A mine track type inspection robot

Abstract

The application discloses a mine track type inspection robot, which comprises an inspection unit, a support driving unit and a steering connecting unit.The inspection unit comprises an inspection robot body, a guide rail and collecting boxes symmetrically arranged on both sides of the inspection robot body.The support driving unit comprises a main driving wheel connected with the guide rail and a first rotating shaft fixedly connected in the main driving wheel.The steering connecting unit comprises two groups of symmetrically arranged U-shaped frames fixedly connected to the upper surface of a bearing plate and first T-shaped sliding blocks fixedly connected to the upper surfaces of the two groups of symmetrically arranged U-shaped frames.The inspection robot body is driven to rotate by the driving motor when the inspection robot body reaches the terminal point or the starting point, so that the camera side is deflected to perform synchronous inspection recording.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine track inspection robot structure, and particularly relates to a mine track inspection robot. BACKGROUND

[0002] The mine track inspection robot is one of important intelligent devices for coal mines, and the inspection robot walks on a track, detects through a double-light camera and a multifunctional sensor carried by the robot, and transmits field information to an upper computer for image recognition, so as to realize inspection.

[0003] The existing track inspection robot mainly moves and inspects in a mine through a preset track system, and the robot combines advanced driving technology, sensor technology and data processing technology, can monitor environmental parameters, equipment states and personnel activities in a mine in real time, so as to discover potential safety hazards in time and provide strong guarantee for safe production of the mine, but the track inspection robot is affected by track unevenness, wetness and mine dust, and the robot usually needs to inspect back and forth in the driving process, and usually needs to use a camera to record the state in a mine in real time, and if multiple cameras are added, the weight and capital investment of the equipment are increased, so that the practicability of the equipment is reduced. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above problems of the existing mine track inspection robot, the present application is proposed.

[0006] Therefore, the present application aims to provide a mine track inspection robot, which is suitable for solving the problem that the track inspection robot is affected by track unevenness, wetness and mine dust, and the robot usually needs to inspect back and forth in the driving process, and usually needs to use a camera to record the state in a mine in real time, and if multiple cameras are added, the weight and capital investment of the equipment are increased, so that the practicability of the equipment is reduced.

[0007] To solve the above technical problems, the present application provides the following technical scheme: a mine track inspection robot, the track inspection robot comprising:

[0008] The inspection unit comprises an inspection robot body and a guide rail, and collecting boxes are symmetrically arranged on both sides of the inspection robot body, an upper surface of the inspection robot body is provided with a connection and swing unit, and the connection and swing unit comprises a bearing plate.

[0009] The support driving unit comprises a main driving wheel connected with the guide rail, a first rotating shaft fixedly connected with the main driving wheel, a first gear wheel and a second gear wheel connected with the guide rail, a plurality of rubber friction strips symmetrically arranged on both sides of the guide rail, a third gear wheel connected with the rubber friction strip away from the guide rail, a second rotating shaft fixedly connected with the lower surface of a fixed plate, and the fixed plate is rotatably connected with the outer surface of the third rotating shaft of the second gear wheel.

[0010] The steering connecting unit comprises two groups of symmetrically arranged U-shaped frames fixedly connected with the upper surface of the bearing plate, a first T-shaped sliding block fixedly connected with the upper surface of each U-shaped frame, a ring-shaped plate slidably connected with the outer surface of the first T-shaped sliding block, a first T-shaped sliding groove formed in the ring-shaped plate and slidably connected with the outer surface of the first T-shaped sliding block, and a driving motor and an n-shaped fixing frame fixedly connected with the upper surface of the ring-shaped plate.

[0011] As a preferred scheme of the mine track type inspection robot, the connection and swing unit further comprises a support plate fixedly connected with the upper surface of the collecting box, a connecting plate fixedly connected with one side of the support plate, a rotating rod fixedly connected with the upper surface of the connecting plate, two groups of symmetrically arranged triangular plates fixedly connected with one side of the inspection robot body, a swing plate fixedly connected with one side of the collecting box, a rotating rod rotatably connected with the triangular plate and the swing plate, a connection rod fixedly connected with the upper surface of the triangular plate and the swing plate, a first synchronization plate and a second synchronization plate fixedly connected with the upper surface of the connection rod, the lower surface of the first synchronization plate fixedly connected with the lower surface of the collecting box, the lower surface of the second synchronization plate fixedly connected with a rubber pad, the lower surface of the rubber pad fixedly connected with the upper surface of the inspection robot body, and the upper surface of the second synchronization plate in contact with the lower surface of the bearing plate.

[0012] As a preferred scheme of the mine track type inspection robot, the inspection robot body is fixedly connected with symmetrically arranged RFID readers on both sides, the inspection robot body is fixedly connected with symmetrically arranged mine special three-dimensional laser scanners on both sides, an emergency stop button is fixedly connected with one side of the inspection robot body, a display is fixedly connected with the side of the inspection robot body away from the emergency stop button, a camera is fixedly connected with one side of the collecting box, laser obstacle avoiders are fixedly connected with one side of each of the two groups of collecting boxes, a communication antenna is fixedly connected with the upper surface of the inspection robot body, and a loudspeaker is fixedly connected with the lower surface of the inspection robot body.

[0013] As a preferred scheme of the mine track type inspection robot, the fourth rotating shaft is rotatably connected in the first driven wheel, the fourth rotating shaft is fixedly connected to the inner surface of the wheel frame on both sides, the first spring is fixedly connected to the lower surface of the wheel frame, the lifting ring is fixedly connected to the lower surface of the first spring, the limiting rod is slidably connected in the lifting ring, the buffer pad is fixedly connected to the upper surface of the limiting rod, the wheel frame is fixedly connected to the end of the limiting rod away from the buffer pad, a plurality of wheel frames are symmetrically distributed, one side of one of the wheel frames is fixedly connected with the connecting plate, the second spring is fixedly connected in the connecting plate, the auxiliary block is fixedly connected to the upper surface of the second spring, the lifting grooves are formed in the both sides of the auxiliary block, the guide rods are slidably connected to the inner surface of the lifting grooves, the guide rods are fixedly connected to the inner surface of the connecting plate on the lower surface, and the secondary wheel connecting frame is fixedly connected to the side of the connecting plate away from the wheel frame.

[0014] As a preferred scheme of the mine track type inspection robot, the fourth rotating shaft is rotatably connected in the first driven wheel, the fourth rotating shaft is fixedly connected to the inner surface of the wheel frame on both sides, the first spring is fixedly connected to the lower surface of the wheel frame, the lifting ring is fixedly connected to the lower surface of the first spring, the limiting rod is slidably connected in the lifting ring, the buffer pad is fixedly connected to the upper surface of the limiting rod, the wheel frame is fixedly connected to the end of the limiting rod away from the buffer pad, a plurality of wheel frames are symmetrically distributed, one side of one of the wheel frames is fixedly connected with the connecting plate, the second spring is fixedly connected in the connecting plate, the auxiliary block is fixedly connected to the upper surface of the second spring, the lifting grooves are formed in the both sides of the auxiliary block, the guide rods are slidably connected to the inner surface of the lifting grooves, the guide rods are fixedly connected to the inner surface of the connecting plate on the lower surface, and the secondary wheel connecting frame is fixedly connected to the side of the connecting plate away from the wheel frame.

[0015] As a preferred scheme of the mine track type inspection robot, the fourth rotating shaft is rotatably connected in the first driven wheel, the fourth rotating shaft is fixedly connected to the inner surface of the wheel frame on both sides, the first spring is fixedly connected to the lower surface of the wheel frame, the lifting ring is fixedly connected to the lower surface of the first spring, the limiting rod is slidably connected in the lifting ring, the buffer pad is fixedly connected to the upper surface of the limiting rod, the wheel frame is fixedly connected to the end of the limiting rod away from the buffer pad, a plurality of wheel frames are symmetrically distributed, one side of one of the wheel frames is fixedly connected with the connecting plate, the second spring is fixedly connected in the connecting plate, the auxiliary block is fixedly connected to the upper surface of the second spring, the lifting grooves are formed in the both sides of the auxiliary block, the guide rods are slidably connected to the inner surface of the lifting grooves, the guide rods are fixedly connected to the inner surface of the connecting plate on the lower surface, and the secondary wheel connecting frame is fixedly connected to the side of the connecting plate away from the wheel frame.

[0016] As a preferred scheme of the mine track type inspection robot, the fourth rotating shaft is rotatably connected in the first driven wheel, the fourth rotating shaft is fixedly connected to the inner surface of the wheel frame on both sides, the first spring is fixedly connected to the lower surface of the wheel frame, the lifting ring is fixedly connected to the lower surface of the first spring, the limiting rod is slidably connected in the lifting ring, the buffer pad is fixedly connected to the upper surface of the limiting rod, the wheel frame is fixedly connected to the end of the limiting rod away from the buffer pad, a plurality of wheel frames are symmetrically distributed, one side of one of the wheel frames is fixedly connected with the connecting plate, the second spring is fixedly connected in the connecting plate, the auxiliary block is fixedly connected to the upper surface of the second spring, the lifting grooves are formed in the both sides of the auxiliary block, the guide rods are slidably connected to the inner surface of the lifting grooves, the guide rods are fixedly connected to the inner surface of the connecting plate on the lower surface, and the secondary wheel connecting frame is fixedly connected to the side of the connecting plate away from the wheel frame.

[0017] As a preferred scheme of the mine track type inspection robot, the second T-shaped slider is slidably connected in the n-shaped fixing frame, the support is fixedly connected to the lower surface of the second T-shaped slider, the support is fixedly connected to the upper surface of the bearing plate, the trapezoidal grooves are formed in the two sides of the n-shaped fixing frame, the fixing shafts are fixedly connected in the trapezoidal grooves, the deflection rods are rotatably connected to the outer surfaces of the fixing shafts, the mounting blocks are rotatably connected to the inner ends of the deflection rods away from the fixing shafts, and the mounting blocks are fixedly connected to one side of the special-shaped frame.

[0018] As a preferred scheme of the mine track type inspection robot, the third driven wheel is fixedly connected to the upper surface of the special-shaped frame through the second rotating shaft, the special-shaped frame is fixedly connected to one side of the secondary driven wheel connecting frame through the pulling plate, the U-shaped frame is fixedly connected to the upper surface of the bearing plate through bolts, the bearing supports are fixedly connected to the lower surface of the bearing plate, and the bearing supports are fixedly connected to the upper surface of the inspection robot body.

[0019] As a preferred scheme of the mine track type inspection robot, the first bearing plate is fixedly connected to one side of the connecting plate, the second micro electric push rod is fixedly connected to the lower surface of the first bearing plate, the second bearing plate is fixedly connected to the lower surface of the second micro electric push rod, and the scraper is fixedly connected to the lower surface of the second bearing plate.

[0020] The mine track type inspection robot has the following beneficial effects:

[0021] 1. The inspection robot body, the RFID reader, the mine special three-dimensional laser scanner, the acquisition box, the laser obstacle avoidance device, the camera and the communication antenna are used, the mine track type inspection robot scans the internal state of the mine tunnel through the mine special three-dimensional laser scanner, the internal information of the mine tunnel is transmitted to the monitoring device through the communication antenna, the laser obstacle avoidance device is used to scan whether there is an obstacle in the advancing direction during the movement of the device, so that the device is prevented from colliding with foreign matters on the track during the movement, and the device is prevented from being damaged in the normal inspection state.

[0022] 2. The main drive wheel, the first driven wheel, the second driven wheel, the third driven wheel, the secondary driven wheel connecting frame, the connecting plate and the special-shaped frame are used, the first rotating shaft is driven to rotate by the output shaft of the driving motor, the main drive wheel is driven to move in the guide rail by the first rotating shaft, the first driven wheel, the second driven wheel and the third driven wheel are driven to support the inspection robot body on the guide rail, a plurality of wheel bodies are driven to move synchronously, the first driven wheel is buffered during the movement by the wheel frame and the first spring, and the driving stability of the device is improved to a certain extent.

[0023] 3. The first micro electric push rod, the T-shaped push-pull rod, the transmission gear, the secondary gear, the first T-shaped sliding block, the fifth rotating shaft, the driving gear, the transmission leather strip, the third spring, the fourth spring, the top plate and the sliding block are used to make the mine inspection robot body patrol to the end point or the starting point, and the camera on the equipment needs to be used to record and shoot the state in the mine, so that the first micro electric push rod pushes the T-shaped push-pull rod to move, the transmission gear is close to or away from the secondary gear and the driving gear side under the driving of the T-shaped push-pull rod, and then the transmission gear and the secondary gear are engaged to drive the carrier rod to rotate, so that the mine inspection robot body is rotated by the driving motor to a certain extent, and the camera side is deflected to perform synchronous inspection recording.

[0024] 4. The first synchronous plate, the bearing plate, the second synchronous plate, the connecting rod, the rubber pad, the triangular plate, the swing plate and the rotating rod are used to make the mine inspection robot body rotate the triangular plate and the swing plate on the outer surface through the rotating rod during movement along the guide rail, so that the collecting box and the mine inspection robot body are deflected according to the guide track of the guide rail during movement, and the stability of the equipment movement is improved to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0026] Figure 1 The overall structure schematic diagram of the mine track type inspection robot is provided for the present application;

[0027] Figure 2 The other side structure schematic diagram of the mine track type inspection robot is provided for the present application;

[0028] Figure 3 The connecting and deflection unit distribution structure schematic diagram of the mine track type inspection robot is provided for the present application;

[0029] Figure 4 The secondary wheel connecting frame and wheel frame amplification structure schematic diagram of the mine track type inspection robot is provided for the present application;

[0030] Figure 5 The turning connecting unit structure schematic diagram of the mine track type inspection robot is provided for the present application;

[0031] Figure 6A sliding block structure diagram of a mine rail type inspection robot is provided in the present application.

[0032] Figure 7 A transmission gear structure diagram of a mine rail type inspection robot is provided in the present application.

[0033] Figure 8 A support driving unit structure diagram of a mine rail type inspection robot is provided in the present application.

[0034] BRIEF DESCRIPTION OF DRAWINGS: 100, an inspection unit; 101, an inspection robot body; 102, a loudspeaker; 103, a guide rail; 104, a rubber friction strip; 105, an RFID reader; 106, a mine special three-dimensional laser scanner; 107, an emergency stop button; 108, a collection box; 109, a laser obstacle avoidance device; 110, a camera; 111, a communication antenna; 112, a display; 200, a support driving unit; 201, a driving motor; 202, a main driving wheel; 203, a secondary driving wheel connecting frame; 204, a wheel frame; 205, an auxiliary block; 206, a first secondary wheel; 207, a second secondary wheel; 208, a fixed plate; 209, a fourth rotating shaft; 210, a lifting groove; 211, a first spring; 212, a lifting ring; 213, a limiting rod; 214, a second bearing plate; 215, a second micro electric push rod; 216, a first bearing plate; 217, a second spring; 218, a connecting plate; 219, a third secondary wheel; 220, a special-shaped frame; 221, a first rotating shaft; 222, a scraper; 223, a guide rod; 300, a steering connecting unit; 301, a U-shaped frame; 302, an annular plate; 303, a support column; 304, a trapezoidal groove; 305, a rotating rod; 306, a fixed disc; 307, an arc-shaped groove; 308, a fixed frame; 309, an n-shaped fixed frame; 310, a fixed shaft; 311, a deflection rod; 312, a mounting block; 313, a driving rod; 314, a second T-shaped sliding block; 315, a sliding block; 316, a transmission gear; 317, a secondary gear; 318, a first T-shaped sliding groove; 319, a first T-shaped sliding block; 320, a fifth rotating shaft; 321, a driving gear; 322, a transmission leather strip; 323, a third spring; 324, a fourth spring; 325, a top plate; 326, a T-shaped push-pull rod; 327, a first micro electric push rod; 328, a shaft ring; 400, a connecting deflection unit; 401, a support plate; 402, a bearing support rod; 403, a connecting plate; 404, a first synchronization plate; 405, a bearing plate; 406, a second synchronization plate; 407, a connecting rod; 408, a rubber pad; 409, a triangular plate; 410, a swing plate; 411, a rotating rod. DETAILED DESCRIPTION

[0035] In order to make the above objectives, characteristics and advantages of the present application more obvious and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0036] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given herein, that the present application can be practiced with other than the described implementations, and that variations from the particular examples given can be made and practiced within the scope of the present application.

[0037] Secondly, the "one embodiment" or "embodiment" referred to herein can include specific features, structures or characteristics in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not refer to the same embodiment, nor does it exclude other embodiments alone or selectively.

[0038] Thirdly, the present application is described in detail in conjunction with the schematic diagram. In the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is locally enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example which should not limit the scope of protection of the present application herein. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual manufacture.

[0039] Embodiment one:

[0040] With reference to Figure 1 - Figure 8 For one embodiment of the present application, a mine rail-mounted inspection robot is provided, which comprises an inspection unit 100, a support driving unit 200, a steering connecting unit 300 and a connection deflection unit 400.

[0041] The inspection unit 100 comprises an inspection robot body 101, a guide rail 103 and a collection box 108 symmetrically distributed on both sides of the inspection robot body 101, and the upper surface of the inspection robot body 101 is provided with the connection deflection unit 400, and the connection deflection unit 400 contains a load-bearing plate 405;

[0042] Secondly, the support driving unit 200 comprises a main drive wheel 202 rolling connected in the guide rail 103, a first rotating shaft 221 fixedly connected in the main drive wheel 202, a first secondary wheel 206 and a second secondary wheel 207 rolling connected in the guide rail 103, and a plurality of symmetrically distributed rubber friction strips 104 fixedly connected on both sides of the guide rail 103. The rubber friction strip 104 is rolling connected with a third secondary wheel 219 away from the guide rail 103, and the third secondary wheel 219 is fixedly connected to the lower surface of the fixed plate 208 through the second rotating shaft, and the fixed plate 208 is rotatably connected to the outer surface of the third rotating shaft of the second secondary wheel 207 on one side;

[0043] Then, turning to the connecting unit 300 includes the load-bearing plate 405 upper surface fixedly connected with two groups of symmetrically distributed U-shaped frame 301 and two groups of symmetrically distributed U-shaped frame 301 upper surface is fixedly connected with the first T-shaped sliding block 319, the first T-shaped sliding block 319 outer surface is slidably connected in the annular plate 302, the annular plate 302 is hollowly provided with the first T-shaped sliding groove 318, and the first T-shaped sliding groove 318 inner surface is slidably connected with the first T-shaped sliding block 319 outer surface, the annular plate 302 upper surface is fixedly connected with the driving motor 201 and the n-shaped fixed frame 309;

[0044] Finally, the connecting unit 300 includes the load-bearing plate 405 upper surface fixedly connected with two groups of symmetrically distributed U-shaped frame 301 and two groups of symmetrically distributed U-shaped frame 301 upper surface is fixedly connected with the first T-shaped sliding block 319, the first T-shaped sliding block 319 outer surface is slidably connected in the annular plate 302, the annular plate 302 is hollowly provided with the first T-shaped sliding groove 318, and the first T-shaped sliding groove 318 inner surface is slidably connected with the first T-shaped sliding block 319 outer surface, the annular plate 302 upper surface is fixedly connected with the driving motor 201 and the n-shaped fixed frame 309;

[0045] Further, the inspection robot body 101 both sides are fixedly connected with symmetrically distributed RFID reader 105, the inspection robot body 101 both sides are fixedly connected with symmetrically distributed mine special three-dimensional laser scanner 106, the inspection robot body 101 one side is fixedly connected with the emergency stop button 107, the inspection robot body 101 is fixedly connected with the display 112 away from the emergency stop button 107 one side, the collecting box 108 one side is fixedly connected with the camera 110, two groups of collecting box 108 one side are fixedly connected with the laser obstacle avoidance device 109, the inspection robot body 101 upper surface is fixedly connected with the communication antenna 111, the inspection robot body 101 lower surface is fixedly connected with the loudspeaker 102, wherein, the loudspeaker 102 can be used to report the internal state of the mine, so that the staff in the mine can quickly master the basic information of the mine, at the same time, the mine special three-dimensional laser scanner 106 is used to scan the internal state of the mine, so as to transmit the internal information of the mine to the monitoring equipment by the communication antenna 111.

[0046] Further, the n-shaped fixing frame 309 is slidably connected with a second T-shaped slider 314, the lower surface of the second T-shaped slider 314 is fixedly connected with a support column 303, the lower surface of the support column 303 is fixedly connected to the upper surface of the bearing plate 405, the two sides of the n-shaped fixing frame 309 are provided with trapezoidal grooves 304, the trapezoidal grooves 304 are fixedly connected with fixed shafts 310, the outer surfaces of the fixed shafts 310 are rotatably connected with deflection rods 311, the inner end of the deflection rod 311 away from the fixed shaft 310 is rotatably connected with a mounting block 312, and one side of the mounting block 312 is fixedly connected to one side of the special-shaped frame 220, wherein the first T-shaped slider 319 and the second T-shaped slider 314 drive the carrying rod 313 to drive the whole body of the inspection robot to rotate, and the deflection rod 311 connects the n-shaped fixing frame 309 and the special-shaped frame 220, so that the collection box 108 and the inspection robot body 101 are synchronously carried by the guide rail 103 to a certain extent.

[0047] Further, the third driving wheel 219 is fixedly connected to the upper surface of the special-shaped frame 220 through the second rotating shaft, one side of the special-shaped frame 220 is fixedly connected to one side of the secondary driving wheel connecting frame 203 through the pulling plate, the U-shaped frame 301 is fixedly connected to the upper surface of the bearing plate 405 through bolts, the lower surface of the bearing plate 405 is fixedly connected with bearing struts 402 which are equidistantly and symmetrically distributed, and the lower surface of the bearing struts 402 is fixedly connected to the upper surface of the inspection robot body 101, wherein the first T-shaped slider 319 connected to the upper surface of the U-shaped frame 301 rotates on the lower surface of the annular plate 302, and the annular plate 302 bears the inspection robot body 101, so that the connection effect of the equipment is improved to a certain extent.

[0048] Further, one side of the adapter plate 218 is fixedly connected with a first bearing plate 216, the lower surface of the first bearing plate 216 is fixedly connected with a second micro electric push rod 215, the lower surface of the second micro electric push rod 215 is fixedly connected with a second bearing plate 214, and the lower surface of the second bearing plate 214 is fixedly connected with a scraper 222, wherein the second bearing plate 214 is lifted by the second micro electric push rod 215, so that when the plurality of wheel bodies pass through the guide rail 103, the scraper 222 scrapes the area of the guide rail 103 to be moved to prevent the dust on the surface from causing unstable operation of the wheel bodies.

[0049] Working principle: the use of inspection robot body 101, RFID reader 105, mine special three-dimensional laser scanner 106, acquisition box 108, laser obstacle avoidance device 109, camera 110 and communication antenna 111, make the inspection robot body 101 through the mine special three-dimensional laser scanner 106 to scan the internal state of the mine, so as to utilize the communication antenna 111 to transmit the internal information of the mine to the monitoring device, further utilize the laser obstacle avoidance device 109 to make the device scan whether there is an obstacle in the advancing direction during the movement, so as to prevent the device from colliding with the foreign matter on the track during the movement, so that the device can avoid damage in the normal inspection state;

[0050] The use of main drive wheel 202, first driven wheel 206, second driven wheel 207, third driven wheel 219, secondary driven wheel connecting frame 203, adapter plate 218 and special-shaped frame 220, so that the output shaft of the driving motor 201 drives the first rotating shaft 221 to rotate, thereby utilizing the first rotating shaft 221 to drive the main drive wheel 202 to move in the guide rail 103, so that the main drive wheel 202 drives the first driven wheel 206, the second driven wheel 207 and the third driven wheel 219 to support the inspection robot body 101 on the guide rail 103, and then a plurality of groups of wheel bodies drive the device to move synchronously, further, the use of wheel frame 204 and first spring 211 makes the first driven wheel 206 buffer during movement, thereby improving the driving stability of the device to a certain extent;

[0051] The use of sliding block 315, transmission gear 316, secondary driven gear 317, first T-shaped sliding groove 318, first T-shaped sliding block 319, fifth rotating shaft 320, driving gear 321, transmission leather strip 322, third spring 323, fourth spring 324, top plate 325, T-shaped push-pull rod 326 and first micro electric push rod 327, when the inspection robot body 101 inspects the terminal or starting point, it needs to record and shoot the state in the mine by using the camera 110 on the device, so that the first micro electric push rod 327 pushes the T-shaped push-pull rod 326 to move, so that the transmission gear 316 can be close to or away from the secondary driven gear 317 and the driving gear 321 side under the drive of the T-shaped push-pull rod 326, and then the transmission gear 316 and the secondary driven gear 317 are engaged to drive the driven rod 313 to rotate, so that it can rotate the whole inspection robot body 101 through the driving motor 201 to a certain extent, so that the camera 110 side deflects to synchronize the inspection record;

[0052] The first synchronous plate 404, the bearing plate 405, the second synchronous plate 406, the connecting rod 407, the rubber pad 408, the triangular plate 409, the swing plate 410 and the rotating rod 411 are used to make the patrol robot body 101 rotate the triangular plate 409 and the swing plate 410 on the outer surface through the rotating rod 411 during the movement along the guide rail 103, so that the collection box 108 and the patrol robot body 101 can deflect according to the guide track of the guide rail 103 during the movement, and the stability of the equipment movement is improved to a certain extent.

[0053] Embodiment two

[0054] With reference to Figure 4 - Figure 7 The difference between the embodiment one and the embodiment two is that the fourth rotating shaft 209 is rotatably connected in the first driving wheel 206, the fourth rotating shaft 209 is fixedly connected on the inner surface of the wheel frame 204 on both sides, the first spring 211 is fixedly connected on the lower surface of the wheel frame 204, the lifting ring 212 is fixedly connected on the lower surface of the first spring 211, the limiting rod 213 is slidably connected in the lifting ring 212, the buffer pad is fixedly connected on the upper surface of the limiting rod 213, the wheel frame 204 is fixedly connected on the end of the limiting rod 213 away from the buffer pad, the number of the wheel frame 204 is several, every two groups of the wheel frame 204 are symmetrically distributed, one side of one group of the wheel frame 204 is fixedly connected with the connecting plate 218, the second spring 217 is fixedly connected in the connecting plate 218, the auxiliary block 205 is fixedly connected on the upper surface of the second spring 217, the lifting groove 210 is formed on both sides of the auxiliary block 205, the guide rod 223 is slidably connected on the inner surface of the lifting groove 210, the guide rod 223 is fixedly connected on the inner surface of the connecting plate 218 on the lower surface, the secondary driving wheel connecting frame 203 is fixedly connected on the side of the connecting plate 218 away from the wheel frame 204, and the second spring 217 and the first spring 211 in the connecting plate 218 are used to buffer the movement of the first driving wheel 206, so that the dust remaining in the guide rail 103 does not affect the running stability of the equipment, and the weight of the patrol robot body 101 on the guide rail 103 is shared by the plurality of symmetrically designed wheel frames 204.

[0055] Further, the upper surface of the rotating rod 305 is fixedly connected with a fixed disc 306, the outer surface of the rotating rod 305 is slidably connected in the fixed frame 308, the fixed frame 308 is provided with an arc-shaped groove 307, the outer surface of the rotating rod 305 is slidably connected with the inner surface of the arc-shaped groove 307, the upper surface of the fixed frame 308 is fixedly connected with a top plate 325, the upper surfaces of the fixed frame 308 and the top plate 325 are fixedly connected with the lower surface of the secondary gear connecting frame 203, the n-shaped fixed frame 309 is fixedly connected with a shaft ring 328, wherein, through the arc-shaped groove 307 and the rotating rod 305, the inspection robot body 101 drives the collection box 108 to rotate synchronously in the rotating process, so that the collection box 108 drives the rotating rod 305 to rotate and insert into the other fixed frame 308 in the rotating process, so that the wheel frame 204 supports the equipment again after the turning is completed, and meanwhile, the inner surface of the arc-shaped groove 307 is provided with a clamping spring, so that the rotating rod 305 is clamped and limited by the clamping spring in the inspection process, thereby preventing the equipment from rotating autonomously in the inspection process.

[0056] Further, the inner surface of the shaft ring 328 is rotatably connected with a driving rod 313, one end of the driving rod 313 close to the shaft ring 328 is fixedly connected with a secondary gear 317, one side of the secondary gear 317 is meshingly connected with a transmission gear 316, one side of the transmission gear 316 away from the secondary gear 317 is meshingly connected with a driving gear 321, the inner surface of the driving gear 321 is fixedly connected with a fifth rotating shaft 320, the outer surface of the fifth rotating shaft 320 is rotatably connected with a transmission leather strip 322, the other side of the transmission leather strip 322 is rotatably connected with the outer surface of the first rotating shaft 221, wherein, through the moving direction of the transmission gear, the driving motor 201 does not drive the equipment to turn randomly in the working state.

[0057] Further, the lower surface of the transmission gear 316 is rotatably connected with a sliding block 315, one side of the sliding block 315 is fixedly connected with a third spring 323, one side of the third spring 323 is fixedly connected with the inner surface of the n-shaped fixed frame 309, one side of the sliding block 315 away from the third spring 323 is fixedly connected with a T-shaped push-pull rod 326, one side of the T-shaped push-pull rod 326 close to the sliding block 315 is fixedly connected with symmetrically distributed fourth springs 324, one side of the T-shaped push-pull rod 326 is fixedly connected with a first micro electric push rod 327 through a short plate, and one side of the first micro electric push rod 327 is fixedly connected with one side of the n-shaped fixed frame 309, wherein, through the working of the first micro electric push rod 327, the transmission gear 316 can be driven to move, so that the transmission gear 316 is pushed back to the original position by the third spring 323 and the fourth spring 324, thereby preventing the equipment from turning in the normal inspection process.

[0058] Working principle: first, when the device is driven forward, the output shaft of the driving motor 201 drives the first rotating shaft 221 to rotate, making the main drive wheel 202 roll on the outer surface of the guide rail 103, thereby driving the remaining wheel bodies to roll on the outer surface of the guide rail 103, and then making the whole inspection robot move on the lower surface of the guide rail 103, at the same time, the first idler 206 and the second idler 207 roll on the guide rail 103, providing additional support and stability, especially on uneven and slippery tracks, at the same time, the third idler 219 increases the traction and anti-skid ability of the robot through the friction between the rubber friction strip 104 and the two sides of the guide rail 103, through the design of the auxiliary block 205 and the spring assembly, the vibration caused by the uneven track is absorbed, ensuring the smooth operation of the robot, further, the RFID reader 105 is used to read the identification information of the equipment in the mine, the mine special three-dimensional laser scanner 106 is used to generate a three-dimensional map of the inside of the mine, real-time monitoring of equipment status, camera 110 and laser obstacle avoidance device 109 are used to monitor personnel activities and obstacles in the mine, to ensure the safety of the robot, all sensor data is transmitted to the ground control center through the communication antenna 111 for real-time analysis and processing, at the same time, in some complex mine environment, the scraper 222 is designed to clean the mine dust and debris on the track, to ensure the smooth operation of the robot, the second micro electric push rod 215 is used to control the lifting of the scraper 222 to adapt to different track cleaning needs, when the device is driven to the starting point, through the design of the T-shaped push-pull rod 326 and the micro electric push rod, the robot can adjust the steering angle as needed to realize precise steering control, then, the driving motor 201 transmits power to the driving gear 321 through the transmission belt 322 and the transmission gear 316 system, then drives the driven gear 317 and the carrier rod 313 to rotate, making the rotation of the carrier rod 313 drive the rotation of the rotating rod 305 in the arc-shaped groove 307 of the fixed frame 308, thereby realizing the deflection of the steering connection unit 300, thereby adjusting the direction of the camera 110 and re-recording the forward direction.

[0059] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, which should be covered by the claims of the present application.

Claims

1. A mine track inspection robot, characterized in that, The track-type inspection robot comprises: An inspection unit (100) comprises an inspection robot body (101), a guide rail (103), and collection boxes (108) symmetrically distributed on both sides of the inspection robot body (101); a connecting yaw unit (400) is provided on the upper surface of the inspection robot body (101); and a load-bearing plate (405) is included in the connecting yaw unit (400); A support drive unit (200) comprises a main drive wheel (202) rollingly connected within a guide rail (103) and a first rotating shaft (221) fixedly connected within the main drive wheel (202); a first moving wheel (206) and a second moving wheel (207) rollingly connected within the guide rail (103); a plurality of symmetrically distributed rubber friction strips (104) fixedly connected to both sides of the guide rail (103); a third moving wheel (219) rollingly connected on a side of the rubber friction strip (104) away from the guide rail (103); the third moving wheel (219) fixedly connected to a lower surface of a fixed plate (208) via a second rotating shaft; and one side of the fixed plate (208) rotatably connected to an outer surface of the third rotating shaft of the second moving wheel (207); A steering connection unit (300) includes a load-bearing plate (405) having two groups of symmetrically distributed U-shaped frames (301) fixedly connected to its upper surface, and first T-shaped sliders (319) fixedly connected to the upper surfaces of the two groups of symmetrically distributed U-shaped frames (301), wherein the outer surfaces of the first T-shaped sliders (319) are slidably connected to the annular plate (302), a first T-shaped chute (318) is hollowed out in the annular plate (302), and the inner surface of the first T-shaped chute (318) is slidably connected to the outer surface of the first T-shaped slider (319), and the upper surface of the annular plate (302) is fixedly connected to a drive motor (201) and an N-shaped fixing frame (309); The connecting deflection unit (400) further includes a collection box (108) having a support plate (401) fixedly connected to the upper surface thereof, a connection plate (403) fixedly connected to one side of the support plate (401), a rotating rod (305) fixedly connected to the upper surface of the connection plate (403), two sets of symmetrically distributed triangular plates (409) fixedly connected to one side of the inspection robot body (101), a swing plate (410) fixedly connected to one side of the collection box (108), a rotating rod (411) rotatably connected to the triangular plates (409) and the swing plate (410), and the triangular plates ( 409) and the upper surface of the swing plate (410) are fixedly connected with a connecting rod (407), and the upper surface of the connecting rod (407) is fixedly connected with a first synchronization plate (404) and a second synchronization plate (406), respectively. The lower surface of the first synchronization plate (404) is fixedly connected to the lower surface of the collection box (108), and the lower surface of the second synchronization plate (406) is fixedly connected to a rubber pad (408), and the lower surface of the rubber pad (408) is fixedly connected to the upper surface of the inspection robot body (101). The upper surface of the second synchronization plate (406) is in contact with the lower surface of the load-bearing plate (405).

2. The mine rail inspection robot according to claim 1, characterized in that: Both sides of the inspection robot body (101) are fixedly connected to symmetrically distributed RFID readers (105), both sides of the inspection robot body (101) are fixedly connected to symmetrically distributed mine-specific three-dimensional laser scanners (106), one side of the inspection robot body (101) is fixedly connected to an emergency stop button (107), the side of the inspection robot body (101) away from the emergency stop button (107) is fixedly connected to a display (112), one side of the collection box (108) is fixedly connected to a camera (110), one side of two groups of collection boxes (108) are fixedly connected to a laser obstacle avoider (109), the upper surface of the inspection robot body (101) is fixedly connected to a communication antenna (111), and the lower surface of the inspection robot body (101) is fixedly connected to a speaker (102).

3. The mine rail inspection robot of claim 1, wherein: The first moving wheel (206) is rotatably connected to a fourth rotating shaft (209), both sides of the fourth rotating shaft (209) are fixedly connected to the inner surface of the wheel frame (204), the lower surface of the wheel frame (204) is fixedly connected to a first spring (211), the lower surface of the first spring (211) is fixedly connected to a lifting ring (212), the lifting ring (212) is slidably connected to a limiting rod (213), the upper surface of the limiting rod (213) is fixedly connected to a buffer pad, and the end of the limiting rod (213) away from the buffer pad is fixedly connected to the wheel frame (204), and the number of wheel frames (204) is several, and each two groups of wheel frames ( 204) are symmetrically distributed, one side of one group of the wheel frames (204) is fixedly connected to a connecting plate (218), a second spring (217) is fixedly connected inside the connecting plate (218), an auxiliary block (205) is fixedly connected to the upper surface of the second spring (217), both sides of the auxiliary block (205) are provided with lifting grooves (210), the inner surface of the lifting groove (210) is slidably connected to a guide rod (223), the lower surface of the guide rod (223) is fixedly connected to the inner surface of the connecting plate (218), and the side of the connecting plate (218) away from the wheel frame (204) is fixedly connected to the secondary driving wheel connecting frame (203).

4. The mine rail inspection robot of claim 1, wherein: The upper surface of the rotating rod (305) is fixedly connected to a fixed disk (306), the upper outer surface of the rotating rod (305) is slidably connected to the fixed frame (308), the fixed frame (308) is provided with an arc groove (307), the outer surface of the rotating rod (305) is slidably connected to the inner surface of the arc groove (307), the upper surface of the fixed frame (308) is fixedly connected to a top plate (325), the upper surfaces of the fixed frame (308) and the top plate (325) are both fixedly connected to the lower surface of the secondary driving wheel connecting frame (203), and the inner surface of the n-shaped fixed frame (309) is fixedly connected to a shaft ring (328).

5. The mine rail inspection robot of claim 4, wherein: The inner surface of the shaft ring (328) is rotationally connected with a driving rod (313), one end of the driving rod (313) is fixedly connected with a secondary gear (317) close to the shaft ring (328), one side of the secondary gear (317) is meshedly connected with a transmission gear (316), one side of the transmission gear (316) away from the secondary gear (317) is meshedly connected with a driving gear (321), the inner surface of the driving gear (321) is fixedly connected with a fifth rotating shaft (320), the outer surface of the fifth rotating shaft (320) is rotationally connected with a transmission leather strip (322), and the other side of the transmission leather strip (322) is rotationally connected with the outer surface of the first rotating shaft (221).

6. The mine rail inspection robot of claim 5, wherein: The lower surface of the transmission gear (316) is rotationally connected with a sliding block (315), one side of the sliding block (315) is fixedly connected with a third spring (323), one side of the third spring (323) is fixedly connected with the inner surface of an n-shaped fixing frame (309), the side of the sliding block (315) away from the third spring (323) is fixedly connected with a T-shaped push-pull rod (326), the side of the T-shaped push-pull rod (326) close to the sliding block (315) is fixedly connected with symmetrically distributed fourth springs (324), one side of the T-shaped push-pull rod (326) is fixedly connected with a first micro electric push rod (327) through a short plate, and one side of the first micro electric push rod (327) is fixedly connected with one side of the n-shaped fixing frame (309).

7. The mine rail inspection robot of claim 6, wherein: The inner surface of the n-shaped fixing frame (309) is slidably connected with a second T-shaped sliding block (314), the lower surface of the second T-shaped sliding block (314) is fixedly connected with a support column (303), the lower surface of the support column (303) is fixedly connected with the upper surface of a bearing plate (405), the two sides of the n-shaped fixing frame (309) are provided with trapezoidal grooves (304), the trapezoidal grooves (304) are fixedly connected with fixed shafts (310), the outer surfaces of the fixed shafts (310) are rotationally connected with deflection rods (311), one end of the deflection rod (311) away from the fixed shaft (310) is rotationally connected with a mounting block (312), and one side of the mounting block (312) is fixedly connected with one side of a special-shaped frame (220).

8. The mine rail inspection robot of claim 3, wherein: The third driving wheel (219) is fixedly connected with the upper surface of the special-shaped frame (220) through a second rotating shaft, one side of the special-shaped frame (220) is fixedly connected with one side of the secondary wheel connecting frame (203) through a pulling plate, the U-shaped frame (301) is fixedly connected with the upper surface of the bearing plate (405) through bolts, the lower surface of the bearing plate (405) is fixedly connected with bearing support columns (402) which are equidistantly and symmetrically distributed, and the lower surface of the bearing support column (402) is fixedly connected with the upper surface of the inspection robot body (101).

9. The mine rail inspection robot of claim 8, wherein: One side of the connecting plate (218) is fixedly connected with a first bearing plate (216), the lower surface of the first bearing plate (216) is fixedly connected with a second micro electric push rod (215), the lower surface of the second micro electric push rod (215) is fixedly connected with a second bearing plate (214), and the lower surface of the second bearing plate (214) is fixedly connected with a scraper (222).

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