Inspection cleaning robot

Abstract

The utility model discloses an inspection cleaning robot which is applied to two supports which are arranged in a coal conveying trestle in a spaced mode in the arrangement direction of a gallery, the inspection cleaning robot comprises a moving part, a robot body and a dust collection assembly, and the moving part is used for being movably arranged between the two supports of the coal conveying trestle. The driving component is driven to reciprocate along the arrangement direction of the corridor and is electrically connected with the mains supply; the robot body is arranged on the moving part, and a battery is arranged in the robot body; according to the robot, the capacity of the battery can be reduced on the basis that the power utilization requirement of the robot body is met, the weight of the battery is reduced, the dead weight of the robot body is reduced, and then the difficulty that the robot body moves along with the moving part is reduced; a dry dust suction cleaning mode can be adopted to replace a traditional water washing cleaning mode, the trestle environment is improved, the safety of passing personnel is ensured, and meanwhile water resources are saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection equipment, and specifically relates to a patrol and inspection cleaning robot. BACKGROUND

[0002] The coal conveying trestle is an indispensable structure in the coal mine ground production system. The coal mined underground is transported out of the mine by the lifting system and then transported to the processing hub for processing through the coal conveying trestle.

[0003] The coal conveying trestle produces dust or scattering of materials during the conveying process, which causes dust accumulation on the ground of the corridor of the coal conveying trestle, poor working environment, and high accumulation of combustible dust in the closed environment, which has the risk of spontaneous combustion. The traditional cleaning method is to hang the rail-mounted robot on the track. The driving motor mechanism of the rail-mounted robot provides walking power for the rail-mounted robot, so that the rail-mounted robot walks along the track, and the water spraying assembly of the rail-mounted robot periodically flushes and removes the dust on the ground of the corridor. However, the ground is slippery after flushing, which brings safety hazards to the operating personnel. Moreover, the driving mechanism and other operating parts of the rail-mounted robot are powered by the built-in energy storage battery of the rail-mounted robot, which requires a large capacity of the energy storage battery (i.e. a large weight of the energy storage battery), making the rail-mounted robot heavy, which makes it difficult for the rail-mounted robot to walk along the track. SUMMARY

[0004] Therefore, the utility model provides a kind of patrol and inspection cleaning robot to solve the problem that the existing rail-mounted robot is heavy and difficult to walk, and water cleaning is easy to bring safety hazards to operating personnel.

[0005] The utility model provides a kind of patrol and inspection cleaning robot, and is applied to the arrangement direction interval of two supports along the corridor in coal conveying trestle, and the patrol and inspection cleaning robot includes:

[0006] The moving part is movably arranged between the two supports of the coal conveying trestle and is driven to reciprocate along the arrangement direction of the corridor by the driving assembly. The driving assembly is electrically connected to the commercial power supply.

[0007] The robot main body is arranged in the moving part, and the battery is arranged in the robot main body.

[0008] The dust collection assembly is arranged in the robot main body and is electrically connected to the battery.

[0009] According to the utility model, the patrol and inspection cleaning robot has at least the following advantages:

[0010] A movable component is installed between two supports spaced apart along the corridor of the coal conveyor bridge. The robot body moves back and forth along with the movable component, driven by a drive component connected to mains power. During the cleaning process, the robot body is powered by mains power, eliminating the need for a built-in battery. The battery powers the dust extraction component to dry-suction the dust that falls on the corridor floor. This reduces the battery capacity and weight while meeting the robot body's power requirements, thus reducing the robot body's weight and making it easier to move along with the movable component. Furthermore, dry suction cleaning replaces traditional water washing, improving the bridge environment, ensuring the safety of personnel, and conserving water resources.

[0011] In one optional embodiment, the drive assembly includes a main sprocket, a driven sprocket, and an AC motor for driving the main sprocket to rotate forward and backward. The main sprocket and the driven sprocket are respectively mounted on two supports of the coal conveying trestle. The moving part is configured as a transmission chain, and the main sprocket and the driven sprocket are connected by the transmission chain. The robot body is connected to the portion of the transmission chain located between the main sprocket and the driven sprocket.

[0012] In one alternative implementation, the robot body is disposed at the portion of the drive chain located relatively below it.

[0013] In one optional embodiment, the root circle diameter of the master sprocket is larger than that of the slave sprocket, and the bottom ends of the master sprocket and the slave sprocket are set at the same height.

[0014] In one alternative embodiment, the transmission chain is provided with two connecting lugs, which are spaced apart along the arrangement direction of the corridor, and the connecting lugs are bolted to the robot body.

[0015] In one alternative embodiment, the bottom end of the connecting ear extends beyond the drive chain and folds outward to form a horizontal portion, which is connected to the top of the robot body by the bolt.

[0016] In one alternative embodiment, the vacuuming assembly includes a fan and a suction hood, which are connected by a retractable duct.

[0017] In one alternative embodiment, two suction hoods are provided, and the two suction hoods are spaced apart along the arrangement direction of the corridor.

[0018] In one optional implementation, an obstacle avoidance system is provided at each end of the robot body along the corridor's arrangement direction. The obstacle avoidance system is used to detect obstacles within a set range without contact. The obstacle avoidance system is connected to a controller, and both the drive component and the dust collection component are connected to the controller.

[0019] In one alternative implementation, a camera is mounted on the robot body, the camera is electrically connected to the battery, and the camera is connected to the controller. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the dust collection component in an embodiment of the present utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100-Robot body, 200-Dust collection component, 210-Fan, 220-Suction hood, 230-Retractable air duct, 310-Main sprocket, 320-Slave sprocket, 330-AC motor, 340-Drive chain, 341-Connecting ear. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, 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.

[0026] In the description of this embodiment, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment 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. Therefore, they should not be construed as limitations on this embodiment. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this embodiment, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 embodiment according to the specific circumstances.

[0028] The following is combined with Figure 1 and Figure 2 The following describes embodiments of the present invention.

[0029] An inspection and cleaning robot according to an embodiment of the present invention is applied to a coal conveying trestle. The coal conveying trestle has two supports spaced apart along the corridor. The inspection and cleaning robot includes a moving component, a robot body 100, and a dust collection component 200. The moving component is movably disposed between the two supports of the coal conveying trestle and is driven by a drive component to reciprocate along the corridor. The drive component is electrically connected to mains power. The robot body 100 is disposed on the moving component and has a battery disposed inside. The dust collection component 200 is disposed on the robot body 100 and is electrically connected to the battery.

[0030] In this embodiment, the inspection and cleaning robot has a movable component that moves between two supports spaced apart along the corridor of the coal conveyor bridge. The robot body 100 moves back and forth along with the movable component, driven by a drive component connected to mains power. During the cleaning process, the robot body 100 is powered by mains power, eliminating the need for a built-in battery. The battery powers the dust extraction component 200 to dry-suction the dust that falls on the corridor floor. This reduces the battery capacity and weight while meeting the robot body 100's power requirements, thus reducing the robot body 100's weight and making it easier to move along with the movable component. Furthermore, dry dust extraction replaces traditional water washing, improving the bridge environment, ensuring the safety of personnel, and conserving water resources.

[0031] It should be noted that the "mains electricity" mentioned in the article refers to the electricity provided by the public power grid.

[0032] It should be noted that this embodiment uses a drive assembly fixed to the coal conveying trestle to drive the robot body 100 to move back and forth along the corridor along with the moving parts, replacing the drive motor mechanism of the traditional rail-mounted robot. This significantly reduces the power consumption of the robot body 100, reducing the battery capacity from 20Ah to 7.5Ah and lowering the battery weight, thereby reducing the weight of the robot body 100. It also reduces the difficulty of the robot body 100's movement and the number of charging stations required, saving space. Specifically, the drive assembly can be fixed to either the support of the coal conveying trestle or the horizontal intermediate frame of the coal conveying trestle.

[0033] In practical applications, the robot body 100 has a built-in intelligent battery management system that supports overcharge protection, over-discharge protection, overcurrent protection, short circuit protection, and over-temperature protection, and communicates with the main control unit via RS485.

[0034] In practical applications, the robot body 100 is equipped with a 5A wireless charging receiver module. The 5A wireless charging receiver module is connected to the battery through the intelligent battery management system. The 5A wireless charging transmitter module is installed next to the support of the coal conveying trestle (i.e., next to the moving path of the robot body 100). When the robot body 100 is controlled to stop at the installation position of the 5A wireless charging transmitter module, it can start wireless charging of the battery, and the charging time is shortened from about 5 hours to 2 hours, realizing fast charging.

[0035] It is understandable that the corridors mentioned in the text are arranged in any direction within the horizontal plane; for ease of description, this will be used as... Figure 1 The first direction in the description is used to explain the layout direction of the corridor, but it should not be interpreted as a specific limitation on the layout direction of the corridor.

[0036] like Figure 1 As shown, in some embodiments, the drive assembly includes a main sprocket 310, a driven sprocket 320, and an AC motor 330 for driving the main sprocket 310 to rotate forward and backward. The main sprocket 310 and the driven sprocket 320 are respectively disposed on two supports of the coal conveying trestle, or are spaced apart on the horizontal intermediate frame of the coal conveying trestle along the arrangement direction of the corridor. The moving part is configured as a transmission chain 340, and the main sprocket 310 and the driven sprocket 320 are connected by the transmission chain 340. The robot body 100 is connected to the portion of the transmission chain 340 located between the main sprocket 310 and the driven sprocket 320. An AC motor 330, powered by mains electricity, drives the main sprocket 310 to alternately rotate clockwise and counterclockwise. This, in turn, drives the transmission chain 340 connecting the main sprocket 310 and the driven sprocket 320 to alternately rotate clockwise and counterclockwise by a set distance. This propels the robot body 100 forward or backward along the corridor's layout. A dust extraction assembly 200 performs dry suction cleaning of dust at different locations on the corridor floor. The structure is simple, stable, compact, and space-saving. It should be noted that the horizontal intermediate frame of the coal conveying trestle connects the two supports of the trestle.

[0037] As another alternative embodiment of the above technical solution, the drive assembly includes a main pulley, a driven pulley, and a motor for driving the main pulley to rotate forward and backward. The main pulley and the driven pulley are respectively set on two supports of the coal conveying trestle. The moving part is a transmission belt, and the main pulley and the driven pulley are connected by the transmission belt. The robot body 100 is connected to the part of the transmission belt located between the main pulley and the driven pulley.

[0038] It should be noted that in this embodiment, the main sprocket 310, the driven sprocket 320, the transmission chain 340, and the AC motor 330 constitute a chain drive device. In this embodiment, a chain drive device fixed to the coal conveying trestle is used to replace the drive motor mechanism of the traditional rail-mounted inspection and drying robot to drive the robot body 100. This eliminates the traditional rail-mounted inspection and drying robot's walking track and reduces the difficulty of the robot moving within the trestle. The main sprocket 310, the driven sprocket 320, and the AC motor 330 are fixed using existing components of the coal conveying trestle, saving materials and space, thereby reducing the width of the trestle and lowering the cost.

[0039] Specifically, the transmission chain 340 is composed of multiple links connected in sequence. Each link includes an inner plate, an outer plate, a roller, a sleeve, and a pin. The two ends of the inner plate are semi-circular, and a roller is sandwiched between the two inner plates. The roller is connected by a sleeve, and the two ends of the sleeve are fixed in the sleeve holes of the inner plate. The outer plate is sandwiched at one end of the inner plate and is connected to the inner plate by a pin passing through the inner hole of the sleeve. The two outer plates are connected by an upper U-shaped connecting piece. The upper plane of the U-shaped connecting piece is obliquely placed in the direction of chain transmission. Compared with belt transmission, the transmission chain 340 of this embodiment can adjust the number of links to change the length of the transmission chain 340 according to the usage requirements, so as to achieve different distances and transmission requirements.

[0040] like Figure 1 As shown, specifically, the robot body 100 is disposed on the lower portion of the transmission chain 340; compared to disposing the robot body 100 on the upper portion of the transmission chain 340, this embodiment can effectively avoid damage caused by the robot body 100 coming into contact with and rubbing against the lower portion of the transmission chain 340 during the process of moving together with the upper portion of the transmission chain 340.

[0041] It is understandable that, because the drive chain 340 rotates between the main sprocket 310 and the driven sprocket 320, when the relatively upper portion of the drive chain 340 moves to the left along the corridor's arrangement direction, the relatively lower portion of the drive chain 340 moves to the right along the corridor's arrangement direction. The left and right movements mentioned here are based on... Figure 1 The perspective shown is described.

[0042] Specifically, the root circle diameter of the main sprocket 310 is larger than that of the driven sprocket 320, so that the main sprocket 310 can drive the driven sprocket 320 to rotate once without rotating once, resulting in higher transmission efficiency. More specifically, the bottom ends of the main sprocket 310 and the driven sprocket 320 are set at the same height, so that the lower portion of the transmission chain 340 is parallel to the horizontal plane, ensuring that the distance between the suction port of the dust collection assembly 200 and various positions on the corridor floor is basically the same, thus ensuring that the cleaning effect on various positions on the corridor floor is basically consistent.

[0043] like Figure 1 As shown, specifically, the transmission chain 340 is provided with two connecting ears 341, which are spaced apart along the arrangement direction of the corridor. The connecting ears 341 are bolted to the robot body 100. The robot body 100 and the transmission chain 340 are assembled into one unit by means of a detachable connection, which facilitates disassembly and maintenance.

[0044] Specifically, the bottom end of the connecting ear 341 extends beyond the transmission chain 340 and folds outward to form a horizontal portion, which is connected to the top end of the robot body 100 by bolts. Because the horizontal portion extends beyond the lower end of the transmission chain 340, the projection of the robot body 100 connected to the lower end of the horizontal portion along the length of the horizontal portion will not overlap with the transmission chain 340. This allows the robot body 100 to be partially arranged in the space directly below the transmission chain 340, meaning that the projection of the transmission chain 340 along the vertical direction at least partially overlaps with the robot body 100, saving space, reducing the width of the bridge, and lowering the cost.

[0045] It is understandable that the length direction of the horizontal section is on the same horizontal plane as the first direction and is perpendicular to each other. The "outward" mentioned in the text refers to the direction away from the coal conveying trestle along the length direction of the horizontal section.

[0046] like Figure 2 As shown, in some embodiments, the dust collection assembly 200 includes a fan 210 and a suction hood 220, which are connected by a retractable duct 230. During the cleaning process, as the assembly moves back and forth along the corridor's layout direction, activating the fan 210 creates negative pressure at the suction port of the suction hood 220, allowing for dry suction cleaning of dust falling onto the corridor floor. This method not only removes dust but also saves water and avoids safety hazards caused by slippery corridor floors.

[0047] Specifically, the suction port of the suction hood 220 is designed in the shape of a trumpet.

[0048] To further improve cleaning efficiency and effectiveness, such as Figure 1 As shown, specifically, there are two suction hoods 220, which are spaced apart along the corridor's layout direction.

[0049] In some embodiments, the robot body 100 is provided with an obstacle avoidance system at each end along the corridor's arrangement direction. The obstacle avoidance system is used to detect obstacles within a set range without contact. The obstacle avoidance system is connected to a controller, and both the drive component and the vacuuming component 200 are connected to the controller. When the robot body 100 moves back and forth along the corridor's arrangement direction with the moving parts, the obstacle avoidance system automatically detects the surrounding environment along the inspection path. If an obstacle is detected within a set range (e.g., 1 cm) and cannot be safely passed through, a trigger signal is transmitted to the controller. The controller then controls the drive component and the vacuuming component 200 to stop working based on the trigger signal.

[0050] Specifically, the controller is also connected to an alarm, which is triggered by a signal to alert staff.

[0051] In specific applications, the obstacle avoidance system adopts existing obstacle avoidance systems, such as structures composed of ultrasonic radar or RFID, encoders and proximity switches, which will not be described in detail here.

[0052] Specifically, the robot body 100 is provided with an anti-collision system at each end along the corridor layout direction, and the anti-collision system is connected to the controller. When the obstacle avoidance system is damaged and cannot be used normally, and the robot body 100 collides with an obstacle, the anti-collision system will first contact the obstacle to buffer it and reduce the damage to the robot body 100. At the same time, the anti-collision system transmits a trigger signal to the controller to control the drive component and the dust collection component 200 to stop working.

[0053] Specifically, the robot body 100 is equipped with a gimbal, and the gimbal is equipped with a camera. Preferably, the camera is an infrared dual-spectrum camera. The camera is powered by a battery. When the robot body 100 moves back and forth along the corridor along with the moving parts, the camera captures and monitors the on-site equipment, surrounding personnel and the environment in real time, and transmits the video stream information to the controller so that the back-end personnel can monitor it.

[0054] Specifically, the robot body 100 is equipped with temperature and humidity sensors and dust concentration detection sensors to detect the on-site environmental conditions.

[0055] Specifically, the robot body 100 is equipped with indicator lights, which are used to indicate the current status of the inspection and cleaning robot in this embodiment by using different colors or flashing frequencies.

[0056] More specifically, the robot body 100 is equipped with a voice broadcaster, which is connected to the controller. When the inspection and cleaning robot of this embodiment performs a task or malfunctions, the voice broadcaster plays the current status in a loop to remind the staff.

[0057] In practical applications, the robot body 100 is equipped with a voice docking module. The voice docking module is connected to a speaker and transmits through the on-site wireless AP network, enabling full-duplex voice intercom. This allows staff in the control room and on-site staff to maintain smooth communication through the voice intercom function, with clear and loud sound.

[0058] In practical applications, the robot body 100 is equipped with wireless communication roaming equipment, which transmits inspection data back to the control room server (i.e., controller) in real time through various wireless base stations along the route; the wireless base station adopts multi-link transmission technology, which supports high-speed seamless roaming between different APs and achieves seamless switching with "0" packet loss.

[0059] Specifically, the controller has manual, semi-automatic, and automatic modes. In manual mode, the operator remotely connects or disconnects the power circuits of the drive components and vacuuming components 200 via the robot control interface on the control room station to start and stop the inspection and cleaning operation. In semi-automatic mode, the operator sets the operation time on the robot control interface on the control room station to perform the inspection and cleaning operation at regular intervals. Specifically, at each preset operation time, the controller issues an operation command and sends a start signal via wireless communication, automatically connecting the power circuits of the drive components and vacuuming components 200 to start the inspection and cleaning operation. The robot body 100, along with the transmission chain 340, travels back and forth twice along the corridor layout direction and then automatically returns to the starting position (5A wireless charging). The robot automatically disconnects the power circuits of the drive components and dust collection components 200, etc., and stops the inspection and cleaning operation when the controller is in automatic mode. When the controller is in automatic mode, the operator reads the working status of the coal conveying control system through OPC communication on the robot control interface of the control room operating station, and sends it to the controller in real time through wireless communication. Specifically, when the robot receives the "run" signal of a certain section of the coal conveying trestle in the coal conveying control system, it automatically connects the power circuits of the drive components and dust collection components 200, etc., and starts the inspection and cleaning operation. After the robot body 100 travels back and forth twice along the corridor layout direction with the transmission chain 340, it automatically returns to the starting position (5A wireless charging transmitter module installation position) and automatically disconnects the power circuits of the drive components and dust collection components 200, etc., and stops the inspection and cleaning operation.

[0060] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. An inspection and cleaning robot, applied to two supports spaced apart along the corridor direction in a coal conveyor bridge, characterized in that, The inspection and cleaning robot includes: A movable component is movably positioned between two supports of the coal conveying trestle and is driven by a drive assembly to reciprocate along the direction of the corridor. The drive assembly is electrically connected to the mains power. A robot body (100) is disposed on the movable component, and a battery is disposed inside the robot body (100); A vacuuming assembly (200) is disposed on the robot body (100) and electrically connected to the battery.

2. The inspection and cleaning robot according to claim 1, characterized in that, The drive assembly includes a main sprocket (310), a driven sprocket (320), and an AC motor (330) for driving the main sprocket (310) to rotate forward and backward. The main sprocket (310) and the driven sprocket (320) are respectively mounted on two supports of the coal conveying trestle. The moving part is configured as a transmission chain (340), and the main sprocket (310) and the driven sprocket (320) are connected by the transmission chain (340). The robot body (100) is connected to the portion of the transmission chain (340) located between the main sprocket (310) and the driven sprocket (320).

3. The inspection and cleaning robot according to claim 2, characterized in that, The robot body (100) is located on the lower portion of the transmission chain (340).

4. The inspection and cleaning robot according to claim 3, characterized in that, The root circle diameter of the main sprocket (310) is larger than that of the driven sprocket (320), and the bottom end of the main sprocket (310) and the bottom end of the driven sprocket (320) are set at the same height.

5. A patrol and cleaning robot according to claim 3 or 4, characterized in that, The transmission chain (340) is provided with two connecting ears (341), which are spaced apart along the arrangement direction of the corridor. The connecting ears (341) are connected to the robot body (100) by bolts.

6. The inspection and cleaning robot according to claim 5, characterized in that, The bottom end of the connecting ear (341) extends out of the transmission chain (340) and folds outward to form a horizontal part, which is connected to the top of the robot body (100) by the bolt.

7. A patrol and cleaning robot according to any one of claims 1 to 4, characterized in that, The dust collection assembly (200) includes a fan (210) and a suction hood (220), which are connected by a retractable duct (230).

8. The inspection and cleaning robot according to claim 7, characterized in that, There are two suction hoods (220), which are spaced apart along the corridor.

9. A patrol and cleaning robot according to any one of claims 1 to 4, characterized in that, The robot body (100) is equipped with an obstacle avoidance system at each end along the corridor layout direction. The obstacle avoidance system is used to detect obstacles within a set range without contact. The obstacle avoidance system is connected to the controller, and the drive component and the dust collection component (200) are both connected to the controller.

10. A cleaning robot according to claim 9, characterized in that, A camera is mounted on the robot body (100), the camera is electrically connected to the battery, and the camera is connected to the controller.

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