Novel emergency detection robot for underground narrow space of coal mine

Abstract

The invention belongs to the technical field of emergency detection robots, and particularly relates to a novel emergency detection robot for a narrow space in an underground coal mine, which comprises a bearing plate and further comprises a moving assembly for moving the bearing plate; and the adjusting assemblies are used for adjusting the positions of the moving assemblies, and the upper side and the lower side of the bearing plate are each provided with a plurality of adjusting assemblies. According to the emergency detection robot disclosed by the invention, the moving assembly for moving the bearing plate and the adjusting assembly for adjusting the position of the moving assembly are arranged, so that the emergency detection robot can perform moving detection in a transverse narrow channel or a vertical narrow channel; and the use scene of the emergency detection robot can be improved, so that the detection accuracy and the detection range can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of emergency detection robots, in particular to a novel emergency detection robot for narrow spaces in underground coal mines. Background Art

[0002] Underground coal mining refers to the coal mining operation area carried out underground during the coal mining process. Underground coal mining is a mining method corresponding to open-pit mining, and is mainly suitable for coal mines buried deeper.

[0003] At present, in order to ensure the safety of coal mines, emergency detection robots are usually used to detect the geological structure ahead. Among them, the emergency detection robot is a robot specially designed to perform emergency tasks, which can detect and operate in complex environments. However, the existing emergency detection robots can only perform mobile detection in narrow horizontal channels, and cannot perform mobile detection in narrow vertical channels, which will affect the detection accuracy and detection range to a certain extent. Therefore, a new emergency detection robot for narrow spaces in coal mines is invented. Summary of the invention

[0004] In view of the above and / or existing problems in a novel emergency detection robot for narrow spaces in underground coal mines, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a novel emergency detection robot for narrow spaces in coal mines, which can solve the above-mentioned existing problems.

[0006] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0007] A novel emergency detection robot for narrow spaces in underground coal mines, comprising a bearing plate and:

[0008] A moving assembly for moving the carrier plate;

[0009] The adjusting component is used to adjust the position of the moving component, and a plurality of adjusting components are arranged on the upper and lower sides of the carrying plate.

[0010] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the adjustment component includes:

[0011] Grooves, a plurality of grooves are provided on both the upper and lower sides of the carrying plate;

[0012] A first box body, wherein the first box body is fixedly installed in the groove;

[0013] A first cylinder, wherein the first cylinder is fixedly installed in the first box body;

[0014] The first support plate is fixedly mounted by the first cylinder via a piston rod.

[0015] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the adjustment component further includes:

[0016] A first side plate, wherein both ends of one side of the first support plate are fixedly mounted with the first side plate;

[0017] A first rotating shaft, the first rotating shaft being rotatably connected between the two sets of first side plates via a bearing;

[0018] A movable plate, wherein the movable plate is fixedly mounted on the first rotating shaft;

[0019] A first box body, the first box body is fixedly mounted on a set of first side panels;

[0020] A first servo motor is fixedly installed in the first housing, and an output shaft of the first servo motor is fixedly connected to the first rotating shaft.

[0021] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the adjustment component further includes:

[0022] A second box body, the second box body is fixedly mounted on the movable plate;

[0023] a second cylinder, the second cylinder being fixedly mounted in the second box body;

[0024] A second support plate, wherein the second cylinder is fixedly mounted with the second support plate via a piston rod;

[0025] A pressure sensor is fixedly mounted on one side of the second support plate.

[0026] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the adjustment component further includes:

[0027] a third support plate, wherein the third support plate is fixedly mounted on one side of the pressure sensor;

[0028] A second box body, wherein the second box body is fixedly mounted on one side of the third supporting plate;

[0029] The second servo motor is fixedly mounted in the second housing, and the output shaft of the second servo motor is mounted with a moving assembly.

[0030] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the mobile component includes:

[0031] A fourth supporting plate, on which the output shaft of the second servo motor is fixedly mounted;

[0032] A second side plate, with the second side plates being fixedly mounted on both ends of one side of the fourth supporting plate;

[0033] A second rotating shaft, the second rotating shaft being rotatably connected between the two sets of second side plates via a bearing;

[0034] The roller is fixedly mounted on the second rotating shaft.

[0035] As a preferred solution of the novel emergency detection robot for narrow space in underground coal mines described in the present invention, the mobile component further comprises:

[0036] A third box body, the third box body is fixedly mounted on a set of second side panels;

[0037] The third servo motor is fixedly installed in the third housing, and the output shaft of the third servo motor is fixedly connected to the second rotating shaft.

[0038] As a preferred solution of the novel emergency detection robot for narrow spaces in underground coal mines described in the present invention, a first camera is fixedly installed on the right side of the supporting plate, and first light bulbs are fixedly installed at both ends of the right side of the supporting plate.

[0039] As a preferred solution of the novel emergency detection robot for narrow spaces in underground coal mines described in the present invention, a second camera is fixedly mounted on the top of the supporting plate, and second light bulbs are fixedly mounted on both ends of the top of the supporting plate.

[0040] As a preferred solution of the new type of emergency detection robot for narrow spaces in underground coal mines described in the present invention, a cavity is opened at the bottom end of the supporting plate, a battery is arranged in the cavity, and a cover plate is detachably connected to the bottom end of the cavity by screws.

[0041] Compared with existing technologies:

[0042] By providing a mobile component for moving the supporting plate and an adjusting component for adjusting the position of the mobile component, the emergency detection robot can be enabled to perform mobile detection in a horizontal narrow channel or a vertical narrow channel, thereby improving the use scenarios of the emergency detection robot and improving the detection accuracy and detection range; in addition, the emergency detection robot can also perform mobile detection on uneven roads, with high flexibility, and is more adaptable to the environment underground in a coal mine and can walk in coal seams. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a front view schematic diagram of the structure of the present invention;

[0044] Figure 2 It is a front view schematic diagram of the adjustment component of the present invention;

[0045] Figure 3 A schematic diagram of a side view of a local structure of an adjusting component of the present invention;

[0046] Figure 4 It is a schematic side view of the local structure of the adjustment component of the present invention;

[0047] Figure 5 It is a structural schematic diagram of the bearing plate of the present invention;

[0048] Figure 6 This is a schematic diagram of the operating state of the present invention in a transverse narrow channel;

[0049] Figure 7 This is a schematic diagram of the operating state of the present invention in a vertical narrow channel.

[0050] In the figure: a carrying plate 10, a cavity 11, a cover plate 12, a battery 13, a first camera 20, a first light bulb 21, a second camera 30, a second light bulb 31, a groove 40, a first box body 41, a first cylinder 42, a first support plate 43, a first side plate 44, a first rotating shaft 45, a movable plate 46, a first box body 47, a first servo motor 48, a second box body 49, a second cylinder 50, a second support plate 51, a pressure sensor 52, a third support plate 53, a second box body 54, a second servo motor 55, a fourth support plate 56, a second side plate 57, a second rotating shaft 58, a roller 59, a third box body 60, and a third servo motor 61. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0052] The present invention provides a new type of emergency detection robot for narrow spaces in coal mines. Figure 1-Figure 7, including a supporting plate 10, a first camera 20 is fixedly installed on the right side of the supporting plate 10, first bulbs 21 are fixedly installed at both ends of the right side of the supporting plate 10, a second camera 30 is fixedly installed on the top of the supporting plate 10, second bulbs 31 are fixedly installed at both ends of the top of the supporting plate 10, a cavity 11 is opened at the bottom end of the supporting plate 10, a battery 13 is arranged in the cavity 11, and a cover plate 12 is detachably connected to the bottom end of the cavity 11 by screws; wherein, one end of the battery 13 is electrically connected to the first camera 20, the first bulb 21, the second camera 30, the second bulb 31, the first cylinder 42, the first servo motor 48, the second cylinder 50, the pressure sensor 52, the second servo motor 55 and the third servo motor 61, and in addition, an external detector (including but not limited to a gas sensor, etc.) can be set on one side of the first camera 20 according to actual needs.

[0053] It also includes: an adjusting component for adjusting the position of the moving component, and a plurality of adjusting components are disposed on both the upper and lower sides of the carrying plate 10 .

[0054] The adjustment assembly includes: a groove 40, a first box body 41, a first cylinder 42, a first support plate 43, a first side plate 44, a first rotating shaft 45, a movable plate 46, a first box body 47, a first servo motor 48, a second box body 49, a second cylinder 50, a second support plate 51, a pressure sensor 52, a third support plate 53, a second box body 54, and a second servo motor 55;

[0055] A plurality of grooves 40 are provided on both the upper and lower sides of the carrier plate 10, a first box body 41 is fixedly installed in the groove 40, a first cylinder 42 is fixedly installed in the first box body 41, a first support plate 43 is fixedly installed on the first cylinder 42 through a piston rod, a first side plate 44 is fixedly installed on both ends of one side of the first support plate 43, a first shaft 45 is rotatably connected between two groups of first side plates 44 through a bearing, a movable plate 46 is fixedly installed on the first shaft 45, a first box body 47 is fixedly installed on a group of first side plates 44, a first servo motor 48 is fixedly installed in the first box body 47, and an output shaft of the first servo motor 48 is fixedly connected to the first shaft 45, and a second box body 49 is fixedly installed on the first support plate 43. The second support plate 51 is fixedly mounted on the movable plate 46, the second cylinder 50 is fixedly mounted in the second box body 49, the second cylinder 50 is fixedly mounted on the second support plate 51 through a piston rod, the pressure sensor 52 is fixedly mounted on one side of the second support plate 51, the third support plate 53 is fixedly mounted on one side of the pressure sensor 52, the second box body 54 is fixedly mounted on one side of the third support plate 53, the second servo motor 55 is fixedly mounted in the second box body 54, and the output shaft of the second servo motor 55 is mounted with a moving component; wherein, the number of grooves 40 opened on the upper and lower sides of the carrier plate 10 is preferably six, so that the number of adjustment components and moving components is preferably six, realizing six-legged movement.

[0056] Also included: a moving assembly for moving the carrying plate 10;

[0057] The moving assembly includes: a fourth support plate 56, a second side plate 57, a second rotating shaft 58, a roller 59, a third box 60, and a third servo motor 61;

[0058] The output shaft of the second servo motor 55 is fixedly mounted on the fourth support plate 56, and the second side plates 57 are fixedly mounted on both ends of one side of the fourth support plate 56. The second rotating shaft 58 is rotatably connected between the two groups of second side plates 57 through a bearing, and the roller 59 is fixedly mounted on the second rotating shaft 58. The third box body 60 is fixedly mounted on a group of second side plates 57. The third servo motor 61 is fixedly mounted in the third box body 60, and the output shaft of the third servo motor 61 is fixedly connected to the second rotating shaft 58.

[0059] When used, the specific steps are as follows:

[0060] When it is necessary to detect a transverse narrow channel, the carrying plate 10 is first placed in the channel, and then the roller 59 is brought into contact with the upper and lower ends of the transverse narrow channel by the first cylinder 42. After that, the roller 59 can be rotated by the third servo motor 61. When the roller 59 rotates, it moves in the transverse narrow channel. During the movement, the first light bulb 21 illuminates the road ahead, and the first camera 20 is used to shoot the scene ahead, so as to realize the detection of the geological structure ahead.

[0061] When it is necessary to detect a vertical narrow channel, the carrying plate 10 is first placed in the channel, and then the roller 59 is lifted and lowered by the first cylinder 42 until the roller 59 is lifted and lowered to a certain height, and then the first rotating shaft 45 is rotated by the first servo motor 48 until the roller 59 faces the side wall in the vertical narrow channel, and at the same time, the roller 59 is contacted with the left and right ends of the vertical narrow channel by the second cylinder 50, and then the roller 59 can be rotated by the third servo motor 61. When the roller 59 rotates, it moves in the vertical narrow channel, and in the process of moving, the second bulb 31 illuminates the road ahead, and the second camera 30 is used to shoot the scene ahead, so as to realize the detection of the geological structure ahead;

[0062] Among them, when turning is required, the roller 59 can be rotated by the second servo motor 55 to rotate the roller 59 by a certain angle, so that the carrying plate 10 can be turned; in addition, during the movement, if an uneven road is encountered, the value on the pressure sensor 52 will change during this process. If the value on the pressure sensor 52 gradually increases, it means that the carrying plate 10 is in an uphill state at this time, then the position of the roller 59 will be adjusted accordingly by the first cylinder 42 (applicable to horizontal narrow channels) or the second cylinder 50 (applicable to vertical narrow channels); conversely, if the value on the pressure sensor 52 gradually decreases, it means that the carrying plate 10 is in a downhill state at this time, then the position of the roller 59 will be adjusted accordingly by the first cylinder 42 (applicable to horizontal narrow channels) or the second cylinder 50 (applicable to vertical narrow channels), so that the carrying plate 10 can move on the uneven road.

[0063] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A novel emergency detection robot for narrow spaces in coal mines, comprising a bearing plate (10), characterized in that: Also includes: A moving assembly for moving the carrying plate (10); An adjusting component is used to adjust the position of the moving component, and a plurality of adjusting components are provided on both the upper and lower sides of the carrying plate (10).

2. According to claim 1, a novel emergency detection robot for narrow spaces in coal mines is characterized in that: The adjustment component comprises: Grooves (40), a plurality of grooves (40) are provided on both the upper and lower sides of the carrier plate (10); A first box body (41), wherein the first box body (41) is fixedly installed in the groove (40); A first cylinder (42), wherein the first cylinder (42) is fixedly installed in the first box body (41); A first support plate (43), the first cylinder (42) is fixedly mounted with the first support plate (43) via a piston rod.

3. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 2 is characterized in that: The adjustment component also includes: A first side plate (44), the first side plates (44) being fixedly mounted on both ends of one side of the first support plate (43); A first rotating shaft (45), the first rotating shaft (45) being rotatably connected between the two sets of first side plates (44) via a bearing; A movable plate (46), wherein the movable plate (46) is fixedly mounted on the first rotating shaft (45); A first box body (47), wherein the first box body (47) is fixedly mounted on a set of first side panels (44); A first servo motor (48), wherein the first servo motor (48) is fixedly installed in the first box body (47), and an output shaft of the first servo motor (48) is fixedly connected to the first rotating shaft (45).

4. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 3 is characterized in that: The adjustment component also includes: A second box body (49), wherein the second box body (49) is fixedly mounted on the movable plate (46); A second cylinder (50), the second cylinder (50) being fixedly mounted in the second box body (49); A second support plate (51), the second cylinder (50) being fixedly mounted on the second support plate (51) via a piston rod; A pressure sensor (52), wherein the pressure sensor (52) is fixedly mounted on one side of the second support plate (51).

5. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 4 is characterized in that: The adjustment component also includes: a third support plate (53), the third support plate (53) being fixedly mounted on one side of the pressure sensor (52); A second box body (54), the second box body (54) is fixedly mounted on one side of the third support plate (53); A second servo motor (55), wherein the second servo motor (55) is fixedly mounted in the second housing (54), and the output shaft of the second servo motor (55) is mounted with a moving assembly.

6. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 5 is characterized in that: The mobile assembly comprises: a fourth supporting plate (56), on which the output shaft of the second servo motor (55) is fixedly mounted; A second side plate (57), the second side plates (57) being fixedly mounted on both ends of one side of the fourth support plate (56); A second rotating shaft (58), the second rotating shaft (58) being rotatably connected between the two sets of second side plates (57) via a bearing; A roller (59), wherein the roller (59) is fixedly mounted on the second rotating shaft (58).

7. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 6 is characterized in that: The mobile component also includes: A third box body (60), wherein the third box body (60) is fixedly mounted on a set of second side panels (57); A third servo motor (61), wherein the third servo motor (61) is fixedly installed in the third housing (60), and an output shaft of the third servo motor (61) is fixedly connected to the second rotating shaft (58).

8. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 1 is characterized in that: A first camera (20) is fixedly mounted on the right side of the carrier plate (10), and first light bulbs (21) are fixedly mounted on both ends of the right side of the carrier plate (10).

9. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 1 is characterized in that: A second camera (30) is fixedly mounted on the top of the carrier plate (10), and second light bulbs (31) are fixedly mounted on both ends of the top of the carrier plate (10).

10. The novel emergency detection robot for narrow spaces in underground coal mines according to claim 1 is characterized in that: A cavity (11) is provided at the bottom end of the carrier plate (10), a storage battery (13) is provided in the cavity (11), and a cover plate (12) is detachably connected to the bottom end of the cavity (11) via screws.

Images