201 can drive the omnidirectional wheel 203 to expand and close, so that the omnidirectional wheel 203 can cooperate with the shaft wall from multiple angles and be positioned in the shaft. The transmission motor 202 drives the omnidirectional wheel 203 to work, so that the entire device can move in multiple axes such as lifting, turning, etc. in the shaft, realizing a comprehensive inspection of the interior of the shaft.

[0087] By setting a lighting lamp 305 on the top of the upper equipment compartment 101 to illuminate upwards, and the lighting light is reflected by the bottom of the diffuse reflection component 302 to illuminate the interior of the air shaft, thereby avoiding the exposure of the monitoring camera 105 image when the light is set at the bottom, and the light reflected by the diffuse reflection component 302 will be relatively soft and increase the lighting range;

[0088] By setting a dust and defogging device 108 at the bottom of the lower equipment compartment 102, when the temperature difference between the inside and outside of the air shaft is large or the dust in the air shaft is large, water vapor or dust will adhere to the outer surface of the monitoring camera 105, resulting in unclear video images. At this time, the monitoring camera 105 is rotated, so that friction occurs between the outer surface of the monitoring camera 105 and the inner wall of the dust and defogging device 108, thereby cleaning the water vapor or dust on the outer surface of the monitoring camera 105.

[0089] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A wind shaft wall climbing robot, comprising a monitoring mechanism (1), characterized in that: The monitoring mechanism (1) is provided with an expandable walking mechanism (2) around the top, and the walking mechanism (2) obtains different support diameters by expanding; The monitoring mechanism (1) comprises an upper equipment bin (101), the bottom of the upper equipment bin (101) is fixedly connected to a lower equipment bin (102), a gas detection hole (103) is provided on the outer surface of the lower equipment bin (102), an infrared thermometer (104) extends from the outer surface of the lower equipment bin (102), the gas detection hole (103) is connected to a gas detector provided inside the lower equipment bin (102), and a rotatable monitoring camera (105) is installed at the bottom of the lower equipment bin (102); A wireless signal transmission device is also provided inside the lower equipment compartment (102); A first hinge groove (106) is provided on the periphery of the top of the upper equipment bin (101), a through hole is provided in the first hinge groove (106) and extends to the interior of the lower equipment bin (102), and a second hinge groove (107) is provided on the top of the upper equipment bin (101) corresponding to the first hinge groove (106); The walking mechanism (2) comprises a supporting arm (201) and a traction rod (204), one end of the supporting arm (201) is hinged inside a first hinge slot (106), a transmission motor (202) is provided at the end of the supporting arm (201), the supporting arm (201) and the transmission motor (202) are connected via a flange, a wiring hole (2011) penetrating the supporting arm (201) is provided at the axis of the supporting arm (201) for wiring, and an omnidirectional wheel (203) is installed at the end of the transmission motor (202), and the omnidirectional wheel (203) is driven by the transmission motor (202); One end of the traction rod (204) is hinged inside the second hinge groove (107), and a connecting sleeve (205) is hinged at the end of the traction rod (204), and the connecting sleeve (205) is sleeved on the outer surface of the supporting arm rod (201); The connection between the traction rod (204) and the second hinge groove (107) is driven by the power equipment, so that the traction rod (204) drives the supporting arm rod (201) to expand or close and fit with the wall of the wind shaft.

2. The ventilation shaft wall climbing robot according to claim 1, characterized in that: The gas detection hole (103) is divided into a plurality of sections, each section is independent of each other, and an independent gas detector is provided inside each section.

3. The ventilation shaft wall climbing robot according to claim 1, characterized in that: The monitoring camera (105) can rotate 360 ​​degrees, and an explosion-proof cover is sleeved on the outer surface of the monitoring camera (105).

4. The ventilation shaft wall climbing robot according to claim 1, characterized in that: The number of the supporting force arm rods (201) is four, and the four supporting force arm rods (201) are distributed equidistantly in a rectangular shape.

5. The ventilation shaft wall climbing robot according to claim 1, characterized in that: The traction rod (204) is in an inverted L-shape, and the traction rod (204) is parallel to the supporting arm rod (201).

6. The ventilation shaft wall climbing robot according to claim 1, characterized in that: A gear groove (2041) is provided at the hinged portion between the bottom of the traction rod (204) and the second hinge groove (107); A transmission gear plate (208) driven by a motor is also installed inside the upper equipment compartment (101), a transmission rod (206) is meshed with the top of the transmission gear plate (208), and a worm (207) is fixedly connected to the end of the transmission rod (206); The worm (207) meshes with the gear groove (2041), thereby driving the gear groove (2041) to rotate.

7. The ventilation shaft wall climbing robot according to claim 1, characterized in that: An auxiliary mechanism (3) is fixedly connected to the axis of the top of the upper equipment bin (101), and the auxiliary mechanism (3) extends upward, and the total height of the auxiliary mechanism (3) does not exceed the height of the supporting arm (201).

8. The ventilation shaft wall climbing robot according to claim 7, characterized in that: The auxiliary mechanism (3) includes a lighting lamp (305), the lighting lamp (305) is located at the top of the upper equipment compartment (101), the axis of the lighting lamp (305) is fixedly connected to an extension rod (301), the top of the extension rod (301) is fixedly connected to a diffuse reflection component (302) with an arc shape at the bottom, and the outer surface of the diffuse reflection component (302) is a smooth surface, the top axis of the diffuse reflection component (302) is fixedly connected to a wired socket (303), the wire of the wired socket (303) extends to the interior of the upper equipment compartment (101) and the lower equipment compartment (102), and the top of the diffuse reflection component (302) is also fixedly connected to a hanging ring (304).

9. The ventilation shaft wall climbing robot according to any one of claims 1 to 8, characterized in that: A dust and mist removal device (108) is fixedly connected to the bottom of the lower equipment compartment (102), and the inner wall of the dust and mist removal device (108) overlaps the outer surface of the monitoring camera (105).

10. The ventilation shaft wall climbing robot according to claim 9, characterized in that: The dust and mist removal device (108) includes a connecting plate (1081) fixedly connected to the bottom of the lower equipment compartment (102), the inner wall of the connecting plate (1081) is covered with a cleaning sponge (1082), the inner wall of the connecting plate (1081) is provided with a snap-fit ​​groove (1083), the outer surface of the cleaning sponge (1082) is fixedly connected with a snap-fit ​​buckle (1084), and the snap-fit ​​groove (1083) and the snap-fit ​​buckle (1084) are snap-fitted.

Images