Combination type inspection robot for coal mine equipment

Abstract

The utility model relates to the technical field of mining inspection robots, and discloses a combined inspection robot for coal mine equipment, which comprises a mounting seat, cameras are fixedly mounted on the front side and the rear side of the mounting seat, a limiting bolt and a rotating support are controlled according to requirements to change the orientation of a rotating wheel, and when the rotating wheel is positioned on the lower side of the mounting seat, the rotating wheel is driven to rotate. At the moment, the robot can walk on the ground, and when the crawler belt is taken down and the rotating wheel is controlled to be located on the upper side of the mounting base, the special-shaped rod and the fastening nut can be adjusted in a matched mode, so that the rotating wheel is matched with the guide rail, guide rail type mounting of the robot is achieved, and the robot is more suitable for the complex environment during coal mining; when the plurality of pulleys on the robot cling to the guide rail under the action of the buffer springs, the support columns are slidably mounted on the cushioning frame, so that vibration can be transferred to the buffer springs when the pulleys roll on the guide rail, and the cushioning effect of the robot is achieved.

Description

Technical Field

[0001] This utility model relates to the field of mining inspection robot technology, specifically a combined inspection robot for coal mine equipment. Background Technology

[0002] The coal mine equipment inspection robot is an automated device specifically designed for use in coal mining environments. It is mainly used to replace manual labor for equipment inspection and monitoring. It can automatically patrol equipment according to preset routes and times, and use technologies such as image recognition, sound detection, and temperature sensors to detect and identify equipment faults. It also collects various data from the equipment, such as temperature, humidity, noise, and vibration, for real-time monitoring and analysis.

[0003] Chinese patent CN221936762U discloses a combined inspection robot suitable for coal mine equipment. It includes a track and a track robot mounted on the track. The track robot has a rotating structure at its bottom, and a camera assembly is located at the lateral output end of the rotating structure. The camera assembly includes an outer shell, with the lens located above the front end of the shell and a separate cover below it. A semi-enclosed limiting plate is also provided on the front side of the outer shell. Grooves are provided on both sides of the bottom of the track robot, with cotton pads for wiping along the edges of the grooves. This invention achieves lens shielding by providing a slightly forward-extending enclosing protrusion on the top of the outer shell and rotating it to invert the camera assembly. This prevents coal dust from falling directly onto the lens, while the rotation of the camera assembly allows for wiping of the lens. The design is simple and ingenious, efficient in cleaning, and enables efficient monitoring after inspection and positioning.

[0004] The aforementioned robot has the function of wiping lenses, but the existing robot installation only provides a combination of rail-mounted or ground-walking methods. In actual application, situations such as inconvenient rail installation or narrow passages may be encountered, making the robot unable to adapt to the complex coal mining environment. At the same time, traditional rail-mounted robots are easily affected by the rail and will be bumpy, which greatly shortens the robot's service life. Therefore, there is a need to provide a combined inspection robot for coal mining equipment. Utility Model Content

[0005] The purpose of this utility model is to provide a combined inspection robot for coal mine equipment, in order to solve the problems of uneven glue application caused by the force that causes the corrugated paper to shift when applying glue to the corrugated paper, and the impact of impurities adhering to the surface of the corrugated paper on the glue application.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a combined inspection robot for coal mine equipment, comprising a mounting base, cameras fixedly mounted on the front and rear sides of the mounting base, protective covers fixedly mounted on both sides of the mounting base, and a drive motor fixedly mounted inside the mounting base. A switching mechanism is provided between the mounting base and the protective covers; the switching mechanism includes a front rotating shaft and a rear rotating shaft, which are respectively rotatably mounted through the front and rear sides of the mounting base. A first gear is fixedly mounted on the output end of the drive motor, a second gear is fixedly mounted on the middle of the front rotating shaft, and first rollers are fixedly mounted on both ends of the front and rear rotating shafts. A support is rotatably mounted on the first roller. A second roller is rotatably mounted on the other end of the seat. Fastening rollers are slidably mounted on the middle of the two front supports, and fastening seats are fixedly mounted on one side of each of the two front supports. Fastening bolts are threaded through the fastening seats and slidably mounted on the fastening rollers. A rubber belt is fixedly mounted on one side of the fastening rollers and fitted onto the first and second rollers. A shaped rod is slidably mounted inside the second roller. Fastening nuts are threaded onto the shaped rod at positions on both sides of the second roller. A rotating wheel is fixedly mounted on one end of the shaped rod. Tracks are fitted around the front and rear rotating wheels. Two limiting seats are fixedly mounted side-by-side at the four corners of the mounting base and both ends of the protective cover. Limiting bolts are threaded through the two limiting seats on both sides.

[0007] Preferably, the first gear meshes with the second gear, and the outer sides of the two front supports are provided with strip grooves, and the fastening rollers are adapted to the strip grooves.

[0008] Preferably, the cross-section of the irregular rod is rectangular, and the irregular rod has external threads on its exterior.

[0009] Preferably, the upper part of the mounting base is provided with a shock-absorbing mechanism, which includes two shock-absorbing frames. The two shock-absorbing frames are fixedly installed side by side on the upper part of the mounting base, and each of the two shock-absorbing frames has several sliding grooves arranged side by side. A support column is slidably installed inside each of the sliding grooves. A horizontal plate is fixedly installed between the two support columns. A buffer spring is fixedly installed between the horizontal plate and the mounting base. A pulley is rotatably installed on the outside of the support column.

[0010] Preferably, the upper part of the mounting base has a groove, and the two shock absorbers are embedded and fixedly installed inside the groove.

[0011] Preferably, the distance from the groove to the mounting base is less than the radius of the pulley, and the outer side of the pulley has several grooves arranged in parallel.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1) This combined inspection robot for coal mine equipment rotates by controlling the drive motor to make the first gear rotate. Under the action of the second gear and the rubber belt, the rotating wheel will rotate. The rubber belt is reinforced by fastening bolts. During use, the orientation of the rotating wheel can be changed by controlling the limit bolts and rotating support as needed. When the rotating wheel is located on the lower side of the mounting base, the robot can walk on the ground. When the track is removed and the rotating wheel is controlled to be located on the upper side of the mounting base, the special-shaped rod and fastening nut can be used to adjust the rotating wheel to match the guide rail, realizing the robot's guide rail installation. This allows for flexible changes in the robot's installation method, making the robot more adaptable to the complex environment of coal mining.

[0014] 2) This combined inspection robot for coal mine equipment uses a shock-absorbing frame installed on the mounting base. When the robot is installed on a guide rail, several pulleys on the shock-absorbing frame will be pressed tightly against the guide rail under the action of the buffer spring. The support column is slidably installed on the shock-absorbing frame, which can ensure that when the pulley rolls on the guide rail, the vibration is transferred to the buffer spring, thus achieving the effect of robot shock absorption. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of a combined inspection robot for coal mine equipment according to an embodiment of the present utility model.

[0016] Figure 2 This is a cross-sectional view of the switching mechanism in an embodiment of the present invention;

[0017] Figure 3 As an embodiment of this utility model Figure 2 Enlarged view of A in the middle;

[0018] Figure 4 This is a three-dimensional structural diagram of the irregular rod in an embodiment of the present utility model;

[0019] Figure 5 This is a three-dimensional structural diagram of the shock-absorbing mechanism in an embodiment of the present utility model;

[0020] Figure 6 This is a demonstration diagram showing the support after rotation in an embodiment of this utility model.

[0021] In the diagram: 1. Mounting base; 2. Camera; 3. Protective cover; 4. Drive motor; 5. Switching mechanism; 501. Front rotating shaft; 502. Rear rotating shaft; 503. First gear; 504. Second gear; 505. First roller; 506. Support; 507. Second roller; 508. Fastening roller; 509. Fastening seat; 510. Fastening bolt; 511. Rubber belt; 512. Irregular rod; 513. Fastening nut; 514. Rotary wheel; 515. Track; 516. Limiting seat; 517. Limiting bolt; 6. Shock absorption mechanism; 601. Shock absorption frame; 602. Slide groove; 603. Support column; 604. Horizontal plate; 605. Buffer spring; 606. Pulley. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1

[0024] Combination Figures 1-6A combined inspection robot for coal mine equipment includes a mounting base 1. Cameras 2 are fixedly mounted on the front and rear sides of the mounting base 1, and protective covers 3 are fixedly mounted on both sides of the mounting base 1. A drive motor 4 is fixedly mounted inside the mounting base 1. A switching mechanism 5 is provided between the mounting base 1 and the protective covers 3. The switching mechanism 5 includes a front rotating shaft 501 and a rear rotating shaft 502, which are respectively rotatably mounted through the front and rear sides of the mounting base 1. A first gear 503 is fixedly mounted on the output end of the drive motor 4, a second gear 504 is fixedly mounted on the middle of the front rotating shaft 501, and first rollers 505 are fixedly mounted on both ends of the front and rear rotating shafts 501 and 502. A support 506 is rotatably mounted on the first roller 505, and a second roller 507 is rotatably mounted on the other end of the support 506. The two front supports 506... A fastening roller 508 is slidably installed in the middle of the 06, and a fastening seat 509 is fixedly installed on one side of each of the two front supports 506. A fastening bolt 510 is slidably installed through the fastening seat 509 and threaded onto the fastening roller 508. A rubber belt 511 is fixedly installed on one side of the fastening roller 508 and sleeved on the first roller 505 and the second roller 507. A special-shaped rod 512 is slidably installed inside the second roller 507. A fastening nut 513 is threaded on the special-shaped rod 512 and located on both sides of the second roller 507. A rotating wheel 514 is fixedly installed at one end of the special-shaped rod 512. Tracks 515 are sleeved on the outside of the front and rear rotating wheels 514. Two limit seats 516 are fixedly installed side by side at the four corners of the mounting base 1 and both ends of the protective cover 3. Limit bolts 517 are threaded through the two limit seats 516 on both sides.

[0025] See Figures 2-4 Furthermore, the first gear 503 is meshed with the second gear 504, the two front supports 506 are provided with strip grooves on their exteriors, and the fastening roller 508 is adapted to the strip grooves. The cross-section of the shaped rod 512 is rectangular, and the exterior of the shaped rod 512 is provided with external threads.

[0026] Specifically, by controlling the drive motor 4 to rotate the first gear 503, and under the action of the second gear 504, the first roller 505 rotates. When the first roller 505 rotates, the second roller 507 will rotate under the action of the rubber belt 511. The function of the fastening bolt 510 is to control the fastening roller 508 to fasten the rubber belt 511. In use, controlling the limit bolt 517 and rotating the support 506 can change the orientation of the rotating wheel 514. When the rotating wheel 514 is below the mounting base 1, the robot can switch to ground walking mode. When the rotating wheel 514 is above the mounting base 1, and controlling the special rod 512 and the fastening nut 513 to make the rotating wheel 514 cooperate with the guide rail, the robot can be switched to guide rail mode.

[0027] Example 2

[0028] Combination Figure 1 and Figure 5 The upper part of the mounting base 1 is provided with a shock-absorbing mechanism 6. The shock-absorbing mechanism 6 includes two shock-absorbing frames 601. The two shock-absorbing frames 601 are fixedly installed side by side on the upper part of the mounting base 1. Each of the two shock-absorbing frames 601 has several sliding grooves 602 in parallel. The inside of each sliding groove 602 is slidably installed with a support column 603. A horizontal plate 604 is fixedly installed between the two support columns 603. A buffer spring 605 is fixedly installed between the horizontal plate 604 and the mounting base 1. A pulley 606 is rotatably installed on the outside of the support column 603.

[0029] See Figure 5 Furthermore, based on Embodiment 1, the upper part of the mounting base 1 is provided with a groove, two shock absorbers 601 are embedded and fixedly installed inside the groove, the distance from the sliding groove 602 to the mounting base 1 is less than the radius of the pulley 606, and several grooves are provided side by side on the outside of the rotating wheel 514.

[0030] Specifically, when the robot is mounted on a guide rail, the four rotating wheels 514 and several pulleys 606 are pressed tightly against the guide rail under the action of the buffer spring 605, and the buffer spring 605 is supported between the horizontal plate 604 and the mounting base 1, so that the several pulleys 606 roll on the guide rail without being affected by the guide rail and generate large bumps, thus achieving the effect of shock absorption for the robot.

[0031] In actual operation, the first gear 503 is rotated by controlling the drive motor 4, and the first roller 505 is rotated under the action of the second gear 504. When the first roller 505 rotates, the second roller 507 will rotate under the action of the rubber belt 511. The function of the fastening bolt 510 is to control the fastening roller 508 to fasten the rubber belt 511. In use, the orientation of the rotating wheel 514 can be changed by controlling the limit bolt 517 and rotating the support 506. When the rotating wheel 514 is below the mounting base 1, the robot can be switched to ground walking mode. When the rotating wheel 514 is above the mounting base 1, the robot can be switched to guide rail mode by controlling the special rod 512 and the fastening nut 513 to make the rotating wheel 514 cooperate with the guide rail.

[0032] When the robot is mounted on a guide rail, the four rotating wheels 514 and several pulleys 606 are pressed tightly against the guide rail under the action of the buffer spring 605. The buffer spring 605 is supported between the horizontal plate 604 and the mounting base 1, so that the several pulleys 606 roll on the guide rail without being affected by the guide rail and generate large bumps, thus achieving the effect of shock absorption for the robot.

[0033] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A combined inspection robot for coal mine equipment, comprising a mounting base (1), wherein cameras (2) are fixedly mounted on both the front and rear sides of the mounting base (1), and protective covers (3) are fixedly mounted on both sides of the mounting base (1), and a drive motor (4) is fixedly mounted inside the mounting base (1), characterized in that: A switching mechanism (5) is provided between the mounting base (1) and the protective cover (3); The switching mechanism (5) includes a front rotating shaft (501) and a rear rotating shaft (502). The front rotating shaft (501) and the rear rotating shaft (502) are respectively rotatably mounted on the front and rear sides of the mounting base (1). A first gear (503) is fixedly mounted on the output end of the drive motor (4). A second gear (504) is fixedly mounted on the middle of the front rotating shaft (501). A first roller (505) is fixedly mounted on both ends of the front rotating shaft (501) and the rear rotating shaft (502). A support (506) is rotatably mounted on the first roller (505). A second roller (507) is rotatably mounted on the other end of the support (506). A fastening roller (508) is slidably mounted on the middle of the two front supports (506). A fastening seat (509) is fixedly mounted on one side of each of the two front supports (506). (509) A fastening bolt (510) is slidably installed on the fastening roller (508) and a rubber belt (511) is fixedly installed on one side of the fastening roller (508) and sleeved on the first roller (505) and the second roller (507). A special-shaped rod (512) is slidably installed inside the second roller (507). A fastening nut (513) is threaded on the special-shaped rod (512) and located on both sides of the second roller (507). A rotating wheel (514) is fixedly installed at one end of the special-shaped rod (512). Tracks (515) are sleeved on the outside of the front and rear rotating wheels (514). Two limit seats (516) are fixedly installed side by side at the four corners of the mounting base (1) and at both ends of the protective cover (3). Limit bolts (517) are threaded through the two limit seats (516) on both sides.

2. The combined inspection robot for coal mine equipment according to claim 1, characterized in that: The first gear (503) meshes with the second gear (504), and the two front supports (506) are provided with strip grooves on their outer sides, and the fastening roller (508) is adapted to the strip grooves.

3. The combined inspection robot for coal mine equipment according to claim 1, characterized in that: The cross-section of the irregular rod (512) is rectangular, and the external thread is provided on the outside of the irregular rod (512).

4. The combined inspection robot for coal mine equipment according to claim 1, characterized in that: The upper part of the mounting base (1) is provided with a shock-absorbing mechanism (6). The shock-absorbing mechanism (6) includes two shock-absorbing frames (601). The two shock-absorbing frames (601) are fixedly installed side by side on the upper part of the mounting base (1). Several sliding grooves (602) are opened side by side on both shock-absorbing frames (601). A support column (603) is slidably installed inside the sliding groove (602). A horizontal plate (604) is fixedly installed between the two support columns (603). A buffer spring (605) is fixedly installed between the horizontal plate (604) and the mounting base (1). A pulley (606) is rotatably installed on the outside of the support column (603).

5. The combined inspection robot for coal mine equipment according to claim 4, characterized in that: The upper part of the mounting base (1) has a groove, and the two shock absorbers (601) are embedded and fixedly installed inside the groove.

6. The combined inspection robot for coal mine equipment according to claim 5, characterized in that: The distance from the slide groove (602) to the mounting base (1) is less than the radius of the pulley (606), and the outer side of the rotating wheel (514) is provided with several grooves.

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