Rail hanging type inspection robot structure for air return roadway
By introducing a center of gravity adjustment and stabilization structure into the return airway inspection robot, the instability problems of winch start-up and shutdown and robot under strong winds were solved, realizing the stable operation of the inspection robot and the normal operation of the testing instruments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2026-03-06
AI Technical Summary
The existing return airway inspection robot is unstable when the winch rope is started and stopped, and is prone to tipping over or getting tangled. In strong winds, the equipment is also unstable, which affects the normal operation of the inspection instruments.
A rail-mounted inspection robot structure was designed, which includes a center of gravity adjustment structure and a stabilization structure. The center of gravity of the robot is adjusted by sliding rods and telescopic springs, and the stability is increased by utilizing the positional changes of the liquid in the fixed cavity.
The robot remains stable during winch rope start-stop and in strong winds, avoiding tipping and entanglement, and ensuring the normal operation of the testing instruments.
Smart Images
Figure CN223971710U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of coal mine inspection robot technology, specifically a rail-mounted inspection robot structure for return air roadways. Background Technology
[0002] In coal mines, robots are often used to replace manual labor. One such task is the inspection of return airways. These robots are powered by winches and have strong climbing ability. They can meet the harsh power requirements underground and can perform cross-sectional scanning and monitoring of the return airway walls, as well as environmental gas detection. They can also store environmental data without a network and actively transmit environmental data with a network, thus replacing inspection workers in performing inspection, data recording, statistical analysis, and other tasks.
[0003] However, existing inspection robots have certain drawbacks. When the winch rope drives the robot to move synchronously, a sudden start or stop of the winch rope can cause the inspection robot to become unstable due to inertia. This can easily cause the inspection robot to tip over or get tangled in the rope, making the detection instruments in the inspection robot malfunction. In addition, the high wind speed in the return airway can also make the overall equipment of the inspection robot unstable. Utility Model Content
[0004] The purpose of this invention is to provide a rail-mounted inspection robot structure for return air tunnels to solve the problems mentioned in the background art.
[0005] The objective of this utility model can be achieved through the following technical solutions:
[0006] A rail-mounted inspection robot structure for return air tunnels includes an inspection robot body and a suspension hook. The suspension hook is located at the top of the inspection robot body, and a reserved cavity is provided at the bottom of the inspection robot body. The reserved cavity is provided with a center of gravity adjustment structure, which includes a sliding groove. The sliding groove is located on both sides of the reserved cavity. A fixed block is slidably connected inside the sliding groove. Sliding rods are fixedly installed on both ends of the fixed block. Both sliding rods are slidably connected to the inside of the inspection robot body. A telescopic spring is sleeved on the outside of the sliding rod, and the two ends of the telescopic spring are located inside the reserved cavity of the inspection robot body.
[0007] As a preferred technical solution of this utility model, the end of the sliding rod is fixed to the fixed block, and a connecting hole is provided on the inner wall of the reserved cavity at the sliding rod, and the connecting hole is slidably connected to the sliding rod.
[0008] As a preferred technical solution of this utility model, sliding blocks are provided on both sides of the fixed block, and the sliding blocks are slidably connected to the inside of the sliding groove.
[0009] As a preferred technical solution of this utility model, the bottom end of the sliding groove is provided with a matching groove that is adapted to the position of the sliding block, and the relative positions of the four matching grooves are adapted to the relative positions of the sliding block.
[0010] As a preferred technical solution of this utility model, the fixing block is provided with a stabilizing structure inside. The stabilizing structure includes a fixing plate, which is disposed at the top of the fixing block. The fixing block has a fixing cavity inside, which stores liquid. Two rows of baffles are welded inside the fixing cavity, and each baffle has a row of reserved grooves inside.
[0011] As a preferred technical solution of this utility model, the reserved groove of the baffle is a through groove, and the adjacent spaces inside the fixed cavity are interconnected.
[0012] Compared with the prior art, the beneficial effects of this utility model are:
[0013] It is equipped with a center of gravity adjustment structure. The fixed block moves along the direction of the sliding rod, so that the center of gravity of the fixed block and the inspection robot body moves. This can change the center of gravity position of the inspection robot when the inspection robot stops or moves with the winch rope, so that the inspection robot will not sway much when moving in the return airway and will be less affected by the wind in the return airway.
[0014] Equipped with a stable structure, the weight of the fixed block can be increased by the liquid inside the fixed cavity, and the position of the liquid inside the fixed cavity can be changed to make the fixed block and the inspection robot body more stable when starting and stopping. Attached Figure Description
[0015] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.
[0016] Figure 1 This is a structural diagram of the main body of this utility model;
[0017] Figure 2 This is a schematic diagram of the bottom end of the inspection robot body of this utility model;
[0018] Figure 3 This is a schematic diagram of the center of gravity adjustment structure of this utility model;
[0019] Figure 4 This is a schematic diagram of the stable structure of this utility model.
[0020] In the diagram: 1. Inspection robot body; 2. Suspension hook; 3. Reserved cavity; 4. Center of gravity adjustment structure; 5. Stabilizing structure; 41. Sliding groove; 42. Fixed block; 43. Sliding block; 44. Telescopic spring; 45. Sliding rod; 51. Fixed plate; 52. Fixed cavity; 53. Baffle; 54. Reserved groove. Detailed Implementation
[0021] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0022] Example 1:
[0023] Please see Figures 1-4 As shown, a rail-mounted inspection robot structure for return air tunnels includes an inspection robot body 1 and a suspension hook 2. The suspension hook 2 is located at the top of the inspection robot body 1, connecting the inspection robot body 1 to a winch rope via the suspension hook 2. This allows the winch to move the inspection robot body 1 during operation, enabling it to move within the return air tunnel. The robot body 1 is equipped with sensors for temperature, humidity, dust, smoke, gas, and wind speed, enabling real-time monitoring of the environment within the return air tunnel. A reserved cavity 3 is located at the bottom of the inspection robot body 1, inside which is a center-of-gravity adjustment structure 4. The center-of-gravity adjustment structure 4 includes a sliding groove 41, which is located on both sides of the reserved cavity 3. A fixed block 42 is slidably connected inside the sliding groove 41, and the fixed block 42 contains liquid. When the inspection robot body 1 stops moving... The center of gravity of the inspection robot body 1 is adjusted by the fixed block 42, which is adapted to the width of the reserved cavity 3. The fixed block 42 moves along the sliding groove 41 of the reserved cavity 3. Sliding rods 45 are fixedly installed on both ends of the fixed block 42. The two sliding rods 45 are slidably connected to the inside of the inspection robot body 1. When the fixed block 42 slides along the sliding groove 41, the sliding rods 45 slide along the connecting hole of the inspection robot body 1. A telescopic spring 44 is sleeved on the outside of the sliding rod 45. The two ends of the telescopic spring 44 are located inside the reserved cavity 3 of the inspection robot body 1. When the inspection robot body 1 is driven by the winch rope, the inspection robot body 1 will swing when the winch rope drives the inspection robot body 1 to stop suddenly. The center of gravity can be changed by the position of the fixed block 42 in the inspection robot body 1, so as to avoid the inspection robot body 1 from tipping over.
[0024] In this embodiment, the end of the sliding rod 45 is fixed to the fixed block 42, and a connecting hole is provided on the inner wall of the reserved cavity 3 at the sliding rod 45. The connecting hole is slidably connected to the sliding rod 45. Under the inertia of the inspection robot body 1, the fixed block 42 will slide along the inside of the sliding groove 41, and the sliding rod 45 will slide along the inside of the connecting hole, thereby adjusting the overall center of gravity position of the inspection robot body 1.
[0025] In this embodiment, sliding blocks 43 are provided on both sides of the fixed block 42, and the sliding blocks 43 are slidably connected to the inside of the sliding groove 41. The sidewalls of the fixed block 42 slide along both sides of the sliding blocks 43, thereby changing the overall center of gravity of the inspection robot body 1 when the inspection robot body 1 stops.
[0026] In this embodiment, the bottom end of the sliding groove 41 is provided with a mating groove that matches the position of the sliding block 43, and the relative positions of the four mating grooves match the relative positions of the sliding block 43. The fixing block 42 can be removed from the mating groove, so that the fixing block 42 can be removed from the bottom of the inspection robot body 1 as needed, which facilitates the later maintenance of the inspection robot.
[0027] In this embodiment, a stabilizing structure 5 is provided inside the fixing block 42. The stabilizing structure 5 includes a fixing plate 51, which is located at the top of the fixing block 42. A fixing cavity 52 is formed inside the fixing block 42, and the fixing cavity 52 stores liquid. Two rows of baffles 53 are welded inside the fixing cavity 52, and each baffle 53 has a row of reserved slots 54. When the inspection robot body 1 suddenly stops moving with the winch rope, the fixing block 42 moves at the bottom of the inspection robot body 1, causing the center of gravity of the inspection robot body 1 to change. At this time, the inspection robot body 1 becomes unstable due to the change in the center of gravity. The liquid placed inside the fixing block 42 can be used to stabilize the robot body. The positioning change is used to stabilize the inspection robot. Specifically, when the fixed block 42 moves, its position changes due to inertia. At this time, the liquid inside the fixed cavity 52 also changes position, allowing the liquid inside the fixed cavity 52 to enter the adjacent cavity through the reserved groove 54 of the baffle 53. This makes the fixed block 42, which has suddenly stopped, more stable. This principle is similar to the liquid transportation in a tanker truck. The reserved groove 54 of the baffle 53 is a through groove, and the adjacent spaces inside the fixed cavity 52 are interconnected. The reserved groove 54 in the baffle 53 can ensure that the liquid is at the same horizontal level when it is stationary. When the liquid changes position, some liquid enters the adjacent cavity through the reserved groove 54.
[0028] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.
Claims
1. A track-hung inspection robot structure for return air ducts, comprising an inspection robot body (1) and a suspension hook (2), the suspension hook (2) being arranged at the top end of the inspection robot body (1); characterized in that, The bottom end of the inspection robot body (1) is provided with a reserved cavity (3), the inside of the reserved cavity (3) is provided with a gravity center adjusting structure (4), the gravity center adjusting structure (4) comprises a sliding groove (41), the sliding groove (41) is opened on the two side walls of the reserved cavity (3), the inside of the sliding groove (41) is slidably connected with a fixed block (42), the two end faces of the fixed block (42) are fixedly installed with a sliding rod (45), the two sliding rods (45) are slidably connected with the inside of the inspection robot body (1), the outside of the sliding rod (45) is sleeved with a telescopic spring (44), and the two ends of the telescopic spring (44) are located in the reserved cavity (3) of the inspection robot body (1).
2. The structure of the hanging rail type inspection robot for return air ducts according to claim 1, characterized in that, The end of the sliding rod (45) is fixed with the fixed block (42), the inner wall of the reserved cavity (3) and located at the sliding rod (45) is provided with a connecting hole, and the connecting hole is slidably connected with the sliding rod (45).
3. The structure of the hanging rail type inspection robot for return air ducts according to claim 2, characterized in that, The two sides of the fixed block (42) are provided with a sliding block (43), and the sliding block (43) is slidably connected with the inside of the sliding groove (41).
4. The structure of the hanging rail type inspection robot for return air ducts according to claim 3, characterized in that, The bottom end of the sliding groove (41) is provided with a matching groove matched with the position of the sliding block (43), and the relative position of the four matching grooves is matched with the relative position of the sliding block (43).
5. The structure of the hanging rail type inspection robot for return air ducts according to claim 4, characterized in that, The inside of the fixed block (42) is provided with a stabilizing structure (5), the stabilizing structure (5) comprises a fixed plate (51), the fixed plate (51) is arranged at the top end of the fixed block (42), the inside of the fixed block (42) is provided with a fixed cavity (52), the inside of the fixed cavity (52) is stored with a liquid, and two rows of baffles (53) are welded in the inside of the fixed cavity (52), a row of reserved grooves (54) is opened in the inside of each baffle (53).
6. The structure of the hanging rail type inspection robot for return air ducts according to claim 5, characterized in that, The reserved groove (54) of the baffle (53) is a through groove, and the adjacent spaces in the inside of the fixed cavity (52) are communicated with each other.