Coal mine inspection robot

Abstract

The utility model relates to a coal mine inspection robot which comprises a robot body. A camera is arranged on the side wall of the front end of the robot body, a rotating support is installed on the rear side of the camera, and an arc-shaped rack is fixedly arranged at the free end of the rotating support. A driving motor is installed in the robot body, a circular gear is fixedly arranged at the driving end of the driving motor, the circular gear is in engaged connection with the arc-shaped rack, and the rotating support is driven to drive the camera to rotate to collect images; a through hole is formed in the middle of the rotating support, a positioning column is fixedly arranged in the robot body, and the rotating support is rotationally connected with the positioning column through the through hole. A mechanical arm is fixedly arranged at the top of the robot body, and a push block is fixedly arranged at the free end of the mechanical arm; according to the coal mine inspection robot disclosed by the utility model, the camera is arranged on the side wall of the front end of the robot body, and the driving motor is arranged to drive the camera to rotate, so that the camera can carry out omnibearing image acquisition on the interior of a coal mine, and the coal mine inspection robot is safe and efficient.

Description

Technical Field

[0001] This utility model relates to the field of mining robot technology, and in particular to a coal mine inspection robot. Background Technology

[0002] A coal mine is a specially excavated space created by humans when mining coal-rich geological strata. It typically includes roadways, shafts, and working faces, and is generally classified as underground coal mines or open-pit coal mines. To ensure safety during the mining process, regular inspections are necessary. Currently, inspection robots are commonly used to replace manual inspections. These robots can automatically inspect special areas such as coal mine belt conveyors, substations, and gas extraction pumping stations, collecting equipment operating status data and environmental data to promptly detect and issue warnings of anomalies, ensuring safety and efficiency.

[0003] For example, a Chinese utility model patent with application number 202410717245.X discloses a coal mine inspection robot capable of automatic obstacle avoidance, comprising: a support plate, which is fixedly installed on the inner end of the lower body shell, and a control processing component is installed on the upper outer side of the support plate; an upper body shell is screwed to the top outer side of the lower body shell; a side vision camera located on the inner end of the upper body shell is connected to the outer side of the control processing component; a fixing plate, which is installed on the inner front end of the lower body shell; and a connecting block also located inside the lower body shell, with the output end of the electro-hydraulic rod connected to it. This invention belongs to the field of coal mine inspection robot technology, and its purpose is to solve the problems of existing technologies that cannot automatically avoid obstacles and lack obstacle clearing functions. The achieved technical effect is: it can realize automatic obstacle avoidance function and can clear obstacles that cannot be avoided, facilitating the smooth passage of the entire robot.

[0004] However, in actual use, the camera of this invention is mounted on the top of the robot. Even if it is protected by a protective cover, the camera is still easily damaged, and since the camera is fixed in place, the information it can obtain is limited.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Utility Model Content

[0006] The purpose of this invention is to provide a coal mine inspection robot that can effectively solve the above-mentioned technical problems.

[0007] To achieve the purpose of this utility model, the following technical solution is adopted:

[0008] A coal mine inspection robot includes a robot body; a camera is provided on the front side wall of the robot body, a rotating bracket is installed on the rear side of the camera, and an arc-shaped rack is fixed at the free end of the rotating bracket; a drive motor is installed inside the robot body, and a spur gear is fixed at the drive end of the drive motor. The spur gear meshes with the arc-shaped rack to drive the rotating bracket to rotate the camera to collect images.

[0009] The rotating bracket has a through hole in the middle, and a positioning column is fixed inside the robot body. The rotating bracket is rotatably connected to the positioning column through the through hole.

[0010] A robotic arm is fixed to the top of the robot body, and a pusher is fixed to the free end of the robotic arm.

[0011] Furthermore, the push block is configured as a wedge shape.

[0012] Furthermore, the push block is provided with a pressure warning component; the pressure warning component includes:

[0013] Pressure plate: It is slidably connected to the side wall of the push block, and an electrical connection piece is fixed on its bottom surface;

[0014] Support plate: It is detachably connected to the side wall of the push block, and its surface is fixed with an electrical connection piece two that cooperates with the electrical connection piece one;

[0015] And, a cylindrical spring: one end abuts against the pressure plate, and the other end abuts against the support plate.

[0016] Furthermore, a mounting base is fixed to the free end of the robotic arm, a vision camera is fixed to the surface of the mounting base, and the push block is fixed to the bottom of the mounting base.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This utility model relates to a coal mine inspection robot. By mounting a camera on the front side wall of the robot body and driving the camera to rotate with a drive motor, the camera can collect images of the inside of the coal mine from all directions, which is safe and efficient. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0020] Figure 1 A schematic diagram of the structure of a coal mine inspection robot provided by this utility model;

[0021] Figure 2Exploded view of a pressure warning component in a coal mine inspection robot provided by this utility model;

[0022] Figure 3 This is a schematic diagram of the rotating support structure in a coal mine inspection robot provided by this utility model.

[0023] The numbers in the diagram represent: 1. Robot body; 2. Camera; 3. Robotic arm; 4. Push block; 5. Pressure warning component; 501. Pressure plate; 502. Support plate; 503. Cylindrical spring; 504. Electrical connection piece one; 505. Electrical connection piece two; 506. Threaded rod; 507. Guide rod; 6. Mounting base; 7. Vision camera; 8. Drive motor; 9. Rotating bracket; 10. Arc rack; 11. Circular gear; 12. Positioning column. Detailed Implementation

[0024] 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. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0025] In the description of this utility model, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. When a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intermediate component at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0026] The following will provide a clear and complete description of the coal mine inspection robot of this utility model with reference to the accompanying drawings.

[0027] like Figures 1 to 3As shown, this utility model provides a coal mine inspection robot, including a robot body 1, a camera 2, a robotic arm 3, and a pusher block 4. The robot body 1 is internally equipped with an electronic control module, which receives and processes data and sends commands to control the operation of various components. This technology is prior art and will not be described in detail here. The bottom of the robot body 1 is equipped with a power mechanism, such as tracks or wheels, to drive the robot body 1 to move and perform inspection work. This is also prior art and will not be described in detail here.

[0028] The camera 2 is mounted on the front side wall of the robot body 1 to acquire visual data. The visual data is transmitted to the electronic control module. A drive motor 8 is installed inside the robot body 1. The drive motor 8 is connected to the camera 2 to drive the camera 2 to rotate and collect images of the inside of the coal mine from all directions. The camera 2 and the motor are both electrically connected to the electronic control module.

[0029] Specifically, such as Figure 3 As shown, a rotating bracket 9 is installed on the rear side of the camera 2, and an arc-shaped rack 10 is installed on the free end of the rotating bracket 9; a circular gear 11 is installed on the driving end of the drive motor 8, and the circular gear 11 meshes with the arc-shaped rack 10; by setting the motion parameters of the drive motor 8, it drives the circular gear 11 to drive the arc-shaped rack 10 to rotate counterclockwise or clockwise, thereby driving the rotating bracket 9 to drive the camera to rotate for all-around image acquisition.

[0030] Meanwhile, a through hole is provided in the middle of the rotating bracket 9, and a positioning column 12 is installed inside the robot body. The rotating bracket 9 is rotatably connected to the positioning column 12 through the through hole, so as to play the role of rotational positioning of the rotating bracket 9.

[0031] The top of the robot body 1 is fixed with a mechanical arm 3, and the free end of the mechanical arm 3 is fixed with a push block 4. The push block 4 is wedge-shaped. When it encounters an obstacle, the mechanical arm 3 drives the push block 4 to move downward and then push forward. Since the push block 4 is wedge-shaped, the obstacle moves along both sides of the push block 4 under the action of the pushing force, thereby clearing a path for movement, which is simple and convenient.

[0032] However, in actual use, the size of the obstacles is uneven, and the depth to which the obstacles are buried in the ground is also different. However, the thrust of the robotic arm 3 is limited. If the obstacles are cleared blindly, it may cause damage to the robotic arm 3 and the robot body 1.

[0033] Therefore, pressure warning components 5 are installed on both sides of the push block 4. When the pressure warning components 5 sense that the pressure exceeds the preset threshold, they will transmit this signal to the electronic control module. When the electronic control module receives this signal, it will replan the driving route to avoid the current obstacle.

[0034] The pressure warning component includes: a pressure plate 501, a support plate 502, and a cylindrical spring 503; the pressure plate 501 is slidably connected to the push block 4, and an electrical connection piece 504 is fixed on the pressure plate 501; the support plate 502 is detachably connected to the push block 4, and an electrical connection piece 505 is connected to the support plate 502; one end of the cylindrical spring 503 abuts against the pressure plate 501, and the other end of the cylindrical spring 503 abuts against the support plate 502.

[0035] It should be explained in detail here that the first electrical connector 504 and the second electrical connector 505 are used in conjunction. When the first electrical connector 504 and the second electrical connector 505 are in contact, a conduction signal will be emitted. That is to say, the first electrical connector 504 and the second electrical connector 505 are electrically connected to the power supply of the robot body 1. Furthermore, the first electrical connector 504 and the second electrical connector 505 are connected to sensors that measure their conduction signals, such as current sensors. The current sensors are communicatively connected to the electronic control module. When the current sensors sense the conduction signal, they will send this signal to the electronic control module.

[0036] Furthermore, due to the detachable connection between the support plate 502 and the push block 4, the distance between the support plate 502 and the push block 4 can be adjusted. For example, if a threaded rod 506 is fixed on the push block 4, the support plate 502 is installed on the threaded rod 506, and locking nuts are abutted on two surfaces of the support plate 502, the support plate 502 is fixed by the two locking nuts. According to Hooke's Law, the elastic force of a spring is positively correlated with its degree of compression. Adjusting the distance between the support plate 502 and the push block 4 can adjust the elastic force of the cylindrical spring 503, which is the preset threshold mentioned above.

[0037] It should be further explained here that when the pressure plate 501 contacts the obstacle, the push block 4 will continue to move. Therefore, the obstacle will apply a positive pressure to the pressure plate 501. When the positive pressure is greater than the preset threshold, it will compress the cylindrical spring 503, causing the electrical connection piece 1 504 to contact the electrical connection piece 2 505. Therefore, when using this application, it is necessary to first adjust the distance between the support plate 502 and the push block 4, and then use a force gauge to press against the pressure plate 501 to measure the elastic force of the cylindrical spring 503. If the elastic force of the cylindrical spring 503 is appropriate, it is the preset threshold. If it is not appropriate, the distance between the support plate 502 and the push block 4 should be readjusted until the elastic force of the spring is appropriate.

[0038] Finally, it should be noted that a guide rod 507 is fixedly connected to the pressure plate 501. The end of the guide rod 507 is inserted into the push block 4 and slides in contact with the push block 4, thereby allowing the pressure plate 501 to move. The push block 4 is hollow inside, and the end of the guide rod 507 inserted into the push block 4 is the larger end. Therefore, the guide rod 507 can move along its axial direction, and the guide rod 507 is also prevented from detaching from the push block 4.

[0039] The free end of the robotic arm 3 is fixedly provided with a mounting base 6, and a vision camera 7 is fixedly provided on the surface of the mounting base 6. The push block 4 is fixedly provided at the bottom of the mounting base 6. The vision camera 7 is a depth camera, such as OAK-D-SR, which is low in cost and has mature technology. Setting up a depth camera has two advantages: first, when the robotic arm 3 is raised, the depth camera can supplement the camera 2 to obtain more visual data; second, when pushing away obstacles, it can better obtain visual data.

[0040] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0041] The various modifications described in these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention.

Claims

1. A coal mine inspection robot, characterized in that: Including the robot itself; The robot body is equipped with a camera, which is fixedly mounted on one end of a rotating bracket. An arc-shaped rack is fixedly mounted on the other end of the rotating bracket. A gear is meshed on the arc-shaped rack, and the gear is connected to the shaft of a drive motor to drive the rotating bracket to rotate the camera and collect images. A robotic arm is fixed to the top of the robot body, and a pusher is fixed to the free end of the robotic arm.

2. The coal mine inspection robot according to claim 1, characterized in that: The pusher block is configured as a wedge.

3. The coal mine inspection robot according to claim 2, characterized in that: The pusher block is equipped with a pressure warning component; the pressure warning component includes: Pressure plate: It is slidably connected to the side wall of the push block, and an electrical connection piece is fixed on its bottom surface; Support plate: It is detachably connected to the side wall of the push block, and its surface is fixed with an electrical connection piece two that cooperates with the electrical connection piece one; And, a cylindrical spring: one end abuts against the pressure plate, and the other end abuts against the support plate.

4. The coal mine inspection robot according to claim 1 or 3, characterized in that: The free end of the robotic arm is fixedly provided with a mounting base, a vision camera is fixedly provided on the surface of the mounting base, and the push block is fixedly provided at the bottom of the mounting base.

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