Detection robot for underground coal mine

Abstract

The utility model relates to the technical field of coal mine safety production, and discloses a coal mine underground detection robot which comprises a shell, a first motor is fixedly connected to the inner wall of the shell, a supporting column is fixedly arranged at the output end of the first motor, and an electric push rod is fixedly connected to the inner wall of the shell. The output end of the electric push rod is fixedly provided with a push block, the outer wall of the push block is slidably connected with a supporting ring, the inner wall of the supporting ring is arranged on the outer wall of the supporting column, the upper surface of the supporting column is fixedly connected with a tray, the upper surface of the tray is fixedly connected with a supporting rod, and the inner wall of the tray is slidably connected with a sliding rod. The outer wall of the sliding rod is fixedly connected to the outer wall of the supporting ring. The first motor drives the supporting column to rotate the supporting rod, the supporting rod drives the connecting rod to rotate, the electric push rod pushes the push block to drive the sliding rod to pull the detection head, and the effect that the camera of the robot is adjusted at multiple angles, so that detection of the robot is more accurate is achieved.

Description

Technical Field

[0001] This utility model relates to the technical field of coal mine safety production, and in particular to a detection robot used in underground coal mines. Background Technology

[0002] Coal mine exploration robots are automated devices specifically designed for the underground environment of coal mines. They are mainly used to detect and explore the interior of the mine. These robots are usually equipped with a variety of sensors, such as temperature, humidity, gas concentration, and sound wave detection, to monitor the safety status of the mine in real time, detect potential hazards such as gas leaks, fires, and collapses, and can also carry out tasks such as mine structure surveying and equipment maintenance.

[0003] A coal mine underground detection robot is disclosed in publication number CN221481975U, comprising a support box, a transmission assembly, pulleys, and an adjustment assembly. The transmission assembly includes a motor, a worm gear, and worm wheels. The motor is fixedly connected inside the support box, and the worm gear is rotatably connected inside the support box. The output shaft of the motor is coaxially and fixedly connected to the worm gear. Multiple worm wheels are provided, each meshing with the worm gear. A connecting rod is coaxially and fixedly connected to each worm wheel, with both ends of the connecting rod rotatably passing through two side walls of the support box. Multiple pulleys are coaxially and fixedly connected to the ends of the connecting rods located outside the support box. Each group of pulleys shares a track. The adjustment assembly is used to adjust the relative position of the support box. This application facilitates obstacle crossing for coal mine detection devices.

[0004] The aforementioned application does not have the ability to adjust the angle of the camera during use, which may lead to inaccurate exploration of the situation inside the mine and affect the assessment of the degree of danger inside the mine. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a detection robot for use in underground coal mines, aiming to solve the problem that the lack of an adjustable camera angle leads to inaccurate exploration of the mine interior and affects the assessment of the degree of danger within the mine.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A detection robot for use in coal mines includes a shell. A first motor is fixedly connected to the inner wall of the shell. A support column is fixedly mounted on the output end of the first motor. An electric push rod is fixedly connected to the inner wall of the shell. A push block is fixedly mounted on the output end of the electric push rod. A support ring is slidably connected to the outer wall of the push block. The inner wall of the support ring is set on the outer wall of the support column. A tray is fixedly connected to the upper surface of the support column. A support rod is fixedly connected to the upper surface of the tray. A slide rod is slidably connected to the inner wall of the tray. The outer wall of the slide rod is fixedly connected to the outer wall of the support ring. A rotating shaft is rotatably connected to the inner wall of the sliding shaft. A connecting rod is rotatably connected to the outer wall of the rotating shaft. The outer wall of the connecting rod is rotatably connected to the inner wall of the support rod. A detection head is fixedly connected to the outer wall of the connecting rod. An obstacle-crossing assembly is provided on the lower surface of the shell. The obstacle-crossing assembly is used to move the robot.

[0008] Preferably, the obstacle-crossing component includes a support plate, the upper surface of which is disposed on the lower surface of the housing, a support column is rotatably connected to the inner wall of the support plate, and a rotating rod is fixedly connected to the outer wall of the support column.

[0009] Preferably, a tire is rotatably connected to the outer wall of the rotating rod, a first bevel gear is fixedly connected to the outer wall of the support column, a second bevel gear is meshed with the tooth end of the first bevel gear, and a lifting assembly is provided on the upper surface of the support plate.

[0010] Preferably, the lifting assembly includes a protective shell, the lower surface of which is fixedly connected to the upper surface of the support plate, and a second motor is fixedly connected to the upper surface of the support plate.

[0011] Preferably, a worm is fixedly provided at the output end of the second motor, the teeth of the worm are meshed with a worm wheel, and a rotating column is rotatably connected to the outer wall of the worm wheel.

[0012] Preferably, a fixed plate is rotatably connected to the outer wall of the rotating column, a push block is fixedly connected to the outer wall of the rotating column, and a slider is slidably connected to the outer wall of the push block.

[0013] Preferably, the outer wall of the slider is slidably connected to a support block, and the lower surface of the support block is fixedly connected to the upper surface of the support plate.

[0014] Preferably, a worktable is fixedly connected to the upper surface of the slider, and the outer wall of the worktable is slidably connected to the outer wall of the protective shell.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, the first motor drives the support column to rotate the support rod, and the support rod drives the connecting rod to rotate, thereby adjusting the horizontal angle of the robot camera. The electric push rod pushes the push block to drive the slide rod to pull the probe head, thereby achieving the effect of adjusting the robot's camera at multiple angles and making the robot's detection more accurate.

[0017] 2. In this utility model, the second motor drives the worm gear to rotate, the worm wheel drives the rotating column, the rotating column drives the push block to push the slider to move the worktable, so as to achieve the effect of adjusting the robot height according to the height of the coal mine shaft and improving the robot's adaptability. Attached Figure Description

[0018] Figure 1 This is a three-dimensional view of a detection robot for use in underground coal mines, as proposed in this utility model.

[0019] Figure 2 This is a partial structural diagram of the support column of a detection robot used in underground coal mines, as proposed in this utility model.

[0020] Figure 3 This is a schematic diagram of a partial structure of the rotating rod of a detection robot used in underground coal mines, as proposed in this utility model.

[0021] Figure 4 This is a partial structural diagram of the support block for a detection robot used in underground coal mines, as proposed in this utility model.

[0022] Legend:

[0023] 1. Outer shell; 101. First motor; 102. Support column; 103. Electric push rod; 104. Push block; 105. Support ring; 106. Tray; 107. Support rod; 108. Slide rod; 109. Rotating shaft; 110. Connecting rod; 111. Probe head; 2. Protective shell; 201. Second motor; 202. Worm gear; 203. Worm wheel; 204. Rotating column; 205. Fixed plate; 206. Push block; 207. Slider; 208. Support block; 209. Worktable; 3. Support plate; 4. Support column; 5. Rotating rod; 6. Tire; 7. First bevel gear; 8. Second bevel gear. Detailed Implementation

[0024] 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, 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.

[0025] Reference Figure 1 and Figure 2 This utility model provides an embodiment of a detection robot for use in coal mines, comprising a shell 1, a first motor 101 fixedly connected to the inner wall of the shell 1, a support column 102 fixedly mounted at the output end of the first motor 101, an electric push rod 103 fixedly connected to the inner wall of the shell 1, a push block 104 fixedly mounted at the output end of the electric push rod 103, a support ring 105 slidably connected to the outer wall of the push block 104, the inner wall of the support ring 105 being disposed on the outer wall of the support column 102, and a tray fixedly connected to the upper surface of the support column 102. 106. A support rod 107 is fixedly connected to the upper surface of the tray 106. A slide rod 108 is slidably connected to the inner wall of the tray 106. The outer wall of the slide rod 108 is fixedly connected to the outer wall of the support ring 105. A rotating shaft 109 is rotatably connected to the inner wall of the slide rod 108. A connecting rod 110 is rotatably connected to the outer wall of the rotating shaft 109. The outer wall of the connecting rod 110 is rotatably connected to the inner wall of the support rod 107. A probe head 111 is fixedly connected to the outer wall of the connecting rod 110. An obstacle-crossing component is provided on the lower surface of the outer shell 1. The obstacle-crossing component is used for the mobile robot.

[0026] Specifically, the first motor 101 is started to drive the support column 102 to rotate the tray 106. The rotation of the tray 106 drives the support rod 107 to rotate the connecting rod 110. During use, this adjusts the horizontal detection angle of the robot's camera. After adjusting the robot's horizontal detection angle, the electric push rod 103 is started. The electric push rod 103 pushes the push block 104 to make the support ring 105 slide on the support column 102. During use, the sliding of the support ring 105 will drive the slide rod 108 to slide in the tray 106. During use, this limits the movement trajectory of the slide rod 108 to prevent deviation. The movement of the slide rod 108 will cause the rotating shaft 109 to move the connecting rod 110. This adjusts the vertical detection angle of the robot. The connecting rod 110 will drive the probe head 111 to move at multiple angles. During use, this allows for multi-angle adjustment of the robot's camera, making the robot's detection more accurate.

[0027] Reference Figure 3 The obstacle-crossing component includes a support plate 3, the upper surface of the support plate 3 is disposed on the lower surface of the housing 1, the inner wall of the support plate 3 is rotatably connected to a support column 4, the outer wall of the support column 4 is fixedly connected to a rotating rod 5, the outer wall of the rotating rod 5 is rotatably connected to a tire 6, the outer wall of the support column 4 is fixedly connected to a first bevel gear 7, the tooth end of the first bevel gear 7 is meshed with a second bevel gear 8, and the upper surface of the support plate 3 is provided with a lifting component.

[0028] Specifically, when the robot encounters an obstacle, the tire 6 is lifted, causing the rotating rod 5 and the support column 4 to rotate. The support column 4 rotates in the support plate 3. During the rotation, the support column 4 drives the first bevel gear 7 to push the second bevel gear 8, causing the tire 6 on the other side to move. In use, this has the effect of timely adjusting the robot's movement state, improving movement and preventing tipping.

[0029] Reference Figure 4 The lifting assembly includes a protective shell 2. The lower surface of the protective shell 2 is fixedly connected to the upper surface of the support plate 3. A second motor 201 is fixedly connected to the upper surface of the support plate 3. A worm gear 202 is fixedly installed at the output end of the second motor 201. A worm wheel 203 is meshed with the tooth end of the worm gear 202. A rotating column 204 is rotatably connected to the outer wall of the worm wheel 203. A fixed plate 205 is rotatably connected to the outer wall of the rotating column 204. A push block 206 is fixedly connected to the outer wall of the rotating column 204. A slider 207 is slidably connected to the outer wall of the push block 206. A support block 208 is slidably connected to the outer wall of the slider 207. The lower surface of the support block 208 is fixedly connected to the upper surface of the support plate 3. A worktable 209 is fixedly connected to the upper surface of the slider 207. The outer wall of the worktable 209 is slidably connected to the outer wall of the protective shell 2.

[0030] Specifically, the second motor 201 is first started to rotate the worm gear 202. While the worm gear 202 is rotating, it drives the worm wheel 203 to push the rotating column 204 to rotate. During the rotation of the rotating column 204, the pushing block 206 rotates in the fixed plate 205. In use, this can limit the rotating column 204 to prevent it from falling off during rotation. During the rotation of the pushing block 206, the slider 207 slides in the support block 208. In use, this can limit the movement trajectory of the slider 207 to prevent it from deviating during use. The movement of the slider 207 will drive the worktable 209 to slide in the protective shell 2. In use, this can adjust the robot height according to the height of the coal mine shaft to improve the robot's adaptability.

[0031] Working principle: When the robot is needed, the second motor 201 is started first to drive the worm gear 202 to rotate. The worm gear 202 drives the worm wheel 203 to push the rotating column 204 to rotate. The rotating column 204 drives the push block 206 to rotate in the fixed plate 205, which restricts the rotating column 204 and prevents it from falling off during rotation. The rotation of the push block 206 pushes the slider 207 to slide in the support block 208, which restricts the movement trajectory of the slider 207 and prevents it from deviating during movement. The movement of the slider 207 drives the worktable 209 to slide in the protective shell 2, which allows the robot height to be adjusted according to the height of the coal mine shaft, improving the robot's adaptability. After the robot height is adjusted, the first motor 101 is started to drive the support column 102 to rotate the tray 106. The tray 106 drives the support rod 107 to rotate the connecting rod 110, which adjusts the horizontal angle of the robot's camera. After the horizontal angle is adjusted, the electric push rod 103 is started. The electric push rod 103 pushes the push block 104 to drive the support ring 105. The support ring 105 slides on the support column 102, which in turn drives the slide rod 108 to slide in the tray 106. This restricts the movement trajectory of the slide rod 108 and prevents it from deviating during movement. The movement of the slide rod 108 drives the rotating shaft 109 to pull the connecting rod 110, which adjusts the vertical angle of the robot's camera. The connecting rod 110 drives the probe head 111 to move, which adjusts the robot's camera from multiple angles to make the robot's detection more accurate. After adjusting the robot's height and detection angle, the robot is started and moves. When the robot encounters an obstacle, the tire 6 drives the rotating rod 5 to rotate. The rotating rod 5 drives the support column 4 to rotate in the support plate 3. The rotation of the support column 4 drives the first bevel gear 7 to push the second bevel gear 8, which adjusts the robot's movement state in time to make it move better and prevent it from tipping over. In use, this robot can not only adjust the robot's camera from multiple angles to make the robot's detection more accurate, but also adjust the robot's height according to the height of the coal mine shaft to improve the robot's adaptability.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A detection robot for use in underground coal mines, comprising a shell (1), characterized in that: A first motor (101) is fixedly connected to the inner wall of the outer casing (1). A support column (102) is fixedly installed at the output end of the first motor (101). An electric push rod (103) is fixedly connected to the inner wall of the outer casing (1). A push block (104) is fixedly installed at the output end of the electric push rod (103). A support ring (105) is slidably connected to the outer wall of the push block (104). The inner wall of the support ring (105) is set on the outer wall of the support column (102). A tray (106) is fixedly connected to the upper surface of the support column (102). The upper surface of the tray (106) is fixedly connected to... The tray (106) has a support rod (107), and a slide rod (108) is slidably connected to the inner wall of the tray (106). The outer wall of the slide rod (108) is fixedly connected to the outer wall of the support ring (105). The inner wall of the slide rod (108) is rotatably connected to a rotating shaft (109). The outer wall of the rotating shaft (109) is rotatably connected to a connecting rod (110). The outer wall of the connecting rod (110) is rotatably connected to the inner wall of the support rod (107). The outer wall of the connecting rod (110) is fixedly connected to a probe head (111). An obstacle-crossing component is provided on the lower surface of the outer shell (1). The obstacle-crossing component is used for the mobile robot.

2. The detection robot for use in underground coal mines according to claim 1, characterized in that: The obstacle-crossing component includes a support plate (3), the upper surface of which is disposed on the lower surface of the outer shell (1), and a support column (4) is rotatably connected to the inner wall of the support plate (3), and a rotating rod (5) is fixedly connected to the outer wall of the support column (4).

3. The detection robot for use in underground coal mines according to claim 2, characterized in that: The outer wall of the rotating rod (5) is rotatably connected to a tire (6), the outer wall of the support column (4) is fixedly connected to a first bevel gear (7), the tooth end of the first bevel gear (7) is meshed with a second bevel gear (8), and the upper surface of the support plate (3) is provided with a lifting assembly.

4. The detection robot for use in underground coal mines according to claim 3, characterized in that: The lifting assembly includes a protective shell (2), the lower surface of which is fixedly connected to the upper surface of a support plate (3), and a second motor (201) is fixedly connected to the upper surface of the support plate (3).

5. The detection robot for use in underground coal mines according to claim 4, characterized in that: The output end of the second motor (201) is fixedly provided with a worm (202), the tooth end of the worm (202) is meshed with a worm wheel (203), and the outer wall of the worm wheel (203) is rotatably connected with a rotating column (204).

6. The detection robot for use in underground coal mines according to claim 5, characterized in that: The outer wall of the rotating column (204) is rotatably connected to a fixed plate (205), the outer wall of the rotating column (204) is fixedly connected to a push block (206), and the outer wall of the push block (206) is slidably connected to a slider (207).

7. The detection robot for use in underground coal mines according to claim 6, characterized in that: The outer wall of the slider (207) is slidably connected to a support block (208), and the lower surface of the support block (208) is fixedly connected to the upper surface of the support plate (3).

8. The detection robot for use in underground coal mines according to claim 7, characterized in that: The upper surface of the slider (207) is fixedly connected to the worktable (209), and the outer wall of the worktable (209) is slidably connected to the outer wall of the protective shell (2).

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