Underground coal mine overhead rail type inspection robot
By using flexible wheel sets and suspension connection mechanisms in underground coal mine inspection robots, the problems of poor equipment operation and high maintenance costs on complex tracks have been solved, achieving higher operational stability and lower maintenance requirements.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XIAN MININGLIAN INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-08-11
- Publication Date
- 2026-05-19
AI Technical Summary
Existing underground inspection equipment in coal mines does not operate smoothly in roadways, is prone to jamming due to changes in track curvature and obstacles, and has high maintenance costs.
The inner wall is equipped with elastic wheel sets, with active wheel drive and driven wheel support, and a suspension connection mechanism to achieve adaptive guide rail changes, reduce wear and jamming, and improve smooth operation.
This improves the stability and smoothness of the inspection robot's operation under complex track conditions, and reduces maintenance frequency and cost.
Smart Images
Figure CN224256650U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of inspection robot technology, and in particular to a rail-mounted inspection robot for underground coal mines. Background Technology
[0002] The underground environment of coal mines is unique, with narrow tunnels filled with obstacles such as supports and cables, placing stringent demands on the structural adaptability of inspection equipment. Traditional inspection equipment has obvious structural limitations: the chassis structure of ground-based wheeled or tracked robots is easily affected by tunnel protrusions and water accumulation, resulting in poor stability; the rigid support structure of fixed monitoring devices cannot flexibly adjust the monitoring angle, making it difficult to cover hidden areas such as the top of the equipment and corners, creating monitoring blind spots.
[0003] The existing structural designs of some track-based inspection devices also have shortcomings: the connection structure between the track path and the robot body is too rigid, making it prone to jamming during turns due to changes in the curvature of the tunnel, making it difficult to detect minor faults in critical equipment. These structural defects not only reduce inspection coverage but also increase equipment maintenance costs due to frequent mechanical wear. Utility Model Content
[0004] The purpose of this invention is to provide a rail-mounted inspection robot for underground coal mines, in order to solve the problems existing in the prior art, improve the smoothness of operation on the track, and reduce maintenance costs.
[0005] To achieve the above objectives, this utility model provides the following solution:
[0006] This utility model provides a rail-mounted inspection robot for underground coal mines, including an inspection robot body and a suspension connection mechanism; the suspension connection mechanism includes a suspension body and a walking device; the suspension body has a U-shaped groove for placing a guide rail, and the U-shaped groove has two opposing inner sidewalls; the walking device includes two opposing active drive members and two opposing driven members; the active drive member includes an active driver and an active wheel, the active driver is disposed on the suspension body, and the active wheel is rotatably disposed on the inner sidewall above the guide rail, and the active driver is used to drive the active wheel to rotate; The driven component is a driven wheel, which is rotatably mounted on the inner sidewall above the guide rail; there is a gap between the driving wheels on the two inner sidewalls, and there is a gap between the driven wheel supports on the two inner sidewalls; at least one elastic wheel assembly is also provided on the inner sidewall corresponding to the guide rail sidewall; the elastic wheel assembly has an axle and an elastic element, and the elastic element can drive the axle to move in a direction close to or away from the guide rail sidewall; an abutment wheel is rotatably mounted on the axle, and the rolling surface of the abutment wheel is located on the guide rail sidewall; the inspection robot body is fixedly mounted on the bottom of the suspension body.
[0007] Preferably, it further includes a braking mechanism; the braking mechanism includes a mechanical clamp; the mechanical clamp includes a slide rail, a first clamping member, and a second clamping member; the slide rail is fixedly mounted on the suspension body above the guide rail; the first clamping member and the second clamping member are slidably mounted on the slide rail; the first clamping member has a first clamping portion, and the second clamping member has a second clamping portion, the first clamping portion and the second clamping portion respectively corresponding to two side walls of the guide rail; the first clamping member can drive the first clamping portion to approach the side wall of the guide rail, and the second clamping member can drive the second clamping portion to approach the corresponding side wall of the guide rail.
[0008] Preferably, the elastic wheel assembly includes a bracket, the wheel axle, and the elastic element; the bracket is fixedly disposed on the inner sidewall; the bracket has an upper sliding hole and a lower sliding hole; the upper end of the wheel axle is slidably disposed in the upper sliding hole along the direction close to or away from the guide rail sidewall, and the lower end of the wheel axle is slidably disposed in the lower sliding hole along the direction close to or away from the guide rail sidewall; the elastic element includes a first compression spring and a second compression spring; the first compression spring is located in the upper sliding hole on the side of the upper end of the wheel axle away from the guide rail sidewall, and one end of the first compression spring can push the upper end of the wheel axle towards the guide rail sidewall; the second compression spring is located in the lower sliding hole on the side of the lower end of the wheel axle away from the guide rail sidewall, and one end of the second compression spring can push the lower end of the wheel axle towards the guide rail sidewall; the rolling surface of the abutment wheel on the wheel axle elastically abuts against the guide rail sidewall.
[0009] Preferably, the driving wheel is fixedly mounted on the driving wheel shaft, and the driving wheel shaft is rotatably mounted on the first bearing seat via the first bearing, and the first bearing seat is fixedly mounted on the corresponding inner sidewall; the driven wheel is fixedly mounted on the driven wheel shaft, and the driven wheel shaft is rotatably mounted on the second bearing seat via the second bearing, and the second bearing seat is fixedly mounted on the corresponding inner sidewall.
[0010] Preferably, the drive wheel axle is also equipped with an electromagnetic brake.
[0011] Preferably, the inspection robot body has an attitude sensor, and both the attitude sensor and the active actuator are communicatively connected to the controller of the inspection robot body.
[0012] Preferably, the active actuator includes a drive motor, a first transmission wheel, a second transmission wheel, and a transmission belt; the suspension body includes a bottom housing, a first side plate, and a second side plate; the first side plate and the second side plate are arranged opposite to each other and fixedly disposed on both sides of the bottom housing; the first side plate and the second side plate are each provided with a drive wheel and a driven wheel; the first side plate has a first cavity, the second side plate has a second cavity, and both the first cavity and the second cavity are in communication with the interior of the bottom housing; the drive motor is fixedly disposed in the bottom housing, the first transmission wheel is fixedly disposed on the output shaft of the drive motor, the second transmission wheel is fixedly disposed on the drive wheel shaft, and the first transmission wheel and the second transmission wheel are both located in the corresponding first cavity or second cavity; the transmission belt is driven and sleeved on the first transmission wheel and the second transmission wheel.
[0013] Preferably, a pressure sensor is provided between the outer ring of the first bearing and the first bearing housing.
[0014] Preferably, the first clamping member includes a first gripper and a first telescopic rod; the second clamping member includes a second gripper and a second telescopic rod; the first gripper and the second gripper are disposed opposite to each other, and both the first gripper and the second gripper are slidably disposed on the slide rail; the output end of the first telescopic rod is connected to the first gripper, the first clamping part is located on the first gripper, and the output end of the first telescopic rod is used to drive the first clamping part on the first gripper to move towards the side wall of the guide rail; the output end of the second telescopic rod is connected to the second gripper, the second clamping part is located on the second gripper, and the output end of the second telescopic rod is used to drive the second clamping part on the second gripper to move towards the side wall of the guide rail.
[0015] Preferably, a backup power supply is provided in the bottom housing, and the inspection robot body has a power supply device. Both the power supply device and the backup power supply can supply power to the active driver.
[0016] The present invention achieves the following technical advantages over the prior art:
[0017] This utility model provides a mine underground overhead rail inspection robot. By employing elastic wheel sets on the inner sidewall, it can adapt to changes in the guide rail, such as slight deformation. The elastic elements drive the wheel axle to move towards or away from the guide rail sidewall, ensuring the contact wheel remains tightly in contact with the guide rail sidewall and maintaining good operational status under various track conditions. The drive wheel provides power to propel the robot forward, while the driven wheel not only provides support but also assists in adjusting the walking direction to a certain extent, making the robot's movement on the track more stable and reducing operational problems caused by uneven force or slippage on individual wheels. The contact wheel in the elastic wheel set, in contact with the guide rail sidewall, provides good guidance, enabling the robot to move along the track... The robot travels accurately along the guide rail, avoiding track jamming caused by track deviations or slight offsets of the robot itself. Furthermore, the elastic elements cushion the impacts and vibrations experienced during movement, reducing bumps caused by uneven tracks and improving smoothness of operation. The suspension connection mechanism has a relatively simple design, mainly consisting of the suspension body, the walking mechanism, and the elastic wheel set. It lacks complex transmission structures and numerous easily damaged parts, reducing maintenance workload and costs due to component failures. The elastic elements of the elastic wheel set automatically adjust the contact pressure between the abutment wheel and the guide rail, preventing excessive wear caused by rigid contact, thus extending the service life of the walking components and reducing the frequency and cost of replacing parts. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 A schematic diagram of the overall structure of the underground rail-mounted inspection robot for coal mines provided by this utility model;
[0020] Figure 2 This is a partial structural diagram of the underground rail-mounted inspection robot for coal mines provided by this utility model.
[0021] In the picture:
[0022] 10 - Inspection robot body;
[0023] 20 - Suspension body; 21 - Bottom box; 22 - First side panel; 23 - Second side panel;
[0024] 30 - Driving wheel; 31 - Driven wheel; 32 - Electromagnetic brake; 33 - Drive motor;
[0025] 40 - Flexible wheel assembly; 41 - Bracket; 42 - Abutment wheel; 43 - Upper sliding hole;
[0026] 50 - Slide rail; 51 - Second gripper;
[0027] 60-Guide rail. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0029] The purpose of this invention is to provide a rail-mounted inspection robot for underground coal mines, in order to solve the problems existing in the prior art, improve the smoothness of operation on the track, and reduce maintenance costs.
[0030] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0031] Example 1
[0032] This embodiment provides a rail-mounted inspection robot for underground coal mines, such as... Figures 1-2As shown, the system includes an inspection robot body 10 and a suspension connection mechanism. The suspension connection mechanism includes a suspension body 20 and a walking mechanism. The suspension body 20 has a U-shaped groove for placing a guide rail 60, and the U-shaped groove has two opposing inner sidewalls. The walking mechanism includes two opposing active drive members and two opposing driven members. The active drive members include an active driver and an active wheel 30. The active driver is mounted on the suspension body 20, and the active wheel 30 is rotatably mounted on the inner sidewall above the guide rail 60. The active driver is used to drive the active wheel 30 to rotate. The driven member is a driven wheel 31, which is rotatably mounted on the inner sidewall above the guide rail 60. There is a gap between the active wheels 30 on the two inner sidewalls, and the driven wheels 31 on the two inner sidewalls are supported by brackets 41. There is a gap; at least one elastic wheel set 40 is also provided on the inner side wall corresponding to the side wall of the guide rail 60 (two elastic wheel sets 40 can be provided on each inner side wall on both sides of the guide rail 60, and the elastic wheel sets 40 on the two inner side walls correspond one to one. The elastic wheel set 40 enables the entire suspension body 20 to achieve a displacement distance of 5cm to 10cm in both directions of the guide rail 60, thereby enhancing the adaptability and robustness to local deformation of the guide rail 60 and turning points); the elastic wheel set 40 has a wheel axle and an elastic element. The elastic element can drive the wheel axle to move in the direction close to or away from the side wall of the guide rail 60; an abutment wheel 42 is rotatably provided on the wheel axle, and the rolling surface of the abutment wheel 42 is located on the side wall of the guide rail 60; the inspection robot body 10 is fixedly installed at the bottom of the suspension body 20.
[0033] By employing elastic wheel sets 40 on the inner sidewall, the robot can adapt to changes in the guide rail 60, such as slight deformation. The elastic element drives the axle to move closer to or further away from the sidewall of the guide rail 60, ensuring that the contact wheel 42 always fits tightly against the sidewall of the guide rail 60, thus ensuring the robot maintains good operating condition under various track conditions. The driving wheel 30 provides power to propel the robot forward, while the driven wheel 31 not only provides support but also assists in adjusting the walking direction to a certain extent, making the robot move more smoothly on the track and reducing problems caused by uneven force or slippage of a single wheel. The contact wheel 42 in the elastic wheel set 40 contacts the sidewall of the guide rail 60, providing good guidance and enabling the robot to move along the guide rail 60. The robot travels accurately in the correct direction, avoiding track jamming caused by track deviations or slight offsets of the robot itself. On the other hand, the elastic elements can buffer the impacts and vibrations experienced by the robot during travel, reducing bumps caused by uneven tracks and other factors, thereby improving the smoothness of operation. The suspension connection mechanism has a relatively simple design, mainly composed of the suspension body 20, the walking mechanism, and the elastic wheel set 40, without complex transmission structures and too many vulnerable parts, reducing maintenance workload and costs caused by component failures. The elastic elements of the elastic wheel set 40 automatically adjust the contact pressure between the abutment wheel 42 and the guide rail 60, avoiding excessive wear caused by rigid contact, thereby extending the service life of the walking components and reducing the frequency and cost of replacing parts.
[0034] Specifically, an elastic wheel set 40 that can be adapted to the guide rail 60 is adopted, and with the spacing between the two opposing driving wheels 30 (i.e., independent dual drive) and the two opposing driven wheels 31, it can flexibly turn according to the curvature of the tunnel, effectively avoiding jamming problems and improving smooth passage. When encountering local deformation of the guide rail 60 (such as bulges or depressions) or tunnel turning scenarios, the lateral abutment wheel 42, together with its elastic element, can absorb and buffer the impact and stress caused by the deformation of the guide rail 60.
[0035] The following are the settings instructions for the suspension body 20:
[0036] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2As shown, the elastic wheel assembly 40 includes a bracket 41, a wheel axle, and an elastic element; the bracket 41 is fixedly disposed on the inner sidewall; the bracket 41 has an upper sliding hole 43 and a lower sliding hole; the upper end of the wheel axle is slidably disposed in the upper sliding hole 43 along the direction close to or away from the sidewall of the guide rail 60, and the lower end of the wheel axle is slidably disposed in the lower sliding hole along the direction close to or away from the sidewall of the guide rail 60; the elastic element includes a first compression spring and a second compression spring; the first compression spring is located in the upper sliding hole 43 on the side of the upper end of the wheel axle away from the sidewall of the guide rail 60, and one end of the first compression spring can push the upper end of the wheel axle towards the sidewall of the guide rail 60; the second compression spring is located in the lower sliding hole on the side of the lower end of the wheel axle away from the sidewall of the guide rail 60, and one end of the second compression spring can push the lower end of the wheel axle towards the sidewall of the guide rail 60; the rolling surface of the abutment wheel 42 on the wheel axle elastically abuts against the sidewall of the guide rail 60.
[0037] The following are the settings instructions for the walking device:
[0038] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the driving wheel 30 is fixedly mounted on the driving wheel 30 shaft, and the driving wheel 30 shaft is rotatably mounted on the first bearing seat via the first bearing, and the first bearing seat is fixedly mounted on the corresponding inner side wall; the driven wheel 31 is fixedly mounted on the driven wheel 31 shaft, and the driven wheel 31 shaft is rotatably mounted on the second bearing seat via the second bearing, and the second bearing seat is fixedly mounted on the corresponding inner side wall.
[0039] In the optional embodiments of this example, the preferred active driver includes a drive motor 33, a first transmission wheel, a second transmission wheel, and a transmission belt; the suspension body 20 includes a bottom housing 21, a first side plate 22, and a second side plate 23 (the bottom housing 21, the first side plate 22, and the second side plate 23 together form a U-shaped groove for placing the guide rail 60); the first side plate 22 and the second side plate 23 are arranged opposite to each other and fixedly disposed on both sides of the bottom housing 21; each of the first side plate 22 and the second side plate 23 is provided with a drive wheel 30 and a driven wheel 31; the first side plate 22 has a first cavity, and the second side plate 23 has a second cavity, both of which are connected to the interior of the bottom housing 21; the drive motor 33 is fixedly disposed inside the bottom housing 21, the first transmission wheel is fixedly disposed on the output shaft of the drive motor 33, and the second transmission wheel is fixedly disposed on the shaft of the drive wheel 30, both of which are located in the corresponding first cavity or second cavity; the transmission belt is driven and sleeved on the first transmission wheel and the second transmission wheel.
[0040] Specifically, the drive motor 33 of the active driver can be a servo motor, and the output end of the drive motor 33 can be connected to a reduction gearbox, with a first transmission wheel fixed on the output end of the reduction gearbox.
[0041] Specifically, the controller of the inspection robot body 10 can collect the wheel speed difference between the two drive motors 33 and dynamically adjust the output torque of the two drive motors 33 through the PID algorithm, so that the left and right active wheels 30 rotate at the appropriate speed, enabling the inspection robot body 10 to complete the turning action smoothly and stably, ensuring that it can pass smoothly at the turning point of the alley with a curvature radius ≥1.5m.
[0042] The following are the relevant specifications regarding the braking mechanism:
[0043] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2 As shown, it also includes a braking mechanism; the braking mechanism includes a mechanical clamp; the mechanical clamp includes a slide rail 50, a first clamping member and a second clamping member; the slide rail 50 is fixedly mounted on the suspension body 20 above the guide rail 60; the first clamping member and the second clamping member are slidably mounted on the slide rail 50 respectively; the first clamping member has a first clamping part, and the second clamping member has a second clamping part, the first clamping part and the second clamping part respectively correspond to the two side walls of the guide rail 60; the first clamping member can drive the first clamping part to approach the side wall of the guide rail 60, and the second clamping member can drive the second clamping part to approach the corresponding side wall of the guide rail 60.
[0044] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 As shown, the first clamping member includes a first jaw and a first telescopic rod; the second clamping member includes a second jaw 51 and a second telescopic rod; the first jaw and the second jaw 51 are disposed opposite to each other, and both the first jaw and the second jaw 51 are slidably disposed on the slide rail 50; the output end of the first telescopic rod is connected to the first jaw, the first clamping part is located on the first jaw, and the output end of the first telescopic rod is used to drive the first clamping part on the first jaw to move towards the side wall of the guide rail 60; the output end of the second telescopic rod is connected to the second jaw 51, the second clamping part is located on the second jaw 51, and the output end of the second telescopic rod is used to drive the second clamping part on the second jaw 51 to move towards the side wall of the guide rail 60.
[0045] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2 As shown, an electromagnetic brake 32 is also installed on the shaft of the drive wheel 30.
[0046] Specifically, the electromagnetic brake 32 is an existing device and will not be described in detail here. Its response time is ≤0.3s, which can achieve rapid deceleration during normal driving. When an abnormality or power failure is detected in the guide rail 60, the mechanical clamp can quickly clamp onto both sides of the guide rail 60 through the first clamping member and the second clamping member, with a locking force ≥500N.
[0047] Regarding other related settings:
[0048] In the optional solutions of this embodiment, it is more preferred that the inspection robot body 10 has an attitude sensor, and the attitude sensor and the active driver are both communicatively connected to the controller of the inspection robot body 10.
[0049] Specifically, the inspection robot body 10 is also equipped with an audible and visual alarm. When the tilt angle of the inspection robot body 10 relative to the guide rail 60, as indicated by its attitude sensor, exceeds 8°, the controller of the inspection robot body 10 controls the audible and visual alarm to sound an alarm and reduces the overall travel speed to 0.5m / s. At the same time, the status data is transmitted to the ground monitoring center through the wireless transmission module, realizing real-time control and remote intervention of the inspection robot's operating status.
[0050] Specifically, the first and second telescopic rods in the braking mechanism are electrically controlled and are connected in communication with the controller of the inspection robot body 10.
[0051] In the optional solutions of this embodiment, a pressure sensor is preferably provided between the outer ring of the first bearing and the first bearing housing.
[0052] Specifically, a pressure sensor can also be installed between the outer ring of the second bearing and the second bearing housing; the pressure sensor can monitor the bearing pressure at the corresponding locations of the driving wheel 30 and the driven wheel 31 in real time.
[0053] In the optional solutions of this embodiment, a backup power supply is provided in the bottom box 21, and the inspection robot body 10 has a power supply device. Both the power supply device and the backup power supply can supply power to the active drive.
[0054] Specifically, during normal use, the power supply equipment on the inspection robot body 10 is used to provide power to the first and second telescopic rods in the active drive and braking mechanism. It is the main power supply circuit. When the main power supply circuit fails, the backup power supply provides power to the first and second telescopic rods in the active drive and braking mechanism, which can maintain operation for ≥30 minutes.
[0055] Specifically, the underground coal mine inspection robot of this embodiment can be made of lightweight and wear-resistant materials to reduce mechanical wear, lower long-term maintenance costs, and better adapt to the complex and harsh working environment of underground coal mines.
[0056] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.
Claims
1. A rail-mounted inspection robot for underground coal mines, characterized in that: Including the inspection robot body and its suspension connection mechanism; The suspension connection mechanism includes a suspension body and a traveler; the suspension body has a U-shaped groove for placing a guide rail, and the U-shaped groove has two opposing inner sidewalls; The walking device includes two opposing active driving members and two opposing driven members; each active driving member includes an active driver and an active wheel, the active driver is mounted on the suspension body, and the active wheel is rotatably mounted on the inner sidewall above the guide rail, the active driver being used to drive the active wheel to rotate; the driven member is a driven wheel, the driven wheel being rotatably mounted on the inner sidewall above the guide rail; there is a gap between the active wheels on the two inner sidewalls, and there is a gap between the driven wheel brackets on the two inner sidewalls; At least one set of elastic wheels is provided on the inner sidewall at a position corresponding to the sidewall of the guide rail; the set of elastic wheels has an axle and an elastic element, the elastic element can drive the axle to move in a direction close to or away from the sidewall of the guide rail; an abutment wheel is rotatably provided on the axle, and the rolling surface of the abutment wheel is located on the sidewall of the guide rail; The inspection robot body is fixedly mounted at the bottom of the suspended body.
2. The underground rail-mounted inspection robot for coal mines according to claim 1, characterized in that: It also includes a braking mechanism; the braking mechanism includes a mechanical clamp; The mechanical clamp includes a slide rail, a first clamping member, and a second clamping member; the slide rail is fixedly mounted on the suspension body above the guide rail; the first clamping member and the second clamping member are slidably mounted on the slide rail; the first clamping member has a first clamping portion, and the second clamping member has a second clamping portion, the first clamping portion and the second clamping portion respectively corresponding to two side walls of the guide rail; the first clamping member can drive the first clamping portion to approach the side wall of the guide rail, and the second clamping member can drive the second clamping portion to approach the corresponding side wall of the guide rail.
3. The underground rail-mounted inspection robot for coal mines according to claim 1, characterized in that: The elastic wheel assembly includes a bracket, the wheel axle, and the elastic element; The bracket is fixedly installed on the inner side wall; the bracket has an upper sliding hole and a lower sliding hole; the upper end of the wheel axle is slidably installed in the upper sliding hole along the direction close to or away from the side wall of the guide rail, and the lower end of the wheel axle is slidably installed in the lower sliding hole along the direction close to or away from the side wall of the guide rail. The elastic element includes a first compression spring and a second compression spring; the first compression spring is located in the upper sliding hole on the side of the upper end of the axle away from the guide rail sidewall, and one end of the first compression spring can push the upper end of the axle towards the guide rail sidewall; the second compression spring is located in the lower sliding hole on the side of the lower end of the axle away from the guide rail sidewall, and one end of the second compression spring can push the lower end of the axle towards the guide rail sidewall; the rolling surface of the abutment wheel on the axle elastically abuts against the guide rail sidewall.
4. The underground rail-mounted inspection robot for coal mines according to claim 1, characterized in that: The drive wheel is fixedly mounted on the drive wheel shaft, and the drive wheel shaft is rotatably mounted on the first bearing seat via the first bearing. The first bearing seat is fixedly mounted on the corresponding inner sidewall. The driven wheel is fixedly mounted on the driven wheel shaft, and the driven wheel shaft is rotatably mounted on the second bearing seat via the second bearing. The second bearing seat is fixedly mounted on the corresponding inner sidewall.
5. The underground rail-mounted inspection robot for coal mines according to claim 4, characterized in that: An electromagnetic brake is also installed on the drive wheel axle.
6. The underground rail-mounted inspection robot for coal mines according to claim 1, characterized in that: The inspection robot body has an attitude sensor, and both the attitude sensor and the active actuator are communicatively connected to the controller of the inspection robot body.
7. The underground rail-mounted inspection robot for coal mines according to claim 4, characterized in that: The active driver includes a drive motor, a first transmission wheel, a second transmission wheel, and a transmission belt; The suspension body includes a bottom box, a first side plate, and a second side plate; the first side plate and the second side plate are arranged opposite to each other and fixedly disposed on both sides of the bottom box; the first side plate and the second side plate are each provided with a driving wheel and a driven wheel; the first side plate has a first cavity, the second side plate has a second cavity, and both the first cavity and the second cavity are in communication with the interior of the bottom box; The drive motor is fixedly installed in the bottom housing. The first transmission wheel is fixed on the output shaft of the drive motor, and the second transmission wheel is fixed on the drive wheel shaft. The first transmission wheel and the second transmission wheel are both located in the corresponding first cavity or second cavity. The transmission belt is sleeved on the first transmission wheel and the second transmission wheel.
8. The underground rail-mounted inspection robot for coal mines according to claim 4, characterized in that: A pressure sensor is provided between the outer ring of the first bearing and the first bearing housing.
9. The underground rail-mounted inspection robot for coal mines according to claim 2, characterized in that: The first clamping member includes a first gripper and a first telescopic rod; the second clamping member includes a second gripper and a second telescopic rod. The first gripper and the second gripper are disposed opposite to each other, and both the first gripper and the second gripper are slidably disposed on the slide rail; the output end of the first telescopic rod is connected to the first gripper, the first clamping part is located on the first gripper, and the output end of the first telescopic rod is used to drive the first clamping part on the first gripper to move towards the side wall of the guide rail; the output end of the second telescopic rod is connected to the second gripper, the second clamping part is located on the second gripper, and the output end of the second telescopic rod is used to drive the second clamping part on the second gripper to move towards the side wall of the guide rail.
10. The underground rail-mounted inspection robot for coal mines according to claim 7, characterized in that: The bottom housing is equipped with a backup power supply, and the inspection robot body has a power supply device. Both the power supply device and the backup power supply can supply power to the active driver.