A wheeled inspection robot for underground coal mines

Abstract

This utility model discloses a wheeled inspection robot for underground coal mines, comprising a wheel frame, a hemispherical cover, a horizontal plate, drive wheels, an environmental monitoring module, a positioning module, a communication module, a cylinder, a camera, a lighting lamp, and a control module. The robot employs a three-set, equally spaced circular wheel frame layout, achieving precise movement through a servo motor and sprocket drive system. The environmental monitoring module integrates gas, temperature, humidity, and dust sensors to monitor underground gas and dust concentrations in real time. The cylinder houses a control module, a battery, and a thermal runaway suppression module to ensure safe operation. This utility model can automatically perform underground inspection tasks, providing real-time environmental data and high-definition images, effectively improving the efficiency and reliability of coal mine safety monitoring and reducing the risks associated with manual inspections.

Description

Technical Field

[0001] This utility model relates to the field of coal mine safety technology, specifically to a wheeled inspection robot for underground coal mines. Background Technology

[0002] Coal mines present complex underground environments with high-risk hazards such as gas leaks, dust explosions, and collapses. Traditional manual inspection methods rely on workers venturing deep into the tunnels, which is not only inefficient and has limited coverage but also poses threats to personal safety. Existing inspection equipment, such as fixed sensor networks or simple mobile robots, often fails to operate stably due to rugged underground terrain and strong signal interference; these devices also lack integrated environmental monitoring, real-time positioning, and autonomous obstacle avoidance capabilities. Furthermore, the high temperature, high humidity, and flammable environment underground can easily lead to equipment malfunctions or battery thermal runaway, further increasing the risk of accidents. To address these issues, there is an urgent need for a multifunctional, highly reliable wheeled inspection robot to achieve fully autonomous underground inspections and ensure safe production in coal mines.

[0003] No effective solutions have yet been proposed to address the problems in the relevant technologies. Utility Model Content

[0004] In view of the problems in related technologies, this utility model proposes a wheeled inspection robot for underground coal mines to overcome the aforementioned technical problems existing in the existing related technologies.

[0005] Therefore, the specific technical solution adopted by this utility model is as follows:

[0006] A wheeled inspection robot for underground coal mines includes a wheel frame with a hemispherical cover on top. A horizontal plate is installed at the center of the wheel frame, and a drive wheel is rotatably installed at the bottom of the wheel frame. An environmental monitoring module, a positioning module, and a communication module are sequentially installed on three sets of wheel frames in a clockwise direction. A cylinder is fixedly connected to the top of the horizontal plate, and a camera is installed at the top of the cylinder. A lighting lamp is installed on the outer side of the upper end of the cylinder, and a control module is provided on the upper inner side of the cylinder.

[0007] As a further embodiment of this utility model, the three sets of wheel frames are arranged at equal intervals around the circumference, and the wheel frames are fixedly connected by connecting rods.

[0008] As a further embodiment of this utility model, both the wheel frame and the outer side of the hemispherical cover are provided with fixing ears, and the hemispherical cover is transparent.

[0009] As a further embodiment of this utility model, the environmental monitoring module includes a gas sensor, a temperature and humidity sensor, and a dust sensor. The gas sensor is used to detect the concentration of methane gas in the well, and the dust sensor is used to detect the concentration of dust in the well.

[0010] As a further embodiment of this utility model, the lighting lamp and the camera are electrically connected to the control module.

[0011] As a further embodiment of this utility model, a partition is fixedly connected to the upper inner side of the cylinder, a storage battery is installed on the inner edge of the cylinder, and a thermal runaway suppression module is installed at the center of the cylinder.

[0012] As a further embodiment of this utility model, a mounting plate is fixedly connected to the top of the wheel frame, a servo motor is mounted on the top of the mounting plate, a first sprocket is fixedly connected to the end of the main shaft of the servo motor, a chain is meshed with the outer side of the first sprocket, a second sprocket is mounted on the inner side of the other end of the chain, and the second sprocket is fixedly connected to the drive wheel.

[0013] The beneficial effects of this utility model are as follows:

[0014] This utility model includes core components such as a wheel frame, a hemispherical cover, a horizontal plate, drive wheels, and an environmental monitoring module. The environmental monitoring module (including a gas sensor, a temperature and humidity sensor, and a dust sensor) monitors the underground gas and dust concentrations in real time. Combined with a positioning module (such as GPS or UWB positioning) and a communication module (such as 5G or LoRa), it enables remote data transmission, facilitating timely warnings of dangerous situations and reducing the risk of explosions. The three sets of wheel frames are circumferentially spaced and reinforced with connecting rods and a servo motor drive system (first sprocket, chain, and second sprocket) to ensure the robot can adapt to rugged underground terrain. The drive wheels use hub motors and disc brakes. Combined with airbag shock-absorbing suspension, it enhances obstacle-crossing ability and stability; the camera and lighting, controlled by the control module, can capture high-definition tunnel images in dim environments, assisting in remote monitoring; the thermal runaway suppression module (with built-in inert gas or dry powder material) automatically activates in case of battery abnormality, suppressing combustion and ensuring equipment endurance and safety; the transparent hemispherical cover design facilitates observation, and the internal partitions of the cylinder separate functional areas, with a reasonable layout of the battery and thermal runaway suppression module, extending equipment life; the fixed ear design simplifies installation and maintenance. This inspection robot overcomes the limitations of traditional inspections, achieving fully automated, high-precision underground monitoring, and significantly improving the level of safe operation in coal mines. Attached Figure Description

[0015] 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.

[0016] Figure 1 This is a schematic diagram of the overall structure of a wheeled inspection robot for underground coal mines according to an embodiment of the present utility model;

[0017] Figure 2 This is a schematic diagram of the drive structure of the drive wheel of a wheeled inspection robot for underground coal mines according to an embodiment of the present utility model.

[0018] Figure 3 This is a schematic diagram showing the positions of the environmental monitoring module, positioning module, and communication module of a wheeled inspection robot for underground coal mines according to an embodiment of the present utility model.

[0019] Figure 4 This is a schematic diagram of the battery installation position of a wheeled inspection robot for underground coal mines according to an embodiment of the present utility model.

[0020] Figure 5 This is a schematic diagram of the overall structure of the hemispherical cover of a wheeled inspection robot for underground coal mines according to an embodiment of the present utility model.

[0021] In the picture:

[0022] 1. Wheel frame; 2. Connecting rod; 3. Mounting plate; 4. Servo motor; 5. First sprocket; 6. Chain; 7. Second sprocket; 8. Drive wheel; 9. Environmental monitoring module; 10. Positioning module; 11. Communication module; 12. Cylinder; 13. Lighting lamp; 14. Camera; 15. Partition plate; 16. Control module; 17. Battery; 18. Thermal runaway suppression module; 19. Hemispherical cover; 20. Horizontal plate. Detailed Implementation

[0023] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0024] According to an embodiment of this utility model, a wheeled inspection robot for underground coal mines is provided.

[0025] Please refer to the instruction manual appendix. Figure 1-5According to an embodiment of the present invention, a wheeled inspection robot for underground coal mines includes a wheel frame 1, a hemispherical cover 19 on the top of the wheel frame 1, a horizontal plate 20 installed at the center of the wheel frame 1, a drive wheel 8 rotatably installed at the bottom of the wheel frame 1, an environmental monitoring module 9, a positioning module 10 and a communication module 11 sequentially installed in a clockwise direction on three sets of the wheel frames 1, a cylinder 12 fixedly connected to the top of the horizontal plate 20, a camera 14 installed at the top of the cylinder 12, a lighting lamp 13 installed on the outer side of the upper end of the cylinder 12, and a control module 16 provided on the upper inner side of the cylinder 12.

[0026] Wheel frame system: Three sets of wheel frames 1 are fixed at equal intervals around the circumference (120° included angle) and welded together by connecting rods 2 to enhance rigidity. Drive wheels 8 are mounted at the bottom of wheel frames 1. These drive wheels are made of wear-resistant rubber and integrate a hub motor. A mounting plate 3 is fixed at the top of wheel frames 1, and a servo motor 4 is bolted to it. The servo motor spindle is connected to the first sprocket 5, and a chain 6 engages with the second sprocket 7 to transmit power to the drive wheels 8. This system supports bidirectional drive and emergency stop, making it suitable for narrow underground tunnels.

[0027] Upper component integration: A cylindrical body 12 is fixed on a horizontal plate 20 at the center of the wheel frame. A camera 14 (e.g., a 1080P high-definition lens) is installed at the top of the cylindrical body, and an LED light 13 is installed on the outside, controlled by a control module 16 via circuitry. The upper inner side of the cylindrical body is divided into spaces by a partition 15: a battery 17 is installed along the edge, and a thermal runaway suppression module 18 (filled with inert gas, automatically released when the temperature exceeds 70°C) is located at the center. A hemispherical dome 19 covers the entire structure; the transparent acrylic material facilitates observation, and it is locked to the wheel frame by fixing lugs.

[0028] Module layout: An environmental monitoring module 9 (integrating a MEMS gas sensor and temperature and humidity sensor), a positioning module 10 (supporting inertial navigation), and a communication module 11 (4G / WiFi dual-mode) are installed clockwise on the wheel frame. All modules are coordinated through the control module 16 to achieve data acquisition and transmission.

[0029] In one embodiment, please refer to the appendix to the specification. Figure 1-5 As a further embodiment of this utility model, the three sets of wheel frames 1 are arranged at equal intervals around the circumference, and the wheel frames 1 are fixedly connected by connecting rods 2.

[0030] In one embodiment, please refer to the appendix to the specification. Figure 1-5 As a further embodiment of this utility model, both the wheel frame 1 and the outer side of the hemispherical cover 19 are provided with fixing ears, and the hemispherical cover 19 is transparent.

[0031] In one embodiment, please refer to the appendix to the specification. Figure 1-5As a further embodiment of this utility model, the environmental monitoring module 9 includes a gas sensor, a temperature and humidity sensor, and a dust sensor. The gas sensor is used to detect the concentration of methane gas in the well, and the dust sensor is used to detect the concentration of dust in the well.

[0032] It can comprehensively monitor key environmental parameters downhole and promptly detect potential safety hazards.

[0033] In one embodiment, please refer to the appendix to the specification. Figure 1-5 As a further embodiment of this utility model, the lighting lamp 13 and the camera 14 are electrically connected to the control module 16 respectively.

[0034] The lighting module can provide illumination in the dimly lit underground environment, and the camera is used to capture images of the underground tunnels for remote observation.

[0035] In one embodiment, please refer to the appendix to the specification. Figure 1-5 As a further embodiment of this utility model, a partition plate 15 is fixedly connected to the upper inner side of the cylinder 12, a storage battery 17 is installed on the inner edge of the cylinder 12, and a thermal runaway suppression module 18 is installed at the center of the cylinder 12.

[0036] The battery supplies power to the robot's various electrical modules, ensuring the robot's endurance. The thermal runaway suppression module 18 is filled with a pre-set fire extinguishing material (such as inert gas, dry powder, or fluoride), which is released rapidly when an alarm is triggered to suppress the combustion reaction and cool down.

[0037] In one embodiment, please refer to the appendix to the specification. Figure 1-5 As a further embodiment of this utility model, a mounting plate 3 is fixedly connected to the top of the wheel frame 1, a servo motor 4 is mounted on the top of the mounting plate 3, a first sprocket 5 is fixedly connected to the end of the main shaft of the servo motor 4, a chain 6 is meshed with the outer side of the first sprocket 5, a second sprocket 7 is mounted on the inner side of the other end of the chain 6, and the second sprocket 7 is fixedly connected to the drive wheel 8.

[0038] This allows for precise control of the direction of the drive wheels, which use hub motors and disc brakes. An air-cushioned suspension is installed on the upper side of the drive wheels.

[0039] During operation, the robot is started via remote command or timed task. Control module 16 initializes the system: battery 17 provides power, servo motor 4 performs self-test, environmental monitoring module 9 calibrates sensors (e.g., gas detection range 0-100% LEL), and thermal runaway suppression module 18 monitors battery temperature in real time, triggering suppression mechanisms in case of abnormalities. The robot moves along a preset path (e.g., underground main roadway). The servo motor drives the first sprocket 5, which in turn drives the second sprocket 7 and drive wheel 8 via chain 6, achieving forward / turning. Airbag shock-absorbing suspension absorbs vibrations, ensuring smooth operation. Simultaneously, environmental monitoring module 9 collects real-time data on gas concentration, dust, and temperature and humidity; camera 14 captures images, and lighting 13 automatically provides supplemental lighting in low-light environments. Positioning module 10 tracks the robot's position (accuracy ±0.5m), and control module 16 integrates environmental data (e.g., when dust concentration exceeds the standard) and images. Communication module 11 encrypts and transmits data to the ground monitoring center, supporting real-time alarms (e.g., triggering a warning when gas concentration > 1%). A single charge provides ≥ 8 hours of battery life. After the inspection, the robot returns to the charging point. If a fire source or battery overheating is detected, the thermal runaway suppression module 18 releases fire extinguishing material, and the communication module sends an emergency signal. This system enables unattended inspections with a coverage rate of over 95%.

[0040] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A coal mine underground wheeled inspection robot comprising a wheel frame (1), characterized in that: A hemispherical cover (19) is provided above the wheel frame (1). A horizontal plate (20) is installed at the center of the wheel frame (1). A drive wheel (8) is rotatably installed at the bottom of the wheel frame (1). An environmental monitoring module (9), a positioning module (10), and a communication module (11) are installed in the three sets of wheel frames (1) in a clockwise direction. A cylinder (12) is fixedly connected to the top of the horizontal plate (20). A camera (14) is installed at the top of the cylinder (12). A lighting lamp (13) is installed on the outer side of the upper end of the cylinder (12). A control module (16) is provided on the upper inner side of the cylinder (12).

2. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: The three sets of wheel frames (1) are arranged at equal intervals around the circumference, and the wheel frames (1) are fixedly connected by connecting rods (2).

3. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: Both the wheel frame (1) and the outer side of the hemispherical cover (19) are provided with fixing ears, and the hemispherical cover (19) is transparent.

4. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: The environmental monitoring module (9) includes a gas sensor, a temperature and humidity sensor, and a dust sensor. The gas sensor is used to detect the concentration of methane gas in the well, and the dust sensor is used to detect the concentration of dust in the well.

5. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: The lighting lamp (13) and the camera (14) are electrically connected to the control module (16).

6. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: A partition plate (15) is fixedly connected to the upper inner side of the cylinder (12), a storage battery (17) is installed on the inner edge of the cylinder (12), and a thermal runaway suppression module (18) is installed at the center of the cylinder (12).

7. The coal mine underground wheeled inspection robot according to claim 1, characterized in that: A mounting plate (3) is fixedly connected to the top of the wheel frame (1). A servo motor (4) is mounted on the top of the mounting plate (3). A first sprocket (5) is fixedly connected to the end of the main shaft of the servo motor (4). A chain (6) is meshed with the outer side of the first sprocket (5). A second sprocket (7) is mounted on the inner side of the other end of the chain (6). The second sprocket (7) is fixedly connected to the drive wheel (8).

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