In-mine inspection robot with elevator

Abstract

The utility model relates to an in-mine inspection robot with an elevator, which comprises a track, an inspection robot body is hung below the track, the inspection robot body is provided with a servo motor, the ladder is arranged below the inspection robot body, and the servo motor is connected with the ladder through a rotary connecting piece. The servo motor drives the tail end of the ladder through the rotating connecting piece to move in the mode of being close to or away from the inspection device robot body so as to achieve the telescopic function of the ladder. The inspection robot can bear workers, a special ladder does not need to be built when problems are found in the overhauling process, the working process is saved, the ladder can move along with the inspection robot, and the time for the workers to continuously climb up and down the ladder to adjust the position of the ladder when the ladder is manually built is further saved.

Description

Technical Field

[0001] The present application relates to the technical field of inspection robots, and in particular to a mine inspection robot with an elevator. Background Art

[0002] At present, most coal mine comprehensive mining working faces inspection and maintenance tasks are still all done by manpower and human observation. Since human eyes cannot observe the temperature of equipment, workers need to go to the site in person if the distance is far. Therefore, in the existing technology, temperature sensors are usually set on the inspection robots to replace manpower. However, the comprehensive mining working faces of coal mines are usually high, and ladders need to be specially set up when problems are found and need to be dealt with. When the scope of the problem to be dealt with is large, the position of the ladder needs to be constantly adjusted, which is cumbersome, time-consuming and requires a large amount of manpower. Utility Model Content

[0003] In order to solve the problems raised in the background technology, the purpose of this application is to provide an inspection robot that can carry a ladder, and the ladder carried by the inspection robot can be folded up when not necessary to prevent the ladder from occupying space in the production area during the movement of the inspection robot.

[0004] The present application adopts the following technical solution: an inspection robot with a lift, comprising a track, under which a patrol robot body is suspended. The patrol robot body is provided with a servo motor and a ladder, the output shaft of the servo motor is connected to the ladder through a rotating connector, and when the output shaft of the servo motor rotates, the end of the ladder is driven by the rotating connector to move closer to or away from the patrol robot body.

[0005] Preferably, the rotating connecting member is a roller, the roller is coaxially fixedly connected to the output shaft of the servo motor, the ladder is a rope ladder, and the starting end of the rope ladder is fixedly connected to the roller.

[0006] Preferably, the ladder is arranged below the inspection robot body, and the center line of the ladder extending direction coincides with the position of the center point of the plane of the inspection robot body relative to the horizontal direction.

[0007] Preferably, the inspection robot body is suspended on the track by a power hanging mechanism, the power hanging mechanism includes at least two sets of driven wheel groups, a driving wheel and a bracket, the two sets of driven wheel groups are symmetrically arranged on both sides of the driving wheel along the extension direction of the track, each set of driven wheel groups includes at least two driven wheels, the two driven wheels are symmetrically arranged above the two sides of the track, the minimum interval between the two driven wheels is larger than the width of the fixing part arranged above the track relative to the radial cross-section of the track, the two driven wheels are rotatably connected to the bracket, the bracket is fixedly connected to the inspection robot body, the driving wheel is arranged inside the inspection robot body and protrudes from the upper surface of the inspection robot body, the driving wheel is located at the center position of the inspection robot relative to the extension direction of the track, and the two driven wheels and the driving wheel jointly clamp the track in the middle.

[0008] Preferably, the number of brackets corresponds to the number of driven wheel groups, each bracket is connected to a group of driven wheel groups, and the parts where the brackets are connected to two driven wheels in the driven wheel groups are symmetrically arranged on both sides of the track.

[0009] Preferably, the bracket is V-shaped.

[0010] Preferably, a camera is fixedly connected to the inspection robot body.

[0011] Preferably, the inspection robot body is fixedly connected with at least two flanges, and the flanges are symmetrically arranged on both sides of the inspection robot body.

[0012] In summary, the present application includes at least one of the following beneficial technical effects:

[0013] A rope ladder is connected to the inspection robot body, and a servo motor is connected to the rope ladder through a drum. The servo motor controls the rotation of the drum so that the rope ladder is rolled up by the drum, thereby realizing the telescopic function of the rope ladder relative to the inspection robot body;

[0014] The inspection robot body is hung on the track through a power hanging mechanism, which includes two sets of symmetrically arranged driven wheel groups, each set of driven wheel groups includes two symmetrically arranged driven wheels, so that the hanging mechanism of the inspection robot is hung on the track in a two-by-two symmetrical form in a plane relative to the horizontal direction, thereby achieving uniform distribution of the bearing capacity;

[0015] The inspection robot is also equipped with a flange for external connection of other additional equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the ladder of the utility model embodiment when it is extended;

[0017] Figure 2 It is a schematic diagram of the structure of the ladder of the utility model embodiment when it is retracted;

[0018] Figure 3 It is a structural schematic diagram of the practical ladder part.

[0019] Explanation of the reference numerals: 1. track; 2. inspection robot body; 3. servo motor; 4. rotating connector; 5. ladder; 6. power hanging mechanism; 601. driven wheel group; 602. driving wheel; 603. bracket; 7. flange; 8. camera. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present utility model.

[0021] The following is combined with Figure 1-Figure 3 The present application is further described in detail. The embodiment of the present application discloses a mine inspection robot with an elevator, including a track 1, under which a patrol robot body 2 is suspended. The patrol robot body 2 is provided with a servo motor 3, and the patrol robot body 2 is provided with a ladder 5. The servo motor 3 is connected to the ladder 5 through a rotating connector 4, and the motor drives the end of the ladder 5 to move in a manner close to or away from the patrol robot through the rotating connector 4. The servo motor 3 provided here is a separate elevator for controlling the ladder 5, which is different from the drive motor in the patrol robot body 2 originally used to control the movement of the patrol robot body 2.

[0022] According to the different rotating connecting member 4, the servo motor 3 can drive the ladder 5 to move in a variety of ways. Including when the rotating connecting member 4 is a gear, the output shaft of the servo motor 3 is fixedly connected with a gear, the ladder 5 is a hard straight ladder, the straight ladder is provided with a tooth pattern matching the gear, and the straight ladder is driven to rise and fall by the rotation of the gear; or when the rotating connecting member 4 is a rope, the output shaft of the servo motor 3 is connected to one end of the rope, and the other end of the rope is connected to the ladder 5, that is, the rope is rotated and wound around the output shaft of the servo motor 3 by the rotation of the servo motor 3 in the form of a winch structure, so as to achieve the lifting and lowering of the ladder 5. In this embodiment, the rotating connecting member 4 is set as a drum, the drum is coaxially fixedly connected with the output shaft of the servo motor 3, the ladder 5 is a rope ladder, and the starting end of the rope ladder is fixedly connected to the drum. When the servo motor 3 drives the drum to rotate, the rope ladder is rolled up by the drum, thereby realizing the telescopic and retractable function of the rope ladder relative to the inspection robot body 2. Since the rope ladder is rolled up by the drum, the scheme of this embodiment can also save space when the ladder 5 is put away. At the same time, based on the characteristics of the servo motor 3 itself, the function of braking can be realized to make the ladder 5 stop immediately at the current position during the process of the ladder 5 being retracted and ascended or extended and descended.

[0023] Based on the fact that the ladder 5 in this embodiment is used to bear weight, the ladder 5 is arranged below the inspection robot body 2, and the center line of the ladder 5 in the extension direction coincides with the center point of the plane of the inspection robot body 2 relative to the horizontal plane, that is, when the inspection robot body 2 is in the shape of a rectangular parallelepiped, no matter whether the two sides of the ladder 5 are arranged along the length direction or the width direction, it can ensure that the bearing capacity of the ladder 5 when bearing weight can be evenly distributed on both sides of the center point of the inspection robot body 2, thereby preventing the inspection robot body 2 from tilting due to excessive bearing capacity on one side, or even causing damage to the mounting structure of the inspection robot body 2.

[0024] In order to ensure the stability of the ladder 5 when bearing weight, the inspection robot body 2 is suspended on the track 1 through the power hanging mechanism 6, which includes at least two sets of driven wheel groups 601, driving wheels 602 and brackets 603. The two sets of driven wheel groups 601 are symmetrically arranged on both sides of the driving wheels 602 along the extension direction of the track 1 to ensure the balance of the side bearing force of the inspection robot body 2 along the extension direction of the track 1. Each set of driven wheel groups 601 includes at least two driven wheels, which are symmetrically arranged above both sides of the track 1 to ensure the balance of the bearing force of the inspection robot body 2 along the radial cross-section direction of the track 1, thereby realizing that the inspection robot body 2 has four mutually symmetrical bearing force bearing areas in the plane relative to the horizontal direction.

[0025] The track 1 mentioned in this embodiment is usually suspended below the comprehensive mining working face support 603, so a fixing part connected to the comprehensive mining working face support 603 is arranged above the track 1. The fixing part can be a hard connecting part such as a screw rod, or a flexible connecting part such as a rope or a chain. In order to prevent the inspection robot body 2 from being blocked by the fixing part when moving along the extension direction of the track 1, the minimum spacing between the two driven wheels in each group of driven wheel groups is greater than the width of the fixing part arranged above the track 1 relative to the radial section of the track 1.

[0026] Both driven wheels are rotatably connected to the bracket 603, and the bracket 603 is fixedly connected to the inspection robot body 2. In this embodiment, multiple brackets 603 are included, and each bracket 603 is connected to a corresponding set of driven wheel groups 601, so that during later maintenance, one of the sets of driven wheel groups 601 can be inspected and maintained separately, thereby preventing interference with the other set of driven wheel groups 601. In order to continue the bearing capacity of the two driven wheels symmetrically arranged on both sides of the track 1 in each set of driven wheel groups 601, the part where the bracket 603 is connected to the two driven wheels also adopts a symmetrical shape. In this embodiment, the shape of the bracket 603 adopts a V-shape, that is, except for the necessary V-shaped V-mouth part to accommodate the track 1 passing through, the remaining parts are shrunk as much as possible to reduce the space occupied.

[0027] The driving wheel 602 is arranged inside the inspection robot body 2 and protrudes from the upper surface of the inspection robot body 2. The part inside the inspection robot body 2 is connected to the driving component that drives the driving wheel 602 to rotate, and the part protruding from the upper surface of the inspection robot body 2 contacts the track 1, so as to drive the inspection robot body 2 to move back and forth along the extension direction of the track 1. The driving wheel 602 is arranged at the center position of the inspection robot body 2 relative to the extension direction of the track 1 to ensure the weight balance on both sides of the driving wheel 602, thereby ensuring the load-bearing balance of the two sets of driven wheel groups 601 that are symmetrically arranged.

[0028] The two driven wheels and the driving wheel 602 clamp the track in the middle, the driven wheels in the driven wheel group 601 bear the weight of the inspection robot body 2, and the driving wheel 602 drives the inspection robot body 2 to move along the extension direction of the track 1.

[0029] On this basis, flanges 7 are also provided on both sides of the inspection robot body 2 for connecting external devices. In order to ensure the balance of the bearing capacity, two flanges 7 are symmetrically arranged on both sides of the inspection robot body 2. Based on the inspection robot body 2 of this embodiment, there are corresponding bearing points of bearing capacity in four relative directions in the plane relative to the horizontal direction. The flanges 7 can be arranged on any two symmetrical sides in the horizontal or vertical direction, or four flanges 7 can be arranged in pairs in the horizontal or vertical direction.

[0030] The inspection robot body 2 is also fixedly connected with a camera 8, as well as functional equipment such as a temperature sensor, a methane sensor, a sound sensor, a dust monitoring device, and an abnormal alarm device.

[0031] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0032] In the present application, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in this application according to the specific circumstances.

[0033] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and concept of the present application, and all these changes or substitutions should fall within the protection scope of the claims attached to the present application.

Claims

1. A mine inspection robot with an elevator, comprising a track (1), with an inspection robot body (2) suspended below the track (1), characterized in that: The inspection robot body (2) is provided with a servo motor (3) and a ladder (5); the output shaft of the servo motor (3) is connected to the ladder (5) via a rotating connection member (4); when the output shaft of the servo motor (3) rotates, the end of the ladder (5) is driven by the rotating connection member (4) to move closer to or farther from the inspection robot body (2).

2. The mine inspection robot with an elevator according to claim 1, characterized in that: The rotating connecting member (4) is a roller, which is coaxially fixedly connected to the output shaft of the servo motor (3); the ladder (5) is a rope ladder, and the starting end of the rope ladder is fixedly connected to the roller.

3. The mine inspection robot with an elevator according to claim 1, characterized in that: The ladder is arranged below the inspection robot body (2), and the center line of the ladder (5) in the extension direction coincides with the position of the center point of the plane of the inspection robot body (2) relative to the horizontal direction.

4. The mine inspection robot with an elevator according to claim 1, characterized in that: The inspection robot body (2) is suspended on the track (1) via a power suspension mechanism (6), the power suspension mechanism (6) comprising at least two sets of driven wheel groups (601), a driving wheel (602) and a bracket (603), the two sets of driven wheel groups (601) being symmetrically arranged on both sides of the driving wheel (602) along the extension direction of the track (1), each set of driven wheel groups (601) comprising at least two driven wheels, the two driven wheels being symmetrically arranged above both sides of the track (1), and the minimum interval between the two driven wheels being greater than the track The fixing member arranged above the track (1) is relatively wide in the radial cross-section of the track (1), the two driven wheels are both rotatably connected to the bracket (603), the bracket (603) is fixedly connected to the inspection robot body (2), the driving wheel (602) is arranged inside the inspection robot body (2) and protrudes from the upper surface of the inspection robot body (2), the driving wheel (602) is located at the center position of the inspection robot body (2) relative to the extension direction of the track (1), and the two driven wheels and the driving wheel (602) together clamp the track (1) in the middle.

5. The mine inspection robot with an elevator according to claim 4, characterized in that: The number of the brackets (603) corresponds to the number of the driven wheel groups (601), each bracket (603) is connected to a group of driven wheel groups (601), and the parts where the brackets (603) are connected to the two driven wheels in the driven wheel group (601) are symmetrically arranged on both sides of the track (1).

6. The mine inspection robot with an elevator according to claim 5, characterized in that: The support (603) is V-shaped.

7. The mine inspection robot with an elevator according to claim 1, characterized in that: A camera (8) is fixedly connected to the inspection robot body (2).

8. The mine inspection robot with an elevator according to claim 1, characterized in that: The inspection robot body (2) is fixedly connected to at least two flanges (7), and the flanges (7) are symmetrically arranged on both sides of the inspection robot body (2).

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