An intelligent inspection robot device for gas fire prevention

Abstract

The application discloses an intelligent inspection robot device for gas fire prevention, and relates to the technical field of coal mine safety, comprising a track configured as a plurality of tracks and installed on the top of a mine shaft; a first frame and a second frame, both of which are installed on the track through driving assemblies, and the first frame and the second frame are hinged through a hinge shaft; a detector fixed on the side of the first frame away from the second frame and facing the direction of the track to detect the offset between the plurality of tracks; and a detection assembly installed on the first frame. The hinge connection of the first frame and the second frame reduces the turning radius of the device, so that the device can pass through smaller curves and adapt to the sharp turning working condition of the mine shaft.

Description

Technical Field

[0001] This invention relates to the field of coal mine safety technology, specifically to an intelligent inspection robot device for the prevention and control of gas fires. Background Technology

[0002] Coal mine inspection robots are intelligent devices designed specifically for the complex environment of underground coal mines. They aim to replace or assist manual labor in safety monitoring, equipment inspection, and environmental data collection, significantly reducing personnel safety risks and improving inspection efficiency and accuracy. For complex coal mine terrain, track-mounted inspection robots are generally used, which can be directly installed on the top of the mine to carry out stable inspection work.

[0003] Existing track inspection robots have a small range when detecting gas in mines, and cannot cover the bottom of the mine. In addition, the track is composed of multiple segments, which can cause misalignment at the joints over time, making the inspection robot prone to derailment. Furthermore, the current track inspection robots have a large turning radius, making them unsuitable for inspecting smaller mines.

[0004] To address the above problems, this invention provides an intelligent inspection robot device for gas fire prevention and control, thereby solving the aforementioned issues. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent inspection robot device for gas fire prevention, comprising multiple tracks, installed on the top of a mine; Both the first frame and the second frame are mounted on the track using drive components, and the first frame and the second frame are hinged together by a hinge shaft. The detector is fixed on the side of the first frame away from the second frame, and the detector faces the direction of the track to detect the offset between multiple tracks; The detection component is mounted on the first frame.

[0006] Further, preferably, the detection component includes: Two mounting brackets are configured and symmetrically fixed to the first frame; The rotating motor is fixed between the two fixing frames; The rotating shaft is rotatably mounted between the two fixed frames and is connected to the rotating motor by a synchronous belt drive. A detection rod is fixed on the rotating shaft, and the detection rod has multiple detection holes. The alarm is fixed to the detection rod.

[0007] Further, preferably, the driving component includes: The drive bay is fixed within the first frame; A fixing plate is fixed inside the drive compartment; The drive motor is fixed to the lower end face of the fixed plate; Two support plates are configured and symmetrically fixed to the upper end face of the fixed plate; The side adjustment components are configured as four, and are symmetrically fixed on both sides of the support plate; The lower adjustment components are configured as two, symmetrically fixed to the fixed plate; Two drive wheels are configured to rotate on the side of the support plate that is close to each other.

[0008] Furthermore, preferably, a linkage frame is fixed to the lower end face of the fixed plate, and a linkage shaft is rotatably arranged inside the linkage frame. One end of the linkage shaft is connected to the drive motor, and the two ends of the linkage shaft are connected to two drive wheels respectively by synchronous belts.

[0009] Further, preferably, both the side adjustment assembly and the bottom adjustment assembly include: The adjusting cylinder is fixed to the support plate; The adjusting bracket is fixed on the output shaft of the adjusting cylinder. The support wheel is rotatably mounted inside the adjustment frame.

[0010] Furthermore, preferably, the axis of the support wheel of the side adjustment component is vertical, the axis of the support wheel of the lower adjustment component is horizontal, and the outer wall of the support wheel is in contact with the outer wall of the track.

[0011] Further, preferably, the drive wheel includes: The wheel body is rotatably mounted on the support plate; Multiple sliding blocks are configured and arranged circumferentially on the wheel body; Multiple guide posts are configured and fixed on the sliding block and slidably connected to the wheel body. A return spring is sleeved on the outer wall of the guide post.

[0012] Furthermore, preferably, the outer wall curvature of the sliding block is the same as the curvature of the wheel body. When the return spring is in an unforced state, the multiple sliding blocks and the wheel body together form a circular wheel.

[0013] Compared with the prior art, the present invention provides an intelligent inspection robot device for gas fire prevention and control, which has the following beneficial effects: In this invention, the turning radius of the equipment is reduced by hinged first and second frames, enabling it to pass through smaller bends and adapt to the sharp bends in mine roadways. Through the synergistic action of the side adjustment components and the bottom adjustment components, the support wheel presses against the side wall and bottom surface of the track in real time. Combined with the elastic structure of the drive wheel, the equipment can tolerate the lateral and vertical misalignment of the track, greatly reducing the risk of derailment. Furthermore, the equipment moves intermittently. After moving to a set distance, the motor is rotated to make the detection rod vertically downward, realizing the detection area centered on the equipment and greatly reducing the detection blind spot at the bottom of the track. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of an intelligent inspection robot device for gas fire prevention. Figure 2 This is a schematic diagram of the overall structure of the detection component of an intelligent inspection robot device for gas fire prevention; Figure 3 This is a schematic diagram of the drive component structure of an intelligent inspection robot device for gas fire prevention. Figure 4 This is a schematic diagram of the side adjustment component of an intelligent inspection robot device for gas fire prevention; Figure 5 A schematic diagram of the drive wheel of an intelligent inspection robot device for gas fire prevention; In the diagram: 1. Track; 2. First frame; 21. Hinge shaft; 3. Second frame; 4. Drive assembly; 41. Drive compartment; 42. Fixing plate; 43. Drive motor; 44. Support plate; 45. Side adjustment assembly; 46. Lower adjustment assembly; 47. Drive wheel; 451. Adjustment cylinder; 452. Output shaft; 453. Adjustment frame; 454. Support wheel; 471. Wheel body; 472. Sliding block; 473. Guide column; 474. Return spring; 5. Detector; 6. Detection assembly; 61. Fixing frame; 62. Rotating motor; 63. Rotating shaft; 64. Detection rod; 65. Detection hole; 66. Alarm. Detailed Implementation

[0015] Reference Figures 1-5 The present invention provides a technical solution: an intelligent inspection robot device for gas fire prevention and control, including a track 1, which is configured in multiple ways and installed on the top of the mine; The first frame 2 and the second frame 3 are both mounted on the track 1 using a drive assembly 4, and the first frame 2 and the second frame 3 are hinged together by a hinge shaft 21. Detector 5 is fixed on the side of the first frame 2 away from the second frame 3, and the detector 5 faces the direction of the track 1 to detect the offset between multiple tracks 1; The detection component 6 is installed on the first frame 2.

[0016] The turning radius of the equipment is reduced by hinged first frame 2 and second frame 3, which enables it to pass through smaller bends and adapt to the sharp bends in mine roadways. The equipment moves towards first frame 2. During movement, the transverse and vertical misalignment of the track is visually detected by detector 5, and then the corresponding drive adjustment is performed by drive component 4.

[0017] It should be noted that the hinged positions of the first frame 2 and the second frame 3 can slide relative to each other. In other words, the relative sliding can cause the first frame 2 and the second frame 3 to undergo vertical displacement, which is convenient for adapting to the vertical misalignment.

[0018] In this embodiment, the detection component 6 includes: Two fixing brackets 61 are configured and symmetrically fixed to the first frame 2; The rotating motor 62 is fixed between the two fixing brackets 61; The rotating shaft 63 is rotatably mounted between the two fixed frames 61 and is driven by a synchronous belt to the rotating motor 62; The detection rod 64 is fixed on the rotating shaft 63, and the detection rod 64 is provided with a plurality of detection holes 65; The alarm 66 is fixed on the detection rod 64.

[0019] It should be noted that the drive component 4 moves intermittently. After moving to a set distance, the motor 62 is rotated to make the detection rod 64 vertically downward, realizing the detection area centered on the equipment and greatly reducing the detection blind spot at the bottom of the track 1. When moving, the detection rod 64 is in a horizontally retracted state to avoid affecting the mine. When the gas concentration exceeds the standard, the alarm 66 can respond in time to carry out ventilation and prevent the gas concentration from being too high and causing a fire.

[0020] In this embodiment, the driving component 4 includes: Drive bay 41 is fixed within the first frame 2; The fixing plate 42 is fixed inside the drive compartment 41; The drive motor 43 is fixed to the lower end face of the fixed plate 42; Two support plates 44 are configured and symmetrically fixed to the upper end surface of the fixing plate 42; Four side adjustment components 45 are configured and symmetrically fixed on both sides of the support plate 44. Two lower adjustment components 46 are configured and symmetrically fixed on the fixed plate 42; Two drive wheels 47 are configured to rotate on the side of the support plate 44 that are close to each other.

[0021] In a preferred embodiment, a linkage frame is fixed to the lower end face of the fixing plate 42, and a linkage shaft is rotatably arranged inside the linkage frame. One end of the linkage shaft is driven by the drive motor 43, and the two ends of the linkage shaft are connected to two drive wheels 47 respectively by synchronous belts.

[0022] In other words, the linkage shaft enables the two drive wheels 47 to rotate synchronously, thereby improving the stability of the equipment during movement.

[0023] In a preferred embodiment, both the side adjustment assembly 45 and the bottom adjustment assembly 46 include: Adjusting cylinder 451 is fixed on the support plate 44; Adjustment bracket 453 is fixed on the output shaft 452 of the adjustment cylinder 451; The support wheel 454 is rotatably mounted inside the adjusting frame 453.

[0024] When track 1 is laterally misaligned, the support wheel 454 in the side adjustment component 45, which is closer to the forward direction, moves horizontally first to clamp the misaligned track 1 laterally. Then, when the drive wheel 47 moves onto the misaligned track, the rear support wheel 454 moves horizontally, thereby moving the entire device onto the misaligned track 1. When both the first frame 2 and the second frame 3 have moved onto the misaligned track 1, multiple support wheels 454 are simultaneously driven to reset, so that the first frame 2 and the second frame 3 are once again in the middle position of track 1, thus completing the adjustment of the lateral misalignment.

[0025] In a preferred embodiment, the axis of the support wheel 454 of the side adjustment component 45 is vertical, the axis of the support wheel 454 of the lower adjustment component 46 is horizontal, and the outer wall of the support wheel 454 is in contact with the outer wall of the track 1.

[0026] In a preferred embodiment, the drive wheel 47 includes: The wheel body 471 is rotatably mounted on the support plate 44; Multiple sliding blocks 472 are configured and arranged circumferentially on the wheel body 471; Multiple guide posts 473 are configured and fixed on the sliding block 472 and slidably connected to the wheel body 471. A return spring 474 is sleeved on the outer wall of the guide post 473.

[0027] In a preferred embodiment, the outer wall curvature of the sliding block 472 is the same as the curvature of the wheel body 471. When the return spring 474 is in a non-forced state, the multiple sliding blocks 472 and the wheel body 471 together form a circular wheel.

[0028] When track 1 is vertically misaligned, the support wheel 454 in the lower adjustment component 46, located in the forward direction, is raised or lowered to fit the bottom of the misaligned track 1. Then, the drive wheel 47 moves towards the misaligned track 1. After moving to the misaligned position, the edge of the misaligned track 1 presses against the sliding block 472, thereby forming an engagement state between the wheel body 471 and the misaligned track 1. This allows the drive wheel 47 to climb onto the misaligned track (when the misaligned track 1 is higher than the normal track) in conjunction with the support wheel 454. Then, the support wheel 454 located at the rear fits against the misaligned track 1, completing the adjustment.

[0029] It should be noted that when the drive wheel 47 climbs, the support wheel 454, which first contacts the misaligned track 1, is adjusted in height by adjusting the cylinder 451, so that the track 1 can be clamped by the drive wheel 47 and the support wheel 454.

[0030] Specifically, by hinged first frame 2 and second frame 3, the turning radius of the equipment is reduced, enabling it to pass through smaller bends and adapt to the sharp bends in mine roadways. Through the synergistic action of side adjustment component 45 and lower adjustment component 46, support wheel 454 presses the side wall and bottom surface of track 1 in real time. Combined with the elastic structure of drive wheel 47, the equipment can tolerate the lateral and vertical misalignment of track 1, greatly reducing the risk of derailment. Moreover, the equipment moves intermittently. Whenever it moves to a set distance, the detection rod 64 is turned vertically downward by rotating motor 62, realizing the detection area centered on the equipment and greatly reducing the detection blind zone at the bottom of track 1.

[0031] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent inspection robot device for gas fire prevention, characterized in that: include: Tracks (1), configured in multiples, are installed at the top of the mine shaft; The first frame (2) and the second frame (3) are both mounted on the track (1) using a drive assembly (4), and the first frame (2) and the second frame (3) are hinged together by a hinge shaft (21). The detector (5) is fixed on the side of the first frame (2) away from the second frame (3) and the detector (5) faces the track (1) to detect the offset between multiple tracks (1); The detection component (6) is installed on the first frame (2); The driving component (4) includes: The drive bay (41) is fixed inside the first frame (2); A fixing plate (42) is fixed inside the drive compartment (41); The drive motor (43) is fixed to the lower end face of the fixed plate (42); The support plate (44) is configured as two, and is symmetrically fixed to the upper end surface of the fixing plate (42); The side adjustment components (45) are configured as four, and are symmetrically fixed on both sides of the support plate (44); The lower adjustment components (46) are configured as two and symmetrically fixed on the fixed plate (42); Two drive wheels (47) are configured to rotate on the side of the support plate (44) that are close to each other; The drive wheel (47) includes: The wheel body (471) is rotatably mounted on the support plate (44); Multiple sliding blocks (472) are configured and arranged circumferentially on the wheel body (471); Multiple guide posts (473) are configured to be fixed on the sliding block (472) and slidably connected to the wheel body (471). A return spring (474) is sleeved on the outer wall of the guide post (473).

2. The intelligent inspection robot device for gas fire prevention and control according to claim 1, characterized in that: The detection component (6) includes: The fixing brackets (61) are configured as two, symmetrically fixed on the first frame (2); The rotating motor (62) is fixed between the two fixing brackets (61); The rotating shaft (63) is rotatably disposed between the two fixed frames (61) and is driven by a synchronous belt with the rotating motor (62); The detection rod (64) is fixed on the rotating shaft (63), and the detection rod (64) is provided with a plurality of detection holes (65). An alarm (66) is fixed on the detection rod (64).

3. The intelligent inspection robot device for gas fire prevention and control according to claim 1, characterized in that: The lower end face of the fixed plate (42) is fixed with a linkage frame, and a linkage shaft is rotatably arranged inside the linkage frame. One end of the linkage shaft is driven by the drive motor (43), and the two ends of the linkage shaft are connected to two drive wheels (47) respectively by synchronous belts.

4. The intelligent inspection robot device for gas fire prevention and control according to claim 1, characterized in that: Both the side adjustment assembly (45) and the bottom adjustment assembly (46) include: The adjusting cylinder (451) is fixed on the support plate (44); An adjusting bracket (453) is fixed on the output shaft (452) of the adjusting cylinder (451); The support wheel (454) is rotatably mounted inside the adjusting frame (453).

5. The intelligent inspection robot device for gas fire prevention and control according to claim 4, characterized in that: The axis of the support wheel (454) of the side adjustment component (45) is vertical, the axis of the support wheel (454) of the lower adjustment component (46) is horizontal, and the outer wall of the support wheel (454) is in contact with the outer wall of the track (1).

6. The intelligent inspection robot device for gas fire prevention and control according to claim 1, characterized in that: The outer wall curvature of the sliding block (472) is the same as that of the wheel body (471). When the reset spring (474) is not under force, the multiple sliding blocks (472) and the wheel body (471) together form a circular wheel.

Images