Inspection device for underground hydraulic support

Abstract

The utility model relates to an inspection device used on an underground hydraulic support, a deformation connecting mechanism is connected between I-shaped rigid rails, the deformation connecting mechanism comprises a telescopic shield and a deformation rod piece installed in the telescopic shield, and the deformation rod piece comprises a telescopic rod and universal joints connected to the two ends of the telescopic rod. The angle and length changes, required by a moving frame and a lifting frame of the underground hydraulic support, of the track can be transmitted to the deformation connecting mechanism through the I-shaped steel track, the deformation connecting mechanism conducts adaptive bending deformation and telescopic deformation, and therefore the inspection device is suitable for the underground coal mine working environment with the deformation requirement for the track. In addition, the supporting wheels of the inspection robot of the inspection device can walk on the upper surface of the lower transverse plate of the I-shaped steel rail and the horizontal section of the step part of the telescopic protective cover, and the driving wheels can walk on the side surface of the vertical plate of the I-shaped steel rail and the vertical section of the step part of the telescopic protective cover, so that it is guaranteed that the inspection robot can smoothly pass through the deformation connecting mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of patrol inspection devices, in particular to a patrol inspection device used on an underground hydraulic support. Background Art

[0002] The underground mechanized coal mining face (referred to as the comprehensive mining face) of a coal mine has a combination of supporting equipment such as coal mining machines, scraper conveyors, and hydraulic supports. There are many pieces of equipment, complex environments, and harsh working conditions. The comprehensive mining face of a coal mine is also a frequent site for underground accidents such as roof collapse, water seepage, and gas and coal dust explosions, and the work is highly dangerous. The above factors increase the difficulty of manual inspections of the comprehensive mining face in underground coal mines and the risk of personal safety. In order to replace the inspection personnel to perform the inspection tasks, the inspection device with an inspection robot is currently being used to carry out the inspection of the comprehensive mining face.

[0003] The inspection device of the fully mechanized mining face in underground coal mines usually includes a track and an inspection robot installed on the track. The track is installed on the underground hydraulic support, scraper conveyor or other locations. The inspection robot equipped with sensors, cameras and other equipment completes the inspection task of the fully mechanized mining face along the track. The structural forms of the track are roughly wire rope track and I-beam track. For the wire rope track, the inspection robot is easy to shake and has poor stability when walking along the wire rope, and the inspection robot is required to have the obstacle avoidance ability to cross the fixed mechanism between the wire rope and the installation equipment such as the hydraulic support. Compared with the wire rope track, the inspection robot has good stability and smooth operation when walking along the I-beam track, and the obstacle avoidance ability of the inspection robot is not high, but the I-beam track cannot be used in the working environment where the track needs to be deformed. For the inspection device used on the underground hydraulic support, the frequent shifting and lifting of the hydraulic support requires the track installed on it to have a certain flexibility and deformation. The conventional I-beam track cannot be deformed, resulting in the inspection device using the I-beam track not being suitable for installation on the underground hydraulic support. Utility Model Content

[0004] The utility model aims to provide an inspection device for an underground hydraulic support, so as to solve the technical problem that the existing inspection device using an I-beam track cannot be applied to a working environment where the track has a deformation requirement.

[0005] The technical problem solved by the utility model can be achieved by adopting the following scheme: an inspection device for underground hydraulic support, comprising a track and an inspection robot walking on the track, characterized in that: the track comprises an I-shaped rigid rail and a deformable connection mechanism connected between the I-shaped rigid rails, the deformable connection mechanism comprises a cover plate fixedly connected to the I-shaped rigid rail, a telescopic shield connected between two cover plates, and a deformable rod installed in the telescopic shield, a step portion is formed on the telescopic shield, a horizontal section of the step portion is connected between the upper surfaces of the lower horizontal plate of the I-shaped rigid rail, and a vertical section of the step portion is connected between the side surfaces of the vertical plates of the I-shaped rigid rail, the deformable rod comprises a telescopic rod and two deformable rod universal joints respectively connected to the two ends of the telescopic rod, and the two deformable rod universal joints are respectively connected to the two cover plates;

[0006] The inspection robot includes support wheels and driving wheels. The support wheels can run on the upper surface of the lower horizontal plate of the I-shaped rail and the horizontal section of the telescopic shield step portion, and the driving wheels can run on the side surface of the vertical plate of the I-shaped rail and the vertical section of the telescopic shield step portion.

[0007] Further: the inspection robot comprises a first lower shell and a second lower shell connected by a lower shell connecting chain, a first upper shell and a second upper shell are fixedly mounted on the first lower shell and the second lower shell respectively, a first support frame and a second support frame are fixedly mounted on the first upper shell and the second upper shell respectively, the support wheels are mounted on the first support frame and the second support frame, a first mounting plate is fixedly mounted in the space enclosed by the first lower shell and the first upper shell, and a second mounting plate connected to the first mounting plate through a mounting plate universal joint is fixedly mounted in the space enclosed by the second lower shell and the second upper shell;

[0008] The inspection robot further comprises two sets of driving wheel assemblies symmetrically arranged on both sides of the track, each set of driving wheel assemblies comprises the driving wheel arranged above the first upper shell, and the wheel axle of the driving wheel is connected to the output end of the motor mounted on the first mounting plate;

[0009] Clamping arms are respectively sleeved on the axles of the driving wheels of the two sets of driving wheel assemblies. The two clamping arms are connected by a clamping arm shaft passing through the two clamping arms. Nuts are respectively threadedly connected at both ends of the clamping arm shaft. A clamping arm spring is installed between the nut and the clamping arm. The two clamping arms are connected to the second support frame through a support frame connecting chain.

[0010] Furthermore: the first support frame and the second support frame are respectively equipped with two groups of clamping wheel assemblies symmetrically arranged on both sides of the track, each group of clamping wheel assemblies includes a clamping wheel frame connected to the first support frame or the second support frame through a clamping wheel spring, and the clamping wheel frame is equipped with a clamping wheel that can contact the side surface of the I-shaped rigid rail vertical plate and the vertical section of the telescopic shield step portion.

[0011] Further: the first support frame and the second support frame are respectively equipped with two support wheels symmetrically arranged on both sides of the track.

[0012] Furthermore: a chassis clamp is fixedly installed in the space enclosed by the first lower shell and the first upper shell, and the chassis clamp is detachably fixedly connected to the clamping arm.

[0013] Further: the axle of the driving wheel is connected to the output end of the motor through a reducer installed on the first mounting plate.

[0014] Further: the telescopic shield includes a telescopic part and a protective armor installed outside the telescopic part, and the protective armor is arranged on the step portion of the telescopic shield.

[0015] Further: the deformation connection mechanism also includes two guard plates fixedly mounted on the two cover plates respectively, the two ends of the telescopic shield are fixedly mounted on the two guard plates respectively, and the deformation rod universal joints at both ends of the deformation rod are connected to the cover plates after passing through the guard plates respectively.

[0016] Further: a protective baffle is sleeved on the deformable rod, and the protective baffle is installed inside the telescopic shield.

[0017] The utility model discloses an inspection device for underground hydraulic support, wherein a deformation connection mechanism is connected between I-shaped rigid rails, the deformation connection mechanism comprises a cover plate connected to the I-shaped rigid rail, a telescopic shield connected between the two cover plates, and a deformable rod installed in the telescopic shield, wherein the deformable rod comprises a telescopic rod and two deformable rod universal joints respectively connected at both ends of the telescopic rod. The deformation connection mechanism can be subjected to bending deformation and telescopic deformation of upward and downward displacement and leftward and rightward displacement by setting the telescopic shield, the telescopic rod, and the universal joints at both ends of the telescopic rod. Therefore, when the track is installed on the underground hydraulic support by means of suspension, the angle and length change of the track required by the moving frame and the lifting frame of the underground hydraulic support can be transmitted to the deformation connection mechanism by the I-shaped rigid rail, and the bending deformation and telescopic deformation of the deformation connection mechanism adapt to the moving frame and the lifting frame of the underground hydraulic support, so that the entire track can meet the deformation requirements of the underground hydraulic support for the track when the moving frame and the lifting frame are performed, and the inspection device using the track is suitable for the underground working environment of the coal mine where there is a deformation requirement for the track. In addition, the inspection device used on the underground hydraulic support of the utility model is formed with a step portion on the telescopic shield. The support wheels of the inspection robot can run on the upper surface of the lower horizontal plate of the I-shaped rail and the horizontal section of the step portion of the telescopic shield, and the driving wheels can run on the side surface of the vertical plate of the I-shaped rail and the vertical section of the step portion of the telescopic shield, so as to ensure that the inspection robot can smoothly pass through the deformation connection mechanism between the I-shaped rails when walking along the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a structural schematic diagram of a patrol inspection device used on an underground hydraulic support of the utility model;

[0020] Figure 2 This is a structural schematic diagram of a deformable connection mechanism of an inspection device for an underground hydraulic support of the utility model;

[0021] Figure 3 It is a cross-sectional view of a deformable connection mechanism of an inspection device for an underground hydraulic support of the utility model;

[0022] Figure 4 yes Figure 1 A local enlarged view of point A;

[0023] Figure 5 This is a structural schematic diagram of an inspection robot used for an inspection device on an underground hydraulic support of the utility model;

[0024] Figure 6 This is a schematic structural diagram from another angle of an inspection robot used for an inspection device on an underground hydraulic support of the utility model;

[0025] Figure 7 This is a cross-sectional view of an inspection robot used for an inspection device on an underground hydraulic support of the utility model;

[0026] Figure 8 This is a schematic diagram of the structure of an inspection robot for an inspection device on an underground hydraulic support of the utility model after the lower shell and part of the upper shell are removed;

[0027] Fig. 9 This is a schematic diagram of the structure of an inspection robot for an inspection device on an underground hydraulic support of the utility model after the lower shell is removed;

[0028] Main parts and numbers:

[0029] Track: 1; I-shaped rigid rail: 11; lower horizontal plate: 111; vertical plate: 112; upper horizontal plate: 113; deformable connecting mechanism: 12; cover plate: 121; telescopic shield: 122; telescopic member: 1221; protective armor: 1222; deformable rod: 123; telescopic rod: 1231; deformable rod universal joint: 1232; step part: 124; horizontal section: 1241; vertical section: 1242; guard plate: 125; protective partition: 126;

[0030] Inspection robot: 2; support wheel: 211; first support frame: 212; second support frame: 213; driving wheel: 221; wheel axle: 222; motor: 223; reducer: 224; clamping arm: 225; support frame connecting chain: 226; first lower shell: 231; second lower shell: 232; lower shell connecting chain: 233; first upper shell: 241; second upper shell: 242; first mounting plate: 251; second mounting plate: 252; mounting plate universal joint: 253; clamping arm shaft: 261; nut: 262; clamping arm spring: 263; chassis clamping plate: 264; clamping wheel: 271; clamping wheel frame: 272; clamping wheel spring: 273;

[0031] Suspension chains:3. DETAILED DESCRIPTION

[0032] In order to more clearly demonstrate the purpose, technical solutions and advantages of the present invention, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] Example

[0034] like Figure 1 As shown, the inspection device for underground hydraulic support of this embodiment includes a track 1 and an inspection robot 2 walking on the track 1. The track 1 includes an I-shaped rigid rail 11 and a deformable connection mechanism 12 connected between the I-shaped rigid rails 11. The I-shaped rigid rail 11 is a conventional I-shaped rigid rail, which includes a lower horizontal plate 111, an upper horizontal plate 113, and a vertical plate 112 fixedly connected between the lower horizontal plate 111 and the upper horizontal plate 113 and perpendicular to the lower horizontal plate 111 and the upper horizontal plate 113. The I-shaped rigid rail 11 can be suspended on the underground hydraulic support by a suspension chain 3, and can also be installed on the underground hydraulic support by other methods. Figure 2 , 3As shown, the deformable connection mechanism 12 includes a cover plate 121 fixedly connected to the I-shaped rigid rail 11, a telescopic shield 122 connected between the two cover plates 121, and a deformable rod 123 installed in the telescopic shield 122 and located between the two cover plates 121. The telescopic shield 122 is formed with a step portion 124. The horizontal section 1241 of the step portion 124 is connected between the upper surface of the lower horizontal plate 111 of the I-shaped rigid rail 11, and the vertical section 124 of the step portion 124 is connected to the upper surface of the lower horizontal plate 111 of the I-shaped rigid rail 11. 42 is connected between the side surfaces of the vertical plate 112 of the I-shaped rail 11, the deformable rod 123 includes a telescopic rod 1231, and the two ends of the telescopic rod 1231 are respectively connected with a deformable rod universal joint 1232, and the deformable rod universal joint 1232 adopts a conventional cross-axis universal joint, the deformable rod universal joint 1232 at one end of the telescopic rod 1231 is connected to a cover plate 121, and the deformable rod universal joint 1232 at the other end is connected to another cover plate 121.

[0035] like Figure 1 , 4 As shown, the inspection robot 2 includes a supporting wheel 211 and a driving wheel 221. The supporting wheel 211 can contact the upper surface of the lower horizontal plate 111 of the I-shaped rigid rail 11 and the horizontal section 1241 of the step portion 124 of the telescopic shield 122, and can walk on the upper surface of the lower horizontal plate 111 of the I-shaped rigid rail 11 and the horizontal section 1241 of the step portion 124 of the telescopic shield 122. The driving wheel 221 can contact the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122, and can walk on the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122.

[0036] The inspection device for the underground hydraulic support of the present embodiment has a deformable connection mechanism 12 which can bend and deform upward and downward, leftward and rightward, and telescopically deform by providing a telescopic cover 122, a telescopic rod 1231, and deformable rod universal joints 1232 at both ends of the telescopic rod 1231. Therefore, when the track 1 is installed on the underground hydraulic support by suspension or the like, the angle and length changes of the track 1 required by the moving frame and the lifting frame of the underground hydraulic support can be transmitted to the deformable connection mechanism 12 by the I-shaped rigid rail 11. The bending deformation and telescopic deformation of the deformable connection mechanism 12 adapt to the moving frame and the lifting frame of the underground hydraulic support, so that the entire track 1 can bend and telescopically deform along with the moving frame and the lifting frame of the underground hydraulic support. In addition, the inspection device for the underground hydraulic support of the present embodiment is formed with a step portion 124 on the telescopic shield 122. The support wheel 211 of the inspection robot 2 can run on the upper surface of the lower horizontal plate 111 of the I-shaped rail 11 and the horizontal section 1241 of the step portion 124 of the telescopic shield 122, and the driving wheel 221 can run on the side surface of the vertical plate 112 of the I-shaped rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122, so as to ensure that the inspection robot 2 can smoothly pass through the deformation connection mechanism 12 between the I-shaped rails 11 when walking along the track 1.

[0037] Furthermore, a plurality of deformable connecting mechanisms 12 are provided on a section of track 1, each of which is provided between two sections of I-shaped rigid rails 11, and the number of deformable connecting mechanisms 12 can be selected based on factors such as the total length of the track 1, the deformation requirements of the underground hydraulic support shifting and lifting frame for the track 1, and the specific working conditions of the underground coal mine. Furthermore, a plurality of deformable rods 123 arranged in parallel can be installed inside each deformable connecting mechanism 12.

[0038] like Figure 1 , 2 As shown, in order to enable the driving wheel 221 and the supporting wheel 211 of the inspection robot 2 to smoothly pass through the deformable connection mechanism 12 without bumping when passing through the deformable connection mechanism 12, further, the telescopic shield 122 includes a telescopic member 1221 and a protective armor 1222 installed outside the telescopic member 1221, and the protective armor 1222 is arranged on the step portion 124 of the telescopic shield 122. Further, the telescopic member 1221 adopts a conventional accordion telescopic member, and the protective armor 1222 is fixedly installed in the recess of the telescopic member 1221. Further, the protective armor 1222 is made of elastic material, which can be extended and retracted as the telescopic member 1221 is extended and retracted.

[0039] In order to protect the internal structure of the deformable connecting mechanism 12, further, as Figure 2 , 3As shown, the deformable connection mechanism 12 further includes two guard plates 125 respectively fixedly mounted on the two cover plates 121, one end of the telescopic shield 122 is fixedly connected to one guard plate 125, and the other end is fixedly connected to the other guard plate 125, and the deformable rod universal joints 1232 at both ends of the deformable rod 123 are respectively connected to the cover plates 121 after passing through the guard plates 125. In this embodiment, the telescopic rod 1231 of the deformable rod 123 can adopt a conventional telescopic rod structure, which is composed of two sections of rods that are sleeved and slidably connected.

[0040] In order to enhance the bearing capacity of the deformable connecting mechanism 12 , further, a protective baffle 126 is sleeved on the deformable rod 123 , and the protective baffle 126 is installed inside the telescopic shield 122 .

[0041] Regarding the specific structure of the inspection robot 2 of this embodiment, further, as Figure 5-7 As shown, the inspection robot 2 includes a lower shell and an upper shell, the lower shell includes a first lower shell 231 and a second lower shell 232 connected by a lower shell connecting chain 233, the upper shell includes a first upper shell 241 and a second upper shell 242, the first lower shell 231 is fixedly mounted with the first upper shell 241, the second lower shell 232 is fixedly mounted with the second upper shell 242, the first upper shell 241 is fixedly mounted with the first support frame 212, the second upper shell 242 is fixedly mounted with the second support frame 213, and the first support frame 212 and the second support frame 213 are both mounted with the support wheel 211. Further, one end of the lower shell connecting chain 233 is inserted into a through hole opened in the first lower shell 231, and the other end is inserted into a through hole opened in the second lower shell 232.

[0042] like Figure 7 As shown, a first mounting plate 251 is fixedly installed in the space surrounded by the first lower shell 231 and the first upper shell 241, and a second mounting plate 252 is fixedly installed in the space surrounded by the second lower shell 232 and the second upper shell 242, and the first mounting plate 251 and the second mounting plate 252 are connected through a mounting plate universal joint 253. Further, the mounting plate universal joint 253 adopts a conventional cross-axis universal joint, and the mounting plate universal joint 253 is connected to the first mounting plate 251 and the second mounting plate 252 through ear plates arranged on the first mounting plate 251 and the second mounting plate 252.

[0043] Further, such as Figure 8 , 9As shown, in order to drive the inspection robot 2 so that it can walk on the track 1, the inspection robot 2 further includes two sets of driving wheel assemblies symmetrically arranged on both sides of the track 1, each set of driving wheel assemblies includes the driving wheel 221 arranged above the first upper shell 241, and the wheel shaft 222 of the driving wheel 221 passes through the first upper shell 241 and the first mounting plate 251 and is connected to the output end of the motor 223 installed on the first mounting plate 251. Further, the wheel shaft 222 of the driving wheel 221 is connected to the output end of the motor 223 through the reducer 224 installed on the first mounting plate 251. Further, the two symmetrically arranged driving wheels 221 can be closely attached to and pressed against the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122. When the motor 223 is started, the wheel shaft 222 and the driving wheel 221 are driven to rotate through the reducer 224, and when the driving wheel 221 rotates, the inspection robot 2 is driven to walk on the track 1.

[0044] The first lower shell 231 and the second lower shell 232 are connected by a lower shell connecting chain 233, and the first mounting plate 251 and the second mounting plate 252 are connected by a mounting plate universal joint 253, so that when the inspection robot 2 walking along the track 1 is deformed, the inspection robot 2 can also be deformed to adapt to the deformed track 1, so that the inspection robot 2 can smoothly pass through the deformation connection mechanism 12 of the track 1.

[0045] In order to enable the driving wheel 221 to be pressed against the track 1 and facilitate the driving of the driving wheel 221, as shown in FIG. Figure 5-8 As shown, further, the wheel axles 222 of the driving wheels 221 of the two sets of driving wheel assemblies are respectively sleeved with clamping arms 225, and the two clamping arms 225 are connected by a clamping arm shaft 261 penetrating the two clamping arms 225, and nuts 262 are respectively threadedly connected at both ends of the clamping arm shaft 261, and a clamping arm spring 263 is installed between the nut 262 and the clamping arm 225, and one end of the clamping arm spring 263 is connected to the nut 262, and the other end is connected to the clamping arm 225, one clamping arm 225 is connected to the second support frame 213 through a support frame connecting chain 226, and the other clamping arm 225 is connected to the second support frame 213 through another support frame connecting chain 226. Further, as Figure 7 , 8 As shown, the clamping arm 225 is connected to the portion of the second support frame 213 located below the second upper housing 242 through the support frame connecting chain 226. Further, both ends of the support frame connecting chain 226 are connected to the clamping arm 225 and the second support frame 213 through hooks, respectively.

[0046] To install the clamp arm 225, further, as Figure 7 , 8As shown, a chassis clamping plate 264 is fixedly installed in the space enclosed by the first lower shell 231 and the first upper shell 241, and the chassis clamping plate 264 is detachably fixedly connected to the two clamping arms 225. Figure 7 As shown, the chassis clamping plate 264 is detachably fixedly connected to the portion of the first support frame 212 located below the first upper shell 241 .

[0047] like Figure 5 , 6 As shown, further, two groups of clamping wheel assemblies symmetrically arranged on both sides of the track 1 are installed on the first support frame 212, and two groups of clamping wheel assemblies symmetrically arranged on both sides of the track 1 are also installed on the second support frame 213. The clamping wheel assembly on the first support frame 212 includes a clamping wheel frame 272 connected to the first support frame 212 through a clamping wheel spring 273, and the clamping wheel assembly on the second support frame 213 includes a clamping wheel frame 272 connected to the second support frame 213 through a clamping wheel spring 273. The clamping wheel frame 272 is installed with a clamping wheel 271 that can contact the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122. The symmetrically arranged clamping wheels 271 can be closely attached to and pressed against the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122. The provision of the clamping wheel assembly can further press the inspection robot 2 as a whole onto the track 1, so that the inspection robot 2 and the track 1 are tightly connected without being loose.

[0048] like Figure 5 , 6 As shown, further, the first support frame 212 is equipped with two support wheels 211 symmetrically arranged on both sides of the track 1, and the second support frame 213 is also equipped with two support wheels 211 symmetrically arranged on both sides of the track 1. When the inspection robot 2 walks on the track 1, its weight is borne by the support wheels 211.

[0049] When the inspection device for underground hydraulic support of this embodiment is used to perform the inspection task of the underground comprehensive mining working face of the coal mine, the track 1 is suspended on the underground hydraulic support through the suspension chain 3, and the motor 223 of the inspection robot 2 is started to drive the driving wheel 221 to rotate, thereby driving the inspection robot 2 to walk along the track 1. During the walking process of the inspection robot 2 along the track 1, the sensors, cameras and other equipment carried on it are used to perform the inspection work of the comprehensive mining working face. During the operation of the comprehensive mining working face equipment, the angle and length changes of the track 1 required by the moving frame and lifting frame of the underground hydraulic support can be transmitted to the deformation connection mechanism 12 by the I-shaped rigid rail 11, and the bending deformation and telescopic deformation of the deformation connection mechanism 12 adapt to the moving frame and lifting frame of the underground hydraulic support, so that the entire track 1 can bend and telescopically deform with the moving frame and lifting frame of the underground hydraulic support. The inspection device of this embodiment is used on an underground hydraulic support, and the support wheels 211 of the inspection robot 2 can run on the upper surface of the lower horizontal plate 111 of the I-shaped rigid rail 11 and the horizontal section 1241 of the step portion 124 of the telescopic shield 122, and the driving wheels 221 can run on the side surface of the vertical plate 112 of the I-shaped rigid rail 11 and the vertical section 1242 of the step portion 124 of the telescopic shield 122, so as to ensure that the inspection robot 2 can smoothly pass through the deformation connection mechanism 12 between the I-shaped rigid rails 11 when walking along the track 1.

[0050] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An inspection device for an underground hydraulic support, comprising a track (1) and an inspection robot (2) walking on the track (1), characterized in that: The track (1) comprises an I-shaped rigid rail (11) and a deformable connection mechanism (12) connected between the I-shaped rigid rails (11); the deformable connection mechanism (12) comprises a cover plate (121) fixedly connected to the I-shaped rigid rail (11), a telescopic shield (122) connected between the two cover plates (121), and a deformable rod (123) installed in the telescopic shield (122); a step portion (124) is formed on the telescopic shield (122); a horizontal section of the step portion (124) (1241) is connected between the upper surfaces of the lower horizontal plate (111) of the I-shaped rigid rail (11), the vertical section (1242) of the step portion (124) is connected between the side surfaces of the vertical plate (112) of the I-shaped rigid rail (11), the deformable rod (123) comprises a telescopic rod (1231) and two deformable rod universal joints (1232) respectively connected to both ends of the telescopic rod (1231), and the two deformable rod universal joints (1232) are respectively connected to the two cover plates (121); The inspection robot (2) comprises a support wheel (211) and a drive wheel (221); the support wheel (211) can move on the upper surface of the lower horizontal plate (111) of the I-shaped rigid rail (11) and the horizontal section (1241) of the step portion (124) of the telescopic shield (122); and the drive wheel (221) can move on the side surface of the vertical plate (112) of the I-shaped rigid rail (11) and the vertical section (1242) of the step portion (124) of the telescopic shield (122).

2. The inspection device for underground hydraulic support according to claim 1 is characterized in that: The inspection robot (2) comprises a first lower shell (231) and a second lower shell (232) connected by a lower shell connecting chain (233); a first upper shell (241) and a second upper shell (242) are fixedly mounted on the first lower shell (231) and the second lower shell (232), respectively; a first support frame (212) and a second support frame (213) are fixedly mounted on the first upper shell (241) and the second upper shell (242), respectively; the first support frame (212) and the second support frame (213) are both mounted with the supporting wheel (211); a first mounting plate (251) is fixedly mounted in the space enclosed by the first lower shell (231) and the first upper shell (241); a second mounting plate (252) connected to the first mounting plate (251) via a mounting plate universal joint (253) is fixedly mounted in the space enclosed by the second lower shell (232) and the second upper shell (242); The inspection robot (2) further comprises two sets of driving wheel assemblies symmetrically arranged on both sides of the track (1), each set of driving wheel assemblies comprising the driving wheel (221) arranged above the first upper shell (241), and the wheel axle (222) of the driving wheel (221) is connected to the output end of the motor (223) mounted on the first mounting plate (251); Clamping arms (225) are respectively sleeved on the wheel axles (222) of the driving wheels (221) of the two sets of driving wheel assemblies. The two clamping arms (225) are connected by a clamping arm shaft (261) passing through the two clamping arms (225). Nuts (262) are respectively threadedly connected at both ends of the clamping arm shaft (261). A clamping arm spring (263) is installed between the nut (262) and the clamping arm (225). The two clamping arms (225) are connected to the second support frame (213) through a support frame connecting chain (226).

3. The inspection device for underground hydraulic support according to claim 2 is characterized in that: The first support frame (212) and the second support frame (213) are respectively provided with two groups of clamping wheel assemblies symmetrically arranged on both sides of the track (1), each group of clamping wheel assemblies comprises a clamping wheel frame (272) connected to the first support frame (212) or the second support frame (213) via a clamping wheel spring (273), and the clamping wheel frame (272) is provided with a clamping wheel (271) capable of contacting the side surface of the vertical plate (112) of the I-shaped rigid rail (11) and the vertical section (1242) of the step portion (124) of the telescopic shield (122).

4. The inspection device for underground hydraulic support according to claim 2, characterized in that: The first support frame (212) and the second support frame (213) are respectively provided with two support wheels (211) symmetrically arranged on both sides of the track (1).

5. The inspection device for underground hydraulic support according to claim 2, characterized in that: A chassis clamping plate (264) is fixedly installed in the space enclosed by the first lower shell (231) and the first upper shell (241), and the chassis clamping plate (264) is detachably fixedly connected to the clamping arm (225).

6. The inspection device for underground hydraulic support according to claim 2, characterized in that: The wheel axle (222) of the driving wheel (221) is connected to the output end of the motor (223) via a reducer (224) mounted on the first mounting plate (251).

7. The inspection device for underground hydraulic support according to claim 1, characterized in that: The telescopic shield (122) comprises a telescopic member (1221) and a protective armor (1222) installed outside the telescopic member (1221); the protective armor (1222) is arranged on a step portion (124) of the telescopic shield (122).

8. The inspection device for underground hydraulic support according to claim 1, characterized in that: The deformable connection mechanism (12) further comprises two guard plates (125) respectively fixedly mounted on the two cover plates (121); the two ends of the telescopic shield (122) are respectively fixedly mounted on the two guard plates (125); and the deformable rod universal joints (1232) at the two ends of the deformable rod (123) are respectively connected to the cover plates (121) after passing through the guard plates (125).

9. The inspection device for underground hydraulic support according to claim 1, characterized in that: The deformable rod (123) is sleeved with a protective baffle (126), and the protective baffle (126) is installed inside the telescopic protective cover (122).

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