Explosion-proof type robot for coal bunker inspection

Abstract

The utility model relates to the technical field of inspection robots, and discloses an explosion-proof type coal bunker inspection robot which comprises a chassis, a movement assembly is arranged at the bottom of the chassis, a detection assembly is arranged at the top of the chassis and comprises a detector, a movable plate is fixedly connected to the bottom of the detector, and the movable plate is fixedly connected to the bottom of the movable plate. Locking columns are slidably connected to the four corners of the interior of the fixed plate and the four corners of the interior of the movable plate, inner columns are slidably connected to the inner walls of the locking columns, limiting plates are fixedly connected to the tops of the inner walls of the locking columns, top columns are fixedly connected to the tops of the inner columns, and a plurality of limiting blocks are fixedly connected to the outer walls of the top columns. According to the utility model, firstly, the movable plate is aligned with the fixed plate, the locking column is inserted, and the limiting block is clamped below the limiting plate by operating the button, so that the position of the inner column is fixed, and the locking bead is promoted to be clamped into the groove position of the fixed plate, thereby achieving the effect of quickly fixing the detector, and solving the problem that the detection module cannot be quickly replaced. And the reloading efficiency of the inspection equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection robot, especially relates to a kind of robot for inspection of anti-explosion coal bunker. BACKGROUND

[0002] In the coal production industry, coal bunker as the key facility of storing coal, its safety condition is directly related to the continuity and safety of production, since the complex internal environment of coal bunker, there are gas, coal dust and other flammable and explosive substances, traditional manual inspection is not only inefficient, and it is a great threat to the life safety of inspection personnel, with the continuous progress of science and technology, anti-explosion coal bunker inspection robot emerges as the times require, it can autonomously complete inspection task in dangerous environment, real-time monitoring of environmental parameters in coal bunker, equipment operating state etc., provide new solution for the safety of coal bunker.

[0003] At present, part of the robot for coal bunker inspection in the market in mechanical structure and technical principle, most of the conventional integrated design is adopted, in the detection aspect, usually each type of detector is fixedly installed on the robot body, the situation in coal bunker is detected by the detector, in the lighting design, fixed position and angle lighting equipment are generally used, and the illumination range and angle cannot be dynamically changed according to actual demand.

[0004] However, the existing coal bunker inspection robot has a prominent problem, that is, it cannot meet the needs of quickly replacing detection module and flexibly adjusting illumination range, in actual coal bunker inspection process, different types of detectors need to be used to accurately detect various parameters in different areas and different times, and the traditional robot is difficult to quickly replace the appropriate detector, which seriously affects the inspection efficiency, meanwhile, the internal space of coal bunker is large and the structure is complex, and fixed illumination range is difficult to meet the clear viewing of each corner, so that the inspection quality of part area is not high, and safety hazards are missed, therefore, the anti-explosion coal bunker inspection robot is proposed to solve the above problems. UTILITY MODEL CONTENT

[0005] In order to make up for the above shortcomings, the utility model provides a kind of anti-explosion coal bunker inspection robot, to improve the problem that detection module cannot be quickly replaced in prior art.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] A kind of anti-explosion coal bunker inspection robot, including chassis, the bottom of the chassis is provided with motion assembly, the top of the chassis is provided with detection assembly;

[0008] The detection assembly includes a detector, the bottom of the detector is fixedly connected with a movable plate, the bottom of the movable plate is slidably connected with a fixed plate, the four corners of the fixed plate and the movable plate are slidably connected with locking columns, a plurality of locking beads are slidably connected in the locking columns, inner columns are slidably connected to the inner walls of the locking columns, ball grooves are formed in the bottom of the outer walls of the inner columns, limit plates are fixedly connected to the top of the inner walls of the locking columns, top columns are fixedly connected to the top of the inner columns, a plurality of limit blocks are fixedly connected to the outer walls of the top columns, buttons are fixedly connected to the top of the top columns, reset springs are sleeved on the outer walls of the inner columns, one end of the reset springs is slidably connected to the bottom of the top column, and the other end of the reset springs is fixedly connected to the inner wall of the locking column.

[0009] As a further description of the above technical scheme:

[0010] The movement assembly includes a plurality of drive wheels, the drive wheels are arranged in an array on the left and right sides of the outer wall of the chassis, the drive wheels are rotatably connected to the side wall of the chassis, and the outer wall of the drive wheel is slidably connected with a track.

[0011] As a further description of the above technical scheme:

[0012] The top of the chassis is fixedly connected with a base one and a base two, the top of the base one is rotatably connected with a fixed column, the top of the fixed column is fixedly connected with a fixed table, and the side wall of the fixed plate is fixedly connected to the left and right sides of the outer wall of the fixed table.

[0013] As a further description of the above technical scheme:

[0014] The top of the base two is fixedly connected with a signal transceiver and a protection box, and the protection box is located on the side of the signal transceiver.

[0015] As a further description of the above technical scheme:

[0016] The side wall of the protection box is provided with a driving motor, the bottom of the driving motor is fixedly connected to the top of the base two, the output end of the driving motor is fixedly connected with a worm, and one end of the worm is rotatably connected to the inner wall of the protection box.

[0017] As a further description of the above technical scheme:

[0018] The inside of the protection box is provided with a connecting rod, both ends of the connecting rod are rotatably connected to the inner wall of the protection box, and the outer wall of the connecting rod is fixedly connected with a worm wheel and a driven gear.

[0019] As a further description of the above technical scheme:

[0020] The driven gear is located in the middle section of the connecting rod, the worm wheel is located at the side of the driven gear, and the worm wheel is engaged with the worm.

[0021] As a further description of the above technical solutions:

[0022] The protection box is internally slidably connected with a tooth column, the tooth column is engaged with the driven gear, and the tooth column is fixedly connected with a lighting lamp group at the top.

[0023] The utility model has the advantages of the following beneficial effects:

[0024] 1、 the utility model discloses a quick fixing device for detector module, which comprises a fixed plate, a movable plate, a locking column, a locking block, a locking bead, a limiting block and a fixed plate slot.

[0025] 2、 the utility model discloses a quick fixing device for detector module, which comprises a fixed plate, a movable plate, a locking column, a locking block, a locking bead, a limiting block and a fixed plate slot. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A perspective view of the explosion-proof coal bunker inspection robot is provided for the utility model;

[0027] Figure 2 A fixed plate structure schematic view of the explosion-proof coal bunker inspection robot is provided for the utility model;

[0028] Figure 3 For Figure 2 An enlarged view of A in the middle;

[0029] Figure 4 A worm wheel structure schematic view of the explosion-proof coal bunker inspection robot is provided for the utility model.

[0030] LEGEND:

[0031] 1, chassis; 2, drive wheel; 3, track; 4, base station one; 5, base station two; 6, signal transceiver; 7, fixed column; 8, fixed platform; 9, fixed plate; 10, movable plate; 11, detector; 12, locking column; 13, locking ball; 14, inner column; 15, ball groove; 16, top column; 17, limit block; 18, limit plate; 19, return spring; 20, button; 21, protection box; 22, drive motor; 23, worm; 24, worm gear; 25, driven gear; 26, connecting rod; 27, toothed column; 28, lighting lamp group. DETAILED DESCRIPTION

[0032] 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 the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0033] With reference to Figure 2 and Figure 3 An embodiment provided by the utility model: an explosion-proof robot for coal bunker inspection, comprising a chassis 1, the chassis 1 is made of high-strength alloy, has high strength and good impact resistance, can stably run in the complex environment of the coal bunker, provides stable support and installation basis for the whole robot, the bottom of the chassis 1 is provided with a motion assembly, the motion assembly is used to drive the robot to move in the coal bunker, the top of the chassis 1 is provided with a detection assembly, the detection assembly is used to detect and monitor various parameters in the coal bunker;

[0034] The detection assembly comprises a detector 11, which can be of various types according to different inspection tasks, such as a gas detection type, a temperature detection type, a dust concentration detection type, etc. The bottom of the detector 11 is fixedly connected with a movable plate 10, which is used to connect the detector 11 and the fixed plate 9 and realize the fixation of the detector 11 in cooperation with the fixed plate 9 during the installation process. The bottom of the movable plate 10 is slidably connected with the fixed plate 9, which provides a stable installation plane for the detector 11. The fixed plate 9 and the movable plate 10 are slidably connected with locking columns 12 at the four corners. The locking columns 12 are made of stainless steel and are used to realize the locking and unlocking between the fixed plate 9 and the movable plate 10 through the internal limiting structure during the installation of the detector 11. The locking columns 12 are slidably connected with a plurality of locking beads 13 inside. The locking beads 13 are used to realize the tight locking between the fixed plate 9 and the movable plate 10 in cooperation with the slot in the fixed plate 9 under the action of the internal limiting structure of the locking column 12. The inner walls of the locking columns 12 are slidably connected with inner columns 14. The outer walls of the inner columns 14 are provided with ball grooves 15 at the bottom. The top of the locking columns 12 is fixedly connected with a limiting plate 18, which is provided with a hole position consistent with the cross section of the limiting block 17. The limiting plate 18 controls the movement of the inner column 14 in cooperation with the limiting block 17. The top of the inner column 14 is fixedly connected with a top column 16. The outer wall of the top column 16 is fixedly connected with a plurality of limiting blocks 17. The limiting blocks 17 are used to change the position of the limiting block 17 by rotating the top column 16, so as to control the displacement of the inner column 14. The top of the top column 16 is fixedly connected with a button 20. The outer wall of the inner column 14 is sleeved with a return spring 19. One end of the return spring 19 is slidably connected with the bottom of the top column 16, and the other end of the return spring 19 is fixedly connected with the inner wall of the locking column 12.

[0035] Specifically, when the staff need to replace different detector 11 modules when encountering different inspection tasks, first, the staff aligns the movable plate 10 at the bottom of the detector 11 with the fixed plate 9, ensures that the connecting hole positions of the two are on the same horizontal line, then the staff aligns the plurality of locking columns 12 with the corresponding hole positions on the fixed plate 9 and inserts them into the hole positions, at this time, the staff rotates the button 20 by hand, the button 20 drives the top column 16 to rotate, with the continuous rotation of the top column 16, the position of the outer wall limiting block 17 also gradually changes, when the limiting block 17 is displaced to be consistent with the hole position opened on the limiting plate 18, the staff immediately presses the button 20 downward, the button 20 drives the top column 16 to move downward, the displacement of the top column 16 makes the limiting block 17 displace to the bottom of the limiting plate 18, at the same time, the downward displacement of the top column 16 makes the reset spring 19 at the bottom of the top column 16 be forced to compress, at this time, the staff rotates the button 20 in the same direction or opposite direction as before, the rotation of the button 20 drives the top column 16 to rotate, so that the limiting block 17 leaves the hole position on the limiting plate 18, at this time, the reset spring 19 releases the elastic potential energy due to being compressed before, starts to release the restoring force upward, pushes the top column 16 to displace upward, but due to the limitation of the limiting plate 18 to the limiting block 17, the top column 16 cannot be completely reset, at the same time, the position of the inner column 14 is also limited, the displacement of the top column 16 also makes the ball groove 15 on the outer wall of the inner column 14 at the bottom displace downward, the ball groove 15 moves inside the locking column 12 from a higher position to a lower position along with the movement of the inner column 14, the displacement of the ball groove 15 promotes the locking ball 13 to slide out from the inner wall to the groove position inside the fixed plate 9, the locking ball 13 is in a relatively static state in the ball groove 15, when the ball groove 15 displaces downward, the locking ball 13 starts to slide along the groove wall of the ball groove 15, and finally partially inserts into the groove position inside the fixed plate 9, when the locking ball 13 partially inserts into the groove position inside the fixed plate 9, the fixed plate 9 and the movable plate 10 are tightly locked, and the detector 11 is fixed in this way, so that the effect of quickly deploying different types of detectors 11 is achieved, so that the robot can quickly replace the appropriate detection module according to different inspection tasks, improve the efficiency and accuracy of the coal bunker inspection, and ensure the safe operation of the coal bunker.

[0036] Referring to Figure 1The moving assembly comprises a plurality of driving wheels 2, which provide active driving force for the movement of the robot. The driving wheels 2 are driven to rotate by the internal motor, thereby driving the crawler belts 3 to move, and thus realizing the movement of the robot in the coal bunker. The driving wheels 2 are arranged in an array on the left and right sides of the outer wall of the chassis 1, and are rotatably connected to the side wall of the chassis 1. The outer wall of each driving wheel 2 is slidably connected to the crawler belt 3, which is made of rubber and metal reinforcing material. The function of the crawler belt 3 is to convert the rotation of the driving wheels 2 into the movement of the robot as a whole, while increasing the contact area with the ground and improving the passing ability of the robot in the coal bunker under complex ground conditions such as soft and rugged ground. The top of the chassis 1 is fixedly connected to a base 4 and a base 5. The base 4 provides a mounting base for components such as the fixed column 7, and has an internal motor that can drive the fixed column 7 to rotate, thereby facilitating the multi-angle rotation of the detector 11 and realizing detection at different angles. The top of the base 4 is rotatably connected to the fixed column 7. The function of the fixed column 7 is to connect the base 4 and the fixed platform 8. The top of the fixed column 7 is fixedly connected to the fixed platform 8. The side walls of the fixed plate 9 are fixedly connected to the outer walls on the left and right sides of the fixed platform 8. The top of the base 5 is fixedly connected to the signal transceiver 6 and the protection box 21. The protection box 21 is located on the side of the signal transceiver 6.

[0037] Specifically, when using the explosion-proof coal bunker inspection robot, first, the power source of the driving wheels 2 in the device is started, i.e. a large motor, which drives the driving wheels 2 to rotate. The rotation of the driving wheels 2 drives the crawler belts 3 to rotate. The crawler belts 3 are wrapped around the plurality of driving wheels 2 and continuously rotate under the driving of the driving wheels 2. With the rotation of the crawler belts 3, the entire robot starts to move. The crawler belts 3 contact the ground of the coal bunker, and their good grip enables the robot to move forward, backward, turn, etc. under various ground conditions in the coal bunker. In the moving process, the lighting lamp group 28 provides illumination, projecting light onto the environment around the robot, illuminating the inside of the coal bunker, and providing a clear field of view for the work of the detector 11 and the operation of the robot. At the same time, the detector 11 starts to work. After the detector 11 collects corresponding data, it transmits the data to the signal transceiver 6. After receiving the data transmitted by the detector 11, the signal transceiver 6 processes the data in a series of ways, and finally sends the data in real time to the work terminal through the wireless communication module. The working staff can view the status data in the coal bunker in real time on the work terminal, so as to timely understand the situation of the coal bunker and make corresponding decisions to ensure the safe operation of the coal bunker.

[0038] Referring to Figure 4The side wall of the protection box 21 is provided with a driving motor 22, which is the power source of the lighting adjusting structure and can convert electrical energy into mechanical energy to provide driving force for adjusting the lighting range. The bottom of the driving motor 22 is fixedly connected to the top of the base 5, and the output end of the driving motor 22 is fixedly connected with a worm 23, which functions to transmit the rotary motion of the driving motor 22 to a worm gear 24 and change the direction of motion at the same time, thereby driving the worm gear 24 to rotate. The one end of the worm 23 is rotatably connected to the inner wall of the protection box 21, and the protection box 21 is internally provided with a connecting rod 26, both ends of which are rotatably connected to the inner wall of the protection box 21, so as to stably support the worm gear 24 and a driven gear 25 inside the protection box 21 and transmit the motion therebetween. The outer wall of the connecting rod 26 is fixedly connected with the worm gear 24 and the driven gear 25, and the driven gear 25 is located at the middle segment of the connecting rod 26, and the worm gear 24 is located at the side of the driven gear 25. The worm gear 24 is engaged with the worm 23, and the protection box 21 is internally slidably connected with a toothed column 27, which has a tooth groove engaged with the driven gear 25 inside the side wall, and functions to displace in the vertical direction inside the protection box 21 under the driving of the driven gear 25. The toothed column 27 is engaged with the driven gear 25, and the top of the toothed column 27 is fixedly connected with a lighting lamp group 28.

[0039] Specifically, when a larger lighting range is needed, the staff operates the control terminal to start the driving motor 22 on the side wall of the protection box 21, and the output end of the driving motor 22 drives the worm 23 to rotate. The worm 23 rotates continuously in a clockwise direction, and the rotation of the worm 23 promotes the rotation of the worm gear 24. The worm gear 24 is fixedly connected with the connecting rod 26, and when the worm gear 24 rotates, the connecting rod 26 rotates accordingly. The driven gear 25 is fixedly connected with the connecting rod 26 and also rotates with the connecting rod 26. During the rotation of the driven gear 25, the teeth of the driven gear 25 are engaged with the teeth of the toothed column 27. The circular motion of the driven gear 25 is converted into the linear motion of the toothed column 27 through the engagement of the teeth. The toothed column 27 moves from a lower position to a higher position in the sliding channel inside the protection box 21, and the movement of the toothed column 27 drives the lighting lamp group 28 to move synchronously. As the lighting lamp group 28 rises, its light can illuminate a farther range, thereby achieving the effect of expanding the lighting area and providing more sufficient lighting for the robot to patrol a wider area in the coal bunker, ensuring that the staff can more clearly understand the internal conditions of the coal bunker through the detector 11 and ensuring the smooth progress of the coal bunker inspection work.

[0040] Working principle: in use, the driving wheel 2 drives the caterpillar 3 to rotate, thereby driving the whole device to patrol and inspect, the illuminating lamp group 28 provides illumination, the detector 11 checks the condition in the coal bunker, and the signal transceiver 6 sends data to the working terminal in real time, when different inspection tasks are encountered, the worker can replace different detector 11 modules, first, the movable plate 10 at the bottom of the detector 11 is aligned with the fixed plate 9, then the plurality of locking columns 12 are inserted into the corresponding hole positions, at this time, the worker manually rotates the button 20, the rotation of the button 20 drives the plurality of limiting blocks 17 on the outer wall of the bottom top column 16 to rotate, when the limiting blocks 17 are displaced to be consistent with the hole positions opened in the limiting plate 18, the worker immediately presses the button 20 downward, so that the limiting blocks 17 are displaced to the bottom of the limiting plate 18, at the same time, the return spring 19 is compressed under stress, at this time, the button 20 is rotated again, so that the limiting blocks 17 are away from the hole positions, at this time, the return spring 19 pushes the top column 16 to move upward, under the limitation of the limiting plate 18 to the limiting blocks 17, the top column 16 cannot be reset, the displacement of the top column 16 also causes the displacement of the ball groove 15 on the outer wall of the inner column 14 at the bottom of the top column 16 downward, the displacement of the ball groove 15 causes the locking ball 13 to slide out from the inner wall to the groove position in the fixed plate 9, so as to complete the locking between the fixed plate 9 and the movable plate 10, and fix the detector 11, so as to achieve the effect of quickly deploying different types of detectors 11, when a larger illumination range is required, at this time, the driving motor 22 on the side wall of the protection box 21 drives the worm 23 to rotate, the rotation of the worm 23 causes the worm wheel 24 to rotate, the rotation of the worm wheel 24 drives the driven gear 25 to rotate synchronously through the connecting rod 26, under the mutual engagement of the driven gear 25 and the tooth column 27, the rotation of the driven gear 25 drives the tooth column 27 to move upward, the displacement of the tooth column 27 drives the illuminating lamp group 28 to move upward, so as to complete the effect of expanding the illumination area.

[0041] Finally, it should be pointed out that: the above only describes preferred embodiments of the present application, and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An anti-explosion type coal bunker inspection robot comprising a chassis (1), characterized in that: The bottom of the chassis (1) is provided with a movement assembly, and the top of the chassis (1) is provided with a detection assembly; The detection assembly comprises a detector (11), the bottom of the detector (11) is fixedly connected with a movable plate (10), the bottom of the movable plate (10) is slidably connected with a fixed plate (9), the inside of the fixed plate (9) and the movable plate (10) is slidably connected with a locking column (12) at four corners, a plurality of locking beads (13) are slidably connected in the locking column (12), an inner column (14) is slidably connected on the inner wall of the locking column (12), a ball groove (15) is formed in the bottom of the outer wall of the inner column (14), a limiting plate (18) is fixedly connected on the top of the inner wall of the locking column (12), a top column (16) is fixedly connected on the top of the inner column (14), a plurality of limiting blocks (17) are fixedly connected on the outer wall of the top column (16), a button (20) is fixedly connected on the top of the top column (16), a reset spring (19) is sleeved on the outer wall of the inner column (14), one end of the reset spring (19) is slidably connected on the bottom of the top column (16), and the other end of the reset spring (19) is fixedly connected on the inner wall of the locking column (12).

2. The explosion-proof coal bunker inspection robot according to claim 1, characterized in that: The movement assembly comprises a plurality of drive wheels (2), the drive wheels (2) are arranged on the left and right sides of the outer wall of the chassis (1) in an array, the drive wheels (2) are rotatably connected to the side wall of the chassis (1), and the outer wall of the drive wheel (2) is slidably connected with a track (3).

3. The robot for inspecting coal bunker according to claim 1, characterized in that: The top of the chassis (1) is fixedly connected with a base one (4) and a base two (5), the top of the base one (4) is rotatably connected with a fixed column (7), the top of the fixed column (7) is fixedly connected with a fixed table (8), and the side wall of the fixed plate (9) is fixedly connected on the left and right sides of the outer wall of the fixed table (8).

4. The robot for inspecting coal bunker according to claim 3, characterized in that: The top of the base two (5) is fixedly connected with a signal transceiver (6) and a protection box (21), and the protection box (21) is located on the side of the signal transceiver (6).

5. The robot for inspecting coal bunker according to claim 4, characterized in that: The side wall of the protection box (21) is provided with a driving motor (22), the bottom of the driving motor (22) is fixedly connected on the top of the base two (5), the output end of the driving motor (22) is fixedly connected with a worm (23), and one end of the worm (23) is rotatably connected on the inner wall of the protection box (21).

6. The robot for inspecting coal bunker according to claim 5, characterized in that: The inside of the protection box (21) is provided with a connecting rod (26), both ends of the connecting rod (26) are rotatably connected on the inner wall of the protection box (21), and the outer wall of the connecting rod (26) is fixedly connected with a worm wheel (24) and a driven gear (25).

7. The explosion-proof coal bunker inspection robot according to claim 6, characterized in that: The driven gear (25) is located in the middle segment of the connecting rod (26), the worm wheel (24) is located on the side of the driven gear (25), and the worm wheel (24) is engaged with the worm (23).

8. The robot for inspecting coal bunker according to claim 7, characterized in that: The inside of the protection box (21) is slidably connected with a tooth column (27), the tooth column (27) is engaged with the driven gear (25), and the top of the tooth column (27) is fixedly connected with a lighting lamp group (28).

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