Explosion-proof and intrinsic safety type inspection robot

Abstract

The utility model provides an explosion-proof and intrinsic safety type inspection robot, and relates to the technical field of mining inspection robots. The device comprises a driving wheel set, a driven wheel set, a guide wheel set, a bearing wheel set, a walking structure support, a limiting wheel set, a pressing device, a speed reducer, an explosion-proof motor, an explosion-proof control box body, an intrinsic safety type encoder, an intrinsic safety type RFID, an intrinsic safety double-light holder, a wireless charging system, an obstacle avoidance sensor, a travel switch, a scram button, a gas sensor, a sound-light alarm lamp, a loudspeaker and an illuminating lamp. The utility model relates to a mining explosion-proof battery, a control system and an I- The whole robot adopts an explosion-proof and intrinsic safety type mining explosion-proof standard design, and has an excellent inspection effect in environments such as a substation, a belt conveyor and a water pump house in a coal mine. The robot can be suspended above the I-shaped steel rail through structures such as the driving wheel set, the guide wheel set, the bearing wheel set and the walking structure support, and the fixed path inspection requirement is met.

Description

Technical Field

[0001] The utility model relates to the technical field of mining inspection robots, in particular to a flameproof and intrinsically safe inspection robot. Background Art

[0002] The mining inspection robot is used to perform inspection work in a flammable and explosive environment in coal mines. This requires great restrictions on the design of the robot. The coal mine underground inspection equipment and its ancillary mechanisms must meet < <gb3836-2010>> various requirements.

[0003] Problems with existing mining inspection robots:

[0004] 1. Mining flameproof and intrinsically safe robots are large in size and heavy in weight due to explosion-proof factors.

[0005] 2. The robot's bearing wheel has hard contact with the track, causing the robot to shake.

[0006] 3. Usually the robot is driven by load-bearing wheels. Due to the high dust and humidity in the mine, the robot is prone to slipping when climbing on the track.

[0007] 4. Conventional robots need to use large compression springs to ensure the clamping force of the drive wheel, which makes clamping adjustment inconvenient.

[0008] 5. Usually when a robot is climbing a slope, it is easy to tilt abnormally due to the change of driving force and center of gravity position.

[0009] 6. During the inspection process, the robot exceeds the specified travel range due to the failure of the proximity switch and RFID. Utility Model Content

[0010] In view of the problems that the existing robots are large in size and heavy in weight, the robots shake when walking on the track, resulting in unclear inspection data, and the robots slip due to dust and water mist during walking and climbing, and cannot operate normally, the utility model provides a flameproof and intrinsically safe mining inspection robot.

[0011] In order to achieve the above purpose, the technical solution of the utility model is:

[0012] A flameproof and intrinsically safe inspection robot comprises a driving wheel group (1), a driven wheel group (2), a guide wheel group (3), a load-bearing wheel group (4), a walking structure bracket (5), a limit wheel group (6), a clamping device (7), a reducer (8), an explosion-proof motor (9), an explosion-proof control box (10), an intrinsically safe encoder (11), an intrinsically safe RFID (12), an intrinsically safe dual-light pan / tilt platform (13), a wireless charging system (14), an obstacle avoidance sensor (15), a travel switch (16), an emergency stop button (17), a gas sensor (18), an audible and visual alarm lamp (19), a horn (20), a lighting lamp (21), a mining explosion-proof battery (22), a control system (23), and an I-beam track (24);

[0013] One end of the driving wheel group (1) and one end of the driven wheel group (2) are hinged on the walking structure bracket (5); guide wheel groups (3) are arranged on both sides of the middle of the walking structure bracket (5); the load-bearing wheel group (4) is symmetrically arranged inside the walking structure bracket (5); the limiting wheel group (6) is arranged at the bottom of the load-bearing wheel group (4); the other free ends of the driving wheel group (1) and the driven wheel group (2) are connected to the walking structure bracket (5) through the clamping device (7); one end of the reducer (8) The transmission device (10) is connected to the shaft of the driving wheel group (1), the other end of the speed reducer (8) is connected to the explosion-proof motor (9), the explosion-proof control box (10) is arranged on the bottom mounting surface of the walking structure bracket (5), the intrinsically safe encoder (11) is connected to the driven wheel group (2), the intrinsically safe RFID (12) is fixed to the outer side of the walking structure bracket (5) through a connecting frame, the intrinsically safe dual-light pan / tilt (13) is arranged on the front mounting surface of the explosion-proof control box (10), and the wireless charging system (14) The explosion-proof control box (10) is provided on the side end surface, the obstacle avoidance sensors (15) are provided in two, and are respectively provided at the front and rear ends of the explosion-proof control box (10), the travel switch (16) is provided on the walking structure support (5), the emergency stop button (17) is fixed on the top of the explosion-proof control box (10), the gas sensor (18) is fixed on the opposite side of the emergency stop button (17), the sound and light alarm lamp (19) is installed at the rear of the explosion-proof control box (10), and the speaker (20) is installed at the rear end of the explosion-proof control box (10). The explosion-proof control box (10) is located at the lower side of the explosion-proof control box (10); the lighting lamp (21) is fixed at the bottom of the front end of the explosion-proof control box (10); the mining explosion-proof battery (22) is arranged inside the lower side of the explosion-proof control box (10); the control system (23) is arranged inside the side of the explosion-proof control box (10); the I-beam track (24) is connected by the driving wheel group (1), the driven wheel group (2), the guide wheel group (3), and the load-bearing wheel group (4), so that the robot is suspended on the I-beam track (24).

[0014] Beneficial effects of the utility model:

[0015] The utility model is a flameproof and intrinsically safe inspection robot. The robot adopts the flameproof and intrinsically safe mining explosion-proof standard design as a whole. It has excellent inspection effects in coal mines such as substations, belt conveyors, pump rooms, etc. The robot can be suspended above the I-beam track through the drive wheel group, guide wheel group, load-bearing wheel group, walking structure bracket and other structures to meet the fixed path inspection requirements; due to the compact modular design, it has the advantages of small space occupation, light weight of only 100kg, climbing angle of 18°, stable climbing operation, effective avoidance of slipping and tilting, full-automatic inspection, quantitative detection, early warning of dangerous abnormalities, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall schematic diagram of the explosion-proof and intrinsically safe inspection robot provided by the utility model;

[0017] Among them, 1-driving wheel set, 2-driven wheel set, 3-guide wheel set, 4-bearing wheel set, 5-travel structure bracket, 7-clamping device, 8-reducer, 9-explosion-proof motor, 10-explosion-proof control box, 12-intrinsically safe RFID, 13-intrinsically safe dual-light pan / tilt, 15-obstacle avoidance sensor, 16-travel switch, 17-emergency stop button, 18-gas sensor, 20-horn, 21-lighting lamp, 24-I-beam track;

[0018] Figure 2 This is a top view schematic diagram of the explosion-proof and intrinsically safe mining inspection robot provided by the utility model;

[0019] Among them, 6-limited wheel set, 11-intrinsically safe encoder, 14-wireless charging system, 15-obstacle avoidance sensor, 19-sound and light alarm light, 22-mine explosion-proof battery, 23-control system. DETAILED DESCRIPTION

[0020] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings.

[0021] A flameproof and intrinsically safe inspection robot, such as Figure 1 , Figure 2 As shown, it includes a driving wheel group (1), a driven wheel group (2), a guide wheel group (3), a load-bearing wheel group (4), a walking structure bracket (5), a limit wheel group (6), a clamping device (7), a reducer (8), an explosion-proof motor (9), an explosion-proof control box (10), an intrinsically safe encoder (11), an intrinsically safe RFID (12), an intrinsically safe dual-light pan / tilt (13), a wireless charging system (14), an obstacle avoidance sensor (15), a travel switch (16), an emergency stop button (17), a gas sensor (18), an audible and visual alarm lamp (19), a horn (20), a lighting lamp (21), a mining explosion-proof battery (22), a control system (23), and an I-beam track (24);

[0022] One end of the driving wheel group (1) and one end of the driven wheel group (2) are hinged on the walking structure bracket (5); guide wheel groups (3) are arranged on both sides of the middle of the walking structure bracket (5); the load-bearing wheel group (4) is symmetrically arranged inside the walking structure bracket (5); the limiting wheel group (6) is arranged at the bottom of the load-bearing wheel group (4); the other free ends of the driving wheel group (1) and the driven wheel group (2) are connected to the walking structure bracket (5) through the clamping device (7); one end of the reducer (8) The transmission device (10) is connected to the shaft of the driving wheel group (1), the other end of the speed reducer (8) is connected to the explosion-proof motor (9), the explosion-proof control box (10) is arranged on the bottom mounting surface of the walking structure bracket (5), the intrinsically safe encoder (11) is connected to the driven wheel group (2), the intrinsically safe RFID (12) is fixed to the outer side of the walking structure bracket (5) through a connecting frame, the intrinsically safe dual-light pan / tilt (13) is arranged on the front mounting surface of the explosion-proof control box (10), and the wireless charging system (14) The explosion-proof control box (10) is provided on the side end surface, the obstacle avoidance sensors (15) are provided in two, and are respectively provided at the front and rear ends of the explosion-proof control box (10), the travel switch (16) is provided on the walking structure support (5), the emergency stop button (17) is fixed on the top of the explosion-proof control box (10), the gas sensor (18) is fixed on the opposite side of the emergency stop button (17), the sound and light alarm lamp (19) is installed at the rear of the explosion-proof control box (10), and the speaker (20) is installed at the rear end of the explosion-proof control box (10). The explosion-proof control box (10) is located at the lower side of the explosion-proof control box (10); the lighting lamp (21) is fixed at the bottom of the front end of the explosion-proof control box (10); the mining explosion-proof battery (22) is arranged inside the lower side of the explosion-proof control box (10); the control system (23) is arranged inside the side of the explosion-proof control box (10); the I-beam track (24) is connected by the driving wheel group (1), the driven wheel group (2), the guide wheel group (3), and the load-bearing wheel group (4), so that the robot is suspended on the I-beam track (24).

[0023] At present, in the field application of the explosion-proof and intrinsically safe mining rail-hanging robot in this embodiment, a single motor drive with a side-clamped I-beam rail is adopted, and the load-bearing wheels are designed with a polyurethane rubber-coated cone angle. The overall operation is stable without shaking, and the climbing operation is reliable without slipping.

[0024] 1. Through reasonable structural design, the distance between the guide wheel group and the load-bearing wheel group can be reduced, thereby reducing the relevant size and weight.

[0025] 2. Use a flameproof and intrinsically safe control system and move the intrinsically safe components to the outside of the explosion-proof box, thereby reducing the weight of the box.

[0026] 3. Use polyurethane square rollers and make the rollers into a taper corresponding to the angle of the track to maximize the contact area between the rollers and the track, thereby solving the problem of shaking during robot operation.

[0027] 4. Develop a driving wheel with a large friction coefficient and roughen the surface to reduce the clamping force of the clamping device while keeping the driving force of the driving wheel group unchanged, thereby reducing resistance loss and thus reducing motor power consumption, size and weight.

[0028] 5. The I-beam track driving wheel side clamps the track web to avoid slipping caused by dust accumulation on the track. At the same time, a driving wheel with a large friction coefficient is developed, and the surface is roughened to increase driving performance and reduce slipping factors.

[0029] 6. The driving wheel set and the driven wheel set are hinged, and the wheel set is at the hinge point and the middle of the clamping device. For the clamping device, the stroke-saving lever structure reduces the spring selection pressure.

[0030] 7. Use a limited wheel set under the track to limit the abnormal tilt of the robot when climbing.

[0031] 8. Use mechanical limit sensors and control methods to increase the limit safety performance of the entire machine.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope defined by the claims of the utility model.

Claims

1. A flameproof and intrinsically safe inspection robot, characterized in that: It comprises a driving wheel group (1), a driven wheel group (2), a guide wheel group (3), a load-bearing wheel group (4), a walking structure bracket (5), a limiting wheel group (6), a clamping device (7), a reducer (8), an explosion-proof motor (9), an explosion-proof control box (10), an intrinsically safe encoder (11), an intrinsically safe RFID (12), an intrinsically safe dual-light pan / tilt (13), a wireless charging system (14), an obstacle avoidance sensor (15), a travel switch (16), an emergency stop button (17), a gas sensor (18), an audible and visual alarm lamp (19), a horn (20), a lighting lamp (21), a mining explosion-proof battery (22), a control system (23), and an I-beam track (24); One end of the driving wheel group (1) and one end of the driven wheel group (2) are hinged on the walking structure support (5), and guide wheel groups (3) are arranged on both sides of the middle of the walking structure support (5). The load-bearing wheel group (4) is symmetrically arranged inside the walking structure support (5), and the limit wheel group (6) is arranged at the bottom of the load-bearing wheel group (4). The other free ends of the driving wheel group (1) and the driven wheel group (2) are connected to the walking structure support (5) through the clamping device (7). One end of the reducer (8) is connected to the shaft of the driving wheel group (1), and the other end of the reducer (8) is connected to the explosion-proof motor (9). The explosion-proof control box (10) is arranged on the bottom mounting surface of the walking structure support (5), the intrinsically safe encoder (11) is connected to the driven wheel group (2), and the intrinsically safe RFID (12) is fixed to the outer side of the walking structure support (5) through a connecting frame. The intrinsically safe dual-light pan / tilt (13) is arranged at the front of the explosion-proof control box (10). The end mounting surface is a wireless charging system (14) arranged on a side end surface of the explosion-proof control box (10), the travel switch (16) is arranged on a walking structure bracket (5), the emergency stop button (17) is fixed above the explosion-proof control box (10), the gas sensor (18) is fixed on the opposite side of the emergency stop button (17), the sound and light alarm lamp (19) is installed at the rear of the explosion-proof control box (10), and the speaker (20) is installed on the explosion-proof control box (10). ) at the lower side, the lighting lamp (21) is fixed at the bottom of the front end of the explosion-proof control box (10), the mining explosion-proof battery (22) is arranged inside the lower side of the explosion-proof control box (10), the control system (23) is arranged inside the side of the explosion-proof control box (10), and the I-beam track (24) is connected by the driving wheel group (1), the driven wheel group (2), the guide wheel group (3), and the load-bearing wheel group (4), so that the robot is suspended on the I-beam track (24).

2. The flameproof and intrinsically safe inspection robot according to claim 1, characterized in that: There are two obstacle avoidance sensors (15), which are respectively arranged at the front and rear ends of the explosion-proof control box (10).

Images