Walking device for coal conveying inspection robot

Abstract

The utility model relates to the technical field of coal conveying inspection devices, and provides a walking device for a coal conveying inspection robot, which comprises a base station, two first rotating shafts rotationally connected to the inner surface of the base station, and two connecting plates fixedly arranged on the outer surfaces of the bottoms of the two first rotating shafts respectively, two second rotating shafts are fixedly arranged on the inner surfaces of the two connecting plates, guide wheels are rotationally connected to the outer surfaces of the multiple second rotating shafts, a first motor is started, an output shaft of the first motor drives a second gear to rotate, the second gear is meshed with a toothed plate, and the second gear drives the multiple guide wheels to roll along the surface of the rail; when encountering a curve on the track, two guide wheels on the front side can drive the connecting plate on the front side and a first rotating shaft to deflect relative to the base station, and meanwhile, a fifth rotating shaft and a mounting frame can deflect relative to the base station; and the base station and the inspection robot detection mechanism stably pass through the curve on the track.

Description

Technical Field

[0001] The utility model relates to the technical field of coal conveying inspection devices, in particular to a walking device for a coal conveying inspection robot. Background Art

[0002] The coal conveying inspection robot is an automated device used to conduct regular inspections of the coal conveying system and provide early warning of faults and safety hazards in the coal conveying system.

[0003] In the prior art, for example, Chinese Publication No. 216229371U discloses a coal conveyor corridor track inspection robot, comprising an I-shaped track and an inspection robot body that travels along the lower wing of the track. The inspection robot body comprises a frame, with auxiliary wheels disposed on the top of the frame that travel along the top surface of the lower wing of the track and positioning wheels that roll along the vertical sidewalls of the track waist. A camera is disposed at the bottom of the frame. Dust removal brushes are disposed on both sides of the frame parallel to the direction of travel of the auxiliary wheels, and a dust dump chute is disposed on the frame at an angle, outwardly of the dust removal brushes and in the same direction as the dust removal brushes. Advantages of this robot are that, compared with the prior art, the addition of dust removal brushes and dust dump chute allows for simultaneous cleaning of the track during inspection. The robot automatically inspects and monitors the corridor, providing timely feedback on corridor anomalies and improving monitoring efficiency. Dust removal brushes disposed on both sides of the robot body can move with the robot to promptly remove coal deposits from the track, thereby improving space utilization.

[0004] Although the above scheme has the advantages as mentioned above, the disadvantages of the above scheme are that there is a lack of a structure that can stably drive the base platform and the inspection robot detection mechanism to move along the track surface for inspection, and there is a lack of a structure that can enable the base platform and the inspection robot detection mechanism to smoothly pass through the curves on the track, which makes the device docking unstable or the trajectory offset, resulting in damage to the fuselage, causing the monitoring equipment such as sensors and cameras it carries to fail, affecting data collection and inspection quality, there is a lack of a structure for the detection mechanism to rotate on the horizontal plane, and there is a lack of a structure to drive the detection mechanism to adjust the angle on the vertical plane, which makes the detection mechanism unable to detect any direction of the device's position, resulting in a monitoring blind spot for the device, and faults and safety hazards occurring in the blind spot cannot be discovered and handled in time. Utility Model Content

[0005] The purpose of the present utility model is to provide a walking device for a coal conveying inspection robot. The present utility model designs a structure that can stably drive the base platform and the inspection robot detection mechanism to move along the track surface for inspection, and designs a structure that can enable the base platform and the inspection robot detection mechanism to smoothly pass through the curves on the track, so as to avoid damage to the fuselage caused by unstable docking or trajectory deviation of the device, and to avoid failure of monitoring equipment such as sensors and cameras carried by it and affecting data collection and inspection quality. The utility model designs a structure for the detection mechanism to rotate on the horizontal plane, and designs a structure for driving the detection mechanism to adjust the angle on the vertical plane, so that the detection mechanism can detect any direction of the device, avoid the existence of monitoring blind spots in the device, and enable faults and safety hazards occurring at the location of the device to be discovered and handled in a timely manner.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a walking device for a coal transport inspection robot, comprising:

[0007] The base, the inner surface of which is rotatably connected to two first rotating shafts, further comprising:

[0008] Two connecting plates are respectively fixed on the outer surfaces of the bottom of the two first rotating shafts, and two second rotating shafts are fixedly provided on the inner surfaces of the two connecting plates. The outer surfaces of multiple second rotating shafts are rotatably connected to guide wheels, and the outer surface of the bottom of the base is rotatably connected to the fifth rotating shaft. The outer surface of the fifth rotating shaft is fixedly provided with a mounting bracket, and the inner surface of the mounting bracket is rotatably connected to the second gear. The outer surface of the mounting bracket is fixedly installed with a first motor, and the output shaft of the first motor is fixedly connected to the outer surface of the second gear. The output shaft of the first motor drives the second gear to rotate. When encountering a curve on the track, the two guide wheels on the front side can drive the front connecting plate and the first rotating shaft to deflect relative to the base, and at the same time, the fifth rotating shaft and the mounting bracket can deflect relative to the base.

[0009] Preferably, the outer surface of the second gear is meshed with a tooth plate, and a track is fixedly provided on the outer surface of the bottom of the tooth plate. The outer surface of the track is in rolling contact with the outer surfaces of the multiple guide wheels. The second gear drives the multiple guide wheels to roll along the track surface, and then drives the connecting plate, the base and the inspection robot detection mechanism to move along the track surface for inspection.

[0010] Preferably, the outer surface of the top of the base is rotatably connected to a third rotating shaft, and a gear disk is fixedly provided on the outer surface of the third rotating shaft, and the third rotating shaft supports the gear disk.

[0011] Preferably, the outer surface of the top of the base is rotatably connected to a first gear, the outer surface of the first gear is engaged with the outer surface of the toothed disc, and the first gear drives the toothed disc to rotate relative to the third rotating shaft.

[0012] Preferably, a second motor is fixedly mounted on the outer surface of the top of the base, the outer surface of the output shaft of the second motor is fixedly connected to the outer surface of the first gear, and the output shaft of the second motor drives the first gear to rotate.

[0013] Preferably, two shaft seats are fixedly provided on the outer surface of the top of the gear disc, and the fourth rotating shaft is rotatably connected to the opposite inner surfaces of the two shaft seats, and the shaft seats support the fourth rotating shaft.

[0014] Preferably, a third motor is fixedly mounted on the outer surface of the shaft seat, an outer surface of the output shaft of the third motor is fixedly connected to one end face of the fourth rotating shaft, and the output shaft of the third motor drives the fourth rotating shaft to rotate.

[0015] Preferably, a patrol robot detection mechanism is fixedly installed on the outer surface of the fourth rotating shaft, and an audible and visual alarm is fixedly installed on the outer surface of the top of the gear disk. The rotation of the fourth rotating shaft drives the patrol robot detection mechanism to adjust the angle on the vertical plane. When the patrol robot detection mechanism detects an abnormality, the audible and visual alarm emits an audible and visual alarm to remind the staff.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are:

[0017] 1. In the present utility model, the first motor is turned on, and the output shaft of the first motor drives the second gear to rotate. The second gear is engaged with the tooth plate, and the second gear drives multiple guide wheels to roll along the track surface, thereby driving the connecting plate, the base and the inspection robot detection mechanism to move along the track surface for inspection. When encountering a curve on the track, the two front guide wheels can drive the front connecting plate and the first rotating shaft to deflect relative to the base. At the same time, the fifth rotating shaft and the mounting frame can deflect relative to the base, so that the base and the inspection robot detection mechanism can smoothly pass through the curve on the track.

[0018] 2. In the present utility model, the second motor output shaft drives the first gear to rotate, the first gear drives the gear plate to rotate relative to the third shaft, and then drives the inspection robot detection mechanism to rotate on the horizontal plane. The third motor output shaft drives the fourth shaft and the inspection robot detection mechanism to adjust the angle on the vertical plane, so that the inspection robot detection mechanism can detect in any direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a walking device for a coal transport inspection robot provided by the present invention;

[0020] Figure 2 This is a side perspective structural diagram of a walking device for a coal transport inspection robot provided by the utility model;

[0021] Figure 3This is a side structural diagram of a walking device for a coal transport inspection robot provided by the utility model;

[0022] Figure 4 The utility model provides a walking device for a coal transport inspection robot Figure 1 A in the figure is an enlarged schematic diagram of the three-dimensional structure.

[0023] Legend:

[0024] 1. Base; 2. First rotating shaft; 3. Guide wheel; 4. Track; 5. Connecting plate; 6. Tooth plate; 7. Axle seat; 8. Inspection robot detection mechanism; 9. First gear; 10. First motor; 11. Mounting frame; 12. Second gear; 13. Second rotating shaft; 14. Tooth plate; 15. Second motor; 16. Third rotating shaft; 17. Fourth rotating shaft; 18. Third motor; 19. Sound and light alarm; 20. Fifth rotating shaft. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0027] Example 1, as Figures 1 to 4 The utility model provides a walking device for a coal conveying inspection robot, including a base 1, the inner surface of the base 1 is rotatably connected to two first rotating shafts 2, two connecting plates 5 are respectively fixedly arranged on the outer surfaces of the bottom of the two first rotating shafts 2, the inner surfaces of the two connecting plates 5 are fixedly provided with two second rotating shafts 13, the outer surfaces of the multiple second rotating shafts 13 are rotatably connected with guide wheels 3, the outer surface of the bottom of the base 1 is rotatably connected to the fifth rotating shaft 20, the outer surface of the fifth rotating shaft 20 is fixedly provided with a mounting frame 11, the inner surface of the mounting frame 11 is rotatably connected to the second gear 12, and the outer surface of the mounting frame 11 is fixedly installed with a first motor 10, the output shaft of the first motor 10 is fixedly connected to the outer surface of the second gear 12, and the output shaft of the first motor 10 drives the second gear 12 to rotate. When encountering a curve on the track 4, the two front guide wheels 3 can drive the front connecting plate 5 and the first rotating shaft 2 to deflect relative to the base 1, and the fifth rotating shaft 20 and the mounting frame 11 can deflect relative to the base 1.

[0028] Further, such as Figures 1 to 4As shown, the outer surface of the second gear 12 is meshed with a tooth plate 14, and a track 4 is fixedly provided on the outer surface of the bottom of the tooth plate 14. The outer surface of the track 4 is in rolling contact with the outer surfaces of multiple guide wheels 3. The second gear 12 drives the multiple guide wheels 3 to roll along the surface of the track 4, and then drives the connecting plate 5, the base 1 and the inspection robot detection mechanism 8 to move along the surface of the track 4 for inspection.

[0029] Further, such as Figures 1 to 4 As shown, the outer surface of the top of the base 1 is rotatably connected to a third rotating shaft 16 , and a gear disc 6 is fixedly provided on the outer surface of the third rotating shaft 16 , and the third rotating shaft 16 supports the gear disc 6 .

[0030] Further, such as Figures 1 to 4 As shown, the outer surface of the top of the base 1 is rotatably connected to a first gear 9 , the outer surface of the first gear 9 is engaged with the outer surface of the gear plate 6 , and the first gear 9 drives the gear plate 6 to rotate relative to the third rotating shaft 16 .

[0031] Further, such as Figures 1 to 4 As shown, a second motor 15 is fixedly mounted on the outer surface of the top of the base 1 , and the outer surface of the output shaft of the second motor 15 is fixedly connected to the outer surface of the first gear 9 , and the output shaft of the second motor 15 drives the first gear 9 to rotate.

[0032] Further, such as Figures 1 to 4 As shown, two shaft seats 7 are fixedly provided on the outer surface of the top of the gear disc 6 , and the fourth rotating shaft 17 is rotatably connected to the opposite inner surfaces of the two shaft seats 7 , and the shaft seats 7 support the fourth rotating shaft 17 .

[0033] Further, such as Figures 1 to 4 As shown, a third motor 18 is fixedly mounted on the outer surface of the shaft seat 7 , and the outer surface of the output shaft of the third motor 18 is fixedly connected to one end surface of the fourth rotating shaft 17 , and the output shaft of the third motor 18 drives the fourth rotating shaft 17 to rotate.

[0034] Further, such as Figures 1 to 4 As shown, the inspection robot detection mechanism 8 is fixedly installed on the outer surface of the fourth rotating shaft 17, and the sound and light alarm 19 is fixedly installed on the outer surface of the top of the gear disk 6. The rotation of the fourth rotating shaft 17 drives the inspection robot detection mechanism 8 to adjust the angle on the vertical plane. When the inspection robot detection mechanism 8 detects an abnormality, the sound and light alarm 19 emits a sound and light alarm to remind the staff.

[0035] Working principle: Turn on the first motor 10, the output shaft of the first motor 10 drives the second gear 12 to rotate, the second gear 12 is meshed with the tooth plate 14, and the second gear 12 drives multiple guide wheels 3 to roll along the surface of the track 4, thereby driving the connecting plate 5, the base 1 and the inspection robot detection mechanism 8 to move along the surface of the track 4 for inspection. When encountering a curve on the track 4, the two front guide wheels 3 can drive the front connecting plate 5 and the first rotating shaft 2 to deflect relative to the base 1, and at the same time, the fifth rotating shaft 20 and the mounting bracket 11 can deflect relative to the base 1, so that the base 1 and the inspection robot detection mechanism 8 can pass through the curve on the track 4 smoothly, turn on the second motor 15, and the second motor 15. The output shaft of the machine 15 drives the first gear 9 to rotate, and the first gear 9 drives the gear plate 6 to rotate relative to the third rotating shaft 16, thereby driving the inspection robot detection mechanism 8 to rotate on the horizontal plane, turning on the third motor 18, and the output shaft of the third motor 18 drives the fourth rotating shaft 17 and the inspection robot detection mechanism 8 to adjust the angle on the vertical plane, so that the inspection robot detection mechanism 8 can detect in any direction, avoiding the existence of monitoring blind spots in the device, so that faults and safety hazards at the location of the device can be discovered and handled in time. When the inspection robot detection mechanism 8 detects an abnormality, the sound and light alarm 19 emits a sound and light alarm to remind the staff.

[0036] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A walking device for a coal handling inspection robot, comprising: A base (1), wherein the inner surface of the base (1) is rotatably connected to two first rotating shafts (2), and is characterized in that it further comprises: Two connecting plates (5) are respectively fixedly arranged on the outer surfaces of the bottoms of the two first rotating shafts (2); two second rotating shafts (13) are fixedly arranged on the inner surfaces of the two connecting plates (5); the outer surfaces of the plurality of second rotating shafts (13) are rotatably connected to guide wheels (3); the outer surface of the bottom of the base (1) is rotatably connected to a fifth rotating shaft (20); a mounting frame (11) is fixedly arranged on the outer surface of the fifth rotating shaft (20); the inner surface of the mounting frame (11) is rotatably connected to a second gear (12); a first motor (10) is fixedly installed on the outer surface of the mounting frame (11); and an output shaft of the first motor (10) is fixedly connected to the outer surface of the second gear (12).

2. The walking device for a coal handling inspection robot according to claim 1, characterized in that: The outer surface of the second gear (12) is meshed with a tooth plate (14), and a track (4) is fixedly provided on the outer surface of the bottom of the tooth plate (14), and the outer surface of the track (4) is in rolling contact with the outer surfaces of the plurality of guide wheels (3).

3. The walking device for a coal handling inspection robot according to claim 1, characterized in that: The outer surface of the top of the base (1) is rotatably connected to a third rotating shaft (16), and a toothed disc (6) is fixedly provided on the outer surface of the third rotating shaft (16).

4. The walking device for a coal handling inspection robot according to claim 3, characterized in that: The outer surface of the top of the base (1) is rotatably connected to a first gear (9), and the outer surface of the first gear (9) is meshed with the outer surface of the toothed disc (6).

5. The walking device for a coal handling inspection robot according to claim 4, characterized in that: A second motor (15) is fixedly mounted on the outer surface of the top of the base (1), and the outer surface of the output shaft of the second motor (15) is fixedly connected to the outer surface of the first gear (9).

6. The walking device for the coal handling inspection robot according to claim 5, characterized in that: Two shaft seats (7) are fixedly provided on the outer surface of the top of the gear disc (6), and the inner surfaces of the two shaft seats (7) facing each other are rotatably connected to a fourth rotating shaft (17).

7. The walking device for a coal handling inspection robot according to claim 6, characterized in that: A third motor (18) is fixedly mounted on the outer surface of the shaft seat (7), and the outer surface of the output shaft of the third motor (18) is fixedly connected to one end surface of the fourth rotating shaft (17).

8. The walking device for a coal handling inspection robot according to claim 7, characterized in that: A patrol robot detection mechanism (8) is fixedly mounted on the outer surface of the fourth rotating shaft (17), and an audible and visual alarm (19) is fixedly mounted on the outer surface of the top of the toothed disc (6).

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