Coal mine inspection robot with side supporting structure

Abstract

The utility model discloses a coal mine inspection robot with a side supporting structure, which belongs to the technical field of coal mine inspection and is used for solving the problem that the inspection robot is inclined and even rollover. Comprising a side supporting mechanism; a first servo motor works to drive a rotating shaft to rotate, then a supporting plate is unfolded, at the moment, side rolling wheels in the supporting plate can make contact with an inclined mine surface or make direct contact with a mine wall, and the situation that the coal mine inspection robot topples over can be prevented under the supporting effect of the side rolling wheels; the second servo motor drives the threaded rod to rotate, when the threaded rod rotates, the roller carriers can rotate at the hinged shaft, the threaded rod takes the middle as a boundary line, and the directions of threads on the two sides of the threaded rod are opposite, so that the two roller carriers can move close to or away from each other, and the opening angle between the two roller carriers can be adjusted in this way; and therefore, the supporting range of the side supporting mechanism can be adjusted, and more mining area environments can be dealt with.

Description

TECHNICAL FIELD

[0001] The utility model belongs to coal mine inspection technical field, concretely relates to a coal mine inspection robot with side support structure. BACKGROUND

[0002] The coal mine inspection robot is an artificial intelligent device for replacing artificial inspection personnel to perform daily inspection functions on the coal mining face. Compared with artificial operation, the coal mine inspection robot can work in a small space and a humid environment, is free from the hard work and danger of artificial operation, and can perform detection that cannot be performed by many artificial operations.

[0003] However, the terrain of the coal mine tunnel is uneven, and when the inspection robot travels in the coal mine tunnel, the body of the robot is often inclined or even turned over due to the uneven terrain, which seriously affects the efficiency of the inspection work. Therefore, the coal mine inspection robot with the side support structure is provided. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a coal mine inspection robot with a side support structure to solve the problems in the background art.

[0005] To achieve the above object, the utility model provides the following technical scheme: a coal mine inspection robot with a side support structure, comprising a robot body, side support mechanisms are arranged on the two sides of the robot body, a buffer mechanism is arranged on the side surface of the robot body, the side support mechanism comprises a first hinged seat, the first hinged seat is arranged on the side surface of the robot body, a rotating shaft is rotatably connected to the inside of the first hinged seat, a first servo motor is arranged on the side surface of the first hinged seat, and the output end of the first servo motor is in transmission connection with the rotating shaft, a support plate is rotatably connected to the inside of the first hinged seat through the rotating shaft, a hinged shaft is rotatably connected to the side surface of the support plate, a roller frame is rotatably connected to the circumferential surface of the hinged shaft, a side roller is rotatably connected to the inside of the roller frame, a first sliding rail is arranged on the surface of the support plate, a threaded rod is rotatably connected to the inside of the first sliding rail, a sliding block is threadedly connected to the circumferential surface of the threaded rod, the sliding block is in sliding connection with the first sliding rail, and the sliding block is in sliding connection with the roller frame.

[0006] Preferably, the hinged shaft, the roller frame and the side roller are provided with two groups on the support plate, the first hinged seat and the rotating shaft are provided with two groups and are distributed at the two ends of the support plate, the threaded direction of the threaded rod is opposite on the two sides of the middle part, a vertical sliding groove is arranged on the lower surface of the roller frame, and the upper surface of the sliding block slides in the vertical sliding groove through the connecting block.

[0007] Preferably, the buffer mechanism comprises a second sliding rail, an inner side of the second sliding rail is provided with a sliding rod, a circumferential surface of the sliding rod is slidably connected with a second hinged seat, and the second hinged seat is slidably connected with the second sliding rail.

[0008] Preferably, a buffer spring is arranged between the second hinged seat and an inner side wall of the second sliding rail, and a hinged rod is hinged between the second hinged seat and the support plate.

[0009] Compared with the prior art, the utility model has the beneficial effects that:

[0010] (1), this coal mine inspection robot with side support structure, when the coal mine inspection robot encounters the inclined mine face or uneven mine face, can pass through make first servo motor work drive rotating shaft rotation, further make support plate spread, the side roller in support plate interior will contact with the inclined mine face, or directly contact with the mine wall, under the support of side roller can prevent the coal mine inspection robot from falling, pass through make second servo motor drive screw rod rotation, when the screw rod rotates, can make the roller frame rotate at the hinged shaft, wherein the screw rod is divided by the middle part as the boundary line, and the thread directions on both sides thereof are opposite, therefore two roller frames can move close to or away from each other, the opening angle between the two roller frames can be adjusted by this mode, and the support range of the side support mechanism can be adjusted, which is beneficial to cope with more mine environment.

[0011] (2), this coal mine inspection robot with side support structure, when the side roller just contacts with the mine face side wall, will extrude the support plate, at this time, the support plate will extrude the second hinged seat through the hinged rod, further make the second hinged seat extrude the buffer spring, wherein the second hinged seat and the sliding rod are provided with damping medium, the generated pressure can be eliminated, and the side support mechanism and the robot body can be protected. BRIEF DESCRIPTION OF DRAWINGS

[0012] Fig. 1 It is a three-dimensional structure schematic view of the utility model;

[0013] Fig. 2 It is a three-dimensional structure schematic view of the side support mechanism of the utility model;

[0014] Fig. 3 It is a three-dimensional structure schematic view of the buffer mechanism of the utility model.

[0015] In the figure: 10, robot body; 20, side support mechanism; 21, first hinged seat; 22, rotating shaft; 23, first servo motor; 24, support plate; 25, hinged shaft; 26, roller frame; 27, side roller; 28, first sliding rail; 29, threaded rod; 210, second servo motor; 211, sliding block; 30, buffer mechanism; 31, second sliding rail; 32, sliding rod; 33, second hinged seat; 34, buffer spring; 35, hinged rod. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0017] Please refer to Figs. 1-3 The utility model provides a kind of coal mine inspection robot with side support structure, including robot body 10, the both sides of robot body 10 are equipped with side support mechanism 20, the side of robot body 10 is equipped with buffer mechanism 30, side support mechanism 20 includes first hinged seat 21, and first hinged seat 21 is arranged in the side of robot body 10, rotating shaft 22 is rotatably connected in the inside of first hinged seat 21, first hinged seat 21 side is equipped with first servo motor 23, and the output end of first servo motor 23 is connected with rotating shaft 22, support plate 24 is rotatably connected in the inside of first hinged seat 21 by rotating shaft 22, wherein first hinged seat 21, rotating shaft 22 are equipped with two groups, are distributed in the both ends of support plate 24 respectively, the side of support plate 24 is rotatably connected with hinged shaft 25, the circumferential surface of hinged shaft 25 is rotatably connected with roller frame 26, side roller 27 is rotatably connected in the inside of roller frame 26, wherein hinged shaft 25, roller frame 26, side roller 27 are equipped with two groups on support plate 24, the surface of support plate 24 is equipped with first sliding rail 28, threaded rod 29 is rotatably connected in the inside of first sliding rail 28, and the thread direction of its two sides is opposite with middle part as demarcation line, the circumferential surface of threaded rod 29 is screw connected with sliding block 211, sliding block 211 is slidably connected with first sliding rail 28, and is supported with two groups in first sliding rail 28, sliding block 211 is slidably connected with roller frame 26, and the lower surface of roller frame 26 is equipped with vertical slide groove, the upper surface of sliding block 211 is slid in vertical slide groove by connecting block.

[0018] It should be noted that when the coal mine inspection robot encounters an inclined coal face or a uneven coal face, the first servo motor 23 can be operated, the first servo motor 23 can drive the rotating shaft 22 to rotate, and then the supporting plate 24 is expanded, at this time the side roller 27 inside the supporting plate 24 will contact with the inclined coal face, or directly contact with the coal wall, under the supporting action of the side roller 27, the coal mine inspection robot can be prevented from falling, and by operating the second servo motor 210, the threaded rod 29 can be driven to rotate, when the threaded rod 29 rotates, under the rotation limit of the first slide rail 28 and the sliding connection between the sliding block 211 and the first slide rail 28, the roller frame 26 can rotate at the hinge shaft 25, wherein since the threaded rod 29 is divided into two parts with opposite screw directions, the two roller frames 26 can move towards or away from each other, and the opening angle between the two roller frames 26 can be adjusted by this way, and then the supporting range of the side supporting mechanism 20 can be adjusted, which can be beneficial to cope with more mine environments.

[0019] The buffer mechanism 30 includes a second slide rail 31, the inside of the second slide rail 31 is provided with a slide rod 32, the circumferential surface of the slide rod 32 is slidably connected with a second hinge seat 33, and the second hinge seat 33 is slidably connected with the second slide rail 31, and the second hinge seat 33 and the inner side wall of the second slide rail 31 are provided with a buffer spring 34, and the second hinge seat 33 and the supporting plate 24 are hingedly connected with an hinge rod 35.

[0020] It should be noted that when the side roller 27 just contacts with the side wall of the coal face, the supporting plate 24 will be extruded, at this time the supporting plate 24 will extrude the second hinge seat 33 through the hinge rod 35, and then the second hinge seat 33 extrudes the buffer spring 34, wherein the second hinge seat 33 and the slide rod 32 are provided with a damping medium, which can eliminate the generated pressure, and then the side supporting mechanism 20 and the robot body 10 can be protected.

[0021] The working principle and use process of the utility model: when the device is used, the coal mine inspection robot encounters the inclined mine surface or the uneven mine surface, can work through the first servo motor 23, the first servo motor 23 can drive the rotating shaft 22 to rotate, and then make the support plate 24 expand, at this time the side roller 27 inside the support plate 24 will contact with the inclined mine surface or directly contact with the mine wall, under the support of the side roller 27, the coal mine inspection robot can prevent the situation of toppling, at the same time, through the work of the second servo motor 210, the threaded rod 29 can be driven to rotate, when the threaded rod 29 rotates, under the rotation limit of the first slide rail 28 and the sliding block 211 and the first slide rail 28 sliding connection, the roller frame 26 can rotate at the hinge shaft 25, wherein since the threaded rod 29 is divided by the middle part as the demarcation line, the thread direction of both sides is opposite, so the two roller frames 26 can move close to or away from each other, through this way, the opening angle between the two roller frames 26 can be adjusted, and then the support range of the side support mechanism 20 can be adjusted, which can be beneficial to cope with more mine environment, when the side roller 27 just contacts with the mine surface side wall, the support plate 24 will be extruded, at this time the support plate 24 will extrude the second hinge seat 33 through the hinge rod 35, and then the second hinge seat 33 extrudes the buffer spring 34, wherein the damping medium is arranged between the second hinge seat 33 and the slide rod 32, which can eliminate the generated pressure, and then the side support mechanism 20 and the robot body 10 can be protected.

[0022] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A coal mine inspection robot with a side support structure, comprising a robot body (10), characterized in that: The robot body (10) has side support mechanisms (20) on both sides and a buffer mechanism (30) on the side of the robot body (10). The side support mechanism (20) includes a first hinge seat (21) and is located on the side of the robot body (10). A rotating shaft (22) is rotatably connected inside the first hinge seat (21). A first servo motor (23) is located on the side of the first hinge seat (21) and its output end is connected to the rotating shaft (22). The inside of the first hinge seat (21) is rotatably connected to the rotating shaft (22). A support plate (24) is provided. A hinge shaft (25) is rotatably connected to the side of the support plate (24). A roller frame (26) is rotatably connected to the circumferential surface of the hinge shaft (25). A side roller (27) is rotatably connected inside the roller frame (26). A first slide rail (28) is provided on the surface of the support plate (24). A threaded rod (29) is rotatably connected inside the first slide rail (28). A sliding block (211) is threadedly connected to the circumferential surface of the threaded rod (29). The sliding block (211) is slidably connected to the first slide rail (28) and to the roller frame (26).

2. The coal mine inspection robot with a side support structure according to claim 1, characterized in that: The hinge shaft (25), roller frame (26), and side roller (27) are provided in two sets on the support plate (24). The first hinge seat (21) and rotating shaft (22) are provided in two sets, respectively distributed at both ends of the support plate (24). The threaded rod (29) has opposite thread directions on both sides with the middle as the dividing line. The lower surface of the roller frame (26) is provided with a vertical sliding groove. The upper surface of the sliding block (211) slides in the vertical sliding groove through the connecting block.

3. A coal mine inspection robot with a side support structure according to claim 2, characterized in that: The buffer mechanism (30) includes a second slide rail (31), and a slide rod (32) is provided inside the second slide rail (31). A second hinge seat (33) is slidably connected to the circumferential surface of the slide rod (32), and the second hinge seat (33) is slidably connected to the second slide rail (31).

4. A coal mine inspection robot with a side support structure according to claim 3, characterized in that: A buffer spring (34) is provided between the second hinge seat (33) and the inner wall of the second slide rail (31), and a hinge rod (35) is hinged between the second hinge seat (33) and the support plate (24).

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