CN114517710B - Hanging rail type inspection robot system applied to mine - Google Patents
Hanging rail type inspection robot system applied to mine Download PDFInfo
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- CN114517710B CN114517710B CN202111560920.5A CN202111560920A CN114517710B CN 114517710 B CN114517710 B CN 114517710B CN 202111560920 A CN202111560920 A CN 202111560920A CN 114517710 B CN114517710 B CN 114517710B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/04—Distributing means for power supply in mines
- E21F17/06—Distributing electric power; Cable networks; Conduits for cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides a rail hanging type inspection robot system applied to a mine, which is characterized in that: including patrolling and examining robot and charging device, charging device fix in orbital bottom, the robot of patrolling and examining charge along rail mobile and through contacting with charging device, the track be "worker" style of calligraphy guide rail, the robot of patrolling and examining constitute by running gear, control box, appearance, battery pack, antenna module, shell subassembly, back shroud subassembly, front shroud subassembly, broadcast subassembly and mike's subassembly. According to the invention, the automatic inspection robot replaces manual inspection, and the rail hanging type replaces the ground-attached walking type, so that the danger degree and the labor cost of manual inspection are reduced, the labor intensity of workers is reduced, the practicability of the inspection robot is improved, the inspection robot can quickly and stably reach any position of a mine, the data can be more comprehensively collected, and the safety performance of mine workers is improved.
Description
Technical Field
The invention relates to the technical field of coal mine inspection, in particular to a rail hanging type inspection robot system applied to a mine.
Background
At present, when mining operation is carried out in the coal mine field, in order to ensure smooth operation of the mining operation, the life safety of operators is ensured, on-site inspection work is often required, an inspection robot is used as a substitute of an inspector and can acquire, store and transmit on-site images in real time, and data such as sound, temperature, smoke and the like, so that the labor intensity is reduced, the labor risk is reduced, a track of the inspection robot needs to be installed on an inspection route in advance, and as a large number of detection devices are arranged on the inspection robot, vibration generated in the walking process of the inspection robot can cause great interference to the detection devices, and even damage is caused. However, the existing mine type inspection robots are wheel type or crawler type inspection robots walking close to the ground, the ground of a coal mine is copied and has uneven height and steep inclined plane, and the inspection robots walking close to the ground have great limitation, so that the design of the rail hanging type inspection robot system applied to the mine is particularly important.
Disclosure of Invention
The invention provides a rail hanging type inspection robot system applied to a mine, which replaces manual inspection with an automatic inspection robot and replaces a ground walking type with a rail hanging type, thereby not only reducing the danger degree and labor cost of manual inspection, reducing the labor intensity of workers, but also increasing the practical performance of the inspection robot, enabling the inspection robot to quickly and stably reach any position of the mine, further realizing more comprehensive acquisition of data and improving the safety performance of mine workers.
In order to solve the technical problem, the invention provides a rail-hanging type inspection robot system applied to a mine, which is characterized in that: including patrolling and examining robot and charging device, charging device fix in orbital bottom, the robot of patrolling and examining move along the track and charge through contacting with charging device, the track be "worker" style of calligraphy guide rail, the robot of patrolling and examining constitute by running gear, control box, camera instrument, battery pack, antenna module, shell subassembly, back shroud subassembly, front shroud subassembly, broadcast subassembly and mike subassembly, front shroud subassembly with back shroud subassembly install both ends around shell subassembly respectively, shell subassembly constitute by shell cover and shell assembly weldment from top to bottom one-tenth, running gear install in shell cover, shell subassembly connect in orbital bottom and move along the track through suspension type running gear through running gear, the control box with battery module all detachably install in shell assembly weldment, a plurality of antenna module is installed to one side of shell assembly weldment, broadcast subassembly install in the opposite side of shell assembly weldment, the horn hole has been seted up to the position of broadcast subassembly on the lateral wall of shell assembly weldment just facing the position of broadcast subassembly, camera instrument with mike subassembly install at the shell assembly bottom of shell assembly, broadcast assembly, control box subassembly, mike subassembly and mike subassembly, electric connection.
Further: the lamp assembly is characterized in that the front end and the rear end of the bottom of the shell assembly welding part are inclined planes, the inclined planes at the front end and the rear end of the shell assembly welding part are provided with traveling lamp transparent windows, the traveling lamp assembly is arranged at the position, facing the traveling lamp transparent windows, in the bottom of the shell assembly welding part through the bolt assembly, and the traveling lamp assembly is also electrically connected with the control box.
And further: running gear include motor, running gear support, bottom plate, walking wheel support, drive shaft, dirver support pivot, motor support, pivot fixed block, proximity switch support, running gear wiring cavity, drive wheel, shaft coupling, walking wheel, pressure wheel and proximity switch, the bottom plate level place and it fixes in the clamshell, the motor pass through the motor support and install the bottom at the bottom plate, the motor support link to each other with the bottom plate through the dirver support pivot, the one end of dirver support pivot carries out fixed connection to the motor support through pivot fixed block and fixing bolt, the other end of dirver support pivot passes the bottom plate and links to each other with dirver support's one end, dirver support's other end swing joint is at the top of bottom plate, the drive wheel be provided with two, two drive wheels are around the level place and contact with orbital both sides outer wall respectively, one of which drive wheel passes through the shaft coupling and links to each other with the motor, both sides respectively are provided with a running gear support around the drive wheel, running gear support connect at the top of bottom plate through dirver mechanism, both sides around the drive wheel respectively are provided with two walking wheels that contact with the walking wheel relatively set up along the upper edge with the walking wheel, the walking wheel that the walking wheel is installed on the walking wheel that the lower extreme is also installed on the chassis that the both ends of proximity switch is along the lower extreme the ground that the walking wheel, the proximity switch is also is provided with the chassis that the lower extreme.
And further: the steering mechanism comprises a traveling mechanism wiring cavity, a steering plate, a steering wheel and a steering wheel fixing plate, the steering wheel is installed at the bottom of the bottom plate through the steering wheel fixing plate, the steering plate is located above the bottom plate and connected with the steering wheel, a traveling mechanism support is arranged on the steering plate, the traveling mechanism wiring cavity is also installed at the bottom of the bottom plate, the control box is electrically connected with the steering wheel through the traveling mechanism wiring cavity, the steering plate drives the steering plate to rotate together, the pressure wheel is installed in the travel rod assembly welding piece, the lower end of the travel rod assembly welding piece extends into the spring sleeve and is movably connected with the spring sleeve, the lower end of the spring sleeve is fixed on the steering plate through a spring sleeve end cover, a pressure wheel spring is arranged on the outer side of the spring sleeve in a surrounding mode, two ends of the pressure wheel spring are respectively connected with the travel rod assembly welding piece and the steering plate, and a travel rod limiting block is further arranged in the lower end of the spring sleeve.
And further: the bottom plate of drive wheel front side and rear side still respectively is fixed with two leading wheel mount pads, and with two leading wheel mount pads of one side place relatively and all be provided with two leading wheels on every leading wheel mount pad, the leading wheel install on one end of leading wheel spring guide arm through the connecting piece, the other end of leading wheel spring guide arm is fixed on the leading wheel mount pad, the connecting piece can slide along leading wheel spring guide arm, the outside of leading wheel spring guide arm still encircle and be provided with direction compression spring, the both ends of direction compression spring link to each other with leading wheel mount pad and connecting piece respectively, the leading wheel contact with the outer wall at lower extreme lower limb.
And further: charging device constitute by electrode subassembly, magnet support, charge controller, charging device installing support, magnet cover, installing support and electro-magnet, charge controller detachably connect in the bottom of installing support, the installing support fix in orbital bottom, magnet cover detachably connect the front end at the charging device installing support, charging device installing support and installing support around fuse, the electro-magnet pass through the magnet support and install on the preceding terminal surface of magnet cover, electrode subassembly be provided with two, two electrode subassemblies set up respectively in the left and right sides of charging device installing support, electrode subassembly's top is provided with rather than fuse electrode shell clamp, electrode shell clamp detachably connect on the charging device installing support, magnet cover and charging device installing support between still be provided with the magnet cover sealed pad, the charging device installing support in the cover on still be fixed with first cable fixing head.
And further: the electrode assembly comprises a switch bracket, an electrode guide rod, an electrode shell, an electrode baffle, a ball fixing nut, an electrode contact, a ball spring, an electrode guide rod spring, a switch, a second cable fixing head and an electrode protective cover, wherein the electrode shell is clamped at the top of the electrode shell, the second cable fixing head is arranged at one end of the electrode shell, the electrode baffle is detachably fixed at the other end of the electrode shell, a through hole is opened and closed at the center of the electrode baffle, the switch is installed in the electrode shell through the switch bracket, the switch is connected with one end of the electrode guide rod, the other end of the electrode guide rod penetrates through the through hole, a guide hole is further formed in one end of the through hole, and the ball fixing nut is further arranged between one end of the electrode guide rod penetrating through the through hole and the through hole, bulb fixation nut in-connection have the bulb, the one end of bulb stretches out bulb fixation nut and links to each other with the electrode contact, the other end of bulb passes through bulb spring coupling in the guiding hole of electrode guide arm, still be provided with the insulated column between bulb and bulb fixation nut's the inner wall, be provided with first bellying on the inner wall of electrode shell, the electrode guide arm still is provided with the second bellying on being located one section outer wall in the electrode shell, electrode guide arm spring encircle in the outside of electrode guide arm and its both ends link to each other with first bellying and second bellying respectively, still be fixed with the electrode protection cover on the outer wall of the electrode shell one end of installing electrode baffle, electrode protection cover keeps away from one of electrode shell and serves and still offers the logical groove that is used for the electrode contact to stretch out.
And further: the rear cover plate assembly comprises a rear cover plate, a rear cover plate cover, a first spotlight mounting seat, an electrode seat sleeve, an electrode seat fixing plate, a suction block ball head mounting seat sleeve, a first LED spotlight and a first distance measuring sensor, wherein the rear cover plate is detachably mounted at the rear end of the shell assembly, the rear cover plate cover is detachably mounted at one side of the rear cover plate connected with the shell assembly, a rear cover plate sealing gasket is arranged at the joint between the rear cover plate cover and the rear cover plate, the suction block ball head mounting seat sleeve is mounted at one side of the rear cover plate far away from the rear cover plate cover, one end of the suction block ball head mounting seat sleeve penetrates through the rear cover plate and extends into the rear cover plate cover and is connected with the suction block ball head mounting seat, the suction block is connected to one end of a joint bearing, and the other end of the joint bearing penetrates through the suction block ball head mounting seat sleeve and is movably connected in the suction block ball head mounting seat, inhale the piece and drive under the attraction of electro-magnet suction in charging device and patrol and examine the robot and remove and make it continuous with the electro-magnet, first range finding sensor install on the back shroud in the apron cover of back, first range finding sensor be located inhale under the piece bulb mount pad and its one end stretch out the back shroud, inhale and still respectively be provided with an electrode holder on the back shroud of the piece left and right sides, install the electrode holder sleeve on the back shroud in the apron cover of back, the telescopic one end of electrode holder stretches out the back shroud and still installs the electrode holder in its one end that stretches out, electrode holder and the electrode holder fixed plate fixed connection of connecting at the electrode holder sleeve other end, when inhaling the electro-magnet in piece and the charging device and link to each other, the electrode holder links to each other with the electrode contact in the charging device, charges battery pack, still respectively be provided with a first LED shot-light on the back shroud of the first range sensor left and right sides, install first shot-light mount pad on the back shroud in the back shroud cover, the one end of first shot-light mount pad is passed the back shroud and its inside first LED shot-light that still installs.
And further: the front shroud subassembly include front shroud, front shroud cover, second shot-light mount pad, second LED shot-light and second distance measuring sensor, front shroud detachably install the front end at shell subassembly, front shroud cover detachably install on one side that front shroud and shell subassembly are connected, junction between front shroud cover and the front shroud be provided with the front shroud sealed pad, second distance measuring sensor install on the front shroud in the front shroud cover, second distance measuring sensor's one end stretch out the front shroud, still respectively be provided with a second LED shot-light on the back shroud of the second distance measuring sensor left and right sides, install the second shot-light mount pad on the front shroud in the front shroud cover, the one end of second shot-light mount pad is passed the front shroud and its inside second LED shot-light still is installed.
And further: the bottom of shell assembly and welding spare still install temperature sensor, smoke transducer and gas detection sensor, gas detection sensor constitute by oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor, temperature sensor, smoke transducer, oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor be connected with the control box electricity respectively.
After adopting the structure, the invention has the following beneficial effects:
1. according to the invention, the automatic inspection robot replaces manual inspection, and the rail hanging type replaces the ground walking type, so that the danger degree and the labor cost of manual inspection are reduced, the labor intensity of workers is reduced, the practical performance of the inspection robot is increased, the inspection robot can quickly and stably reach any position of a mine, the data can be more comprehensively collected, and the safety performance of mine workers is improved;
2. the mine inspection robot is provided with sensors for measuring environments such as temperature, smoke, gas and the like, and can monitor the roadway environment in real time in the whole process, so that disasters are reduced;
3. the robot is provided with a steering mechanism, the steering is flexible during the inspection of the curve, and the operation is stable and reliable; the driving force of the robot driving device is adjustable, so that the robot driving device can realize no skid during walking, ascending and turning, and meets the requirement of inspection;
4. the robot is of an explosion-proof type for mining, has small volume, light weight, low power consumption and long running time, adopts a modular design, has high protection level, is easy to install and maintain, and is very suitable for working in severe environments of high dust, high humidity and high gas in a coal mine.
5. The robot is provided with the visible light probe, and has the advantages of identifying belt deviation, belt foreign matter invasion, instrument values and the like through internal algorithm design; the robot is provided with an infrared thermal imaging probe, and can identify and alarm the electromechanical high temperature of the inspection equipment, the air leakage and water leakage of pipelines, local fault points of the equipment and the like;
6. the robot can intelligently integrate a coal mine safety monitoring system, realizes linkage inspection after alarming monitoring parameters such as on-site gas and smoke, and the like, thereby improving the problem processing efficiency and further reducing the harm to on-site personnel.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a perspective view of the inspection robot.
Fig. 3 is a right view structural diagram of the inspection robot.
Fig. 4 is a front view structural diagram of the inspection robot.
Fig. 5 is a plan view structural view of the inspection robot.
Fig. 6 is a left side view structural view of the inspection robot.
Fig. 7 is a structural view of the housing assembly.
Fig. 8 is an enlarged view of I in fig. 7.
Fig. 9 is a plan view of the traveling mechanism.
Fig. 10 is a bottom view of the traveling mechanism.
Fig. 11 is a side view structural view of the traveling mechanism.
Fig. 12 isbase:Sub>A cross-sectional view taken along linebase:Sub>A-base:Sub>A of fig. 9.
Fig. 13 is a view showing an installation structure of the pressure wheel.
Fig. 14 is a front view of the charging device.
Fig. 15 is a top view of the charging device.
Fig. 16 is a side view structural view of the charging device.
Fig. 17 is a structural view of the electrode assembly.
Fig. 18 is a block diagram of the rear cover plate assembly.
Fig. 19 is a cross-sectional view taken along line B-B of fig. 18.
Fig. 20 is a cross-sectional view taken along line C-C of fig. 18.
Fig. 21 is a structural view of the front cover plate assembly.
Fig. 22 is a cross-sectional view taken along line D-D of fig. 21.
Fig. 23 is a cross-sectional view taken along line E-E of fig. 21.
Detailed Description
The rail-mounted inspection robot system applied to the mine as shown in fig. 1, 2, 3, 4, 5, 6 and 7 comprises an inspection robot 1 and a charging device 2, wherein the charging device is fixed at the bottom of a track 3, the inspection robot moves along the track and charges through contacting with the charging device, the track is an I-shaped guide rail, the inspection robot consists of a travelling mechanism 1-1, a control box 1-2, a camera 1-3, a battery component 1-4, an antenna component 1-5, a housing component 1-6, a rear cover component 1-7, a front cover component 1-8, a broadcasting component and a microphone component 1-10, the front cover component and the rear cover component are respectively arranged at the front end and the rear end of the housing component, the shell assembly is composed of a shell cover 1-6-2 and a shell assembly welding piece 1-6-1 which are connected into a whole up and down, the travelling mechanism is installed in the shell cover, the shell assembly is connected to the bottom of a track in a suspension mode through the travelling mechanism and moves along the track through the travelling mechanism, the control box and the battery assembly are both detachably installed in the shell assembly welding piece, a plurality of antenna assemblies are installed on one side of the shell assembly welding piece, the broadcasting assembly is installed in the other side of the shell assembly welding piece, horn holes 1-9 are formed in the side wall of the shell assembly welding piece, which is opposite to the broadcasting assembly, the camera and the microphone assembly are both installed at the bottom of the shell assembly welding piece, and the control box is respectively connected with the travelling mechanism, the camera and the battery assembly, the antenna assembly, the broadcast assembly and the microphone assembly are electrically connected. According to the invention, the automatic inspection robot replaces manual inspection, and the rail hanging type replaces the ground-attached walking type, so that the danger degree and the labor cost of manual inspection are reduced, the labor intensity of workers is reduced, the practicability of the inspection robot is improved, the inspection robot can quickly and stably reach any position of a mine, the data can be more comprehensively collected, and the safety performance of mine workers is improved. The robot is of an explosion-proof type for mining, has small volume, light weight, low power consumption and long running time, adopts a modular design, has high protection level, is easy to install and maintain, and is very suitable for working in severe environments of high dust, high humidity and high gas in a coal mine. The robot is provided with the visible light probe, and has the advantages of identifying belt deviation, belt foreign matter invasion, instrument values and the like through internal algorithm design; the robot is provided with an infrared thermal imaging probe, and can identify and alarm the electromechanical high temperature of the inspection equipment, the air leakage and water leakage of pipelines, local fault points of the equipment and the like; the robot can intelligently integrate a coal mine safety monitoring system, realizes linkage inspection after alarming monitoring parameters such as field gas and smoke, and the like, thereby improving the problem processing efficiency and further reducing the condition of harm to field personnel.
As shown in fig. 4, 7 and 8, the front end and the rear end of the bottom of the shell assembly and welding piece are in the shape of inclined planes, the inclined planes at the front end and the rear end of the shell assembly and welding piece are provided with traveling lamp transparent windows 1-6-3, traveling lamp assemblies 1-11 are arranged in the bottom of the shell assembly and welding piece at positions facing the traveling lamp transparent windows through bolt assemblies, and the traveling lamp assemblies are also electrically connected with the control box.
The traveling mechanism shown in fig. 9, 10, 11, 12 and 13 comprises a motor 1-1-3, a traveling mechanism support 1-1-4, a bottom plate 1-1-5, a traveling wheel support 1-1-6, a drive shaft 1-1-16, a drive support 1-1-17, a drive support shaft 1-1-20, a motor support 1-1-21, a shaft fixing block 1-1-23, a proximity switch support 1-1-29, a traveling mechanism wiring cavity 1-1-33, a drive wheel 1-1-36, a coupling 1-1-46, a traveling wheel 1-1-49, a pressure wheel 1-1-55 and a proximity switch 1-1-70, the bottom plate is horizontally placed and fixed in a housing cover, the motor is installed at the bottom of the bottom plate through the motor support, the motor support is connected with the bottom plate through the drive support shaft, one end of the drive support shaft is fixedly connected to the motor support through the shaft and a fixing bolt, the other end of the drive support shaft passes through the bottom plate, the two ends of the drive support shaft are movably connected to the bottom plate, two traveling mechanisms are horizontally placed on the two sides of the top of the two traveling mechanism, two traveling mechanism supports are connected to the front and back, and front and back traveling mechanisms are arranged on the two sides of the traveling mechanism, the walking wheels on the same side are oppositely arranged and are respectively contacted with the upper edges of two sides of the lower end of the track, the walking wheels are arranged on the walking mechanism support through walking wheel supports, a pressure wheel is arranged under each walking wheel, the pressure wheels are also arranged on the steering mechanism and are contacted with the lower edge of the lower end of the track, and a proximity switch is respectively arranged at the front end and the rear end of the bottom plate through a proximity switch support.
As shown in fig. 12 and 13, the steering mechanism includes a traveling mechanism wiring cavity 1-1-33, a steering plate 1-1-7, a steering wheel 1-1-8 and a steering wheel fixing plate 1-1-9, the steering wheel is mounted at the bottom of the bottom plate through the steering wheel fixing plate, the steering plate is located above the bottom plate and connected with the steering wheel, the traveling mechanism bracket is disposed on the steering plate, the traveling mechanism wiring cavity is also mounted at the bottom of the bottom plate, the control box is electrically connected with the steering wheel through the traveling mechanism wiring cavity, the steering plate drives the steering plate to rotate together, the pressure wheel is mounted in a travel rod assembly welding piece 1-1-1, the lower end of the travel rod assembly welding piece extends into and is movably connected with a spring sleeve 1-1-11, the lower end of the spring sleeve is fixed on the steering plate through a spring sleeve end cover 1-1-12, a pressure wheel spring 1-1-56 is disposed around the outer side of the spring sleeve, two ends of the pressure wheel spring are respectively connected with the travel rod assembly welding piece and the steering plate, and a limit block is further disposed in the spring sleeve 1-1-13.
As shown in fig. 9, two guide wheel mounting seats 1-1-25 are fixed on the front and rear bottom plates of the driving wheel respectively, the two guide wheel mounting seats on the same side are oppositely arranged and each guide wheel mounting seat is provided with two guide wheels 1-1-51, the guide wheels are mounted on one ends of guide wheel spring guide rods 1-1-26 through connecting pieces 1-1-27, the other ends of the guide wheel spring guide rods are fixed on the guide wheel mounting seats, the connecting pieces can slide along the guide wheel spring guide rods, guide compression springs 1-1-52 are further arranged around the outer sides of the guide wheel spring guide rods, the two ends of the guide compression springs are respectively connected with the guide wheel mounting seats and the connecting pieces, and the guide wheels are in contact with the outer wall of the lower edge of the lower end.
After the travelling mechanism is adopted, the steering mechanism is more flexible in steering during curve routing inspection and is stable and reliable in operation; the driving force of the robot driving device is adjustable, walking, ascending and turning can be realized without skidding, and the inspection requirement is met.
The charging device shown in fig. 14, 15 and 16 is composed of an electrode assembly 2-1, a magnet support 2-2, a charging controller 2-3, a charging device mounting support 2-4, a magnet cover 2-5, a mounting support 2-6 and an electromagnet 2-8, wherein the charging controller is detachably connected to the bottom of the mounting support, the mounting support is fixed to the bottom of a track, the magnet cover is detachably connected to the front end of the charging device mounting support, the charging device mounting support and the mounting support are integrally connected in a front-back mode, the electromagnet is mounted on the front end face of the magnet cover through the magnet support, the two electrode assemblies are respectively arranged on the left side and the right side of the charging device mounting support, the top of the electrode assembly is provided with an electrode shell clamp 2-10 integrally connected with the electrode assembly, the electrode shell clamp is detachably connected to the charging device mounting support, a sealing gasket cover 2-7 is further arranged between the magnet cover and the charging device mounting support, and a first cable fixing head 2-9 is further fixed to the charging device mounting support in the magnet cover. The inspection robot is attracted by the electromagnetic attraction, and can be in good contact with the contact electrode of the inspection robot through the special structural design of the electrode assembly without a gap, so that sparks are prevented from being generated in the charging process, and the safety performance is improved; by adopting the method, the inspection robot and the charging device main body do not have unnecessary collision when contacting, and the spark is prevented; and the suction through the electro-magnet plays limiting displacement, prevents that the robot from taking place to remove, causes the gap between the electrode composition surface, makes to charge unreliable.
The electrode assembly shown in fig. 17 includes a switch bracket 2-1-1, an electrode guide 2-1-2, an electrode casing 2-1-3, an electrode baffle 2-1-4, a ball head fixing nut 2-1-5, an electrode contact 2-1-6, a ball head 2-1-11, a ball head spring 2-1-12, an electrode guide spring 2-1-13, a switch 2-1-14, a second cable fixing head 2-1-15 and an electrode protecting cover 2-1-19, the electrode casing is clamped on the top of the electrode casing, the second cable fixing head is arranged at one end of the electrode casing, the electrode baffle is detachably fixed at the other end of the electrode casing, a through hole is opened and closed at the center of the electrode baffle, the switch is installed in the electrode casing through the switch bracket, the switch is connected with one end of the electrode guide, the other end of the electrode guide rod penetrates through the through hole, one end of the electrode guide rod penetrating through the through hole is also provided with a guide hole 2-1-2-1, a ball head fixing nut is further arranged between the through hole and one end of the electrode guide rod penetrating through the through hole, a ball head is connected in the ball head fixing nut, one end of the ball head extends out of the ball head fixing nut and is connected with an electrode contact, the other end of the ball head is connected in the guide hole of the electrode guide rod through a ball head spring, an isolation column is further arranged between the ball head and the inner wall of the ball head fixing nut, the inner wall of the electrode shell is provided with a first bulge part 2-1-3-1, the outer wall of one section of the electrode guide rod in the electrode shell is also provided with a second bulge part 2-1-2-2, the electrode guide rod spring is surrounded on the outer side of the electrode guide rod, two ends of the electrode guide rod spring are respectively connected with the first boss and the second boss, an electrode protection cover is further fixed on the outer wall of one end of the electrode shell provided with the electrode baffle, and a through groove used for extending out of the electrode contact is further formed in one end, away from the electrode shell, of the electrode protection cover. The electrode contact adopts a universal ball head structure, and when the electrode contact is butted with an electrode seat in a charging process, the electrode contact and the electrode seat are completely jointed and have no gap, the requirement on butting precision is lowered, and reliable charging is realized.
As shown in fig. 18, 19 and 20, the rear cover plate assembly comprises a rear cover plate 1-7-1, a rear cover plate cover 1-7-2, a first spotlight mounting base 1-7-4, an electrode base 1-7-5, an electrode base sleeve 1-7-6, an electrode base fixing plate 1-7-7, a suction block 1-7-8, a suction block bulb mounting base 1-7-9, a suction block bulb mounting base sleeve 1-7-10, a first LED spotlight 1-7-12 and a first distance measuring sensor 1-7-23, wherein the rear cover plate is detachably mounted at the rear end of the housing assembly, the rear cover plate cover is detachably mounted on one side of the rear cover plate connected with the housing assembly, a rear cover plate sealing gasket 1-7-3 is arranged at the connection position between the rear cover plate cover and the rear cover plate, and a suction block bulb mounting base sleeve is mounted on one side of the rear cover plate far away from the rear cover plate, one end of the suction block ball head mounting seat sleeve penetrates through the rear cover plate and extends into the rear cover plate cover and is connected with the suction block ball head mounting seat, the suction block is connected to one end of a joint bearing 1-7-21, the other end of the joint bearing penetrates through the suction block ball head mounting seat sleeve and is movably connected into the suction block ball head mounting seat, the suction block drives the inspection robot to move under the suction of the suction force of an electromagnet in the charging device so as to be connected with the electromagnet, the first distance measuring sensor is arranged on the rear cover plate in the rear cover plate cover, the first distance measuring sensor is positioned under the suction block ball head mounting seat, one end of the first distance measuring sensor extends out of the rear cover plate, and the rear cover plates on the left side and the right side of the suction block are respectively provided with an electrode seat, install the electrode holder sleeve on the back shroud in the back shroud, the telescopic one end of electrode holder stretches out the back shroud and still installs the electrode holder in its one end that stretches out, electrode holder and the electrode holder fixed plate fixed connection of connection at the electrode holder sleeve other end, when inhaling the electro-magnet in piece and the charging device and linking to each other, electrode holder links to each other with the electrode contact in the charging device, charges battery pack, still respectively be provided with a first LED shot-light on the back shroud of the first range sensor left and right sides, install first shot-light mount pad on the back shroud in the back shroud, the one end of first shot-light mount pad is passed the back shroud and its inside first LED shot-light of still installing. The invention ensures that the absorption block is completely attached to the two joint surfaces of the electromagnet without a gap when in charging through the design of the joint bearing, reduces the requirement on the butting precision and realizes reliable charging.
The front cover plate assembly shown in fig. 21, 22 and 23 comprises a front cover plate 1-8-1, a front cover plate cover 1-8-2, a second spotlight mounting seat 1-8-4, a second LED spotlight 1-8-5 and a second distance measuring sensor 1-8-9, wherein the front cover plate is detachably mounted at the front end of the shell assembly, the front cover plate cover is detachably mounted on one side of the front cover plate connected with the shell assembly, a front cover plate sealing gasket 1-8-3 is arranged at the joint of the front cover plate cover and the front cover plate, the second distance measuring sensor is mounted on the front cover plate in the front cover plate cover, one end of the second distance measuring sensor extends out of the front cover plate, a second LED spotlight is respectively arranged on the rear cover plates on the left side and the right side of the second distance measuring sensor, the second spotlight mounting seat is mounted on the front cover plate in the front cover plate cover, one end of the second spotlight mounting seat penetrates through the front cover plate, and a second LED spotlight is further mounted in the second spotlight.
The bottom of foretell shell group weldment still installs temperature sensor, smoke transducer and gas detection sensor, gas detection sensor constitute by oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor, temperature sensor, smoke transducer, oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor be connected with the control box electricity respectively. The mine inspection robot is provided with sensors for measuring environments such as temperature, smoke, gas and the like, and can monitor the roadway environment in real time in the whole process, so that disasters are reduced.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. The utility model provides a hang rail formula and patrol and examine robot system for mine which characterized in that: the inspection robot comprises an inspection robot (1) and a charging device (2), wherein the charging device is fixed at the bottom of a track (3), the inspection robot moves along the track and is charged by contacting with the charging device, the track is an I-shaped guide rail, the inspection robot consists of a travelling mechanism (1-1), a control box (1-2), a camera (1-3), a battery assembly (1-4), an antenna assembly (1-5), a shell assembly (1-6), a rear cover plate assembly (1-7), a front cover plate assembly (1-8), a broadcasting assembly and a microphone assembly (1-10), the front cover plate assembly and the rear cover plate assembly are respectively arranged at the front end and the rear end of the shell assembly, the shell assembly consists of a shell cover (1-6-2) and a shell assembly welding piece (1-6-1) which are connected into a whole from top to bottom, the travelling mechanism is arranged in the shell cover, the travelling mechanism is connected to the bottom of the track through the travelling mechanism and moves along the track through the track, the control box and the shell assembly (1-6-1) are detachably arranged on the shell, a plurality of horn assembly welding pieces are arranged on the side wall of the shell, and a plurality of horn assembly welding pieces are detachably arranged on the side wall of the shell, and a plurality of welding assembly welding pieces (9) are arranged on the side wall of the shell assembly, the control box is respectively and electrically connected with the traveling mechanism, the camera, the battery assembly, the antenna assembly, the broadcasting assembly and the microphone assembly;
the walking mechanism comprises a motor (1-1-3), a walking mechanism support (1-1-4), a bottom plate (1-1-5), a walking wheel support (1-1-6), a driving shaft (1-1-16), a driving support (1-1-17), a driving support rotating shaft (1-1-20), a motor support (1-1-21), a rotating shaft fixing block (1-1-23), a proximity switch support (1-1-29), a walking mechanism wiring cavity (1-1-33), a driving wheel (1-1-36), a coupler (1-1-46), a walking wheel (1-1-49), a pressure wheel (1-1-55) and a proximity switch (1-1-70), wherein the bottom plate is horizontally arranged and fixed in a shell cover, the motor is arranged at the bottom of the bottom plate through the motor support, the motor support is connected with the bottom plate through the driving support rotating shaft, one end of the driving support rotating shaft is fixedly connected with the motor support fixing block through a rotating shaft bolt, the other end of the driving support penetrates through the bottom plate and is movably connected with one end of the driving support, the front and back of the driving support are respectively provided with two tracks which are horizontally arranged, and the front and back of the two tracks are arranged, one of the driving wheels is connected with a motor through a coupler, the front side and the rear side of each driving wheel are respectively provided with a travelling mechanism support, the travelling mechanism supports are connected to the top of the bottom plate through a steering mechanism, the front side and the rear side of each driving wheel are respectively provided with two travelling wheels, the travelling wheels on the same side are oppositely arranged and respectively contacted with the upper edges of the two sides of the lower end of the track, the travelling wheels are arranged on the travelling mechanism supports through the travelling wheel supports, a pressure wheel is arranged right below each travelling wheel, the pressure wheels are also arranged on the steering mechanism and contacted with the lower edge of the lower end of the track, and the front end and the rear end of the bottom plate are respectively provided with an approach switch through an approach switch support;
the steering mechanism comprises a traveling mechanism wiring cavity (1-1-33), a steering plate (1-1-7), a steering wheel (1-1-8) and a steering wheel fixing plate (1-1-9), wherein the steering wheel is installed at the bottom of a bottom plate through the steering wheel fixing plate, the steering plate is located above the bottom plate and connected with the steering wheel, a traveling mechanism support is arranged on the steering plate, the traveling mechanism wiring cavity is also installed at the bottom of the bottom plate, a control box is electrically connected with the steering wheel through the traveling mechanism wiring cavity, the steering plate drives the steering plate to rotate together, a pressure wheel is installed in a travel rod assembly welding piece (1-1-1), the lower end of the travel rod assembly welding piece extends into a spring sleeve (1-1-11) and is movably connected with the spring sleeve, the lower end of the spring sleeve is fixed on the steering plate through a spring sleeve end cover (1-1-12), a pressure wheel spring (1-1-56) is arranged around the spring sleeve, two ends of the pressure wheel spring assembly are respectively connected with the inner side end of the steering rod assembly welding piece and the travel rod assembly welding piece (1-1-1-13).
2. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: the front end and the rear end of the bottom of the shell assembly welding piece are inclined planes, traveling lamp transparent windows (1-6-3) are arranged on the inclined planes at the front end and the rear end of the shell assembly welding piece, traveling lamp assemblies (1-11) are installed at positions, facing the traveling lamp transparent windows, in the bottom of the shell assembly welding piece through bolt assemblies, and the traveling lamp assemblies are also electrically connected with the control box.
3. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: two guide wheel mounting seats (1-1-25) are respectively fixed on the bottom plates on the front side and the rear side of the driving wheel, the two guide wheel mounting seats on the same side are oppositely arranged, two guide wheels (1-1-51) are arranged on each guide wheel mounting seat, the guide wheels are mounted at one ends of guide wheel spring guide rods (1-1-26) through connecting pieces (1-1-27), the other ends of the guide wheel spring guide rods are fixed on the guide wheel mounting seats, the connecting pieces can slide along the guide wheel spring guide rods, guide compression springs (1-1-52) are further arranged on the outer sides of the guide wheel spring guide rods in a surrounding mode, the two ends of each guide compression spring are respectively connected with the guide wheel mounting seats and the connecting pieces, and the guide wheels are in contact with the outer wall of the lower edge of the lower end.
4. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: the charging device comprises an electrode assembly (2-1), a magnet support (2-2), a charging controller (2-3), a charging device mounting support (2-4), a magnet cover (2-5), a mounting support (2-6) and an electromagnet (2-8), wherein the charging controller is detachably connected to the bottom of the mounting support, the mounting support is fixed to the bottom of a track, the magnet cover is detachably connected to the front end of the charging device mounting support, the charging device mounting support and the mounting support are connected into a whole in a front-back mode, the electromagnet is mounted on the front end face of the magnet cover through the magnet support, the electrode assembly is provided with two electrode assemblies, the two electrode assemblies are respectively arranged on the left side and the right side of the charging device mounting support, the top of the electrode assembly is provided with electrode shell clamps (2-10) connected into a whole with the electrode assembly, the electrode shell clamps are detachably connected to the charging device mounting support, a sealing gasket (2-7) is further arranged between the magnet cover and the charging device mounting support, and a first cable fixing head (2-9) is further fixed to the charging device mounting support in the magnet cover.
5. The hanging rail type inspection robot system applied to the mine shaft according to claim 4, wherein: the electrode assembly comprises a switch bracket (2-1-1), an electrode guide rod (2-1-2), an electrode shell (2-1-3), an electrode baffle (2-1-4), a ball head fixing nut (2-1-5), an electrode contact (2-1-6), a ball head (2-1-11), a ball head spring (2-1-12), an electrode guide rod spring (2-1-13), a switch (2-1-14), a second cable fixing head (2-1-15) and an electrode protective cover (2-1-19), wherein the electrode shell is arranged at the top of the electrode shell in a clamping manner, the second cable fixing head is arranged at one end of the electrode shell, the electrode baffle is detachably fixed at the other end of the electrode shell, a through hole is opened and closed at the center of the electrode baffle, the switch is arranged in the electrode shell through the switch bracket, the switch is connected with one end of the electrode guide rod, the other end of the electrode guide rod passes through the through hole, a guide hole (2-1-1), a guide hole is arranged at one end of the electrode passing through the through hole, and a guide rod fixing nut is connected with the ball head fixing nut, and an inner wall of the ball head fixing nut extending out of the ball head is connected with the ball head fixing nut, the electrode guide rod is characterized in that a first boss (2-1-3-1) is arranged on the inner wall of the electrode shell, a second boss (2-1-2-2) is further arranged on the outer wall of one section of the electrode guide rod positioned in the electrode shell, the electrode guide rod spring is surrounded on the outer side of the electrode guide rod, the two ends of the electrode guide rod spring are respectively connected with the first boss and the second boss, an electrode protection cover is further fixed on the outer wall of one end of the electrode shell provided with the electrode baffle, and a through groove used for extending an electrode contact is further formed in one end, away from the electrode shell, of the electrode protection cover.
6. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: the rear cover plate assembly comprises a rear cover plate (1-7-1), a rear cover plate cover (1-7-2), a first spotlight mounting seat (1-7-4), an electrode seat (1-7-5), an electrode seat sleeve (1-7-6), an electrode seat fixing plate (1-7-7), a suction block (1-7-8), a suction block ball head mounting seat (1-7-9), a suction block ball head mounting seat sleeve (1-7-10), a first LED spotlight (1-7-12) and a first distance measuring sensor (1-7-23), wherein the rear cover plate is detachably mounted at the rear end of the shell assembly, the rear cover plate cover is detachably mounted on one side of the rear cover plate connected with the shell assembly, and a rear cover plate sealing gasket (1-7-3) is arranged at the connection position between the rear cover plate cover and the rear cover plate, one side of the rear cover plate, which is far away from the rear cover plate cover, is provided with a suction block ball head mounting seat sleeve, one end of the suction block ball head mounting seat sleeve penetrates through the rear cover plate and extends into the rear cover plate cover and is connected with the suction block ball head mounting seat, the suction block is connected to one end of a joint bearing (1-7-21), the other end of the joint bearing penetrates through the suction block ball head mounting seat sleeve and is movably connected into the suction block ball head mounting seat, the suction block drives an inspection robot to move under the suction of the electromagnet in the charging device so as to be connected with the electromagnet, the first distance measuring sensor is arranged on the rear cover plate in the rear cover plate cover, first range finding sensor be located inhale a bulb mount pad under and the back shroud is stretched out to its one end, inhale still respectively to be provided with an electrode holder on the back shroud of the piece left and right sides, install the electrode holder sleeve on the back shroud in the back shroud cover, the electrode holder sleeve one end is stretched out the back shroud and is still installed the electrode holder in its one end that stretches out, electrode holder and the electrode holder fixed plate fixed connection of connecting at the electrode holder sleeve other end, when inhaling the electro-magnet in piece and the charging device and linking to each other, the electrode holder links to each other with the electrode contact in the charging device, charges battery pack, still respectively be provided with a first LED shot-light on the back shroud of the first range finding sensor left and right sides, install first shot-light mount pad on the back shroud in the back shroud cover, the one end of first shot-light mount pad is passed the back shroud and its inside first LED shot-light that still installs.
7. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: the front cover plate assembly comprises a front cover plate (1-8-1), a front cover plate cover (1-8-2), a second spotlight mounting seat (1-8-4), a second LED spotlight (1-8-5) and a second distance measuring sensor (1-8-9), wherein the front cover plate is detachably mounted at the front end of the shell assembly, the front cover plate cover is detachably mounted on one side of the front cover plate connected with the shell assembly, a front cover plate sealing gasket (1-8-3) is arranged at the joint between the front cover plate cover and the front cover plate, the second distance measuring sensor is mounted on the front cover plate in the front cover plate cover, one end of the second distance measuring sensor stretches out of the front cover plate, a second LED spotlight is further arranged on the rear cover plate on the left side and the right side of the second distance measuring sensor, the second spotlight mounting seat is mounted on the front cover plate in the front cover plate, one end of the second spotlight mounting seat penetrates through the front cover plate, and the second LED spotlight is further mounted in the front cover plate.
8. The hanging rail type inspection robot system applied to the mine according to claim 1, characterized in that: the bottom of shell assembly and welding spare still install temperature sensor, smoke transducer and gas detection sensor, gas detection sensor constitute by oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor, temperature sensor, smoke transducer, oxygen sensor, nitrogen gas sensor, carbon dioxide sensor, carbon monoxide sensor, hydrogen sulfide sensor, sulfur dioxide sensor, nitrogen dioxide sensor, ammonia sensor and hydrogen sensor be connected with the control box electricity respectively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114986475B (en) * | 2022-08-05 | 2022-10-25 | 山西科达自控股份有限公司 | Mining intrinsic safety type inspection device |
| CN115042152A (en) * | 2022-08-17 | 2022-09-13 | 山西科达自控股份有限公司 | Mining inspection robot |
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| WO2021068746A1 (en) * | 2019-10-08 | 2021-04-15 | 上海市东方海事工程技术有限公司 | Image acquisition device for tunnel inspection, tunnel inspection system, and tunnel inspection method |
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| JPH09115088A (en) * | 1995-10-23 | 1997-05-02 | Shinko Electric Co Ltd | Monitor system for inside tunnel |
| CN107769063A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | Electric inspection process robot and system |
| WO2021068746A1 (en) * | 2019-10-08 | 2021-04-15 | 上海市东方海事工程技术有限公司 | Image acquisition device for tunnel inspection, tunnel inspection system, and tunnel inspection method |
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