Intrinsic safety sealing type mine tunnel intelligent inspection robot

Abstract

The utility model relates to the technical field of inspection robots, in particular to an intrinsically safe sealing type mine tunnel intelligent inspection robot which comprises a protective shell and an internal frame body, deviation rectifying wheels are arranged at the two ends of the surfaces of the inner sides of two sets of fixing plates, and driving wheels and driven wheels are arranged on the front portions and the rear portions of the inner sides of the fixing plates respectively. A motor clamping base is arranged on the surface of one end of the plum coupling, a thermal imaging camera is arranged on the surface of one side of the instrument shelter body, and an automatic charging pile is arranged on one side of the automatic charging butt joint. The system can replace manpower to independently complete the inspection task of the long-distance mine tunnel, greatly reduces manpower, material resources and cost required by inspection in a severe environment, and greatly improves the safety and working efficiency of mine tunnel construction. The method can be applied to various tunnels, early warning is timely carried out, accidents are reduced, high-quality development of the industry can be promoted, and reliable guarantee is provided for the mine tunnels.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an intrinsically safe and sealed intelligent inspection robot for mine tunnels. Background Technique

[0002] After searching the Chinese patent document with the existing publication number CN218743650U, it discloses a mine inspection robot with a self-cleaning function, including an inspection robot main body installed on a track. A camera is fixed to the bottom surface of the inspection robot main body. Self-cleaning components are installed at both the front and rear ends of the lower end of the inspection robot main body. The self-cleaning component includes a deflector plate, which is inclined. One end of the deflector plate is fixed to the bottom surface of the inspection robot main body, and the other end of the deflector plate inclines downward and covers one end of the camera. Through the setting of the deflector plate, during the inspection operation of the inspection robot, more dust can be prevented from adhering to the camera, and the dust attached to the surface of the camera can be automatically cleaned. The cleaning effect is good, and it is not necessary for the inspection robot to return to the location of the staff or a fixed point for cleaning. While ensuring cleaning, the inspection efficiency of the inspection robot is improved.

[0003] Intrinsic safety is a form of explosion protection. By restricting the energy of the circuit, it is ensured that the electric spark and thermal effect generated under any circumstances are less than the minimum ignition energy and the self-ignition temperature of the explosive mixture. This design ensures that even in a fault state, the equipment will not cause an explosion. With the rapid development of current infrastructure construction, the country's demand for mineral resources is increasing. A large number of mine tunnels are being exploited. However, due to the relatively harsh environment of most mines, video equipment is restricted by conditions such as coal dust accumulation, dust accumulation, and low visibility, and cannot effectively monitor mine tunnels. At the same time, the consumption of manpower is also very large. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide an intrinsically safe and sealed intelligent inspection robot for mine tunnels, aiming to solve the technical problems that the environment of most mines is relatively harsh, video equipment is restricted by conditions such as coal dust accumulation, dust accumulation, and low visibility, and cannot effectively monitor mine tunnels, and at the same time, the consumption of manpower is also very large.

[0005] To solve the above technical problems, the utility model provides the following technical solutions:

[0006] The intrinsically safe sealed intelligent inspection robot for mine tunnels of the present utility model includes a protective housing and an internal frame. The internal frame includes a transverse plate, a support base, a fixing plate, a longitudinal support hanging plate, and a louver box body. The transverse plate, the support base, the fixing plate, and the longitudinal support hanging plate are all symmetrically arranged in two groups. At both ends of the inner surface of the two fixing plates, deviation rectifying wheels are provided. At the end of the top surface of the transverse plate, a warning searchlight is provided. Inside the fixing plate, a driving wheel and a driven wheel are respectively arranged at the front and back. At the four corners of one side surface of the deviation rectifying wheel, deviation rectifying springs are provided. At both ends of the surface of the driving wheel, jaw couplings are provided. On one end surface of the jaw coupling, a motor seat is provided. On one end surface of the motor seat, a driving motor is provided. On one side surface of the louver box body, a thermal imaging camera is provided. On one side surface of the longitudinal support hanging plate, a control component is provided. At one end of the control component, a card reader is provided. At the bottom end of the control component, a charging end is provided. On one end surface of the charging end, a charging protection shell is provided. On one end surface of the charging protection shell, a connecting bolt is provided. On one side surface of the charging protection shell, an automatic charging docking head is provided. On one side of the automatic charging docking head, an automatic charging pile is provided. On the top surface of the automatic charging pile, a fixing seat is provided.

[0007] As a further description of the above technical solution:

[0008] The protective housing is arranged as an aluminum alloy concave-shaped box body. The protective housing is fixedly connected to the transverse plate, the support base, the fixing plate, the longitudinal support hanging plate, and the louver box body through bolts. The transverse plate and the support base are both arranged as aluminum alloy plate parts. The fixing plate and the longitudinal support hanging plate are both arranged as alloy steel plate parts. A heat dissipation fan is arranged inside the louver box body. Through a ventilation opening provided on the bottom surface of the protective housing, the inner cavities of the protective housing and the louver box body are connected.

[0009] As a further description of the above technical solution:

[0010] The fixing plate and the deviation rectifying wheel are fixedly connected through a deviation rectifying spring. The fixing plate and the driving wheel are fixedly connected through a jaw coupling. The driving wheel is arranged as a polyurethane driving wheel with a size of 125*38mm. The fixing plate and the driven wheel are fixedly connected through bolts. The driven wheel is arranged as a polyurethane driving wheel with a size of 125*38mm.

[0011] As a further description of the above technical solution:

[0012] The jaw coupling, the motor seat, and the driving motor are all assembled by splicing. The jaw coupling is arranged as an aviation aluminum alloy cylindrical pipe fitting. The driving motor uses a Tuoda DC servo motor of model SDGA-02C12BD. The longitudinal support hanging plate and the control component are fixedly connected. The control component is fixed to the surface of the longitudinal support hanging plate at the front end inside the protective housing. The control component includes an RS485 communication interface.

[0013] As a further description of the above technical solution:

[0014] The control component and the charging end are assembled by splicing. The charging end is fixedly connected to the circuit. The charging end includes a circuit and a bottom bearing plate. The charging end and the charging protection case are fixedly connected. The charging protection case is composed of a polycarbonate PC resin layer.

[0015] As a further description of the above technical solution:

[0016] The charging protection case and the automatic charging docking head are fixedly connected. The charging protection case and the automatic charging pile are connected and powered on through the automatic charging docking head. The automatic charging pile and the fixed seat are fixedly connected. The fixed seat is composed of an aluminum alloy plate.

[0017] The utility model has the following beneficial effects:

[0018] In the utility model, through multi-source detection information, the automatic inspection and abnormal diagnosis of the continuous belt conveyor in the mine tunnel are realized. It can replace manual labor to independently complete the inspection task of long-distance mine tunnels, greatly reduce the manpower, material resources and costs required for inspection in harsh environments, and greatly improve the safety and working efficiency of mine tunnel construction. It can be applied to various tunnels, timely give early warnings to reduce accidents, and can also promote the high-quality development of industry, providing reliable guarantee for mine tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are used to provide a further understanding of the utility model, and constitute a part of the specification. They are used together with the embodiments of the utility model to explain the utility model, and do not constitute a limitation to the utility model. In the drawings:

[0020] Figure 1 is the overall structural schematic diagram of the utility model;

[0021] Figure 2 is the overall internal structural schematic diagram of the utility model;

[0022] In the figure: 1. Protection housing; 2. Horizontal plate; 201. Warning searchlight; 3. Support seat; 4. Fixed plate; 5. Longitudinal support hanging plate; 6. Louver box; 7. Deviation correction wheel; 701. Deviation correction spring; 8. Driving wheel; 9. Driven wheel; 10. Jaw coupling; 11. Motor holder; 12. Driving motor; 13. Thermal imaging camera; 14. Control component; 1401. Card reader; 15. Charging end; 16. Charging protection case; 17. Connecting bolt; 18. Automatic charging docking head; 19. Automatic charging pile; 20. Fixed seat. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0024] Among them, the same reference numerals in the drawings all refer to the same components.

[0025] Embodiment 1

[0026] Referring to Figure 1-2 , an embodiment provided by the present invention: an intrinsically safe sealed mine tunnel intelligent inspection robot, including an internal frame in a protective housing 1. The internal frame includes a transverse plate 2, a support base 3, a fixing plate 4, a longitudinal support hanging plate 5, and a louver box 6. The transverse plate 2, the support base 3, the fixing plate 4, and the longitudinal support hanging plate 5 are all arranged in two groups symmetrically. At both ends of the inner surface of the two groups of fixing plates 4, deviation correction wheels 7 are provided. At the end of the top surface of the transverse plate 2, a warning searchlight 201 is provided. Inside and in front and behind the fixing plate 4, a driving wheel 8 and a driven wheel 9 are respectively provided. At the four corners of one side surface of the deviation correction wheel 7, deviation correction springs 701 are provided. At both ends of the surface of the driving wheel 8, jaw couplings 10 are provided. On one end surface of the jaw coupling 10, a motor seat 11 is provided. On one end surface of the motor seat 11, a driving motor 12 is provided. On one side surface of the louver box 6, a thermal imaging camera 13 is provided. On one side surface of the longitudinal support hanging plate 5, a control component 14 is provided. At one end of the control component 14, a card reader 1401 is provided. At the bottom end of the control component 14, a charging end 15 is provided. On one end surface of the charging end 15, a charging protection shell 16 is provided. On one end surface of the charging protection shell 16, a connecting bolt 17 is provided. On one side surface of the charging protection shell 16, an automatic charging docking head 18 is provided. On one side of the automatic charging docking head 18, an automatic charging pile 19 is provided. On the top surface of the automatic charging pile 19, a fixing seat 20 is provided.

[0027] The protective housing 1 is arranged as an aluminum alloy concave-shaped box. The protective housing 1 is fixedly connected to the transverse plate 2, the support base 3, the fixing plate 4, the longitudinal support hanging plate 5, and the louver box 6 through bolts. The transverse plate 2 and the support base 3 are both arranged as aluminum alloy plate members. The fixing plate 4 and the longitudinal support hanging plate 5 are both arranged as alloy steel plate members. A heat dissipation fan is arranged inside the louver box 6. Through the ventilation openings opened on the bottom surface of the protective housing 1, the inner cavities of the protective housing 1 and the louver box 6 are connected.

[0028] The fixing plate 4 and the deviation correction wheel 7 are fixedly connected through the deviation correction spring 701. The fixing plate 4 and the driving wheel 8 are fixedly connected through the jaw coupling 10. The driving wheel 8 is arranged as a polyurethane driving wheel with a size of 125*38mm. The fixing plate 4 and the driven wheel 9 are fixedly connected through bolts. The driven wheel 9 is arranged as a polyurethane driving wheel with a size of 125*38mm.

[0029] The plum blossom coupling 10, the motor mounting base 11, and the drive motor 12 are all assembled by splicing. The plum blossom coupling 10 is set as an aviation aluminum alloy cylindrical pipe fitting, and the drive motor 12 uses a Tuoda DC servo motor of model SDGA-02C12BD. The longitudinal support hanging plate 5 and the control component 14 are fixedly connected. The control component 14 is fixed to the surface of the longitudinal support hanging plate 5 at the front end inside the protection housing 1. The control component 14 includes an RS485 communication interface.

[0030] The control component 14 and the charging end 15 are assembled by splicing. A fixed connection line is passed through the charging end 15. The charging end 15 includes a line and a bottom bearing plate. The charging end 15 and the charging protection case 16 are fixedly connected. The charging protection case 16 is composed of a polycarbonate PC resin layer.

[0031] The charging protection case 16 and the automatic charging docking head 18 are fixedly connected. The charging protection case 16 and the automatic charging pile 19 are connected and powered on through the automatic charging docking head 18. The automatic charging pile 19 and the fixed seat 20 are fixedly connected. The fixed seat 20 is composed of an aluminum alloy plate.

[0032] Specifically, its structure is composed of a protective shell 1, a transverse plate 2, a support seat 3, a fixed plate 4, a longitudinal support hanging plate 5, a shutter box 6, a correction wheel 7, a correction spring 701, a driving wheel 8, a driven wheel 9, a plum blossom coupling 10, a motor holder 11, a drive motor 12, a thermal imaging camera 13, a control component 14, a charging terminal 15, a charging protective shell 16, a connecting bolt 17, an automatic charging connector 18, an automatic charging pile 19 and a fixed seat 20 to form an intrinsically safe sealed mine tunnel intelligent inspection robot, which realizes the patrol inspection and fault diagnosis of the mine continuous belt conveyor and the tunnel environment. The inspection robot adopts intrinsically safe sealing design and automatic endurance technology to ensure reliable operation and sufficient power in complex environments. Its body is equipped with multi-source sensors and dual-light cameras, and adopts intelligent perception algorithms to collect image data and environmental parameters of transportation equipment and tunnel sites in real time, conduct patrol monitoring of the equipment operation status, and make advance predictions and warnings of existing or potential faults, reduce fault downtime, and improve safe operation efficiency. The protective shell 1 protects the internal robot structure and prolongs its service life. The internal frame is formed by the transverse plate 2, the support seat 3, the fixed plate 4, and the longitudinal support hanging plate 5 to support, reinforce and connect the whole. The early warning searchlight 201 indicates the battery capacity status of the inspection robot and can play a role in safety warning. The shutter box 6 plays a heat dissipation role to ensure heat dissipation. The correction wheel 7 cooperates with the correction spring 701 to ensure that the robot's walking trajectory during the inspection process is normal. The rolling friction coefficient of the active wheel 8 is 0.2, and the sliding friction coefficient is 0.5, which makes the overall movement smooth. The axle 10, the motor holder 11 and the drive motor 12 form an integrated structure to provide electric energy for the driving wheel 8 for driving, and cooperate with the driven wheel 9. The drive motor 12 is fixed by the motor holder 11. In order to avoid missed equipment detection, especially problems such as equipment overload and overheating, the thermal imaging camera 13 is used to play an identification and detection role. The control component 14 uploads data through the data transmission system composed of TCP connection with an error control method, and uses the more secure RS485 communication interface standard. Then, the location where the robot finds the fault on the inspection road is determined based on the pictures and data. The card reader 1401 is used as a patrol locator, and the patrol system concentrates the mobile platform communication data including control instructions, sensor data, visible light and thermal imaging data. At the same time, the patrol device adopts precise mileage positioning (RFID) and the motor's built-in encoder to assist in positioning, and uploads its own position information in real time. The charging terminal 15 is used to connect and fix the line to the automatic charging docking terminal 18, and the charging device is protected by the charging protective shell 16 to extend the battery life. The charging device is connected and fixed to the charging protective shell 16 through the connecting bolt 17, and is connected to the automatic charging pile 19 through the automatic charging docking terminal 18 to energize to form a charging device.The intrinsically safe and sealed mine tunnel intelligent inspection robot as a whole can improve the inspection efficiency, use an automatic charging device to achieve its automatic endurance, can minimize the personnel allocation, and can greatly improve the work efficiency during special periods.

[0033] Working principle: To realize patrol inspection and fault diagnosis of continuous belt conveyors and tunnel environments in mines. The patrol robot adopts intrinsically safe sealing design and automatic endurance technology to ensure reliable operation and sufficient power in complex environments. Its body is equipped with multi-source sensors and dual-light cameras. It adopts intelligent perception algorithms to collect image data and environmental parameters of transportation equipment and tunnel sites in real time, conduct patrol monitoring of the equipment operation status, and make advance prediction and warning of existing or potential faults, reduce fault downtime, and improve safe operation efficiency. The intrinsically safe sealed mine tunnel intelligent patrol robot is divided into overall skeleton design, walking part design, guide part design, visual pan-tilt design, charging part and drive motor assembly design. The control system design mainly completes the control module design based on RS485 and the corresponding algorithm writing to realize image scanning, segmentation, recognition and other operations. At the same time, it has a variety of innovative intelligent systems such as data acquisition system, image processing function, walking system, positioning cruise function, data transmission system, brush plate and brush block charging system and sensor system. The mine tunnel intelligent patrol robot has fast cruising and endurance capabilities, and can independently complete the inspection tasks of long mine tunnels. The device first needs to build the guide rail in the mine tunnel, and then place the inspection robot on the guide rail after deploying the guide rail in the mine tunnel. The robot's walking system drives the robot body to move forward at a speed of 1.5m / s for inspection, and the inspection of a five-kilometer-long mine tunnel can be completed within two hours. The sensing system composed of multi-visual and multi-sensor devices such as portable industrial cameras, infrared thermal imaging equipment, temperature sensors, humidity sensors, oxygen content sensors, smoke sensors, harmful gas sensors and distance sensors carried by the device monitors the mine tunnel situation and diagnoses faults in real time, and uploads data through the data transmission system composed of TCP connection using the error control method. Since the robot needs to collect many data points, the special working environment in the mine tunnel will not only interfere with the collected data but also affect the data upload, so the RS485 communication interface standard with higher security is used. Then the team uses relevant technologies to process the uploaded pictures and various data to determine the location where the robot finds faults on the inspection road. It uses precise mileage positioning (RFID) and the motor's built-in encoder to assist positioning, and uploads its own position information in real time. The inspection system centralizes the mobile platform communication data including control instructions, sensor data, visible light and thermal imaging data. In order to ensure the stability and safety of the robot's long-term, long-distance movement and automatic charging of the robot, lithium iron phosphate batteries are used and equipped with a BMS protection system. The charging equipment can be used in humid and dusty environments. The inspection robot is equipped with a lithium iron phosphate battery to maintain the operation of the drive motor, data transmission system, sensor system and positioning system in the shell. A charging station is set up at the beginning of the guide rail, and a sliding touch safe charging method is used.The forward and reverse rotation, the integration of the servo motor and the camera, and various parameters of the robot are all controlled by professionals after inputting the adjusted code in the background. The forward and reverse rotation of the robot is achieved by writing the corresponding program and downloading it to the PLC, and inputting the motor speed through the Kingview motor. By writing speeds of 200 and -200, the forward and backward movement of the robot is realized, and at the same time, the voltage, current, and rotation speed of the two servo motors are obtained on the Kingview interface. In order to avoid missing equipment detection, a thermal imaging camera is specially installed, so that problems that are difficult to observe with the naked eye become obvious, especially problems such as equipment overload and overheating. The inspection robot can quickly detect and respond to these problems, enabling the background to detect the camera in real time and ensuring that problems can be solved in a timely manner after they are discovered.

[0034] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intrinsically safe and sealed intelligent inspection robot for mine tunnels, comprising a protective housing (1) and an internal frame body, characterized in that, The internal frame body includes a transverse plate (2), a support base (3), a fixing plate (4), a longitudinal support hanging plate (5) and a louver box body (6). The transverse plate (2), the support base (3), the fixing plate (4) and the longitudinal support hanging plate (5) are all symmetrically arranged in two groups. At both ends of the inner surface of the two groups of fixing plates (4), deviation correction wheels (7) are arranged. At the end of the top surface of the transverse plate (2), a warning searchlight (201) is arranged. Inside the fixing plate (4), a driving wheel (8) and a driven wheel (9) are respectively arranged at the front and back. At the four corners of one side surface of the deviation correction wheel (7), deviation correction springs (701) are arranged. At both ends of the surface of the driving wheel (8), jaw couplings (10) are arranged. At one end surface of the jaw coupling (10), a motor holder (11) is arranged. At one end surface of the motor holder (11), a driving motor (12) is arranged. On one side surface of the louver box body (6), a thermal imaging camera (13) is arranged. On one side surface of the longitudinal support hanging plate (5), a control component (14) is arranged. At one end of the control component (14), a card reader (1401) is arranged. At the bottom end of the control component (14), a charging end (15) is arranged. At one end surface of the charging end (15), a charging protective case (16) is arranged. At one end surface of the charging protective case (16), a connecting bolt (17) is arranged. On one side surface of the charging protective case (16), an automatic charging docking head (18) is arranged. Next to the automatic charging docking head (18), an automatic charging pile (19) is arranged. At the top surface of the automatic charging pile (19), a fixing seat (20) is arranged.

2. The intrinsically safe and sealed intelligent inspection robot for mine tunnels according to claim 1, characterized in that, The protective housing (1) is arranged as an aluminum alloy concave-shaped box body. The protective housing (1) is fixedly connected to the transverse plate (2), the support base (3), the fixing plate (4), the longitudinal support hanging plate (5) and the louver box body (6) by bolts. The transverse plate (2) and the support base (3) are both arranged as aluminum alloy plate parts. The fixing plate (4) and the longitudinal support hanging plate (5) are both arranged as alloy steel plate parts. Inside the louver box body (6), a cooling fan is arranged. Through a ventilation opening opened on the bottom surface of the protective housing (1), the inner cavities of the protective housing (1) and the louver box body (6) are connected.

3. An intrinsically safe sealed mine tunnel intelligent inspection robot according to claim 1, characterized in that, The fixing plate (4) and the deviation correction wheel (7) are fixedly connected by the deviation correction spring (701). The fixing plate (4) and the driving wheel (8) are fixedly connected by the jaw coupling (10). The driving wheel (8) is arranged as a polyurethane driving wheel with a size of 125*38 mm. The fixing plate (4) and the driven wheel (9) are fixedly connected by bolts. The driven wheel (9) is arranged as a polyurethane driving wheel with a size of 125*38 mm.

4. The intrinsically safe and sealed intelligent inspection robot for mine tunnels according to claim 1, wherein, The plum blossom coupling (10) and the motor seat (11) are both assembled by splicing with the drive motor (12). The plum blossom coupling (10) is set as an aviation aluminum alloy cylindrical pipe fitting, and the drive motor (12) adopts the Tuoda DC servo motor of SDGA-02C12BD. The longitudinal support hanging plate (5) and the control component (14) are fixedly connected, and the control component (14) is fixed to the surface of the longitudinal support hanging plate (5) at the front end inside the protection housing (1). The control component (14) includes an RS485 communication interface.

5. The intrinsically safe and sealed intelligent inspection robot for mine tunnels according to claim 1, wherein The control component (14) and the charging end (15) are assembled by splicing, and the charging end (15) is fixedly connected by a line. The charging end (15) includes a line and a bottom bearing plate. The charging end (15) and the charging protection case (16) are fixedly connected, and the charging protection case (16) is composed of a polycarbonate PC resin layer.

6. The intrinsically safe and sealed intelligent inspection robot for mine tunnels according to claim 1, characterized in that, The charging protection case (16) and the automatic charging docking head (18) are fixedly connected. The charging protection case (16) and the automatic charging pile (19) are connected and energized through the automatic charging docking head (18). The automatic charging pile (19) and the fixed seat (20) are fixedly connected, and the fixed seat (20) is composed of an aluminum alloy plate.

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