Mining track inspection device

Abstract

The utility model discloses a mining track inspection device which comprises a driving device and an inspection host, the driving device comprises a driving support, the top of the driving support is provided with two mining anti-explosion servo motors and two supporting wheel sets moving along a track, and the supporting wheel sets are driven by the mining anti-explosion servo motors and are rotationally connected with the driving support. The inspection host comprises a host box body, the host box body is located below the driving support and connected with the driving support, a control module is arranged in the host box body, a plurality of detection sensors are arranged on the host box body, and the mining anti-explosion servo motor and the detection sensors are electrically connected with the control module. The supporting wheel set drives the driving device and the inspection host to move in the length direction of the track, the inspection device comprehensively detects equipment along the track through the multiple detection sensors in the moving process, the automation degree is high, manual inspection in various complex working conditions can be replaced, and the inspection efficiency is improved. And the inspection operation safety and the inspection efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mine inspection, particularly relates to a mine track inspection device. BACKGROUND

[0002] With the state highly values the research and development of coal mine device, the application scene of coal mine downhole inspection device is more and more, and the length of mine belt conveyor is several hundred meters to several kilometers, and the operation angle of some mine belt conveyor is larger, so it is difficult to comprehensively, accurately and timely detect and obtain the running state of the equipment by limited fixed sensors and fixed monitoring cameras. The working environment of artificial inspection is affected, and the staff is difficult to reach the detection position and accurately detect the equipment running state. Secondly, the artificial inspection is difficult in some dangerous scenes, which forms the contradiction between personnel safety and equipment safety. SUMMARY

[0003] In view of the above problems, the utility model provides a mine track inspection device with strong endurance, large climbing angle, high passability and long service life, which can meet the operation under complex conditions such as danger, long distance and large angle, reduce the operation danger coefficient of inspection workers and improve the inspection efficiency.

[0004] The utility model is realized as follows:

[0005] A mine track inspection device, comprising a driving device and an inspection host, the driving device comprising a driving support, the top of the driving support being provided with two mine explosion-proof servo motors and two support wheel groups moving along the track, the support wheel groups being driven by the mine explosion-proof servo motors and being rotatably connected with the driving support, the inspection host comprising a host box body, the host box body being located below the driving support and being connected therewith, the host box body being provided with a control module, the host box body being provided with a plurality of detection sensors, and the mine explosion-proof servo motors and the detection sensors being electrically connected with the control module.

[0006] Further, the two mine explosion-proof servo motors are symmetrically arranged along the width direction of the driving support, and the two support wheel groups are respectively located on the front and rear sides of the mine explosion-proof servo motors, each support wheel group comprising two load wheels symmetrically arranged along the width direction of the driving support, and the load wheels being rotatably connected with the driving support through first rotation shafts.

[0007] Further, the driving support is further provided with two guide wheel groups, the two guide wheel groups being symmetrically arranged on the front and rear sides of the mine explosion-proof servo motors, each guide wheel group comprising two guide wheels symmetrically arranged along the width direction of the driving support, and the guide wheels being rotatably connected with the driving support through second rotation shafts.

[0008] Further, the driving support is further provided with a speed measuring rotating arm, a speed measuring roller is rotatably arranged on the speed measuring rotating arm, the speed measuring roller is abutted with the track, and a magnetic encoder is arranged above the speed measuring roller.

[0009] Further, the main box body is provided with an explosion-proof main cavity, an intrinsic safety cavity and a battery explosion-proof cavity, the explosion-proof main cavity is provided with a motor controller, an isolation module, a power module and a battery management control module, the intrinsic safety cavity is provided with a control module, a wireless module and a switch, the intrinsic safety cavity is connected with the explosion-proof main cavity through a cavity penetrating terminal, the intrinsic safety cavity is installed on a front end flange of the explosion-proof main cavity, the battery explosion-proof cavity is provided with a lithium battery pack, a manual power-off switch and a fuse, a cable of the lithium battery pack is connected with the battery management control module in the explosion-proof main cavity through the cavity penetrating terminal, and the battery explosion-proof cavity is installed on a bottom flange of the explosion-proof main cavity.

[0010] Further, the intrinsic safety holder is further provided with a control cable, and the control cable is connected with the control module in the intrinsic safety cavity.

[0011] Further, the battery explosion-proof cavity is further provided with an intrinsic safety gas sensor on the bottom, and a control cable of the intrinsic safety gas sensor is connected with the control module in the intrinsic safety cavity.

[0012] Further, the intrinsic safety holder is further provided with two intrinsic safety illuminating lamps, the two intrinsic safety illuminating lamps are installed on the front side of the intrinsic safety cavity and are arranged at intervals along the width direction of the driving support, and control cables of the intrinsic safety illuminating lamps are connected with the control module in the intrinsic safety cavity.

[0013] Further, the intrinsic safety holder is further provided with four obstacle avoidance sensors, two of the four obstacle avoidance sensors are arranged on the front side of the intrinsic safety cavity, and the other two are arranged on the rear side of the main box body, and control cables of the four obstacle avoidance sensors are connected with the control module.

[0014] Further, the intrinsic safety holder is further provided with a tag sensor, the tag sensor is arranged on the top of the driving support, and a control cable of the tag sensor is connected with the control module.

[0015] The mine track inspection device has the advantages that:

[0016] The mine track inspection device has the advantages that: The support wheel set drives the driving device and the inspection host to move along the track length direction, the intrinsic safety holder, the intrinsic safety gas sensor, the intrinsic safety illuminating lamp, the obstacle avoidance sensor and the tag sensor are arranged on the track inspection device, the track inspection device can comprehensively detect the equipment along the track, the degree of automation is high, the track inspection device can replace the underground workers to perform inspection in various complex working conditions, the strength of manual inspection is reduced, and the operation safety and the inspection efficiency of the inspection workers are improved. The guide wheel set is arranged to assist the track inspection device to smoothly run on the track, the hard friction loss between the driving support and the track is reduced, and the running efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the three-dimensional structure diagram of the mine track inspection device of the utility model;

[0018] Figure 2 is the structural diagram of the driving device of the utility model;

[0019] Figure 3 is the structural diagram of the inspection host of the utility model;

[0020] Figure 4 is the front view of the mine track inspection device of the utility model;

[0021] Figure 5 is the plan view of the mine track inspection device of the utility model;

[0022] Figure 6 is the track cross section schematic diagram of the mine track inspection device of the utility model.

[0023] BRIEF DESCRIPTION OF DRAWINGS

[0024] 1, track; 2, host box body; 3, driving support; 4, bearing wheel; 5, guide wheel; 6, mine explosion-proof servo motor; 7, speed sensor; 701, speed measuring roller; 702, speed measuring rotating arm; 8, explosion-proof main cavity; 9, intrinsic safety cavity; 10, battery explosion-proof cavity; 11, intrinsic safety type cloud platform; 12, intrinsic safety type gas sensor; 13, intrinsic safety type illuminating lamp; 14, obstacle avoidance sensor; 15, label inductor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. In the following description, a large number of specific details are set forth in order to fully understand the utility model, but the utility model can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the utility model, therefore, the utility model is not limited by the specific embodiments disclosed below.

[0026] As Figures 1-5 shown is the mine track inspection device of the utility model, including driving device and inspection host, the driving device includes driving support 3, the top of driving support 3 is equipped with two mine explosion-proof servo motors 6 and two support wheel groups moving along track 1, the support wheel group is driven through mine explosion-proof servo motor 6 and is rotationally connected with driving support 3, the inspection host includes host box body 2, host box body 2 is located below driving support 3 and is connected with it, control module is arranged in host box body 2, a plurality of detection sensors are arranged on host box body 2, mine explosion-proof servo motor 6, detection sensor are electrically connected with control module.

[0027] The track 1 used in this utility model refers to an I-shaped track or an H-shaped track, such as... Figure 6 As shown.

[0028] like Figure 2 As shown, the bottom and tail of the drive bracket 3 are respectively provided with mounting ears (not shown in the figure), which are fixedly connected to the fixing ears (not shown in the figure) provided on the main unit housing 2. Two mining explosion-proof servo motors 6 are symmetrically arranged along the width direction of the drive bracket 3 and are located at the center of the drive bracket 3. Two support wheel sets are respectively located on the front and rear sides of the mining explosion-proof servo motors 6. Each support wheel set includes two load-bearing wheels 4 symmetrically arranged along the width direction of the drive bracket 3. The load-bearing wheels 4 are rotatably connected to the drive bracket 3 through a first rotating shaft (not shown in the figure). In this embodiment, the mining explosion-proof servo motor 6 is connected to a reducer (not shown in the figure), and the output shaft of the reducer is fixedly connected to the load-bearing wheels 4, thereby driving the load-bearing wheels 4 to rotate. The whole constitutes the main motion execution mechanism of the inspection device. The four load-bearing wheels 4 in the support wheel assembly are arranged symmetrically on the front, rear, left, and right sides of the mine explosion-proof servo motor 6. All four load-bearing wheels 4 rest on the flanges of the H-shaped track 1, with two wheels on each side of the web, front and rear. That is, the four load-bearing wheels 4 abut against the lower flange of the track 1 and move along its length. The support wheel assembly not only serves as the load-bearing mechanism for the entire inspection device, but also has bearings (not shown in the figure) between the load-bearing wheels 4 and the first rotating shaft. When the load-bearing wheels 4 run on the lower flange, the friction loss of the inspection device is reduced.

[0029] The drive bracket 3 is also equipped with two support wheels, and two guide wheel sets are symmetrically arranged on the front and rear sides of the mine explosion-proof servo motor 6. Each guide wheel set includes two guide wheels 5 symmetrically arranged along the width direction of the drive bracket 3, that is, four guide wheels 5 are respectively arranged on the front, rear, left and right sides of the mine explosion-proof servo motor 6 in a symmetrical structure. The guide wheels 5 are rotatably connected to the drive bracket 3 through the second rotating shaft. The guide wheels 5 are located below the load-bearing wheels 4, and their outer periphery abuts against the lower wing plate of the track 1. That is, the two symmetrical guide wheels 5 are sandwiched on both sides of the lower wing plate of the H-shaped track 1. The function of the guide wheel set is to assist the inspection device to run smoothly when it travels straight or turns on the track 1, reduce the hard friction loss between the drive bracket 3 and the track 1, and improve the operating efficiency.

[0030] The driving support 3 is further provided with a speed measuring sensor 7, which comprises a speed measuring rotating arm 702 arranged on the driving support 3 and located at the front side of the driving support 3. The speed measuring rotating arm 702 is rotatably provided with a speed measuring roller 701, which is in abutment with the track 1 and is provided with a magnetic encoder above. The magnetic encoder is mounted above the center of the speed measuring roller 701 through a bearing, and the shaft center of the speed measuring roller 701 is provided with a radial magnet, which constitutes a detection part of the speed measuring sensor 7. The speed measuring sensor 7 is mounted on the speed measuring rotating arm 702 and constitutes the speed measuring sensor 7 as a whole.

[0031] As shown in Figure 3 The main box 2 is provided with an explosion-proof main cavity 8, an intrinsic safety cavity 9 and a battery explosion-proof cavity 10. The intrinsic safety cavity 9 is mounted on the front flange of the explosion-proof main cavity 8, and the battery explosion-proof cavity 10 is mounted on the bottom flange of the explosion-proof main cavity 8. The explosion-proof main cavity 8 is provided with a motor controller, an isolation module, a power module and a battery management control module. The motor controller is connected with the mine explosion-proof servo motor 6 through a cavity penetrating terminal. The purpose of separating the motor controller from the mine explosion-proof servo motor 6 is to prevent the high temperature generated by the long-time operation of the mine explosion-proof servo motor 6 from being conducted to the motor controller, so as to affect the stable operation of the motor controller. The intrinsic safety cavity 9 is provided with a control module, a wireless module and a switch. The intrinsic safety cavity 9 is connected with the isolation module and the power module in the explosion-proof main cavity 8 through a cavity penetrating terminal, and the speed measuring sensor 7 control cable is connected with the control module in the intrinsic safety cavity 9 of the inspection host. Since the control module, the wireless module and the switch have the characteristics of small size and low power consumption, and the shell of the intrinsic safety cavity 9 is made of light metal material, the purpose of this design is not only to reduce the volume of the explosion-proof main cavity 8, but also to reduce the overall weight of the inspection host. The battery explosion-proof cavity 10 is provided with a lithium battery pack, a manual power-off switch and a fuse. The collection cable of the lithium battery pack is connected with the battery management control module in the explosion-proof main cavity 8 through a cavity penetrating terminal, which meets the design requirements of the explosion-proof standard.

[0032] As shown in Figures 1-5 The detection sensor comprises an intrinsic safety type pan-tilt 11, an intrinsic safety type gas sensor 12, an intrinsic safety type illuminating lamp 13, an obstacle avoidance sensor 14, a label inductor 15 and the like.

[0033] The intrinsic safety type pan-tilt 11 is fixedly arranged at the bottom of the intrinsic safety cavity 9, and the control cable of the intrinsic safety type pan-tilt 11 is connected with the control module in the intrinsic safety cavity 9. Since the inspection device is hung on the track 1, the intrinsic safety type pan-tilt 11 is installed below the intrinsic safety cavity 9, and according to the rotation characteristics of the intrinsic safety type pan-tilt 11, the measured equipment can be more comprehensively monitored.

[0034] The intrinsically safe gas sensor 12 is fixed at the bottom outside the battery explosion-proof chamber 10, and the control cable of the intrinsically safe gas sensor 12 is connected with the control module in the intrinsically safe chamber 9. The main body of the intrinsically safe gas sensor 12 detects the gas component as methane, and is installed at the bottom of the battery explosion-proof chamber 10. Because the density of gas is lower than that of air, it will float upwards. When the gas concentration exceeds the limit, the intrinsically safe gas sensor 12 can quickly capture the change of gas concentration.

[0035] The mine track inspection device also comprises two intrinsically safe illuminating lamps 13, which are respectively installed on the front side of the intrinsically safe chamber 9 and are arranged in the width direction of the driving support 3. The control cable of the intrinsically safe illuminating lamp 13 is connected with the control module in the intrinsically safe chamber 9. Because the environment in the coal mine is relatively dark, the image collected by the camera of the intrinsically safe holder 11 is relatively blurred under the condition of long distance and dark background. Therefore, the intrinsically safe illuminating lamp 13 can supplement light for objects at a long distance and in darkness, and meet the requirements of the camera of the intrinsically safe holder 11 for collecting images.

[0036] The mine track inspection device also comprises four obstacle avoidance sensors 14, two of which are arranged on the front side of the intrinsically safe chamber 9, and the other two are arranged on the rear side of the main machine box 2. The control cables of the four obstacle avoidance sensors 14 are respectively connected with the control module. The arrangement of the obstacle avoidance sensor 14 enables the inspection device to actively slow down or stop when encountering obstacles during operation. When the inspection device avoids obstacles in the front or rear direction for a long time, the inspection device will actively run in the opposite direction. When the front and rear directions avoid obstacles at the same time, it means that the inspection device has a fault or an abnormal environment, so it will actively alarm to prompt.

[0037] The mine track inspection device also comprises a tag sensor 15, which is arranged at the top of the driving support 3. The control cable of the tag sensor 15 is connected with the control module. Different positions on the track 1 along which the inspection device runs will be installed with corresponding sensing tags. The tag sensor 15 sets different digital information for the sensing tags, and different digital information represents different functions. The tag sensor 15 can complete functions such as position calibration, fixed-point inspection, pause, and turn back, so it can assist the inspection device to complete the corresponding inspection task.

[0038] The mine track inspection device is used, the mine explosion-proof servo motor 6 is started, the mine explosion-proof servo motor 6 drives the load wheel 4 to rotate through the speed reducer, the load wheel 4 drives the driving support 3 and the main machine box body 2 to move along the length direction of the track 1, and the inspection device is comprehensively detected to the detection equipment along the track 1 in the moving process through the setting of the intrinsic safety type holder 11, the intrinsic safety type gas sensor 12, the intrinsic safety type illuminating lamp 13, the obstacle avoidance sensor 14 and the label inductor 15 and the like equipment, the automation degree is high, can replace the downhole worker and inspect in various complex working conditions, reduces the strength of artificial inspection, improves the operation safety and the inspection efficiency of the inspection worker.

[0039] Among them, the electrical connection mode between each detection sensor and the control module, and the electrical connection mode between each electrical component are prior art, which will not be repeated here.

[0040] The utility model discloses although realized the above -mentioned purpose and disclosed preferable specific embodiment, but it is not used to limit the structural features of the utility model, and any person skilled in the art should know that under the technical spirit of the utility model, any easy thought change or modification is possible, and all is covered in the patent application scope of the utility model.

Claims

1. A mine track inspection device, characterized in that, Including driving device and inspection host computer, the driving device includes driving support (3), the top of driving support (3) is equipped with two mine explosion-proof servo motor (6) and two support wheel groups along the track (1) movement, the support wheel group is driven by mine explosion-proof servo motor (6) and is rotatably connected with driving support (3), the inspection host computer includes host box (2), the host box (2) is located below driving support (3) and is connected with it, the control module is arranged in the host box (2), a plurality of detection sensors are arranged on the host box (2), the mine explosion-proof servo motor (6), the detection sensor is electrically connected with the control module; Two support wheel groups are located on the front and back of mine explosion-proof servo motor (6) respectively, each support wheel group includes two load wheels (4) that are symmetrically arranged along the width direction of driving support (3), the load wheel (4) is rotatably connected with driving support (3) through first rotating shaft, driving support (3) is further provided with two guide wheel groups, two guide wheel groups are symmetrically arranged on the front and back of mine explosion-proof servo motor (6), each guide wheel group includes two guide wheels (5) that are symmetrically arranged along the width direction of driving support (3), the guide wheel (5) is rotatably connected with driving support (3) through second rotating shaft.

2. The mine track inspection device of claim 1, wherein, Two mine explosion-proof servo motors (6) are symmetrically arranged along the width direction of driving support (3).

3. The mine track inspection device of claim 1, wherein, Speed sensor (7) is further arranged on driving support (3), the speed sensor (7) includes speed rotation arm (702) arranged on driving support (3), speed rotation arm (702) is rotatably provided with speed roller (701), speed roller (701) is abutted with track (1) and is provided with magnetic encoder above it.

4. The mine track inspection device of claim 1, wherein, The explosion-proof main cavity (8), the intrinsically safe cavity (9) and the battery explosion-proof cavity (10) are arranged in the host box (2), the motor controller, the isolation module, the power module and the battery management control module are arranged in the explosion-proof main cavity (8), the control module, the wireless module and the switch are arranged in the intrinsically safe cavity (9), the intrinsically safe cavity (9) is connected with the explosion-proof main cavity (8) through the cavity terminal, the intrinsically safe cavity (9) is installed on the front flange of the explosion-proof main cavity (8), the lithium battery pack, the manual power-off switch and the fuse are arranged in the battery explosion-proof cavity (10), the cable of the lithium battery pack is connected with the battery management control module in the explosion-proof main cavity (8) through the cavity terminal, and the battery explosion-proof cavity (10) is installed on the bottom flange of the explosion-proof main cavity (8).

5. The mine track inspection device of claim 4, wherein, It further includes intrinsically safe cloud platform (11), the intrinsically safe cloud platform (11) is fixedly arranged at the bottom of the intrinsically safe cavity (9), and the control cable of the intrinsically safe cloud platform (11) is connected with the control module in the intrinsically safe cavity (9).

6. The mine track inspection device of claim 4, wherein, The intrinsically safe gas sensor (12) is fixedly arranged at the bottom of the outside of the battery explosion-proof cavity (10), and the control cable of the intrinsically safe gas sensor (12) is connected with the control module in the intrinsically safe cavity (9).

7. The mine track inspection device of claim 4, wherein, Two intrinsically safe illuminating lamps (13) are further included, which are respectively arranged on the front side of the intrinsically safe cavity (9) and are spaced apart along the width direction of the driving support (3), and the control cable of the intrinsically safe illuminating lamp (13) is connected with the control module in the intrinsically safe cavity (9).

8. The mine track inspection device of claim 4, wherein, Four obstacle avoidance sensors (14) are further included, two of which are arranged on the front side of the intrinsically safe cavity (9), and the other two are arranged on the rear side of the main cabinet (2), and the control cables of the four obstacle avoidance sensors (14) are respectively connected with the control module.

9. The mine rail inspection apparatus of claim 1, wherein, A label sensor (15) is further included, which is arranged on the top of the driving support (3), and the control cable of the label sensor (15) is connected with the control module.

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