Mining track inspection robot

Abstract

The utility model provides a mine track inspection robot which comprises an action module, a driving module and a control module, the action module comprises two groups of driving assemblies and two groups of driven assemblies which are symmetrical front and back, and the driving assemblies are used for moving the mine track inspection robot. The driven assembly is used for bearing the weight and limiting of the mining track inspection robot; the driving assembly and the driven assembly are both installed above the main board, the driving module is installed below the main board, the driving module is connected with the driving assembly, the driving module is used for providing power for the driving assembly, and the control module is connected with the bottom of the main board. The utility model has the following beneficial effects: the two cavities are machined after welding, so that the production cost is lower, and better explosion-proof performance can be realized.

Description

Technical Field

[0001] The utility model belongs to the field of inspection robots, and in particular relates to a mine track inspection robot. Background Art

[0002] At present, the underground space of coal mines is vast, containing explosive gases such as methane and coal dust, and the environment is humid. There are many equipment that need to be monitored, manual detection is inefficient, and safety cannot be guaranteed. Mine inspection robots can replace manual inspection tasks, detect the operating status of equipment, monitor temperature, humidity, gas concentration and other data, greatly improving production efficiency and safety.

[0003] To address the above problems, a variety of mine track inspection robots have appeared on the market. However, most mine track inspection robots use a single explosion-proof cavity, and the internal space is not fully utilized, resulting in a large overall weight, volume, and complex structure of the robot. On the other hand, when the mine track inspection robot goes uphill, it will slip and the motor will be overloaded. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a mine track inspection robot to solve the problems raised in the above-mentioned background technology.

[0005] The utility model is realized by the following technical scheme: a mine track inspection robot, comprising: an action module, a drive module, and a control module, wherein the action module comprises two sets of drive components and two sets of front-to-back symmetrical driven components, wherein the drive components are used to move the mine track inspection robot, and the driven components are used to bear the weight and limit the position of the mine track inspection robot;

[0006] The driving component and the driven component are both installed above the mainboard, a driving module is installed below the mainboard, the driving module is connected to the driving component, the driving module is used to provide power to the driving component, and the control module is connected to the bottom of the mainboard.

[0007] As a preferred embodiment, the driven component includes a support bearing seat, a main support shaft, a guide module mounting plate, a guide wheel fixing plate, a load-bearing wheel, a horizontal limit wheel, a vertical limit wheel, and a main board. The support bearing seat is fixedly connected to the main board, and the main support shaft passes through the guide module mounting plate and the support bearing seat in sequence. The guide module mounting plate is fixedly connected to the guide wheel fixing plate. The surface of the guide module mounting plate is provided with the vertical limit wheel, and the inner side of the guide wheel fixing plate is provided with the horizontal limit wheel. The load-bearing wheel is rotatably connected to the guide wheel fixing plate and is movably connected to the track.

[0008] As a preferred embodiment, the drive assembly includes a driving wheel, a first driving shaft, a second driving shaft, a driving wheel fixed bearing seat, a right clamping plate, a clamping bearing seat, a clamping shaft, a spring, a hexagon socket head screw, a reducer connecting and fixing plate, a reducer, and a motor connecting plate. The clamping bearing seat is fixedly connected to the main board, and the clamping shaft sequentially passes through the right clamping plate and the clamping bearing seat. One end of the first driving shaft is connected to the driving wheel and is rotatably connected to the right clamping plate through a bearing and a retaining ring. The top of the reducer is connected to a fixing plate, and the two ends of the fixing plate are respectively fixedly connected to the reducer and the main board, the driving wheel fixed bearing seat is fixedly connected to the main board, and the two ends of the second driving shaft are respectively connected to the reducer and the driving wheel, and are rotatably connected to the driving wheel fixed bearing seat through a bearing and a retaining ring. The hexagon socket head screw sequentially passes through the right clamping plate, the driving wheel fixed bearing seat and the spring, and is fixed by a nut, and the clamping force can be adjusted.

[0009] As a preferred embodiment, the drive module includes a servo motor, a motor cavity housing, a motor cavity cover, a wiring cavity cover, an output shaft cover, a motor connecting shaft, a motor terminal block, a motor flameproof through-wall terminal, and a motor flameproof cable introduction device. The motor terminal block, the motor flameproof through-wall terminal, and the motor flameproof cable introduction device are installed on the surface of the motor cavity housing. The end face of the motor cavity housing is connected to the motor cavity cover, the wiring cavity cover and the output shaft cover to form a flameproof cavity as a whole. A sealing groove is provided on the mounting surfaces where the motor cavity housing, the motor cavity cover, the wiring cavity cover and the output shaft cover contact each other, which is used to install a sealing strip to make the flameproof cavity sealed. The servo motor is installed below the motor cavity cover, one end of the servo motor is connected to the motor connecting shaft through the output shaft cover, the motor connecting plate is respectively connected to the drive module and the reducer, and the motor connecting shaft is connected to the reducer through the motor connecting plate.

[0010] As a preferred embodiment, the control module includes a battery control cavity shell, a battery cavity cover, a wiring control cavity cover, a battery, a control explosion-proof wall terminal, a circuit board, a wireless module, a control wiring bank, and a control explosion-proof cable introduction device. The battery cavity cover and the wiring control cavity cover are respectively installed at both ends of the battery control cavity shell to form a flameproof cavity as a whole; a sealing groove is provided on the mounting surfaces of the battery control cavity shell, the battery cavity cover, and the wiring control cavity cover where they contact each other, for installing a sealing strip to make the flameproof cavity sealed; a control explosion-proof cable introduction device is installed on the side of the battery control cavity shell, one end of the battery is installed on the surface of the battery cavity cover, and the other end is inserted into the battery control cavity shell; a control explosion-proof wall terminal, a circuit board, a wireless module, and a control wiring bank are also installed in the battery control cavity shell.

[0011] As a preferred embodiment, it also includes mainboard reinforcement ribs and clamping reinforcement members. The mainboard reinforcement ribs are fixed on the mainboard to increase the strength and rigidity of the mainboard and prevent twisting and deformation caused by stress. The clamping reinforcement members are fixed on the clamping bearing seat, the drive wheel fixed bearing seat and the supporting bearing seat to jointly bear the stress and increase the overall strength and rigidity.

[0012] After adopting the above technical solution, the utility model has the following beneficial effects: the driving module and the control module are divided into two cavities, the structure is compact, the weight of the cavity is greatly reduced, the volume of the overall robot is reduced, and the safety and stability of the mine track inspection robot in normal operation are ensured. The two cavities are machined after welding, the production cost is low, and good explosion-proof performance can be achieved. The mine track inspection robot meets the explosion-proof requirements, can be applied to various explosion-proof areas, and has strong compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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 or the description of the prior art 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 labor.

[0014] Figure 1 It is a structural schematic diagram of the mining track inspection robot of the present invention;

[0015] Figure 2 is an exploded view of the mining track inspection robot of the present invention;

[0016] Figure 3 is an exploded view of the action module of the present invention;

[0017] Figure 4 is an exploded view of the drive module of the present invention;

[0018] Figure 5 It is an exploded view of the control module of the present invention.

[0019] In the figure, 1-motor cavity cover; 2-servo motor; 3-motor cavity shell; 4-output shaft cover; 5-motor connecting shaft; 6-wiring cavity cover; 7-motor explosion-proof cable introduction device; 8-motor explosion-proof wall terminal; 9-motor terminal block; 10-battery cavity cover; 11-battery; 12-battery control cavity shell; 13-control explosion-proof cable introduction device; 14-wiring control cavity cover; 15-control terminal block 16-wireless module; 17-circuit board; 18-control explosion-proof wall terminal; 19-light board unit; 20-ultrasonic; 21-wireless unit; 22-switch-emergency stop fixed sheet metal; 23-mine power switch; 24-mine emergency stop switch; 25-smoke sensor; 26-smoke sensor fixed sheet metal; 27-mine dust concentration sensor fixed sheet metal; 28-mine dust concentration sensor; 29-mine wireless multi-parameter sensor; 30 -Fixed sheet metal for wireless multi-parameter sensor for mining; 31-Fixed sheet metal for explosion-proof pan / tilt; 32-Explosion-proof pan / tilt; 33-Microphone unit; 34-Speaker unit; 35-Light board-ultrasonic-antenna fixed sheet metal; 36-RFID unit; 37-RFID unit fixed sheet metal; 38-Clamping reinforcement; 39-Mainboard reinforcement rib; 40-Charging unit; 41-Driving wheel; 42-Second driving shaft; 43-Driving wheel fixed bearing seat; 44-Spring; 45-Guide wheel fixing plate; 46-Load-bearing wheel; 47-Horizontal limit wheel; 48-Vertical limit wheel; 49-Guide module mounting plate; 50-Main support shaft; 51-Support bearing seat; 52-Reducer connection fixing plate; 53-Reducer; 54-Motor connection plate; 55-Inner hexagon socket head screw; 56-Right clamping plate 57-Clamping bearing seat; 58-Clamping shaft; 59-First driving shaft; 60-Mainboard;

[0020] 100 - action module; 110 - driving component; 120 - driven component; 200 - driving module; 300 - control module. DETAILED DESCRIPTION

[0021] 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 of 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.

[0022] See also Figures 1 to 5 The utility model provides a technical solution: a mine track inspection robot, including: an action module, a drive module, a control module, such as Figure 3As shown, the action module includes two sets of driving components and two sets of front-to-back symmetrical driven components, the driving components are used to move the mining track inspection robot, and the driven components are used to bear the weight and limit the position of the mining track inspection robot;

[0023] The driving component and the driven component are both installed above the mainboard, a driving module is installed below the mainboard, the driving module is connected to the driving component, the driving module is used to provide power to the driving component, and the control module is connected to the bottom of the mainboard.

[0024] like Figure 3 As shown, the driven component 120 includes a support bearing seat 51, a main support shaft 50, a guide module mounting plate 49, a guide wheel fixing plate 45, a load-bearing wheel 46, a horizontal limiting wheel 47, a vertical limiting wheel 48, and a main board 60. The support bearing seat 51 is fixedly connected to the main board 60, and the main support shaft 50 sequentially passes through the guide module mounting plate 49 and the support bearing seat 51, the guide module mounting plate 49 is fixedly connected to the guide wheel fixing plate 45, the surface of the guide module mounting plate 49 is provided with the vertical limiting wheel 48, the inner side of the guide wheel fixing plate 45 is provided with the horizontal limiting wheel 47, and the load-bearing wheel 46 is rotatably connected to the guide wheel fixing plate 45, and is movably connected to the track.

[0025] like Figure 3 As shown, the driving assembly 110 includes a driving wheel 41, a first driving shaft 59, a second driving shaft 42, a driving wheel fixed bearing seat 43, a right clamping plate 56, a clamping bearing seat 57, a clamping shaft 58, a spring 44, a hexagon socket head screw 55, a reducer connecting and fixing plate 52, a reducer 53, and a motor connecting plate 54. The clamping bearing seat 57 is fixedly connected to the main board 60, and the clamping shaft 58 passes through the right clamping plate 56 and the clamping bearing seat 57 in sequence. One end of the first driving shaft 59 is connected to the driving wheel 41, and is connected to the right clamping plate 56 through a bearing and a retaining ring. The clamping plate 56 is rotatably connected, the top of the reducer 53 is connected to the fixing plate 52, the two ends of the fixing plate 52 are respectively fixedly connected to the reducer 53 and the main board 60, the driving wheel fixing bearing seat 43 is fixedly connected to the main board 60, the two ends of the second driving shaft 42 are respectively connected to the reducer 53 and the driving wheel 41, and are rotatably connected to the driving wheel fixing bearing seat 43 through bearings and retaining rings, the hexagon socket head screw 55 passes through the right clamping plate 56, the driving wheel fixing bearing seat 43 and the spring 44 in sequence, and is fixed by a nut, and the clamping force can be adjusted.

[0026] like Figure 4As shown, the drive module 200 includes a servo motor 2, a motor cavity housing 3, a motor cavity cover 1, a wiring cavity cover 6, an output shaft cover 4, a motor connecting shaft 5, a motor terminal block 9, a motor flameproof through-wall terminal 8, and a motor flameproof cable introduction device 7. The motor terminal block 9, the motor flameproof through-wall terminal 8, and the motor flameproof cable introduction device 7 are installed on the surface of the motor cavity housing 3. The end face of the motor cavity housing 3 is connected to the motor cavity cover 1, the wiring cavity cover 6, and the output shaft cover 4 to form a flameproof cavity as a whole. A sealing groove is provided on the mounting surface where the motor cavity housing 3, the motor cavity cover 1, the wiring cavity cover 6, and the output shaft cover 4 contact each other, for installing a sealing strip to make the flameproof cavity sealed. The servo motor 2 is installed below the motor cavity cover 1. One end of the servo motor 2 passes through the output shaft cover 4 to connect with the motor connecting shaft 5. The motor connecting plate 54 is respectively connected to the drive module 200 and the reducer 53. The motor connecting shaft 5 passes through the motor connecting plate 54 to connect with the reducer 53.

[0027] like Figure 5 As shown, the control module 300 includes a battery control cavity shell 12, a battery cavity cover 10, a wiring control cavity cover 14, a battery 11, a control flameproof through-wall terminal 18, a circuit board 17, a wireless module 16, a control wiring bank 15, and a control flameproof cable introduction device 13. The battery cavity cover 10 and the wiring control cavity cover 14 are respectively installed at both ends of the battery control cavity shell 12 to form a flameproof cavity as a whole; a sealing groove is provided on the mounting surfaces of the battery control cavity shell 12, the battery cavity cover 10, and the wiring control cavity cover 14 that contact each other, for installing a sealing strip to make the flameproof cavity sealed; a control flameproof cable introduction device 13 is installed on the side of the battery control cavity shell 12; one end of the battery 11 is installed on the surface of the battery cavity cover 10, and the other end is inserted into the battery control cavity shell 12; and a control flameproof through-wall terminal 18, a circuit board 17, a wireless module 16, and a control wiring bank 15 are also installed in the battery control cavity shell 12.

[0028] It also includes a mainboard reinforcement rib 39 and a clamping reinforcement 38. The mainboard reinforcement rib 39 is fixed on the mainboard 60 to increase the strength and rigidity of the mainboard and prevent distortion caused by stress. The clamping reinforcement 38 is fixed on the clamping bearing seat 57, the driving wheel fixed bearing seat 43, and the supporting bearing seat 51 to jointly bear the stress and increase the overall strength and rigidity.

[0029] like Figure 1 and Figure 2As shown, the ultrasonic wave 20, the light board unit 19, the antenna unit 21, the mine emergency stop switch 24, and the mine power switch 23 are fixedly connected to the switch-emergency stop fixed sheet metal 22, and are fixed in front of the main board 60 through the switch and the emergency stop fixed sheet metal 22; the smoke sensor 25, the mine dust concentration sensor 28, and the mine wireless multi-parameter sensor 29 are fixed below the main board 60 through the smoke sensor fixed sheet metal 26, the mine dust concentration sensor fixed sheet metal 27, and the mine wireless multi-parameter sensor fixed sheet metal 30 respectively;

[0030] The explosion-proof pan / tilt 32, microphone unit 33, charging unit 40, and speaker unit 34 are fixedly connected to the explosion-proof pan / tilt fixing sheet metal 31, and are fixedly connected to the main board 60 through the explosion-proof pan / tilt fixing sheet metal 31; the ultrasonic wave 20, the light board unit 19, and the antenna unit 21 are provided in two groups, and the other group of ultrasonic wave 20, the light board unit 19, and the antenna unit 21 are fixedly connected to the light board-ultrasonic wave-antenna fixing sheet metal 35, and are fixed to the rear of the main board 60 through the light board, ultrasonic wave, and antenna fixing sheet metal 35; the RFID unit 36 ​​is fixedly connected to the RFID unit fixing sheet metal 37, and is fixed above the main board 60 through the RFID unit fixing sheet metal 37;

[0031] The driving module 200 and the control module 300 are divided into two cavities, which have a compact structure, greatly reduce the weight of the cavity, reduce the volume of the entire robot, and ensure the safety and stability of the mine track inspection robot in normal operation. The two cavities are machined after welding, and the production cost is low, which can achieve good explosion-proof performance. The mine track inspection robot meets the explosion-proof requirements, can be used in various explosion-proof areas, and has strong compatibility.

[0032] 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 mine track inspection robot, comprising: Action module, drive module, control module, characterized in that the action module includes two sets of drive components and two sets of front-to-back symmetrical driven components, the drive components are used to move the mine track inspection robot, and the driven components are used to bear the weight and limit the position of the mine track inspection robot; The driving component and the driven component are both installed above the mainboard, a driving module is installed below the mainboard, the driving module is connected to the driving component, the driving module is used to provide power to the driving component, and the control module is connected to the bottom of the mainboard.

2. A mining track inspection robot as claimed in claim 1, characterized in that: The driven component includes a supporting bearing seat, a main supporting shaft, a guide module mounting plate, a guide wheel fixing plate, a load-bearing wheel, a horizontal limiting wheel, a vertical limiting wheel, and a main board. The supporting bearing seat is fixedly connected to the main board, and the main supporting shaft passes through the guide module mounting plate and the supporting bearing seat in sequence. The guide module mounting plate is fixedly connected to the guide wheel fixing plate. The surface of the guide module mounting plate is provided with the vertical limiting wheel, and the inner side of the guide wheel fixing plate is provided with the horizontal limiting wheel. The load-bearing wheel is rotatably connected to the guide wheel fixing plate and is movably connected to the track.

3. A mine track inspection robot as claimed in claim 2, characterized in that: The drive assembly comprises a driving wheel, a first driving shaft, a second driving shaft, a driving wheel fixed bearing seat, a right clamping plate, a clamping bearing seat, a clamping shaft, a spring, a hexagon socket head screw, a reducer connecting and fixing plate, a reducer, and a motor connecting plate. The clamping bearing seat is fixedly connected to the main board, and the clamping shaft sequentially passes through the right clamping plate and the clamping bearing seat, one end of the first driving shaft is connected to the driving wheel and is rotatably connected to the right clamping plate through a bearing and a retaining ring. The top of the reducer is connected to a fixing plate, and the two ends of the fixing plate are respectively fixedly connected to the reducer and the main board, the driving wheel fixed bearing seat is fixedly connected to the main board, and the two ends of the second driving shaft are respectively connected to the reducer and the driving wheel, and are rotatably connected to the driving wheel fixed bearing seat through a bearing and a retaining ring. The hexagon socket head screw sequentially passes through the right clamping plate, the driving wheel fixed bearing seat and the spring, and is fixed by a nut, and the clamping force can be adjusted.

4. A mining track inspection robot as claimed in claim 3, characterized in that: The drive module includes a servo motor, a motor cavity housing, a motor cavity cover, a wiring cavity cover, an output shaft cover, a motor connecting shaft, a motor terminal block, a motor flameproof through-wall terminal, and a motor flameproof cable introduction device. The motor terminal block, the motor flameproof through-wall terminal, and the motor flameproof cable introduction device are installed on the surface of the motor cavity housing. The end face of the motor cavity housing is connected to the motor cavity cover, the wiring cavity cover and the output shaft cover to form a flameproof cavity as a whole. A sealing groove is provided on the mounting surfaces where the motor cavity housing, the motor cavity cover, the wiring cavity cover and the output shaft cover contact each other, which is used to install a sealing strip to make the flameproof cavity sealed. The servo motor is installed below the motor cavity cover. One end of the servo motor is connected to the motor connecting shaft through the output shaft cover. The motor connecting plate is respectively connected to the drive module and the reducer. The motor connecting shaft is connected to the reducer through the motor connecting plate.

5. A mining track inspection robot as claimed in claim 4, characterized in that: The control module includes a battery control cavity shell, a battery cavity cover, a wiring control cavity cover, a battery, a control flameproof through-wall terminal, a circuit board, a wireless module, a control wiring bank, and a control flameproof cable introduction device. The battery cavity cover and the wiring control cavity cover are respectively installed at both ends of the battery control cavity shell to form a flameproof cavity as a whole. A sealing groove is provided on the mounting surfaces where the battery control cavity shell, the battery cavity cover, and the wiring control cavity cover contact each other, which is used to install a sealing strip to make the flameproof cavity sealed. A control flameproof cable introduction device is installed on the side of the battery control cavity shell. One end of the battery is installed on the surface of the battery cavity cover, and the other end is inserted into the battery control cavity shell. A control flameproof through-wall terminal, a circuit board, a wireless module, and a control wiring bank are also installed in the battery control cavity shell.

6. A mining track inspection robot as claimed in claim 1 or 5, characterized in that: It also includes mainboard reinforcement ribs and clamping reinforcements. The mainboard reinforcement ribs are fixed on the mainboard to increase the strength and rigidity of the mainboard and prevent twisting and deformation caused by stress. The clamping reinforcements are fixed on the clamping bearing seat, the drive wheel fixed bearing seat and the supporting bearing seat to jointly bear the stress and increase the overall strength and rigidity.

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