Intelligent inspection robot for mine pneumatic conveying pipeline and use method

Abstract

The present application relates to the technical field of coal mine inspection, in particular to a mine pneumatic conveying pipeline intelligent inspection robot and a use method thereof; comprising a pipeline clamping system, a pose adjusting system, an aerial flight system and an inspection sensing system; the inspection sensing system is installed on the pipeline clamping system; the pipeline clamping system is connected with the aerial flight system through the pose adjusting system; the pose adjusting system comprises a first connecting shaft, a second connecting shaft, a third connecting shaft and a connecting frame; the first connecting shaft and the second connecting shaft are hingedly connected with the third connecting shaft at the ends; the third connecting shaft is hingedly connected with the connecting frame at an end away from the second connecting shaft; the connecting frame is hingedly connected with the pipeline clamping system; the present application integrates the pipeline clamping system, the pose adjusting system, the aerial flight system and the inspection sensing system, can adapt to various complex pipeline routes in the coal mine underground, can complete the task well and improve the scene adaptability of the inspection robot.

Description

Technical Field

[0001] This invention relates to the field of coal mine inspection technology, specifically to an intelligent inspection robot for mine pneumatic conveying pipelines and its usage method. Background Technology

[0002] Coal, as my country's primary energy source, plays an irreplaceable role in ensuring national energy security and supporting industrial production. Underground gangue disposal is a crucial link in green mining and safety management, with core objectives of reducing surface stockpiling pollution, lowering transportation costs, and enhancing mine safety. However, constrained by coal mining equipment and technology, most mines in my country still require solid waste to be disposed of along with raw coal. Since gangue itself has no utilization value, mixing it with clean coal for disposal occupies the capacity of mine hoisting equipment, leading to decreased underground-to-surface transportation efficiency. Simultaneously, additional gangue transportation increases electricity consumption and equipment wear, directly pushing up the overall cost of coal production. Furthermore, the gangue after being brought to the surface needs separate disposal, which not only occupies a large amount of land, forming gangue mountains, but also poses multiple hidden dangers: gangue mountains may trigger landslides, spontaneous combustion, and other safety risks; after being washed away by rainwater, heavy metals and other pollutants can seep into the soil and water, polluting the surrounding ecological environment. To implement green mining practices… This technology, based on the concept of pneumatic conveying and its characteristics, is used for underground gangue backfilling. Compared with traditional mechanical conveying, it has significant advantages and is more suitable for complex underground environments. Relying on pipeline transmission, its flexible layout can adapt to complex terrains such as narrow spaces, bends, and elevation differences. Closed-loop conveying prevents gangue from scattering and generating dust, reducing underground dust pollution. Furthermore, the conveying volume and speed can be flexibly controlled by adjusting airflow speed and pressure to adapt to different working conditions. However, during long-term pipeline operation, wear, pressure fluctuations, and material blockages can easily lead to leaks or even explosions. Therefore, underground pipeline inspection is crucial. To address these issues, the main domestic invention patents currently include: 1. Pipeline Inspection Robot (Patent No. CN202422156731.7); 2. A Pipeline Inspection Robot (Patent No. CN202411408402.5); 3. A Pneumatic Conveying Pipeline Inspection Robot (Patent No. CN202510486152.5). However, current underground pipeline inspection methods have some problems.

[0003] a. Flight-to-attachment is difficult. The process from flight to stable attachment is complex and multi-step. Furthermore, underground coal mine pipelines are complex, making manual operation extremely difficult and prone to failure. Full automation of the entire process is necessary. b. Sensor redundancy. Traditional inspections require different equipment to handle "pipeline locating" and "pipeline detection," resulting in a complex system. Efficient reuse of a single device or sensor for multiple tasks is needed. c. Manual inspection is hazardous, risky, and inefficient. Underground mines contain numerous environmental factors harmful to human health (such as gas, dust, high temperature, and high humidity), posing a threat to inspection personnel. Additionally, manual inspection is affected by physiological limitations, leading to significant fluctuations in inspection efficiency. d. During pipeline inspections, detection components (such as ultrasonic sensors) are used to check for blockages. Because these components are fixed in position around the pipeline, they must traverse the entire pipeline diameter to perform detection, resulting in poor accuracy, especially for large-diameter pipelines. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes an intelligent inspection robot for mine pneumatic conveying pipelines and its usage method. This invention integrates a pipeline clamping system, a posture adjustment system, an aerial flight system, and an inspection perception system, enabling it to adapt to various complex pipeline routes in coal mines, perform tasks excellently, and improve the scene adaptability of the inspection robot.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The intelligent inspection robot for mine pneumatic conveying pipelines of the present invention includes a pipeline clamping system, a posture adjustment system, an aerial flight system, and an inspection and sensing system; the inspection and sensing system is installed on the pipeline clamping system; the pipeline clamping system is connected to the aerial flight system through the posture adjustment system. The posture adjustment system includes a first connecting shaft, a second connecting shaft, a third connecting shaft, and a connecting frame; the ends of the first and second connecting shafts are both hinged to the third connecting shaft; the end of the third connecting shaft away from the second connecting shaft is hinged to the connecting frame; the connecting frame is hinged to the pipe clamping system; the aerial flight system includes a flight rotor, a wing cantilever, a UAV body, a fixed frame, and outriggers; the two flight rotors are symmetrically fixed to the UAV body via the wing cantilever; the bottom of the UAV body is fixed to the outriggers via the fixed frame; the inspection and sensing system includes an ultrasonic sensor; the pipe clamping system clamps onto the outer wall of the pipe and moves with the flight of the aerial flight system.

[0006] Preferably, the pipe clamping system includes a connecting plate, a left gear, a left clamping arm, a right gear, and a right clamping arm; the connecting plate is hinged to the connecting frame; the left gear and the right gear are rotatably connected to the inner side of the connecting plate; the left clamping arm and the right clamping arm are respectively fixedly connected to the corresponding left gear and right gear; and the ultrasonic sensor is fixedly connected to the connecting plate.

[0007] Preferably, the pipe clamping system includes a hinge plate, a second motor, a second gear, a semi-circular clamp, and a semi-circular rail; the hinge plate is hinged to the connecting frame; two second gears are rotatably connected to the hinge plate and mesh with each other; one of the second gears is fixedly connected to the output shaft of the second motor; the outer wall of the second motor is fixedly connected to the hinge plate; the semi-circular clamp is hollow, with one end fixedly connected to the corresponding second gear and the other end in contact with it; one side of the semi-circular clamp is provided with a track groove; the semi-circular rail is movably connected in the corresponding track groove; the side of the semi-circular rail in contact with the bottom of the track groove. The device is equipped with an arc-shaped toothed groove; one edge of the arc-shaped toothed groove is provided with a third tooth along the arc direction; the third tooth is meshed and connected to a third gear; the center of the third gear is fixedly connected to a third toothed rod; the third toothed rod passes through the semi-arc clamp and extends to the inside of the semi-arc clamp; the third toothed rod is rotatably connected to the semi-arc clamp; the inside of the semi-arc clamp is rotatably connected to a drive rod with a drive roller; the end of the drive rod meshes with a driven bevel gear through a drive bevel gear; the driven bevel gear is fixedly connected to the third toothed rod; the ultrasonic sensor is fixedly connected to the outer surface of the semi-arc rail and faces the pipe.

[0008] Preferably, the multiple drive rollers are evenly distributed inside the two merged semi-arc clamps; the number of the third gears is consistent with the number of drive rollers; and the distance between two adjacent third gears is less than the arc length of the semi-arc rail.

[0009] Preferably, the two semi-circular clamps are in arc-shaped contact at their ends near the second gear; the ends of the two semi-circular rails are in contact after the two semi-circular clamps are joined together, and the ends of the two semi-circular rails are both set to be arc-shaped; the arc length of the semi-circular clamp is the same as the arc length of the semi-circular rail.

[0010] Preferably, an outer magnet is embedded in the middle section of the semi-circular track; an inner magnet is embedded in the middle section of the semi-circular clamp; the inner magnet and the outer magnet are magnetically attracted to each other.

[0011] Preferably, a fourth gear is fixedly connected to the end of the drive rod; the fourth gear meshes with a fifth gear; the fifth gear is rotatably connected to the inner side of the semi-circular clamp; the center of the fifth gear is fixedly connected to the center of the drive bevel gear; and the fourth gear is larger than the fifth gear.

[0012] Preferably, the outer wall of the drive roller is provided with a diameter groove along the circumference; a diameter plate is slidably connected in the diameter groove; the diameter plate is connected to the bottom of the diameter groove by a spring.

[0013] Preferably, one of the semi-circular clamps is fixedly connected to a reinforcing block at the end away from the second gear; the other semi-circular clamp is provided with a reinforcing groove at the end away from the second gear; the arc-shaped reinforcing block can be inserted into the arc-shaped reinforcing groove.

[0014] Preferably, the ultrasonic sensor has ear blocks with threaded holes fixed to both sides; the ear blocks are connected to the outer surface of the semi-circular rail by bolts.

[0015] A method for using an intelligent inspection robot for mine pneumatic conveying pipelines, applicable to the aforementioned intelligent inspection robot for mine pneumatic conveying pipelines, comprising the following steps: S1: Preparation phase. Operators input inspection task parameters via remote terminal, including the start and end points of the pipeline to be inspected, key monitoring areas, and inspection speed. After the aerial flight system is started, it will automatically perform self-checks on core components to ensure that the equipment is fault-free before it is put into operation. S2: Activation phase. The aerial flight system of the inspection robot is activated. The aerial flight system will drive the entire inspection robot to automatically inspect according to the planned path. The inspection robot uses the ultrasonic sensors of the inspection perception system to detect obstacles on the road in real time and automatically decelerate, detour or stop. S3: During the inspection phase, after the inspection robot detects the pipeline, it aligns the pipeline clamping system with the pipeline and clamps it to begin the pipeline inspection. As the ultrasonic sensor monitors the changes in the pipeline's route, the aerial flight system autonomously controls the attitude adjustment system to ensure that the aerial flight system remains parallel to the ground, and the ultrasonic sensor monitors in real time whether there are any blockages in the pipeline. S4: Alarm phase. If the ultrasonic sensor in the inspection and sensing system detects a blockage in the pipeline, the alarm unit of the inspection and sensing system will sound an alarm and use the positioning unit to locate the abnormal area.

[0016] The beneficial effects of this invention are as follows: 1. This invention integrates a pipe clamping system, a posture adjustment system, an aerial flight system, and an inspection and perception system, which can adapt to various complex pipeline routes in coal mines, perform tasks well, and improve the scene adaptability of the inspection robot.

[0017] 2. This invention enables the ultrasonic sensor to emit and receive ultrasonic waves at different positions around the circumference of the pipe during circumferential movement. By changing the detection position of the ultrasonic sensor around the pipe, the detection of pipe blockage can be made more accurate, especially overcoming the problems of insufficient detection depth and low detection accuracy in the detection of some large-diameter pipes.

[0018] 3. When one of the semi-arc rails is driven, the other semi-arc rail is also driven to move by one of the semi-arc rails. The two semi-arc rails rotate synchronously, so that multiple drive rollers roll synchronously under the transmission of the two semi-arc rails. The multiple drive rollers roll in the circumferential direction of the pipe, so that the circumferential position of the semi-arc clamp moves synchronously along the length direction of the pipe during the rolling of the multiple drive rollers. This avoids the problem of uneven driving caused by the semi-arc clamp being driven in a single position in the air flight system, and makes the semi-arc clamp stably transmitted in the length direction of the pipe. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a schematic diagram of the horizontal working state of the present invention; Figure 3 This is a schematic diagram of the vertical working state of the present invention; Figure 4 This is a perspective view of one embodiment of the pipe clamping system of the present invention; Figure 5 This is a perspective view of another embodiment of the pipe clamping system of the present invention; Figure 6 This is a position diagram of the driving bevel gear and the driven bevel gear in this invention; Figure 7 yes Figure 6 Enlarged view of point A in the middle; Figure 8 This is a perspective view of one of the semi-circular clips of the present invention; Figure 9 yes Figure 8 Enlarged view of point B in the middle; Figure 10 This is a perspective view of another semi-circular clamp of the present invention; Figure 11 This is a diagram showing the location of the track groove in this invention; Figure 12 This is a structural diagram of the arc-shaped toothed groove in this invention; Figure 13 yes Figure 12 Enlarged view of point C in the middle; Figure 14 This is a cross-sectional view of the drive roller in this invention; Figure 15 This is a flowchart of the method of the present invention.

[0021] In the diagram: Pipe clamping system 1, connecting plate 11, left gear 12, left clamping arm 13, right gear 14, right clamping arm 15, posture adjustment system 2, first connecting shaft 21, second connecting shaft 22, third connecting shaft 23, connecting frame 24, aerial flight system 3, flight rotor 31, wing cantilever 32, UAV body 33, fixed frame 34, outriggers 35, inspection and perception system 4, ultrasonic sensor 41, ear block 42, first bolt 43, hinge plate 5, second motor 51, second gear 52, semi-arc clamp 6, track groove 61, inner magnet 62, reinforcing block 63, reinforcing groove 64, semi-arc rail 7, arc-shaped tooth groove 71, third tooth 72, outer magnet 73, drive roller 8, spring 80, drive rod 81, drive bevel gear 82, driven bevel gear 83, third toothed rod 84, third gear 85, fourth gear 86, fifth gear 87, diameter groove 88, diameter plate 89. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1 to 15 As shown, the present invention includes the following embodiments: Example 1 ( Figures 1-3 A smart inspection robot for mine pneumatic conveying pipelines includes a pipeline clamping system 1, a posture adjustment system 2, an aerial flight system 3, and an inspection and sensing system 4; the inspection and sensing system 4 is installed on the pipeline clamping system 1; the pipeline clamping system 1 is connected to the aerial flight system 3 through the posture adjustment system 2. The posture adjustment system 2 includes a first connecting shaft 21, a second connecting shaft 22, a third connecting shaft 23, and a connecting frame 24; the ends of the first connecting shaft 21 and the second connecting shaft 22 are both hinged to the third connecting shaft 23; the end of the third connecting shaft 23 away from the second connecting shaft 22 is hinged to the connecting frame 24; the connecting frame 24 is hinged to the pipe clamping system 1; the aerial flight system 3 includes a flight rotor 31, a wing cantilever 32, a drone body 33, a fixed frame 34, and outriggers 35; the two flight rotors 31 are symmetrically fixed to the drone body 33 through the wing cantilever 32; the bottom of the drone body 33 is fixed to the outriggers 35 through the fixed frame 34; the inspection and sensing system 4 includes an ultrasonic sensor 41; the pipe clamping system 1 clamps onto the outer wall of the pipe and moves with the flight of the aerial flight system 3.

[0024] One end of the attitude adjustment system 2 is connected to the aerial flight system 3 via a pin, and the other end is connected to the pipe clamping system 1 via a pin. The attitude adjustment system 2 can adjust its attitude according to the changes in the aerial flight system 3, ensuring that the main body of the UAV 33 is always parallel to the ground. The flight rotor 31 of the aerial flight system 3 will drive the aerial flight system 3 to fly along the pipe direction. The aerial flight system 3 will drive the pipe clamping system 1 to move along the length of the pipe through the attitude adjustment system 2. The pipe clamping system 1 is equipped with an ultrasonic sensor 41, which can identify surrounding obstacles and detect blockages in the pipe, achieving the purpose of inspection. The inspection and sensing system 4 also includes an alarm unit and a positioning unit. The alarm unit is used to trigger an alarm after detecting a blockage in the pipe, and the positioning unit is used to mark the location of the blockage. The fixed connection in this invention is a fixed connection, including This invention integrates a pipe clamping system 1, a posture adjustment system 2, an aerial flight system 3, and an inspection and perception system 4 into one unit. It can adapt to various complex pipeline routes in coal mines, perform tasks well, and improve the scene adaptability of the inspection robot. This invention has several advantages, including the first point of inspection adaptability. The aerial flight system 3 and the pipe clamping system 1 are connected through an adjustable posture adjustment system 2, which can adjust the attitude of the UAV body 33 in the aerial flight system 3 according to different pipeline routes (horizontal, vertical, and turning), realizing flexible and autonomous alignment between the aerial flight system 3 and the pipeline, and greatly improving the docking success rate and safety. The second point of sensor redundancy is that a single ultrasonic sensor 41 is used to achieve the purpose of patrol and detection, eliminating sensor redundancy and reducing hardware complexity and cost.

[0025] Example 2 ( Figure 4 The pipe clamping system 1 includes a connecting plate 11, a left gear 12, a left clamping arm 13, a right gear 14, and a right clamping arm 15; the connecting plate 11 is hinged to the connecting frame 24; the left gear 12 and the right gear 14 are rotatably connected to the inner side of the connecting plate 11; the left clamping arm 13 and the right clamping arm 15 are respectively fixedly connected to the corresponding left gear 12 and right gear 14; the ultrasonic sensor 41 is fixedly connected to the connecting plate 11.

[0026] In this embodiment, the hinge can be a pin connection. To facilitate the opening and closing of the left clamping arm 13 and the right clamping arm 15, the end of the left gear 12 or the right gear 14 is fixedly connected to the output shaft of the first motor, and the housing of the first motor is fixedly connected to the outer wall of the connecting plate 11. Thus, by driving the first motor, the connected left gear 12 or the right gear 14 will rotate. The left gear 12 and the right gear 14 mesh and drive each other. Both the left gear 12 and the right gear 14 are rotatably connected to the inner side of the connecting plate 11. Therefore, the left clamping arm 13 and the right clamping arm 15 will open by themselves. After the left clamping arm 13 and the right clamping arm 15 surround the pipe, the first motor is controlled to reverse, so that the left clamping arm 13 and the right clamping arm 15 merge. The pipe clamping system 1 moves along the length of the pipe under the guidance of the posture adjustment system 2. The ultrasonic sensor 41 detects blockages on the inside of the pipe. Before the pipe clamping system 1 clamps the pipe, the ultrasonic sensor 41 can locate the pipe and identify and avoid surrounding obstacles during the search process, thus achieving the dual functions of navigation and detection. The inspection and sensing system 4 of this invention uses the ultrasonic sensor 41. Unlike traditional inspections that require different devices to be responsible for "locating the pipe" and "detecting the pipe", this invention achieves efficient reuse of a single device and a single sensor for multiple tasks, enabling both navigation and monitoring.

[0027] Example 3 ( Figures 5-14 The pipe clamping system 1 includes a hinge plate 5, a second motor 51, a second gear 52, a semi-arc clamp 6, and a semi-arc rail 7. The hinge plate 5 is hinged to the connecting frame 24. Two second gears 52 are rotatably connected to the hinge plate 5 and mesh with each other. One of the second gears 52 is fixedly connected to the output shaft of the second motor 51. The outer wall of the second motor 51 is fixedly connected to the hinge plate 5. The semi-arc clamp 6 is hollow, with one end fixedly connected to the corresponding second gear 52 and the other end in contact. One side of the semi-arc clamp 6 is provided with a track groove 61. The semi-arc rail 7 is movably connected in the corresponding track groove 61. The side of the semi-arc rail 7 that contacts the bottom of the track groove 61 is provided with an arc. The arc-shaped groove 71 has a third tooth 72 along one edge of its arc-shaped direction. The third tooth 72 is meshed with and connected to a third gear 85. A third gear 84 is fixedly connected to the center of the third gear 85. The third gear 84 passes through the semi-arc clamp 6 and extends to the inside of the semi-arc clamp 6. The third gear 84 is rotatably connected to the semi-arc clamp 6. A drive rod 81 with a drive roller 8 is rotatably connected to the inside of the semi-arc clamp 6. The end of the drive rod 81 meshes with a driven bevel gear 83 through a drive bevel gear 82. The driven bevel gear 83 is fixedly connected to the third gear 84. The ultrasonic sensor 41 is fixedly connected to the outer surface of the semi-arc rail 7 and faces the pipe.

[0028] In this embodiment, the multiple drive rollers 8 are evenly distributed inside the two merged semi-arc clamps 6; the number of the third gears 85 is consistent with the number of drive rollers 8; the distance between two adjacent third gears 85 is less than the arc length of the semi-arc rail 7.

[0029] After the inspection robot brings the pipe clamping system 1 close to the pipe to be inspected, the second motor 51 will operate, driving one of the second gears 52 to rotate. The two second gears 52 mesh with each other, so the meshing of one second gear 52 will drive the meshing of the other second gear 52. The second gear 52 is fixedly connected to the semi-arc clamp 6, so the rotation of the second gear 52 will drive the semi-arc clamp 6 to rotate. This causes the ends of the two semi-arc clamps 6 away from the second gear 52 to open. As the two semi-arc clamps 6 open, they will cause the connected semi-arc rails 7 to move away from each other and open, subsequently opening the two semi-arc rails... Clamp 6 is fitted onto the outer side of the corresponding pipe. Then, the second motor 51 is controlled to rotate, and the second gear 52 drives the corresponding semi-circular clamp 6 to rotate in the opposite direction. The ends of the two semi-circular clamps 6 away from the second gear 52 close and contact each other. The two semi-tracks also move closer to each other and contact each other as the semi-circular clamps 6 close. The drive roller 8 contacts the outer wall of the pipe after the two semi-circular clamps 6 close. As the inspection robot works, the aerial flight system 3 adjusts its attitude with the posture adjustment system 2 according to the pipe's conveying direction. The aerial flight system 3 drives the pipe clamping system 1 to move along the length of the pipe through the posture adjustment system 2. The hinge plate 5... This will drive the second gear 52 and the semi-arc clamp 6 to move along the length of the pipe. The semi-arc clamp 6 will drive the drive roller 8 to roll and contact the outer wall of the pipe. During the rolling process of the drive roller 8, it will drive the drive rod 81 to rotate. During the rotation of the drive rod 81, it will drive the drive bevel gear 82 to rotate. The drive bevel gear 82 will drive the meshing driven bevel gear 83 to rotate. During the rotation of the driven bevel gear 83, it will drive the third gear 84 to rotate. During the rotation of the third gear 84, the third gear 85 will rotate. The third gear 85 meshes with the third tooth 72. Therefore, during the rotation of the third gear 85, it will drive the semi-arc rail 7 to move along the track groove 61. The ultrasonic sensor 41 is fixed to the outer surface of the semi-arc rail 7. Therefore, during the movement of the semi-arc rail 7, the ultrasonic sensor 41 will move around the circumference of the pipe. The ultrasonic sensor 41 will monitor the blockage in the pipe. For the detection of some pipes with larger diameters, the ultrasonic sensor 41 can emit and receive ultrasonic waves at different positions in the circumference of the pipe when it moves around. By changing the detection position of the ultrasonic sensor 41 in the circumference of the pipe, the blockage in the pipe can be detected more accurately. In particular, it overcomes the problems of insufficient detection depth and low detection accuracy in the detection of some pipes with larger diameters.In this embodiment, multiple drive rollers 8 are in rolling contact with the pipe. During rotation, the drive rollers 8 drive their respective third gears 85 to rotate. The distance between two adjacent third gears 85 is less than the arc length of the semi-arc rail 7, allowing the semi-arc rail 7 to rotate cyclically along the two track grooves 61. As the semi-arc rail 7 rotates around the pipe, it drives the ultrasonic sensor 41 to rotate synchronously. Combined with the rotation of the drive rollers 8, the overall trajectory of the ultrasonic sensor 41 is spiral. If the pipe is blocked, the blockage location is not a single surface; that is, the blockage location has a certain span along the pipe's length. Therefore, the spiral trajectory of the ultrasonic sensor 41 can completely cover the blockage location, improving the detection range and accuracy of the ultrasonic sensor 41.

[0030] Example 4 ( Figure 5 The two semi-arc clamps 6 are in arc contact at one end near the second gear 52; the ends of the two semi-arc rails 7 are in contact after the two semi-arc clamps 6 are joined together, and the ends of the two semi-arc rails 7 are both set to be arc-shaped; the arc length of the semi-arc clamps 6 is the same as the arc length of the semi-arc rails 7.

[0031] In this embodiment, an outer magnet 73 is embedded in the middle section of the semi-arc rail 7; an inner magnet 62 is embedded in the middle section of the semi-arc clamp 6; the inner magnet 62 and the outer magnet 73 are magnetically attracted to each other.

[0032] Before the pipe clamping system 1 clamps onto the outer wall of the pipe, the inner magnets 62 on each semi-circular rail 7 magnetically attract the outer magnets 73 on the semi-circular clamp 6, stabilizing the position of the semi-circular rail 7 on the semi-circular clamp 6. Thus, before the two semi-circular clamps 6 open, the end joints of the two semi-circular rails 7 correspond to the joints of the two semi-circular clamps 6, allowing the two semi-circular clamps 6 to open smoothly. After the two semi-circular clamps surround the pipe, they are controlled to merge into a whole, and the ends of the two semi-circular rails 7 will also contact each other. As one semi-circular rail 7 is driven, the other semi-circular rail 7 will also be driven to move by the first semi-circular rail 7, and the two semi-circular rails 7 will rotate synchronously. This causes the multiple drive rollers 8 to move between the two semi-circular rails 7. The transmission is synchronized, with multiple drive rollers 8 rolling around the circumference of the pipe. This causes the semi-arc clamps 6 to move synchronously along the length of the pipe during the rolling process, avoiding uneven driving caused by a single position of the semi-arc clamps 6 in the air flight system 3. This ensures stable transmission of the semi-arc clamps 6 along the length of the pipe. After the pipe inspection is completed, the joint of the two semi-arc rails 7 is aligned with the joint of the two semi-arc clamps 6 again, allowing the two semi-arc clamps 6 to open smoothly. Furthermore, the inner magnet 62 and the outer magnet 73 can be set as electromagnets. The electromagnets are de-energized when the drive rollers 8 are rolling and energized when the drive rollers 8 stop rolling. The inner magnet 62 and the outer magnet 73 can also be permanent magnets.

[0033] Example 5 ( Figures 6-7 The fourth gear 86 is fixedly connected to the end of the drive rod 81; the fourth gear 86 meshes with the fifth gear 87; the fifth gear 87 is rotatably connected to the inner side of the semi-arc clamp 6; the center of the fifth gear 87 is fixedly connected to the center of the drive bevel gear 82; the fourth gear 86 is larger than the fifth gear 87.

[0034] As the drive roller 8 rolls along the outer wall of the pipe along its length, it drives the drive rod 81 to rotate. The rotation of the drive rod 81 drives the fourth gear 86 to rotate, which in turn drives the fifth gear 87 to rotate. The rotation of the fifth gear 87 drives the drive bevel gear 82 to rotate, which in turn drives the meshing driven bevel gear 83 to rotate. The rotation of the driven bevel gear 83 drives the third gear 84 to rotate, which in turn drives the third gear 85 to rotate. Since the third gear 85 is larger than the fourth gear 86, it can drive the semi-arc rail 7 to rotate further when the drive roller 8 rolls the same number of times. This increases the rotation ratio of the semi-arc rail 7, meaning that the semi-arc rail 7 rotates faster after the improved drive roller 8 rolls. This shortens the helical spacing of the spiral trajectory of the ultrasonic sensor 41, further improving the pipe detection accuracy.

[0035] Example 6 ( Figure 14 The outer wall of the drive roller 8 is provided with a diameter groove 88 along the circumference; a diameter piece 89 is slidably connected in the diameter groove 88; the diameter piece 89 is connected to the bottom of the diameter groove 88 by a spring 80.

[0036] Because the outer wall of the drive roller 8 is elastically provided with diameter plates 89 along the circumference, and the diameter plates 89 are pressed against the outer wall of the pipe by springs 80, the drive roller 8 can contact pipes of different diameters, thus improving the scope of application of the detection.

[0037] Example 7 ( Figures 8-10 One of the semi-circular clamps 6 is fixed to a reinforcing block 63 at the end away from the second gear 52; the other semi-circular clamp 6 is provided with a reinforcing groove 64 at the end away from the second gear 52; the arc-shaped reinforcing block 63 can be inserted into the arc-shaped reinforcing groove 64.

[0038] After one end of the semi-circular clamp 6 merges with the end of the other semi-circular clamp, the reinforcing block 63 is inserted into the reinforcing groove 64 to connect the two semi-circular clamps 6, thereby forming a whole and improving the strength of the pipe clamping system 1.

[0039] Example 8 ( Figure 5 The ultrasonic sensor 41 has ear blocks 42 with threaded holes fixed on both sides; the ear blocks 42 are connected to the outer surface of the semi-arc rail 7 by the first bolt 43, which facilitates disassembly and replacement.

[0040] Example 9 ( Figure 15 A method for using an intelligent inspection robot for mine pneumatic conveying pipelines, applicable to the aforementioned intelligent inspection robot for mine pneumatic conveying pipelines, comprising the following steps: S1: During the preparation phase, operators input inspection task parameters via remote terminal, including the starting point, ending point, key monitoring areas, and inspection speed of the pipeline being inspected; after the aerial flight system 3 is started, it will automatically perform self-checks on the core components to ensure that the equipment is fault-free before putting it into operation. S2: Activation phase. The aerial flight system 3 of the inspection robot is activated. The aerial flight system 3 will drive the entire inspection robot to automatically inspect according to the planned path. The inspection robot uses the ultrasonic sensor 41 of the inspection perception system 4 to detect obstacles on the road in real time and automatically decelerate, detour or stop. S3: During the inspection phase, after the inspection robot detects the pipeline, it aligns the pipeline clamping system 1 with the pipeline and clamps it to begin the pipeline inspection. As the ultrasonic sensor 41 monitors the changes in the pipeline's route, the aerial flight system 3 autonomously controls the attitude adjustment system 2 to ensure that the aerial flight system 3 remains parallel to the ground. The ultrasonic sensor 41 will also monitor in real time whether there is any blockage in the pipeline. S4: Alarm phase. If the ultrasonic sensor 41 in the inspection and sensing system 4 detects a blockage in the pipeline, the alarm unit of the inspection and sensing system 4 will sound an alarm and use the positioning unit to locate the abnormal area.

[0041] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent inspection robot for mine pneumatic conveying pipelines, characterized in that: It includes a pipe clamping system, a position adjustment system, an aerial flight system, and an inspection and sensing system; the inspection and sensing system is installed on the pipe clamping system; the pipe clamping system is connected to the aerial flight system through the position adjustment system; The posture adjustment system includes a first connecting shaft, a second connecting shaft, a third connecting shaft, and a connecting frame; the ends of the first and second connecting shafts are both hinged to the third connecting shaft; the end of the third connecting shaft away from the second connecting shaft is hinged to the connecting frame; the connecting frame is hinged to the pipe clamping system; the aerial flight system includes a flight rotor, a wing cantilever, a UAV body, a fixed frame, and outriggers; the two flight rotors are symmetrically fixed to the UAV body via the wing cantilever; the bottom of the UAV body is fixed to the outriggers via the fixed frame; the inspection and sensing system includes an ultrasonic sensor; the pipe clamping system clamps onto the outer wall of the pipe and moves with the flight of the aerial flight system.

2. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 1, characterized in that: The pipe clamping system includes a connecting plate, a left gear, a left clamping arm, a right gear, and a right clamping arm; the connecting plate is hinged to the connecting frame; the left gear and the right gear are rotatably connected to the inner side of the connecting plate; the left clamping arm and the right clamping arm are respectively fixedly connected to the corresponding left gear and right gear; the ultrasonic sensor is fixedly connected to the connecting plate.

3. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 1, characterized in that: The pipe clamping system includes a hinge plate, a second motor, a second gear, a semi-circular clamp, and a semi-circular rail. The hinge plate is hinged to the connecting frame. Two second gears are rotatably connected to the hinge plate and mesh with each other. One of the second gears is fixedly connected to the output shaft of the second motor. The outer wall of the second motor is fixedly connected to the hinge plate. The semi-circular clamp is hollow, with one end fixedly connected to the corresponding second gear and the other end in contact with it. One side of the semi-circular clamp has a track groove. The semi-circular rail is movably connected in the corresponding track groove. The side of the semi-circular rail in contact with the bottom of the track groove is... It has an arc-shaped toothed groove; one edge of the arc-shaped toothed groove is provided with a third tooth along the arc direction; the third tooth is meshed and connected to a third gear; the center of the third gear is fixedly connected to a third toothed rod; the third toothed rod passes through the semi-arc clamp and extends to the inside of the semi-arc clamp; the third toothed rod is rotatably connected to the semi-arc clamp; the inside of the semi-arc clamp is rotatably connected to a drive rod with a drive roller; the end of the drive rod meshes with a driven bevel gear through a drive bevel gear; the driven bevel gear is fixedly connected to the third toothed rod; the ultrasonic sensor is fixedly connected to the outer surface of the semi-arc rail and faces the pipe.

4. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 3, characterized in that: Multiple drive rollers are evenly distributed inside the two merged semi-arc clamps; the number of third gears is consistent with the number of drive rollers; the distance between two adjacent third gears is less than the arc length of the semi-arc rail.

5. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 4, characterized in that: The two semi-circular clamps are in arc-shaped contact at their ends near the second gear; the ends of the two semi-circular rails are in contact after the two semi-circular clamps are joined together, and the ends of the two semi-circular rails are both set in arc shape. The arc length of the semi-arc clamp is the same as the arc length of the semi-arc rail.

6. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 5, characterized in that: An outer magnet is embedded in the middle section of the semi-circular track; an inner magnet is embedded in the middle section of the semi-circular clamp; the inner magnet and the outer magnet are magnetically attracted to each other.

7. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 3, characterized in that: The end of the drive rod is fixedly connected to the fourth gear; the fourth gear meshes with the fifth gear; the fifth gear is rotatably connected to the inside of the semi-circular clamp; the center of the fifth gear is fixedly connected to the center of the drive bevel gear; the fourth gear is larger than the fifth gear.

8. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 3, characterized in that: The outer wall of the drive roller is provided with a diameter groove along the circumference; a diameter plate is slidably connected in the diameter groove; the diameter plate is connected to the bottom of the diameter groove by a spring.

9. The intelligent inspection robot for mine pneumatic conveying pipelines according to claim 3, characterized in that: One of the semi-circular clamps is fixed to a reinforcing block at the end away from the second gear; the other semi-circular clamp has a reinforcing groove at the end away from the second gear; the arc-shaped reinforcing block can be inserted into the arc-shaped reinforcing groove.

10. A method for using an intelligent inspection robot for mine pneumatic conveying pipelines, the method being applicable to the intelligent inspection robot for mine pneumatic conveying pipelines as described in any one of claims 1-9, characterized in that: The steps of this method are as follows: S1: Preparation phase. Operators input inspection task parameters via remote terminal, including the start and end points of the pipeline to be inspected, key monitoring areas, and inspection speed. After the aerial flight system is started, it will automatically perform self-checks on core components to ensure that the equipment is fault-free before it is put into operation. S2: Activation phase. The aerial flight system of the inspection robot is activated. The aerial flight system will drive the entire inspection robot to automatically inspect according to the planned path. The inspection robot uses the ultrasonic sensors of the inspection perception system to detect obstacles on the road in real time and automatically decelerate, detour or stop. S3: During the inspection phase, after the inspection robot detects the pipeline, it aligns the pipeline clamping system with the pipeline and clamps it to begin the pipeline inspection. As the ultrasonic sensor monitors the changes in the pipeline's route, the aerial flight system autonomously controls the attitude adjustment system to ensure that the aerial flight system remains parallel to the ground, and the ultrasonic sensor monitors in real time whether there are any blockages in the pipeline. S4: Alarm phase. If the ultrasonic sensor in the inspection and sensing system detects a blockage in the pipeline, the alarm unit of the inspection and sensing system will sound an alarm and use the positioning unit to locate the abnormal area.

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