Multi-terrain self-adaptive underground inspection robot device

Abstract

The utility model discloses a multi-terrain self-adaptive underground inspection robot device. The vehicle comprises a vehicle head, a vehicle body and a vehicle tail, wherein the vehicle head and the vehicle tail are respectively connected with the vehicle body through hinge assemblies; the two sides of the vehicle head, the vehicle body and the vehicle tail are each provided with a wheel. The vehicle body is provided with a main body protection cover, and a driving motor is arranged in the protection cover. According to the utility model, the problem that the underground inspection robot in the prior art cannot stably advance in complex terrains is solved.

Description

Technical Field

[0001] This utility model relates to the field of downhole exploration technology, and in particular to a multi-terrain adaptive downhole inspection robot device. Background Technology

[0002] The underground environment is complex, containing flammable and explosive substances such as gas and dust, as well as dangerous factors such as humidity, high temperature, and high noise. Manual inspections face threats to life safety. For example, gas leaks and roof collapses can lead to injuries or fatalities for inspection personnel.

[0003] Limitations of manual inspection: Manual inspection is labor-intensive, inefficient, and prone to omissions. Underground tunnels are long and equipment is widely distributed, requiring inspectors to walk for extended periods, leading to fatigue and affecting inspection quality. Furthermore, manual inspection is influenced by individual experience and subjective biases, potentially missing some hidden safety hazards in a timely manner.

[0004] The demand for intelligent mine construction: With the development of technology, the construction of intelligent mines has become an inevitable trend. Underground inspection robots, as an important component of intelligent mines, can achieve real-time monitoring, data collection, and analysis of underground equipment and the environment, providing support for safe production and efficient operation of the mine.

[0005] In related technologies, the technical problem of downhole inspection robots being unable to move stably in complex terrain has not yet been effectively solved. Utility Model Content

[0006] The purpose of this invention is to provide a multi-terrain adaptive downhole inspection robot device to solve the problem in related technologies where downhole inspection robots cannot move stably in complex terrain.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The multi-terrain adaptive downhole inspection robot includes a front, a body, and a rear. The front and rear are connected to the body via articulated components. Each of the front, body, and rear has a wheel on its sides. The body is equipped with a main protective cover, inside which a drive motor is installed.

[0009] Further configuration: a support platform is provided at the front of the vehicle, which is rotatably connected to the wheels; two rotating airbags are provided at the front of the vehicle, which are rotatably connected to the support platform via a rotating shaft, which is perpendicular to the support platform.

[0010] Further configuration: A support plate is provided at the front of the vehicle, and the support plate is perpendicular to the support platform.

[0011] Further configuration: The support plate is equipped with a light strip and an infrared camera.

[0012] Further configuration: the top plate of the main protective cover is parallel to the ground, and the side plates of the main protective cover are perpendicular to the ground; a warning light is installed on the top of the main protective cover.

[0013] Further configuration: Two rodless cylinders are installed on the inner walls of each of the two side plates of the main protective cover, and the rodless cylinders are parallel to the ground.

[0014] Further configuration: Two rodless cylinders arranged opposite each other are slidably connected by a balance plate.

[0015] Further configuration: an anti-collision airbag is provided on each side of the main protective cover.

[0016] Further configuration: A signal receiver is fixedly connected to the rear of the vehicle.

[0017] The hinge assembly is further configured such that: the hinge component includes two hinge members and a hinge block, the hinge members include two opposing connecting blocks, and the hinge block is a cube; the two opposing faces of the connecting block and the hinge block are rotatably connected.

[0018] Compared with the prior art, the beneficial technical effects of this utility model are as follows: its front, body and rear are connected by a specific hinge component. The cubic hinge block and the connecting block in the component are rotated to achieve multi-directional flexible rotation, adapt to complex underground terrain, improve structural stability, facilitate manufacturing and maintenance, and optimize spatial layout.

[0019] The support platform at the front of the vehicle is connected to the rotating wheels and features a rotating airbag to enhance obstacle crossing and terrain adaptability, providing shock absorption and flexible steering assistance, and possessing intelligent adjustment potential. The light strip and infrared camera on the support plate provide illumination and adapt to different lighting environments, with an optimized installation layout for easy adjustment and maintenance.

[0020] The anti-collision airbags on both sides of the main protective cover buffer impacts, protect equipment safety, improve the robot's adaptability in narrow alleys, increase visibility, and facilitate maintenance and replacement. The rodless cylinders and balance plates inside the main protective cover improve balance stability, enhance adaptability to complex terrain, have a compact and flexible structure, protect internal equipment, and enable intelligent control.

[0021] Overall, these designs enable the robots to operate stably in harsh underground environments. From adapting to complex terrain and ensuring equipment safety to improving inspection efficiency, they comprehensively meet the needs of intelligent mine construction for underground inspection, effectively reducing the risks of manual inspection and providing strong support for safe mine production. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is the front view of the present invention;

[0025] Figure 3 This is the left view of the present invention;

[0026] Figure 4 This is a top view of the present invention;

[0027] Figure 5 This is a schematic diagram of the overall structure of the concealed main body protective cover of this utility model;

[0028] Figure 6 This is a schematic diagram of the hinge assembly structure;

[0029] Figure 7 Main view of the hinged component structure.

[0030] Reference numerals: 1. Main protective cover; 2. Wheel; 3. Rotating airbag; 4. Anti-collision airbag; 5. Support plate; 6. Infrared camera; 7. Light strip; 8. Warning light; 9. Rodless cylinder; 10. Balance plate; 11. Signal receiver; 12. Hinge assembly. Detailed Implementation

[0031] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Example

[0035] Reference Figure 1-5 The utility model discloses a multi-terrain adaptive downhole inspection robot device, which includes: a front end, a body, and a rear end. The front end and the rear end are connected to the body via hinge components 12. Each side of the front end, body, and rear end is provided with a wheel 2. The body is provided with a main protective cover 1, and a drive motor is provided inside the protective cover.

[0036] Specifically, the articulated assembly 12 allows the front and rear of the vehicle to swing at certain angles in the up, down, left, and right directions. This allows the inspection robot to passively adapt to the road and adjust the angles of the front and rear when it encounters bumps or obstacles, thus enabling the inspection robot to move stably.

[0037] The articulation assembly 12 allows the front and rear of the vehicle to swing at certain angles in the up, down, left, and right directions, enabling the inspection robot to passively adapt to road conditions and adjust the angles of the front and rear when encountering bumps and obstacles. This helps the robot better traverse uneven surfaces, cross small obstacles, and navigate curves, improving its mobility in complex underground environments and expanding its inspection range. Through the angle adjustment of the articulation assembly 12, the robot can automatically adjust its posture according to road conditions, maintaining vehicle balance and reducing bumps and swaying. This not only helps protect the robot's internal equipment and sensors, enabling stable data collection and monitoring, but also reduces the risk of component wear and failure due to swaying, extending the robot's service life. The main protective cover 1 on the vehicle body provides physical protection for important components such as the drive motor, preventing corrosion and damage from dust, moisture, and debris underground, ensuring the normal operation of the drive motor and other equipment in harsh underground environments, and improving the robot's reliability and stability.

[0038] Further configuration: a support platform is provided at the front of the vehicle, and the support platform is rotatably connected to the wheel 2; two rotating airbags 3 are provided at the front of the vehicle, and the rotating airbags 3 are rotatably connected to the support platform through a rotating shaft, the rotating shaft being perpendicular to the support platform.

[0039] Specifically, the rotating airbag 3 prevents the vehicle from hitting obstacles and damaging the body while moving. Its rotating function allows it to glide over obstacles more easily without getting stuck. When turning in narrow tunnels, the rotating airbag 3 can adapt to help the front of the vehicle change direction more flexibly, improving the robot's maneuverability and flexibility, enabling it to perform inspection operations underground more efficiently.

[0040] Further configuration: A support plate 5 is provided at the front of the vehicle, and the support plate 5 is perpendicular to the support platform. A light strip 7 and an infrared camera 6 are provided on the support plate 5.

[0041] Specifically, the light strip 7 provides active illumination for the inspection robot in the dimly lit environment underground. Underground lighting conditions are usually poor, and the light strip 7 can illuminate the road and equipment in front of the robot, enabling the infrared camera 6 to obtain clearer images. It also makes it easier for operators to observe through the images transmitted by the robot, which helps to accurately detect potential safety hazards or equipment malfunctions.

[0042] Adaptable to different environments: The infrared camera 6 can operate in environments with insufficient visible light or even complete darkness, forming images by sensing the infrared light emitted by objects. In conjunction with the light strip 7, even when the lighting effect of the light strip 7 is limited or encounters special circumstances (such as partial light blockage), the infrared camera 6 can ensure that the robot has a certain level of visual capability, improving the robot's adaptability and reliability in complex downhole environments.

[0043] Further configuration: the top plate of the main protective cover 1 is parallel to the ground, and the side plates of the main protective cover 1 are perpendicular to the ground; a warning light 8 is provided on the top of the main protective cover 1.

[0044] Specifically, the warning light 8 can emit a light alarm when necessary to indicate danger or the location of the inspection robot.

[0045] The design further includes: two rodless cylinders 9 installed on the inner walls of each of the two side plates of the main protective cover 1, with the rodless cylinders 9 parallel to the ground. A balance plate 10 is slidably connected to the two opposing rodless cylinders 9.

[0046] Specifically, the balance plates 10 can be extended via rodless cylinders 9, with two balance plates 10 extending to both sides of the vehicle. When the robot loses balance, the balance plates 10 can be extended to restore the vehicle's balance. The rodless cylinders 9 are installed parallel to the ground on the inner wall of the side panel of the main protective cover 1. This layout makes full use of the robot's internal space, resulting in a more compact overall structure. Compared to traditional structures such as rod-type cylinders, the rodless cylinders 9 driving the balance plates 10 have advantages such as smaller footprint, smoother movement, and faster speed. They can more flexibly control the extension and retraction of the balance plates 10, quickly responding to the robot's balance needs and achieving efficient balance adjustment without affecting the robot's normal operation and other functions.

[0047] Further configuration: each side of the main protective cover 1 is provided with an anti-collision airbag 4.

[0048] Specifically, the underground environment is complex, and robots may collide with tunnel walls, other equipment, or obstacles during inspections. The airbag forms a soft buffer zone that can absorb and disperse the impact force generated by the collision, reducing the risk of damage to the robot's main structure and internal critical components such as drive motors and control systems, thus protecting the robot's normal operation and service life.

[0049] By buffering collision energy, the anti-collision airbag 4 helps prevent damage or displacement of the robot's internal electronic equipment and sensors due to severe impacts, ensuring that these devices can continue to operate stably. This guarantees that the robot can accurately acquire and transmit inspection data, providing a reliable guarantee for safe production underground. The anti-collision airbag 4 allows the robot to better adapt to the narrow and winding tunnel environment underground. Even in situations with limited space, the robot can be closer to the tunnel walls or other equipment for inspection because the anti-collision airbag 4 can protect against minor collisions, reducing robot malfunctions or stalls caused by collisions and improving the robot's adaptability and work efficiency in complex environments.

[0050] Further configuration: A signal receiver 11 is fixedly connected to the rear of the vehicle.

[0051] Reference Figure 6-7 The hinge assembly 12 includes two hinge members and a hinge block. The hinge members include two opposing connecting blocks, and the hinge block is a cube. The two faces of the connecting block and the hinge block opposite each other are rotatably connected.

[0052] Specifically, because the articulation block is a cube and the two opposite faces of the connecting block and the articulation block are rotatably connected, the front or rear of the vehicle and the vehicle body can rotate flexibly in multiple directions. It can not only adapt to the undulations of the road surface in the vertical direction, but also cope with curves or inclined terrain in the horizontal direction, allowing the inspection robot to better fit the complex underground terrain and enhance its ability to pass through different road conditions. For example, when passing through uneven alleys or turning, it can adjust its posture more naturally.

[0053] The combination of two hinge components and one hinge block forms a stable connection structure. This structure ensures rotational flexibility while withstanding a certain amount of external force and impact. During robot movement, even if it encounters large bumps or collisions, the hinge assembly 12 can distribute stress, preventing damage to the connection points due to excessive local stress, ensuring the reliability of the connection between the front, body, and rear of the robot, and maintaining the stability of the overall robot structure.

[0054] The working principle and beneficial effects of this utility model are as follows:

[0055] Its front, body and rear are connected by a specific hinge assembly 12. The cubic hinge block and the connecting block in the assembly are rotated to achieve multi-directional flexible rotation, adapt to complex underground terrain, improve structural stability, facilitate manufacturing and maintenance, and optimize spatial layout.

[0056] The support platform at the front of the vehicle is rotatably connected to the wheels 2, and is equipped with rotating airbags 3 to enhance obstacle crossing and terrain adaptability, providing cushioning and shock absorption as well as flexible steering assistance, and possessing intelligent adjustment potential. The light strip 7 and infrared camera 6 on the support plate 5 provide illumination and adapt to different lighting environments, optimize the installation layout, and facilitate adjustment and maintenance.

[0057] The anti-collision airbags 4 on both sides of the main protective cover 1 buffer collision impacts, protect equipment safety, improve the robot's adaptability in narrow alleys, increase the field of vision, and facilitate maintenance and replacement. The rodless cylinder 9 and balance plate 10 inside the main protective cover 1 improve balance stability, enhance adaptability to complex terrain, have a compact and flexible structure, protect internal equipment, and enable intelligent control.

[0058] Overall, these designs enable the robots to operate stably in harsh underground environments. From adapting to complex terrain and ensuring equipment safety to improving inspection efficiency, they comprehensively meet the needs of intelligent mine construction for underground inspection, effectively reducing the risks of manual inspection and providing strong support for safe mine production.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multi-terrain adaptive downhole inspection robot device, characterized in that, include: The vehicle has a front end, a body, and a rear end, wherein the front end and the rear end are connected to the body via articulated components (12); Each of the front, the body and the rear of the vehicle is provided with a wheel (2); The vehicle body is provided with a main protective cover (1), and a drive motor is provided inside the protective cover.

2. The multi-terrain adaptive downhole inspection robot device according to claim 1, characterized in that, include: The front of the vehicle is provided with a support platform, which is rotatably connected to the wheel (2); The front of the vehicle is equipped with two rotating airbags (3), which are rotatably connected to the support platform via a rotating shaft that is perpendicular to the support platform.

3. The multi-terrain adaptive downhole inspection robot device according to claim 2, characterized in that, include: The front of the vehicle is provided with a support plate (5), which is perpendicular to the support platform.

4. The multi-terrain adaptive downhole inspection robot device according to claim 3, characterized in that, include: The support plate (5) is equipped with a light strip (7) and an infrared camera (6).

5. The multi-terrain adaptive downhole inspection robot device according to claim 1, characterized in that, include: The top plate of the main protective cover (1) is parallel to the ground, and the side plates of the main protective cover (1) are perpendicular to the ground; A warning light (8) is provided on the top of the main protective cover (1).

6. The multi-terrain adaptive downhole inspection robot device according to claim 5, characterized in that, include: Two rodless cylinders (9) are provided on the inner walls of the two side plates of the main protective cover (1), and the rodless cylinders (9) are parallel to the ground.

7. The multi-terrain adaptive downhole inspection robot device according to claim 6, characterized in that, include: The two rodless cylinders (9) arranged opposite to each other are slidably connected by a balance plate (10).

8. The multi-terrain adaptive downhole inspection robot device according to claim 1, characterized in that, include: An anti-collision airbag (4) is provided on each side of the main protective cover (1).

9. The multi-terrain adaptive downhole inspection robot device according to claim 1, characterized in that, include: A signal receiver (11) is fixedly connected to the rear of the vehicle.

10. The multi-terrain adaptive downhole inspection robot device according to claim 1, characterized in that, include: The hinge assembly (12) includes two hinge members and a hinge block. The hinge members include two opposing connecting blocks, and the hinge block is a cube. The connecting block and the hinge block are rotatably connected on their two opposite surfaces.

Images