Anti-skid device for coal conveying inspection robot

Abstract

The utility model discloses a kind of antiskid devices for coal conveying inspection robot, it is related to inspection robot technical field, and wherein, antiskid device for coal conveying inspection robot includes base, moving mechanism and antiskid mechanism, moving mechanism includes first wheel and second wheel, the outer wall of first wheel is provided with first clamping groove, the outer wall of second wheel is provided with second clamping groove, antiskid mechanism includes drive assembly, first limiting component and second limiting component.The utility model's technical scheme is by being respectively provided with first clamping groove and second clamping groove in the outer wall of first wheel and second wheel, and cooperate rotatable installation first limiting component and second limiting component, the effective conversion of first wheel and second wheel rotating state is realized, limit wheel skidding or idling, form active antiskid mechanism, effectively prevent robot from skidding, out of control or falling accident due to insufficient ground friction, improve robot overall operation stability.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to an anti-slip device for a coal conveying inspection robot. Background Technology

[0002] In modern industrial systems, coal conveying systems serve as crucial infrastructure in industries such as thermal power, metallurgy, and chemicals. Their efficient, stable, and safe operation directly impacts the continuity and reliability of the entire production process. Therefore, inspection is indispensable for ensuring the safety and reliability of the coal conveying process. With the continuous improvement of intelligence and automation levels, traditional manual inspection methods are no longer sufficient to meet the inspection needs under complex operating conditions. Consequently, coal conveying inspection robots have gradually become key equipment for ensuring the safe operation of coal conveying systems. These robots can replace manual labor in real-time monitoring of coal conveyor belts, promptly detecting common faults such as belt tears, slippage, and misalignment, thereby effectively preventing major safety accidents and playing a vital role in improving operational efficiency and safety.

[0003] However, with the increasing complexity of application environments, existing inspection robots still face many challenges in actual operation. Especially in harsh environments such as cinder piles, slippery water stains, and walking at heights, robots are prone to instability and falls from heights, leading to equipment damage, task interruption, and in severe cases, secondary accidents. Utility Model Content

[0004] The main purpose of this invention is to propose an anti-slip device for a coal conveying inspection robot, which aims to solve the problem of how to improve the operational stability of the coal conveying inspection robot under complex working conditions.

[0005] To achieve the above objectives, this utility model proposes an anti-slip device for a coal conveying inspection robot, which includes:

[0006] Base;

[0007] The moving mechanism includes a first wheel and a second wheel, both of which are rotatably mounted on the base. The first wheel and the second wheel are arranged at intervals along a first direction. The outer wall of the first wheel is provided with a first groove, and the outer wall of the second wheel is provided with a second groove.

[0008] The anti-slip mechanism includes a drive component, a first limiting component, and a second limiting component. The drive component is connected to the base. Both the first and second limiting components are rotatably mounted on the base. Both the first and second limiting components are connected to the drive component for transmission. The drive component can drive the first limiting component to engage or disengage with the first slot, and the drive component can drive the second limiting component to engage or disengage with the second slot.

[0009] In one embodiment, the first limiting component includes a limiting block, which includes a rotating part and a snap-fit ​​part connected to each other. The rotating part is rotatably mounted on the base, and the driving component is connected to the rotating part in a transmission manner, so that the driving component can drive the snap-fit ​​part to engage or disengage with the first slot through the rotating part.

[0010] In one embodiment, the first limiting component further includes a first elastic reset member and a telescopic rod. The first elastic reset member is sleeved on the outer wall of the telescopic rod. The base and the rotating part are both connected to the first elastic member. The telescopic rod includes a telescopic part and a connecting part. The connecting part is connected to the base. The telescopic part and the connecting part are slidably engaged. The end of the telescopic part away from the connecting part is hinged to the rotating part. The first elastic reset member can drive the locking part to separate from the first locking groove through the rotating part.

[0011] In one embodiment, the driving component includes a driving member, a first push plate, and a second push plate. Both the first push plate and the second push plate are slidably engaged with the inner wall of the base. Both the first push plate and the second push plate are drively connected to the driving member. The driving member can drive the first push plate and the second push plate to move away from or closer to each other along a first direction, so that the first push plate and the second push plate can respectively abut against or separate from the first limiting component and the second limiting component.

[0012] In one embodiment, the base includes a seat body and a mounting frame. The mounting frame includes a base frame and a cover plate. The seat body is connected to the base frame, and the base frame is connected to the cover plate to form a mounting groove for accommodating the anti-slip mechanism. The first wheel and the second wheel are rotatably mounted on the seat body. The drive component is connected to the base frame. The first push plate and the second push plate are both slidably engaged with the groove wall of the mounting groove. The rotating part is rotatably mounted on the base frame.

[0013] In one embodiment, the number of first wheels is at least two, and the at least two first wheels are arranged at intervals along the second direction. The number of second wheels and anti-skid mechanisms is the same as that of the first wheels and they are arranged in a one-to-one correspondence. The first direction and the second direction are perpendicular to each other.

[0014] In one embodiment, the anti-slip device for the coal conveying inspection robot further includes a buffer mechanism, which includes a first buffer component, a second buffer component, and a second elastic reset component. The moving mechanism also includes a rotating shaft. A mounting cavity for the rotating shaft to pass through is provided on the base. The rotating shaft is rotatably connected to the cavity wall of the mounting cavity. At least two first wheels and / or at least two second wheels are connected to the rotating shaft. The first buffer component and the second buffer component are both slidably engaged with the rotating shaft. The first buffer component and the second buffer component are rotatably mounted on the base, and both the first buffer component and the second buffer component are connected to the second elastic reset component.

[0015] In one embodiment, the first buffer assembly includes a first connecting rod and a first slide cylinder, with both ends of the first connecting rod rotatably mounted on the base and the first slide cylinder, respectively. The second buffer assembly includes a second connecting rod and a second slide cylinder, with both ends of the second connecting rod rotatably mounted on the base and the second slide cylinder, respectively. Both the first and second slide cylinders are sleeved on the outer wall of the rotating shaft and are in sliding fit with the rotating shaft. A second elastic reset member is sleeved on the outer wall of the rotating shaft and is located between the first and second slide cylinders. Both the first and second slide cylinders are connected to the second elastic reset member.

[0016] In one embodiment, the anti-slip device for the coal conveying inspection robot also includes a robot and a rainproof mechanism. The robot is connected to the base, and the rainproof mechanism includes a rain cover and a locking component. The rain cover is slidably engaged with the base, and the rain cover has an obstacle space for the robot to pass through. The rain cover is used to provide waterproof protection for the robot, and the locking component is slidably engaged with the base to restrict or allow the rain cover to slide relative to the base.

[0017] In one embodiment, the base is provided with a sliding groove and a receiving groove communicating with the sliding groove. The sliding groove extends along a first direction. A sliding block is provided on the rain cover. The sliding block is slidably engaged with the sliding groove. A limiting groove is provided on the sliding block. The locking assembly includes a third elastic reset member, a sliding plate, and a locking block. The sliding plate is slidably engaged with the groove wall of the receiving groove. The sliding plate is connected to the locking block so that the locking block can engage or disengage with the limiting groove. The groove wall of the receiving groove and the sliding plate are both connected to the third elastic reset member so that the third elastic reset member can drive the locking block to engage with the limiting groove through the sliding plate.

[0018] And / or,

[0019] The outer wall of the first wheel is provided with a first anti-slip sleeve;

[0020] And / or,

[0021] The outer wall of the second wheel is provided with a second anti-slip sleeve.

[0022] In this embodiment of the invention, the first direction is left-right. The base serves as the mounting foundation for the entire device, supporting the moving mechanism and the anti-slip mechanism. Both the first and second wheels are rotatably mounted on the base and are spaced apart along the left-right direction, forming a stable support and walking structure. This allows the device to move flexibly and facilitates anti-slip operations in different positions. The anti-slip mechanism helps the robot adapt to the complex ground conditions of the coal conveying environment, ensuring stable movement and accurate data acquisition during inspections, providing strong support for the safe operation of the coal conveying system. The first and second slots serve as mechanical limiting structures, used to cooperate with corresponding limiting components. Under specific working conditions, the limiting components are inserted into the corresponding slots to restrict the free rotation or slippage of the wheels. When the robot shows a tendency to slip on wet or loose ground, the limiting components can quickly respond and engage with the corresponding slots on the wheels, thereby preventing the wheels from spinning freely and enhancing overall grip. Specifically, the drive component is the power source. The first and second limiting components correspond to the first and second wheels, respectively. Both the first and second limiting components are rotatably mounted on the base and are connected to the drive component for transmission. This allows the drive component to drive the two limiting components to move synchronously or independently, achieving engagement or disengagement with the corresponding slots. Under normal operating conditions, both the first and second limiting components are separated from their corresponding slots, without affecting the robot's normal movement. When the inspection robot needs to stop on a slippery surface or when it detects slippage, imbalance, or other abnormal conditions, the drive component is activated to push the first and second limiting components closer to and engage with their corresponding slots, thereby restricting the rotation of the first and second wheels, achieving a parking effect, preventing the device from slipping, and enabling stable operation. After the environment returns to stability, the drive component moves in the opposite direction, causing the limiting components to disengage from their slots, canceling the parking and resuming normal operation. This utility model embodiment, by setting a first slot and a second slot on the outer wall of the first wheel and the second wheel respectively, and cooperating with the rotatably mounted first and second limiting components, can promptly intervene in limiting control under adverse ground conditions such as slag accumulation, wet and slippery surfaces, and high-altitude walking, to achieve effective switching of the rotation state of the first and second wheels, restrict wheel slippage or free spinning, forming an active anti-slip mechanism, effectively preventing the robot from slipping, losing control, or falling due to insufficient ground friction, and improving the overall operational stability of the robot; by using a drive component to control the movement of the first and second limiting components, the automatic switching between the limiting engagement and release separation modes can be completed without manual intervention, improving the system's intelligence level and operational reliability, and the drive component responds quickly, suitable for various complex terrains and emergencies, enhancing the robot's ability to cope with extreme working conditions, and having good environmental adaptability and dynamic response capabilities; each component adopts a modular design, with a reasonable layout, and the anti-slip mechanism is installed as a whole on the base without adding extra volume, making it easy to integrate with existing inspection robot platforms, applicable to various models of inspection robot platforms, and easy to disassemble and maintain later. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of an embodiment of the anti-slip device for a coal conveying inspection robot according to the present invention;

[0025] Figure 2 This is a partial structural schematic diagram of an embodiment of the anti-slip device for a coal conveying inspection robot of this utility model;

[0026] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0027] Figure 4 This is a schematic diagram of the buffer mechanism of an embodiment of the anti-slip device for a coal conveying inspection robot of this utility model;

[0028] Figure 5 This is a cross-sectional schematic diagram of an embodiment of the anti-slip device for a coal conveying inspection robot of this utility model;

[0029] Figure 6 for Figure 5 A magnified view of a section at point B.

[0030] Explanation of icon numbers:

[0031] 100. Anti-slip device for coal conveying inspection robot; 1. Base; 11. Base body; 111. Mounting cavity; 112. Slide groove; 113. Receiving groove; 12. Mounting frame; 121. Base frame; 1211. Fixed shaft; 122. Cover plate; 123. Mounting groove; 2. Moving mechanism; 21. First wheel; 211. First slot; 22. Second wheel; 221. Second slot; 23. Rotating shaft; 3. Anti-slip mechanism; 31. Drive assembly; 311. Drive component; 312. First push plate; 313. Second push plate; 32. First limiting assembly; 321. Limiting block; 3211. Rotating part; 3212. Snap-fit ​​part; 322. First elastic reset Components; 323, Telescopic rod; 3231, Telescopic part; 3232, Connecting part; 33, Second limiting component; 4, Buffer mechanism; 41, First buffer component; 411, First connecting rod; 412, First slide cylinder; 42, Second buffer component; 421, Second connecting rod; 422, Second slide cylinder; 43, Second elastic reset component; 5, Robot; 51, Body; 52, Camera; 6, Rainproof mechanism; 61, Rainproof cover; 611, Clearance space; 612, Sliding block; 6121, Limiting groove; 62, Locking component; 621, Third elastic reset component; 622, Sliding plate; 623, Locking block; 7, First anti-slip sleeve; 8, Second anti-slip sleeve.

[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] 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 scope of protection of the present utility model.

[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, and back), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] In modern industrial systems, coal conveying systems serve as crucial infrastructure in industries such as thermal power, metallurgy, and chemicals. Their efficient, stable, and safe operation directly impacts the continuity and reliability of the entire production process. Therefore, inspection is indispensable for ensuring the safety and reliability of the coal conveying process. With the continuous improvement of intelligence and automation levels, traditional manual inspection methods are no longer sufficient to meet the inspection needs under complex operating conditions. Consequently, coal conveying inspection robots have gradually become key equipment for ensuring the safe operation of coal conveying systems. These robots can replace manual labor in real-time monitoring of coal conveyor belts, promptly detecting common faults such as belt tears, slippage, and misalignment, thereby effectively preventing major safety accidents and playing a vital role in improving operational efficiency and safety.

[0037] However, with the increasing complexity of application environments, existing inspection robots still face many challenges in actual operation. Especially in harsh environments such as cinder piles, slippery water stains, and walking at heights, robots are prone to instability and falls from heights, leading to equipment damage, task interruption, and in severe cases, secondary accidents.

[0038] After careful investigation, the applicant discovered that the main reasons for these problems were:

[0039] ① Lack of effective anti-slip protection mechanism: Some robots are not equipped with special anti-slip devices and cannot adapt to the complex ground conditions at the coal conveying site;

[0040] ② Insufficient protection: The robot body is susceptible to external environmental influences, such as coal dust ingress and water vapor erosion, which further affect the stability of the walking system;

[0041] ③ Limited emergency response capability: In the event of sudden slippage or imbalance, it lacks the ability to respond quickly and adjust itself.

[0042] The aforementioned problems not only limit the applicability of coal conveying inspection robots, but also reduce their reliability and safety in complex environments.

[0043] The main purpose of this invention is to propose an anti-slip device for a coal conveying inspection robot to solve the problem of how to improve the operational stability of the coal conveying inspection robot under complex working conditions.

[0044] Please see Figures 1 to 3 In one embodiment of this utility model, the anti-slip device 100 for the coal conveying inspection robot includes a base 1, a moving mechanism 2, and an anti-slip mechanism 3. The moving mechanism 2 includes a first wheel 21 and a second wheel 22, both of which are rotatably mounted on the base 1 and are arranged at intervals along a first direction. The outer wall of the first wheel 21 is provided with a first slot 211, and the outer wall of the second wheel 22 is provided with a second slot 221. The anti-slip mechanism 3 includes a drive component 31, a first limiting component 32, and a second limiting component 33. The drive component 31 is connected to the base 1, and both the first limiting component 32 and the second limiting component 33 are rotatably mounted on the base 1. Both the first limiting component 32 and the second limiting component 33 are connected to the drive component 31 in a transmission manner. The drive component 31 can drive the first limiting component 32 to engage or disengage with the first slot 211, and the drive component 31 can drive the second limiting component 33 to engage or disengage with the second slot 221.

[0045] In this embodiment of the utility model, the first direction is the left-right direction. The base 1 serves as the mounting foundation for the entire device, supporting the moving mechanism 2 and the anti-slip mechanism 3. The first wheel 21 and the second wheel 22 are rotatably mounted on the base 1 and are arranged at intervals along the left-right direction to form a stable support and walking structure, enabling the device to move flexibly and facilitating anti-slip operations in different positions. The anti-slip mechanism 3 helps the robot 5 adapt to the complex ground conditions of the coal conveying environment, ensuring that the robot 5 walks stably during inspection, accurately acquires data, and provides strong support for the safe operation of the coal conveying system. The first slot 211 and the second slot 221 serve as mechanical limiting structures, used to cooperate with corresponding limiting components. Under specific working conditions, the limiting components are inserted into the corresponding slots to restrict the free rotation or slippage of the wheels. When the robot 5 shows a tendency to slip on wet or loose ground, the limiting components can quickly respond and engage with the slots on the corresponding wheels, thereby preventing the wheels from spinning freely and enhancing the overall grip. Specifically, the drive component 31 is the power source. The first limiting component 32 and the second limiting component 33 correspond to the first wheel 21 and the second wheel 22, respectively. Both the first limiting component 32 and the second limiting component 33 are rotatably mounted on the base 1 and are connected to the drive component 31 for transmission. This allows the drive component 31 to drive the two limiting components to move synchronously or independently, achieving engagement or disengagement with the corresponding slots. Under normal operating conditions, both the first limiting component 32 and the second limiting component 33 are separated from their corresponding slots, without affecting the normal movement of the robot 5. When the inspection robot 5 needs to stop on a slippery surface or when it detects slippage, imbalance, or other abnormal conditions, the drive component 31 is activated to push the first limiting component 32 and the second limiting component 33 toward their corresponding slots and engage, thereby restricting the rotation of the first wheel 21 and the second wheel 22, achieving the effect of stopping, preventing the device from slipping, and thus enabling stable operation. After the environment returns to stability, the drive component 31 moves in the opposite direction, causing the limiting components to disengage from their slots, canceling the stop, and resuming normal operation.

[0046] The technical solution of this utility model, by setting a first slot 211 and a second slot 221 on the outer wall of the first wheel 21 and the second wheel 22 respectively, and cooperating with the rotatably mounted first limiting component 32 and second limiting component 33, can intervene in the limiting control in a timely manner under adverse ground conditions such as coal slag accumulation, wet and slippery ground, and walking at height, to achieve effective conversion of the rotation state of the first wheel 21 and the second wheel 22, limit wheel slippage or free spin, form an active anti-slip mechanism, effectively prevent the robot 5 from slipping, losing control or falling due to insufficient ground friction, and improve the overall operational stability of the robot 5; by using the drive component 31 to control the first wheel 21 and the second wheel 22, the robot 21 can effectively switch .... The actions of the first limiting component 32 and the second limiting component 33 can automatically switch between the two modes of limiting engagement and release separation without manual intervention, which improves the intelligence level and operational reliability of the system. Moreover, the drive component 31 responds quickly and is suitable for various complex terrains and emergencies, enhancing the robot 5's ability to cope with extreme working conditions. It has good environmental adaptability and dynamic response capabilities. Each component adopts a modular design with a reasonable layout. The anti-slip mechanism 3 is installed as a whole on the base 1 without adding extra volume, making it easy to integrate with the existing inspection robot 5 platform. It is suitable for various models of inspection robot 5 platforms and is easy to disassemble and maintain later.

[0047] In this embodiment, there are multiple first slots 211 arranged circumferentially along the outer wall of the first wheel 21, and multiple second slots 221 arranged circumferentially along the outer wall of the second wheel 22. The arrangement of multiple slots on the wheel allows the wheel to be effectively limited at different rotation angles, thereby adapting to various operating states and control strategies, and enhancing the device's adaptability and control flexibility to different working conditions.

[0048] Please see Figure 3In one embodiment, the first limiting component 32 includes a limiting block 321, which includes a rotating part 3211 and a locking part 3212 connected to each other. The rotating part 3211 is rotatably mounted on the base 1. The driving component 31 is connected to the rotating part 3211, so that the driving component 31 can drive the locking part 3212 to engage or disengage with the first slot 211 through the rotating part 3211. Specifically, the first limiting component 32 adopts a limiting block 321 structure, including a rotating part 3211 and a locking part 3212, which are connected to each other and work together, so that the locking part 3212 can be precisely aligned with and inserted into the first slot 211 in a rotating manner, thereby improving the action accuracy and stability of the anti-slip mechanism 3. By adjusting the rotation angle of the rotating part 3211, the depth and angle of the locking part 3212 entering the first slot 211 can be controlled, thereby achieving limit control of different strengths, adapting to various ground conditions, and enhancing the flexibility and applicability of anti-slip control. The limit block 321 has a compact structure, small installation space, and is easy to coordinate with the moving mechanism 2 and other components. It is suitable for inspection robot platforms with various layout forms and has good versatility and expandability. The drive component 31 is directly connected to the rotating part 3211 and can quickly drive the locking part 3212 to complete the locking or separating action. After detecting slippage or imbalance signal, it can quickly intervene in limit control, effectively preventing the robot 5 from further slipping or falling, and enhancing operational safety.

[0049] Please see Figure 3In one embodiment, the first limiting component 32 further includes a first elastic reset member 322 and a telescopic rod 323. The first elastic reset member 322 is sleeved on the outer wall of the telescopic rod 323. The base 1 and the rotating part 3211 are both connected to the first elastic member. The telescopic rod 323 includes a telescopic part 3231 and a connecting part 3232. The connecting part 3232 is connected to the base 1. The telescopic part 3231 and the connecting part 3232 are slidably engaged. The end of the telescopic part 3231 away from the connecting part 3232 is hinged to the rotating part 3211. The first elastic reset member 322 can drive the locking part 3212 to engage with the rotating part 3211 through the rotating part 3211. The first slot 211 separates; specifically, the combined design of the first elastic reset member 322 and the telescopic rod 323 allows the locking part 3212 to automatically disengage from the first slot 211 on the wheel after completing the limiting action, without the drive component 31 needing to apply reverse driving force again, thus improving the system response efficiency and automation level. Furthermore, the first elastic reset member 322 provides buffering force for the telescopic rod 323, effectively absorbing vibration energy when the limiting block 321 is subjected to external impacts such as sudden ground changes or vibrations, preventing damage to components due to rigid collisions, thereby improving the overall stability and durability of the machine. The telescopic rod 323 provides good guiding support for the elastic reset member, ensuring that the starting and resetting positions of each limiting action are highly consistent, enhancing control accuracy and action repeatability, and facilitating more precise anti-slip intervention. Moreover, during the swinging of the limiting block 321 with the rotating part 3211, the telescopic rod 323 can adaptively adjust its length according to the rotation angle, avoiding obstruction or jamming of the limiting action due to structural interference, thus improving the overall mechanism's operational flexibility and reliability. Furthermore, the elastic reset component and the telescopic rod 323 adopt a coaxial nested layout, resulting in a compact overall structure, small footprint, and easy integration with existing moving mechanisms 2 and other components. This makes it highly adaptable and suitable for various types of inspection robot platforms 5. In this embodiment, the first elastic reset component 322 can be made of elastic materials or structures such as springs, rubber, or shape memory alloys to achieve automatic reset and buffer protection functions for the limiting components. This embodiment does not limit the specific selection of the first elastic reset component 322.

[0050] Please see Figure 2In one embodiment, the drive assembly 31 includes a drive member 311, a first push plate 312, and a second push plate 313. The first push plate 312 and the second push plate 313 are both slidably engaged with the inner wall of the base 1. The first push plate 312 and the second push plate 313 are both connected to the drive member 311. The drive member 311 can drive the first push plate 312 and the second push plate 313 to move away from or closer to each other along a first direction, so that the first push plate 312 and the second push plate 313 can respectively abut against or separate from the first limiting assembly 32 and the second limiting assembly 33. Specifically, through the linkage design of the first push plate 312 and the second push plate 313, the drive assembly 31 can simultaneously drive the two limiting assemblies to move, ensuring that the limiting actions on both sides are consistent, avoiding the walking imbalance problem caused by the lag in response on one side, and improving the overall control stability. That is, dual-sided limiting control can be achieved through one set of drive members 311, without the need to configure a separate drive unit for each limiting assembly, simplifying the control system structure and reducing manufacturing and maintenance costs. Both push plates are in contact with and slide against the inner wall of the base 1. This contact method not only provides good guiding support, but also effectively prevents the two push plates from shifting or shaking during the sliding process, thereby improving the smoothness, stability and positioning accuracy of the limiting action. When the inspection robot 5 needs to stop on a slippery surface or when it detects slippage, imbalance, or other abnormal conditions, the drive component 31 is activated. The drive component 311 pushes the first push plate 312 and the second push plate 313 away from each other until the first push plate 312 and the second push plate 313 can respectively abut against the first limit component 32 and the second limit component 33, thereby causing the first limit component 32 and the second limit component 33 to engage with their corresponding slots, achieving the effect of stopping the inspection robot 5 and enabling it to work stably. After the environment returns to stability, the drive component 31 moves in the opposite direction, allowing the first push plate 312 and the second push plate 313 to separate from the first limit component 32 and the second limit component 33, respectively. The telescopic rod 323 and the first elastic reset component 322 can then cause the first limit component 32 and the second limit component 33 to disengage from their corresponding slots, thereby canceling the stop and allowing the robot 5 to continue moving and inspecting its surroundings. In this embodiment, the drive component 311 can be a bidirectional hydraulic rod in the existing structure. The bidirectional hydraulic rod can provide stable and powerful thrust to realize the synchronous action of the two-sided components. The drive component 311 can also be a drive device that can realize the output of linear motion on both sides, such as a motor-driven double lead screw pair. This embodiment does not limit this.

[0051] According to one embodiment of the present invention, the drive assembly 31 includes a first drive member, a second drive member, a first push plate 312, and a second push plate 313. The first push plate 312 and the second push plate 313 are both slidably engaged with the inner wall of the base 1. The first push plate 312 is driven by the first drive member, and the second push plate 313 is driven by the second drive member, so that the first drive member and the second drive member can drive the first push plate 312 and the second push plate 313 to move away from or closer to each other in the left and right directions, that is, two sets of drive members 311 are used to drive the two limiting components respectively, thereby realizing the parking of the two wheels.

[0052] Please see Figure 2 In one embodiment, the base 1 includes a base body 11 and a mounting frame 12. The mounting frame 12 includes a base frame 121 and a cover plate 122. The base body 11 is connected to the base frame 121, and the base frame 121 and the cover plate 122 are connected to form a mounting groove 123 for accommodating the anti-slip mechanism 3. The first wheel 21 and the second wheel 22 are rotatably mounted on the base body 11. The drive member 311 is connected to the base frame 121. The first push plate 312 and the second push plate 313 are both slidably engaged with the groove wall of the mounting groove 123. The rotating part 3211 is rotatably mounted on the base frame 121. Specifically, the base 1 adopts a separate structure of the base body 11 and the mounting frame 12, which facilitates the independent assembly and subsequent replacement and maintenance of each functional component, improves the maintainability and assembly efficiency of the whole system, and enhances the maintenance efficiency of the whole system. The anti-slip mechanism 3 is enclosed to prevent harsh environmental factors such as coal slag, dust, and water vapor from affecting internal components, thus extending the service life of the equipment. The drive assembly 31, the first limit assembly 32, and the second limit assembly 33 are centrally arranged in the mounting groove 123, making full use of the internal space of the base 1, reducing exposed external parts, and making the overall structure more compact. This makes it suitable for various models of inspection robot 5 platforms. The enclosed installation of the anti-slip mechanism 3, combined with the precise guiding design of the two push plates, effectively prevents mechanical parts from accidentally falling off or becoming unstable during operation, ensuring the safe and stable operation of the robot 5 under complex working conditions. In this embodiment, the structure of the mounting frame 12 can be adjusted in size or layout according to actual needs to adapt to different specifications of the anti-slip mechanism 3, exhibiting good versatility and engineering application adaptability. In addition, in this embodiment, the base frame 121 and the cover plate 122 can be fixedly connected by welding or riveting to ensure the airtightness of the structure, or they can be detached by screwing or snap-fitting to ensure the convenience of disassembly and assembly. This embodiment does not limit the specific connection. In this embodiment, a fixed shaft 1211 can be provided on the base frame 121, and a through hole for the fixed shaft 1211 to pass through is provided on the rotating part 3211. The fixed shaft 1211 is rotatably connected to the through hole, so that the rotating part 3211 can rotate relative to the base frame 121. The rotating part 3211 and the base frame 121 can also be rotatably connected by a hinge or a rolling bearing. This embodiment does not limit this.

[0053] Please see Figure 1 and Figure 2 In one embodiment, the number of first wheels 21 is at least two, and the at least two first wheels 21 are arranged at intervals along the second direction. The number of second wheels 22 and anti-skid mechanisms 3 is the same as that of the first wheels 21 and they are arranged in a one-to-one correspondence. The first direction and the second direction are perpendicular to each other. Specifically, as shown in the figure... Figure 2 As shown, the second direction is the front-to-back direction. The number of first wheels 21 is at least two, arranged at intervals along the front-to-back direction, increasing the contact area between the robot 5 and the ground. This effectively improves its load-bearing capacity and anti-overturning ability on soft, slippery, and other complex ground surfaces. The number of second wheels 22 is the same as the number of first wheels 21, and they are arranged symmetrically. With the corresponding anti-slip mechanism 3, synchronous limiting actions of the left and right wheels can be achieved, preventing operational imbalance caused by slippage on one side. Each wheel is equipped with an independent anti-slip mechanism 3, which can perform individual limiting control according to the actual operating state of different wheels, significantly improving the system's response accuracy and adaptability. The number of wheels can be flexibly configured according to actual load requirements, and the anti-slip mechanism 3 can also be expanded accordingly, making it suitable for coal conveying inspection robot 5 platforms of different specifications, possessing good versatility and expandability. In this embodiment, the number of first wheels 21 is two, and the two first wheels 21 are respectively arranged on both sides of the base 1 along the front-to-back direction. The number of second wheels 22 and the anti-slip mechanism 3 are the same as the number of first wheels 21, and they are arranged in a one-to-one correspondence.

[0054] Please see Figure 4In one embodiment, the anti-slip device 100 for the coal conveying inspection robot further includes a buffer mechanism 4. The buffer mechanism 4 includes a first buffer component 41, a second buffer component 42, and a second elastic reset component 43. The moving mechanism 2 also includes a rotating shaft 23. The base 1 is provided with a mounting cavity 111 through which the rotating shaft 23 passes. The rotating shaft 23 is rotatably connected to the cavity wall of the mounting cavity 111. At least two first wheels 21 and / or at least two second wheels 22 are connected to the rotating shaft 23. Both the first buffer component 41 and the second buffer component 42 are slidably engaged with the rotating shaft 23. Both the first buffer component 41 and the second buffer component 42 can be... The first and second buffer components 41 and 42 are rotatably mounted on the base 1 and are both connected to the second elastic reset component 43. Specifically, the first and second buffer components 41 and 42 work together to effectively transmit and respond to impacts. When the robot 5 is subjected to an external impact during its movement, the first and second buffer components 41 and 42 transmit the impact force from the wheels to the buffer mechanism 4 through sliding contact with the rotating shaft 23, and drive the second elastic reset component 43 to generate a linkage reaction, thereby activating the buffer mechanism and effectively transmitting and dispersing the impact force, playing a triggering and guiding role. The second elastic reset component 43 is the core component of the buffer mechanism 4, with energy absorption and automatic reset functions. The second elastic reset component 43 is located between and connected to the first and second buffer components 41 and 42. When compressed, it absorbs and stores impact energy, and releases elastic potential energy after the impact ends, pushing the first and second buffer components 41 and 42 back to their original state, so that the buffer mechanism 4 has good self-reset capability, ensuring that the next buffer action can be performed normally, playing a key role in execution and energy storage. By setting up the buffer mechanism 4, vibration energy can be effectively absorbed when encountering uneven ground or obstacles, reducing vehicle body sway and minimizing damage to internal components and electronic parts caused by vibration, thus extending service life and improving the stability and reliability of the robot 5 during operation. Furthermore, the first buffer component 41 and the second buffer component 42 can be arranged symmetrically, allowing for simultaneous response to impact loads from the ground on both sides of the robot 5, maintaining vehicle body balance and preventing malfunction of the anti-slip mechanism 3 or equipment imbalance due to uneven force on one side. The overall layout of the buffer mechanism 4 is reasonable, making full use of the space between the pivot 23 and the base 1 without affecting the functional layout of the original anti-slip mechanism 3, facilitating modular design and adaptation to different machine platforms. In this embodiment, the second elastic reset component 43 can be made of elastic materials or structures such as springs, rubber, or shape memory alloys to achieve automatic reset and buffer protection functions for the buffer components. This embodiment does not limit the specific selection of the second elastic reset component 43. In addition, in this embodiment, there are two axles 23, one of which is connected to the two first wheels 21 and the other is connected to the two second wheels 22, thereby achieving a buffering effect on the first wheels 21 and the second wheels 22.

[0055] According to one embodiment of the present invention, the rotating shaft 23 is connected to two first wheels 21, thereby achieving a buffering effect on the first wheels 21.

[0056] According to another embodiment of the present invention, the rotating shaft 23 is connected to two second wheels 22, thereby achieving a buffering effect on the second wheels 22.

[0057] Please see Figure 4 In one embodiment, the first buffer assembly 41 includes a first connecting rod 411 and a first sliding cylinder 412. The two ends of the first connecting rod 411 are rotatably mounted on the base 1 and the first sliding cylinder 412, respectively. The second buffer assembly 42 includes a second connecting rod 421 and a second sliding cylinder 422. The two ends of the second connecting rod 421 are rotatably mounted on the base 1 and the second sliding cylinder 422, respectively. Both the first and second sliding cylinders 412 and 422 are sleeved on the outer wall of the rotating shaft 23, and the first and second sliding cylinders 412 and 422 slide in cooperation with the rotating shaft 23. A second elastic reset member 43 is sleeved on the outer wall of the rotating shaft 23, and the second elastic reset member... The component 43 is located between the first slide cylinder 412 and the second slide cylinder 422. Both the first slide cylinder 412 and the second slide cylinder 422 are connected to the second elastic reset component 43. Specifically, when the robot 5 is traveling on a bumpy road, the bumps of the wheels will cause the rotating shaft 23 to move up and down. One end of the slide cylinder is rotatably connected to the connecting rod, and the other end of the connecting rod is rotatably connected to the base 1. This causes the slide cylinders on the surface of the rotating shaft 23 to slide relative to each other. The two slide cylinders will squeeze the second elastic reset component 43. The second elastic reset component 43 can provide a rebound force for the two slide cylinders, thereby providing shock absorption and buffering effect for the entire inspection robot 5. The combined structure of the slide cylinder and connecting rod not only improves the guiding performance of the buffer assembly but also enhances the response sensitivity to impact forces, thereby improving the stability and reliability of the buffer system. The rotating connection of the connecting rod effectively transmits and disperses impact forces. The slide cylinder is directly sleeved on the rotating shaft 23 and slides with it. The rotating shaft 23 provides stable guidance for the sliding of the slide cylinder. The overall structure is simple, easy to install, and convenient for later disassembly and maintenance. It is suitable for various types of inspection robot platforms and has good versatility and adaptability. The second elastic reset member 43 is set between the first slide cylinder 412 and the second slide cylinder 422 and is connected to both of them, making the force more even during compression and avoiding uneven loading, thereby improving the stability and reusability of the entire buffer system. In this embodiment, the first connecting rod 411 and the base 1, the first connecting rod 411 and the first slide cylinder 412, the second connecting rod 421 and the base 1, and the second connecting rod 421 and the second slide cylinder 422 can all be rotatably connected by hinges or pins. This embodiment does not limit this.

[0058] In this embodiment, for ease of manufacturing and installation, the second wheel 22 may have the same structure as the first wheel 21, the second limiting component 33 may have the same structure as the first limiting component 32, and the second buffer component 42 may have the same structure as the first buffer component 41.

[0059] Please see Figure 1 and Figure 5 In one embodiment, the anti-slip device 100 for the coal conveying inspection robot further includes a robot 5 and a rainproof mechanism 6. The robot 5 is connected to the base 1. The rainproof mechanism 6 includes a rain cover 61 and a locking assembly 62. The rain cover 61 is slidably engaged with the base 1. The rain cover 61 has a clearance space 611 for the robot 5 to pass through. The rain cover 61 provides waterproof protection for the robot 5. The locking assembly 62 is slidably engaged with the base 1 to restrict or allow the rain cover 61 to slide relative to the base 1. Specifically, the design of the rain cover 61 effectively isolates the robot 5 and the anti-slip device from the influence of rainwater, moisture, etc. To reduce equipment failure rates, improve equipment stability and lifespan in complex environments such as rain and humidity, enhance equipment adaptability to harsh weather conditions, and ensure normal operation of the device under adverse weather conditions, the rain cover 61 is equipped with a clearance space 611 for the robot 5 to pass through. This ensures the equipment's rain protection performance without affecting the normal operation and inspection work of the robot 5, thus improving the practicality of the protective structure. The rain cover 61 adopts a sliding structure, which can be used or closed according to actual working conditions, ensuring protective performance without affecting the daily operation and maintenance of the robot 5. The locking component 62 can fix the rain cover 61 to the base 1 when in use, preventing the rain cover 61 from being accidentally opened or detached due to external force, further improving the protective effect and the overall operational safety of the machine. The rain cover 61 and the locking component 62 adopt a modular design, which is convenient for installation and disassembly, facilitates later maintenance and replacement, and has strong adaptability, suitable for various models of inspection robot 5 platforms. In this embodiment, the robot 5 adopts a common structure in the prior art, which may include a body 51 and a camera 52. The body 51 is connected to the base 1, and the camera 52 is installed on the body 51 and electrically connected to it. The body 51 supports and protects the main components of the robot 5, and the camera 52 collects image information during the coal conveying inspection process, which facilitates the monitoring and detection of coal flow rate, distribution uniformity, etc., thereby realizing real-time monitoring and identification of the operating status of the coal conveying equipment.

[0060] Please see Figure 6In one embodiment, the base 1 is provided with a sliding groove 112 and a receiving groove 113 communicating with the sliding groove 112. The sliding groove 112 extends along a first direction. A sliding block 612 is provided on the rain cover 61. The sliding block 612 is slidably engaged with the sliding groove 112. A limiting groove 6121 is provided on the sliding block 612. The locking assembly 62 includes a third elastic reset member 621, a sliding plate 622, and a locking block 623. The sliding plate 622 is slidably engaged with the groove wall of the receiving groove 113. The sliding plate 622 is connected to the locking block 623 so that the locking block 623 can engage or disengage with the limiting groove 6121. The groove wall of the receiving groove 113 and the sliding plate 622 are both connected to the third elastic reset member 621 so that the third elastic reset member 621 can engage or disengage with the limiting groove 6121. The three elastic reset members 621 can drive the locking block 623 to engage with the limiting groove 6121 through the sliding plate 622; and / or, the outer wall of the first wheel 21 is provided with a first anti-slip sleeve 7; and / or, the outer wall of the second wheel 22 is provided with a second anti-slip sleeve 8; specifically, the base 1 is provided with a sliding groove 112, and the rain cover 61 slides with the sliding block 612 through the sliding groove 112. The sliding groove 112 provides a clear sliding path for the sliding block 612, ensuring the smoothness and stability of the sliding of the rain cover 61, and the position of the rain cover 61 can be flexibly adjusted. At the same time, the locking component 62 can stably lock the rain cover 61 in the required position to prevent accidental sliding due to vibration or wind, and improve the reliability of protection. The third elastic reset component 621 is the core actuator of the locking assembly 62, providing a stable reset force. When the rain cover 61 moves above the robot 5, the third elastic reset component 621 can drive the locking block 623 to insert into the limiting groove 6121 through the sliding plate 622, realizing the self-locking function and ensuring a stable and reliable locking state. When the rain cover 61 is not needed, simply apply external force to the rain cover 61 in the left and right directions to separate the groove wall of the limiting groove 6121 from the locking block 623, thus releasing the lock. The operation is simple, highly adaptable, and easy to automate. The overall layout of the locking assembly 62 is reasonable, making full use of the internal space of the base 1 without affecting the functional layout of the original anti-slip mechanism 3, facilitating modular design and adaptation to different machine platforms. Anti-slip sleeves are provided on the outer walls of both wheels, effectively increasing the friction between the wheels and the ground. This is especially suitable for slippery surfaces such as wet, cinder-soil-accumulated, and high-altitude walking surfaces, thereby improving the walking stability and safety of the robot 5. Different types or materials of anti-slip sleeves can be selected according to different working conditions, thereby enhancing the device's adaptability to complex environments. In this embodiment, the first anti-slip sleeve 7 and the second anti-slip sleeve 8 can be made of rubber, polyurethane, or anti-slip sleeve with raised texture on the outer wall. This embodiment does not limit the choice of anti-slip sleeve. The third elastic reset member 621 can be made of elastic materials or structures such as spring, rubber, or shape memory alloy to realize the automatic reset and buffering functions of the sliding plate 622 and the locking block 623. This embodiment does not limit the specific selection of the third elastic reset member 621.

[0061] According to one embodiment of the present invention, the base 1 and the rain cover 61 can adopt a roller track guide structure, a dovetail groove guide structure, a linear bearing and an optical axis guide structure to achieve a sliding fit.

[0062] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. An anti-slip device for a coal conveying inspection robot, characterized in that, The anti-slip device for the coal conveying inspection robot includes: Base; A moving mechanism, comprising a first wheel and a second wheel, both of which are rotatably mounted on the base, and the first wheel and the second wheel are arranged at intervals along a first direction. The outer wall of the first wheel is provided with a first groove, and the outer wall of the second wheel is provided with a second groove. An anti-slip mechanism is provided, comprising a drive component, a first limiting component, and a second limiting component. The drive component is connected to the base. Both the first limiting component and the second limiting component are rotatably mounted on the base. Both the first limiting component and the second limiting component are drively connected to the drive component. The drive component can drive the first limiting component to engage or disengage with the first slot, and the drive component can drive the second limiting component to engage or disengage with the second slot.

2. The anti-slip device for a coal conveying inspection robot as described in claim 1, characterized in that, The first limiting component includes a limiting block, which includes a rotating part and a locking part connected to each other. The rotating part is rotatably mounted on the base. The driving component is connected to the rotating part in a transmission manner, so that the driving component can drive the locking part to engage or disengage with the first slot through the rotating part.

3. The anti-slip device for a coal conveying inspection robot as described in claim 2, characterized in that, The first limiting component further includes a first elastic reset member and a telescopic rod. The first elastic reset member is sleeved on the outer wall of the telescopic rod. The base and the rotating part are both connected to the first elastic member. The telescopic rod includes a telescopic part and a connecting part. The connecting part is connected to the base. The telescopic part and the connecting part are slidably engaged. The end of the telescopic part away from the connecting part is hinged to the rotating part. The first elastic reset member can drive the locking part to separate from the first locking groove through the rotating part.

4. The anti-slip device for a coal conveying inspection robot as described in claim 2, characterized in that, The driving component includes a driving member, a first push plate, and a second push plate. Both the first push plate and the second push plate are slidably engaged with the inner wall of the base. Both the first push plate and the second push plate are drively connected to the driving member. The driving member can drive the first push plate and the second push plate to move away from or closer to each other along the first direction, so that the first push plate and the second push plate can respectively abut against or separate from the first limiting component and the second limiting component.

5. The anti-slip device for a coal conveying inspection robot as described in claim 4, characterized in that, The base includes a seat body and a mounting frame. The mounting frame includes a base frame and a cover plate. The seat body is connected to the base frame. The base frame and the cover plate are connected to form a mounting groove for accommodating the anti-slip mechanism. The first wheel and the second wheel are rotatably mounted on the seat body. The driving component is connected to the base frame. The first push plate and the second push plate are both slidably engaged with the groove wall of the mounting groove. The rotating part is rotatably mounted on the base frame.

6. The anti-slip device for a coal conveying inspection robot as described in any one of claims 1 to 5, characterized in that, The number of the first wheels is at least two, and the at least two first wheels are arranged at intervals along the second direction. The number of the second wheels and the anti-skid mechanism are the same as the number of the first wheels and are arranged in a one-to-one correspondence. The first direction and the second direction are perpendicular to each other.

7. The anti-slip device for a coal conveying inspection robot as described in claim 6, characterized in that, The anti-slip device for the coal conveying inspection robot also includes a buffer mechanism, which includes a first buffer component, a second buffer component, and a second elastic reset component. The moving mechanism also includes a rotating shaft. The base is provided with a mounting cavity through which the rotating shaft passes. The rotating shaft is rotatably connected to the cavity wall of the mounting cavity. At least two first wheels and / or at least two second wheels are connected to the rotating shaft. The first buffer component and the second buffer component are both slidably engaged with the rotating shaft. The first buffer component and the second buffer component are rotatably mounted on the base, and both the first buffer component and the second buffer component are connected to the second elastic reset component.

8. The anti-slip device for a coal conveying inspection robot as described in claim 7, characterized in that, The first buffer assembly includes a first connecting rod and a first sliding cylinder. The two ends of the first connecting rod are rotatably mounted on the base and the first sliding cylinder, respectively. The second buffer assembly includes a second connecting rod and a second sliding cylinder. The two ends of the second connecting rod are rotatably mounted on the base and the second sliding cylinder, respectively. The first sliding cylinder and the second sliding cylinder are both sleeved on the outer wall of the rotating shaft and are in sliding engagement with the rotating shaft. The second elastic reset member is sleeved on the outer wall of the rotating shaft and is located between the first sliding cylinder and the second sliding cylinder. The first sliding cylinder and the second sliding cylinder are both connected to the second elastic reset member.

9. The anti-slip device for a coal conveying inspection robot as described in any one of claims 1 to 5, characterized in that, The anti-slip device for the coal conveying inspection robot also includes a robot and a rainproof mechanism. The robot is connected to the base. The rainproof mechanism includes a rain cover and a locking component. The rain cover is slidably engaged with the base. The rain cover has a clearance space for the robot to pass through. The rain cover is used to provide waterproof protection for the robot. The locking component is slidably engaged with the base to restrict or allow the rain cover to slide relative to the base.

10. The anti-slip device for a coal conveying inspection robot as described in claim 9, characterized in that, The base is provided with a sliding groove and a receiving groove communicating with the sliding groove. The sliding groove extends along the first direction. The rain cover is provided with a sliding block. The sliding block is slidably engaged with the sliding groove. The sliding block is provided with a limiting groove. The locking assembly includes a third elastic reset member, a sliding plate and a locking block. The sliding plate is slidably engaged with the groove wall of the receiving groove. The sliding plate is connected to the locking block so that the locking block can engage or disengage with the limiting groove. The groove wall of the receiving groove and the sliding plate are both connected to the third elastic reset member so that the third elastic reset member can drive the locking block to engage with the limiting groove through the sliding plate. And / or, The outer wall of the first wheel is provided with a first anti-slip sleeve; And / or, The outer wall of the second wheel is provided with a second anti-slip sleeve.

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