Mining hanging rail type inspection robot wheel carrier

Abstract

The utility model discloses a mine hanging rail type inspection robot wheel carrier which comprises a controller, a control rod is fixedly arranged on the bottom face of the controller, and an inspection camera is fixedly arranged at the end, away from the controller, of the control rod. The device further comprises a sliding block, a connecting rod is fixedly arranged at the position, close to the center, of the bottom face of the sliding block, one end of the connecting rod is slidably connected with the top face of the controller, a plurality of pulleys are arranged on the inner surface of one side of the sliding block, and a rail is detachably installed on the outer surface of one side of each pulley. And each sweeping mechanism comprises a shell, a fixing base is fixedly arranged on the top face of the interior of the shell, a ball screw is slidably arranged on the bottom face of the fixing base, a sponge block is fixedly arranged at the end, away from the fixing base, of the ball screw, and the sponge blocks are matched with the sliding blocks. The mine hanging rail type inspection robot wheel carrier can automatically sweep sundries on a rail in the running process, the safety in the using process is improved, and therefore the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a wheel frame of a mine-used rail-mounted inspection robot. Background Art

[0002] A patrol robot is a robot that can autonomously patrol, detect, and monitor the operating status of equipment. It is fast, efficient, accurate, and reliable, and can greatly improve the reliability and safety of equipment operation. It can also reduce the workload and human errors of manual patrols. Patrol robots are widely used in the mining industry.

[0003] The applicant has searched the existing rail-mounted inspection robots. When in use, generally, a hanging rail is installed in advance at the place where inspection is required, so that the inspection robot can inspect different scenes along the rail, which improves the inspection efficiency. However, during the long-term use of the rail-mounted inspection robot, the internal parts are easily damaged and need to be repaired. When repairing the inspection robot, the operator needs to perform the repair at a high place for a long time, which is easy to cause fatigue and make it easy to cause safety hazards. A rail-mounted inspection robot disclosed in Chinese Patent No. CN219768261U includes a hanging rail, the outer surface of the hanging rail is movable A driving mechanism is movably sleeved, and an inspection robot is movably sleeved at the bottom of the driving mechanism. Card slots are provided on both sides of the bottom of the driving mechanism, and a groove is provided inside the inspection robot. Connecting rods are installed on both sides of the inner wall of the groove. A card block is movably sleeved on the outer surface of the connecting rod, and the top of the card block extends into the inside of the card slot. The outer surface of the card block is movably sleeved with the inner wall of the card slot, and a spring 1 is sleeved on the outer surface of the connecting rod. The two ends of the spring 1 are respectively fixedly connected to the outer side of the card block and the inner wall of the groove, so that the operator can remove the inspection robot as a whole from the bottom of the driving mechanism without the need to continuously perform maintenance at a high place, which brings convenience to the operator.

[0004] However, the applicant found that facilitating maintenance cannot increase the service life of the rail-mounted inspection robot. When used in a mine, debris adhered to the track surface can easily enter the wheel frame and damage the rail-mounted inspection robot. Even when the debris is large, it can easily cause the inspection robot to derail, resulting in low safety.

[0005] Therefore, in view of the above problems, it is necessary for the applicant to design a mining rail-mounted inspection robot wheel frame to solve the problem. Summary of the invention

[0006] The purpose of the utility model is to provide a mine-used rail-mounted inspection robot wheel frame to solve the problems mentioned in the above background technology.

[0007] To achieve the above object, the utility model provides the following technical solution: a wheel frame of a mine-use rail-mounted inspection robot, comprising a controller, a control rod is fixedly provided on the bottom surface of the controller, and an inspection camera is fixedly provided on one end of the control rod away from the controller;

[0008] It also includes: a slider, a connecting rod is fixedly arranged near the center of the bottom surface of the slider, and one end of the connecting rod away from the slider is slidably connected to the top surface of the controller, a plurality of pulleys are arranged on the inner surface of one side of the slider, and a track is detachably installed on the outer surface of one side of the plurality of pulleys, and the track is adapted to the slider;

[0009] Four cleaning mechanisms are all the same, and the cleaning mechanism comprises a shell, and one side outer surface of the shell is fixedly connected to one side outer surface of the slider, a fixed seat is fixedly arranged on the inner top surface of the shell, and a ball screw is slidably arranged on the bottom surface of the fixed seat, a sponge block is fixedly arranged on one end of the ball screw away from the fixed seat, and the sponge block is adapted to the slider.

[0010] Furthermore, a limiting groove is fixedly provided on the inner surface of one side of the shell, a limiting rod is slidably provided on the inner surface of the limiting groove along the vertical direction, a ball nut is fixedly provided on one end of the limiting rod away from the limiting groove, and the ball nut is adapted to the ball screw.

[0011] Furthermore, an extension rod is fixedly provided on the outer surface of one side of the ball nut, a rack is fixedly provided on one end of the extension rod away from the ball nut, a guide plate is slidably provided on the inner surface of one side of the rack, and the outer surface of one side of the guide plate is fixedly connected to the inner surface of one side of the shell.

[0012] Furthermore, a return spring is fixedly provided on the top surface of the rack, and one end of the return spring away from the rack is fixedly connected to the inner top surface of the shell.

[0013] Furthermore, a linkage mechanism is arranged between the inner surfaces of both sides of the shell, and the linkage mechanism includes a support rod, and the two ends of the support rod are respectively slidably connected to the inner surface of one side of the shell, and a half gear column is fixedly arranged on the outer surface of one side of the support rod, and the half gear column is adapted to the rack.

[0014] Furthermore, a control mechanism is arranged between the inner surfaces of both sides of the shell, and the control mechanism includes a fixed shaft, and the two ends of the fixed shaft are respectively slidably connected to the inner surface of one side of the shell, a roller is fixedly arranged on the outer surface of one side of the fixed shaft, and the roller is adapted to the slider, and a gear plate is fixedly arranged on the outer surface of one side of the fixed shaft, and the gear plate is adapted to the linkage mechanism.

[0015] Furthermore, a groove is provided on an outer surface of one side of the half gear column, and a linkage disk is fixedly provided on an inner surface of one side of the groove, and the linkage disk is matched with the gear disk.

[0016] Compared with the prior art, the utility model has the following beneficial effects: the wheel frame of the mine-mounted rail-mounted inspection robot can automatically clean the debris on the track during operation, which will improve the safety during use and thus increase the service life. The specific contents are as follows:

[0017] 1. A cleaning mechanism, a linkage mechanism and a control mechanism are provided. When the mining rail-mounted inspection robot is used, the controller is started to control the slider to slide along the track. When the slider moves, the roller in the control mechanism rotates, and the rotation of the roller drives the control mechanism to work. The operation of the control mechanism drives the linkage mechanism to work. The linkage mechanism will facilitate the movement of the ball nut, and the movement of the ball nut will drive the ball screw to rotate. The rotation of the ball screw will drive the sponge block to rotate, which will facilitate the cleaning of debris on the surface of the track, improve the safety of the inspection robot, and thus increase the service life of the inspection robot;

[0018] 2. A linkage mechanism and a control mechanism are provided. When the roller rotates, the roller will drive the gear plate to rotate, the gear plate will drive the linkage plate to rotate, the linkage plate will drive the half gear column to rotate, the half gear column will drive the rack to move, and the rack will reciprocate through the reset spring, so as to drive the ball nut to reciprocate, and the reciprocating movement of the ball nut will drive the sponge block to reciprocate, so as to automatically clean the debris on the track surface, with high cleaning efficiency and strong safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the slider of the utility model;

[0021] Figure 3 This is a schematic diagram of the three-dimensional cross-sectional structure of the cleaning mechanism of the utility model;

[0022] Figure 4 For this utility model Figure 3 The enlarged structural diagram at A in the middle;

[0023] Figure 5 It is a three-dimensional structural diagram of the linkage mechanism of the utility model;

[0024] Figure 6 It is a three-dimensional structural diagram of the control mechanism of the utility model.

[0025] In the figure: 1. controller; 2. cleaning mechanism; 3. linkage mechanism; 4. control mechanism; 10. control rod; 11. inspection camera; 12. connecting rod; 13. slider; 14. pulley; 15. track; 20. housing; 21. guide plate; 22. rack; 23. return spring; 24. extension rod; 25. ball nut; 26. ball screw; 27. sponge block; 28. limit rod; 29. ​​limit groove; 30. support rod; 31. half gear column; 32. groove; 33. linkage disk; 40. fixed shaft; 41. roller; 42. gear disk; 260. fixed seat. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] like Figure 1-Figure 6 As shown, the wheel frame of the mining rail-mounted inspection robot of the utility model comprises: a controller 1, a control rod 10 is fixedly arranged on the bottom surface of the controller 1, and an inspection camera 11 is fixedly arranged on the end of the control rod 10 away from the controller 1, and also comprises a slider 13, a connecting rod 12 is fixedly arranged near the center of the bottom surface of the slider 13, and the end of the connecting rod 12 away from the slider 13 is slidably connected to the top surface of the controller 1, and a plurality of pulleys 14 are arranged on the inner surface of one side of the slider 13, and a plurality of pulleys 14 are arranged on the outer surface of one side of the slider 13. The surface is disassembled and installed with a track 15, and the track 15 is adapted to the slider 13; four cleaning mechanisms 2, the four cleaning mechanisms 2 are the same, the cleaning mechanism 2 includes a shell 20, and one side outer surface of the shell 20 is fixedly connected to one side outer surface of the slider 13, a fixed seat 260 is fixedly provided on the inner top surface of the shell 20, and a ball screw 26 is slidably provided on the bottom surface of the fixed seat 260, a sponge block 27 is fixedly provided on one end of the ball screw 26 away from the fixed seat 260, and the sponge block 27 is adapted to the slider 13.

[0028] Through the above structural design, the controller 1, the control rod 10 and the inspection camera 11 are assembly components of the existing inspection robot. The controller 1 can control the slider 13 to slide on the track 15, the pulley 14 facilitates the slider 13 to slide on the track 15, and the ball screw 26 facilitates the sponge block 27 to rotate, which will facilitate the cleaning of debris on the surface of the track 15, improve the safety of the inspection robot, and thus increase the service life of the inspection robot.

[0029] A limiting groove 29 is fixedly provided on the inner surface of one side of the shell 20, and a limiting rod 28 is slidably provided on the inner surface of the limiting groove 29 along the vertical direction, and a ball nut 25 is fixedly provided on the end of the limiting rod 28 away from the limiting groove 29, and the ball nut 25 is adapted to the ball screw 26, and an extension rod 24 is fixedly provided on the outer surface of one side of the ball nut 25, and a rack 22 is fixedly provided on the end of the extension rod 24 away from the ball nut 25, and a guide plate 21 is slidably provided on the inner surface of one side of the rack 22, and the outer surface of one side of the guide plate 21 is fixedly connected to the inner surface of one side of the shell 20, and a return spring 23 is fixedly provided on the top surface of the rack 22, and the end of the return spring 23 away from the rack 22 is fixedly connected to the inner top surface of the shell 20.

[0030] Through the above-mentioned structural design, the guide plate 21 facilitates the directional movement of the rack 22, and the movement of the rack 22 facilitates the directional movement of the ball nut 25 by utilizing the limit groove 29 and the limit rod 28. When the linkage mechanism 3 contacts the rack 22, it drives the rack 22 to move, and the rack 22 drives the ball nut 25 to descend. At the same time, the reset spring 23 generates an elastic force. When the linkage mechanism 3 is away from the rack 22, the elastic force of the reset spring 23 drives the ball nut 25 to rise, so that the ball nut 25 works reciprocatingly, driving the sponge block 27 to rotate reciprocatingly and continuously, thereby automatically cleaning the debris on the surface of the track 15.

[0031] A linkage mechanism 3 is arranged between the inner surfaces of both sides of the shell 20, and the linkage mechanism 3 includes a support rod 30, and the two ends of the support rod 30 are respectively slidably connected to the inner surface of one side of the shell 20, a half gear column 31 is fixedly arranged on the outer surface of one side of the support rod 30, and the half gear column 31 is adapted to the rack 22, and a control mechanism 4 is arranged between the inner surfaces of both sides of the shell 20, the control mechanism 4 includes a fixed shaft 40, and the two ends of the fixed shaft 40 are respectively slidably connected to the inner surface of one side of the shell 20, a roller 41 is fixedly arranged on the outer surface of one side of the fixed shaft 40, and the roller 41 is adapted to the slider 13, a gear plate 42 is fixedly arranged on the outer surface of one side of the fixed shaft 40, and the gear plate 42 is adapted to the linkage mechanism 3, a groove 32 is opened on the outer surface of one side of the half gear column 31, a linkage plate 33 is fixedly arranged on the inner surface of one side of the groove 32, and the linkage plate 33 is adapted to the gear plate 42.

[0032] Through the above structural design, the rotation of the roller 41 will drive the gear plate 42 to rotate, the rotation of the gear plate 42 will drive the linkage plate 33 to rotate, the rotation of the linkage plate 33 will drive the half gear column 31 to rotate, and the rotation of the half gear column 31 will drive the rack 22 to move. Working principle: when using the wheel frame of the mining rail-mounted inspection robot, start the controller 1 to control the slider 13 to slide along the track 15. When the slider 13 moves, the roller 41 rotates, and the rotation of the roller 41 will drive the gear plate 42 to rotate. The rotation of the gear plate 42 will drive the linkage plate 33 to rotate. The rotation of the linkage plate 33 will drive the half gear column 31 to rotate. The rotation of the half gear column 31 will drive the rack 22 to move. The rack 22 drives the ball nut 25 to descend, and the reset spring 23 generates elastic force. When the linkage plate 33 is away from the rack 22, the elastic force of the reset spring 23 drives the ball nut 25 to rise, so that the ball nut 25 works reciprocatingly. The movement of the ball nut 25 will drive the ball screw 26 to rotate. The rotation of the ball screw 26 will drive the sponge block 27 to rotate, which will facilitate the automatic cleaning of debris on the surface of the track 15, improve the safety of the inspection robot, and thus increase the service life of the inspection robot.

[0033] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A wheel frame of a mine-use rail-mounted inspection robot, comprising a controller (1), a control rod (10) being fixedly arranged on the bottom surface of the controller (1), and an inspection camera (11) being fixedly arranged on one end of the control rod (10) away from the controller (1), It is characterized in that Also includes: A slider (13), wherein a connecting rod (12) is fixedly arranged near the center of the bottom surface of the slider (13), and one end of the connecting rod (12) away from the slider (13) is slidably connected to the top surface of the controller (1), a plurality of pulleys (14) are arranged on the inner surface of one side of the slider (13), and a track (15) is detachably mounted on the outer surface of one side of the plurality of pulleys (14), and the track (15) is adapted to the slider (13); Four cleaning mechanisms (2), all of which are identical. The cleaning mechanisms (2) comprise a shell (20), and one side outer surface of the shell (20) is fixedly connected to one side outer surface of a slider (13). A fixing seat (260) is fixedly arranged on the inner top surface of the shell (20), and a ball screw (26) is slidably arranged on the bottom surface of the fixing seat (260). A sponge block (27) is fixedly arranged on one end of the ball screw (26) away from the fixing seat (260), and the sponge block (27) is adapted to the slider (13).

2. The wheel frame of the mining rail-mounted inspection robot according to claim 1 is characterized in that: A limiting groove (29) is fixedly provided on the inner surface of one side of the housing (20), a limiting rod (28) is slidably provided on the inner surface of the limiting groove (29) in a vertical direction, a ball nut (25) is fixedly provided on one end of the limiting rod (28) away from the limiting groove (29), and the ball nut (25) is adapted to fit the ball screw (26).

3. The wheel frame of the mining rail-mounted inspection robot according to claim 2 is characterized in that: An extension rod (24) is fixedly provided on an outer surface of one side of the ball nut (25); a rack (22) is fixedly provided on one end of the extension rod (24) away from the ball nut (25); a guide plate (21) is slidably provided on an inner surface of one side of the rack (22); and an outer surface of one side of the guide plate (21) is fixedly connected to an inner surface of one side of the housing (20).

4. The wheel frame of the mining rail-mounted inspection robot according to claim 3 is characterized in that: A return spring (23) is fixedly arranged on the top surface of the rack (22), and one end of the return spring (23) away from the rack (22) is fixedly connected to the inner top surface of the housing (20).

5. The wheel frame of the mining rail-mounted inspection robot according to claim 3 is characterized in that: A linkage mechanism (3) is provided between the inner surfaces of both sides of the housing (20), the linkage mechanism (3) comprising a support rod (30), and both ends of the support rod (30) are respectively slidably connected to the inner surface of one side of the housing (20), and a half gear column (31) is fixedly provided on the outer surface of one side of the support rod (30), and the half gear column (31) is adapted to the rack (22).

6. The wheel frame of the mine-use rail-mounted inspection robot according to claim 5 is characterized in that: A control mechanism (4) is provided between the inner surfaces of both sides of the housing (20), the control mechanism (4) comprising a fixed shaft (40), and the two ends of the fixed shaft (40) are respectively slidably connected to the inner surface of one side of the housing (20), a roller (41) is fixedly provided on the outer surface of one side of the fixed shaft (40), and the roller (41) is matched with the slider (13), and a gear plate (42) is fixedly provided on the outer surface of one side of the fixed shaft (40), and the gear plate (42) is matched with the linkage mechanism (3).

7. The wheel frame of the mining rail-mounted inspection robot according to claim 6 is characterized in that: A groove (32) is provided on one side outer surface of the half gear column (31), a linkage disk (33) is fixedly provided on one side inner surface of the groove (32), and the linkage disk (33) is matched with the gear disk (42).

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