Track cleaning device with automatic reversing function for coal mine hanging rail type inspection robot

Abstract

The invention belongs to the field of coal mine underground hanging rail type inspection robots, relates to a coal mine hanging rail type inspection robot rail cleaning device capable of automatically reversing, and aims to solve the problem that dust and disintegrating slag are accumulated on a coal mine underground inspection rail. The function of automatically switching the angle of the scraper blade according to the running direction of the inspection robot is achieved by integrating the components such as the hinge shifting piece set, the fixing plate, the linkage sliding block, the limiting baffle, the reversible scraper blade and the reversing locker. The hinge shifting piece set rotates along with the supporting wheels, the linkage sliding block is shifted to move left and right, then the scraper is pushed to change the direction, the inclination angle of the scraper is always matched with the running direction of the robot, and sundries on the track are pushed to the outer side of the track. Extra motor driving is not needed, the electrical anti-explosion requirement is not involved, use is flexible, and the anti-explosion performance of the whole machine is not affected by configuration change. The problems of incomplete cleaning, impurity accumulation and the like are effectively solved, the safety and the inspection efficiency of the track are improved, and powerful support is provided for intelligent production of a coal mine.

Description

Technical Field

[0001] The invention belongs to the field of underground rail-mounted inspection robots in coal mines, and relates to a rail cleaning device of a rail-mounted inspection robot for coal mines which can automatically switch direction. Background Art

[0002] With the promotion and construction of intelligent mines, inspection robots have been widely used in coal mines, among which rail-mounted inspection robots have become the mainstream because they can autonomously reciprocate along preset tracks. Rail-mounted inspection robots can monitor data and identify and analyze fault hazards in places such as belt transport lanes, substations, and pump rooms through the environmental parameter sensors, cameras, and microphones they carry, thereby reducing the frequency of personnel going down the mine, reducing labor intensity, and improving inspection efficiency.

[0003] However, the underground environment of coal mines is harsh, and dust and debris from roof falls often accumulate on the inspection tracks. These debris will not only cause the video images collected by the inspection robot to shake more, but also increase the walking resistance of the inspection robot, thereby increasing power consumption and shortening the cruising range. In severe cases, it may even cause the inspection robot to get stuck and unable to move. Therefore, timely cleaning of debris on the inspection track is crucial to ensure the normal operation of the inspection robot.

[0004] At present, there are some technical solutions for track cleaning. For example:

[0005] 1. Patent CN104386445B proposes a monorail hanging cleaning device for an overhead automatic inspection system of a belt conveyor, which cleans the track with an angled cleaning brush. However, this solution has the problem that the debris between the front and rear cleaning devices cannot be cleaned, resulting in long-term accumulation of debris, which affects the walking of the inspection robot.

[0006] 2. Patent CN113894824B provides a track inspection robot that uses a wire brush to clean the inner wall of the track and blows away the residue through airflow. This solution is suitable for railway rails, which is different from the application environment and principle of the underground rail inspection robot in coal mines.

[0007] 3. Patent CN114319220A proposes a track cleaning device for a track inspection robot, which uses a special-shaped brush to clean large obstacles on the left and right sides of the train rails and on the top. This solution is also not suitable for the complex environment of coal mines.

[0008] 4. Patent CN115890615A provides a track inspection robot and its working method, which uses a motor to drive the sweeping disc to rotate and clean the track. This solution can only clean the debris between the front and rear wheels, and cannot clean the debris that has just fallen in front of the equipment in time, causing the inspection robot to bump and get stuck.

[0009] 5. Patent CN116079755A proposes a monorail hanging track automatic inspection robot, which cleans the track by a brush on the outside of a cleaning roller. However, the cleaning roller of this solution has no inclination, and the cleaned debris cannot be discharged from the track in time.

[0010] 6. Patent CN208542615U provides a track cleaning device for a mining truss inspection robot, which uses a brush to clean the track and then uses hot air to heat and dry the track. This solution mainly solves the problem of track moisture and cannot effectively clean debris on the track.

[0011] 7. Patent CN 213740824U provides a track cleaning device for a track inspection robot, which cleans the track by means of a brush and a cleaning plate with adjustable cleaning force. However, this solution also has the problem that debris between the front and rear cleaning devices cannot be cleaned.

[0012] 8. Patents CN 217546141U and CN 219683352U respectively provide a patrol robot for wind and solar energy intelligent self-contained power stations and a wireless remote-controlled high-altitude track cleaning device, whose principles are similar to the above-mentioned solutions, and both cannot effectively solve the problem of debris cleaning on the patrol tracks in coal mines.

[0013] In summary, most of the track cleaning devices in the prior art have the following problems: it is impossible to thoroughly clean the debris between the front and rear cleaning devices, resulting in long-term accumulation of debris; the cleaning device has a complex structure and mostly relies on electric drive, which makes it difficult to meet the explosion-proof requirements underground in coal mines; the cleaning effect of the cleaning device is limited and cannot adapt to the harsh environment underground in coal mines.

[0014] Therefore, there is an urgent need for a cleaning device that can automatically reverse and thoroughly clean track debris to solve the technical problem of track cleaning for rail-mounted inspection robots in coal mines. Summary of the invention

[0015] In view of this, the purpose of the present invention is to provide a track cleaning device for a rail-mounted inspection robot for coal mines with automatic reversing function. By adding a track cleaning device to the rail-mounted inspection robot for coal mines, automatic cleaning of the inspection track can be achieved, thereby solving the problems of aggravated video image jitter and obstructed walking of the inspection robot caused by the accumulation of coal dust and debris on the inspection track.

[0016] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing, comprising a robot body, a support wheel hung on the inspection track, and a track cleaning device installed on the outside of the support wheel; the track cleaning device comprises a hinged paddle group, a fixed plate, a linkage slider, a limit baffle, a reversible scraper and a reversing locker; the hinged paddle group is installed on the rotating shaft of the support wheel and is triggered to move as the rotation direction of the support wheel is switched; the fixed plate is fixedly connected to the frame of the robot body, and is provided with a The slot direction is consistent with the extension direction of the inspection track; the linkage slider is hung in the slot of the fixed plate by screws, and can slide left and right along the slot direction, and the linkage slider is provided with a first push rod, a second push rod and a third push rod; the reversible scraper is hinged to the fixed plate through a rotating shaft, and its inclination angle is controlled by the third push rod of the linkage slider, which is used to sweep the debris on the inspection track to the outside of the track; the reversing locker includes a locking plate, a fixed shaft and a compression spring, which is used to lock the inclination direction of the reversible scraper to ensure that the scraper direction matches the running direction of the inspection robot.

[0017] Optionally, the hinge paddle group includes hinge paddle A and hinge paddle B, which are installed on the rotating shaft of the support wheel in opposite folding directions; hinge paddle A opens when the support wheel rotates counterclockwise, pushing the first push rod of the linkage slider to move to the left; hinge paddle B opens when the support wheel rotates clockwise, pushing the second push rod of the linkage slider to move to the right.

[0018] Optionally, the third push rod of the linkage slider contacts the reversing switch of the reversible scraper; the left and right sliding of the linkage slider drives the reversing switch through the third push rod, causing the scraper to rotate around the rotating shaft and switch its tilting direction.

[0019] Optionally, the reversible scraper includes a reversing switch, a scraper, a rotating shaft and a locking rod; the reversing switch contacts the third push rod of the linkage slider to control the tilt direction of the scraper; the bottom of the scraper is close to the upper surface of the inspection track, and the gap is adjustable to push debris on the track to the outside of the track; the rotating shaft is used to hinge the reversible scraper to the fixed plate; the locking rod cooperates with the locking plate of the reversing locker to fix the tilt direction of the scraper.

[0020] Optionally, the locking plate is connected to the frame of the robot body through a fixed axis and can move left and right along the fixed axis; a compression spring is sleeved on the fixed axis to maintain the steady-state position of the locking plate; when the reversible scraper rotates to be perpendicular to the locking plate, the compression spring is compressed, and after the locking rod passes over the locking plate, the compression spring releases the pressure to fix the inclination direction of the scraper.

[0021] Optionally, a limit baffle is fixedly connected to the frame of the robot body to limit the inclination angle of the reversible scraper to ensure that the scraper does not collide with the inspection track hanging part.

[0022] Optionally, the track cleaning devices are symmetrically arranged at the front and rear ends of the robot body; the inclination direction of all reversible scrapers is consistent with the running direction of the inspection robot, ensuring that debris on the track is continuously pushed out of the track to avoid accumulation of debris between the front and rear cleaning devices.

[0023] Optionally, the hinged paddle group, linkage slider, reversible scraper and reversing locker are all purely mechanical structures, without the need for external electric drive, and meet the explosion-proof requirements of underground coal mines.

[0024] Optionally, the inspection track is hung on the tunnel roof through inspection track hanging parts and chains, and the inspection tracks are connected to each other to form an inspection route; the track cleaning device is installed on the outside of the four support wheels to clean the debris in front of the support wheels.

[0025] The beneficial effects of the present invention are:

[0026] 1) Automatically adapt to the running direction: The cleaning device can automatically switch the angle of the scraper according to the running direction of the inspection robot, ensuring that the scraper is always in a state of sweeping debris out of the track. This feature significantly improves the cleaning efficiency, can adapt to different running directions without manual intervention, and reduces the complexity of operation.

[0027] 2) Avoid debris accumulation: The cleaning devices installed at the front and rear ends of the inspection robot always maintain the same direction, effectively solving the problem of debris between the front and rear cleaning devices being unable to be cleaned and accumulating for a long time. This avoids the situation where the rear wheels are affected by the accumulation of debris, and ensures the stable operation of the inspection robot.

[0028] 3) Mechanical parts do not require electrical drive: The cleaning device is entirely mechanical and does not require additional motor drive. This not only simplifies the device structure and reduces maintenance costs, but also avoids issues involving electrical explosion-proof requirements in coal mines. This makes the use and configuration of the cleaning device more flexible, and changes will not affect the explosion-proof performance of the entire machine.

[0029] 4) Improve inspection efficiency and safety: By timely cleaning the dust and debris on the inspection track, the cleaning device helps reduce the jitter of the video images collected by the inspection robot, reduces walking resistance, thereby extending the cruising range and avoiding jamming and other faults. This helps to improve inspection efficiency and ensure safe production in coal mines.

[0030] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a partial schematic diagram of the present invention;

[0034] Figure 3 It is a schematic diagram of the installation of the hinge paddle of the present invention;

[0035] Figure 4 It is a partial enlarged view of the present invention;

[0036] Figure 5 It is a schematic diagram of the switching structure of the present invention;

[0037] Figure 6 for Figure 5 Top view of the .

[0038] Figure numerals: robot body 1, inspection track 2, inspection track hanger 3, track cleaning device 4, hinge paddle group 41, hinge paddle A411, hinge paddle B412, fixed plate 42, linkage slider 43, first push rod 431, second push rod 432, push rod 433, limit baffle 44, reversible scraper 45, reversing switch 451, scraper 452, rotating shaft 453, locking rod 454, reversing lock 46, locking plate 461, fixed shaft 462, compression spring 463, support wheel 5. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0040] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0041] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0042] See also Figure 1 to Figure 6 The invention discloses a track cleaning device for a coal mine inspection robot with an automatic reversing function, comprising a robot body 1, a support wheel 5 hung on an inspection track 2, and a track cleaning device 4 installed outside the support wheel 5. The inspection track 2 is hung on the top plate of the tunnel through an inspection track hanging member 3 and a chain, and the inspection tracks 2 are connected to each other to form an inspection line.

[0043] The track cleaning device 4 includes a hinged paddle assembly 41 , a fixing plate 42 , a linkage slider 43 , a limit baffle 44 , a reversible scraper 45 and a reversing locker 46 .

[0044] Hinge paddle assembly 41: consists of hinge paddle A 411 and hinge paddle B 412, which are installed side by side on the rotating shaft of the support wheel and rotate synchronously with the rotating shaft. Both hinge paddle A and hinge paddle B are unidirectionally foldable, and the two are installed in opposite folding directions.

[0045] The hinge paddle A 411 is installed on the inner side, closer to the support wheel 5, and matches the position of the push rod 431 on the linkage slider 43, and is used to push the linkage slider 43 to move to the left. When in use, when the support wheel 5 rotates clockwise, the hinge paddle A 411 is in a foldable state and cannot generate a driving force to the outside; when the support wheel 5 rotates counterclockwise, the hinge paddle A 411 is in an open state and can generate a driving force to the outside (pushing the first push rod 431 to move the linkage slider 43 to the left).

[0046] The hinge paddle B 412 is installed on the inner side, away from the support wheel 5, and matches the position of the push rod 432 on the linkage slider 43, and is used to push the linkage slider 43 to move to the right. When in use, when the support wheel 5 rotates clockwise, the hinge paddle B412 is in an open state, and can generate a driving force to the outside (pushing the second push rod 432 to move the linkage slider 43 to the right). When the support wheel 5 rotates counterclockwise, the hinge paddle B411 is in a foldable state and cannot generate a driving force to the outside.

[0047] In this embodiment, hinged paddle A 411 and hinged paddle B 412 are half-rotatable structures, supported by a rotating shaft, and their rotation angle is limited to 180°, that is, the folded part is popped out to become a movable paddle through the centrifugal force of rotation.

[0048] The fixed plate 42 is fixedly connected to the frame of the robot body 1 and is provided with a slot, the direction of which is consistent with the extending direction of the inspection track 2. The linkage slider 43 is hung in the slot of the fixed plate 42 by screws and can slide left and right along the slot direction.

[0049] The linkage slider 43 is provided with three push rods, namely, a first push rod 431, a second push rod 432 and a third push rod 433. The first push rod 431 and the second push rod 432 cooperate with the hinge paddle A 411 and the hinge paddle B 412 respectively, and the third push rod 433 is connected to the reversing switch 451 of the reversible scraper 45.

[0050] When the support wheel 5 rotates counterclockwise, the first push rod 431 is pushed leftward by the hinge paddle A411; when the support wheel 5 rotates clockwise, the second push rod 432 is pushed rightward by the hinge paddle B412; when the linkage slider 43 moves left and right, the third push rod 433 will push the reversing switch 451 to change the tilting direction.

[0051] Reversible scraper 45: It is hinged to the fixed plate 42 through the rotating shaft 453. The reversing switch 451 contacts the third push rod 433 of the linkage slider 43 to control the tilting direction of the scraper 452. The scraper 452 is close to the upper surface of the inspection track 2 below, and the gap is adjustable to push the debris on the track to the outside of the track.

[0052] The tilting direction of the reversible scraper 45 is fixed by the locking rod 454 and the locking plate 461. The tilting angle of the reversible scraper 45 is limited by the limit baffle 44. When the scraper 45 rotates clockwise or counterclockwise, the angle is limited by the limit baffle 44 to ensure that the scraper 452 does not collide with the inspection track hanger 3.

[0053] The reversing locker 46 includes a locking plate 461, a fixed shaft 462 and a compression spring 463. The locking plate 461 is connected to the frame of the robot body 1 through the fixed shaft 462 (the frame is not shown in this patent to better see the internal structure), and can move left and right along the fixed shaft 462. The compression spring 463 is sleeved on the fixed shaft 462 to maintain the steady-state position of the locking plate 461. In the steady state, the locking plate 461 is kept in the right position under the action of the compression spring 463, thereby ensuring that the position of the locking rod 454 is fixed, that is, ensuring that the direction of the scraper 452 is fixed.

[0054] When the reversible scraper 45 rotates to be perpendicular to the locking plate 461 , the compression spring 463 is compressed, and after the locking rod 454 passes over the locking plate 461 , the compression spring 463 releases the pressure to fix the tilting direction of the scraper 452 .

[0055] Limit baffle 44 : fixedly connected to the frame of the robot body 1 , used to limit the tilt angle of the reversible scraper 45 , ensuring that the scraper 452 does not collide with the inspection track hanger 3 .

[0056] In this embodiment, the fixing plate 42, the reversing locker 46, and the limit baffle 44 are all fixedly connected to the frame of the robot body 1, and are fixed parts and cannot move.

[0057] When the present invention is used:

[0058] When the inspection robot runs along the track, the support wheel 5 rotates along the track direction. According to the rotation direction, the hinge paddle A 411 or the hinge paddle B 412 opens, pushing the linkage slider 43 to slide left and right.

[0059] The sliding of the linkage slider 43 drives the reversing switch 451 through the third push rod 433, so that the reversible scraper 45 rotates around the rotating shaft 453 and switches its tilting direction, thereby ensuring that the tilting angle of the scraper 452 always matches the running direction of the inspection robot.

[0060] The locking plate 461 of the reversing locker 46 maintains a steady position under the action of the compression spring 463. When the reversible scraper 45 rotates to be perpendicular to the locking plate 461, the compression spring 463 is compressed, and after the locking rod 454 passes over the locking plate 461, the compression spring 463 releases the pressure to fix the tilt direction of the scraper 452.

[0061] The scraper 452 of the reversible scraper 45 pushes the debris on the track to the outside of the track and drops it to the ground, thereby realizing automatic cleaning of the track.

[0062] The present invention can automatically switch the angle of the scraper according to the running direction of the inspection robot to ensure the cleaning effect. The cleaning devices installed at the front and rear ends of the inspection robot always maintain the same direction, effectively solving the problem of debris accumulation. All mechanical parts are used to simplify the device structure, reduce maintenance costs, and meet the explosion-proof requirements of coal mines. By timely cleaning up debris on the track, the jitter of the video images collected by the inspection robot is reduced, the walking resistance is reduced, the cruising range is extended, and the inspection efficiency and safety are improved.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A track cleaning device for a coal mine with a rail-hanging inspection robot capable of automatic reversing, characterized in that: It includes a robot body, a support wheel hung on the inspection track, and a track cleaning device installed on the outside of the support wheel; the track cleaning device includes a hinged paddle group, a fixing plate, a linkage slider, a limit baffle, a reversible scraper and a reversing locker; The hinged paddle assembly is mounted on the rotating shaft of the support wheel and is triggered to move when the rotation direction of the support wheel changes; The fixing plate is fixedly connected to the frame of the robot body, and is provided with a slot, the direction of which is consistent with the extension direction of the inspection track; The linkage slider is hung in the slot of the fixed plate by screws and can slide left and right along the slot. The linkage slider is provided with a first push rod, a second push rod and a third push rod; The reversible scraper is hinged to the fixed plate through a rotating shaft, and its inclination angle is controlled by the third push rod of the linkage slider, which is used to sweep the debris on the inspection track to the outside of the track; The reversing locker includes a locking plate, a fixed shaft and a compression spring, which are used to lock the tilt direction of the reversible scraper to ensure that the scraper direction matches the running direction of the inspection robot.

2. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The hinge paddle group includes a hinge paddle A and a hinge paddle B, which are installed on the rotating shaft of the support wheel in opposite folding directions; the hinge paddle A opens when the support wheel rotates counterclockwise, pushing the first push rod of the linkage slider to move to the left; the hinge paddle B opens when the support wheel rotates clockwise, pushing the second push rod of the linkage slider to move to the right.

3. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The third push rod of the linkage slider contacts the reversing switch of the reversible scraper; the left and right sliding of the linkage slider drives the reversing switch through the third push rod, so that the scraper rotates around the rotating shaft and switches its tilting direction.

4. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The reversible scraper includes a reversing switch, a scraper, a rotating shaft and a locking rod; the reversing switch contacts the third push rod of the linkage slider to control the tilting direction of the scraper; the bottom of the scraper is close to the upper surface of the inspection track, and the gap is adjustable to push the debris on the track to the outside of the track; the rotating shaft is used to hinge the reversible scraper to the fixed plate; the locking rod cooperates with the locking plate of the reversing locker to fix the tilting direction of the scraper.

5. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 4 is characterized in that: The locking plate is connected to the frame of the robot body through a fixed axis and can move along the fixed axis; the compression spring is sleeved on the fixed axis to maintain the steady-state position of the locking plate; when the reversible scraper rotates to be perpendicular to the locking plate, the compression spring is compressed, and after the locking rod passes over the locking plate, the compression spring releases the pressure to fix the inclination direction of the scraper.

6. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The limit baffle is fixedly connected to the frame of the robot body and is used to limit the inclination angle of the reversible scraper to ensure that the scraper does not collide with the inspection track hanging part.

7. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The track cleaning devices are symmetrically arranged at the front and rear ends of the robot body; the inclination direction of all reversible scrapers is consistent with the running direction of the inspection robot, ensuring that the debris on the track is continuously pushed out of the track to avoid the accumulation of debris between the front and rear cleaning devices.

8. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1 is characterized in that: The hinged paddle group, linkage slider, reversible scraper and reversing locker are all purely mechanical structures, requiring no external electric drive, and meet the explosion-proof requirements of underground coal mines.

9. The track cleaning device of a rail-hanging inspection robot for coal mines with automatic reversing according to claim 1, characterized in that: The inspection track is hung on the tunnel roof through the inspection track hanging parts and chains, and the inspection tracks are connected to each other to form an inspection route; the track cleaning device is installed on the outside of the four support wheels to clean the debris in front of the support wheels.

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