Intrinsic safety type mining inspection robot

Abstract

The invention provides an intrinsic safety type mining inspection robot, and belongs to the technical field of mining inspection robots, the intrinsic safety type mining inspection robot comprises a walking structure support, a bearing wheel set and an I-shaped steel rail, the I-shaped steel rail passes through the interior of the walking structure support, and the walking structure support and the bearing wheel set are fixed in a sliding groove connection mode; a sweeping structure is arranged at the top of the walking structure support, a driving structure support is arranged in the middle of the walking structure support, spring pressing and buffering devices are arranged on the left side and the right side of the driving structure support correspondingly, and the spring pressing and buffering devices are fixedly connected with the walking structure support. An intrinsic safety power module is arranged at the bottom of the driving structure support, and a driving wheel set is arranged at the top of the driving structure support. The mining intrinsic safety type explosion-proof robot is designed according to the mining intrinsic safety type explosion-proof concept, all components of the robot meet the mining intrinsic safety type explosion-proof requirement, and all modules of the robot can be small in size and light in weight.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine inspection robots, and specifically relates to an intrinsically safe mine inspection robot. Background Art

[0002] The intrinsically safe mine inspection robot conducts inspection operations in the flammable and explosive environment of coal mines. This requires great restrictions on the design of the robot. The inspection equipment and auxiliary mechanisms in coal mines must meet the requirements of "GB3836-2010".

[0003] Problems existing in existing mine inspection robots:

[0004] 1. Most mine robots adopt explosion-proof designs of flameproof and intrinsically safe types. Due to explosion-proof factors, they are large in size and heavy in weight. Therefore, the inspection robots have poor passability in narrow roadways.

[0005] 2. Due to the heavy weight of the inspection robot, it is inconvenient to transport and install underground in mines. At the same time, it has high requirements for the strength of the installation track.

[0006] 3. In terms of explosion-proof performance, the use scenarios of other types of robots are limited underground in mines. For example, they cannot be used in scenarios with high requirements for explosion-proof grades such as return air roadways.

[0007] 4. The load-bearing wheels of the robot are in hard contact with the suspended track, with a small contact area between the load-bearing wheels and the track, mostly point contact, ultimately causing the robot to shake.

[0008] 5. The robot is driven by load-bearing wheels. Due to the large amount of dust and high humidity underground in mines, the friction coefficient between the wheels and the track is reduced, resulting in the robot being prone to slipping when climbing on the track.

[0009] 6. In underground mine roadways, a large amount of scattered coal cinder and dust are likely to remain on the upper surface of the track, and it is easy to jam the robot when the robot passes through.

[0010] 7. When the robot climbs a slope, it is prone to abnormal inclination due to changes in driving force and center of gravity position.

[0011] 8. Many control devices of the robot are non-explosion-proof types and need to be installed inside an explosion-proof housing, resulting in a large volume and heavy weight of the robot.

[0012] Therefore, we propose an intrinsically safe mine inspection robot to solve the problems encountered above. Summary of the Invention

[0013] The object of the present invention is to solve the problems of large volume and heavy weight of existing robots, shaking when the robot walks on the track, resulting in unclear inspection data shooting, slipping of the robot due to dust accumulation and water mist during walking and climbing, and inability to operate normally, and to propose an intrinsically safe mine inspection robot.

[0014] The object of the present invention can be achieved by the following technical solutions: including a walking structure bracket, a load-bearing wheel set and an I-beam track, and the I-beam track passes through the inside of the walking structure bracket. The walking structure bracket and the load-bearing wheel set are fixed by a chute connection form. A cleaning structure is arranged on the top of the walking structure bracket. A driving structure bracket is arranged in the middle of the walking structure bracket. Spring pressing and buffering devices are arranged on both the left and right sides of the driving structure bracket, and the spring pressing and buffering devices are fixedly connected with the walking structure bracket. An intrinsically safe power module is arranged at the bottom of the driving structure bracket. A driving wheel set is arranged on the top of the driving structure bracket. The intrinsically safe power module and the driving wheel set are connected by a synchronous belt module for power transmission. A tensioning device is arranged on the right side of the synchronous belt module. Side guiding wheel sets are arranged at both ends of the walking structure bracket. The load-bearing wheel set and the side guiding wheel sets are in rolling connection with the I-beam track. The driving wheel set is pressed against the bottom surface of the I-beam track by the spring pressing and buffering device. A non-metallic mine protection shell is arranged at the bottom of the walking structure bracket.

[0015] As a preferred embodiment of the present invention, an intrinsically safe control system, an intrinsically safe battery, an intrinsically safe communication switch, an intrinsically safe wifi module, an intrinsically safe driving module and an intrinsically safe low battery protection module are installed inside the non-metallic mine protection shell. An intrinsically safe wireless charger is arranged in the middle of the outer side of the non-metallic mine protection shell. An intrinsically safe dual-light pan-tilt is arranged at the bottom of the non-metallic mine protection shell. A communication antenna is arranged on the left side of the non-metallic mine protection shell. A communication antenna is arranged below the left side of the non-metallic mine protection shell. An audible and visual alarm is arranged below the left side of the non-metallic mine protection shell. An auxiliary lighting module is arranged in front of the right side of the non-metallic mine protection shell.

[0016] As a preferred embodiment of the present invention, obstacle avoidance sensors are arranged on both the left and right sides of the non-metallic mine protection shell and form a certain angle with the shell. An environmental gas detection sensor is arranged at the bottom of the non-metallic mine protection shell, and the environmental gas detection sensor is connected to the outside through a hole on the non-metallic mine protection shell. A horn, an intrinsically safe RFID module, an intrinsically safe intercom module and an intrinsically safe HarmonyOS control board are arranged inside the non-metallic mine protection shell, and the horn, the intrinsically safe RFID module, the intrinsically safe intercom module and the intrinsically safe HarmonyOS control board are all located on the rear inner wall of the non-metallic mine protection shell.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] (1) By adopting the intrinsically safe explosion-proof concept for mining applications in the design, all components of the robot meet the requirements of intrinsically safe explosion-proof for mining applications, enabling each module of the robot to be small in size and light in weight.

[0019] (2) By adopting an intrinsically safe control system, intrinsically safe components can be encapsulated with mining plastics instead of metal explosion-proof enclosures, thereby reducing the size and weight of the enclosures.

[0020] (3) The overall intrinsically safe explosion-proof design for mining applications has a high explosion-proof rating, which can increase the applicable range of underground scenarios.

[0021] (4) Through reasonable structural design and the adoption of a bottom drive form, the distances between the guide wheel sets and the load-bearing wheel sets are reduced, thereby reducing the relevant dimensions and weight.

[0022] (5) By using polyurethane rollers, the contact area between the rollers and the track is increased as much as possible. At the same time, with bottom drive, the driving wheels and the track ground are pressed tightly through compression springs, enhancing the robot's rail-holding and buffering capabilities, thus solving the problems of robot running jitter and overturning during climbing.

[0023] (6) By developing drive wheels with a large coefficient of friction and roughening their surfaces, while keeping the driving force of the drive wheel sets unchanged, the clamping force of the pressing device is reduced, thereby reducing the resistance loss, so as to reduce the power consumption, size, and weight of the motor.

[0024] (7) By adopting the form of positive pressure of the drive wheel on the I-beam track bottom plate, the influence of track dust accumulation causing slippage is avoided. At the same time, by developing drive wheels with a large coefficient of friction and roughening their surfaces, the driving performance is enhanced and the slippage factor is reduced.

[0025] (8) Due to the small mass and volume of the robot body, the center of gravity of the equipment is closer to the I-beam track, which can effectively reduce the jitter of the robot caused by the large distance between the center of gravity and the track.

[0026] (9) The robot is equipped with a cleaning structure to clean the coal and ash accumulated on the upper part of the track, removing the obstacles on the running track of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0028] Figure 1 It is a schematic structural diagram of the walking structure bracket of the present invention;

[0029] Figure 2 It is the front view of the non-metallic mining protective housing of the present invention;

[0030] Figure 3The left view of the explosion-proof enclosure for non-metallic mines of the present invention;

[0031] Figure 4 The rear view of the explosion-proof enclosure for non-metallic mines of the present invention.

[0032] In the figure: 1. Walking structure support; 2. Load-carrying wheel set; 3. Cleaning structure; 4. Driving structure support; 5. Spring pressing buffer device; 6. Intrinsically safe power module; 7. Driving wheel set; 8. Synchronous belt module; 9. Tensioning device; 10. Side guiding wheel set; 11. I-beam track; 12. Explosion-proof enclosure for non-metallic mines; 13. Intrinsically safe control system; 14. Intrinsically safe battery; 15. Intrinsically safe communication switch; 16. Intrinsically safe wifi module; 17. Intrinsically safe driving module; 18. Intrinsically safe low battery protection module; 19. Intrinsically safe wireless charger; 20. Intrinsically safe dual-light pan-tilt; 21. Communication antenna; 22. Acousto-optic alarm; 23. Auxiliary lighting module; 24. Obstacle avoidance sensor; 25. Ambient gas detection sensor; 26. Speaker; 27. Intrinsically safe RFID module; 28. Intrinsically safe intercom module; 29. Intrinsically safe Harmony control board. Specific embodiments

[0033] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of 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.

[0034] Embodiment: Please refer to Figure 1 - Figure 4 As shown, an intrinsically safe mine inspection robot includes a walking structure support 1, a load-carrying wheel set 2 and an I-beam track 11, and the I-beam track 11 passes through the inside of the walking structure support 1. The walking structure support 1 and the load-carrying wheel set 2 are fixed by a chute connection form, and a cleaning structure 3 is arranged on the top of the walking structure support 1;

[0035] It should be noted that the setting of the cleaning structure 3 can, while the inspection robot is on inspection, the cleaning structure 3 can clean obstacles such as coal blocks and dust on the track in real time, thereby effectively removing the obstacles in a timely manner, ensuring the smooth operation of the inspection robot and improving the inspection effect of the inspection robot.

[0036] A driving structure support 4 is arranged in the middle of the walking structure support 1. Spring pressing buffer devices 5 are arranged on both the left and right sides of the driving structure support 4, and the spring pressing buffer devices 5 are fixedly connected to the walking structure support 1. An intrinsically safe power module 6 is arranged at the bottom of the driving structure support 4, and a driving wheel set 7 is arranged at the top of the driving structure support 4. The intrinsically safe power module 6 and the driving wheel set 7 are connected by a synchronous belt module 8 for power transmission. A tensioning device 9 is arranged on the right side of the synchronous belt module 8. Side guiding wheel sets 10 are arranged at both ends of the walking structure support 1. The load wheel set 2 and the side guiding wheel sets 10 are connected to the I-beam track 11 by rolling. The driving wheel set 7 is pressed against the bottom surface of the I-beam track 11 by the spring pressing buffer device 5. A non-metallic mine protection shell 12 is arranged at the bottom of the walking structure support 1;

[0037] It should be noted that by arranging the walking structure support 1 to be slidably installed on the I-beam track 11, when this inspection robot is working, the I-beam track 11 limits the inspection robot, so that the inspection robot can only move on the track laid by the I-beam track 11, and can perform inspections on a preset fixed path, avoiding the random movement of the inspection robot from affecting the inspection quality.

[0038] An intrinsically safe control system 13, an intrinsically safe battery 14, an intrinsically safe communication switch 15, an intrinsically safe wifi module 16, an intrinsically safe driving module 17 and an intrinsically safe low battery protection module 18 are installed inside the non-metallic mine protection shell 12. The setting of the intrinsically safe battery 14 can provide power for the electrical components inside the inspection robot, so that it does not need to be connected to an external power source, which is convenient for the use of the inspection robot. The intrinsically safe low battery protection module 18 can timely interrupt the work of the inspection robot when the power of the intrinsically safe battery 14 is too low, avoiding damage to the electrical components inside the inspection robot easily caused by continuing to work with too low power, and improving the service life of the inspection robot. An intrinsically safe wireless charger 19 is arranged in the middle of the outer side of the non-metallic mine protection shell 12. An intrinsically safe dual-light pan-tilt 20 is arranged at the bottom of the non-metallic mine protection shell 12. A communication antenna 21 is arranged on the left side of the non-metallic mine protection shell 12. A communication antenna 21 is arranged below the left side of the non-metallic mine protection shell 12. Through the communication antenna 21 and the intrinsically safe wifi module 16, external information can be quickly received, and then the inspection robot can be adjusted according to the received information. An audible and visual alarm 22 is arranged below the left side of the non-metallic mine protection shell 12. The setting of the audible and visual alarm 22 can timely give an alarm when the inspection robot has an accident, so that the staff can receive the signal in time and process it. An auxiliary lighting module 23 is arranged in front of the right side of the non-metallic mine protection shell 12. The auxiliary lighting module 23 can provide a light source for the inspection robot, making the inspection effect of the water droplet inspection robot better;

[0039] Obstacle avoidance sensors 24 are provided on both the left and right sides of the non-metallic mine protection shell 12 and form a certain angle with the shell. An environmental gas detection sensor 25 is provided at the bottom of the non-metallic mine protection shell 12, and the environmental gas detection sensor 25 is connected to the outside through a hole on the non-metallic mine protection shell 12, enabling the environmental gas detection sensor 25 to detect the air under the coal mine, thereby facilitating the staff to understand the air state under the coal mine. Inside the non-metallic mine protection shell 12, there are a horn 26, an intrinsically safe RFID module 27, an intrinsically safe intercom module 28, and an intrinsically safe HarmonyOS control board 29, and the horn 26, the intrinsically safe RFID module 27, the intrinsically safe intercom module 28, and the intrinsically safe HarmonyOS control board 29 are all located on the rear inner wall of the non-metallic mine protection shell 12;

[0040] It should be noted that the overall inspection robot is designed according to the intrinsically safe mine explosion-proof standard. It conducts inspections in environments such as substations, belt conveyors, pump rooms, and return airways under the coal mine, with good adaptability and strong passability, and has excellent inspection effects. Moreover, the overall inspection robot adopts an intrinsically safe mine compact modular design, with a small occupied space and a light weight. The overall weight of the inspection robot is less than 15 kg. The center of gravity of this inspection robot is designed to be relatively close to the bottom surface of the track. And by means of pressing the driving wheel set 7 against the bottom surface of the track with a spring and adopting a relatively soft load-bearing wheel form, the shaking of the inspection robot can be effectively reduced. At the same time, the setting of the spring pressing buffer device 5 enables the inspection robot to effectively absorb shock, avoid slipping and tilting phenomena, and has characteristics such as stable climbing operation and a large climbing angle. The climbing angle is as high as 25°, enabling the inspection robot to achieve the effects of full-automatic inspection, quantitative detection, and early warning of dangerous abnormalities.

[0041] When the present invention is in use, during the inspection under the coal mine, the inspection robot can move along the path fixedly set on the I-beam track 11 to conduct inspections under the coal mine. During the movement of the inspection robot, the cleaning structure 3 on its top can clean obstacles such as coal blocks and dust on the track in real time, effectively removing the obstacles in a timely manner, ensuring the smooth operation of the inspection robot. And the spring pressing buffer device 5 can effectively absorb shock during the movement of the inspection robot, thereby effectively reducing the shaking of the inspection robot, avoiding slipping and tilting phenomena, enabling the inspection robot to conduct automatic and quantitative inspections, and when dangerous abnormalities occur during the inspection process, giving an early warning through the sound and light alarm 22.

[0042] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An intrinsically safe mine inspection robot, comprising a walking structure support (1), a load-bearing wheel set (2) and an I-beam track (11), and the I-beam track (11) passes through the inside of the walking structure support (1), characterized in that, The walking structure bracket (1) is fixed to the load-bearing wheel set (2) through a chute connection form. A cleaning structure (3) is provided at the top of the walking structure bracket (1). A driving structure bracket (4) is provided in the middle of the walking structure bracket (1). Spring pressing and buffering devices (5) are provided on both the left and right sides of the driving structure bracket (4), and the spring pressing and buffering devices (5) are fixedly connected to the walking structure bracket (1). An intrinsically safe power module (6) is provided at the bottom of the driving structure bracket (4). A driving wheel set (7) is provided at the top of the driving structure bracket (4). The intrinsically safe power module (6) and the driving wheel set (7) are connected by a synchronous belt module (8) for power transmission. A tensioning device (9) is provided on the right side of the synchronous belt module (8). Side guiding wheel sets (10) are provided at both ends of the walking structure bracket (1). The load-bearing wheel set (2) and the side guiding wheel sets (10) are connected to the I-beam track (11) through rolling connections. The driving wheel set (7) is pressed against the bottom surface of the I-beam track (11) through the spring pressing and buffering device (5). A non-metallic mine protection shell (12) is provided at the bottom of the walking structure bracket (1).

2. The intrinsically safe mine inspection robot according to claim 1, characterized in that An intrinsically safe control system (13), an intrinsically safe battery (14), an intrinsically safe communication switch (15), an intrinsically safe wifi module (16), an intrinsically safe driving module (17), and an intrinsically safe low battery protection module (18) are installed inside the non-metallic mine protection shell (12). An intrinsically safe wireless charger (19) is provided in the middle of the outer side of the non-metallic mine protection shell (12). An intrinsically safe dual-light pan-tilt (20) is provided at the bottom of the non-metallic mine protection shell (12). A communication antenna (21) is provided on the left side of the non-metallic mine protection shell (12). A communication antenna (21) is provided below the left side of the non-metallic mine protection shell (12). An audible and visual alarm (22) is provided below the left side of the non-metallic mine protection shell (12). An auxiliary lighting module (23) is provided in front of the right side of the non-metallic mine protection shell (12).

3. The intrinsically safe mine inspection robot according to claim 2, characterized in that, Obstacle avoidance sensors (24) are provided on both the left and right sides of the non-metallic mine protection shell (12) and form a certain angle with the shell. An environmental gas detection sensor (25) is provided at the bottom of the non-metallic mine protection shell (12), and the environmental gas detection sensor (25) is connected to the outside through a hole on the non-metallic mine protection shell (12).

4. The intrinsically safe mine inspection robot according to claim 3, characterized in that, A horn (26), an intrinsically safe RFID module (27), an intrinsically safe intercom module (28), and an intrinsically safe HarmonyOS control board (29) are also provided inside the non-metallic mine protection shell (12), and the horn (26), the intrinsically safe RFID module (27), the intrinsically safe intercom module (28), and the intrinsically safe HarmonyOS control board (29) are all located on the rear inner wall of the non-metallic mine protection shell (12).

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