A track cleaning device of a hanging rail type inspection robot for coal mines

Abstract

The present application belongs to the field of coal mine underground hanging rail type inspection robot, and relates to a coal mine hanging rail type inspection robot track cleaning device capable of automatic reversing. In view of the problem of dust and debris accumulation on the coal mine underground inspection track, the device is integrated with hinge lever sets, fixed plates, linkage sliding blocks, limiting baffle plates, reversible scrapers and reversing lockers, and can automatically switch the angle of the scraper according to the running direction of the inspection robot. The hinge lever sets rotate with the support wheels, move the linkage sliding blocks left and right, and then push the scraper to change direction, so that the inclination angle always matches the running direction of the robot, and the debris on the track is pushed to the outside of the track. The present application does not require additional motor drive and does not involve electrical explosion-proof requirements, and is flexible to use and does not affect the overall explosion-proof performance when changing the configuration. The present application effectively solves the problems of incomplete cleaning and debris accumulation, improves the safety and inspection efficiency of the track, and provides strong support for intelligent production of coal mines.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of coal mine underground hanging rail type inspection robots, and relates to a coal mine hanging rail type inspection robot track cleaning device capable of automatic reversing. BACKGROUND

[0002] With the popularization and construction of intelligent mines, inspection robots have been widely used in coal mines. Among them, the hanging rail type inspection robot has become the mainstream because it can autonomously patrol along the preset track. Through the environmental parameter sensors, cameras, and sound pickups carried by the hanging rail type inspection robot, data monitoring and fault hidden danger identification analysis can be performed on places such as belt conveyer tunnels, substations, and water pump houses, thereby reducing the frequency of personnel going down the mine, reducing labor intensity, and improving inspection efficiency.

[0003] However, the environment in coal mines is poor, and dust and roof falling debris often accumulate on the inspection track. These debris not only cause the video collected by the inspection robot to shake more severely, but also increase the walking resistance of the inspection robot, thereby increasing power consumption, shortening the cruising range, and in severe cases, even causing the inspection robot to be 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] Currently, there are some technical solutions for track cleaning. For example:

[0005] 1. Patent CN104386445B proposes a single-track hanging cleaning device for a belt rack automatic inspection system, which cleans the track by a cleaning brush with an inclination angle. However, this solution has the problem that debris between the front and rear cleaning devices cannot be cleaned, causing debris to accumulate for a long time and affecting the walking of the inspection robot.

[0006] 2. Patent CN113894824B provides a track inspection robot, which cleans the inner wall of the track by a steel wire brush and blows away the residue by airflow. This solution is suitable for railway steel rails and is different from the application environment and principle of the coal mine underground hanging rail type inspection robot.

[0007] 3. Patent CN114319220A proposes a track cleaning device for a track inspection robot, which cleans large obstacles on the left and right sides and above the rail of a motor car by a special-shaped brush. 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 rotates the cleaning disc by an electric motor to 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 device, causing the inspection robot to bump and block.

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

[0010] 6. Patent CN208542615U provides a mine truss inspection robot track cleaning device, which heats and dries the track through hot air after cleaning the track with a brush. This scheme mainly solves the problem of track moisture, and cannot effectively clean the debris on the track.

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

[0012] 8. Patents CN 217546141U and CN 219683352U respectively provide a track inspection robot for wind and light energy intelligent self-provided power station and a wireless remote control high-altitude track cleaning device, whose principles are similar to the above-mentioned schemes, and cannot effectively solve the problem of cleaning debris on the inspection track in coal mine.

[0013] In summary, most of the track cleaning devices in the prior art have the following problems: the debris between the front and rear cleaning devices cannot be completely cleaned, leading to long-term accumulation of debris; the structure of the cleaning device is complex, and it mostly relies on electric drive, which is difficult to meet the explosion-proof requirements of coal mine; the cleaning effect of the cleaning device is limited, and it cannot adapt to the harsh environment of coal mine.

[0014] Therefore, there is an urgent need for a cleaning device that can automatically reverse and completely clean the track debris to solve the technical problem of track cleaning for a hanging rail type inspection robot in coal mine. SUMMARY

[0015] Therefore, the purpose of the present application is to provide a coal mine hanging rail type inspection robot track cleaning device that can automatically reverse, which realizes automatic cleaning of the inspection track by adding a track cleaning device to the coal mine hanging rail type inspection robot, and solves the problems of video image shaking and inspection robot walking obstruction caused by the accumulation of coal dust and debris on the inspection track.

[0016] To achieve the above object, the present application provides the following technical scheme: a track cleaning device of a hanging rail type inspection robot for coal mine, which can automatically reverse, comprising a robot body, a supporting wheel hung on an inspection track, and a track cleaning device installed on the outside of the supporting wheel; the track cleaning device comprises a hinge piece group, a fixed plate, a linkage slider, a limiting baffle, a reversible scraper and a reversing locker; the hinge piece group is installed on the rotating shaft of the supporting wheel and triggers action with the rotating direction of the supporting wheel; the fixed plate is fixedly connected to the frame of the robot body and is provided with a slot, the direction of the slot is consistent with the extension direction of the inspection track; the linkage slider is hung in the slot of the fixed plate through a screw and can slide left and right along the direction of 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 hingedly connected to the fixed plate through a rotating shaft, the inclination angle of the reversible scraper is controlled by the third push rod of the linkage slider, and the reversible scraper is used for cleaning sundries on the inspection track to the outside of the track; the reversing locker comprises a locking plate, a fixed shaft and a compression spring and is used for locking the inclination direction of the reversible scraper and ensuring that the direction of the scraper is matched with the running direction of the inspection robot.

[0017] Optionally, the hinge piece group comprises a hinge piece A and a hinge piece B, both of which are installed on the rotating shaft of the supporting wheel in opposite folding directions; the hinge piece A is opened when the supporting wheel rotates counterclockwise and pushes the first push rod of the linkage slider to move left; the hinge piece B is opened when the supporting wheel rotates clockwise and pushes the second push rod of the linkage slider to move right.

[0018] Optionally, the third push rod of the linkage slider is in contact with a 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 the inclination direction thereof.

[0019] Optionally, the reversible scraper comprises a reversing switch, a scraper, a rotating shaft and a locking rod; the reversing switch is in contact with the third push rod of the linkage slider and is used for controlling the inclination direction of the scraper; the scraper is close to the upper surface of the inspection track below and has an adjustable gap, which is used for pushing sundries on the track to the outside of the track; the rotating shaft is used for hingedly connecting the reversible scraper to the fixed plate; the locking rod cooperates with the locking plate of the reversing locker and is used for fixing the inclination direction of the scraper.

[0020] Optionally, the locking plate is connected to the frame of the robot body through a fixed shaft and can move left and right along the direction of the fixed shaft; a compression spring is sleeved on the fixed shaft and is used for maintaining the stable position of the locking plate; when the reversible scraper rotates to be perpendicular to the locking plate, the compression spring is compressed, the locking rod passes through the locking plate, and then the compression spring releases the pressure to fix the inclination direction of the scraper.

[0021] Optionally, the limiting baffle is fixedly connected to the frame of the robot body and is used for limiting the inclination angle of the reversible scraper and ensuring that the scraper does not collide with the hanging part of the inspection track.

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

[0023] Optionally, the hinge lever group, linkage slider, reversible scraper and reversing locker are all pure mechanical structures, without the need for external power driving, meeting the explosion-proof requirements of coal mine underground.

[0024] Optionally, the inspection track is hung in the roadway roof through inspection track hangers and chains, and the inspection track is connected to form an inspection line; the track cleaning device is installed outside the four supporting wheels to clean the debris in front of the supporting wheels.

[0025] The beneficial effects of the present application 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 the state of cleaning the debris out of the track. This feature significantly improves the cleaning efficiency, without the need for manual intervention to adapt to different running directions, reducing the operation complexity.

[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 long-term accumulation of debris between the front and rear cleaning devices. This avoids the situation that the debris accumulation affects the walking of the rear wheels, ensuring the stable operation of the inspection robot.

[0028] 3) Mechanical components do not need electrical driving: the cleaning device uses all mechanical components, without the need for additional motor driving. This not only simplifies the device structure and reduces the maintenance cost, but also avoids the problem of electrical explosion-proof requirements in coal mine underground. This makes the use and configuration of the cleaning device more flexible, and the change will not affect the explosion-proof performance of the whole machine.

[0029] 4) Improve inspection efficiency and safety: by cleaning the dust and debris on the inspection track in time, the cleaning device helps to reduce the video shaking collected by the inspection robot, reduce the walking resistance, thereby prolong the endurance mileage and avoid the occurrence of jamming and other faults. This helps to improve the inspection efficiency and ensure the safety production in coal mine underground.

[0030] Other advantages, objects and features of the present application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the methods and instrumentalities particularly pointed out in the written description and claims hereof. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the drawings, in which:

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

[0033] Figure 2 is a schematic diagram of the present application;

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

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

[0036] Figure 5 is a schematic diagram of the reversing structure of the present application;

[0037] Figure 6 is a top view of Figure 5 .

[0038] Reference signs: robot body 1, inspection track 2, inspection track hanger 3, track cleaning device 4, hinge paddle group 41, hinge paddle A 411, hinge paddle B 412, fixed plate 42, linkage slider 43, first push rod 431, second push rod 432, push rod 433, limiting baffle 44, reversible scraper 45, reversing switch 451, scraper 452, rotating shaft 453, locking rod 454, reversing locker 46, locking plate 461, fixed shaft 462, compression spring 463, support wheel 5. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described below through specific concrete examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied through other different specific embodiments, and various modifications or changes can be made to the details in the present specification based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the features in the following embodiments and embodiments can be combined with each other without conflict.

[0040] Wherein, the drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the present application; in order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it can be understood by those skilled in the art that some well-known structures in the drawings and their descriptions may be omitted.

[0041] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it is understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0042] Please refer to Figures 1-6 It is a kind of automatic reversing coal mine hanging rail type inspection robot track cleaning device, including robot body 1, support wheel 5 hung in inspection track 2, and track cleaning device 4 installed on the outer side of support wheel 5. Inspection track 2 is hung on the roadway roof by inspection track hanging piece 3 and chain, and inspection track 2 is connected to form inspection line after mutual connection.

[0043] Track cleaning device 4 includes hinge paddle group 41, fixed plate 42, linkage sliding block 43, limit baffle 44, reversible scraper 45 and reversing locker 46.

[0044] Hinge paddle group 41: composed of hinge paddle A 411 and hinge paddle B 412, installed side by side on the rotating shaft of support wheel, rotates synchronously with the rotating shaft. Hinge paddle A and hinge paddle B are both one-way foldable, and are installed in opposite folding directions.

[0045] Hinge paddle A 411 is installed on the inner side, closer to support wheel 5, and matches the position of push rod 431 on linkage sliding block 43, for pushing linkage sliding block 43 to move left. When in use, hinge paddle A 411 is in foldable state when support wheel 5 rotates clockwise, cannot generate pushing force outward; hinge paddle A 411 is in open state when support wheel 5 rotates counterclockwise, can generate pushing force outward (pushes first push rod 431, makes linkage sliding block 43 move left).

[0046] Hinge paddle B 412 is installed on the inner side, installed away from support wheel 5, matches the position of push rod 432 on linkage sliding block 43, for pushing linkage sliding block 43 to move right. When in use, hinge paddle B 412 is in open state when support wheel 5 rotates clockwise, can generate pushing force outward (pushes second push rod 432, makes linkage sliding block 43 move right). Hinge paddle B 411 is in foldable state when support wheel 5 rotates counterclockwise, cannot generate pushing force outward.

[0047] In this embodiment, the hinge tab A 411 and the hinge tab B 412 are semi-rotatable structures supported by rotating shafts and limited to a rotation angle of 180°, i.e. the folding part is ejected by the centrifugal force of rotation to become a movable tab.

[0048] The fixed plate 42 is fixedly connected to the frame of the robot body 1 and has a slot formed thereon, the slot being in the same direction as the extension direction of the inspection track 2. The linkage slider 43 is hung in the slot of the fixed plate 42 by a screw and can slide left and right along the slot.

[0049] The linkage slider 43 is provided with three push rods, i.e. 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 are respectively matched with the hinge tab A 411 and the hinge tab B 412, and the third push rod 433 is connected with the reversing switch 451 of the reversible scraper 45.

[0050] The first push rod 431 is pushed to the left by the hinge tab A 411 when the support wheel 5 rotates counterclockwise, the second push rod 432 is pushed to the right by the hinge tab B 412 when the support wheel 5 rotates clockwise, and the third push rod 433 pushes the reversing switch 451 to change the inclination direction when the linkage slider 43 moves left and right.

[0051] The reversible scraper 45 is hinged to the fixed plate 42 by a rotating shaft 453. The reversing switch 451 is in contact with the third push rod 433 of the linkage slider 43, which is used to control the inclination direction of the scraper 452. The scraper 452 is close to the upper surface of the inspection track 2 below and has an adjustable gap, which is used to push the sundries on the track to the outside of the track.

[0052] The inclination direction of the reversible scraper 45 is fixed by the locking rod 454 and the locking plate 461. The inclination angle of the reversible scraper 45 is limited by the limiting baffle 44, and the angle is limited when the reversible scraper 45 rotates clockwise and counterclockwise, so as 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 by the fixed shaft 462 (the frame is not shown in this patent in order 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 and is used to maintain the stable position of the locking plate 461. When stable, 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, i.e. 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 the locking plate 461, the compression spring 463 releases the pressure to fix the inclination direction of the scraper 452.

[0055] The limiting baffle 44 is fixedly connected to the frame of the robot body 1 and is used for limiting the inclination angle of the reversible scraper 45 and ensuring that the scraper 452 does not collide with the inspection track hanging piece 3.

[0056] In the embodiment, the fixed plate 42, the reversing locker 46 and the limiting baffle 44 are fixedly connected to the frame of the robot body 1 and are fixed parts and cannot be moved.

[0057] In use, the present application has the following advantages:

[0058] When the inspection robot runs along the track, the support wheel 5 rotates in the track direction. According to the rotation direction, the hinge paddle A 411 or the hinge paddle B 412 is opened to push 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 to rotate the reversible scraper 45 around the rotating shaft 453 and switch the inclination direction thereof. The inclination angle of the scraper 452 is always matched with the running direction of the inspection robot.

[0060] The locking plate 461 of the reversing locker 46 maintains a stable 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 the locking plate 461, the compression spring 463 releases the pressure to fix the inclination direction of the scraper 452.

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

[0062] The present application can automatically switch the angle of the scraper according to the running direction of the inspection robot and 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 sundry accumulation. All mechanical parts are used, the device structure is simplified, the maintenance cost is reduced, the coal mine underground explosion-proof requirement is met. By cleaning the sundries on the track in time, the video picture shaking collected by the inspection robot is reduced, the walking resistance is reduced, the endurance mileage is prolonged, and the inspection efficiency and safety are improved.

[0063] Finally, it is to be explained that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions, and all should be covered in the scope of the claims of the present application.

Claims

1. A track cleaning device for a rail-mounted inspection robot in coal mines with automatic reversing direction, characterized in that: The system includes a robot body, support wheels suspended on an inspection track, and a track cleaning device installed on the outside of the support wheels; the track cleaning device includes a hinge lever assembly, a fixing plate, a linkage slider, a limit baffle, a reversible scraper, and a reversible lock. The hinge lever assembly is mounted on the pivot of the support wheel and is triggered to change the rotation direction of the support wheel. The fixing plate is fixedly connected to the frame of the robot body, and it has a slot, the direction of which is consistent with the extension direction of the inspection track. The linkage slider is suspended in the groove of the fixed plate by screws and can slide left and right along the direction of the groove. The linkage slider is equipped with a first push rod, a second push rod and a third push rod. The reversible scraper is hinged to the fixed plate via a pivot, and its tilt angle is controlled by the third push rod of the linkage slider. It is used to sweep debris on the inspection track to the outside of the track. The reversing lock includes a locking plate, a fixed shaft, and a compression spring, which is used to lock the tilt direction of the reversible scraper and ensure that the scraper direction matches the running direction of the inspection robot.

2. The track cleaning device for a rail-mounted inspection robot in a coal mine with automatic reversing capability as described in claim 1, characterized in that: The hinge lever assembly includes hinge lever A and hinge lever B, which are mounted on the pivot of the support wheel in opposite folding directions. Hinge lever A opens when the support wheel rotates counterclockwise, pushing the first push rod of the linkage slider to move to the left. Hinge lever 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 for a rail-mounted inspection robot in a coal mine with automatic reversing capability as described in claim 1, 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, causing the scraper to rotate around the axis and switch its tilt direction.

4. The track cleaning device for a rail-mounted inspection robot in a coal mine with automatic reversing capability as described in claim 1, 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 tilt direction of the scraper. 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 lock to fix the tilt direction of the scraper.

5. The track cleaning device for a rail-mounted inspection robot in a coal mine with automatic reversing capability according to claim 4, characterized in that: The locking plate is connected to the frame of the robot body via a fixed shaft and can move along the fixed shaft. The compression spring is sleeved on the fixed shaft to maintain the stable position of the locking plate. When the reversible scraper rotates to be perpendicular to the locking plate, the compression spring is compressed. After the locking rod passes the locking plate, the compression spring releases its pressure to fix the tilt direction of the scraper.

6. The track cleaning device for a rail-mounted inspection robot in a coal mine with automatic reversing capability according to claim 1, characterized in that: The limiting baffle is fixedly connected to the frame of the robot body to limit the tilt angle of the reversible scraper and ensure that the scraper does not collide with the inspection track hanging parts.

7. The track cleaning device for a rail-mounted inspection robot in a coal mine with automatic reversing capability according to claim 1, characterized in that: The track cleaning devices are symmetrically arranged at the front and rear ends of the robot body; the tilt 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 and avoiding the accumulation of debris between the front and rear cleaning devices.

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

9. The track cleaning device for a rail-mounted inspection robot for coal mines with automatic reversing capability according to claim 1, characterized in that: The inspection track is suspended from the roof of the tunnel by inspection track hangers and chains. The inspection tracks are connected to each other to form an inspection line. The track cleaning device is installed on the outside of the four support wheels to clean up debris in front of the support wheels.

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