Mining flame-proof and intrinsic safety type track inspection robot

Abstract

The invention discloses a mining explosive-proof and intrinsic safety type track inspection robot, and relates to the technical field of mining robots, the mining explosive-proof and intrinsic safety type track inspection robot comprises a protection mechanism and an inspection camera installed in the protection mechanism, a stable inspection mechanism is arranged at the top of the protection mechanism, and a bidirectional driving motor is arranged in the stable inspection mechanism; the protection mechanism comprises a fixing disc, rotating supports are symmetrically installed on one side of the bottom of the fixing disc, a rotating motor is fixedly installed on the outer side of the rotating support on one side, the output end of the rotating motor is fixedly connected with a rotating worm, and the supporting air bag is punctured under the action of a conical needle; and meanwhile, under the action of an unfolding spring, an unfolding sliding disc is driven to move upwards, under the action of an unfolding rotating rod, a fan-shaped protection plate is closed, and the inspection camera is stored in a second protection cover, so that the inspection camera is protected.

Description

Technical Field

[0001] The present invention relates to the technical field of mine robots, and specifically to an explosion-proof and intrinsically safe track inspection robot for mines. Background Art

[0002] Mine inspection robots are intelligent devices used for inspection in coal mine environments. Traditional mine inspection robots mainly move in place, which will to a certain extent affect the movement of workers in the roadway and the maintenance work of underground equipment.

[0003] Publication No. CN218802284U discloses a track inspection robot. Through the cooperation of a rack and a first rotating gear, and the cooperation of a first bevel gear and a second bevel gear, the machine base can effectively drive the rotating rod to rotate when moving. Through the cooperation of a second rotating gear and a toothed ring, and the cooperation of a dust cleaning rod and a protective cover, the protective cover can effectively protect some important components on the track inspection robot, and the dust cleaning rod can effectively remove the accumulated dust on the protective cover. However, the following problems still exist in the actual use of this patent: When the track inspection robot is working, there is a lack of a corresponding protection structure to protect the main structure of the robot. In the prior art, only a simple protective cover is used to protect the main structure of the robot, which can only provide a certain degree of protection for the robot during driving. When the robot is in a mine and is affected by the high-pressure air flow generated by an explosion, it will cause damage to the robot's camera, affecting the service life of the inspection robot. At the same time, when moving on a track with a certain slope and gradient, due to the gravity of the robot body, it will affect the driving speed of the robot, thereby affecting the detection effect of the detection camera.

[0004] Therefore, an explosion-proof and intrinsically safe track inspection robot for mines is proposed to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide an explosion-proof and intrinsically safe track inspection robot for mines, so as to solve the problem in the above background art that when the track inspection robot is working, there is a lack of a corresponding protection structure to protect the main structure of the robot. In the prior art, only a simple protective cover is used to protect the main structure of the robot, which can only provide a certain degree of protection for the robot during driving. When the robot is in a mine and is affected by the high-pressure air flow generated by an explosion, it will cause damage to the robot's camera, affecting the service life of the inspection robot. At the same time, when moving on a track with a certain slope and gradient, due to the gravity of the robot body, it will affect the driving speed of the robot, thereby affecting the detection effect of the detection camera.

[0006] To achieve the above object, the present invention provides the following technical solution: a mine explosion-proof and intrinsically safe track inspection robot, including a protection mechanism and an inspection camera installed inside the protection mechanism; A stable inspection mechanism is provided at the top of the protection mechanism, and a bidirectional drive motor is provided inside the stable inspection mechanism; It further includes: The protection mechanism includes a fixed disk. On one side of the bottom of the fixed disk, rotating brackets are symmetrically installed. On the outside of one of the rotating brackets, a rotating motor is fixedly installed. The output end of the rotating motor is fixedly connected to a rotating worm; Wherein, one side of the rotating worm is meshed with a rotating worm gear. The rotating worm gear is rotatably connected to the fixed disk. On the outside of the bottom of the rotating worm gear, a first protective cover is fixedly installed; Wherein, ventilation holes are provided at the top of the first protective cover. Inside the first protective cover, a number of buffer sliding rods are fixedly installed. A buffer spring is fixedly installed in the middle of the buffer sliding rods.

[0007] Preferably, buffer sliding sleeves are slidably connected to both ends of the buffer sliding rods close to the buffer spring. Buffer rotating rods are rotatably connected to the outside of the buffer sliding sleeves. Buffer protection plates are rotatably connected to the ends of the buffer rotating rods. A connecting protection net is fixedly connected between the two buffer protection plates. Inside the rotating worm gear close to the first protective cover, a second protective cover is fixedly installed.

[0008] Preferably, expansion sliding rods are fixedly installed around the inside of the second protective cover. Expansion sliding sleeves are slidably connected to the outside of the expansion sliding rods. An expansion spring is fixedly installed at the top of the expansion sliding sleeves. An expansion sliding disk is fixedly installed between the expansion sliding sleeves. Sector-shaped protection plates are rotatably connected to the four weeks of the bottom of the second protective cover. Expansion rotating rods are rotatably connected to the four weeks of the bottom of the expansion sliding disk. The expansion rotating rods are rotatably connected to the sector-shaped protection plates.

[0009] Preferably, a fixed sleeve is fixedly installed on the outside of the bottom of the expansion sliding disk. Protection springs are fixedly connected to the four weeks of the inside of the fixed sleeve. A rotating protection plate is fixedly connected to the ends of the protection springs. A connecting hinge is rotatably connected to one side of the bottom of the rotating protection plate. The connecting hinge is fixedly installed on the inner side of the bottom of the fixed sleeve.

[0010] Preferably, the inspection camera is fixedly installed at the center position of the bottom of the expansion sliding disk. A number of support columns are fixedly installed on the outside of the top of the expansion sliding disk. Support air bags are fixedly installed at the tops of the support columns. A conical needle is fixedly installed at the center position of the top of the expansion sliding disk.

[0011] Preferably, the stable inspection mechanism includes an inspection guide rail, on both sides of the bottom of the inspection guide rail, engaging racks are symmetrically installed, a support chassis is arranged at the bottom of the inspection guide rail, on both sides of the support chassis, limiting side plates are symmetrically installed, the bidirectional drive motor is fixedly installed on the top of the support chassis, on both output ends of the bidirectional drive motor, first connecting shafts are fixedly connected, and at the ends of the two first connecting shafts, sprocket drive assemblies are fixedly connected.

[0012] Preferably, a second connecting shaft is fixedly connected to the inner side of the top of the sprocket drive assembly, at the ends of the two second connecting shafts, drive gears are fixedly connected, the drive gears are meshed with the engaging racks, a sprocket protective cover is fixedly installed on the outer side of the limiting side plate close to the sprocket drive assembly, on both sides of the limiting side plate, support sliding grooves are formed, and support sliding rods are fixedly installed inside the support sliding grooves.

[0013] Preferably, a support sliding sleeve is slidably connected to the outer side of the support sliding rod, a first support spring is fixedly installed at the bottom of the support sliding sleeve, a first adjustment support is fixedly installed on one side of the support sliding sleeve, a support rotating frame is rotatably connected to one side of the first adjustment support, an adjustment sliding rod is fixedly installed inside the support rotating frame, an adjustment sliding sleeve is slidably connected to the outer side of the adjustment sliding rod, and an adjustment spring is fixedly installed on one side of the adjustment sliding sleeve.

[0014] Preferably, an adjustment rotating rod is rotatably connected to the outer side of the adjustment sliding sleeve, the top of the adjustment rotating rod is rotatably connected to a rotating support, the rotating support is fixedly installed on one side of the top of the limiting side plate, a second adjustment support is fixedly installed on the top of the support rotating frame, a first limit roller is fixedly installed on the top of the second adjustment support, on one side of the two limiting side plates close to the inspection guide rail, second support springs are fixedly installed, and second limit rollers are fixedly installed at the ends of the second support springs, and both the first limit roller and the second limit roller are in rolling contact with the inspection guide rail.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: for this mine explosion-proof and intrinsically safe type track inspection robot, under the action of the conical needle, the support airbag is punctured, so that the air inside the support airbag is discharged through the air holes, and at the same time, under the action of the unfolding spring, the unfolding sliding disk is driven to move upward, and under the action of the unfolding rotating rod, the fan-shaped protection plate is closed, and the inspection camera is received into the interior of the second protection cover, thereby protecting the inspection camera. Through the elastic force of the second support spring, the second limit roller can be made to fit the side surface of the inspection guide rail, so that the inspection robot can stably move on the inspection guide rail at the turning point, improving the inspection effect of the entire inspection robot. The specific content is as follows: 1. By setting up a protective mechanism, not only can the rotating motor drive the rotating worm to rotate, and by using the characteristic that the rotating worm is meshed and connected with the rotating worm gear, the rotating worm gear can drive the first protective cover to rotate. In the rotating mode, when the buffer protection plate is impacted at any time, the impact force generated by the crushed stone hitting the buffer protection plate can be effectively reduced, thereby improving the protection effect of the buffer protection plate. By connecting the protective net to protect the gap between the buffer protection plates, preventing the crushed stone from hitting the first protective cover through the gap and causing damage to the first protective cover. At the same time, by using the elastic force of the buffer spring, it can play a buffering role when the buffer protection plate is impacted, improving the protection effect of the buffer protection plate. The second protective cover can provide secondary protection for the inspection camera. At the same time, the support airbag inside the second protective cover supports the support column and the unfolded sliding disk. Under the action of the unfolded rotating rod, the fan-shaped protection plate is unfolded, facilitating the inspection camera to inspect the mine tunnel. At the same time, the protective spring inside the fixed sleeve and the rotating protection plate protect the bottom of the inspection camera, improving the service life of the inspection camera. When an explosion occurs in the mine tunnel, high-pressure air flow will be generated. The high-pressure air flow will squeeze the fixed sleeve and the unfolded sliding disk to slide upward inside the second protective cover. Under the action of the conical needle, the support airbag is punctured, and the air inside the support airbag is discharged through the ventilation holes. At the same time, under the action of the unfolded spring, the unfolded sliding disk is driven to move upward. Under the action of the unfolded rotating rod, the fan-shaped protection plate is closed, and the inspection camera is received inside the second protective cover, thereby protecting the inspection camera. In the prior art, there is a method of protecting through an airbag, but in this method, the airbag is bounced off by collision, and it is impossible to effectively distinguish the impact forces generated by the explosion and the crushed stone collision, and the phenomenon of incorrect airbag bouncing will occur, which is not only not conducive to the protection of the inspection camera, but also increases the maintenance cost of the inspection camera and the cost of airbag storage; 2. By setting up a stable inspection mechanism, not only can the bidirectional drive motor drive the first connecting shaft and the sprocket transmission component to rotate, and at the same time the sprocket transmission component drives the second connecting shaft and the drive gear to rotate. By using the characteristic that the drive gear is meshed and connected with the meshing rack, the support chassis and the limit side plate can be stably and uniformly moved on the inspection guide rail, improving the shooting effect of the inspection camera. At the same time, by using the elastic force of the first support spring, the support sliding sleeve drives the support rotating frame to slide up and down outside the support sliding rod. At the same time, by using the elastic force of the adjusting spring, the adjusting sliding sleeve slides outside the adjusting sliding rod, thereby realizing the rotation of the adjusting rotating rod and the support rotating frame, enabling the first limit roller to always fit the inspection guide rail, so that the entire inspection robot can stably move on the inclined inspection guide rail. At the same time, under the action of the elastic force of the second support spring, the second limit roller can fit the side of the inspection guide rail, enabling the inspection robot to stably move on the inspection guide rail at the turning point, improving the inspection effect of the entire inspection robot. Description of the Drawings

[0016] Figure 1 Schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 Schematic diagram of the three-dimensional structure of the protection mechanism in the present invention; Figure 3 Schematic diagram of the three-dimensional structure of the cross-section of the first protective cover in the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the support airbag in the present invention; Figure 5 Schematic diagram of the three-dimensional structure of the cross-section of the second protective cover in the present invention; Figure 6 Schematic diagram of the three-dimensional structure of the cross-section of the fixing sleeve in the present invention; Figure 7 Schematic diagram of the three-dimensional structure of the support column and the conical needle in the present invention; Figure 8 Schematic diagram of the three-dimensional structure of the stable inspection mechanism in the present invention; Figure 9 Schematic diagram of the three-dimensional structure of the limit side plate in the present invention; Figure 10 Schematic diagram of the three-dimensional structure of the driving gear in the present invention; Figure 11 Schematic diagram of the three-dimensional structure of the cross-section of the support rotating frame in the present invention.

[0017] In the figure: 1. Protection mechanism; 101. Fixed disk; 102. Rotating bracket; 103. Rotating motor; 104. Rotating worm; 105. Rotating worm gear; 106. First protective cover; 107. Ventilation hole; 108. Buffer sliding rod; 109. Buffer spring; 110. Buffer sliding sleeve; 111. Buffer rotating rod; 112. Buffer protection plate; 113. Connecting protection net; 114. Second protective cover; 115. Deployment sliding rod; 116. Deployment sliding sleeve; 117. Deployment spring; 118. Deployment sliding disk; 119. Sector protection plate; 120. Deployment rotating rod; 121. Fixed sleeve; 122. Protection spring; 123. Rotating protection plate; 124. Connecting hinge; 125. Inspection camera; 126. Support column; 127. Conical needle; 128. Support airbag; 2. Stable inspection mechanism; 201. Inspection guide rail; 202. Meshing rack; 203. Support chassis; 204. Limit side plate; 205. Bidirectional drive motor; 206. First connecting shaft; 207. Sprocket drive assembly; 208. Second connecting shaft; 209. Drive gear; 210. Sprocket protective cover; 211. Support chute; 212. Support sliding rod; 213. Support sliding sleeve; 214. First support spring; 215. First adjustment support; 216. Support rotating frame; 217. Adjustment sliding rod; 218. Adjustment sliding sleeve; 219. Adjustment spring; 220. Adjustment rotating rod; 221. Rotating support; 222. Second adjustment support; 223. First limit roller; 224. Second support spring; 225. Second limit roller. Detailed implementation

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 - 3, the present invention provides a technical solution: a mine explosion-proof and intrinsically safe track inspection robot, including a protection mechanism 1 and an inspection camera 125 installed inside the protection mechanism 1. A stable inspection mechanism 2 is provided at the top of the protection mechanism 1, and a two-way drive motor 205 is provided inside the stable inspection mechanism 2. The protection mechanism 1 includes a fixed disk 101. Rotating brackets 102 are symmetrically installed on one side of the bottom of the fixed disk 101. A rotating motor 103 is fixedly installed on the outside of one rotating bracket 102. The output end of the rotating motor 103 is fixedly connected to a rotating worm 104. Among them, a rotating worm wheel 105 is meshed and connected to one side of the rotating worm 104. The rotating worm wheel 105 is rotatably connected to the fixed disk 101. A first protective cover 106 is fixedly installed on the outside of the bottom of the rotating worm wheel 105. Among them, ventilation holes 107 are provided at the top of the first protective cover 106. A number of buffer sliding rods 108 are fixedly installed inside the first protective cover 106. A buffer spring 109 is fixedly installed in the middle of the buffer sliding rod 108. Buffer sliding sleeves 110 are slidably connected to both ends of the buffer sliding rod 108 close to the buffer spring 109. A buffer rotating rod 111 is rotatably connected to the outside of the buffer sliding sleeve 110. A buffer protection plate 112 is rotatably connected to the end of the buffer rotating rod 111. A connecting protection net 113 is fixedly connected between the two buffer protection plates 112. By driving the rotating worm 104 to rotate by the rotating motor 103 and using the characteristic of the meshing connection between the rotating worm 104 and the rotating worm wheel 105, the rotating worm wheel 105 drives the first protective cover 106 to rotate. By rotating, when the buffer protection plate 112 is impacted at any time, the impact force generated by the crushed stone hitting the buffer protection plate 112 can be effectively reduced, thereby improving the protection effect of the buffer protection plate 112. The connecting protection net 113 protects the gap between the buffer protection plates 112 to prevent the crushed stone from hitting the first protective cover 106 through the gap and causing damage to the first protective cover 106. At the same time, by using the elastic force of the buffer spring 109, it can buffer when the buffer protection plate 112 is impacted and improve the protection effect of the buffer protection plate 112.

[0020] Please refer to Figures 2 - 7, inside the rotating worm gear 105 near the first protective cover 106, a second protective cover 114 is fixedly installed. Around the inside of the second protective cover 114, deployment sliding rods 115 are fixedly installed. The outer sides of the deployment sliding rods 115 are slidably connected to deployment sliding sleeves 116. At the tops of the deployment sliding sleeves 116, deployment springs 117 are fixedly installed. Between the deployment sliding sleeves 116, a deployment sliding disc 118 is fixedly installed. Around the bottom of the second protective cover 114, sector-shaped protective plates 119 are rotatably connected. Around the bottom of the deployment sliding disc 118, deployment rotating rods 120 are rotatably connected. The deployment rotating rods 120 are rotatably connected to the sector-shaped protective plates 119. At the outer sides of the bottom of the deployment sliding disc 118, fixed sleeves 121 are fixedly installed. Around the inside of the fixed sleeves 121, protective springs 122 are fixedly connected. At the ends of the protective springs 122, rotating protective plates 123 are fixedly connected. At one side of the bottom of the rotating protective plate 123, a connecting hinge 124 is rotatably connected. The connecting hinge 124 is fixedly installed on the inner side of the bottom of the fixed sleeve 121. An inspection camera 125 is fixedly installed at the center position of the bottom of the deployment sliding disc 118. At the outer sides of the top of the deployment sliding disc 118, a number of support columns 126 are fixedly installed. At the tops of the support columns 126, support air bags 128 are fixedly installed. At the center position of the top of the deployment sliding disc 118, a conical needle 127 is fixedly installed. Through the second protective cover 114, secondary protection can be provided for the inspection camera 125. At the same time, the support air bags 128 inside the second protective cover 114 support the support columns 126 and the deployment sliding disc 118. Under the action of the deployment rotating rods 120, the sector-shaped protective plates 119 are deployed, facilitating the inspection of the mine tunnel by the inspection camera 125. At the same time, the protective springs 122 and the rotating protective plates 123 inside the fixed sleeves 121 protect the bottom of the inspection camera 125, improving the service life of the inspection camera 125. When an explosion occurs in the mine tunnel, high-pressure air flow will be generated. The high-pressure air flow will squeeze the fixed sleeves 121 and the deployment sliding disc 118 to slide upward inside the second protective cover 114. Under the action of the conical needle 127, the support air bags 128 are punctured, enabling the air inside the support air bags 128 to be discharged through the ventilation holes 107. At the same time, under the action of the deployment springs 117, the deployment sliding disc 118 is driven to move upward. Under the action of the deployment rotating rods 120, the sector-shaped protective plates 119 are closed, and the inspection camera 125 is received inside the second protective cover 114, thereby protecting the inspection camera 125. In the prior art, there is a method of protection through air bags. However, in this method, the air bags are popped open by collision, and it is impossible to effectively distinguish the impact forces generated by explosions and gravel collisions, resulting in the phenomenon of incorrect air bag popping. This not only is not conducive to the protection of the inspection camera 125 but also increases the maintenance cost of the inspection camera 125 and the cost of air bag storage.

[0021] Please refer to Figure 1 , Figures 7 - 10, the stable inspection mechanism 2 includes an inspection guide rail 201. Meshing racks 202 are symmetrically installed on both sides of the bottom of the inspection guide rail 201. A support chassis 203 is arranged at the bottom of the inspection guide rail 201. Limit side plates 204 are symmetrically installed on both sides of the support chassis 203. A bidirectional drive motor 205 is fixedly installed on the top of the support chassis 203. First connecting shafts 206 are fixedly connected to both output ends of the bidirectional drive motor 205. Sprocket drive assemblies 207 are fixedly connected to the ends of the two first connecting shafts 206. A second connecting shaft 208 is fixedly connected to the inner side of the top of the sprocket drive assembly 207. Drive gears 209 are fixedly connected to the ends of the two second connecting shafts 208. The drive gears 209 are meshed with the meshing racks 202. By driving the first connecting shafts 206 and the sprocket drive assemblies 207 to rotate with the bidirectional drive motor 205, and at the same time driving the second connecting shafts 208 and the drive gears 209 to rotate with the sprocket drive assemblies 207, and using the characteristic of the meshing connection between the drive gears 209 and the meshing racks 202, it is possible to achieve the stable and uniform movement of the support chassis 203 and the limit side plates 204 on the inspection guide rail 201, and improve the shooting effect of the inspection camera 125.

[0022] Please refer to Figures 8 - 11, a sprocket guard 210 is fixedly installed on the outer side of the limit side plate 204 close to the sprocket drive assembly 207. Support sliding grooves 211 are formed on both sides of the limit side plate 204. A support sliding rod 212 is fixedly installed inside the support sliding grooves 211. A support sliding sleeve 213 is slidably connected to the outer side of the support sliding rod 212. A first support spring 214 is fixedly installed at the bottom of the support sliding sleeve 213. A first adjustment support 215 is fixedly installed on one side of the support sliding sleeve 213. A support rotating frame 216 is rotatably connected to one side of the first adjustment support 215. An adjustment sliding rod 217 is fixedly installed inside the support rotating frame 216. An adjustment sliding sleeve 218 is slidably connected to the outer side of the adjustment sliding rod 217. An adjustment spring 219 is fixedly installed on one side of the adjustment sliding sleeve 218. An adjustment rotating rod 220 is rotatably connected to the outer side of the adjustment sliding sleeve 218. The top of the adjustment rotating rod 220 is rotatably connected to a rotating support 221, and the rotating support 221 is fixedly installed on one side of the top of the limit side plate 204. A second adjustment support 222 is fixedly installed on the top of the support rotating frame 216. A first limit roller 223 is fixedly installed on the top of the second adjustment support 222. Second support springs 224 are fixedly installed on one side of each of the two limit side plates 204 close to the inspection guide rail 201. A second limit roller 225 is fixedly installed at the end of the second support spring 224. Both the first limit roller 223 and the second limit roller 225 are in rolling contact with the inspection guide rail 201. By the elastic force of the first support spring 214, the support sliding sleeve 213 drives the support rotating frame 216 to slide up and down on the outer side of the support sliding rod 212. At the same time, by the elastic force of the adjustment spring 219, the adjustment sliding sleeve 218 slides on the outer side of the adjustment sliding rod 217, so as to realize the rotation of the adjustment rotating rod 220 and the support rotating frame 216, enabling the first limit roller 223 to always fit the inspection guide rail 201, so that the entire inspection robot can move stably on the inclined inspection guide rail 201. At the same time, through the elastic force of the second support spring 224, the second limit roller 225 can be made to fit the side surface of the inspection guide rail 201 at the turning point, enabling the inspection robot to move stably on the inspection guide rail 201 at the turning point, improving the inspection effect of the entire inspection robot.

[0023] Working principle: Before using this mine explosion-proof and intrinsically safe type track inspection robot, it is necessary to first check the overall situation of the device to determine that it can work normally. According to Figure 1 - Figure 11As shown in the figure, first, the rotating motor 103 is used to drive the rotating worm 104 to rotate. By utilizing the meshing connection between the rotating worm 104 and the rotating worm gear 105, the rotating worm gear 105 drives the first protective cover 106 to rotate. In this way, when the buffer protection plate 112 is impacted at any time, the impact force generated by the crushed stones hitting the buffer protection plate 112 can be effectively reduced, thereby improving the protection effect of the buffer protection plate 112. The connection protection net 113 is used to protect the gaps between the buffer protection plates 112 to prevent the crushed stones from hitting the first protective cover 106 through the gaps and causing damage to the first protective cover 106. At the same time, by the elastic force of the buffer spring 109, buffering can be carried out when the buffer protection plate 112 is impacted, improving the protection effect of the buffer protection plate 112.

[0024] Secondly, the second protective cover 114 can provide secondary protection for the inspection camera 125. At the same time, the support airbag 128 inside the second protective cover 114 supports the support column 126 and the unfolding sliding disk 118. Under the action of the unfolding rotating rod 120, the fan-shaped protection plate 119 is unfolded, facilitating the inspection camera 125 to inspect the mine tunnel. At the same time, the protection spring 122 and the rotating protection plate 123 inside the fixed sleeve 121 protect the bottom of the inspection camera 125, improving the service life of the inspection camera 125. When an explosion occurs in the mine tunnel, high-pressure air flow will be generated. The high-pressure air flow will squeeze the fixed sleeve 121 and the unfolding sliding disk 118 to slide upward inside the second protective cover 114. Under the action of the conical needle 127, the support airbag 128 is punctured, so that the air inside the support airbag 128 is discharged through the air vent holes 107. At the same time, under the action of the unfolding spring 117, the unfolding sliding disk 118 is driven to move upward. Under the action of the unfolding rotating rod 120, the fan-shaped protection plate 119 is closed, and the inspection camera 125 is received inside the second protective cover 114, thereby protecting the inspection camera 125. In the prior art, there is a method of protecting through an airbag. However, in this method, the airbag is bounced open by collision, and it is impossible to effectively distinguish the impact forces generated by an explosion and crushed stone collision, resulting in the phenomenon of incorrect airbag bouncing. This not only is not conducive to the protection of the inspection camera 125 but also increases the maintenance cost of the inspection camera 125 and the cost of airbag storage.

[0025] Finally, the bidirectional drive motor 205 drives the first connecting shaft 206 and the sprocket transmission assembly 207 to rotate. At the same time, the sprocket transmission assembly 207 drives the second connecting shaft 208 and the drive gear 209 to rotate. By utilizing the meshing connection between the drive gear 209 and the meshing rack 202, it is possible to achieve the stable and uniform movement of the support chassis 203 and the limit side plate 204 on the inspection guide rail 201, improving the shooting effect of the inspection camera 125. At the same time, due to the elastic force of the first support spring 214, the support sliding sleeve 213 drives the support rotating frame 216 to slide up and down outside the support sliding rod 212. At the same time, due to the elastic force of the adjusting spring 219, the adjusting sliding sleeve 218 slides outside the adjusting sliding rod 217, thereby realizing the rotation of the adjusting rotating rod 220 and the support rotating frame 216, enabling the first limit roller 223 to always fit the inspection guide rail 201, so that the entire inspection robot can move stably on the inclined inspection guide rail 201. At the same time, through the elastic force of the second support spring 224, it is possible to make the second limit roller 225 fit the side of the inspection guide rail 201, enabling the inspection robot to move stably on the inspection guide rail 201 at the turning point, improving the inspection effect of the entire inspection robot.

[0026] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flameproof and intrinsically safe track inspection robot for mines, comprising a protection mechanism (1) and an inspection camera (125) installed inside the protection mechanism (1); A stable inspection mechanism (2) is arranged at the top of the protection mechanism (1), and a bidirectional drive motor (205) is arranged inside the stable inspection mechanism (2); It is characterized in that It further includes: The protection mechanism (1) includes a fixed disk (101). On one side of the bottom of the fixed disk (101), rotating brackets (102) are symmetrically installed. A rotating motor (103) is fixedly installed on the outer side of one of the rotating brackets (102). The output end of the rotating motor (103) is fixedly connected to a rotating worm (104); Wherein, a rotating worm gear (105) is meshed and connected to one side of the rotating worm (104). The rotating worm gear (105) is rotatably connected to the fixed disk (101). A first protective cover (106) is fixedly installed on the outer side of the bottom of the rotating worm gear (105); Wherein, ventilation holes (107) are formed at the top of the first protective cover (106). A plurality of buffer sliding rods (108) are fixedly installed inside the first protective cover (106). A buffer spring (109) is fixedly installed in the middle of the buffer sliding rods (108).

2. The intrinsically safe and flameproof track inspection robot for mine use according to claim 1, wherein: Buffer sliding sleeves (110) are slidably connected to both ends of the buffer sliding rods (108) close to the buffer spring (109). Buffer rotating rods (111) are rotatably connected to the outer sides of the buffer sliding sleeves (110). Buffer protection plates (112) are rotatably connected to the ends of the buffer rotating rods (111). A connecting protection net (113) is fixedly connected between the two buffer protection plates (112). A second protective cover (114) is fixedly installed inside the rotating worm gear (105) close to the first protective cover (106).

3. The mine flameproof and intrinsically safe type track inspection robot according to claim 2, wherein: Expansion sliding rods (115) are fixedly installed around the inside of the second protective cover (114). Expansion sliding sleeves (116) are slidably connected to the outer sides of the expansion sliding rods (115). An expansion spring (117) is fixedly installed at the top of the expansion sliding sleeves (116). An expansion sliding disk (118) is fixedly installed between the expansion sliding sleeves (116). Sector-shaped protection plates (119) are rotatably connected to the four sides of the bottom of the second protective cover (114). Expansion rotating rods (120) are rotatably connected to the four sides of the bottom of the expansion sliding disk (118). The expansion rotating rods (120) are rotatably connected to the sector-shaped protection plates (119).

4. The mine explosion-proof and intrinsically safe type track inspection robot according to claim 3, wherein: A fixed sleeve (121) is fixedly installed on the outer side of the bottom of the expansion sliding disk (118). Protection springs (122) are fixedly connected to the four sides of the inside of the fixed sleeve (121). A rotating protection plate (123) is fixedly connected to the ends of the protection springs (122). A connecting hinge (124) is rotatably connected to one side of the bottom of the rotating protection plate (123). The connecting hinge (124) is fixedly installed on the inner side of the bottom of the fixed sleeve (121).

5. The mine flameproof and intrinsically safe type track inspection robot according to claim 4, wherein: The inspection camera (125) is fixedly installed at the central position of the bottom of the unfolding sliding disc (118). A number of support columns (126) are fixedly installed on the outer side of the top of the unfolding sliding disc (118). A support airbag (128) is fixedly installed at the top of the support column (126). A conical needle (127) is fixedly installed at the central position of the top of the unfolding sliding disc (118).

6. The mine flameproof and intrinsically safe type track inspection robot according to claim 1, wherein: The stable inspection mechanism (2) includes an inspection guide rail (201). Meshing racks (202) are symmetrically installed on both sides of the bottom of the inspection guide rail (201). A support chassis (203) is arranged at the bottom of the inspection guide rail (201). Limit side plates (204) are symmetrically installed on both sides of the support chassis (203). A bidirectional drive motor (205) is fixedly installed on the top of the support chassis (203). First connecting shafts (206) are fixedly connected to the output ends on both sides of the bidirectional drive motor (205). Sprocket transmission components (207) are fixedly connected to the ends of the two first connecting shafts (206).

7. The intrinsically safe type track inspection robot with explosion protection for mine use according to claim 6, characterized in that: A second connecting shaft (208) is fixedly connected to the inner side of the top of the sprocket transmission component (207). Drive gears (209) are fixedly connected to the ends of the two second connecting shafts (208). The drive gears (209) are meshed with the meshing racks (202). A sprocket protective cover (210) is fixedly installed on the outer side of the limit side plate (204) close to the sprocket transmission component (207). Support sliding grooves (211) are formed on both sides of the limit side plate (204). Support sliding rods (212) are fixedly installed inside the support sliding grooves (211).

8. A mine explosion-proof and intrinsically safe track inspection robot according to claim 7, characterized in that: A support sliding sleeve (213) is slidably connected to the outer side of the support sliding rod (212). A first support spring (214) is fixedly installed at the bottom of the support sliding sleeve (213). A first adjustment support (215) is fixedly installed on one side of the support sliding sleeve (213). A support rotating frame (216) is rotatably connected to one side of the first adjustment support (215). An adjustment sliding rod (217) is fixedly installed inside the support rotating frame (216). An adjustment sliding sleeve (218) is slidably connected to the outer side of the adjustment sliding rod (217). An adjustment spring (219) is fixedly installed on one side of the adjustment sliding sleeve (218).

9. The intrinsically safe type mine flameproof and intrinsically safe rail inspection robot according to claim 8, characterized in that: The outer side of the adjusting sliding sleeve (218) is rotatably connected with an adjusting rotating rod (220). The top of the adjusting rotating rod (220) is rotatably connected with a rotating support (221). The rotating support (221) is fixedly installed on one side of the top of the limiting side plate (204). The top of the supporting rotating frame (216) is fixedly installed with a second adjusting support (222). The top of the second adjusting support (222) is fixedly installed with a first limiting roller (223). Second supporting springs (224) are fixedly installed on one side of each of the two limiting side plates (204) close to the inspection guide rail (201). The end of each second supporting spring (224) is fixedly installed with a second limiting roller (225). The first limiting roller (223) and the second limiting roller (225) are both in rolling contact with the inspection guide rail (201).

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