Coal mine shaft exploration robot with stabilizing function

Abstract

The application belongs to the technical field of detection robots, and discloses a coal mine shaft detection robot with a stabilizing function, which comprises a detection robot body and further comprises a connecting mechanism, which is provided with two symmetrically arranged sides of the detection robot body. The first drive motor drives the second telescopic rod to rotate, the extension mechanism is pushed forward with the first drive motor as the axis, the extension mechanism is in an inclined state and falls on the bottom surface in front of the detection robot body, then the second sliding block moves to the direction of the first sliding block until they contact, at this time, since the first sliding block and the second sliding block are combined into a cylindrical shape at one end in the steel plate body, the extension mechanism can rotate around the first sliding block and the second sliding block as the axis, so that one end of the steel plate body located at a high position falls on the step surface, then the detection robot body can advance on the surface of the steel plate body, and higher steps can be crossed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of detection robots, and specifically relates to a coal mine shaft detection robot with a stabilizing function. BACKGROUND

[0002] The coal mine shaft detection robot is an intelligent robot used in the underground environment of a coal mine, and its main functions include autonomous movement, accurate positioning, image acquisition, intelligent sensing and early warning, etc. These robots can perform various tasks in a complex mine environment, such as equipment operating condition detection, facility condition diagnosis, deformation detection, hazardous gas concentration and distribution monitoring, environmental temperature sensing and ventilation parameter acquisition, etc. In longwall mining of shallow coal seams, if the old roof along the coal wall appears serious step subsidence, it may cause the through cracks to open, forming a direct channel for working face sand collapse. This shows that in some cases, faults can cause step subsidence, thus forming a higher step.

[0003] In the above case, the conventional detection robot uses a tracked walking mechanism or a wheeled walking mechanism to increase the contact area with the ground to improve the load capacity and motion stability, but its obstacle crossing ability is low, while the deformable walking mechanism can improve the obstacle crossing ability, but correspondingly reduces the load capacity, but only improves the obstacle crossing ability, and it is difficult to climb along the higher step, so the above problems are improved. SUMMARY

[0004] To solve the problem that the detection robot is difficult to climb along the higher step in the background technology, the application provides a coal mine shaft detection robot with a stabilizing function.

[0005] In order to achieve the above object, the present application provides the following technical scheme: a coal mine shaft detection robot with a stabilizing function, comprising a detection robot body, further comprising a connecting mechanism, the connecting mechanism is provided with two and symmetrically arranged on both sides of the detection robot body; a first driving mechanism, the first driving mechanism is installed on the connecting mechanism; a second telescopic rod, the second telescopic rod is provided on the first driving mechanism; a first connecting mechanism, the first connecting mechanism is installed on the second telescopic rod; an extension mechanism, the extension mechanism is connected to the first connecting mechanism and located above the detection robot body; a ball screw, the ball screw is arranged in the extension mechanism and is used for driving the first connecting mechanism and the extension mechanism to generate relative sliding; wherein, the first connecting mechanism comprises a fixed shell, a threaded rod, a first sliding block, a second sliding block and a second driving motor, the fixed shell is connected to the output end of the second telescopic rod, the second driving motor is installed in the fixed shell, the threaded rod is installed on the output shaft of the second driving motor and is movably sleeved with the fixed shell, the first sliding block is fixedly connected with the fixed shell and the first sliding block is rotatably connected with the threaded rod, and the second sliding block is sleeved on the threaded rod.

[0006] Preferably, the extension mechanism comprises a steel plate body and a fixed assembly, the ball screw is arranged in the steel plate body, the fixed assembly is arranged at one end of the steel plate body, and an angle block is installed at the end of the steel plate body away from the fixed assembly.

[0007] Preferably, one end of the first sliding block and the second sliding block in the steel plate body can be combined into a cylindrical shape, and the steel plate body can rotate along the surface of the first sliding block and the second sliding block when the first sliding block and the second sliding block are in contact.

[0008] Preferably, the fixed shell is slidably connected with the steel plate body through the first sliding block and the second sliding block, and the screw block of the ball screw is rotatably connected with the first sliding block through a connecting shaft.

[0009] Preferably, the fixed assembly comprises a fixed plate, a connecting roller, a first chain, a second chain and a third driving motor, the fixed plate is rotatably connected with the steel plate body, the third driving motor is installed in the steel plate body, the connecting roller is installed on the output shaft of the third driving motor, and the first chain and the second chain are both fixed on the fixed plate and wound on the surface of the connecting roller.

[0010] Preferably, the first chain and the second chain are wound in opposite directions on the surface of the connecting roller, one end of the first chain and the second chain away from the connecting roller extends into the fixed plate and is fixedly connected with the fixed plate, the first chain and the second chain are respectively fixed at both ends in the fixed plate, and the first chain extends out of the fixed plate and is wound in the limiting groove on the top of the fixed plate.

[0011] Preferably, the steel plate body is provided with a movable slot in the middle of the side close to the fixed plate, which can allow the first and second chains to pass, and when the connecting roller is driven by the third driving motor, one of the first and second chains is wound and the other is unwound.

[0012] Preferably, the connecting mechanism comprises a connecting frame, a sliding block and a spring, the connecting frame is fixed to the surface of the detection robot body, the sliding block is slidingly connected to the inside of the connecting frame, and the spring connects the connecting frame and the sliding block.

[0013] Preferably, the first driving mechanism comprises a first driving motor and a first telescopic rod, the first driving motor is installed on the surface of the sliding block, the first telescopic rod is installed on the output shaft of the first driving motor, and the telescopic end of the first telescopic rod is fixedly connected with the second telescopic rod.

[0014] Compared with the prior art, the present application has the following advantages:

[0015] 1. By the cooperation of the first driving mechanism, the second telescopic rod and the first connecting mechanism, the first driving motor drives the second telescopic rod to rotate, the extension mechanism is pushed forward with the first driving motor as the axis, the extension mechanism falls on the bottom surface in front of the detection robot body in an inclined manner, then the second sliding block moves towards the first sliding block until they contact, at this time, since the first sliding block and the second sliding block are combined into a cylindrical shape at one end inside the steel plate body, the extension mechanism can rotate around the first sliding block and the second sliding block as the axis, so that the end of the steel plate body at the high position falls on the step surface, then the detection robot body can walk on the surface of the steel plate body by advancing, thereby realizing the crossing of a higher step.

[0016] 2. By the cooperation of the fixed plate, the connecting roller and the first chain, when the steel plate body is placed on the edge of a high step, the connecting roller rotates to wind the first chain and unwind the second chain, thereby driving the fixed plate to rotate, so that the fixed plate is placed on the surface of the step, and the corner block on the steel plate body can be inserted into the ground, which improves the stability of the steel plate body placed on the step and makes the detection robot body walk on the steel plate body more stably.

[0017] 3. By the cooperation of the connecting mechanism, the second telescopic rod and the extension mechanism, the extension mechanism is placed above the detection robot body, which can protect the detection robot body, and the steel plate body is connected to the sliding block through the first connecting mechanism, the second telescopic rod and the first driving mechanism, when the upper debris falls on the top of the steel plate body, the spring can be deformed to buffer the impact force, preventing the detection robot body from being directly impacted.

[0018] 4. The present invention, through the combination of a first telescopic rod, a first drive motor, and an extension mechanism, enables the steel plate body to move to both sides along the width direction of the detection robot body by extending and retracting the first telescopic rod. At this time, the steel plate body no longer covers the top of the detection robot body. Subsequently, through the rotation of the first drive motor and the retraction of the second telescopic rod, in conjunction with the operation of the ball screw, the extension mechanism can be positioned on the side of the detection robot body. At this time, the extension mechanism lowers the center of gravity of the detection robot body and increases the bottom area of ​​the detection robot body, thereby improving the stability of the detection robot body's movement. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection mechanism of the present invention;

[0021] Figure 3 This is a detailed structural diagram of the connecting mechanism of the present invention;

[0022] Figure 4 This is a structural cross-sectional view of the first connecting mechanism and the extension mechanism of the present invention;

[0023] Figure 5 For the present invention Figure 4 Enlarged diagram of A in the middle;

[0024] Figure 6 For the present invention Figure 4 Enlarged diagram of B in the diagram;

[0025] Figure 7 This is a cross-sectional view of the fixing plate of the present invention;

[0026] Figure 8 This is a schematic diagram of the invention crossing steps. Figure 1 ;

[0027] Figure 9 This is a schematic diagram of the invention crossing steps. Figure 2 ;

[0028] Figure 10 This is a schematic diagram of the invention crossing steps. Figure 3 ;

[0029] Figure 11 This is a schematic diagram illustrating the changing states of the present invention.

[0030] In the figure: 1, detection robot body; 2, connecting mechanism; 201, connecting frame; 202, sliding block; 203, spring; 3, first driving mechanism; 301, first driving motor; 302, first telescopic rod; 4, second telescopic rod; 5, first connecting mechanism; 501, fixed shell; 502, threaded rod; 503, first sliding block; 504, second sliding block; 505, second driving motor; 6, extension mechanism; 601, steel plate body; 602, fixed assembly; 6021, fixed plate; 6022, connecting roller; 6023, first lock chain; 6024, second lock chain; 6025, third driving motor; 7, ball screw. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] As Figures 1 to 11As shown, the present application provides a coal mine detection robot with stable function, which comprises a detection robot body 1, further comprises a connecting mechanism 2, the connecting mechanism 2 is provided with two and symmetrically arranged on both sides of the detection robot body 1, a first driving mechanism 3, the first driving mechanism 3 is installed on the connecting mechanism 2, a second telescopic rod 4, the second telescopic rod 4 is arranged on the first driving mechanism 3, a first connecting mechanism 5, the first connecting mechanism 5 is installed on the second telescopic rod 4, an extension mechanism 6, the extension mechanism 6 is connected on the first connecting mechanism 5 and located above the detection robot body 1, a ball screw 7, the ball screw 7 is arranged inside the extension mechanism 6 and used for driving the first connecting mechanism 5 and the extension mechanism 6 to generate relative sliding, wherein the first connecting mechanism 5 comprises a fixed shell 501, a threaded rod 502, a first sliding block 503, a second sliding block 504 and a second driving motor 505, the fixed shell 501 is connected to the output end of the second telescopic rod 4, the second driving motor 505 is installed inside the fixed shell 501, the threaded rod 502 is installed on the output shaft of the second driving motor 505 and is movably sleeved with the fixed shell 501, the first sliding block 503 is fixedly connected with the fixed shell 501 and the first sliding block 503 is rotatably connected with the threaded rod 502, the second sliding block 504 is sleeved on the threaded rod 502, the first driving mechanism 3 comprises a first driving motor 301 and a first telescopic rod 302, the first driving motor 301 is installed on the surface of the sliding block 202, the first telescopic rod 302 is installed on the output shaft of the first driving motor 301, and the telescopic end of the first telescopic rod 302 is fixedly connected with the second telescopic rod 4, the extension mechanism 6 comprises a steel plate body 601 and a fixed assembly 602, the ball screw 7 is arranged inside the steel plate body 601, the fixed assembly 602 is arranged at one end of the steel plate body 601, and an angle block is installed at the end of the steel plate body 601 away from the fixed assembly 602, the first sliding block 503 and the second sliding block 504 are located at one end inside the steel plate body 601 and can be combined into a cylindrical shape, when the first sliding block 503 and the second sliding block 504 are in contact, the steel plate body 601 can rotate along the surfaces of the two, the fixed shell 501 is slidably connected with the steel plate body 601 through the first sliding block 503 and the second sliding block 504, and the screw block of the ball screw 7 is rotatably connected with the first sliding block 503 through a connecting shaft.

[0033] The sliding between the extension mechanism 6 and the first connecting mechanism 5 is realized by the ball screw 7, so that the ball screw 7 can move the extension mechanism 6 to the rear of the detection robot body 1 when working, and the second telescopic rod 4 is driven to rotate by the first driving motor 301, the extension mechanism 6 is pushed forward with the first driving motor 301 as the axis, the extension mechanism 6 is in an inclined state and falls on the ground in front of the detection robot body 1, then the second driving motor 505 drives the second sliding block 504 to move to the direction of the first sliding block 503 until they contact, at this time, since the first sliding block 503 and the second sliding block 504 are combined into a cylindrical shape at one end inside the steel plate body 601, the extension mechanism 6 can rotate around the first sliding block 503 and the second sliding block 504 as the axis, so that the steel plate body 601 at the high end falls on the step surface, as shown in Figure 8 , then the detection robot body 1 can walk on the surface of the steel plate body 601 by advancing, and further realize the crossing of the higher step.

[0034] The first telescopic rod 302 is arranged, which can move the steel plate body 601 to both sides along the width direction of the detection robot body 1 by telescoping, at this time, the steel plate body 601 no longer covers the top of the detection robot body 1, then the rotation of the first driving motor 301 and the contraction of the second telescopic rod 4 are realized, and the work of the ball screw 7 is cooperated, so that the extension mechanism 6 is located on the side of the detection robot body 1, as shown in Figure 11 At this time, the extension mechanism 6 reduces the gravity center of the detection robot body 1, and increases the bottom area of the detection robot body 1, so as to improve the stability of the detection robot body 1 when walking.

[0035] As shown in Figures 4 to 7As shown, the fixing assembly 602 comprises a fixing plate 6021, a connecting roller 6022, a first locking chain 6023, a second locking chain 6024 and a third driving motor 6025, the fixing plate 6021 is rotationally connected with the steel plate body 601, the third driving motor 6025 is installed inside the steel plate body 601, the connecting roller 6022 is installed on the output shaft of the third driving motor 6025, the first locking chain 6023 and the second locking chain 6024 are both fixed on the fixing plate 6021 and wound on the surface of the connecting roller 6022 at the other end, the first locking chain 6023 and the second locking chain 6024 are wound in opposite directions on the surface of the connecting roller 6022, the ends of the first locking chain 6023 and the second locking chain 6024 away from the connecting roller 6022 both extend to the inside of the fixing plate 6021 and are fixedly connected with the fixing plate 6021, the first locking chain 6023 and the second locking chain 6024 are respectively fixed at both ends inside the fixing plate 6021, the first locking chain 6023 extends out from the inside of the fixing plate 6021 and is wound in the limiting groove on the top of the fixing plate 6021, an active slot capable of allowing the first locking chain 6023 and the second locking chain 6024 to pass through is formed in the middle of the side of the steel plate body 601 close to the fixing plate 6021, when the connecting roller 6022 is driven by the third driving motor 6025, the first locking chain 6023 and the second locking chain 6024 are wound and unwound alternately.

[0036] When the steel plate body 601 is placed on the edge of a high step, the third driving motor 6025 is started to drive the connecting roller 6022 to rotate, at this time, the first locking chain 6023 and the second locking chain 6024 are wound and unwound alternately, thereby driving the fixing plate 6021 to rotate, so that the fixing plate 6021 is placed on the surface of the step, and the angle block on the steel plate body 601 can be inserted into the ground, the cooperation of the two can improve the stability of the steel plate body 601 placed on the step, and also make the detection robot body 1 walk on the steel plate body 601 more stable.

[0037] As shown in the figure, Figure 3 The connecting mechanism 2 comprises a connecting frame 201, a sliding block 202 and a spring 203, the connecting frame 201 is fixed on the surface of the detection robot body 1, the sliding block 202 is slidingly connected inside the connecting frame 201, and the spring 203 connects the connecting frame 201 and the sliding block 202.

[0038] The symmetrical steel plate body 601 arranged above the detection robot body 1 can protect the detection robot body 1 from being damaged by the falling debris on the top of the mine, and has a certain protective effect, at the same time, the steel plate body 601 is connected to the sliding block 202 through the first connecting mechanism 5, the second telescopic rod 4 and the first driving mechanism 3 and other structures, when the debris above falls to the top of the steel plate body 601, the spring 203 can be buffered by deformation to prevent the detection robot body 1 from being directly impacted.

[0039] The working principle and use process of the present application:

[0040] In the initial state, the steel plate body 601 is located above the detection robot body 1, and the two steel plate bodies 601 are in contact, realizing the protection of the top structure of the detection robot body 1, preventing the falling of debris from causing damage to the sensors, cameras and other electronic products on the detection robot body 1;

[0041] When encountering a step, the ball screw 7 first works to drive the steel plate body 601 to slide between the fixed shell 501, since the fixed shell 501 is fixed by the second telescopic rod 4, the actual steel plate body 601 is movable, the ball screw 7 drives the steel plate body 601 to move to the maximum value to the rear of the detection robot body 1, then the first drive motor 301 drives the steel plate body 601 to flip forward through the second telescopic rod 4 and the first connecting mechanism 5, when the steel plate body 601 contacts the ground in front of the detection robot body 1, the first drive motor 301 stops, then the second drive motor 505 starts to drive the second sliding block 504 to move to the direction of the first sliding block 503 until they contact, at the same time when the second drive motor 505 starts, the third drive motor 6025 also starts synchronously, the third drive motor 6025 drives the first lock chain 6023 and the second lock chain 6024 to be collected and released through the rotation of the connecting roller 6022, realizing the flip of the fixed plate 6021, so that the fixed plate 6021 is placed on the top surface of the step, when the first sliding block 503 and the second sliding block 504 contact, the first sliding block 503 and the second sliding block 504 form a cylindrical shape at one end inside the steel plate body 601, and the steel plate body 601 falls along the inclined direction, thereby being placed on the corner of the step, then the detection robot body 1 moves forward to walk on the stepping plate formed by the steel plate body 601, in this process, the first drive motor 301, the ball screw 7 and the second telescopic rod 4 are synchronized to realize the movement trajectory as shown in Figure 8 、 Figure 9 and Figure 10 ;

[0042] When the detection robot body 1 walks on the rugged road surface, first, the first telescopic rod 302 starts to drive the extension mechanism 6 to move in the width direction of the detection robot body 1, until the extension mechanism 6 no longer covers and protects the detection robot body 1, then the second telescopic rod 4 is contracted to the minimum value, then the ball screw 7 drives the extension mechanism 6 to move, then the first drive motor 301 drives the second telescopic rod 4, the first connecting mechanism 5 and the extension mechanism 6 to rotate 180°, at this time, the position of the extension mechanism 6 is as shown in Figure 11 , so that the detection robot body 1 walks more stably.

[0043] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0044] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, and it is intended that the scope of the application be limited solely by the scope of the appended claims and the equivalents thereof.

Claims

1. A coal mine shaft exploration robot with a stabilizing function, comprising an exploration robot body (1), characterized in that: Also include, Connecting mechanism (2), the connecting mechanism (2) is provided with two and symmetrically arranged on both sides of the detection robot body (1); First drive mechanism (3), the first drive mechanism (3) is installed on the connecting mechanism (2), the first drive mechanism (3) includes a first drive motor (301) and a first telescopic rod (302); Second telescopic rod (4), the second telescopic rod (4) is provided on the first drive mechanism (3); First connecting mechanism (5), the first connecting mechanism (5) is installed on the second telescopic rod (4); Extension mechanism (6), the extension mechanism (6) is connected on the first connecting mechanism (5) and above the detection robot body (1), the extension mechanism (6) includes a steel plate body (601); Ball screw (7), the ball screw (7) is arranged inside the extension mechanism (6) and is used for driving the first connecting mechanism (5) and the extension mechanism (6) to generate relative sliding, the first drive motor (301) drives the second telescopic rod (4) to rotate, the extension mechanism (6) is pushed forward with the first drive motor (301) as the axis, so that the extension mechanism (6) is inclined and falls on the ground in front of the detection robot body (1); Wherein, the first connecting mechanism (5) includes a fixed shell (501), a threaded rod (502), a first sliding block (503), a second sliding block (504) and a second drive motor (505), the fixed shell (501) is connected to the output end of the second telescopic rod (4), the second drive motor (505) is installed inside the fixed shell (501), the threaded rod (502) is installed on the output shaft of the second drive motor (505) and is movably sleeved with the fixed shell (501), the first sliding block (503) is fixedly connected with the fixed shell (501) and the first sliding block (503) is rotatably connected with the threaded rod (502), the second sliding block (504) is sleeved on the threaded rod (502), when the first sliding block (503) and the second sliding block (504) are in contact, the steel plate body (601) can rotate along the surfaces of the first sliding block (503) and the second sliding block (504), so that the end of the steel plate body (601) at the high place falls on the step surface, and the detection robot body (1) advances to the surface of the steel plate body (601), so that the step is crossed.

2. The coal mine shaft exploration robot with a stabilizing function according to claim 1, characterized in that: The extension mechanism (6) further includes a fixed assembly (602), the ball screw (7) is arranged inside the steel plate body (601), the fixed assembly (602) is arranged at one end of the steel plate body (601), and the end of the steel plate body (601) away from the fixed assembly (602) is provided with an angle block.

3. The coal mine shaft exploration robot with a stabilizing function according to claim 2, characterized in that: The first sliding block (503) and the second sliding block (504) at one end inside the steel plate body (601) can be combined into a cylindrical shape.

4. The coal mine shaft exploration robot with a stabilizing function according to claim 3, characterized in that: The fixed shell (501) is slidably connected with the steel plate body (601) through the first sliding block (503) and the second sliding block (504), and the screw block of the ball screw (7) is rotatably connected with the first sliding block (503) through a connecting shaft.

5. The coal mine shaft exploration robot with a stabilizing function according to claim 1, characterized in that: The connecting mechanism (2) comprises a connecting frame (201), a sliding block (202) and a spring (203), the connecting frame (201) is fixed to the surface of the detection robot body (1), the sliding block (202) is slidingly connected to the inside of the connecting frame (201), and the spring (203) connects the connecting frame (201) and the sliding block (202).

6. The coal mine shaft exploration robot with a stabilizing function according to claim 1, characterized in that: The first driving motor (301) is installed on the surface of the sliding block (202), the first telescopic rod (302) is installed on the output shaft of the first driving motor (301), and the telescopic end of the first telescopic rod (302) is fixedly connected with the second telescopic rod (4).

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