A rail-mounted coal mine inspection robot

Abstract

The utility model discloses a rail-mounted coal mine inspection robot, comprising a rail, a first inspection adjustment component is arranged on the rail, a second inspection adjustment component is arranged at one end of the first inspection adjustment component, an auxiliary component is arranged on the second inspection adjustment component, and a controller is arranged on one side of the first inspection adjustment component. Through the cooperation between the first inspection adjustment component and the second inspection adjustment component, impurities and dust attached to the rail can be cleaned during the movement and adjustment of the inspection robot, thereby avoiding the movement effect of the mobile inspection robot and avoiding the influence on the inspection robot, and the inspection camera can be adjusted at multiple angles. At the same time, it is convenient to repair the inspection robot when a fault occurs; and by arranging the auxiliary component, it is possible to avoid scratching the inspection lens, thereby protecting the inspection camera, and better ensuring the inspection feeling of the inspection camera.

Description

Technical Field

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

[0002] With the vigorous development of my country's coal industry, the demand for robots that can perform inspections under special conditions has increased. At present, some dangerous situations often occur in the underground working environment of coal mines, such as five common disasters, namely mine floods, mine fires, mine gas injuries, mine coal dust disasters, mine roof disasters, etc. In these disaster situations, considering the safety of the staff and reducing the labor intensity of the workers, robots are needed for inspection and detection. In order to better inspect coal mines, a rail-mounted coal mine inspection robot is needed.

[0003] For example, after searching the Chinese patent publication number CN220419996U, a track inspection robot for coal mine monitoring was found. By starting the dual-axis motor, the lead screw rotates, causing the movable sleeve to move up and down, driving the push rod to move up and down, and squeezing the inspection equipment body through the push rod, causing the inspection equipment body to rotate for adjustment.

[0004] However, the above-mentioned device has certain deficiencies in actual use. Although the lens of the inspection equipment body can be wiped during use to ensure the inspection effect of the device, since the track is inside the coal mine tunnel for a long time, some impurities and dust will adhere to the inside of the track, which will cause a certain impact on the movement of the inspection robot, thereby affecting the robot's inspection effect. At the same time, the above-mentioned patent wipes the lens for a long time, and the lens will be scratched after a long wiping time, thereby affecting the inspection perception. Utility Model Content

[0005] In view of the problems in the related technology, the utility model proposes a rail-mounted coal mine inspection robot to overcome the above-mentioned technical problems existing in the existing related technology.

[0006] To this end, the specific technical solutions adopted by the utility model are as follows:

[0007] A rail-mounted coal mine inspection robot comprises a rail, a first inspection and adjustment component is arranged on the rail, a second inspection and adjustment component is arranged at one end of the first inspection and adjustment component, an auxiliary component is arranged on the second inspection and adjustment component, and a controller is arranged at one side of the first inspection and adjustment component.

[0008] Furthermore, in order to better clean the track, the first inspection and adjustment component includes a moving seat, the moving seat is arranged on the track, the controller is arranged on one side of the moving seat, the moving seat is provided with a first motor, and the two output ends of the first motor extend from the inner side of the moving seat to the outer side of the moving seat, and the output shaft of the first motor is located on the outer side of the moving seat and a first sprocket is provided at one end.

[0009] Furthermore, a chain is meshedly connected to the first sprocket, and the chain is meshedly connected to the second sprocket. A rotating rod is provided on the second sprocket, and one end of the rotating rod extends from the outer side of the moving seat to the inner side of the moving seat. A moving wheel is provided at one end of the rotating rod located on the inner side of the moving seat, and the moving wheel is set on a track.

[0010] Furthermore, in order to better ensure the cleaning effect, the first inspection and adjustment component includes multiple mounting seats, which are symmetrically arranged on both sides of the moving seat. A push plate is connected to one side of the moving seat, and the push plate is arranged as a hollow structure, and the push plate is arranged in the track.

[0011] Furthermore, for better performance, a cleaning brush and a first output nozzle are provided at both ends of the push plate, and the first output nozzle is connected to the push plate, a first delivery pipe is connected to one side of the push plate, one end of the first delivery pipe extends from the inner side of the mounting seat to the outer side of the mounting seat, the end of the first delivery pipe located on the outer side of the mounting seat is connected to the second delivery pipe, one end of the second delivery pipe is connected to the first delivery pump, and the first delivery pipe is arranged at one end of the movable seat.

[0012] Furthermore, in order to better adjust the inspection camera at multiple angles, the second inspection adjustment component includes a second motor, which is arranged at one end of the moving seat through a fixed frame, and a driving gear is arranged at one end of the output shaft of the second motor, and a driven gear is meshed and connected to the driving gear, and the driven gear is arranged on the moving seat, and a plurality of electric push rods are arranged at one end of the driven gear.

[0013] Furthermore, an adjustment seat is provided at the movable end of the electric push rod, a movable block is connected inside the adjustment seat, a scissor-type adjustment frame is connected to the movable block, and one end of the scissor-type adjustment frame is connected to the adjustment seat, one end of the scissor-type adjustment frame is connected to a rotating plate, and one end of the rotating plate is provided with multiple inspection cameras.

[0014] Furthermore, in order to better inspect other substances in the coal mine tunnel, the auxiliary component includes a second delivery pump, the input end of the second delivery pump is connected to an input pipe, one end of the input pipe is provided with a filter cover, the output end of the second delivery pump is connected to an output pipe, and the output pipe is provided on a rotating plate through a second fixing frame, a plurality of second output nozzles are symmetrically provided on the output pipe, and one end of the rotating plate is provided with an infrared thermal imager, a dust sensor, a temperature and humidity sensor, and a harmful gas sensor through a third fixing frame.

[0015] The beneficial effects of the present utility model: through the cooperation between the first inspection adjustment component and the second inspection adjustment component, impurities and dust attached to the track can be cleaned during the movement and adjustment of the inspection robot, thereby avoiding the movement effect of the mobile inspection robot and avoiding the impact on the inspection robot, and the inspection camera can be adjusted at multiple angles. At the same time, it is convenient to repair the inspection robot when a fault occurs. By setting up auxiliary components, it is possible to avoid scratches on the inspection lens, thereby protecting the inspection camera, and thus better ensuring the inspection perception of the inspection camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the structure of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the structure of the first inspection and adjustment component of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the structure of the first inspection and adjustment component of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the structure of the first inspection and adjustment component of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 3 ;

[0022] Figure 6 This is a schematic diagram of the structure of the second inspection and adjustment component of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 1 ;

[0023] Figure 7 This is a schematic diagram of the structure of the second inspection and adjustment component of a rail-mounted coal mine inspection robot according to an embodiment of the utility model. Figure 2 ;

[0024] Figure 8 The present invention is a schematic structural diagram of an auxiliary component of a rail-mounted coal mine inspection robot according to an embodiment of the present utility model.

[0025] Reference numerals:

[0026] 1. Track; 2. First patrol inspection and adjustment component; 201. Moving seat; 202. First motor; 203. First sprocket; 204. Chain; 205. Second sprocket; 206. Rotating rod; 207. Moving wheel; 208. Mounting seat; 209. Push plate; 210. Cleaning brush; 211. First output nozzle; 212. First delivery pipe; 213. Second delivery pipe; 214. First delivery pump; 3. Second patrol inspection and adjustment component; 301. Second motor; 302. Active gear Wheel; 303, driven gear; 304, electric push rod; 305, adjustment seat; 306, moving block; 307, scissor-type adjustment frame; 308, rotating plate; 309, inspection camera; 4, auxiliary components; 401, second delivery pump; 402, input pipe; 403, filter cover; 404, output pipe; 405, second output nozzle; 406, infrared thermal imager; 407, dust sensor; 408, temperature and humidity sensor; 409, harmful gas sensor; 5, controller. DETAILED DESCRIPTION

[0027] 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.

[0028] See also Figure 1 - Figure 8 As shown, a rail-mounted coal mine inspection robot according to an embodiment of the utility model includes a rail 1, a first inspection and adjustment component 2 is provided on the rail 1, a second inspection and adjustment component 3 is provided at one end of the first inspection and adjustment component 2, an auxiliary component 4 is provided on the second inspection and adjustment component 3, and a controller 5 is provided on one side of the first inspection and adjustment component 2.

[0029] like Figure 1 - Figure 8As shown, the first inspection and adjustment component 2 includes a moving seat 201, which is arranged on the track 1, and the controller 5 is arranged on one side of the moving seat 201. The moving seat 201 is provided with a first motor 202, and the two output ends of the first motor 202 extend from the inner side of the moving seat 201 to the outer side of the moving seat 201. The output shaft of the first motor 202 is located at one end of the outer side of the moving seat 201 and is provided with a first sprocket 203, and the first sprocket 203 is meshedly connected with a chain 204, and the chain 204 is meshedly connected with a second sprocket 205, and the second sprocket 205 is provided with a rotating rod 206, and one end of the rotating rod 206 extends from the outer side of the moving seat 201 to the inner side of the moving seat 201, and the end of the rotating rod 206 located at the inner side of the moving seat 201 is provided with a moving wheel 207, and the moving wheel 207 is arranged on the track 1;

[0030] The first inspection and adjustment component 2 includes a plurality of mounting seats 208, and the mounting seats 208 are symmetrically arranged on both sides of the moving seat 201. A push plate 209 is connected to one side of the moving seat 201, and the push plate 209 is arranged as a hollow structure. The push plate 209 is arranged in the track 1, and cleaning brushes 210 and a first output nozzle 211 are arranged at both ends of the push plate 209, and the first output nozzle 211 is communicated with the push plate 209. A first delivery pipe 212 is connected to one side of the push plate 209, and one end of the first delivery pipe 212 extends from the inner side of the mounting seat 208 to the outer side of the mounting seat 208. The end of the first delivery pipe 212 located on the outer side of the mounting seat 208 is connected to the first delivery pump 214, and the first delivery pipe 212 is arranged at one end of the moving seat 201.

[0031] like Figure 1 - Figure 8 As shown, the second inspection and adjustment component 3 includes a second motor 301, which is arranged at one end of the moving seat 201 through a fixed frame, and a driving gear 302 is arranged at one end of the output shaft of the second motor 301, and a driven gear 303 is meshed and connected to the driving gear 302, and the driven gear 303 is arranged on the moving seat 201, and a plurality of electric push rods 304 are arranged at one end of the driven gear 303, and an adjustment seat 305 is arranged at the moving end of the electric push rod 304, and a moving block 306 is connected inside the adjustment seat 305, and a scissor-type adjustment frame 307 is connected to the moving block 306, and one end of the scissor-type adjustment frame 307 is connected to the adjustment seat 305, and one end of the scissor-type adjustment frame 307 is connected to the adjustment seat 305, and one end of the scissor-type adjustment frame 307 is connected to a rotating plate 308, and one end of the rotating plate 308 is provided with a plurality of inspection cameras 309.

[0032] like Figure 1 - Figure 8As shown, the auxiliary component 4 includes a second delivery pump 401, the input end of the second delivery pump 401 is connected to an input pipe 402, one end of the input pipe 402 is provided with a filter cover 403, the output end of the second delivery pump 401 is connected to an output pipe 404, and the output pipe 404 is arranged on the rotating plate 308 through a second fixing frame, and a plurality of second output nozzles 405 are symmetrically arranged on the output pipe 404, and one end of the rotating plate 308 is provided with an infrared thermal imager 406, a dust sensor 407, a temperature and humidity sensor 408, and a harmful gas sensor 409 through a third fixing frame;

[0033] The principle of the infrared thermal imager 406 is consistent with the principle of the infrared thermal imager high-precision temperature measuring instrument model YW-TI120-000, the dust sensor 407 model is GCG1000, the temperature and humidity sensor 408 model is LD-13-WS-08, and the harmful gas sensor 409 model is SK-500-GAS-Y;

[0034] The infrared thermal imager 406 is used to identify the surface temperature of the coal bunker;

[0035] Dust sensor 407 is used to monitor the mass concentration of PM1.0, PM2.5, PM10, and TSP particles;

[0036] The temperature and humidity sensor 408 is used to monitor the ambient temperature and humidity in the underground coal bunker;

[0037] The harmful gas sensor 409 is used to detect methane, oxygen, carbon monoxide, carbon dioxide, etc.

[0038] In summary, with the aid of the above technical solution of the utility model, the inspection camera 309 can be driven to move on the track 1 through the cooperation of the moving seat 201, the first motor 202, the first sprocket 203, the chain 204, the second sprocket 205, the rotating rod 206, and the moving wheel 207. At the same time, during the movement, the impurities and dust attached to the track 1 can be cleaned through the cooperation of the mounting seat 208, the push plate 209, the cleaning brush 210, the first conveying pipe 212, the second conveying pipe 213, and the first conveying pump 214. The impurities and dust attached to the track can be cleaned, thereby avoiding the moving effect of the mobile inspection robot and avoiding affecting the inspection robot.

[0039] The inspection camera 309 can be adjusted at multiple angles by the cooperation of the second motor 301, the driving gear 302, and the driven gear 303, thereby ensuring the inspection viewing angle. The electric push rod 304, the adjustment seat 305, the moving block 306, the scissor-type adjustment frame 307, and the rotating plate 308 can cooperate with each other to facilitate the inspection robot to be repaired when a fault occurs.

[0040] By cooperating with each other, the second delivery pump 401, the input pipe 402, the filter cover 403, the output pipe 404, and the second output nozzle 405 can avoid scratching the inspection lens, thereby protecting the inspection camera 309, and further ensuring the inspection experience of the inspection camera 309. By setting up an infrared thermal imager 406, a dust sensor 407, a temperature and humidity sensor 408, and a harmful gas sensor 409, the temperature, harmful gases, dust, and humidity in the coal mine tunnel can be monitored during the inspection, thereby ensuring the diversity of the inspection.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail-mounted coal mine inspection robot, comprising a rail (1), characterized in that: The track (1) is provided with a first patrol and adjustment component (2), one end of the first patrol and adjustment component (2) is provided with a second patrol and adjustment component (3), the second patrol and adjustment component (3) is provided with an auxiliary component (4), and one side of the first patrol and adjustment component (2) is provided with a controller (5).

2. A rail-mounted coal mine inspection robot according to claim 1, characterized in that: The first patrol and adjustment component (2) comprises a moving seat (201), the moving seat (201) being arranged on the track (1), the controller (5) being arranged on one side of the moving seat (201), the moving seat (201) being provided with a first motor (202), two output ends of the first motor (202) extending from the inner side of the moving seat (201) to the outer side of the moving seat (201), and a first sprocket (203) being arranged at one end of the output shaft of the first motor (202) located on the outer side of the moving seat (201).

3. The rail-mounted coal mine inspection robot according to claim 2, characterized in that: The first sprocket (203) is meshedly connected with a chain (204), the chain (204) is meshedly connected with a second sprocket (205), the second sprocket (205) is provided with a rotating rod (206), one end of the rotating rod (206) extends from the outside of the moving seat (201) to the inside of the moving seat (201), and a moving wheel (207) is provided at one end of the rotating rod (206) located on the inside of the moving seat (201), and the moving wheel (207) is arranged on the track (1).

4. The rail-mounted coal mine inspection robot according to claim 3, characterized in that: The first inspection and adjustment component (2) comprises a plurality of mounting seats (208), wherein the mounting seats (208) are symmetrically arranged on both sides of the movable seat (201), one side of the movable seat (201) is connected to a push plate (209), and the push plate (209) is arranged as a hollow structure, and the push plate (209) is arranged in the track (1).

5. The rail-mounted coal mine inspection robot according to claim 4, characterized in that: A cleaning brush (210) and a first output nozzle (211) are provided at both ends of the push plate (209), and the first output nozzle (211) is communicated with the push plate (209); a first delivery pipe (212) is connected to one side of the push plate (209); one end of the first delivery pipe (212) extends from the inner side of the mounting seat (208) to the outer side of the mounting seat (208); one end of the first delivery pipe (212) located on the outer side of the mounting seat (208) is connected to a second delivery pipe (213); one end of the second delivery pipe (213) is connected to a first delivery pump (214); and the first delivery pipe (212) is provided at one end of the movable seat (201).

6. The rail-mounted coal mine inspection robot according to claim 5, characterized in that: The second patrol adjustment component (3) comprises a second motor (301), the second motor (301) being arranged at one end of the moving seat (201) via a fixing frame, a driving gear (302) being arranged at one end of an output shaft of the second motor (301), a driven gear (303) being meshingly connected to the driving gear (302), and the driven gear (303) being arranged on the moving seat (201), and a plurality of electric push rods (304) being arranged at one end of the driven gear (303).

7. The rail-mounted coal mine inspection robot according to claim 6, characterized in that: The movable end of the electric push rod (304) is provided with an adjustment seat (305), a moving block (306) is connected inside the adjustment seat (305), a scissor-type adjustment frame (307) is connected to the moving block (306), and one end of the scissor-type adjustment frame (307) is connected to the adjustment seat (305), one end of the scissor-type adjustment frame (307) is connected to a rotating plate (308), and one end of the rotating plate (308) is provided with a plurality of inspection cameras (309).

8. The rail-mounted coal mine inspection robot according to claim 7, characterized in that: The auxiliary component (4) comprises a second delivery pump (401), the input end of the second delivery pump (401) is connected to an input pipe (402), one end of the input pipe (402) is provided with a filter cover (403), the output end of the second delivery pump (401) is connected to an output pipe (404), and the output pipe (404) is arranged on the rotating plate (308) through a second fixing frame, a plurality of second output nozzles (405) are symmetrically arranged on the output pipe (404), and one end of the rotating plate (308) is provided with an infrared thermal imager (406), a dust sensor (407), a temperature and humidity sensor (408), and a harmful gas sensor (409) through a third fixing frame.

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