A flameproof and intrinsically safe rail inspection robot for mining

Abstract

The present invention discloses a mine-use explosion-proof and intrinsically safe track inspection robot, which relates to the technical field of mine robots and comprises a protective mechanism and an inspection camera installed inside the protective mechanism. A stabilizing inspection mechanism is provided on the top of the protective mechanism, and a bidirectional driving motor is provided inside the stabilizing inspection mechanism. The protective mechanism comprises a fixed plate, a rotating bracket is symmetrically installed on one side of the bottom of the fixed plate, and a rotating motor is fixedly installed on the outer side of the rotating bracket on one side. A rotating worm is fixedly connected to the output end of the rotating motor, and a supporting airbag is punctured by the action of a conical needle to discharge the air inside the supporting airbag through the air vent. At the same time, the expanding sliding plate is driven to move upward under the action of an expanding spring, and the fan-shaped protective plate is closed under the action of an expanding rotating rod, and the inspection camera is stored in the interior of a second protective cover, thereby protecting the inspection camera.

Description

Technical Field

[0001] The present invention relates to the technical field of mining robots, in particular to a mining explosion-proof and intrinsically safe track inspection robot. Background Art

[0002] Mine inspection robots are intelligent devices used for inspections in coal mines. Traditional mine inspection robots primarily move around in the field, which can interfere with the movement of workers in tunnels and the maintenance of underground equipment.

[0003] Publication No. CN218802284U discloses a track inspection robot. A rack cooperates with a first rotating gear, and a first bevel gear cooperates with a second bevel gear, so that the base can effectively drive a rotating rod to rotate when moving. The second rotating gear cooperates with a ring gear, and a dust cleaning rod cooperates with a protective cover. The protective cover can effectively protect some important components of the track inspection robot, and the dust cleaning rod can effectively remove dust accumulated on the protective cover. However, this patent still has the following problems in actual use:

[0004] When the track inspection robot is working, there is a lack of corresponding protective structure to protect the main structure of the robot. The existing technology only uses a simple protective cover to protect the main structure of the robot, which can only provide certain protection for the robot during driving. When the robot is exposed to the high-pressure airflow generated by the explosion in the mine, 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 inclination and slope, the gravity of the robot's main body affects the robot's driving speed, thereby affecting the detection effect of the detection camera.

[0005] Therefore, a mine-use explosion-proof and intrinsically safe track inspection robot is proposed to solve the above-mentioned problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a flameproof and intrinsically safe track inspection robot for mining, so as to solve the problem proposed in the above background technology that the track inspection robot lacks a corresponding protective structure to protect the main structure of the robot when it is working. In the prior art, the main structure of the robot is only protected by a simple protective cover, which can only provide certain protection for the robot during driving. When the robot is subjected to the high-pressure airflow generated by the explosion in the mine, the robot camera will be damaged, affecting the service life of the inspection robot. At the same time, when moving on a track with a certain inclination and slope, the gravity of the robot body will affect the driving speed of the robot, thereby affecting the detection effect of the detection camera.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a flameproof and intrinsically safe rail inspection robot for mining, comprising a protection mechanism and an inspection camera installed inside the protection mechanism;

[0008] A stabilizing inspection mechanism is provided on the top of the protection mechanism, and a bidirectional driving motor is provided inside the stabilizing inspection mechanism;

[0009] Also includes:

[0010] The protection mechanism includes a fixed plate, a rotating bracket is symmetrically mounted on one side of the bottom of the fixed plate, a rotating motor is fixedly mounted on the outer side of the rotating bracket on one side, and a rotating worm is fixedly connected to the output end of the rotating motor;

[0011] One side of the rotating worm is meshedly connected with a rotating worm wheel, the rotating worm wheel is rotatably connected to the fixed disk, and a first protective cover is fixedly installed on the outer side of the bottom of the rotating worm wheel;

[0012] A ventilation hole is provided on the top of the first protective cover, a plurality of buffer sliding rods are fixedly installed inside the first protective cover, and a buffer spring is fixedly installed in the middle of the buffer sliding rods;

[0013] The second protective cover is fixedly installed inside the rotating worm gear near the first protective cover, an expansion sliding rod is fixedly installed around the inside of the second protective cover, an expansion sliding sleeve is slidably connected to the outer side of the expansion sliding rod, an expansion spring is fixedly installed on the top of the expansion sliding sleeve, an expansion sliding disk is fixedly installed between the expansion sliding sleeves, a fan-shaped protective plate is rotatably connected to the bottom of the second protective cover, an expansion rotating rod is rotatably connected to the bottom of the expansion sliding disk, and the expansion rotating rod is rotatably connected to the fan-shaped protective plate;

[0014] The inspection camera is fixedly installed at the bottom center of the unfolding sliding disk, a number of support columns are fixedly installed on the top outer side of the unfolding sliding disk, a support airbag is fixedly installed on the top of the support column, and a conical needle is fixedly installed at the top center of the unfolding sliding disk.

[0015] Preferably, both ends of the buffer sliding rod close to the buffer spring are slidably connected to a buffer sliding sleeve, the outer side of the buffer sliding sleeve is rotatably connected to a buffer rotating rod, the end of the buffer rotating rod is rotatably connected to a buffer protective plate, and a connecting protective net is fixedly connected between the two buffer protective plates.

[0016] Preferably, a fixed sleeve is fixedly installed on the outer side of the bottom of the unfolded sliding disk, and a protective spring is fixedly connected to the inner four sides of the fixed sleeve. The end of the protective spring is fixedly connected to a rotating protective plate, and a connecting hinge is rotatably connected to one side of the bottom of the rotating protective plate. The connecting hinge is fixedly installed on the inner side of the bottom of the fixed sleeve.

[0017] Preferably, the stable inspection mechanism includes an inspection guide rail, meshing racks are symmetrically installed on both sides of the bottom of the inspection guide rail, a support base is provided at the bottom of the inspection guide rail, and limiting side plates are symmetrically installed on both sides of the support base, the bidirectional drive motor is fixedly installed on the top of the support base, and the output ends on both sides of the bidirectional drive motor are fixedly connected to the first connecting shaft, and the ends of the two first connecting shafts are fixedly connected to the sprocket transmission assemblies.

[0018] Preferably, a second connecting shaft is fixedly connected to the inner side of the top of the sprocket transmission assembly, and the ends of the two second connecting shafts are fixedly connected to driving gears, and the driving gear is meshed with the meshing rack. A sprocket guard is fixedly installed on the outer side of the limiting side plate near the sprocket transmission assembly, and support grooves are opened on both sides of the limiting side plate, and a support sliding rod is fixedly installed inside the support groove.

[0019] Preferably, the outer side of the support sliding rod is slidably connected to a support sliding sleeve, the bottom of the support sliding sleeve is fixedly installed with a first support spring, one side of the support sliding sleeve is fixedly installed with a first adjustment support, one side of the first adjustment support is rotatably connected to a support rotating frame, the interior of the support rotating frame is fixedly installed with an adjustment sliding rod, the outer side of the adjustment sliding rod is slidably connected to an adjustment sliding sleeve, and one side of the adjustment sliding sleeve is fixedly installed with an adjustment spring.

[0020] Preferably, the outer side of the adjusting sliding sleeve is rotatably connected to an adjusting rotating rod, the top of the adjusting 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, the top of the supporting rotating frame is fixedly installed with a second adjusting support, the top of the second adjusting support is fixedly installed with a first limiting roller, and the two limiting side plates close to the inspection guide rail are fixedly installed with a second supporting spring, and the end of the second supporting spring is fixedly installed with a second limiting roller, and the first limiting roller and the second limiting roller are both in rolling contact with the inspection guide rail.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the mine-use flameproof and intrinsically safe rail inspection robot punctures the support airbag through the action of the conical needle, so that the air inside the support airbag is discharged through the air vent, and at the same time, the expansion sliding disk is driven to move upward under the action of the expansion spring, and the fan-shaped protective plate is closed under the action of the expansion rotating rod, and the inspection camera is stored in the interior of the second protective cover, thereby protecting the inspection camera. Through the elastic force of the second support spring, the second limit roller can be fitted to the side of the inspection guide rail, so that the inspection robot can stably move on the inspection guide rail at the turning point, thereby improving the inspection effect of the entire inspection robot. The specific contents are as follows:

[0022] 1. By setting up a protective mechanism, not only can the rotating motor be used to drive the rotating worm to rotate, but the characteristic of the rotating worm and the rotating worm gear being meshed and connected can be used to make the rotating worm gear drive the first protective cover to rotate. Through the rotation, the impact force generated by the crushed stone hitting the buffer protective cover can be effectively reduced when the buffer protective cover is impacted at any time, thereby improving the protective effect of the buffer protective cover. The gaps between the buffer protective covers can be protected by connecting the protective nets, preventing the crushed stone from passing through the gaps and hitting the first protective cover, causing damage to the first protective cover. At the same time, the elastic force of the buffer spring can be used to buffer the impact of the buffer protective cover, thereby improving the protective effect of the buffer protective cover. The second protective cover can provide secondary protection for the inspection camera. At the same time, the support airbag inside the second protective cover is used to support the support column and the expansion sliding disk. Under the action of the expansion rotating rod, the fan-shaped protective cover is expanded, which is convenient for the inspection camera to patrol the mine. The cam is then moved back into the airbag, and the airbag is pushed out of the airbag, and the airbag is pushed out of the airbag, and the airbag is pushed out of the airbag.

[0023] 2. By setting a stable inspection mechanism, not only can the bidirectional driving motor be used to drive the first connecting shaft and the sprocket transmission assembly to rotate, but the sprocket transmission assembly can also drive the second connecting shaft and the driving gear to rotate. By utilizing the meshing connection between the driving gear and the meshing rack, the support base frame and the limiting side plate can be stably and uniformly moved on the inspection guide rail, thereby improving the shooting effect of the inspection camera. At the same time, the elastic force of the first supporting spring is utilized to make the supporting sliding sleeve drive the supporting rotating frame to slide up and down on the outer side of the supporting sliding rod. At the same time, the elastic force of the adjusting spring is utilized to realize the sliding of the adjusting sliding sleeve on the outer side of the adjusting sliding rod, thereby realizing the rotation of the adjusting rotating rod and the supporting rotating frame. The first limiting roller can always fit the inspection guide rail, thereby enabling the entire inspection robot to move stably on the inclined inspection guide rail. At the same time, the elastic force of the second supporting spring can enable the second limiting roller to fit the side of the inspection guide rail, so that the inspection robot can stably move on the inspection guide rail at the turning point, thereby improving the inspection effect of the entire inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0025] Figure 2 Schematic diagram of the three-dimensional structure of the protection mechanism in the present invention;

[0026] Figure 3 Schematic diagram of the three-dimensional structure of the cross section of the first protective cover in the present invention;

[0027] Figure 4 Schematic diagram of the three-dimensional structure of the support airbag in the present invention;

[0028] Figure 5 Schematic diagram of the three-dimensional cross-section of the second protective cover in the present invention;

[0029] Figure 6 Schematic diagram of the three-dimensional structure of the fixed sleeve cross section in the present invention;

[0030] Figure 7 Schematic diagram of the three-dimensional structure of the support column and the tapered needle in the present invention;

[0031] Figure 8 It is a schematic diagram of the three-dimensional structure of the stable inspection mechanism in the present invention;

[0032] Figure 9 Schematic diagram of the three-dimensional structure of the limiting side plate in the present invention;

[0033] Figure 10 Schematic diagram of the three-dimensional structure of the driving gear in the present invention;

[0034] Figure 11 It is a schematic diagram of the three-dimensional structure of the support rotating frame in the present invention.

[0035] In the figure: 1. protective mechanism; 101. fixed plate; 102. rotating bracket; 103. rotating motor; 104. rotating worm; 105. rotating worm gear; 106. first protective cover; 107. air vent; 108. buffer sliding rod; 109. buffer spring; 110. buffer sliding sleeve; 111. buffer rotating rod; 112. buffer protective plate; 113. connecting protective net; 114. second protective cover; 115. unfolding sliding rod; 116. unfolding sliding sleeve; 117. unfolding spring; 118. unfolding sliding plate; 119. fan-shaped protective plate; 120. unfolding rotating rod; 121. fixed sleeve; 122. protective spring; 123. rotating protective plate; 124. connecting hinge; 125. inspection camera; 126. support column; 127. tapered needle; 128 , support airbag; 2. stable inspection mechanism; 201. inspection guide rail; 202. meshing rack; 203. support base; 204. limiting side plate; 205. bidirectional drive motor; 206. first connecting shaft; 207. sprocket transmission assembly; 208. second connecting shaft; 209. drive gear; 210. sprocket guard; 211. support slide; 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 limiting roller; 224. second support spring; 225. second limiting roller. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] See also Figure 1-Figure 3The present invention provides a technical solution: a mine flameproof and intrinsically safe rail inspection robot, comprising a protection mechanism 1, and an inspection camera 125 installed inside the protection mechanism 1, a stable inspection mechanism 2 is provided on the top of the protection mechanism 1, and a bidirectional drive motor 205 is provided inside the stable inspection mechanism 2, the protection mechanism 1 comprises a fixed plate 101, a rotating bracket 102 is symmetrically installed on one side of the bottom of the fixed plate 101, a rotating motor 103 is fixedly installed on the outer side of the rotating bracket 102 on one side, and the output of the rotating motor 103 The end is fixedly connected to a rotating worm 104, wherein one side of the rotating worm 104 is meshedly connected to a rotating worm wheel 105, and the rotating worm wheel 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 wheel 105, wherein a vent hole 107 is opened on the top of the first protective cover 106, and 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 rod 108. The buffer sliding rod 108 is close to the buffer spring 109. The two ends of 9 are slidably connected with a buffer sliding sleeve 110, and the outer side of the buffer sliding sleeve 110 is rotatably connected with a buffer rotating rod 111, and the end of the buffer rotating rod 111 is rotatably connected with a buffer protective plate 112. A connecting protective net 113 is fixedly connected between the two buffer protective plates 112, and the rotating motor 103 drives the rotating worm 104 to rotate, and utilizes the characteristics of the rotating worm 104 and the rotating worm gear 105 to mesh with each other, so that the rotating worm gear 105 drives the first protective cover 106 to rotate. By rotating, the buffer protective plate 112 can effectively reduce the impact force generated by the gravel hitting the buffer protective plate 112 when it is impacted at any time, thereby improving the protective effect of the buffer protective plate 112, and the gap between the buffer protective plates 112 is protected by the connecting protective net 113 to prevent the gravel from hitting the first protective cover 106 through the gap and causing damage to the first protective cover 106. At the same time, the elastic force of the buffer spring 109 can be used to buffer the buffer protective plate 112 when it is impacted, thereby improving the protective effect of the buffer protective plate 112.

[0038] See also Figure 2-Figure 7, the rotating worm gear 105 is fixedly installed with a second protective cover 114 near the inside of the first protective cover 106, and the interior of the second protective cover 114 is fixedly installed with an expansion sliding rod 115. The outer side of the expansion sliding rod 115 is slidably connected with an expansion sliding sleeve 116, and the top of the expansion sliding sleeve 116 is fixedly installed with an expansion sliding disk 118. The bottom of the second protective cover 114 is rotatably connected with a fan-shaped protective plate 119, and the bottom of the expansion sliding disk 118 is rotatably connected with an expansion rotating rod 120. The expansion rotating rod 120 is rotatably connected to the fan-shaped protective plate 119, and the outer side of the bottom of the expansion sliding disk 118 is fixedly installed with a fixed The sleeve 121 is fixedly connected to the inner periphery of the fixed sleeve 121 with a protective spring 122, and the end of the protective spring 122 is fixedly connected to a rotating protective plate 123. The bottom side of the rotating protective plate 123 is rotatably connected to a connecting hinge 124. The connecting hinge 124 is fixedly installed on the bottom inner side of the fixed sleeve 121. The inspection camera 125 is fixedly installed at the bottom center position of the unfolding sliding disk 118. Several support columns 126 are fixedly installed on the top outer side of the unfolding sliding disk 118. A support airbag 128 is fixedly installed on the top of the support column 126. A tapered needle 127 is fixedly installed at the top center position of the unfolding sliding disk 118. The inspection camera 125 can be secondarily operated through the second protective cover 114. Second protection, at the same time, the support airbag 128 inside the second protective cover 114 is used to support the support column 126 and the expansion sliding disk 118, and under the action of the expansion rotating rod 120, the fan-shaped protective plate 119 is expanded, which is convenient for the inspection camera 125 to inspect the mine. At the same time, the protective spring 122 and the rotating protective plate 123 inside the fixed sleeve 121 are used to protect the bottom of the inspection camera 125, thereby improving the service life of the inspection camera 125. When an explosion occurs in the mine, high-pressure airflow is generated, and the high-pressure airflow squeezes the fixed sleeve 121 and the expansion sliding disk 118 to slide upward inside the second protective cover 114, and the support airbag 128 is pushed by the tapered needle 127. The puncture causes the air inside the supporting airbag 128 to be discharged through the air vent 107. At the same time, the expansion sliding plate 118 is driven to move upward under the action of the expansion spring 117. Under the action of the expansion rotating rod 120, the fan-shaped protective plate 119 is closed, and the inspection camera 125 is stored in the interior of the second protective cover 114, thereby protecting the inspection camera 125. In the prior art, there is protection through airbags, but in this way, the airbag is ejected by collision, and the impact force generated by the explosion and the collision of gravel cannot be effectively distinguished. The airbag will be mistakenly ejected, which is not only not conducive to the protection of the inspection camera 125, but also increases the cost of repairing the inspection camera 125 and storing the airbag.

[0039] See also Figure 1 、 Figure 7-10The 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 base 203 is provided at the bottom of the inspection guide rail 201, and limited side plates 204 are symmetrically installed on both sides of the support base 203. A bidirectional drive motor 205 is fixedly installed on the top of the support base 203, and the output ends of both sides of the bidirectional drive motor 205 are fixedly connected to a first connecting shaft 206, and the ends of the two first connecting shafts 206 are fixedly connected to a sprocket transmission assembly 207, and the top inner side of the sprocket transmission assembly 207 is fixedly connected to a second connecting shaft. Shaft 208, the ends of the two second connecting shafts 208 are fixedly connected with a driving gear 209, and the driving gear 209 is meshed with the meshing rack 202. The bidirectional drive motor 205 is used to drive the first connecting shaft 206 and the sprocket transmission assembly 207 to rotate, and at the same time, the sprocket transmission assembly 207 drives the second connecting shaft 208 and the driving gear 209 to rotate. By utilizing the characteristics of the meshing connection between the driving gear 209 and the meshing rack 202, the support base 203 and the limiting side plate 204 can be supported on the inspection guide rail 201. Stable and uniform movement of the inspection camera 125 is improved, thereby improving the shooting effect of the inspection camera 125.

[0040] See also Figures 8-11The limiting side plate 204 is fixedly installed with a sprocket guard 210 on the outside near the sprocket transmission assembly 207. Support slide grooves 211 are provided on both sides of the limiting side plate 204. A support sliding rod 212 is fixedly installed inside the support slide groove 211. The outer side of the support sliding rod 212 is slidably connected with a support sliding sleeve 213. A first support spring 214 is fixedly installed on 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. The interior of the support rotating frame 216 is fixedly installed with an adjusting sliding rod 217, the outer side of the adjusting sliding rod 217 is slidably connected to the adjusting sliding sleeve 218, and an adjusting spring 219 is fixedly installed on one side of the adjusting sliding sleeve 218. The outer side of the adjusting sliding sleeve 218 is rotatably connected to the adjusting rotating rod 220, and the top of the adjusting rotating rod 220 is rotatably connected to the 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 fixed. A first limiting roller 223 is fixedly installed, and a second supporting spring 224 is fixedly installed on one side of the two limiting side plates 204 close to the inspection guide rail 201. A second limiting roller 225 is fixedly installed on the end of the second supporting spring 224. The first limiting roller 223 and the second limiting roller 225 are both in rolling contact with the inspection guide rail 201. The elastic force of the first supporting spring 214 is used to make the supporting sliding sleeve 213 drive the supporting rotating frame 216 to slide up and down on the outside of the supporting sliding rod 212. At the same time, the elastic force of the adjusting spring 219 is used to realize the adjustment of the sliding The sleeve 218 slides on the outside of the adjustment sliding rod 217, thereby realizing the rotation of the adjustment rotating rod 220 and the supporting rotating frame 216, which can make the first limiting roller 223 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 limiting roller 225 can fit the side of the inspection guide rail 201, so that the inspection robot can move stably on the inspection guide rail 201 at the turning point, thereby improving the inspection effect of the entire inspection robot.

[0041] Working principle: Before using this kind of mine flameproof and intrinsically safe rail inspection robot, it is necessary to check the overall condition of the device to ensure that it can work normally. Figure 1 - Figure 11As shown, first, the rotating motor 103 is used to drive the rotating worm 104 to rotate, and the characteristic of the rotating worm 104 being engaged with the rotating worm wheel 105 is used to make the rotating worm wheel 105 drive the first protective cover 106 to rotate. By rotating, when the buffer protective plate 112 is impacted at any time, the impact force generated by the gravel hitting the buffer protective plate 112 can be effectively reduced, thereby improving the protective effect of the buffer protective plate 112. By connecting the protective net 113, the gap between the buffer protective plates 112 is protected to prevent gravel from hitting the first protective cover 106 through the gap and causing damage to the first protective cover 106. At the same time, the elastic force of the buffer spring 109 can be used to provide a buffering effect when the buffer protective plate 112 is impacted, thereby improving the protective effect of the buffer protective plate 112.

[0042] Secondly, the second protective cover 114 can provide secondary protection for the inspection camera 125, and the support airbag 128 inside the second protective cover 114 is used to support the support column 126 and the expansion sliding plate 118. Under the action of the expansion rotating rod 120, the fan-shaped protective plate 119 is expanded, which is convenient for the inspection camera 125 to inspect the mine. At the same time, the protective spring 122 inside the fixed sleeve 121 and the rotating protective plate 123 are used to protect the bottom of the inspection camera 125, thereby improving the service life of the inspection camera 125. When an explosion occurs in the mine, high-pressure airflow will be generated, and the high-pressure airflow will squeeze the fixed sleeve 121 and the expansion sliding plate 118 to slide upward inside the second protective cover 114, passing through the tapered needle 12 7, the support airbag 128 is punctured, and the air inside the support airbag 128 is discharged through the air vent 107. At the same time, the expansion sliding plate 118 is driven to move upward under the action of the expansion spring 117. Under the action of the expansion rotating rod 120, the fan-shaped protective plate 119 is closed, and the inspection camera 125 is stored in the interior of the second protective cover 114, thereby protecting the inspection camera 125. In the prior art, there is protection through airbags, but in this way, the airbag is ejected by collision, and the impact force generated by the explosion and the collision of gravel cannot be effectively distinguished, and the airbag will be mistakenly ejected, which is not only not conducive to the protection of the inspection camera 125, but also increases the cost of repairing the inspection camera 125 and storing the airbag.

[0043] Finally, the bidirectional driving motor 205 is used to drive the first connecting shaft 206 and the sprocket transmission assembly 207 to rotate, and the sprocket transmission assembly 207 drives the second connecting shaft 208 and the driving gear 209 to rotate. By utilizing the characteristics of the meshing connection between the driving gear 209 and the meshing rack 202, the support base 203 and the limiting side plate 204 can be moved stably and uniformly on the inspection guide rail 201, thereby improving the shooting effect of the inspection camera 125. At the same time, the elastic force of the first supporting spring 214 is used to make the supporting sliding sleeve 213 drive the supporting rotating frame 216 to slide up and down on the outside of the supporting sliding rod 212. The elastic force of the adjustment spring 219 enables the adjustment sliding sleeve 218 to slide on the outside of the adjustment sliding rod 217, thereby realizing the rotation of the adjustment rotating rod 220 and the support rotating frame 216, so that the first limiting roller 223 can 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 limiting roller 225 can fit the side of the inspection guide rail 201, so that the inspection robot can move stably on the inspection guide rail 201 at the turning point, thereby improving the inspection effect of the entire inspection robot.

[0044] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flameproof and intrinsically safe rail inspection robot for mining, comprising a protective mechanism (1) and an inspection camera (125) installed inside the protective mechanism (1); A stabilizing inspection mechanism (2) is provided on the top of the protection mechanism (1), and a bidirectional driving motor (205) is provided inside the stabilizing inspection mechanism (2); It is characterized in that Also includes: The protection mechanism (1) comprises a fixed disk (101), a rotating bracket (102) is symmetrically mounted on one side of the bottom of the fixed disk (101), a rotating motor (103) is fixedly mounted on the outer side of the rotating bracket (102) on one side, and a rotating worm (104) is fixedly connected to the output end of the rotating motor (103); One side of the rotating worm (104) is meshedly connected to a rotating worm wheel (105), the rotating worm wheel (105) is rotationally connected to the fixed disk (101), and a first protective cover (106) is fixedly installed on the outer side of the bottom of the rotating worm wheel (105); A vent hole (107) is provided on the top of the first protective cover (106), a plurality of buffer sliding rods (108) are fixedly installed inside the first protective cover (106), and a buffer spring (109) is fixedly installed in the middle of the buffer sliding rods (108); The rotating worm gear (105) is fixedly installed with a second protective cover (114) near the inside of the first protective cover (106), the inside of the second protective cover (114) is fixedly installed with an expansion sliding rod (115) around the periphery, the outside of the expansion sliding rod (115) is slidably connected with an expansion sliding sleeve (116), the top of the expansion sliding sleeve (116) is fixedly installed with an expansion sliding disk (118), the bottom of the second protective cover (114) is rotatably connected with a fan-shaped protective plate (119), the bottom of the expansion sliding disk (118) is rotatably connected with an expansion rotating rod (120), and the expansion rotating rod (120) is rotatably connected to the fan-shaped protective plate (119); The inspection camera (125) is fixedly mounted at the bottom center of the unfolding sliding disk (118), a plurality of support columns (126) are fixedly mounted on the outer side of the top of the unfolding sliding disk (118), a support airbag (128) is fixedly mounted on the top of the support column (126), and a tapered needle (127) is fixedly mounted at the top center of the unfolding sliding disk (118).

2. The flameproof and intrinsically safe rail inspection robot for mining according to claim 1, characterized in that: Both ends of the buffer sliding rod (108) close to the buffer spring (109) are slidably connected to a buffer sliding sleeve (110), the outer side of the buffer sliding sleeve (110) is rotatably connected to a buffer rotating rod (111), the end of the buffer rotating rod (111) is rotatably connected to a buffer protective plate (112), and a connecting protective net (113) is fixedly connected between the two buffer protective plates (112).

3. The flameproof and intrinsically safe rail inspection robot for mining according to claim 1, characterized in that: A fixing sleeve (121) is fixedly installed on the outer side of the bottom of the unfolding sliding disk (118), and a protective spring (122) is fixedly connected to the inner periphery of the fixing sleeve (121). The end of the protective spring (122) is fixedly connected to a rotating protective plate (123), and a connecting hinge (124) is rotatably connected to one side of the bottom of the rotating protective plate (123). The connecting hinge (124) is fixedly installed on the inner side of the bottom of the fixing sleeve (121).

4. The flameproof and intrinsically safe rail inspection robot for mining according to claim 1, characterized in that: The stable inspection mechanism (2) comprises an inspection guide rail (201), meshing racks (202) are symmetrically mounted on both sides of the bottom of the inspection guide rail (201), a support base (203) is provided at the bottom of the inspection guide rail (201), and limiting side plates (204) are symmetrically mounted on both sides of the support base (203), the bidirectional drive motor (205) is fixedly mounted on the top of the support base (203), and both sides of the output end of the bidirectional drive motor (205) are fixedly connected to a first connecting shaft (206), and the ends of the two first connecting shafts (206) are fixedly connected to a sprocket transmission assembly (207).

5. The flameproof and intrinsically safe rail inspection robot for mining according to claim 4, characterized in that: A second connecting shaft (208) is fixedly connected to the inner side of the top of the sprocket transmission assembly (207), and the ends of the two second connecting shafts (208) are fixedly connected to driving gears (209), and the driving gears (209) are meshed with the meshing rack (202). A sprocket guard (210) is fixedly installed on the outer side of the limiting side plate (204) close to the sprocket transmission assembly (207), and support grooves (211) are provided on both sides of the limiting side plate (204), and a support sliding rod (212) is fixedly installed inside the support groove (211).

6. The flameproof and intrinsically safe rail inspection robot for mining according to claim 5, characterized in that: The outer side of the support sliding rod (212) is slidably connected to a support sliding sleeve (213), a first support spring (214) is fixedly installed on 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), one side of the first adjustment support (215) is rotatably connected to a support rotating frame (216), an adjustment sliding rod (217) is fixedly installed inside the support rotating frame (216), the outer side of the adjustment sliding rod (217) is slidably connected to an adjustment sliding sleeve (218), and one side of the adjustment sliding sleeve (218) is fixedly installed with an adjustment spring (219).

7. The flameproof and intrinsically safe rail inspection robot for mining according to claim 6, characterized in that: The outer side of the adjusting sliding sleeve (218) is rotatably connected to the adjusting rotating rod (220), and the top of the adjusting rotating rod (220) is rotatably connected to the 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), and the top of the second adjusting support (222) is fixedly installed with a first limiting roller (223). The two limiting side plates (204) are fixedly installed with a second supporting spring (224) on one side close to the inspection guide rail (201). The end of the 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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