Track inspection robot for coal conveying gallery

Abstract

The utility model discloses a track inspection robot for a coal conveying gallery. The track inspection robot comprises a track arranged at the upper part, a robot host is hung on the lower portion of the track through rubber wheels. A wireless charger is arranged on the robot host; a distance sensor is arranged on the robot host; and a travel sensor is arranged on the robot host. The effects of high overhead rail inspection safety, active obstacle avoidance and accurate positioning are achieved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a coal conveying corridor track inspection robot. Background Technology

[0002] Currently, most of the inspection and maintenance work in mine pump rooms, urban integrated pipe corridors, large conveyor belt roadways, and coal conveying corridors is done manually. However, these locations are complex environments with limited space, making manual inspections difficult. Furthermore, due to the low frequency and long intervals of manual inspections, problems cannot be detected in a timely manner, leading to their escalation. Coal conveying corridors, in particular, are generally dimly lit, and the air is often filled with dust, reducing visibility and posing health risks to inspection workers.

[0003] Currently, inspection robots are used in some situations, but the following inconveniences often arise for users: poor adaptability to different terrains when moving on roads; the use of exposed electrical contacts to power the robot, which can easily generate electrical sparks; safety hazards in dusty environments such as coal conveyor corridors; inability to detect obstacles during movement, which may cause injury to the robot itself or on-site personnel; and the robot's inability to accurately determine its current location. Utility Model Content

[0004] This utility model provides a coal conveying corridor track inspection robot. The use of this robot can solve the shortcomings of the above-mentioned prior art, and achieve the effects of high safety in track inspection, active obstacle avoidance and accurate positioning.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a coal conveying corridor track inspection robot, the inspection robot including a track set at the top; a robot host suspended at the bottom of the track by rubber wheels; a wireless charger set on the robot host; a distance sensor set on the robot host; and a travel sensor set on the robot host.

[0006] Preferably, one distance sensor is installed on each side of the robot host.

[0007] Preferably, the robot host includes a walking mechanism drive wheel mounted on its upper part to drive its movement; the upper part of the robot host also has a walking mechanism driven wheel parallel to the walking mechanism drive wheel; the robot host is equipped with an audible and visual alarm and an external light; the robot host contains a battery and a control circuit board; the walking mechanism drive wheel is connected to a motor and a reduction gear inside the robot host; and the robot host is also equipped with an electronic tag detector.

[0008] Preferably, a travel sensor is connected to the outside of the driven wheel of the walking mechanism.

[0009] Preferably, one audible and visual alarm and one external lighting lamp are installed on each side of the robot host.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] 1. A suspended rail inspection method was adopted, making the inspection process safer and more efficient;

[0012] 2. Equipped with a wireless charger to charge the built-in battery, the non-contact operation eliminates electrical sparks and removes safety hazards;

[0013] 3. During movement, the robot utilizes a distance sensor to detect obstacles ahead in real time, truly achieving autonomous obstacle avoidance. Its built-in travel sensor can accurately diagnose the inspection robot's current speed, position, and whether its working status is normal.

[0014] 4. The inspection robot is also equipped with an external sound and light alarm and lighting, which can display different working statuses and adapt to different environments through different light combinations. It has the advantages of good environmental adaptability and powerful functions;

[0015] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a diagram showing the working state of the inspection robot of this utility model;

[0018] Figure 2 This is a diagram of the internal structure of the inspection robot of this utility model;

[0019] In the diagram: 1. Track, 2. Robot host, 3. Wireless charger, 4. Distance sensor, 5. Travel sensor, 6. Rubber wheel, 21. Drive wheel of walking mechanism, 22. Audible and visual alarm, 23. External lighting, 24. Battery, 25. Control circuit board, 26. Motor and reduction gear, 27. Driven wheel of walking mechanism, 28. Electronic tag detector. Detailed Implementation

[0020] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0022] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0023] Please see Figure 1-2 This utility model provides a technical solution: a coal conveying corridor track inspection robot, the inspection robot includes a track 1 set at the upper part; a robot host 2 is suspended at the lower part of the track 1 by rubber wheels 6; a wireless charger 3 is set on the robot host 2; a distance sensor 4 is set on the robot host 2; and a travel sensor 5 is set on the robot host 2.

[0024] Track 1 is positioned at the top to allow for better obstacle avoidance. The robot host 2 reciprocates on track 1 to perform inspection operations. A wireless charger 3 is provided to charge the robot host 2, preventing electrical sparks that could pose a hazard to areas with high fire safety requirements. To achieve active obstacle avoidance, distance sensors are installed at both ends of the robot host 2. One distance sensor 4 is located on each side of the robot host 2. These distance sensors can be infrared, laser, ultrasonic, or other similar types. The travel sensor 5 is used to detect the forward or backward distance of the robot host 2.

[0025] The robot host 2 includes a walking mechanism drive wheel 21 mounted on the upper part to drive its movement; the upper part of the robot host 2 also has a walking mechanism driven wheel 27 arranged parallel to the walking mechanism drive wheel 21; the robot host 2 is equipped with an audible and visual alarm 22 and an external light 23; the robot host 2 is equipped with a battery 24 and a control circuit board 25 inside; the walking mechanism drive wheel 21 is connected to a motor and a reduction gear 26 inside the robot host 2; the robot host 2 is also equipped with an electronic tag detector 28.

[0026] The robot host 2 is powered by an internal battery 24 and provides power output through a motor and a reduction gear 26 to drive the active wheel 21 of the walking mechanism to rotate and move forward or backward. The driven wheel 27 of the walking mechanism is connected to a travel sensor 5 to sense the walking distance. A tag is set at intervals on the track 1, and the real-time position information of the robot host 2 is sensed and detected by the electronic tag detector 28 on the robot host 2.

[0027] An audible and visual alarm 22 and an external light 23 are installed on each side of the robot host 2. If an alarm is required during inspection, the audible and visual alarm 22 can generate different colors and sounds to alert the inspection personnel, and external lights 23 are installed at both the front and rear to assist in observation.

[0028] Working Principle: The coal conveying corridor track inspection robot consists of components such as track 1, robot main unit 2, walking mechanism, control circuit board 25, wireless charger 3, battery 24, distance sensor 4, and stroke sensor 5. The outer shell of the robot main unit 2 is made of metal, providing good mechanical support performance. The overall structure uses a stainless steel frame covered with a metal panel, which effectively reduces the weight of the robot while ensuring the structural strength of the whole machine.

[0029] The top of the robot consists of the driving wheel 21 and the driven wheel 27 of the walking mechanism. The entire robot is suspended on the track 1 by four rubber wheels 6. A wireless charger 3 is located on the side of the robot, used for wireless charging when the robot reaches its destination.

[0030] A distance sensor 4 is designed at both the front and back ends to monitor obstacles on the travel path in real time during movement. When an obstacle is detected, an audible and visual alarm 22 is triggered, and the robot temporarily stops moving. When the obstacle is detected and removed, the robot automatically resumes movement.

[0031] The robot's internal motor and reduction gear 26 transmit power to the drive wheel 21 of the walking mechanism, providing power for the robot's movement. The driven wheel 27 of the walking mechanism has no power output, and its output shaft is connected to the travel sensor 5. The travel sensor 5 detects the robot's current travel distance, speed, and other parameters in real time. By monitoring these parameters, it is possible to determine in real time whether the robot's movement is normal.

[0032] An electronic tag detector 28 is installed on top of the robot near the track 1. An electronic tag is placed at fixed intervals along the track 1. When the robot moves to a specific position, the electronic tag detector 28 senses the tag and reads the positioning information stored within it. This corrects the robot's travel and position information, eliminating travel errors caused by wheel slippage or other factors during movement. The robot has two external lights 23 at both the front and rear, which automatically turn on in low-light conditions to provide automatic supplemental lighting.

[0033] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A coal conveying corridor track inspection robot, characterized in that: The inspection robot includes a track (1) on the upper part; a robot host (2) is suspended from the lower part of the track (1) by rubber wheels (6); a wireless charger (3) is installed on the robot host (2); a distance sensor (4) is installed on the robot host (2); a travel sensor (5) is installed on the robot host (2); the robot host (2) includes a walking mechanism drive wheel (21) installed on the upper part to drive its movement; a walking mechanism driven wheel (27) is also installed on the upper part of the robot host (2) parallel to the walking mechanism drive wheel (21); an audible and visual alarm (22) and an external light (23) are installed on the robot host (2); a battery (24) and a control circuit board (25) are installed inside the robot host (2); a motor and a reduction gear (26) are connected to the walking mechanism drive wheel (21) inside the robot host (2); an electronic tag detector (28) is also installed on the robot host (2).

2. The coal conveying corridor track inspection robot according to claim 1, characterized in that: One distance sensor (4) is installed on each side of the robot host (2).

3. The coal conveying corridor track inspection robot according to claim 1, characterized in that: The travel sensor (5) is connected to the outside of the driven wheel (27) of the walking mechanism.

4. The coal conveying corridor track inspection robot according to claim 1, characterized in that: The sound and light alarm (22) and the external lighting (23) are each set on both sides of the robot host (2).

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