A coal mine underground explosion-proof cleaning and inspection robot

Abstract

This utility model provides an explosion-proof cleaning and inspection robot for underground coal mines, belonging to the field of underground inspection equipment. It includes a vehicle body with wheels at its four corners. An explosion-proof control box is fixed to the front of the vehicle body. The robot features a shock-absorbing mechanism between adjacent wheels, and functional components at its moving front end. These components include a voice communication and amplification unit, a detection unit for monitoring various data related to the underground coal mine environment, and a trigger operation unit accessible to the operator. An operating mechanism with buttons for wide-area monitoring of the surrounding environment and operation is located at the moving rear end of the vehicle body. This utility model, by configuring SICK navigation, ultrasonic sensors, and other sensor devices, enables flexible response to static and dynamic obstacles in the environment and allows for real-time reactions, maximizing the safety of the robot itself, personnel, and facilities.

Description

Technical Field

[0001] This utility model relates to underground inspection equipment technology, specifically a coal mine underground explosion-proof cleaning and inspection robot. Background Technology

[0002] In the underground environment of coal mines, real-time and effective monitoring of the operating parameters of equipment such as substations and pump rooms is crucial for ensuring stable equipment operation and is a prerequisite for safe production. Currently, most underground coal mines rely on manual inspections, using manual meter readings, record-keeping, and some auxiliary testing instruments to check the equipment. Given the large number and variety of equipment, the inspection work is not only labor-intensive and poses safety hazards, but also carries the risk of failing to detect potential equipment problems in a timely manner due to various errors.

[0003] The existing equipment for monitoring environmental indicators in coal mines has the following problems: Due to the large variety of equipment to be monitored, manual inspections are labor-intensive; the environment is complex, posing safety hazards; and manual operation is prone to various errors, leading to the failure to fully and promptly detect equipment hazards. Therefore, we propose an explosion-proof cleaning and inspection robot for underground coal mines to solve the problems mentioned above. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an explosion-proof cleaning and inspection robot for underground coal mines, thereby solving the problems mentioned in the background section.

[0005] The objective of this utility model can be achieved through the following technical solution: It includes a vehicle body with an outer shell. Wheels are located at the four corners of the vehicle body. An explosion-proof control box is fixed to the front end of the vehicle body. A shock-absorbing mechanism is located between two adjacent wheels. Functional components are located at the moving front end of the vehicle body. These functional components include a voice component for voice communication and amplification, a detection component for detecting various data of the underground coal mine environment, and a trigger operation component that can be used by the operator. An operating mechanism is located at the moving rear end of the vehicle body, which allows for wide-range monitoring of the surrounding environment and operation of buttons. The operating mechanism includes at least two parallel longitudinal linear modules. A ground cleaning component for sweeping and dust removal is also located at the bottom rear side of the vehicle body.

[0006] Preferably, the voice component includes an intrinsically safe mining speaker located at the center of the top of the vehicle body, a voice interaction intercom located next to the intrinsically safe mining speaker, an electrical component bracket located in front of the intrinsically safe speaker, the electrical component bracket being fixedly connected to the top of the explosion-proof control box, and an intrinsically safe voice alarm located in front of the top of the electrical component bracket.

[0007] Preferably, the detection components include a multi-parameter sensor, a SICK navigation module, and a humidity sensor mounted on an electrical component bracket, and an ultrasonic sensor is also mounted on the front side of the vehicle body.

[0008] Preferably, the triggering operation component includes a screen explosion-proof shell fixed to the front of the top of the explosion-proof control box, a screen body is disposed inside the screen explosion-proof shell, and a charger receiver is disposed in the middle of the front end of the vehicle body.

[0009] Preferably, the operating mechanism includes transverse linear modules symmetrically arranged on the left and right sides of the vehicle body via connecting plates. The movable frame of the transverse linear module is fixed to the longitudinal linear module. The movable frame of the longitudinal linear module is respectively provided with a rotating fixed seat, a gimbal mounting frame, and a push rod device. The rotating fixed seat is located between adjacent gimbal mounting frames and push rod devices. A camera is provided on the top of the rotating fixed seat. A dual-light gimbal that can rotate in two directions is provided on the gimbal mounting frame. A rotating component for driving the output rod of the push rod device to rotate is provided on one side of the rotating fixed seat.

[0010] Preferably, the rotating component includes a first reducer and a rotary motor fixed on a rotating base. The input end of the first reducer is fixedly connected to the output end of the rotary motor, and the output end of the reducer is connected to a gear module.

[0011] Preferably, the floor cleaning component includes two sets of scrapers symmetrically distributed on the bottom of the vehicle body. A dustbin fixing seat is provided at the rear of the vehicle body. A fan body and a fan motor for driving the fan body are fixed on the top of the dustbin fixing seat. An upper dustbin is fixed on the bottom of the dustbin fixing seat. A lower dustbin is detachably fixed at the lower opening of the upper dustbin.

[0012] Preferably, the shock absorption mechanism includes a crank that rotates around the vehicle body and is close to one of the wheels. The crank has a connecting shock absorption section on both sides of the vehicle body and between two adjacent wheels. A shock absorber is provided between the connecting shock absorption section and the two adjacent cranks. A support frame is fixed to one end of the crank and the support frame is connected to the adjacent wheel.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. By configuring SICK navigation, ultrasonic sensors and other sensor devices, it can flexibly respond to static and dynamic obstacles in the environment and react in real time, so as to maximize the safety of the robot itself, people and facilities.

[0015] 2. The ground cleaning components can actively clean up environmental dust during the movement process to ensure a clean and tidy underground environment.

[0016] 3. Through the set operating mechanism, functions such as scanning codes, meter reading and recording, and rotating and pressing buttons can be realized, which can replace manual recording and use some supporting testing instruments to inspect the equipment in the station. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the hidden outer shell in this utility model;

[0020] Figure 3 This is a rear-view three-dimensional structural diagram of the hidden outer shell in this utility model;

[0021] Figure 4 This is a three-dimensional structural diagram of the operating mechanism in this utility model.

[0022] In the diagram: 1. Outer shell; 2. Vehicle body; 3. Ultrasonic sensor; 4. Intrinsically safe speaker for mining; 5. Voice interactive intercom; 6. Explosion-proof control box; 7. Charger receiver; 8. Wheel; 9. Support frame; 10. Fourth reducer; 11. Crank; 12. Drive motor; 13. Shock absorber; 14. Continuous shock absorber; 15. Emergency stop button; 16. Explosion-proof shell for screen; 17. Screen body; 18. Intrinsically safe voice alarm; 19. Multi-parameter sensor; 20. SICK navigation module; 21. Electrical component bracket; 22. Humidity sensor; 23. Lifting ring; 24. 25. Operating mechanism; 26. Dustbin mounting base; 27. Upper dustbin; 28. Lower dustbin; 29. ​​Fan body; 30. Fan motor; 31. Scraper; 32. Silencer; 33. Lifting shaft drive frame; 34. Longitudinal linear module; 35. Dual-light gimbal; 36. Gimbal mounting frame; 37. Camera; 38. Gear module; 39. Rotary mounting base; 40. First reducer; 41. Rotary motor; 42. Push rod device; 43. Longitudinal movement motor; 44. Third reducer; 45. Second reducer; 46. Lateral movement motor; 47. Lateral linear module. Detailed Implementation

[0023] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Please see Figures 1-4As shown, a coal mine underground explosion-proof cleaning and inspection robot includes a vehicle body 2, an outer shell 1, and a lifting ring 23 for hoisting. Wheels 8 are located at the four corners of the vehicle body 2. An explosion-proof control box 6 is fixed at the front end of the vehicle body 2. A shock-absorbing mechanism is set between two adjacent wheels 8. Functional components are located at the moving front end of the vehicle body 2. The functional components include a voice component for voice communication and amplification, a detection component for detecting various data of the underground coal mine environment, and a trigger operation component that can be used by the operator. An operation mechanism 24 is located at the moving rear end of the vehicle body 2, which can monitor the surrounding environment of the vehicle body 2 over a wide area and operate buttons. The operation mechanism 24 includes at least two parallel longitudinal linear modules 33. A ground cleaning component for sweeping and dust removal is also set at the bottom rear side of the vehicle body 2.

[0025] In this embodiment, the voice component includes an intrinsically safe mining speaker 4 located at the center of the top of the vehicle body 2. A voice interaction intercom 5 is also located next to the intrinsically safe mining speaker 4. An electrical component bracket 21 is also located in front of the intrinsically safe mining speaker 4. The electrical component bracket 21 is fixedly connected to the top of the explosion-proof control box 6. An intrinsically safe voice alarm 18 is located in front of the top of the electrical component bracket 21. By using intrinsically safe equipment for both the speaker and the voice alarm, the risk of fire caused by the introduction of the inspection robot is reduced, ensuring underground safety. The voice component facilitates remote voice communication between the ground monitoring center and the robot, and also facilitates the realization of human-machine voice interaction functions underground.

[0026] In this embodiment, the detection components include a multi-parameter sensor 19, a SICK navigation module 20, and a humidity sensor 22 mounted on the electrical component bracket 21. An ultrasonic sensor 3 is also mounted on one side of the front end of the vehicle body 2. By mounting several sensors, it is convenient to detect various data of the underground environment and to guide the inspection vehicle.

[0027] In this embodiment, the triggering operation component includes a screen explosion-proof shell 16 fixed on the front side of the top of the explosion-proof control box 6, a screen body 17 is provided inside the screen explosion-proof shell 16, a charger receiver 7 is also provided in the middle of the front end of the vehicle body 2, the charger receiver 7 is used to supply power to the robot vehicle body 2, and a physical start and stop emergency stop button 15 is also provided on one side of the vehicle body 2 near the wheel 8, which is used to manually trigger the stop when needed.

[0028] In this embodiment, the operating mechanism 24 includes transverse linear modules 46 symmetrically arranged on the left and right sides of the vehicle body 2 via connecting plates. A transverse moving motor 45 and a second reducer 44 are also mounted on the transverse linear modules 46. The transverse moving motor 45 drives the transverse linear modules 46 through the second reducer 44. The transverse linear modules 46 are used for short-distance control of the movement of the dual-light gimbal 34 and the camera 36 in the direction of travel of the vehicle body 2. The moving frame of the transverse linear modules 46 is fixed to the longitudinal linear module 33. A longitudinal moving motor 42 and a third reducer 43 are also mounted on the longitudinal linear module 33. A lifting shaft drive frame 32 for supporting the internal lead screw is also provided outside the longitudinal linear module 33. The longitudinal moving motor 42 drives the longitudinal linear module 33 through the third reducer 43. The moving frame of the longitudinal linear module 33 is respectively equipped with… The device includes a rotating mounting base 38, a gimbal mounting frame 35, and a push rod device 41. The push rod device 41 is specifically an electric cylinder, the end of which can drive a pressing plate to extend, thus enabling the function of pressing a button. The rotating mounting base 38 is located between the adjacent gimbal mounting frame 35 and the push rod device 41. The gimbal mounting frame 35 is equipped with a dual-light gimbal 34 that can rotate in two directions. The dual-light gimbal 34 has both visible light imaging and thermal imaging functions, which is convenient for observing the surrounding environment under different lighting conditions. A rotating component is provided on one side of the rotating mounting base 38 to drive the output rod of the push rod device 41 to rotate. When monitoring the external environment, the height and position of the dual-light gimbal 34 and the camera 36 can be adjusted by the horizontal linear module 46 and the vertical linear module 33, respectively. The camera 36 can provide scanning functions, such as scanning QR codes on objects, which can easily identify objects and scenes.

[0029] In this embodiment, the rotating component includes a first reducer 39 and a rotary motor 40 fixed on a rotating fixed base 38. The input end of the first reducer 39 is fixedly connected to the output end of the rotary motor 40. The output end of the first reducer 39 is connected to a gear module 37, which consists of two meshing parallel spur gears or helical gears. One of the gears is fixed to the output end of the first reducer 39, and the other is fixedly connected to the rod body of the push rod device 41. Driven by the rotary motor 40, the end of the push rod device 41 can be extended and rotated, which facilitates the rotation of the button when the button is pressed to realize the start and stop control function of the button.

[0030] In this embodiment, the ground cleaning component includes two sets of scrapers 30 symmetrically distributed at the bottom of the vehicle body 2. A dustbin mounting base 25 is provided at the rear of the vehicle body 2. A fan body 28 and a fan motor 29 driving the fan body 28 are fixedly mounted on the top of the dustbin mounting base 25. A muffler 31 is also provided on one side of the fan body 28 and located on the vehicle body 2. The muffler 31 is used to reduce the noise generated by the fan body 28 when it is working. An upper dustbin 26 is fixedly mounted at the bottom of the dustbin mounting base 25. A lower dustbin 27 is detachably fixed at the lower opening of the upper dustbin 26. The scrapers 30 are located on the vehicle body 2. The bottom height is adjustable. After adjustment, the scraper 30 moves synchronously with the vehicle body 2 to sweep and push the dust on both sides of the ground. The pushing causes the dust to float and is driven by the started fan motor 29. The dust inlet pipe is set at the inlet and outlet of the fan body 28 and faces the ground vertically. The floating dust is sucked in through the dust inlet pipe and enters the dust cylinder through the dust outlet pipe on the fan body 28. When the dust cylinder needs to be cleaned, the lower dust cylinder 27 can be disassembled to clean the dust concentrated in the lower dust cylinder 27, which makes it easier for the robot to clean the underground ground during movement.

[0031] In this embodiment, the shock absorption mechanism includes a crank 11 that rotates around the vehicle body 2 and is close to one of the wheels 8. A shock absorption section 14 is provided on both sides of the crank 11 and between two adjacent wheels 8. A shock absorber 13 is provided between the shock absorption section 14 and the two adjacent cranks 11. A support frame 9 is fixed at one end of the crank 11 and is connected to the adjacent wheel 8. A tire drive motor 12 and a fourth reducer 10 are installed on one side of the wheel 8 through a connecting member. The tire drive motor 12 provides independent drive to the wheel 8 through the fourth reducer 10. Through the cooperation of the shock absorber 13 and the crank 11, shock absorption can be performed on the wheels 8 around the vehicle body 2, and the electrical equipment on the vehicle can be protected.

[0032] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A coal mine underground explosion-proof cleaning and inspection robot, comprising a vehicle body (2), an outer shell (1) provided on the outside of the vehicle body (2), wheels (8) provided at the four lower corners of the vehicle body (2), and an explosion-proof control box (6) fixedly provided at the front end of the vehicle body (2), characterized in that, A shock-absorbing mechanism is provided between two adjacent wheels (8). A functional component is provided at the moving front end of the vehicle body (2). The functional component includes a voice component, a detection component, and a trigger operation component. An operation mechanism (24) is provided at the moving rear end of the vehicle body (2) to monitor the surrounding environment of the vehicle body (2) over a wide area and operate the buttons. The operation mechanism (24) includes at least two parallel longitudinal linear modules (33). A ground cleaning component for sweeping and dust removal is also provided at the bottom rear side of the vehicle body (2).

2. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 1, characterized in that, The voice component includes an intrinsically safe mining speaker (4) located at the center of the top of the vehicle body (2), a voice interaction intercom (5) located next to the intrinsically safe mining speaker (4), an electrical component bracket (21) located in front of the intrinsically safe mining speaker (4), the electrical component bracket (21) being fixedly connected to the top of the explosion-proof control box (6), and an intrinsically safe voice alarm (18) located in front of the top of the electrical component bracket (21).

3. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 2, characterized in that, The detection components include a multi-parameter sensor (19), a SICK navigation module (20), and a humidity sensor (22) mounted on an electrical component bracket (21). An ultrasonic sensor (3) is also mounted on the front side of the vehicle body (2).

4. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 3, characterized in that, The triggering operation component includes a screen explosion-proof shell (16) fixed on the front side of the top of the explosion-proof control box (6), and a screen body (17) is provided inside the screen explosion-proof shell (16). A charger receiver (7) is also provided in the middle of the front end of the vehicle body (2).

5. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 4, characterized in that, The operating mechanism (24) includes transverse linear modules (46) symmetrically arranged on the left and right sides of the vehicle body (2) via connecting plates. The moving frame of the transverse linear module (46) is fixed to the longitudinal linear module (33). The moving frame of the longitudinal linear module (33) is provided with a rotating fixed seat (38), a gimbal mounting frame (35), and a push rod device (41). The rotating fixed seat (38) is located between the adjacent gimbal mounting frame (35) and the push rod device (41). A camera (36) is provided on the top of the rotating fixed seat (38). A dual-light gimbal (34) that can rotate in two directions is provided on the gimbal mounting frame (35). A rotating component for driving the output rod of the push rod device (41) to rotate is provided on one side of the rotating fixed seat (38).

6. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 5, characterized in that, The rotating component includes a first reducer (39) and a rotary motor (40) fixed on a rotating fixed base (38). The input end of the first reducer (39) is fixedly connected to the output end of the rotary motor (40), and the output end of the first reducer (39) is connected to a gear module (37).

7. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 6, characterized in that, The ground cleaning component includes two sets of scrapers (30) symmetrically distributed at the bottom of the vehicle body (2). A dustbin fixing seat (25) is provided at the rear of the vehicle body (2). A fan body (28) and a fan motor (29) that drives the fan body (28) are fixed at the top of the dustbin fixing seat (25). An upper dustbin (26) is fixed at the bottom of the dustbin fixing seat (25). A lower dustbin (27) is detachably fixed at the lower opening of the upper dustbin (26).

8. The explosion-proof cleaning and inspection robot for underground coal mines according to claim 7, characterized in that, The shock absorption mechanism includes a crank (11) that rotates around the vehicle body (2) and is close to one of the wheels (8). The crank (11) is provided with a connecting shock absorption part (14) on both sides of the vehicle body (2) and between two adjacent wheels (8). A shock absorber (13) is provided between the connecting shock absorption part (14) and the two adjacent cranks (11). A support frame (9) is fixed at one end of the crank (11) and the support frame (9) is connected to the adjacent wheel (8).

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