Double-arm inspection robot for coal mine fire prevention

Abstract

The invention discloses a double-arm inspection robot for coal mine fire prevention, and relates to the technical field of inspection robots. The detection assembly is fixed on the lower end surface of the first adjusting assembly; the two connecting assemblies are symmetrically arranged on the upper end face of the first adjusting assembly; the number of the guide assemblies is two, and the guide assemblies are symmetrically arranged on the two sides of the connecting assembly. The two ends of the auxiliary driving assembly are arranged on the connecting assembly through second adjusting assemblies; the two ends of the driving assembly are arranged on the connecting assembly through second adjusting assemblies, and the driving assembly is located above the auxiliary driving assembly. The horizontal distance between the driving assembly and the auxiliary driving assembly can be controlled through the first adjusting assembly, so that dismounting and mounting on a rail are facilitated, the vertical distance between the driving assembly and the auxiliary driving assembly can be controlled through the second adjusting assembly, and thus the device can adapt to rails of various sizes.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, in particular to a double-arm inspection robot for coal mine fire prevention. Background Art

[0002] The inspection robot is an intelligent inspection device that can monitor the coal mine environment in real time. It can perform efficient fire prevention inspections in complex coal mine environments. By deploying inspection robots, it can conduct real-time inspections and measurements of indicators such as temperature and humidity, smoke, and harmful gases at the work site, and link with the on-site fire protection system to detect fires as soon as possible and eliminate them in the bud.

[0003] Most of the existing inspection robots are track-type inspection robots, which rely on the track system to move, do not occupy ground space, and do not affect the normal production of coal mines. However, tracks need to be laid for special inspection robots, which makes it difficult to replace the inspection robots after the installation is completed, affecting the maintenance work of the inspection robots. In addition, the inspection robots need to be installed on the track before the track laying is completed, which makes them difficult to disassemble. In addition, the shapes of the tracks are divided into I-shaped, circular, rectangular and other shapes, resulting in the inability of existing inspection robots to adapt to various types of tracks, and their versatility is poor.

[0004] In view of the above problems, the present invention provides a dual-arm inspection robot for coal mine fire prevention to solve the above problems. Summary of the invention

[0005] To achieve the above object, the present invention provides the following technical solution: a dual-arm inspection robot for coal mine fire prevention, comprising:

[0006] a first regulating component;

[0007] A detection assembly is fixed to the lower end surface of the first adjustment assembly, and the detection assembly at least includes a detection chamber, a visual detection arm and a gas detection arm, the visual detection arm and the gas detection arm are symmetrically arranged on both sides of the detection chamber, and are controlled to rotate by the detection chamber;

[0008] A connecting assembly, configured as two, symmetrically arranged on the upper end surface of the first adjusting assembly;

[0009] The guide assembly is configured as two and symmetrically arranged on both sides of the connecting assembly;

[0010] An auxiliary drive assembly, both ends of which are arranged on the connecting assembly by using second adjustment assemblies, and the auxiliary drive assembly comprises a rotating rod, and an auxiliary drive wheel is rotatably arranged at the middle position of the rotating rod;

[0011] A driving assembly, both ends of which are arranged on the connecting assembly by second adjusting assemblies and are located above the auxiliary driving assembly;

[0012] Among them, the first adjustment component includes an adjustment bin, a sliding groove is opened on the adjustment bin, and two adjustment blocks are symmetrically and slidingly arranged on the sliding groove. The two adjustment blocks are driven by a first screw, and the first screw is symmetrically divided into two screws with opposite rotation directions by a first connecting piece. The first screw is driven by a first adjustment motor fixed in the adjustment bin.

[0013] Further, preferably, the connection assembly comprises:

[0014] A connecting compartment is fixed on the adjusting block, and a second adjusting motor is fixed in the connecting compartment;

[0015] The side walls are configured as two and are symmetrically fixed on both sides of the connecting bin, and guide grooves are provided at corresponding positions of the side walls and the auxiliary driving assembly and the driving assembly, and the second adjusting assembly is slidably arranged in the guide grooves.

[0016] Further, preferably, the guide assembly comprises:

[0017] A hinged column, fixed on the side wall, and having an angle sensor disposed therein;

[0018] A connecting rod is rotatably disposed on the hinge column, and a torsion spring is sleeved at the rotation position, and the rotation position of the connecting rod extends into the angle sensor;

[0019] The guide wheel is rotatably arranged on the connecting rod, and the initial state of the guide wheels located on the two connecting components is contact through the torsion spring.

[0020] Further, preferably, the driving assembly comprises:

[0021] a rotating frame, rotatably disposed within the second adjusting component;

[0022] The driving teeth are configured as two, symmetrical and rotatably arranged in the rotating frame;

[0023] The driving wheel is fixed on the driving gear by a connecting shaft, and the axis connecting the two driving wheels and one auxiliary driving wheel is an isosceles triangle;

[0024] The driving motor is fixed on the rotating frame, and a gear is fixed on the output shaft of the driving motor, and the gear is meshed with the two driving teeth.

[0025] Further, preferably, the second adjustment component comprises:

[0026] A guide column, configured as two, fixed on the connection bin;

[0027] A driving plate, configured as two, slidably disposed on the two guide posts;

[0028] A fixing plate, fixed on the two guide posts;

[0029] A second screw rod is rotatably disposed between the fixing plate and the connecting chamber and is driven by the second adjusting motor. The second screw rod is symmetrically divided into two screw rods with opposite rotation directions by a second connecting member, and the two screw rods are respectively threadedly connected to the two driving plates;

[0030] The buffer components are configured into four, are respectively fixed on the two driving plates, and are slidably connected with the guide grooves.

[0031] Further, preferably, the buffer assembly comprises:

[0032] An adjustment block is fixed on the driving plate, and an adjustment motor is detachably mounted on the adjustment block;

[0033] A rotating column is rotatably arranged in the adjusting block and has a buffer groove in its interior;

[0034] A buffer block is slidably disposed in the sliding groove, and a buffer spring is disposed between the buffer block and the buffer groove;

[0035] A rotating shaft is fixed in the buffer block, one end of the rotating shaft is fixedly connected to the rotating rod and the rotating frame, and the other end is fixed to the output shaft of the regulating motor.

[0036] Further, preferably, the sliding directions of the four buffer blocks are respectively perpendicular to the axial directions of the auxiliary driving wheel and the driving wheel.

[0037] Compared with the prior art, the present invention provides a dual-arm inspection robot for coal mine fire prevention, which has the following beneficial effects:

[0038] In the present invention, the horizontal distance between the driving assembly and the auxiliary driving assembly can be controlled by the first adjusting assembly, so as to facilitate disassembly and installation on the track. The vertical distance between the driving assembly and the auxiliary driving assembly can be controlled by the second adjusting assembly, so as to adapt to tracks of various sizes. The angles of the driving assembly and the auxiliary driving assembly relative to the track can also be adjusted by the second adjusting assembly, so as to adapt to tracks of different shapes. When driving, a triangular support is formed for the track by two driving wheels and one auxiliary driving wheel, thereby improving the stability of the device. The guide assembly can be rotated to different degrees when turning, so that the angle of rotation is judged by the angle sensor, and a signal is transmitted to the driving assembly located at the inner and outer curves of the track, so that the driving assembly is driven at different speeds, thereby improving the stability of the turn. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the overall structure of a dual-arm inspection robot for coal mine fire prevention;

[0040] Figure 2 This is a schematic diagram of the structure of a first adjustment component of a dual-arm inspection robot for coal mine fire prevention;

[0041] Figure 3 This is a schematic diagram of the structure of the connection components of a dual-arm inspection robot for coal mine fire prevention;

[0042] Figure 4 This is a schematic diagram of the drive component structure of a dual-arm inspection robot for coal mine fire prevention;

[0043] Figure 5 This is a schematic diagram of the structure of the second adjustment component of a dual-arm inspection robot for coal mine fire prevention;

[0044] Figure 6 A first installation schematic diagram of a dual-arm inspection robot for coal mine fire prevention;

[0045] Figure 7 A second installation schematic diagram of a dual-arm inspection robot for coal mine fire prevention;

[0046] Figure 8 The third installation diagram of a dual-arm inspection robot for coal mine fire prevention;

[0047] In the figure: 1. first adjusting component; 2. detection component; 3. connecting component; 4. guide component; 5. auxiliary driving component; 6. driving component; 7. second adjusting component; 8. track; 11. adjusting bin; 12. sliding groove; 13. adjusting block; 14. first screw; 15. first connecting piece; 21. visual detection arm; 22. gas detection arm; 31. connecting bin; 32. side wall; 33. guide groove; 41. hinge column; 42. connecting rod; 43. guide wheel; 51. rotating rod; 52. auxiliary driving wheel; 61. rotating frame; 62. driving gear; 63. driving wheel; 64. driving motor; 71. adjusting block; 72. driving plate; 73. guide column; 74. fixing plate; 75. second screw; 76. rotating column; 77. buffer block; 78. buffer spring; 79. rotating shaft. DETAILED DESCRIPTION

[0048] Reference Figure 1-Figure 8 The present invention provides a technical solution: a dual-arm inspection robot for coal mine fire prevention, comprising:

[0049] A first adjustment component 1;

[0050] A detection component 2 is fixed to the lower end surface of the first adjustment component 1, and the detection component 2 at least includes a detection chamber, a visual detection arm 21 and a gas detection arm 22, and the visual detection arm 21 and the gas detection arm 22 are symmetrically arranged on both sides of the detection chamber, and are controlled to rotate by the detection chamber;

[0051] The connecting components 3 are configured as two and are symmetrically arranged on the upper end surface of the first adjusting component 1;

[0052] The guide assembly 4 is configured as two and symmetrically arranged on both sides of the connecting assembly 3;

[0053] An auxiliary driving assembly 5, both ends of which are arranged on the connecting assembly 3 by using second adjusting assemblies 7, and the auxiliary driving assembly 5 comprises a rotating rod 51, and an auxiliary driving wheel 52 is rotatably arranged at the middle position of the rotating rod 51;

[0054] A driving component 6, both ends of which are provided on the connecting component 3 by second adjusting components 7 and are located above the auxiliary driving component 5;

[0055] Among them, the first adjustment component 1 includes an adjustment bin 11, a sliding groove 12 is opened on the adjustment bin 11, and two adjustment blocks 13 are symmetrically and slidingly arranged on the sliding groove 12. The two adjustment blocks 13 are driven by a first screw rod 14, and the first screw rod 14 is symmetrically divided into two screw rods with opposite rotation directions by a first connecting member 15. The first screw rod 14 is driven by a first adjustment motor fixed in the adjustment bin 11.

[0056] That is to say, the horizontal distance between the driving assembly 6 and the auxiliary driving assembly 5 can be controlled by the first adjusting assembly 1 , thereby facilitating disassembly and installation on the track 8 .

[0057] In this embodiment, the connection component 3 includes:

[0058] A connecting compartment 31 is fixed on the adjusting block 13, and a second adjusting motor is fixed in the connecting compartment 31;

[0059] The side walls 32 are configured as two and are symmetrically fixed on both sides of the connecting compartment 31 , and guide grooves 33 are provided at positions corresponding to the side walls 32 and the auxiliary driving assembly 5 and the driving assembly 6 , and the second adjusting assembly 7 is slidably arranged in the guide grooves 33 .

[0060] As a preferred embodiment, the guide assembly 4 includes:

[0061] A hinge column 41 is fixed on the side wall 32 and has an angle sensor disposed therein;

[0062] A connecting rod 42 is rotatably disposed on the hinge column 41, and a torsion spring is sleeved at the rotation position, and the rotation position of the connecting rod 42 extends into the angle sensor;

[0063] The guide wheel 43 is rotatably disposed on the connecting rod 42, and the initial state of the guide wheel 43 located on the two connecting components 3 is contact through the torsion spring.

[0064] That is to say, the torsion spring can make the guide wheel 43 always fit the side wall of the track 8, and when turning, the guide component 4 can rotate to different degrees when turning, so that the angle of rotation is judged by the angle sensor, and the signal is transmitted to the drive component 6 located at the inner and outer curves of the track 8, so that the drive component 6 is driven at different speeds, thereby improving the stability of the turn.

[0065] As a preferred embodiment, the driving assembly 6 includes:

[0066] A rotating frame 61, rotatably disposed in the second adjusting component 7;

[0067] The driving teeth 62 are configured as two, symmetrical and rotatably disposed in the rotating frame 61;

[0068] The driving wheel 63 is fixed to the driving gear 62 by a connecting shaft, and the axis connecting the two driving wheels 63 and one auxiliary driving wheel 52 is an isosceles triangle;

[0069] The driving motor 64 is fixed on the rotating frame 61 , and a gear is fixed on its output shaft, and the gear is meshed with the two driving teeth 62 .

[0070] The two driving wheels 63 and one auxiliary driving wheel 52 form a triangular support for the track 8, thereby improving the stability of the device.

[0071] As a preferred embodiment, the second adjustment component 7 includes:

[0072] The guide posts 73 are configured in two and fixed on the connection compartment 31;

[0073] The driving plate 72 is configured as two and is slidably disposed on the two guide posts 73;

[0074] A fixing plate 74, fixed on the two guide posts 73;

[0075] The second screw 75 is rotatably disposed between the fixing plate 74 and the connecting chamber 31 and driven by the second adjusting motor. The second screw 75 is symmetrically divided into two screws with opposite rotation directions by a second connecting member, and the two screws are respectively threadedly connected to the two driving plates 72;

[0076] The buffer components are configured into four, which are respectively fixed on the two driving plates 72 and slidably connected to the guide grooves 33 .

[0077] That is to say, the rotation of the second screw 75 can make the buffer assembly move closer or farther synchronously, thereby controlling the vertical distance between the drive assembly 6 and the auxiliary drive assembly 5, and the cooperation of the first adjustment assembly 1 and the second adjustment assembly 7 can adapt to tracks 8 of various sizes.

[0078] As a preferred embodiment, the buffer assembly includes:

[0079] An adjusting block 71 is fixed on the driving plate 72, and an adjusting motor is detachably mounted on the adjusting block 71;

[0080] A rotating column 76 is rotatably disposed in the adjusting block 71 and has a buffer groove therein;

[0081] A buffer block 77 is slidably disposed in the sliding groove, and a buffer spring 78 is disposed between the buffer block and the buffer groove;

[0082] The rotating shaft 79 is fixed in the buffer block 77 , and one end of the rotating shaft 79 is fixedly connected to the rotating rod 51 and the rotating frame 61 , and the other end of the rotating shaft 79 is fixed to the output shaft of the regulating motor.

[0083] That is to say, the angles of the driving assembly 6 and the auxiliary driving assembly 5 relative to the track 8 can be adjusted by adjusting the motor, so as to adapt to tracks 8 of different shapes.

[0084] As a preferred embodiment, the sliding directions of the four buffer blocks 77 are respectively perpendicular to the axial directions of the auxiliary driving wheel 52 and the driving wheel 62 .

[0085] That is to say, the buffer spring 78 can reduce the transmission of vibration when the device moves on the track 8, thereby making the detection component 2 more stable and improving the detection accuracy.

[0086] Specifically, when the track 8 is circular, as Figure 6 First, the radial direction of the driving wheel 63 and the auxiliary driving wheel 52 is parallel to the radial direction of the circular track 8 by adjusting the motor, so as to stably clamp the circular track 8. Then, the driving wheel 63 and the auxiliary driving wheel 52 are moved toward the track by the first adjusting component 1 and the second adjusting component 7, so as to fit the track 8 and complete the installation;

[0087] When the track 8 is in an I-shape, Figure 7, firstly, the driving wheel 63 and the auxiliary driving wheel 52 are kept in a vertical state by adjusting the motor, and then the two driving assemblies 6 and the two auxiliary driving assemblies 5 are moved closer to each other by the first adjusting component 1, until the driving wheel 63 and the auxiliary driving wheel 52 are located in the I-shaped track 8, and then the driving wheel 63 and the auxiliary driving wheel 52 are moved away from each other by the second adjusting component 7, so as to support the inside of the I-shaped track 8 and complete the installation;

[0088] When the track 8 is rectangular, Figure 8 First, the driving wheel 63 and the auxiliary driving wheel 52 are kept in a vertical state by adjusting the motor, and then the two driving components 6 and the two auxiliary driving components 5 are brought closer to each other through the first adjusting component 1 until the driving wheel 63 and the auxiliary driving wheel 52 are located in the rectangular track 8, and then the driving wheel 63 and the auxiliary driving wheel 52 are brought closer to each other through the second adjusting component 7, thereby clamping the rectangular track 8 to complete the installation.

[0089] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A dual-arm inspection robot for coal mine fire prevention, characterized in that: include: A first regulating component (1); A detection component (2) is fixed to the lower end surface of the first adjustment component (1), and the detection component (2) comprises at least a detection chamber, a visual detection arm (21) and a gas detection arm (22), wherein the visual detection arm (21) and the gas detection arm (22) are symmetrically arranged on both sides of the detection chamber and are controlled to rotate by the detection chamber; The connecting assembly (3) is configured as two and is symmetrically arranged on the upper end surface of the first adjusting assembly (1); The guide assembly (4) is configured as two and is symmetrically arranged on both sides of the connecting assembly (3); An auxiliary drive assembly (5), both ends of which are arranged on the connecting assembly (3) using second adjustment assemblies (7), the auxiliary drive assembly (5) comprising a rotating rod (51), an auxiliary drive wheel (52) being rotatably arranged at the middle position of the rotating rod (51); A driving component (6), both ends of which are arranged on the connecting component (3) using second adjustment components (7) and are located above the auxiliary driving component (5); The first adjustment component (1) comprises an adjustment bin (11), the adjustment bin (11) being provided with a sliding groove (12), two adjustment blocks (13) being symmetrically and slidably arranged on the sliding groove (12), the two adjustment blocks (13) being driven by a first screw rod (14), and the first screw rod (14) being symmetrically divided into two screw rods with opposite rotation directions by a first connecting member (15), and the first screw rod (14) being driven by a first adjustment motor fixed in the adjustment bin (11).

2. A dual-arm inspection robot for coal mine fire prevention according to claim 1, characterized in that: The connection component (3) comprises: A connecting compartment (31) is fixed on the adjusting block (13), and a second adjusting motor is fixed in the connecting compartment (31); The side walls (32) are configured as two and are symmetrically fixed on both sides of the connection chamber (31), and guide grooves (33) are provided at positions corresponding to the side walls (32) and the auxiliary drive assembly (5) and the drive assembly (6), and the second adjustment assembly (7) is slidably arranged in the guide grooves (33).

3. A dual-arm inspection robot for coal mine fire prevention according to claim 2, characterized in that: The guide assembly (4) comprises: A hinge column (41) is fixed on the side wall (32) and has an angle sensor disposed therein; A connecting rod (42) is rotatably disposed on the hinge column (41), and a torsion spring is sleeved at the rotation position, and the rotation position of the connecting rod (42) extends into the angle sensor; The guide wheel (43) is rotatably arranged on the connecting rod (42), and the initial state of the guide wheel (43) located on the two connecting assemblies (3) is contact through a torsion spring.

4. A dual-arm inspection robot for coal mine fire prevention according to claim 2, characterized in that: The driving component (6) comprises: a rotating frame (61) rotatably disposed within the second adjusting component (7); The driving teeth (62) are configured as two, symmetrically and rotatably disposed in the rotating frame (61); The driving wheel (63) is fixed to the driving tooth (62) by a connecting shaft, and the axis connecting the two driving wheels (63) and one auxiliary driving wheel (52) forms an isosceles triangle; The driving motor (64) is fixed on the rotating frame (61), and a gear is fixed on its output shaft, and the gear is meshed with the two driving teeth (62).

5. A dual-arm inspection robot for coal mine fire prevention according to claim 4, characterized in that: The second adjustment component (7) comprises: Two guide posts (73) are provided and fixed on the connection chamber (31); The driving plate (72) is configured as two and is slidably disposed on the two guide pillars (73); A fixing plate (74) fixed on the two guide pillars (73); a second screw rod (75) rotatably disposed between the fixing plate (74) and the connecting chamber (31) and driven by the second adjusting motor, the second screw rod (75) being symmetrically divided into two screw rods with opposite rotation directions by a second connecting member, and the two screw rods being respectively threadedly connected to the two driving plates (72); The buffer components are configured as four, are respectively fixed on the two driving plates (72), and are slidably connected to the guide grooves (33).

6. A dual-arm inspection robot for coal mine fire prevention according to claim 5, characterized in that: The buffer assembly comprises: An adjustment block (71) is fixed on the driving plate (72), and an adjustment motor is detachably mounted on the adjustment block (71); A rotating column (76) is rotatably disposed in the adjusting block (71) and has a buffer groove formed therein; A buffer block (77) is slidably disposed in the sliding groove, and a buffer spring (78) is disposed between the buffer block and the buffer groove; A rotating shaft (79) is fixed in the buffer block (77), and one end of the rotating shaft (79) is fixedly connected to the rotating rod (51) and the rotating frame (61), and the other end is fixed to the output shaft of the regulating motor.

7. A dual-arm inspection robot for coal mine fire prevention according to claim 6, characterized in that: The sliding directions of the four buffer blocks (77) are respectively perpendicular to the axial directions of the auxiliary drive wheel (52) and the drive wheel (62).

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