Vertical shaft defect inspection robot

Abstract

The invention relates to the technical field of coal mine safety inspection, in particular to a vertical shaft defect inspection robot which comprises a ground, a disc and an inspection lower table, a cage guide is arranged on the ground, four sets of moving grooves are formed in the cage guide, a line pipe and a ladder compartment are arranged in the cage guide, a climbing plate is arranged on the outer side of the disc, and a first motor mounting groove is formed in the climbing plate. A first motor is installed in a first motor installation groove, a first rotary seat is installed at the output end of the first motor, an electric push rod bin is installed on the first rotary seat, a push rod is installed in the electric push rod bin, and the end of the push rod is installed on a second rotary seat. A lower inspection table is installed at the lower end of a lower column of a disc. A second rotary hole is formed in the center of the upper end face of the disc. According to the system, technologies such as intelligent cruise, real-time communication and the Internet are adopted, an end-to-end cooperation platform and an application system based on multiple sensors are built, and remote real-time finding and recording of shaft faults are achieved in combination with intelligent data extraction and analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety inspection, and particularly to a vertical shaft defect inspection robot. Background Art

[0002] At present, coal mine safety monitoring robots have been applied in China. These intelligent inspection robots are very suitable for shaft inspection work due to their advantages such as easy operation, high efficiency and flexibility.

[0003] However, the devices carried by existing inspection robots, such as ordinary cameras, infrared cameras and section scanners, generally have low detection accuracy and lack effective detection means for common problems such as shaft deformation, wall spalling and surface cracks.

[0004] Using a ground penetrating radar for shaft detection has objective advantages and can clearly detect shaft defects.

[0005] In the face of ultra-deep vertical shafts, due to the presence of ladder compartments and pipelines, the detection effect of a ground penetrating radar using an air coupling method will be affected, resulting in unclear images and inability to accurately understand the wall condition.

[0006] Therefore, the inspection intelligent robot needs to perform close detection on unclear images for comprehensive detection to provide effective inspection results. Summary of the Invention

[0007] Therefore, the present invention is made in view of the above problems. The purpose of the present invention is to use two sets of climbing plates to move and fix alternately, and cooperate with the extension and contraction of electric push rods, so that the inspection robot can move and detect with components such as a ground penetrating radar, a three-dimensional laser scanner, a CCD camera, etc., and provide angle and height adjustment for the inspection robot. The motor is used to drive the connecting rod and the push rod, so that the detection arc rod can be extended to closely detect the area to be detected, and the moving block can rotate at different angles to achieve the close detection mode to solve the above problems. The present invention realizes the above purpose through the following technical solutions:

[0008] A vertical shaft defect inspection robot, comprising: the ground, a disc, and an inspection lower platform. The ground has a guide rail, inside which there are four groups of moving grooves, a line pipe, and a ladder shaft. On the outer side of the disc, there is a climbing plate, on which there is a motor installation groove 1, and a motor 1 is installed in the motor installation groove 1. A rotating base 1 is installed at the output end of the motor 1, and an electric push rod bin is installed on the rotating base 1. A push rod is installed in the electric push rod bin, and the end of the push rod is installed on a rotating base 2. The inspection lower platform is installed at the lower end of the lower column of the disc. At the center of the upper end face of the disc, there is a rotating hole 2. On the upper end face of the disc, there are four groups of sliding grooves and four groups of rotating holes 3. At the center of the lower end face of the disc, there is a lower column, which has a motor installation groove 2, and a motor 2 is installed in the motor installation groove 2. A turntable is installed on the motor 2, and on the upper end face of the turntable, there are four groups of columns. On the upper end face of the disc, there are four groups of support plates, and an upper plate is installed at the upper end of the support plates. One end of a connecting rod is installed on a column through a mounting hole 1. One end of the connecting rod is provided with a push rod, and the end of the push rod away from the connecting rod is provided with a detection arc rod. Above the detection arc rod, there is a moving block.

[0009] Preferably, there are four groups of climbing plates. There is a rotating hole 1 in the motor installation groove 1, and a suction cup is provided on one side of the climbing plate.

[0010] Preferably, one end of the support plate is provided with a protruding block, on the upper end of which there is an upper rotation mounting hole, and on the lower end of which there is a lower rotation mounting hole. The upper and lower two groups of rotating bases 2 are respectively installed in the upper rotation mounting hole and the lower rotation mounting hole.

[0011] Preferably, a battery bin is provided at the upper end of the upper plate. There are four groups of notches on the outer peripheral surface of the upper plate, and four groups of ground penetrating radar fixing groups are provided on the upper end face of the upper plate. A battery bin cover is installed at the top of the battery bin, and a battery pack is located inside the battery bin.

[0012] Preferably, one end of the connecting rod is provided with a mounting hole 1, and the other end is provided with a mounting hole 2. One end of the connecting rod is installed on a column through the mounting hole 1.

[0013] Preferably, one end of the push rod is provided with a mounting hole 3, the other end of the push rod is provided with an arc end, at the bottom of the arc end there is a sliding column, and at the upper end of the arc end there is an upper rotating column. The other end of the connecting rod is installed on the upper rotating column through the mounting hole 2, and the sliding column of the push rod is slidably installed in the sliding groove.

[0014] Preferably, one end of the detection arc rod is provided with a rotating shaft, the other end is provided with an end shaft, on the end shaft there is a movable shaft, and in the end shaft there is a motor installation groove 3, and a motor 3 is installed in the motor installation groove 3. The mounting hole 3 is installed on the movable shaft.

[0015] Preferably, the moving block is installed on the driving shaft of the motor 3 through a mounting hole 4. The lower end of the moving block is provided with a mounting hole 4, and the upper end of the moving block is provided with a ground penetrating radar moving group.

[0016] Preferably, a 3D laser scanner is provided at the lower end of the inspection lower platform, an inspection lower plate is installed below the inspection lower platform, and three groups of lighting devices and CCD cameras are provided at the bottom of the inspection lower plate.

[0017] Advantages of the present invention:

[0018] 1. The present invention uses two sets of climbing plates to move and fix alternately, and cooperates with the extension and contraction of the electric push rod, so that the inspection robot can move and detect with components such as a ground penetrating radar, a 3D laser scanner, and a CCD camera, and can be fixed when close detection is required, providing angle and height adjustment for the inspection robot, with stable movement, and clearer images can be obtained during detection, improving the detection effect of the inspection robot.

[0019] 2. The present invention uses technologies such as intelligent cruise, real-time communication, and the Internet to build an end-to-end (ground to underground) collaboration platform and application system based on multi-sensors, combined with intelligent data extraction and analysis, to achieve remote real-time discovery and recording of shaft failures.

[0020] 3. The present invention uses a motor to drive a connecting rod and a push rod, so that the detection arc rod can be extended to be close to the detection area to be detected, and the moving block can rotate at different angles to further adapt and adjust to obstacles, realizing the close detection mode, so that the complex defects in the vertical shaft can be comprehensively detected, and the subtle defects can also be detected in real time, improving the work efficiency and effect of detection on the basis of ensuring personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall vertical shaft provided by the present invention.

[0022] Figure 2 It is a schematic diagram of the internal part of the overall vertical shaft provided by the present invention.

[0023] Figure 3 It is an assembly schematic diagram of the climbing plate provided by the present invention.

[0024] Figure 4 It is a schematic diagram of the first state of the inspection robot inside the vertical shaft provided by the present invention.

[0025] Figure 5 It is a schematic diagram of the second state of the inspection robot inside the vertical shaft provided by the present invention.

[0026] Figure 6 It is an explosion schematic diagram of the inspection robot inside the vertical shaft provided by the present invention.

[0027] Figure 7 It is a schematic diagram of the internal part of the second state of the inspection robot inside the vertical shaft provided by the present invention.

[0028] Figure 8Shaft diagram provided by the present invention.

[0029] Figure 9 Climbing plate diagram provided by the present invention.

[0030] Figure 10 First perspective diagram of the disc provided by the present invention.

[0031] Figure 11 Second perspective diagram of the disc provided by the present invention.

[0032] Figure 12 Upper plate diagram provided by the present invention.

[0033] Figure 13 Connecting rod diagram provided by the present invention.

[0034] Figure 14 Push rod diagram provided by the present invention.

[0035] Figure 15 Detection arc rod diagram provided by the present invention.

[0036] Figure 16 Moving block diagram provided by the present invention.

[0037] Figure 17 Inspection platform diagram provided by the present invention.

[0038] Explanation of reference numerals:

[0039] 10. Ground; 11. Cage guide; 12. Moving groove; 13. Line pipe; 14. Ladder compartment; 15. Climbing plate; 151. First motor installation groove; 152. First rotation hole; 153. Suction cup; 16. First motor; 17. First rotating base; 18. Electric push rod bin; 181. Push rod; 19. Second rotating base; 20. Disc; 201. Second rotation hole; 202. Slide groove; 203. Third rotation hole; 21. Lower column; 211. Second motor installation groove; 212. Second motor; 213. Turntable; 214. Column; 22. Support plate; 221. Protruding block; 222. Upper rotation installation hole; 223. Lower rotation installation hole; 23. Upper plate; 231. Battery compartment; 232. Notch; 233. Ground penetrating radar fixing group; 234. Battery compartment cover; 24. Connecting rod; 241. First installation hole; 242. Second installation hole; 25. Push rod; 251. Third installation hole; 252. Arc end; 253. Lower sliding column; 254. Upper rotating column; 26. Detection arc rod; 261. Rotating shaft; 262. End shaft; 263. Movable shaft; 264. Third motor installation groove; 265. Third motor; 27. Moving block; 271. Fourth installation hole; 272. Ground penetrating radar moving group; 30. Lower inspection platform; 31. 3D laser scanner; 32. Lower inspection plate; 33. Lighting equipment; 34. CCD camera; 40. Battery pack. Detailed implementation manners

[0040] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those of ordinary skill in the art in the prior art field to which the present invention belongs can easily implement these embodiments; however, the present invention can also be implemented in various different forms, so the present invention is not limited to the embodiments described below; in addition, in order to describe the present invention more clearly, components not connected to the present invention will be omitted from the drawings.

[0041] As Figure 1 、 Figure 2 shown, a vertical shaft defect inspection robot includes: a ground 10, a disc 20, and an inspection lower platform 30;

[0042] As Figure 2 、 Figure 3 shown, there are four groups of climbing plates 15 for moving at different heights. A first motor 16 is installed in a first motor installation groove 151, a first rotating seat 17 is installed at the output end of the first motor 16, an electric push rod bin 18 is installed on the first rotating seat 17, a push rod 181 is installed in the electric push rod bin 18, and the end of the push rod 181 is installed on a second rotating seat 19. The second rotating seat 19 is installed in an upper rotation installation hole 222 and a lower rotation installation hole 223;

[0043] As Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 shown, a second motor 212 is installed in a second motor installation groove 211, a turntable 213 is installed on the second motor 212, there are four groups of columns 214 on the upper end surface of the turntable 213, an upper plate 23 is installed on a support plate 22, a battery compartment cover 234 is installed on a battery compartment 231, and a battery pack 40 is installed in the battery compartment 231;

[0044] One end of a connecting rod 24 is installed on a column 214 through a first installation hole 241, and the other end is installed on an upper rotating column 254 of a push rod 25 through a second installation hole 242. A lower sliding column 253 of the push rod 25 is slidably installed in a chute 202, and a third installation hole 251 of the push rod 25 is installed on a movable shaft 263 of a detection arc rod 26;

[0045] A rotating shaft 261 of the detection arc rod 26 is installed in a third rotation hole 203 of the disc 20, a third motor 265 is installed in a third motor installation groove 264, and a moving block 27 is installed on the third motor 265 through a fourth installation hole 271;

[0046] The inspection lower platform 30 is installed at the lower end of a lower column 21 of the disc 20;

[0047] As Figure 8As shown, the ground 10 has a guide rail 11, within which there are four groups of moving grooves 12, a line pipe 13 and a ladder shaft 14;

[0048] As Figure 9 shown, on the outer side of the disc 20 there is a climbing plate 15, which has two groups of motor mounting grooves 151, and within each group of motor mounting grooves 151 there is a rotation hole 152. The climbing plate 15 has suction cups 153;

[0049] As Figure 10 、 Figure 11 shown, at the center of the upper end face of the disc 20 there is a rotation hole 201, on the upper end face of the disc 20 there are four groups of sliding grooves 202 and rotation holes 203. At the center of the lower end face of the disc 20 there is a lower column 21, which has a motor mounting groove 211. On the upper end face of the disc 20 there are four groups of support plates 22, and each group of support plates 22 has a protruding block 221. At the upper part of each protruding block 221 there is an upper rotation mounting hole 222, and at the lower part there is a lower rotation mounting hole 223;

[0050] As Figure 12 shown, on the upper plate 23 there is a battery compartment 231, on the circumferential side of the upper plate 23 there are four groups of notches 232, and the upper plate 23 has four groups of ground penetrating radar fixing groups 233;

[0051] As Figure 13 shown, one end of the connecting rod 24 has a mounting hole 241, and the other end has a mounting hole 242;

[0052] As Figure 14 shown, one end of the push rod 25 has a mounting hole 251, the other end of the push rod 25 has an arc end 252, below the arc end 252 there is a lower sliding column 253, and on the arc end 252 there is an upper rotating column 254;

[0053] As Figure 15 shown, one end of the detection arc rod 26 has a rotating shaft 261, the other end has an end shaft 262, the end shaft 262 has a movable shaft 263, and on the end shaft 262 there is a motor mounting groove 264;

[0054] As Figure 16 shown, the moving block 27 conforms to the shape of the notch 232, below the moving block 27 there is a mounting hole 271, and on the moving block 27 there is a ground penetrating radar moving group 272;

[0055] As Figure 17As shown in the figure, a three-dimensional laser scanner 31 is provided under the inspection lower platform 30. The inspection lower platform 30 has an inspection lower plate 32. Under the inspection lower plate 32, there are three groups of lighting devices 33 and a CCD camera 34. A control module and a communication module are installed inside the inspection lower plate 32. The control module controls the movement of the overall device, and the communication module transmits data to the receiving end on the ground.

[0056] The basic principle of the present invention:

[0057] As Figure 2 shown in the figure, when the inspection robot receives an inspection instruction, the climbing plate 15 is divided into two groups. One group of the climbing plate 15 is fixed by the suction cup 153, and the other group of the climbing plate 15 is pushed out and retracted in cooperation with two groups of electric push rod bins 18 and push rods 181, and moves downward through the first rotating base 17 and the second rotating base 19. Then, the two groups of climbing plates 15 are alternately fixed and moved, so that the disc 20 moves downward along the moving groove 12;

[0058] As Figure 4 shown in the figure, the ground penetrating radar fixed group 233 cooperates with the ground penetrating radar moving group 272 to perform circular traverse detection. At the same time, the three-dimensional laser scanner 31, the lighting device 33, and the CCD camera 34 work synchronously to perform three-dimensional scanning and image acquisition program detection;

[0059] As Figure 5 、 Figure 7 shown in the figure, when it is detected that there are defects that have not been identified, the lowermost group of climbing plates 15 is fixed by the suction cup 153, and then the other group of climbing plates 15 moves downward and is fixed by the suction cup 153. At this time, the two groups of climbing plates 15 are parallel in position. Then, the motor two 212 drives the turntable 213 to rotate, and the turntable 213 drives the four groups of columns 214 to displace, so that the four groups of connecting rods 24 are displaced, and then the push rod 25 pushes the detection arc rod 26 to rotate around the rotation hole three 203 as the center, so that the detection arc rod 26 is pushed out. The motor three 265 can drive the moving block 27 to rotate, so that the ground penetrating radar moving group 272 rotates by an angle to detect the place to be detected;

[0060] The electric push rod bin 18, the push rod 181, the first rotating base 17, and the second rotating base 19 can cooperate to adjust the rotation angle and height of the disc 20 to perform adaptive detection on the place to be detected;

[0061] When the close-range detection is completed, the motor two 212 rotates in the reverse direction to make the inspection robot return to the state as Figure 4 shown in the figure, and then the two groups of climbing plates 15 continue to cooperate to move, so that the disc 20 detects downward;

[0062] When reaching the bottom of the wellbore, start the reverse program, and the two groups of climbing plates 15 cooperate to move, so that the disc 20 returns upward. When reaching the top of the wellbore, the movement stops.

Claims

1. A shaft defect inspection robot, comprising: The invention relates to a ground (10), a disc (20), and an inspection platform (30); the invention is characterized in that: the ground (10) has a tank channel (11), the tank channel (11) has four groups of movable grooves (12), the tank channel (11) has a line pipe (13) and a ladder room (14), the outer side of the disc (20) is provided with a climbing plate (15), the climbing plate (15) is provided with a motor mounting groove (151), the motor (16) is installed in the motor mounting groove (151), the rotary seat (17) is installed at the output end of the motor (16), the electric push rod bin (18) is installed on the rotary seat (17), the push rod (181) is installed in the electric push rod bin (18), the end of the push rod (181) is installed on the rotary seat (19), the inspection platform (30) is installed at the lower end of the lower column (21) of the disc (20), and the center of the upper end surface of the disc (20) is provided with a rotating hole (201). 1), the upper end surface of the disk (20) is provided with four groups of slide grooves (202) and four groups of rotating holes (203), the lower end surface center of the disk (20) is provided with a lower column (21), the lower column (21) has a motor installation groove (211), the motor (212) is installed in the motor installation groove (211), a rotating disk (213) is installed on the motor (212), and the upper end surface of the rotating disk (213) has four groups of columns (214) The upper end surface of the disk (20) is provided with four groups of support plates (22), the upper plate (23) is installed on the upper end of the support plate (22), one end of the connecting rod (24) is installed on the column (214) through the first mounting hole (241), one end of the connecting rod (24) is provided with a push rod (25), the end of the push rod (25) away from the connecting rod (24) is provided with a detection arc rod (26), and a moving block (27) is provided above the detection arc rod (26).

2. A shaft defect inspection robot according to claim 1, characterized in that: There are four groups of climbing plates (15), a rotating hole (152) is arranged in a motor installation groove (151), and a suction cup (153) is arranged on one side of the climbing plate (15).

3. A shaft defect inspection robot according to claim 1, characterized in that: A protruding block (221) is provided at one end of the support plate (22), an upper rotating mounting hole (222) is provided at the upper end of the protruding block (221), a lower rotating mounting hole (223) is provided at the lower end of the protruding block (221), and upper and lower sets of rotating seats (19) are respectively installed in the upper rotating mounting hole (222) and the lower rotating mounting hole (223).

4. A shaft defect inspection robot according to claim 1, characterized in that: A battery compartment (231) is provided at the upper end of the upper plate (23), four groups of notches (232) are provided on the outer peripheral surface of the upper plate (23), four groups of ground penetrating radar fixing groups (233) are provided on the upper end surface of the upper plate (23), a battery compartment cover (234) is installed on the top of the battery compartment (231), and a battery group (40) is located inside the battery compartment (231).

5. The shaft defect inspection robot according to claim 1, characterized in that: One end of the connecting rod (24) is provided with a first mounting hole (241), and the other end is provided with a second mounting hole (242). One end of the connecting rod (24) is mounted on the column (214) through the first mounting hole (241).

6. A shaft defect inspection robot according to claim 5, characterized in that: A mounting hole three (251) is provided at one end of the push rod (25), an arc end (252) is provided at the other end of the push rod (25), a lower sliding column (253) is provided at the bottom of the arc end (252), an upper rotating column (254) is provided at the upper end of the arc end (252), the other end of the connecting rod (24) is installed on the upper rotating column (254) through the mounting hole two (242), and the lower sliding column (253) of the push rod (25) is slidably installed in the slide groove (202).

7. A shaft defect inspection robot according to claim 6, characterized in that: A rotating shaft (261) is provided at one end of the detection arc rod (26), and an end shaft (262) is provided at the other end. A movable shaft (263) is provided on the end shaft (262). A motor mounting groove (264) is provided on the end shaft (262). A motor (265) is installed in the motor mounting groove (264). The mounting hole (251) is installed on the movable shaft (263).

8. The shaft defect inspection robot according to claim 7, characterized in that: The moving block (27) is mounted on the driving shaft of the motor three (265) through the mounting hole four (271), the lower end of the moving block (27) is provided with the mounting hole four (271), and the upper end of the moving block (27) is provided with a ground penetrating radar moving group (272).

9. The shaft defect inspection robot according to claim 1, characterized in that: A three-dimensional laser scanner (31) is provided at the lower end of the inspection platform (30), an inspection lower plate (32) is installed below the inspection platform (30), and three groups of lighting equipment (33) and a CCD camera (34) are provided at the bottom of the inspection lower plate (32).

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