A double-arm inspection robot for preventing coal mine fire

Abstract

The application discloses a double-arm inspection robot for preventing coal mine fire, and relates to the technical field of inspection robots.The double-arm inspection robot comprises a first adjusting assembly, a detection assembly fixed to the lower end face of the first adjusting assembly, two connecting assemblies symmetrically arranged on the upper end face of the first adjusting assembly, two guide assemblies symmetrically arranged on the two sides of the connecting assemblies, auxiliary driving assemblies arranged on the connecting assemblies at two ends and adopting second adjusting assemblies, and driving assemblies arranged on the connecting assemblies at two ends and adopting second adjusting assemblies and located above the auxiliary driving assemblies.The first adjusting assembly can control the horizontal distance between the driving assemblies and the auxiliary driving assemblies, so that the driving assemblies and the auxiliary driving assemblies can be conveniently disassembled and installed on the track.The second adjusting assembly can control the vertical distance between the driving assemblies and the auxiliary driving assemblies, so that the driving assemblies and the auxiliary driving assemblies can adapt to tracks of various sizes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, and in particular to a double-arm inspection robot for coal mine fire prevention. BACKGROUND

[0002] The inspection robot is an intelligent inspection device capable of real-time monitoring of the coal mine environment. It can efficiently prevent and inspect fires in complex coal mine environments. By deploying the inspection robot, the temperature, humidity, smoke, and harmful gases in the work site can be monitored in real time, and the on-site fire fighting system can be linked to detect fire and eliminate it in its infancy at the first time.

[0003] The existing inspection robots are mostly track-type inspection robots that rely on track systems for movement, do not occupy ground space, and do not affect normal production in coal mines. However, special track laying is required for the inspection robot, making it difficult to replace the inspection robot after installation, affecting maintenance work on the inspection robot. In addition, the inspection robot needs to be installed on the track before the track is laid, making it difficult to disassemble. The shape of the track is divided into many types such as I-shaped, circular and rectangular, making the existing inspection robot unable to adapt to multiple types of tracks, and its versatility is poor.

[0004] To solve the above problems, the present application provides a double-arm inspection robot for coal mine fire prevention. SUMMARY

[0005] To achieve the above purpose, the present application provides the following technical scheme: a double-arm inspection robot for coal mine fire prevention, comprising:

[0006] a first adjusting assembly;

[0007] a detection assembly fixed to the lower end surface of the first adjusting assembly, and the detection assembly at least comprising a detection bin, a visual detection arm and a gas detection arm, the visual detection arm and the gas detection arm being symmetrically arranged on both sides of the detection bin and being controlled to rotate by the detection bin;

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

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

[0010] an auxiliary driving assembly with two ends arranged on the connecting assembly by second adjusting assemblies, the auxiliary driving assembly comprising a rotating rod, and an auxiliary driving wheel rotatably arranged at the middle position of the rotating rod;

[0011] a driving assembly with two ends arranged on the connecting assembly by second adjusting assemblies and located above the auxiliary driving assembly;

[0012] The first adjusting assembly comprises an adjusting bin, a sliding groove is formed on the adjusting bin, two first adjusting blocks are symmetrically and slidably arranged on the sliding groove, the two first adjusting blocks are driven by a first screw rod, the first screw rod is symmetrically divided into two screw rods with opposite rotation directions by a first connecting piece, and the first screw rod is driven by a first adjusting motor fixed in the adjusting bin.

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

[0014] a connecting bin fixed on the first adjusting block, and a second adjusting motor fixed in the connecting bin;

[0015] a side wall configured as two and symmetrically fixed on the two sides of the connecting bin, and a guide groove is formed in the corresponding position of the side wall and the auxiliary driving assembly and the driving assembly, and the second adjusting assembly is slidably arranged in the guide groove.

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

[0017] a hinged column fixed on the side wall, and an angle sensor arranged in the hinged column;

[0018] a connecting rod rotatably arranged on the hinged column, and a torsion spring sleeved at the rotating position of the connecting rod, and the rotating position of the connecting rod extends into the angle sensor;

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

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

[0021] a rotating frame rotatably arranged in the second adjusting assembly;

[0022] a driving tooth configured as two and symmetrically and rotatably arranged in the rotating frame;

[0023] a driving wheel fixed on the driving tooth by a connecting shaft, and the axis line of the two driving wheels and the auxiliary driving wheel is an isosceles triangle;

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

[0025] Further, preferably, the second adjusting assembly comprises:

[0026] a guide column configured as two and fixed on the connecting bin;

[0027] The driving plates are arranged on the two guide columns;

[0028] The fixed plates are fixed on the two guide columns;

[0029] The second screw rods are arranged between the fixed plates and the connecting chambers and are driven by the second adjusting motors, the second screw rods are symmetrically divided into two screw rods with opposite rotation directions by the second connecting members, and the two screw rods are threadedly connected with the two driving plates respectively;

[0030] The buffer assemblies are arranged on the two driving plates and are slidably connected with the guide grooves.

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

[0032] The second adjusting blocks are fixed on the driving plates, and the adjusting motors are detachably mounted on the second adjusting blocks;

[0033] The rotating columns are arranged in the second adjusting blocks, and the rotating columns are internally provided with buffer grooves;

[0034] The buffer blocks are slidably arranged in the sliding grooves, and the buffer springs are arranged between the buffer blocks and the buffer grooves;

[0035] The rotating shafts are fixed in the buffer blocks, one end of the rotating shafts is fixedly connected with the rotating rods and the rotating frames, and the other end of the rotating shafts is fixed with the output shafts of the adjusting motors.

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

[0037] Compared with the prior art, the double-arm inspection robot for coal mine fire prevention has the following beneficial effects:

[0038] In the application, the horizontal distance between the driving assembly and the auxiliary driving assembly can be controlled by the first adjusting assembly, so that the driving assembly and the auxiliary driving assembly can be conveniently disassembled and assembled on the track, the vertical distance between the driving assembly and the auxiliary driving assembly can be controlled by the second adjusting assembly, so that the driving assembly and the auxiliary driving assembly can adapt to tracks of various sizes, the angle of the driving assembly and the auxiliary driving assembly relative to the track can be adjusted by the second adjusting assembly, so that the driving assembly and the auxiliary driving assembly can adapt to tracks of different shapes, and when driving, the track is triangularly supported by the two driving wheels and the auxiliary driving wheel, so that the stability of the device is improved, and the guide assembly can rotate to different degrees when turning, so that the angle of rotation can be judged by the angle sensor, and signals can be transmitted to the driving assemblies located in the inner curve and the outer curve of the track, so that the driving assemblies can be driven at different speeds, and the stability of the turning is improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a whole structure schematic view of a double-arm inspection robot for coal mine fire prevention;

[0040] Figure 2 It is a first adjusting assembly structure schematic view of a double-arm inspection robot for coal mine fire prevention;

[0041] Figure 3 It is a connecting assembly structure schematic view of a double-arm inspection robot for coal mine fire prevention;

[0042] Figure 4 It is a driving assembly structure schematic view of a double-arm inspection robot for coal mine fire prevention;

[0043] Figure 5 It is a second adjusting assembly structure schematic view of a double-arm inspection robot for coal mine fire prevention;

[0044] Figure 6 It is a first installation schematic view of a double-arm inspection robot for coal mine fire prevention;

[0045] Figure 7 It is a second installation schematic view of a double-arm inspection robot for coal mine fire prevention;

[0046] Figure 8 It is a third installation schematic view of a double-arm inspection robot for coal mine fire prevention;

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

[0048] REFERENCE Figures 1-8 , the application provides a technical scheme: a double-arm inspection robot for coal mine fire prevention, comprising:

[0049] The first adjusting assembly 1;

[0050] A detection assembly 2 is fixed on the lower end surface of the first adjusting assembly 1, and the detection assembly 2 at least comprises a detection bin, a visual detection arm 21 and a gas detection arm 22, the visual detection arm 21 and the gas detection arm 22 are symmetrically arranged on both sides of the detection bin, and are controlled to rotate by the detection bin.

[0051] A connecting assembly 3 is configured as two and symmetrically arranged on the upper end surface of the first adjusting assembly 1.

[0052] A guiding assembly 4 is configured as two and symmetrically arranged on both sides of the connecting assembly 3.

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

[0054] A driving assembly 6 is arranged on the connecting assembly 3 by using a second adjusting assembly 7 at both ends and above the auxiliary driving assembly 5.

[0055] The first adjusting assembly 1 comprises an adjusting bin 11, a sliding groove 12 is formed on the adjusting bin 11, two first adjusting blocks 13 are symmetrically and slidably arranged on the sliding groove 12, the two first adjusting blocks 13 are driven by a first screw rod 14, the first screw rod 14 is symmetrically divided into two screw rods with opposite rotation directions by using a first connecting piece 15, and the first screw rod 14 is driven by a first adjusting motor fixed in the adjusting bin 11.

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

[0057] In the embodiment, the connecting assembly 3 comprises:

[0058] A connecting bin 31 is fixed on the first adjusting block 13, and a second adjusting motor is fixed in the connecting bin 31.

[0059] Two side walls 32 are symmetrically fixed on both sides of the connecting bin 31, and a guiding groove 33 is formed in the corresponding position of the side wall 32 corresponding to the auxiliary driving assembly 5 and the driving assembly 6, and the second adjusting assembly 7 is slidably arranged in the guiding groove 33.

[0060] As a preferred embodiment, the guiding assembly 4 comprises:

[0061] A hinged column 41 is fixed on the side wall 32, and an angle sensor is arranged in the hinged column 41.

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

[0063] A guide wheel 43 is rotatably arranged on the connecting rod 42, and the initial state of the guide wheel 43 on the two connecting assemblies 3 is in contact through the torsion spring.

[0064] That is, the guide wheel 43 can always adhere to the side wall of the track 8 through the torsion spring, and when turning, the guide assembly 4 can rotate to different degrees when turning, so that the angle sensor can judge the angle of rotation and transmit a signal to the driving assembly 6 located on the inside and outside of the curve of the track 8, so that the driving assembly 6 drives at different speeds, improving the stability of turning.

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

[0066] A rotating frame 61 is rotatably arranged in the second adjusting assembly 7;

[0067] Two driving teeth 62 are symmetrically and rotatably arranged in the rotating frame 61;

[0068] Driving wheels 63 are fixed on the driving teeth 62 by connecting shafts, and the axis of the two driving wheels 63 and the auxiliary driving wheel 52 is an isosceles triangle;

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

[0070] Among them, the track 8 is triangularly supported by the two driving wheels 63 and the auxiliary driving wheel 52, improving the stability of the device.

[0071] As a preferred embodiment, the second adjusting assembly 7 comprises:

[0072] Two guide columns 73 are fixed on the connecting bin 31;

[0073] Two driving plates 72 are slidably arranged on the two guide columns 73;

[0074] A fixed plate 74 is fixed on the two guide columns 73;

[0075] A second screw 75 is rotatably arranged between the fixed plate 74 and the connecting bin 31, and is driven by the second adjusting motor, the second screw 75 is symmetrically divided into two screws with opposite rotation directions by the second connecting piece, and the two screws are respectively screwed with the two driving plates 72;

[0076] Buffer assemblies are arranged at four positions respectively, and are fixed on the two driving plates 72 and are in sliding connection with the guide grooves 33.

[0077] That is, the buffer assemblies can be synchronously moved close to or away from each other by the rotation of the second screw 75, so as to control the vertical distance between the driving assembly 6 and the auxiliary driving assembly 5, and the first adjusting assembly 1 and the second adjusting assembly 7 can be matched to adapt to tracks 8 of various sizes.

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

[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 arranged in the adjusting block 71, and a buffer groove is formed in the rotating column 76;

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

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

[0083] That is, the angle of the driving assembly 6 and the auxiliary driving assembly 5 relative to the track 8 can be adjusted by the adjusting 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 perpendicular to the axial directions of the auxiliary driving wheels 52 and the driving wheels 63.

[0085] That is, the transmission of vibration can be reduced when the device runs on the track 8 by the buffer spring 78, so as to make the detection assembly 2 more stable and improve the detection accuracy.

[0086] Specifically, when the track 8 is circular, as shown in Figure 6 the radial directions of the driving wheels 63 and the auxiliary driving wheels 52 are first made parallel to the radial direction of the circular track 8 by the adjusting motor, so as to facilitate stable clamping of the circular track 8, and then the driving wheels 63 and the auxiliary driving wheels 52 are moved towards the track by the first adjusting assembly 1 and the second adjusting assembly 7, so as to be fitted with the track 8, and the installation is completed;

[0087] When the track 8 is H-shaped, as shown in Figure 7, first through the adjustment motor drive wheel 63 and auxiliary drive wheel 52 keep vertical state, then through the first adjusting assembly 1 two drive assembly 6 and two auxiliary drive assembly 5 close to each other, until the drive wheel 63 and auxiliary drive wheel 52 in the I-shaped rail 8, again through the second adjusting assembly 7 drive wheel 63 and auxiliary drive wheel 52 away from each other, thereby supporting the inside of the I-shaped rail 8, complete installation;

[0088] When the track 8 is rectangular, such as Figure 8 , first through the adjustment motor drive wheel 63 and auxiliary drive wheel 52 keep vertical state, then through the first adjusting assembly 1 two drive assembly 6 and two auxiliary drive assembly 5 close to each other, until the drive wheel 63 and auxiliary drive wheel 52 in the I-shaped rail 8, again through the second adjusting assembly 7 drive wheel 63 and auxiliary drive wheel 52 away from each other, thereby supporting the inside of the I-shaped rail 8, complete installation.

[0089] The above-described, only for the preferred specific embodiments of the present application, but the scope of protection of the present application is not limited to this, any skilled in the art of the technical personnel in the technical range disclosed by the present application, according to the technical scheme of the present application and the invention concept of the invention, equivalent replacement or change, should be covered within the scope of protection of the present application.

Claims

1. A dual-arm inspection robot for coal mine fire prevention, characterized in that: The utility model relates to a kind of automatic detection device for packaging box, including: First adjusting component (1); Detection component (2), fixed in the lower end surface of the first adjusting component (1), and the detection component (2) at least includes detection bin, visual detection arm (21) and gas detection arm (22), the visual detection arm (21) and gas detection arm (22) are symmetrically arranged in the two sides of the detection bin, and are rotated by detection bin control; Connecting component (3) is configured as two, symmetrically arranged in the upper end surface of the first adjusting component (1); Guiding component (4) is configured as two, symmetrically arranged in the two sides of the connecting component (3); Auxiliary drive component (5), its two ends are set on the connecting component (3) using second adjusting component (7), and the auxiliary drive component (5) includes rotating rod (51), and auxiliary drive wheel (52) is rotationally arranged in the middle position of the rotating rod (51); Drive component (6), its two ends are set on the connecting component (3) using second adjusting component (7), and located above the auxiliary drive component (5); Wherein, the first adjusting component (1) includes adjusting bin (11), the adjusting bin (11) is provided with sliding groove (12) on it, the sliding groove (12) is symmetrically and slidably provided with two first adjusting blocks (13), two the first adjusting block (13) is driven using first screw rod (14), and the first screw rod (14) is symmetrically divided into two screw rods with opposite rotation directions using first connecting piece (15), and the first screw rod (14) is driven by first adjusting motor fixed in the adjusting bin (11).

2. The dual-arm inspection robot for preventing coal mine fire according to claim 1, characterized in that: The connecting component (3) includes: Connecting bin (31) is fixed on the first adjusting block (13), and the second adjusting motor is fixed in the connecting bin (31); Side wall (32) is configured as two, symmetrically fixed in the two sides of the connecting bin (31), and the side wall (32) is provided with guide groove (33) in the corresponding position of the auxiliary drive component (5) and drive component (6), and the second adjusting component (7) is slidably arranged in the guide groove (33).

3. The dual-arm inspection robot for preventing coal mine fire according to claim 2, characterized in that: The guiding component (4) includes: Hinged column (41) is fixed on the side wall (32), and an angle sensor is arranged in the hinged column (41); Connecting rod (42) is rotationally arranged on the hinged column (41), and a torsion spring is sleeved in the rotating position of the connecting rod (42), and the rotating position of the connecting rod (42) extends into the angle sensor; Guide wheel (43) is rotationally arranged on the connecting rod (42), and the initial state of the guide wheel (43) on the two connecting components (3) is contacted through the torsion spring.

4. The dual-arm inspection robot for preventing coal mine fire according to claim 2, characterized in that: The drive component (6) includes: Rotating frame (61) is rotationally arranged in the second adjusting component (7); Drive teeth (62) are configured as two, symmetrically and rotationally arranged in rotating frame (61); Drive wheel (63) is fixed on the drive teeth (62) using connecting shaft, and the axis line of two drive wheels (63) and one auxiliary drive wheel (52) is isosceles triangle. A driving motor (64) is fixed on the rotating frame (61), and a gear is fixed on the output shaft of the driving motor (64), and the gear is engaged with the two driving gears (62).

5. The dual-arm inspection robot for preventing coal mine fire according to claim 4, characterized in that: The second adjusting assembly (7) comprises: Two guide columns (73) are fixed on the connecting bin (31); Two driving plates (72) are slidingly arranged on the two guide columns (73); A fixed plate (74) is fixed on the two guide columns (73); A second screw (75) is rotatably arranged between the fixed plate (74) and the connecting bin (31) and is driven by the second adjusting motor, the second screw (75) is symmetrically divided into two screws with opposite rotation directions by a second connecting piece, and the two screws are respectively in threaded connection with the two driving plates (72); Four buffer assemblies are respectively fixed on the two driving plates (72) and are in sliding connection with the guide groove (33).

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

7. The dual-arm inspection robot for preventing coal mine fire according to claim 6, characterized in that: The sliding directions of the four buffer blocks (77) are perpendicular to the axial directions of the auxiliary driving wheel (52) and the driving wheel (63).

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