A coal mine track inspection robot

Abstract

The utility model discloses a coal mine track inspection robot, including a track and an inspection robot body hoisted at the bottom thereof, the track is divided into a raised portion and a horizontal portion extending on both sides of the raised portion according to the cross-sectional structure, side compartments are respectively installed on both sides of the inspection robot body, a mobile drive device and a mobile driven device are arranged on the inspection robot body between the two side compartments, the mobile drive device includes a driving mechanism and a traveling mechanism, the traveling mechanism includes a central axis, a sprocket is fixedly sleeved on the central axis, a chain meshing with the sprocket is fixed at the bottom of the track raised portion, rubber-coated friction wheels are distributed on both sides above the sprocket, and support wheels are respectively arranged on the inspection robot body directly below the rubber-coated friction wheels. The utility model designs a plurality of rotatable mobile driven devices, which can follow according to the radius of the turning track, and is designed with a sprocket and chain meshing structure to prevent the inspection robot body from sliding, thereby ensuring the stability of the robot during the climbing process.

Description

Technical Field

[0001] The utility model relates to the technical field of mining, in particular to a coal mine track inspection robot. Background Art

[0002] Robots are being used in more and more scenarios of people's production and life, especially in some sites or dangerous environments that are not suitable for human activities. Due to the presence of various dangerous substances and dangerous gases in coal mines, various indicators such as temperature, humidity, and dangerous gas concentration on site may undergo unpredictable changes.

[0003] Coal mine inspection robots can replace manual inspections of special places such as coal mine belt conveyors, substations, and gas extraction pump stations, collect equipment operating status data and environmental data, and promptly detect abnormal conditions and issue warnings, effectively ensuring production safety. Due to the complex mine environment (many ups and downs, many curved forks, and a lot of dust), general rail-mounted coal mine inspection robots have the following hidden dangers when inspecting in mines:

[0004] 1. Common rail-type inspection robots are designed with smooth cornering in mind, and the wheelbase is set to be adjustable. When cornering, only one side of the wheel is in contact with the track. This cornering structure is not suitable for use on tracks in mines;

[0005] 2. Common rail-type inspection robots only use a single-side friction wheel drive design. When climbing, they are prone to landslides due to gravity and have poor stability.

[0006] 3. The dust deposited on the track can easily lead to poor contact between the track and the inspection robot, which is not conducive to smooth operation.

[0007] Based on the above reasons, the inventor proposes a coal mine track inspection robot. Summary of the invention

[0008] The purpose of the utility model is to provide a coal mine track inspection robot with the advantages of simple structure and smooth operation. A plurality of rotatable mobile driven devices are designed, which can follow the turning track radius. A double-sided rubber-coated friction wheel design is adopted, and the climbing angle is large. At the same time, a sprocket and chain meshing structure is designed to prevent the inspection robot body from sliding, thereby ensuring the stability of the robot during the climbing process. The dust on the track is cleaned by a cleaning brush, which is conducive to smooth operation and solves the problems raised in the background technology.

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a coal mine track inspection robot, comprising a track and an inspection robot body hoisted at the bottom thereof, wherein the track is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to a cross-sectional structure, side compartments are respectively installed on both sides of the inspection robot body, the top of the side compartments exceeds the inspection robot body, and a mobile driving device and a mobile driven device are arranged on the inspection robot body between the two side compartments;

[0010] The mobile drive device includes a driving mechanism and a traveling mechanism, the traveling mechanism includes a central shaft, a sprocket is fixedly sleeved on the central shaft, a chain meshing with the sprocket is fixed at the bottom of the track protrusion, rubber-coated friction wheels are distributed on both sides above the sprocket, and support wheels are respectively arranged on the inspection robot body directly below the rubber-coated friction wheels;

[0011] The mobile driven device includes a base, the center of the base is rotatably connected to the inspection robot body through a bearing, driven wheels are distributed on both sides above the base, and the inspection robot body directly below the driven wheels is respectively provided with the support wheels, and the horizontal part of the track passes between the rubber-coated friction wheel and the support wheel, between the driven wheel and the support wheel, and is in rolling contact with them respectively, forming a vertical limit clamping.

[0012] Preferably, at least three bases are provided, and brackets are installed on the bases at both ends of the inspection robot body, and a cleaning brush is installed on the bracket through bolts, and the cleaning brush includes a frame and bristles arranged at the bottom of the frame.

[0013] Preferably, distance measuring components for measuring the travel distance of the inspection robot are also installed on the bases at both ends of the inspection robot body.

[0014] Preferably, the inspection robot body is also symmetrically mounted with lateral limiting rollers, which are arranged vertically, and both sides of the horizontal portion of the track are in rolling contact with the lateral limiting rollers respectively, forming a horizontal limiting clamp.

[0015] Preferably, a chassis is fixed on one opposite side of the two side compartments, and both ends of the central axis are respectively rotatably connected to the chassis. A gear 1 is fixed to the end of the central axis inside the chassis, and a shaft rod 1 is fixedly installed at the axis of the rubber-coated friction wheel. One end of the shaft rod 1 is rotatably connected to the chassis, and the end of the shaft rod 1 inside the chassis is fixedly sleeved with a gear 2 that meshes with the gear 1.

[0016] Preferably, the inspection robot body includes a main compartment 1 and a main compartment 2, and the main compartment 1 and the main compartment 2 are rotatably connected via a steering connector, and the steering connector includes a rubber dust cover and a universal joint arranged inside the rubber dust cover.

[0017] Preferably, side plates are respectively installed at both ends of the base, and shaft rod 2 is rotatably installed on opposite sides of the two side plates, and the driven wheel is fixedly sleeved on the shaft rod 2.

[0018] Preferably, anti-collision strips are installed at the bottom of the front and rear ends of the inspection robot body.

[0019] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0020] 1. The utility model is designed with multiple rotatable mobile driven devices, which can follow the turning track radius, and has the advantages of flexible following and small turning radius;

[0021] 2. The utility model is provided with rubber-coated friction wheels and driven wheels on both sides of the track, a chain is provided at the bottom of the track, and a sprocket engaged with the chain is rotatably installed on the inspection robot body, which has a good driving effect and prevents the inspection robot body from sliding when climbing. Support wheels are provided at the bottom of the rubber-coated friction wheels and driven wheels, and lateral limiting rollers are provided on both sides of the track, which further improves the stability of the operation of the device;

[0022] 3. During operation, the cleaning brush can sweep away the dust deposited on the track where the rubber-coated friction wheel and the driven wheel are about to travel, thereby improving the smoothness and safety of the inspection robot body moving along the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 ;

[0024] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the structure of the utility model at A;

[0026] Figure 4 This is a top view of the structure of the utility model;

[0027] Figure 5 It is a partial schematic diagram of the utility model from a top view;

[0028] Figure 6 It is a schematic cross-sectional view of the track in the present invention.

[0029] In the figure: 1. Main body 1; 2. Main body 2; 3. Steering connector; 4. Anti-collision strip; 10. Side body; 11. Middle shaft; 111. Gear 1; 12. Sprocket; 13. Chain; 14. Rubber-coated friction wheel; 141. Shaft rod 1; 142. Gear 2; 15. Support wheel; 16. Base; 17. Driven wheel; 18. Bracket; 19. Cleaning brush; 20. Distance measuring assembly; 21. Lateral limit roller; 22. Chassis; 23. Side panel; 24. Shaft rod 2. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figures 1 to 6 The utility model provides a technical solution: a coal mine track inspection robot, comprising a track and an inspection robot body hoisted at the bottom thereof, the track is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to the cross-sectional structure, side compartments 10 are respectively installed on both sides of the inspection robot body, the top of the side compartments 10 exceeds the inspection robot body, and a mobile driving device and a mobile driven device are arranged on the inspection robot body between the two side compartments 10;

[0032] The mobile driving device includes a driving mechanism and a traveling mechanism. The traveling mechanism includes a central axis 11, and a sprocket 12 is fixedly sleeved on the central axis 11. Figure 6 As shown, a chain 13 meshing with a sprocket 12 is fixed at the bottom of the raised portion of the track. When the central axis 11 rotates, the sprocket 12 also rotates accordingly. The sprocket 12 and the chain 13 mesh with each other. Since the chain 13 is fixed, the inspection robot moves along the track. Rubber-coated friction wheels 14 are distributed on both sides above the sprocket 12, and support wheels 15 are respectively provided on the inspection robot body directly below the rubber-coated friction wheels 14.

[0033] The inspection robot body in this application is also provided with a wireless charging device (such as Figure 1 As shown), the inspection robot body is controlled by sensors to reach the exact position for charging. Obstacle avoidance sensors are set at the front and back of the inspection robot body. When encountering special circumstances, the inspection robot body can stop and avoid in time. The above are all existing technologies and will not be elaborated here.

[0034] like Figure 4As shown, the mobile driven device includes a base 16, and the center of the base 16 is rotatably connected to the inspection robot body through a bearing. Through the above design, the mobile driven device can follow the turning track radius, and multiple mobile driven devices are provided, so it has the advantages of flexibility and small turning radius. Driven wheels 17 are distributed on both sides above the base 16, and support wheels 15 are respectively provided on the inspection robot body directly below the driven wheels 17. The horizontal part of the track passes between the rubber-coated friction wheel 14 and the support wheel 15, and between the driven wheel 17 and the support wheel 15, and respectively rolls with them. The lower wheel surfaces of the rubber-coated friction wheel 14 and the driven wheel 17 roll with the upper surface of the horizontal part of the track, and the upper wheel surface of the support wheel 15 rolls with the lower surface of the horizontal part of the track, forming a vertical limit clamping, which improves the stability of the inspection robot during operation.

[0035] like Figure 1 and Figure 4 As shown, at least three bases 16 are provided, and brackets 18 are also installed on the bases 16 at both ends of the inspection robot body. Cleaning brushes 19 for cleaning dust on the track can be detachably installed on the brackets 18. When in use, the inspection robot body moves along the track, and the bristles of the cleaning brush 19 rub against the horizontal part of the track to sweep away the deposited dust, thereby improving the smoothness and safety of the inspection robot body moving along the track. Figure 5 As shown, the bristles on the cleaning brush 19 can also be arranged to be inclined, and the bristles on the cleaning brushes 19 arranged in pairs are distributed in a figure eight shape, which can better sweep out the dust on the track.

[0036] like Figure 1 and Figure 2 As shown, the bases 16 at both ends of the inspection robot body are also equipped with distance measuring components 20 for measuring the travel distance of the inspection robot, and the distance measuring components 20 include an encoder and an encoder roller.

[0037] like Figure 1 As shown, lateral limiting rollers 21 are symmetrically installed on the inspection robot body. The lateral limiting rollers 21 are vertically arranged, and the two sides of the horizontal part of the track are in rolling contact with the lateral limiting rollers 21 respectively to form a horizontal limiting clamp. A profile frame is arranged outside the lateral limiting rollers 21, and the top and bottom of the lateral limiting rollers 21 are rotatably connected to the profile frame respectively.

[0038] A chassis 22 is fixed on the opposite side of the two side compartments 10, and the two ends of the central axis 11 are respectively rotatably connected to the chassis 22. A gear 111 is fixed to the end of the central axis 11 inside the chassis 22, and a shaft 141 is fixedly installed at the axis center of the rubber-coated friction wheel 14. One end of the shaft 141 is rotatably connected to the chassis 22, and the end of the shaft 141 inside the chassis 22 is fixedly sleeved with a gear 2 142 that meshes with the gear 111. A driving source for driving the gear 111 to rotate is also installed inside the device, and the driving source includes a motor, a motor reducer, and a driving gear is connected to the output end of the motor reducer, and the driving gear and the gear 111 are meshed with each other (not shown in the figure).

[0039] The inspection robot body includes a main compartment 1 and a main compartment 2, which are rotatably connected via a steering connector 3. The steering connector 3 includes a rubber dust cover and a universal joint arranged inside it. One end of the universal joint is hinged to the main compartment 1, and the other end is hinged to the main compartment 2. The device is provided with a double-section structure, which has the advantages of a large internal space, a small turning radius, and adaptability to smaller space scenes. The main compartment 1 and the main compartment 2 are made of metal alloy (aluminum alloy or stainless steel) as a whole.

[0040] Side plates 23 are respectively installed at both ends of the base 16, and shaft rods 24 are rotatably installed on opposite sides of the two side plates 23. The driven wheel 17 is fixedly sleeved on the shaft rod 24. The lower surface of the driven wheel 17 is in rolling contact with the upper surface of the horizontal part of the track. When the inspection robot is driven by the rubber-coated friction wheel 14, the sprocket 12 and the chain 13 and walks on the track, the driven wheel 17 also moves on the track, thereby improving the stability of the inspection robot body when it is hoisted and walked on the track.

[0041] Anti-collision strips 4 are installed at the bottom of the front and rear ends of the inspection robot body. The anti-collision strips 4 are made of elastic material (such as rubber) to reduce collision impact.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal mine track inspection robot, comprising a track and an inspection robot body hoisted at the bottom thereof, wherein the track is divided into a raised portion and horizontal portions extending on both sides of the raised portion according to a cross-sectional structure, and characterized in that: Side compartments (10) are respectively installed on both sides of the inspection robot body, the top of the side compartments (10) exceeds the inspection robot body, and a mobile driving device and a mobile driven device are arranged on the inspection robot body between the two side compartments (10); The mobile drive device comprises a driving mechanism and a traveling mechanism, wherein the traveling mechanism comprises a central axis (11), a sprocket (12) is fixedly sleeved on the central axis (11), a chain (13) meshing with the sprocket (12) is fixed at the bottom of the track protrusion, rubber-coated friction wheels (14) are distributed on both sides above the sprocket (12), and support wheels (15) are respectively arranged on the inspection robot body directly below the rubber-coated friction wheels (14); The mobile driven device comprises a rotatable base (16), driven wheels (17) are distributed on both sides above the base (16), and the support wheels (15) are respectively arranged on the inspection robot body directly below the driven wheels (17). The horizontal part of the track passes between the rubber-coated friction wheel (14) and the support wheel (15), between the driven wheel (17) and the support wheel (15), and respectively rolls in contact with them to form a vertical limit clamping.

2. The coal mine track inspection robot according to claim 1, characterized in that: At least three bases (16) are provided, and brackets (18) are installed on the bases (16) at both ends of the inspection robot body, and cleaning brushes (19) for cleaning dust on the track are detachably installed on the brackets (18).

3. The coal mine track inspection robot according to claim 1 or 2, characterized in that: The bases (16) at both ends of the inspection robot body are also equipped with distance measuring components (20) for measuring the travel distance of the inspection robot.

4. The coal mine track inspection robot according to claim 1, characterized in that: The inspection robot body is also symmetrically mounted with lateral limiting rollers (21), which are arranged vertically. Both sides of the horizontal portion of the track are in rolling contact with the lateral limiting rollers (21) to form a horizontal limiting clamp.

5. The coal mine track inspection robot according to claim 1, characterized in that: A case (22) is fixed to one opposite side of the two side compartments (10), and both ends of the central axis (11) are rotatably connected to the case (22), and a gear (111) is fixed to the end of the central axis (11) inside the case (22), and a shaft (141) is fixedly installed at the axis of the rubber-coated friction wheel (14), and one end of the shaft (141) is rotatably connected to the case (22), and a gear (142) that meshes with the gear (111) is fixedly sleeved on the end of the shaft (141) inside the case (22).

6. The coal mine track inspection robot according to claim 1, characterized in that: The inspection robot body comprises a main body 1 (1) and a main body 2 (2), wherein the main body 1 (1) and the main body 2 (2) are rotatably connected via a steering connection member (3), wherein the steering connection member (3) comprises a rubber dust cover and a universal joint arranged inside the rubber dust cover.

7. The coal mine track inspection robot according to claim 1, characterized in that: Side plates (23) are respectively installed at both ends of the base (16), and two shaft rods (24) are rotatably installed on opposite sides of the two side plates (23), and the driven wheel (17) is fixedly sleeved on the shaft rods (24).

8. The coal mine track inspection robot according to claim 1, characterized in that: Anti-collision strips (4) are installed at the bottom of the front and rear ends of the inspection robot body.

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