Vertical shaft defect inspection robot capable of keeping stability

Abstract

The utility model relates to the technical field of coal mine safety detection, in particular to a vertical shaft defect inspection robot capable of keeping stability, which comprises a rack, an extending plate, a rotary drum and a lower table, a steel wire rope hole is arranged on the upper end face of the rack, a central square groove is arranged at the center of the upper end of the rack, a central column is arranged in the central square groove, and first mounting shafts are mounted on the periphery of the central column. A lifting steel wire rope is arranged on the upper end face of the center column, a first side plate and a second side plate are arranged on the side face of the machine frame, a battery is installed at the upper end of the machine frame, the machine frame is installed on a positioning steel wire rope through a steel wire rope hole, a movable ground penetrating radar is arranged on the upper end face of an extending plate, and a sliding rod is arranged on one side of the extending plate. And the push rod pushes the rotating cylinder to drive the extending plate and the rotating disc to move together, so that the flexible block of the supporting rod is in contact with and supports the wall of the shaft, and the equipment is stably pushed out of the ground penetrating radar to be close to a to-be-detected position.

Description

TECHNICAL FIELD

[0001] The utility model relates to coal mine safety detection technical field, especially a vertical shaft defect inspection robot of keeping stability. BACKGROUND

[0002] In the practical application of coal mines, robot technology is applied to specific environments such as coal mine tunnels and vertical shafts, improving health monitoring technology and enabling safe, efficient, and intelligent mining of coal without human intervention. At the same time, it monitors and warns the state of coal mine infrastructure and equipment, providing safety for efficient production. This has become an important development direction for the coal industry.

[0003] Therefore, developing a deep well intelligent unmanned inspection system using advanced technology to regularly inspect vertical shafts without human intervention, ensuring safe access and enhancing risk prevention and control capabilities, provides accurate information for vertical shaft safety and is of great significance for the safety of mine production and digital transformation.

[0004] For super-deep vertical shafts, the inspection intelligent robot needs to operate stably, and due to the interference of obstacles such as ladders and pipeline channels in the air coupling mode of ground penetrating radar, the detection image is not clear, so a more advanced detection method and system are needed.

[0005] To ensure the accuracy of the inspection results, the intelligent inspection equipment needs to conduct close-range fine detection on the image blur area and conduct comprehensive inspection to provide accurate and effective inspection data. This requires the intelligent inspection equipment to have high-precision detection capabilities, enabling it to effectively collect and analyze images in complex environments to ensure the accuracy and reliability of the inspection data. SUMMARY

[0006] Therefore, the utility model is made in view of the above problems, and the purpose of the utility model is to use an electric push rod to make the push rod slide in a square groove, and then make the push rod move the rotating drum with the extension plate and the rotating disc, the rotating drum moves to rotate the rotating drum through the cooperation of the threaded strips and the threaded grooves, and then through the cooperation of the threaded grooves and the threaded strips, the rotating disc moves with the extension plate, the mobile ground penetrating radar, and the support rod, so that the rotating disc and the rotating drum are pushed out, the flexible block of the support rod contacts and supports the shaft wall, the equipment stably pushes out the ground penetrating radar close to the detection area, realizes close detection mode to solve the above problems, and the utility model realizes the above purposes through the following technical solutions:

[0007] The application discloses a vertical shaft defect inspection robot with stability, which comprises a frame, an extension plate, a rotating drum and a lower table, the upper end surface of the frame is provided with a steel wire rope hole, a central square groove is formed in the center of the upper end of the frame, a central column is arranged in the central square groove, mounting shafts one are arranged around the central column, a lifting steel wire rope is arranged on the upper end surface of the central column, side plates one and two are arranged on the side surface of the frame, a battery is arranged on the upper end of the frame, the frame is arranged on a positioning steel wire rope through the steel wire rope hole, a mobile ground penetrating radar is arranged on the upper end surface of the extension plate, a sliding rod is arranged on one side of the extension plate, a push rod is arranged on one side of the sliding rod, a mounting shaft two is arranged on one side of the push rod, a disc one is arranged on the other side of the push rod, a sliding shaft is arranged at the end of the disc one, a disc two is arranged at the end of the sliding shaft, a square sliding hole is formed at the end of the disc two, a rotating disc is arranged on the other side of the sliding rod, a threaded strip one is arranged on the outer circumferential side of the rotating disc, a square sliding hole is formed in the center of the end of the rotating disc, two groups of supporting rods are arranged on the end of the rotating disc, flexible blocks are arranged on the ends of the supporting rods, a mounting hole two is arranged on one end of a rod portion and is arranged on the mounting shaft two, an electric push portion is arranged on the other end of the rod portion and is arranged on the mounting shaft one through a mounting hole one, the rotating disc is arranged in the rotating drum, and the lower table is arranged on the lower end of the frame.

[0008] Preferably, the side plates one and two are provided with four groups, and the four groups of side plates one and the four groups of side plates two are distributed at intervals.

[0009] Preferably, a hole channel is formed in each group of side plates one, a fixed plate is arranged on the inner side of the hole channel, a square groove is formed in the fixed plate, a threaded groove one is arranged on the inner wall of the hole channel, and the rotating drum is arranged in the hole channel.

[0010] Preferably, each group of side plates two is provided with a storage groove, and a fixed ground penetrating radar is arranged in the storage groove.

[0011] Preferably, a threaded strip two is arranged on the outer circumferential side of the rotating drum, a horizontal plate is arranged on the end of the inner circumferential side of the rotating drum, a rotating hole is arranged in the center of the horizontal plate, and the inner circumferential side of the rotating drum is provided with a threaded groove two.

[0012] Preferably, a control module and a communication module are arranged in the lower table, the lower end of the lower table is provided with a three-dimensional laser scanner, a lower plate is arranged at the bottom of the lower table, and a plurality of groups of CCD cameras and light sources are arranged on the lower end of the lower plate.

[0013] The application has the following beneficial effects:

[0014] 1. The utility model discloses a flexible block is contacted and is supported to the well shaft cylinder wall through the flexible block of support pole, makes the equipment steady and pushes out the ground penetrating radar close to the place to be detected, realizes close detection mode, makes the complex defect in vertical well shaft can be comprehensively detected, and subtle defect can also be real -time detection, guarantee the stability of device work, improve the work efficiency and effect of detection. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The device first state schematic drawing provided by the utility model.

[0016] Figure 2 The device second state schematic drawing provided by the utility model.

[0017] Figure 3 The device explosion state schematic drawing provided by the utility model.

[0018] Figure 4 The internal assembly first visual angle schematic drawing provided by the utility model.

[0019] Figure 5 The internal assembly second visual angle schematic drawing provided by the utility model.

[0020] Figure 6 The internal assembly structure schematic drawing provided by the utility model.

[0021] Figure 7 The rack first visual angle schematic drawing provided by the utility model.

[0022] Figure 8 The rack second visual angle schematic drawing provided by the utility model.

[0023] Figure 9 The extension plate schematic drawing provided by the utility model.

[0024] Figure 10 The push rod schematic drawing provided by the utility model.

[0025] Figure 11 The turntable schematic drawing provided by the utility model.

[0026] Figure 12 The drum schematic drawing provided by the utility model.

[0027] BRIEF DESCRIPTION OF DRAWINGS

[0028] 10. Frame; 101. Wire rope hole; 11. Central square groove; 111. Central column; 112. Mounting shaft one; 113. Pulling wire rope; 12. Side plate one; 121. Channel; 122. Fixing plate; 123. Square groove; 124. Threaded groove one; 13. Side plate two; 131. Storage slot; 132. Fixed ground penetrating radar; 14. Battery; 15. Positioning wire rope; 20. Extending plate; 21. Mobile ground penetrating radar; 22. Sliding rod; 23. Push rod; 231. Mounting shaft two; 2 4. Disc 1; 241. Sliding shaft; 25. Disc 2; 251. Square sliding hole; 26. Turntable; 261. Threaded strip 1; 262. Square sliding hole; 27. Support rod; 271. Flexible block; 28. Electric pusher; 281. Mounting hole 1; 29. ​​Rod; 291. Mounting hole 2; 30. Rotary cylinder; 31. Threaded strip 2; 32. Horizontal plate; 33. Rotary hole; 34. Threaded groove 2; 40. Lower platform; 41. 3D laser scanner; 42. Lower plate; 43. CCD camera; 44. Light source. Detailed Implementation

[0029] Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will make it easy for those skilled in the art to implement these embodiments; however, the present invention can also be implemented in various different forms, and therefore the present invention is not limited to the embodiments described below; in addition, for the purpose of more clearly describing the present invention, parts not connected to the present invention will be omitted from the drawings.

[0030] like Figure 1 , Figure 2 , Figure 3 As shown, a stable shaft defect inspection robot includes: a frame 10, an extension plate 20, a rotating drum 30, and a lower platform 40.

[0031] Battery 14 is mounted on frame 10, and frame 10 is mounted on positioning wire rope 15 through wire rope hole 101;

[0032] like Figure 7 , Figure 8As shown, the upper end face of the frame 10 has a plurality of groups of steel wire rope holes 101, the center of the upper end face of the frame 10 has a central square slot 11, the central square slot 11 has a central column 111, the central column 111 has four groups of mounting shafts 112, the upper end face of the central column 111 has a lifting steel wire rope 113, the side of the frame 10 has four groups of side plates 12 and 13, the side plates 12 and 13 are arranged at intervals, each group of side plates 12 has a hole 121, the hole 121 has a fixing plate 122 near the central square slot 11, the fixing plate 122 has a square slot 123, the inner wall of the hole 121 has a threaded groove 124, each group of side plates 13 has a storage slot 131, the storage slot 131 has a fixed ground penetrating radar 132;

[0033] As shown in the figure, Figure 9 the upper end face of the extension plate 20 has a movable ground penetrating radar 21, the extension plate 20 has a sliding rod 22;

[0034] As shown in the figure, Figure 10 one side of the sliding rod 22 is provided with a push rod 23, the rear end of the push rod 23 has a mounting shaft 231, the front end of the push rod 23 has a disc 24, the end of the disc 24 has a sliding shaft 241, the end of the sliding shaft 241 has a disc 25, and the end of the disc 25 has a square sliding hole 251;

[0035] As shown in the figure, Figure 11 the other side of the sliding rod 22 is provided with a turntable 26, the outer circumferential side of the turntable 26 has a threaded strip 261, the center of the end of the turntable 26 has a square sliding hole 262, the end of the turntable 26 has two groups of support rods 27, and the end of the support rod 27 has a flexible block 271;

[0036] As shown in the figure, Figure 12 the outer circumferential side of the rotating drum 30 has a threaded strip 31, the end of the inner circumferential side of the rotating drum 30 has a horizontal plate 32, the center of the horizontal plate 32 has a rotating hole 33, and the inner circumferential side of the rotating drum 30 has a threaded groove 34;

[0037] As shown in the figure, Figure 4 , Figure 5 , Figure 6 the push rod 23 is installed in the rotating hole 33 of the horizontal plate 32 through the sliding shaft 241, the disc 24 and the disc 25 are located on both sides of the horizontal plate 32, the disc 24 and the disc 25 clamp the horizontal plate 32, the extension plate 20 is installed in the square sliding hole 251 through the sliding rod 22 and can slide, the turntable 26 is installed on the sliding rod 22 through the square sliding hole 262, the turntable 26 is fixedly installed at the rear end of the extension plate 20, the turntable 26 is installed in the rotating drum 30, the threaded strip 261 is installed in the threaded groove 34, the rod part 29 is installed in the push rod 23 at the mounting shaft 231 through the mounting hole 291 in the electric push part 28.

[0038] As Figure 1 , Figure 2 , Figure 3 shown, the rotating drum 30 is installed in the hole 121 of the side plate one 12, the threaded strip two 31 is installed in the threaded groove one 124, the electric push part 28 is installed at the installation shaft one 112 of the center column 111 through the installation hole one 281;

[0039] As Figure 1 , Figure 3 shown, the lower table 40 is installed at the lower end of the frame 10, the control module and the communication module are installed inside the lower table 40, the control module controls the movement of the whole device, the communication module transmits data to the receiving end on the ground, the lower end of the lower table 40 is provided with a three-dimensional laser scanner 41, and the lower end of the lower table 40 is provided with a lower plate 42, and a plurality of groups of CCD cameras 43 and light sources 44 are installed at the bottom of the lower plate 42.

[0040] The basic principle of the utility model:

[0041] As Figure 1 shown, when the device receives a detection instruction, the steel wire rope 113 is unwound, and then the frame 10 moves downward along the positioning steel wire rope 15 through the steel wire rope hole 101 to perform detection, at this time, the extension plate 20 and the rotating drum 30 are retracted in the hole 121 of the frame 10, the extension plate 20 is retracted in the rotating drum 30, the fixed ground penetrating radar 132 and the movable ground penetrating radar 21 cooperate to perform circular survey line detection, and the three-dimensional laser scanner 41, the CCD camera 43 and the light source 44 work synchronously to perform three-dimensional scanning and image acquisition program detection.

[0042] When it is detected that there is a defect that has not been found, the electric push part 28 drives the rod part 29 to push out, and then the installation hole two 291 of the rod part 29 cooperates with the installation shaft two 231 of the push rod 23 to make the push rod 23 slide in the square groove 123, and then the push rod 23 pushes the rotating drum 30 to move together with the extension plate 20 and the rotating disc 26, the rotating drum 30 moves to rotate through the cooperation of the threaded groove two 34 of the rotating drum 30 and the threaded strip one 261 of the rotating disc 26, and then the rotating disc 26 moves together with the extension plate 20, the movable ground penetrating radar 21 and the supporting rod 27 through the cooperation of the threaded strip two 31 of the rotating drum 30 and the threaded groove one 124, the sliding rod 22 of the extension plate 20 slides in the square sliding hole 251 of the push rod 23, the rotating disc 26 and the rotating drum 30 are pushed out together, the flexible block 271 of the supporting rod 27 contacts and supports the shaft wall of the well, and the extension plate 20 moves close to the movable ground penetrating radar 21 to achieve the working state as Figure 2 shown.

[0043] When the close detection is finished, the device returns to the state as Figure 1The shown state, then pull up the wire rope 113 continues to pay-off, make the rack 10 downward detection;

[0044] When reaching the bottom of the wellbore, start the reverse program, pull up the wire rope 113 to start winding, make the rack 10 upward return, when reaching the top of the wellbore, the movement stops.

Claims

1. A vertical shaft defect inspection robot for maintaining stability, comprising: The utility model provides a kind of machine frame (10), extension plate (20), drum (30), lower platform (40);Its characterized in that: the upper end surface of machine frame (10) is equipped with steel wire rope hole (101), the upper end center of machine frame (10) is equipped with center square slot (11), center square slot (11) is equipped with center column (111), center column (111) is equipped with mounting shaft one (112) around, the upper end surface of center column (111) is equipped with pull-up steel wire rope (113), the side of machine frame (10) is equipped with side plate one (12), side plate two (13), battery (14) is installed in the upper end of machine frame (10), machine frame (10) is installed on positioning steel wire rope (15) by steel wire rope hole (101), the upper end surface of extension plate (20) is equipped with mobile ground penetrating radar (21), one side of extension plate (20) is equipped with sliding rod (22), one side of sliding rod (22) is equipped with push rod (23), one side of push rod (23) is equipped with mounting shaft two (231), the other side of push rod (23) is equipped with disc one (24), the end of disc one (24) is equipped with sliding shaft (241), the end of sliding shaft (241) is equipped with disc two (25), disc two (25) end is equipped with square slide hole (251), the other side of sliding rod (22) is equipped with rotating disc (26), the outer circumferential side of rotating disc (26) is equipped with thread strip one (261), the center of rotating disc (26) end is equipped with square slide hole (262), the end of rotating disc (26) is equipped with two groups of support rod (27), the end of support rod (27) is equipped with flexible block (271), the one end mounting hole two (291) of rod portion (29) is installed on mounting shaft two (231), the other end of rod portion (29) is equipped with electric push portion (28), the one end of electric push portion (28) is installed on mounting shaft one (112) by mounting hole one (281), rotating disc (26) is installed in drum (30), lower platform (40) is installed in the lower end of machine frame (10).

2. The vertical shaft defect inspection robot of claim 1, wherein: The side plate one (12) and the side plate two (13) are each provided with four groups, and the four groups of side plate one (12) and the four groups of side plate two (13) are distributed at intervals.

3. The stability-maintaining mine shaft defect inspection robot according to claim 2, characterized in that: Each group of side plate one (12) is provided with a hole (121), and the inner side of the hole (121) is provided with a fixed plate (122). The fixed plate (122) is provided with a square groove (123). The inner wall of the hole (121) is provided with a thread groove one (124). The drum (30) is installed in the hole (121).

4. The stability-maintaining mine shaft defect inspection robot according to claim 2, characterized in that: Each group of side plate two (13) is provided with a storage groove (131), and the storage groove (131) is provided with a fixed ground penetrating radar (132).

5. The stability-maintaining mine shaft defect inspection robot according to claim 3, characterized in that: The outer circumferential side of the drum (30) is provided with a thread strip two (31). The inner circumferential side of the drum (30) is provided with a horizontal plate (32). The center of the horizontal plate (32) is provided with a rotating hole (33). The inner circumferential side of the drum (30) is provided with a thread groove two (34).

6. The stability-maintaining mine shaft defect inspection robot according to claim 1, characterized in that: The lower platform (40) is internally provided with a control module and a communication module. The lower end of the lower platform (40) is provided with a three-dimensional laser scanner (41). The bottom of the lower platform (40) is provided with a lower plate (42). The lower end of the lower plate (42) is provided with a plurality of CCD cameras (43) and light sources (44).

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