Coal mine goaf inspection robot

Abstract

The invention relates to a coal mine goaf inspection robot, which belongs to the technical field of coal mine inspection, and comprises a track assembly arranged in a coal mine goaf, arranged according to a planned inspection track and penetrating through a detection area; the auxiliary support assembly is connected to the rail assembly in a sliding mode and assists in connecting, supporting and moving the movable assembly. The movable rail assembly is connected to the auxiliary support assembly in a sliding mode and moves along the rail assembly under driving of the auxiliary support assembly; and the inspection assembly is rotationally connected to the movable rail assembly so as to detect the goaf through a detection element arranged on the inspection assembly. Through the track assembly, the auxiliary support assembly, the movable track assembly and the inspection assembly, the detection element can move and rotate in the goaf, monitoring of the goaf is achieved, and meanwhile when a sensor or a camera needs to be maintained, the sensor or the camera is moved to the position where maintenance is convenient.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine inspection, and in particular relates to a coal mine goaf inspection robot. Background Art

[0002] Inspection of mine goaf is an important part of ensuring safe production in coal mines. Goaf is a cavity formed by mining activities, which is prone to problems such as goaf collapse, gas accumulation, fire and even water influx.

[0003] The main responsibility of the coal mine goaf inspection robot is to patrol the goaf in the coal mine to ensure the safety of these areas. It is usually equipped with a variety of sensors and cameras to monitor gas and carbon dioxide in real time. However, since the sensors and cameras in the goaf of coal mines are used in a dusty environment, the external environment is also harsh, and the track extends over a wide range, it is difficult to perform manual repairs when the sensors and cameras are affected, until normal use is affected, which will affect the monitoring of the goaf. At the same time, the consumption of sensors and cameras is large and the cost is high.

[0004] Therefore, there is an urgent need for a patrol robot for coal mine goafs to solve the above problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a coal mine goaf inspection robot.

[0006] A coal mine goaf inspection robot, comprising a track assembly, arranged inside the coal mine goaf, arranged according to a planned inspection track, and running through the inspection area;

[0007] An auxiliary bracket assembly, slidably connected to the track assembly, to assist in connecting and supporting and moving the movable assembly;

[0008] A movable rail assembly is slidably connected to the auxiliary bracket assembly and moves along the rail assembly driven by the auxiliary bracket assembly;

[0009] The inspection component is rotatably connected to the movable rail component to detect the goaf through the detection element arranged on the inspection component.

[0010] The starting end and the ending end of the track assembly are both provided with baffles for limiting the travel of the movable track assembly.

[0011] The track assembly includes a plurality of sub-rails 1, and the guide rods are arranged along the extension direction of the sub-rails 1 to assist the movement and guidance of the bracket assembly; the sub-rails 1 and the two ends of the guide rods are fixed to the baffle;

[0012] The track assembly also includes a rack and pinion transmission mechanism for connecting with the auxiliary bracket assembly.

[0013] Therefore, track one includes two tracks arranged in parallel.

[0014] The gear rack transmission mechanism includes a guide rack, which is arranged on any sub-rail with the toothed side facing downward. The transmission gear is meshed with the guide rack and driven by a drive motor; the moving direction of the transmission gear along the guide rack is consistent with the extension direction of the track assembly.

[0015] The auxiliary bracket assembly includes a support plate, which is mounted on the track assembly; a guide block is fixedly provided on the lower end surface of the support plate and is slidably connected to the track assembly; a guide plate is fixedly connected to the guide block, a rotating shaft is rotatably connected to the guide plate, and is located below the first sub-track, and a transmission gear is fixedly connected to the rotating shaft.

[0016] The movable rail assembly includes a plurality of parallelly arranged sub-rails 2, and the opposite side and upper and lower sides of the sub-rails 2 are provided with snap-in grooves; a carrying plate is slidably arranged at the lower end of the sub-rails 2 and is guided and moved by the snap-in grooves; a connecting plate and the carrying plate are symmetrically arranged about the sub-rails 2, and the connecting plate is fixed to the upper end of the sub-rails 2 by the snap-in grooves, and is used to be connected to the auxiliary bracket assembly.

[0017] The movable rail assembly also includes a belt transmission mechanism for adjusting the position of the inspection assembly relative to the movable rail assembly; the belt transmission mechanism includes a fixed wheel rotatably connected to the inner side of the second divided rail and close to the end position, a support bar is fixedly arranged between the two fixed wheels, and a driving belt is sleeved on the two fixed wheels, and the driving belt is distributed on both sides of the support bar;

[0018] The movable rail assembly also includes a vertical plate, which is vertically fixed on the supporting plate, and an auxiliary wheel and a driving wheel are rotatably arranged on the vertical plate, the driving belt is sleeved on the driving wheel and the auxiliary wheel, and the driving wheel is driven by a control motor fixed on the vertical plate.

[0019] The inspection component includes a chassis, an adapter frame and an adapter rod, wherein the adapter frame is fixed on the chassis, and the adapter rod is fixed on the adapter frame; an adjustment motor is provided on the movable rail component, wherein the adjustment motor is fixed on the movable rail component, and the adapter rod is connected to the output end of the adjustment motor;

[0020] Adapters are respectively arranged on two opposite sides of the chassis for fixing and connecting different detection elements to work, so as to realize monitoring in the goaf area.

[0021] A cleaning fan is arranged on a side of the chassis opposite to the adapter, and the cleaning fan drives airflow to impact the bearing plate to maintain the surrounding environment of the inspection component.

[0022] The beneficial effects of the present invention are:

[0023] The present invention provides a coal mine goaf inspection robot, which can move and rotate the detection element in the goaf through a track assembly, an auxiliary support assembly, a movable rail assembly and an inspection assembly to realize the monitoring of the goaf, and when the sensor or camera needs to be repaired, it can be moved to a position convenient for maintenance;

[0024] The coal mine goaf inspection robot provided by the present invention penetrates the track assembly of the inspection area, and at the same time, a movable rail assembly is arranged on the track assembly to jointly drive the inspection assembly to perform inspection. The movable rail assembly is arranged on the track assembly through an auxiliary bracket assembly, and the auxiliary bracket assembly and the track assembly are driven by a gear rack transmission mechanism, which sacrifices the stability of the transmission process and improves the durability of the track.

[0025] At the same time, the inspection component and the movable rail component are driven and adjusted by a belt, and the position of the inspection component is adjusted with high precision for easy detection. At the same time, the movable rail component slides on the track component and can be disassembled separately for maintenance later.

[0026] Compared with the whole mine track maintenance method, the present application only needs to maintain the active rail assembly and the inspection assembly, and the active rail assembly can ensure the stability of the inspection assembly during inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the overall structure of a coal mine goaf inspection robot provided by the present invention;

[0028] Figure 2 It is a schematic diagram of the track assembly structure in the present invention;

[0029] Figure 3 It is a schematic diagram of the inverted structure of the movable rail assembly and the inspection assembly in the present invention;

[0030] Figure 4 It is a schematic diagram of the inverted structure of the movable rail assembly in the present invention;

[0031] Figure 5 It is a schematic diagram of the top structure of the inspection component in the present invention;

[0032] Figure 6 It is a schematic diagram of the bottom structure of the inspection component in the present invention;

[0033] In the figure:

[0034] 1-track assembly, 11-sub-track one, 12-guide rod, 13-guide rack, 2-baffle, 3-auxiliary bracket assembly, 31-support plate, 32-guide block, 33-rotating shaft, 34-drive motor, 35-transmission gear, 36-guide plate, 4-live rail assembly, 41-sub-track two, 411-fixed wheel, 412-drive belt, 413-support bar, 414-clamping groove, 42-connecting plate, 43-bearing plate, 44-vertical plate, 441-control motor, 442-drive wheel, 443-auxiliary wheel, 45-adjusting motor, 5-inspection assembly, 51-chassis, 52-adapter frame, 53-adapter rod, 54-adapter, 55-cleaning fan. DETAILED DESCRIPTION

[0035] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0036] like Figure 1-6 As shown, a coal mine goaf inspection robot includes a track assembly 1, which is arranged inside the coal mine goaf and arranged according to the planned inspection track, and passes through the inspection area. An auxiliary bracket assembly 3 is slidably arranged on the track assembly 1, and a movable rail assembly 4 is slidably connected to the auxiliary bracket assembly 3, and the movable rail assembly 4 can move along the track assembly 1 driven by the auxiliary bracket assembly 3. Baffles 2 are provided at the starting end and the ending end of the track assembly 1 to limit the travel of the movable rail assembly 4. The inspection assembly 5 is rotatably connected to the movable rail assembly 4, and the stability of the inspection assembly 5 during the mobile inspection process can be ensured by the movable rail assembly 4.

[0037] The auxiliary support assembly 3, the movable rail assembly 4 and the inspection assembly 5 are arranged in sequence and are arranged on the track assembly 1 in a hanging manner.

[0038] The environment in the goaf area of ​​a coal mine is harsh, and track maintenance is difficult and the inspection robot is prone to jamming or stopping due to track problems. Based on this, the present application sets a track assembly 1 that runs through the detection area, and sets a movable rail assembly 4 on the track assembly 1 to jointly drive the inspection assembly 5 to perform inspections. The movable rail assembly 4 is set on the track assembly 1 through an auxiliary bracket assembly 3, and the auxiliary bracket assembly 3 and the track assembly 1 are transmitted through a gear rack transmission mechanism, sacrificing the smoothness of the transmission process and improving the durability of the track.

[0039] The track assembly 1 includes two sub-rails 11 arranged in parallel, and the guide rods 12 are arranged along the extension direction of the sub-rails 11, which are used to guide the movement of the auxiliary bracket assembly 3; in this embodiment, the number of the guide rods 12 is consistent with the number of the sub-rails 11, and they are symmetrically distributed on the outside of the two sub-rails 11. Both ends of the sub-rails 11 and the guide rods 12 are fixed to the baffle 2. The track assembly 1 also includes a rack and pinion transmission mechanism for connection with the auxiliary bracket assembly 3. The rack and pinion transmission mechanism includes a guide rack 13, and the guide rack 13 is arranged on any sub-rail 11. The end of the guide rack 13 is fixed on the baffle 2, and the toothed side of the guide rack 13 faces downward, the transmission gear 35 is meshed with the guide rack 13 and driven by the drive motor 34, and the transmission gear 35 along the moving direction of the guide rack 13 is consistent with the extension direction of the track assembly 1.

[0040] The auxiliary bracket assembly 3 includes a support plate 31, which is mounted on the two sub-rails 11 of the track assembly 1; a guide block 32 is fixedly arranged on the lower end surface of the support plate 31, which is slidably connected to the guide rod 12, and is used to slide with the guide rod 12 to achieve the movement of the auxiliary bracket assembly 3 along the track assembly 1. A guide plate is fixedly connected to the guide block 32, and a rotating shaft 33 is rotatably connected to the guide plate, located below the sub-rail 11, and a transmission gear 35 is fixedly connected to the rotating shaft 33. The driving motor 34 is fixed by a motor fixing plate arranged on the support plate 31, and the output end of the driving motor 34 is connected to the rotating shaft 33, and the rotating shaft 33 passes through the motor fixing plate. The driving motor 34 drives the transmission gear 35 to rotate through the rotating shaft 33.

[0041] In this embodiment, the driving motor 34 is started, and the auxiliary bracket assembly 3 is driven to move along the track assembly 1 through the cooperation of the transmission gear 35 and the guide rack 13. In a relatively harsh external environment, transmission through gears is more durable than through screws or other methods, ensuring long-term stable operation and reducing maintenance frequency.

[0042] The movable rail assembly 4 includes two parallel sub-rails 41, and the two sub-rails 41 are provided with a clamping groove 414 on the opposite side and the upper and lower sides; the bearing plate 43 is slidably arranged at the lower ends of the two sub-rails 41 and guided by the clamping groove 414. The connecting plate 42 and the bearing plate 43 are symmetrically arranged about the sub-rail 41, and the connecting plate 42 is fixed to the upper end of the sub-rail 41 through the clamping groove 414, and is used to connect with the guide plate of the auxiliary bracket assembly 3.

[0043] The movable rail assembly 4 also includes a belt transmission mechanism, which is used to adjust the position of the inspection assembly 5 relative to the movable rail assembly 4, and adjust the position of the inspection assembly 5 with high precision to facilitate detection. The belt transmission mechanism includes a fixed wheel 411 that is rotatably connected to the inner side of the second divided rail 41 and close to the end position, a support bar 413 is fixedly arranged between the two fixed wheels 411, and a driving belt 412 is sleeved on the two fixed wheels 411, and the driving belt 412 is distributed on both sides of the supporting bar 413. Further, the movable rail assembly 4 also includes a vertical plate 44, which is symmetrically arranged and vertically fixed on the bearing plate 43, and an auxiliary wheel 443 and a driving wheel 442 are rotatably arranged on the vertical plate 44, and the driving belt 412 is sleeved on the driving wheel 442 and the auxiliary wheel 443, and the driving wheel 442 is driven by a control motor 441 fixed on the vertical plate 44. The driving belt 412 is a closed loop in the single track 2 41. The control motor 441 rotates to drive the driving wheel 442 to rotate. Then the driving belt 412 is transmitted with the assistance of the auxiliary wheel 443 and the fixed wheel 411. During this period, the supporting plate 43 slides on the track 2 41, driving the inspection component 5 to perform stable position adjustment.

[0044] The movable rail assembly 4 slides on the track assembly 1, and the movable rail assembly 4 and the inspection assembly 5 can be disassembled separately for maintenance later. Compared with the whole mine track maintenance method, the present invention only needs to maintain the movable rail assembly 4 and the inspection assembly 5, which is simple and time-saving.

[0045] The inspection assembly 5 includes a chassis 51, an adapter frame 52, an adapter rod 53 and a cleaning fan 55. The adapter frame 52 is fixed on the chassis 51, and the adapter rod 53 is fixed on the adapter frame 52. The movable rail assembly 4 is provided with an adjustment motor 45, the adjustment motor 45 is fixedly arranged on the bearing plate 43, and the adapter rod 53 is connected to the output end of the adjustment motor 45. The two opposite sides of the chassis 51 are respectively provided with an adapter 54 and a cleaning fan 55. The adapter 54 is provided with an annular buckle for fixing and clamping different detection elements to work, such as a sensor, so as to realize the monitoring of the goaf. The adapter rod 53 is controlled to rotate by the adjustment motor 45, so as to drive the inspection assembly 5 to deflect as a whole, so as to facilitate the detection element arranged on the adapter 54 to detect the goaf of the coal mine; at the same time, the cleaning fan 55 can drive the airflow to impact the bearing plate 43 to maintain the surrounding environment of the inspection assembly 5.

[0046] In the specific implementation, a track assembly 1 is set to pass through the detection area, and the active rail assembly 4 set on the track assembly 1 drives the inspection assembly 5 to perform inspection. The active rail assembly 4 is set on the track assembly 1 through the auxiliary bracket assembly 3. The auxiliary bracket assembly 3 and the track assembly 1 are driven by a gear rack transmission mechanism, sacrificing the stability of the transmission process and improving the durability of the track. At the same time, the inspection assembly 5 and the active rail assembly 4 are driven by a belt, and the position of the inspection assembly 5 is adjusted with high precision for easy detection. At the same time, the active rail assembly 4 slides on the track assembly 1 and can be disassembled separately for maintenance later.

Claims

1. A coal mine goaf inspection robot, characterized in that: It comprises a track assembly (1), which is arranged inside the coal mine goaf, arranged according to the planned inspection track, and runs through the inspection area; An auxiliary support assembly (3) is slidably connected to the track assembly (1) to assist in connecting and supporting and moving the movable assembly (4); A movable rail assembly (4) is slidably connected to the auxiliary bracket assembly (3) and moves along the track assembly (1) driven by the auxiliary bracket assembly (3); The inspection component (5) is rotatably connected to the movable rail component (4) so ​​as to detect the goaf area through the detection element arranged on the inspection component (5).

2. A coal mine goaf inspection robot according to claim 1, characterized in that: The starting end and the ending end of the track assembly (1) are both provided with baffles (2) for limiting the travel of the movable track assembly (4).

3. A coal mine goaf inspection robot according to claim 1, characterized in that: The track assembly (1) comprises a plurality of branch rails (11), and a guide rod (12) is arranged along the extension direction of the branch rail (11) to assist in guiding the movement of the support assembly (3); both ends of the branch rail (11) and the guide rod (12) are fixed to the baffle (2); The track assembly (1) also includes a rack and pinion transmission mechanism, which is used for connecting with the auxiliary bracket assembly (3).

4. A coal mine goaf inspection robot according to claim 3, characterized in that: Therefore, the sub-track one (11) includes two tracks arranged in parallel.

5. The coal mine goaf inspection robot according to claim 3, characterized in that: The gear rack transmission mechanism comprises a guide rack (13), wherein the guide rack (13) is arranged on any sub-track (11) with the toothed side facing downward, and a transmission gear (35) meshes with the guide rack (13) and is driven by a drive motor (34); the moving direction of the transmission gear (35) along the guide rack (13) is consistent with the extension direction of the track assembly (1).

6. A coal mine goaf inspection robot according to claim 5, characterized in that: The auxiliary bracket assembly (3) comprises a support plate (31), which is mounted on the track assembly (1); a guide block (32) is fixedly arranged on the lower end surface of the support plate (31) and is slidably connected to the track assembly (1); a guide plate is fixedly connected to the guide block (32), a rotating shaft (33) is rotatably connected to the guide plate, and is located below the first branch track (11); a transmission gear (35) is fixedly connected to the rotating shaft (33).

7. The coal mine goaf inspection robot according to claim 1, characterized in that: The movable rail assembly (4) comprises a plurality of parallel arranged sub-rails (41), and the opposite side and upper and lower sides of the sub-rails (41) are provided with snap-fitting grooves (414); a carrying plate (43) is slidably arranged at the lower end of the sub-rails (41) and guided and moved by the snap-fitting grooves (414); a connecting plate (42) and the carrying plate (43) are symmetrically arranged about the sub-rails (41) in the upper and lower parts, and the connecting plate (42) is fixed to the upper end of the sub-rails (41) by the snap-fitting grooves (414) and is used to be connected to the auxiliary bracket assembly (3).

8. A coal mine goaf inspection robot according to claim 7, characterized in that: The movable rail assembly (4) further comprises a belt transmission mechanism for adjusting the position of the inspection assembly (5) relative to the movable rail assembly (4); the belt transmission mechanism comprises a fixed wheel (411) rotatably connected to the inner side of the second sub-rail (41) and close to the end position, a support bar (413) being fixedly arranged between the two fixed wheels (411), and a driving belt (412) being sleeved on the two fixed wheels (411), and the driving belt (412) being distributed on both sides of the support bar (413); The movable rail assembly (4) further comprises a vertical plate (44) which is vertically fixed on the bearing plate (43), and an auxiliary wheel (443) and a driving wheel (442) are rotatably arranged on the vertical plate (44), the driving belt (412) is sleeved on the driving wheel (442) and the auxiliary wheel (443), and the driving wheel (442) is driven by a control motor (441) fixed on the vertical plate (44).

9. The coal mine goaf inspection robot according to claim 1, characterized in that: The inspection component (5) comprises a chassis (51), an adapter frame (52) and an adapter rod (53), wherein the adapter frame (52) is fixed on the chassis (51), and the adapter rod (53) is fixed on the adapter frame (52); an adjustment motor (45) is provided on the movable rail component (4), wherein the adjustment motor (45) is fixed on the movable rail component (4), and the adapter rod (53) is connected to the output end of the adjustment motor (45); Adapters (54) are respectively arranged on two opposite sides of the chassis (51) for fixing and clamping different detection elements to work, so as to realize monitoring in the goaf area.

10. A coal mine goaf inspection robot according to claim 9, characterized in that: A cleaning fan (55) is provided on the side of the chassis (51) opposite to the adapter (54), and the cleaning fan (55) drives airflow to impact the bearing plate (43) to maintain the surrounding environment of the inspection component (5).

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