CN116291188A - Inspection robot - Google Patents

Abstract

The application relates to the field of mine inspection, especially relates to an inspection robot, include: the walking unit is used for realizing the movement of the robot, and the walking unit is provided with: the detection unit is used for detecting the environment in the roadway; the video unit is used for shooting images in the tunnel; the drilling unit is used for surrounding rock drilling; the grouting unit is used for grouting surrounding rock; the transmission unit is used for transmitting the information detected by the detection unit and the image shot by the video unit to the background; and the remote control unit is used for remotely controlling the running unit, the detection unit, the drilling unit and the grouting unit to run. The method has the effect of reducing disaster in the mine in the inspection process.

Description

Inspection robot

Technical Field

The application relates to the field of mine inspection, in particular to an inspection robot.

Background

When the mining operation is carried out in the field of coal mines, in order to ensure the smooth progress of the mining operation and the life safety of operators, underground mine inspection is an important component part of daily safety management operation of the mines, the current underground mine inspection mode is mainly based on personnel field inspection, inspection personnel record problems in a traditional paper pen handshaking mode, and the main content of inspection comprises the operation condition of equipment, the environmental monitoring of production places, the risk hidden danger condition of the production places, the illegal operation condition of personnel, and the place covers a stoping face, a tunneling face and the like. However, underground engineering disasters such as rock burst and mine earthquake are extremely easy to occur under the mine, so that in order to ensure the safety of inspection personnel, in recent years, the underground inspection work is gradually replaced by a remote control device, so that the effects of acquiring, storing and transmitting on-site image, sound, temperature, smoke and other data in real time, reducing labor intensity and labor risk are achieved.

The current inspection robot is generally matched with a track which is arranged on an inspection route in advance, and the inspection inside a mine is realized by the movement of the inspection robot along the track. However, the current inspection robot can only realize the inspection function along the track, when the inspection robot encounters the condition of larger surrounding rock ground stress in the inspection process, the ground stress is an important dangerous hidden danger for inducing tunnel surrounding rock instability and rock burst accidents, the inspection robot needs to return in time and then enters into the disaster reduction treatment such as drilling, pressure relief or grouting reinforcement through other disaster reduction equipment, but when the mine is deeper, the round-trip process takes more time, and the degree of risk generation in the mine is also linearly increased.

Therefore, it is desirable to provide a patrol robot capable of performing disaster reduction treatment in a mine during patrol.

Disclosure of Invention

In order to realize the disaster reduction treatment in the mine inspection process, the application provides an inspection robot.

The application provides a patrol robot adopts following technical scheme:

the inspection robot is characterized by comprising:

the walking unit is used for realizing the movement of the robot, and the walking unit is provided with:

the detection unit is used for detecting the environment in the roadway;

the video unit is used for shooting images in the tunnel;

the drilling unit is used for surrounding rock drilling;

the grouting unit is used for grouting surrounding rock;

the transmission unit is used for transmitting the information detected by the detection unit and the image shot by the video unit to the background;

and the remote control unit is used for remotely controlling the running unit, the detection unit, the drilling unit and the grouting unit to run.

Through adopting above-mentioned technical scheme, when patrolling and examining the operation, can make operator remote control walking unit drive the robot through remote control unit and remove, at the removal in-process of robot, detecting element can detect the tunnel internal environment, transmission unit is with the information transmission who detects the detecting element to the backstage, be convenient for backstage operator's observation, when observing that surrounding rock earth pressure is great, can be timely remove the higher region of surrounding rock earth stress through walking unit, drill the surrounding rock through drilling unit, thereby reach the uninstallation of stress, can effectively reduce the emergence of disasters such as mine under the rock burst, grouting unit can also accomplish grouting work to the surrounding rock after drilling unit accomplishes the drilling of surrounding rock, thereby consolidate the surrounding rock, can effectively reduce the emergence of disasters such as rock burst.

Optionally, the drilling unit comprises:

the rotary table is horizontally and rotatably arranged on the walking unit;

the swing arm is vertically arranged on the upper side of the rotary table, and the lower end of the swing arm can be rotatably arranged on the upper side of the rotary table;

one end of the mechanical arm is rotatably arranged at the upper end of the swing arm;

and the drilling component is arranged at one end of the mechanical arm, which is away from the swing arm, and comprises a separable drill rod.

Through adopting above-mentioned technical scheme, during the operation, through the relative rotation of revolving platform, swinging arms and arm, can adjust the angular position of drilling part, then drive the drilling operation that the mine country rock can be realized to the drilling part through the drilling part to reach the uninstallation of stress, can effectively reduce the emergence of the disaster such as the mine under-mine rock burst, and when taking place danger and being difficult to break away from the drilling rod from the country rock, can separate drilling rod and robot, thereby the quick withdrawal of robot of being convenient for, so as to reduce the loss.

Optionally, the drilling component includes:

the reciprocating driver is rotatably connected with the mechanical arm and is provided with a reciprocating shaft;

the jacket is coaxially fixed at the end of the reciprocating shaft, and one end of the drill rod can be coaxially inserted into the jacket to be in butt joint with the reciprocating shaft;

the locking mechanism is arranged on the clamping sleeve and used for locking or unlocking the drill rod to be connected with the reciprocating shaft.

By adopting the technical scheme, during operation, the reciprocating driver drives the reciprocating shaft to reciprocate, through the locking of the locking mechanism, the drill rod can be driven to synchronously move along with the reciprocating shaft, thereby driving the drill rod to drill the surrounding rock of the mine, and when accidents occur in the drilling process of the surrounding rock, the stress damage of the surrounding rock can cause the collapse danger of the surrounding rock of the mine or the abrupt penetration of underground water, once the drill rod is pulled out, the connection between the drill rod and the reciprocating shaft can be quickly unlocked through the locking mechanism, so that the drill rod is reserved in the surrounding rock, and the robot can quickly exit from the mine, so that on one hand, the phenomenon that the drill rod is forcibly pulled out to generate a larger crisis avoided, on the other hand, the loss of equipment is reduced, and on the other hand, the reserved record in the equipment can be taken out so as to analyze the rescue scheme.

Optionally, the grouting unit includes:

the storage component is used for storing solid cement;

a water storage part for storing water;

the mixing component is connected between the storage element and the water storage element, and is used for receiving and mixing the solid cement and the water;

the slurry storage component is connected with the mixing component and is used for receiving the slurry mixed by the mixing unit;

and the guniting component is connected with the storage component and is used for guniting surrounding rocks.

Through adopting above-mentioned technical scheme, storage part can store solid cement, and the water storage part can store water, when needs slip casting, receives solid cement and water and mixes through mixing element, then sends to the storage part, and rethread spouting thick liquid part can be with the drilling position department of the grout injection country rock after mixing to consolidate the country rock, can effectively reduce the emergence of disasters such as rock burst.

Optionally, the storage part includes:

the storage tank is communicated with and fixed above the feeding part of the mixing component;

the material distributing impeller is horizontally and rotatably arranged in the material storage tank, and a storage area is formed between adjacent blades of the material distributing impeller and the inner wall of the storage tank;

and the material distribution driving piece is used for driving the material distribution impeller to rotate.

Through adopting above-mentioned technical scheme, through the cooperation of the branch material impeller and the storage tank that set up, separate in the storage tank and be a plurality of storage areas, can store solid cement respectively, when the unloading is needed, through the solid cement mixed quantity that the branch material driving piece was according to needs, drive the branch material impeller rotation, can throw down the solid cement of required quantity from the storage area, avoided the disposable input of cement in the storage tank to the proportion of blending grouting cement is convenient for.

Optionally, the detecting component comprises a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor and an infrared detector.

By adopting the technical scheme, the actual condition of the mine internal environment can be fully detected, so that the mine internal environment can be fully understood.

Optionally, the video unit includes:

the illumination component is arranged in the walking unit and used for illuminating the roadway;

and the imaging component is arranged on the upper side of the walking unit and is used for imaging the interior of the mine.

Through adopting above-mentioned technical scheme, can throw light on in the tunnel through the illumination component that sets up to can be convenient for make a video recording the part and shoot clear image, in addition, transmission unit can be with the image transmission who shoots to the backstage simultaneously, so that operating personnel's observation.

Optionally, the lighting component comprises lighting lamps arranged at two ends of the movement direction of the walking unit;

the image pickup part comprises a camera arranged on the upper side of the walking unit.

Through adopting above-mentioned technical scheme, the light that sets up is located the direction of motion both ends of walking unit, sets up in the front and back both sides of robot promptly, can effectually throw light on the region of robot in the mine, and 360 panoramic camera then can fully shoot in the scope that robot is located in the mine.

Optionally, the walking unit includes:

a base;

a plurality of walking wheels set up in the base downside, include:

the hub is rotatably arranged on the base;

the solid tire body is fixed on the circumferential surface of the hub, and a plurality of accommodating grooves are formed in the circumferential surface of the solid tire body;

the auxiliary frames are arranged corresponding to the accommodating grooves and are movably arranged on the hub along the radial direction of the hub, so that the auxiliary frames can protrude out of the circumferential surface of the solid tire body.

Through adopting above-mentioned technical scheme, when traveling on normal road surface, the auxiliary frame is located the holding groove, and at this moment, is solid matrix with ground contact to make the robot travel fast, and suffer from the road conditions abominable, perhaps produce the earth's surface cracked, when solid matrix rotates and produces the skidding, can bulge in the global of solid matrix through the auxiliary frame, thereby can cooperate with solid matrix through a plurality of auxiliary frames, make the wheel body be applicable to multiple ground environment.

Optionally, the device further comprises a pulling unit, including:

the winch is rotatably arranged on the supporting unit;

the positioning pin is used for being inserted into the bottom surface of the mine;

one end of the winch rope is fixedly wound on the winch, and the other end of the winch rope is fixedly connected with the positioning pin;

and the rotation driving component is used for driving the winch to rotate.

Through adopting above-mentioned technical scheme, during the operation, insert the locating pin in the safe region of mine bottom surface, then can drive the capstan winch unwrapping wire through gyration drive part, drive the robot through the walking part simultaneously and can realize that the robot gets into the mine and patrol and examine the work in, when dangerous in the mine takes place, or the mine bottom surface leads to the walking wheel to be difficult to the operation because of reasons such as rock burst, can drive capstan winch rolling through gyration drive part, give the robot tractive force to make the robot fall back fast.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the inspection operation is carried out, the autonomous walking unit can drive the robot to automatically move, the detection unit can detect the environment in the roadway in the moving process of the robot, when the detection unit detects that the surrounding rock has larger ground pressure, the detection unit can timely move to an area with higher surrounding rock ground stress, the surrounding rock is drilled through the drilling unit, so that stress unloading is achieved, the occurrence of disasters such as rock burst under a mine can be effectively reduced, grouting work can be completed on the surrounding rock by the grouting unit after the drilling unit completes the drilling of the surrounding rock, and therefore the surrounding rock is reinforced, and the occurrence of disasters such as rock burst can be effectively reduced.

2. During operation, the reciprocating driver drives the reciprocating shaft to reciprocate, and through the locking of the locking mechanism, the drill rod can be driven to synchronously move along with the reciprocating shaft, so that the drill rod is driven to drill surrounding rock of a mine, when accidents occur in the drilling process of the surrounding rock, the surrounding rock is damaged, the mine is in collapse danger or underground water is suddenly permeated, once the drill rod is pulled out, the connection between the drill rod and the reciprocating shaft can be quickly unlocked through the locking mechanism, so that the drill rod is kept in the surrounding rock, and the robot quickly exits from the mine, on one hand, the phenomenon that the drill rod is forcibly pulled out to generate a larger crisis is avoided, on the other hand, the loss of equipment is reduced, and on the other hand, the record kept in the equipment can be taken out so as to analyze the emergency plan.

3. During operation, the locating pin is inserted in a safe area on the bottom surface of the mine, then the winch can be driven to pay off through the rotary driving part, meanwhile, the robot is driven to enter the mine through the walking part to carry out inspection work, when danger occurs in the mine, or when walking wheels are difficult to operate due to rock burst and other reasons on the bottom surface of the mine, the winch can be driven to roll up through the rotary driving part, and traction force is given to the robot, so that the robot can quickly roll back.

Drawings

FIG. 1 is a schematic view of a inspection robot in an embodiment of the present application;

FIG. 2 is a schematic view of a drilling unit according to an embodiment of the present application;

FIG. 3 is an enlarged schematic view of portion A in FIG. 2;

FIG. 4 is a schematic diagram of a grouting unit according to an embodiment of the present application;

FIG. 5 is a schematic view of a salient dispensing drive of a grouting unit in an embodiment of the present application;

FIG. 6 is a schematic diagram of a highlighting pulling unit according to an embodiment of the present application;

FIG. 7 is a schematic view of a highlighting plug pin unit according to an embodiment of the present application;

FIG. 8 is an enlarged schematic view of portion B of FIG. 7;

FIG. 9 is a schematic view of a side structure of a running wheel in an embodiment of the present application;

FIG. 10 is a schematic view of another side configuration of a travel wheel in an embodiment of the present application;

fig. 11 is a schematic view showing a solid carcass pocket structure in an embodiment of the present application.

Reference numerals illustrate: 1. a base; 11. a walking wheel; 111. a hub; 1111. a sleeve; 1112. a drive cylinder; 112. a solid carcass; 1121. a container; 113. an auxiliary frame; 1131. an anti-skid bar; 1132. a support rod; 12. a detection element; 13. a lighting member; 14. an imaging unit;

2. a drilling unit; 21. a rotary table; 211. a first telescopic cylinder; 22. a swing arm; 221. a second telescopic cylinder; 23. a mechanical arm; 231. a third telescopic cylinder; 24. a reciprocating driver; 241. a reciprocating shaft; 242. a jacket; 243. a cylinder; 25. a drill rod; 251. positioning holes;

3. a grouting unit; 31. a mixing tank; 311. a rotating shaft; 312. stirring sheets; 313. a stirring driving member; 32. a storage tank; 321. a material distributing impeller; 322. a material-separating driving piece; 323. a first control valve; 33. a water tank; 331. a water pipe; 332. a self priming pump; 34. a slurry storage tank; 341. a second control valve; 35. a suction pipe; 351. a suction pump; 352. grouting spray heads; 36. an adjusting cylinder;

4. a host system;

5. a pulling unit; 51. a winch; 52. a rope; 53. a positioning pin; 531. a spiral groove; 532. a collar; 54. a rotary driving member;

6. a plug pin unit; 61. a reciprocating motor; 62. a clamping member; 63. a vertical frame; 631. a lifting cylinder; 64. a sliding table.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-11.

The application discloses inspection robot mainly used solves traditional mine inspection robot and can only reach the detection to the mine internal environment at inspection in-process, and can't realize timely disaster reduction when detecting the interior country rock earth stress of mine higher to lead to the time delay, lead to the problem that dangerous incidence improves.

Referring to fig. 1, based on this, in an embodiment of the present application, a patrol robot is provided, including: the walking unit is provided with a detection unit, a video unit, a drilling unit 2, a grouting unit 3, a transmission unit and a remote control unit. The remote control unit is used for an operator to remotely control the running of the running unit, the detection unit, the drilling unit 2 and the grouting unit 3, the running unit is used for realizing autonomous running of a robot, the detection unit is used for detecting the environment in a mine tunnel, the video unit is used for annularly shooting images of the tunnel in the mine, the transmission unit is used for sending information detected by the detection unit and the images shot by the video unit to the background, so that an operator can judge the environment in the mine according to the images and the detection information, the remote control system can be conveniently controlled, the drilling unit 2 is used for drilling surrounding rocks in the mine, and the grouting unit 3 corresponds to drilling grouting on the mine.

When the inspection robot provided by the embodiment carries out inspection operation, the walking unit can be controlled by the far side of an operator to drive the robot to move autonomously, in the moving process of the robot, the video unit continuously sends images to the background through the transmission unit, so that an operator can observe the terrain in a mine conveniently, the movement of the walking unit is controlled, the environment in a roadway can be detected through the detection unit, when the detection unit detects that the ground pressure of surrounding rock is large, the walking unit can be controlled to move to an area with high ground stress of the surrounding rock timely, then the surrounding rock is drilled through the drilling unit 2, so that the unloading of the surrounding rock stress is achieved, the occurrence of disasters such as rock burst and the like under the mine can be effectively reduced, and after the drilling unit 2 finishes the drilling of the surrounding rock, the grouting operation can be completed on the surrounding rock through the control of the grouting unit 3, so that the surrounding rock is reinforced, and the occurrence of disasters such as rock burst and the like can be effectively reduced.

Referring to fig. 1, in an embodiment of the present application, a walking unit includes a base 1 and a plurality of walking wheels 11 disposed below the base 1, the base 1 is of a rectangular structure with a length greater than a width, the number of the walking wheels 11 is four, specifically, two sides of the base 1 are symmetrically disposed, in order to facilitate autonomous movement of the walking wheels 11, the walking wheels 11 may be steering wheels directly, although it is not excluded that the walking wheels 11 may also be in other forms, that is, may be capable of driving the base 1 to perform autonomous movement,

further, in order to ensure the strength of the wheel body of the travelling wheel 11, the wheel body of the travelling wheel 11 may be a solid rubber wheel.

Referring to fig. 1, in an embodiment of the present application, the detecting unit specifically includes a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor, an infrared detector, and other detecting elements 12 fixed on the base 1, and besides, the detecting elements 12 of the detecting unit may be further increased or decreased according to the requirement of use.

Referring to fig. 1, in an embodiment of the present application, the video unit includes an illumination unit 13 and an image pickup unit 14, the illumination unit 13 is used for illuminating the interior of the roadway, and the image pickup unit 14 is used for picking up images of the interior of the mine. Specifically, the illumination component 13 includes the light that is fixed in the advancing direction one end of base 1 and the one end of retreating direction respectively, and the part 14 of making a video recording is including being fixed in 360 degrees panoramic cameras of base 1 upper end, in addition, in order to improve the part 14 stability of making a video recording operation, adapts to the adverse circumstances under the mine, 360 degrees panoramic cameras adopt explosion-proof camera. Therefore, the illuminating lamp can effectively illuminate the surrounding area of the robot in the mine, and the 360-degree panoramic camera can fully shoot the robot in the mine in the range.

Referring to fig. 1 and 2, in an embodiment of the present application, a drilling unit 2 includes a horizontal turntable 21 rotatably connected to an upper side of a base 1, the turntable 21 may be a numerically controlled turntable capable of autonomous motion, a swing arm 22 is vertically disposed at an upper axial position of the turntable 21, a lower end of the swing arm 22 is hinged to the turntable 21, a first telescopic cylinder 211 is further disposed on a side of the turntable 21 corresponding to the swing arm 22, a lower end of the first telescopic cylinder 211 is hinged to the turntable 21, and a telescopic rod of the first telescopic cylinder 211 is hinged to the swing arm 22, and is telescopic through the first telescopic cylinder 211 to drive the swing arm 22 to swing.

Referring to fig. 2, a mechanical arm 23 is disposed at an upper end of the swing arm 22, one end of the mechanical arm 23 is hinged to the upper end of the swing, a second telescopic cylinder 221 is disposed between the swing arm 22 and the mechanical arm 23, a cylinder body of the second telescopic cylinder 221 is hinged to the swing arm 22, a telescopic rod of the second telescopic cylinder 221 is hinged to the mechanical arm 23, and the second telescopic cylinder 221 drives the telescopic rod to stretch and retract, so that the mechanical arm 23 can be driven to swing.

Referring to fig. 2, a drilling part is provided on the mechanical arm 23 for drilling of surrounding rock, and specifically, the drilling part includes a reciprocating driver 24, a third telescopic cylinder 231 is provided between the reciprocating driver 24 and the mechanical arm 23, a cylinder body of the third telescopic cylinder 231 is hinged to the mechanical arm 23, and a telescopic rod of the third telescopic cylinder 231 is hinged to the reciprocating driver 24. The output end of the reciprocating driver 24 is a reciprocating shaft 241 capable of reciprocating, specifically, the reciprocating driver 24 may adopt a pneumatic reciprocating driver 24, such as a pneumatic crusher, unlike a traditional pneumatic crusher, the output end of the reciprocating shaft 241 is coaxially fixed with a jacket 242, a drill rod 25 is coaxially inserted into the jacket 242, a locking mechanism is further arranged on the jacket 242, and the locking mechanism can slide along the axial direction of the jacket 242 and is used for locking or unlocking the connection between the drill rod 25 and the reciprocating shaft 241.

Referring to fig. 2, during operation, the relative rotation of the rotary table 21, the swing arm 22 and the mechanical arm 23 can adjust the angle position of the drilling component, then, the reciprocating driver 24 drives the reciprocating shaft 241 to reciprocate, and the locking mechanism locks the reciprocating shaft 241 to drive the drill rod 25 to synchronously move along with the reciprocating shaft 241, so as to drive the drill rod 25 to drill the surrounding rock of the mine, when accidents occur in the drilling process of the surrounding rock, so that the surrounding rock is damaged by stress to cause collapse danger of the surrounding rock of the mine or the groundwater is rapidly permeated, once the drill rod 25 is pulled out, the connection between the drill rod 25 and the reciprocating shaft 241 can be rapidly unlocked by the locking mechanism, so that the drill rod 25 is kept in the surrounding rock, and the robot rapidly exits from the mine.

Referring to fig. 2 and 3, in an embodiment of the present application, a positioning hole 251 is radially formed at one end of a drill rod 25 inserted into a collet 242, a locking member includes a cylinder 243 fixed on the circumferential surface of the collet 242, and a telescopic rod of the cylinder 243 passes through the collet 242 and can be inserted into the positioning hole 251 of the drill rod 25, so when the drill rod 25 is installed, the drill rod 25 is inserted into the collet 242, and the telescopic rod is driven to extend through the cylinder 243, passes through the circumferential wall of the collet 242 and is inserted into the positioning hole 251 of the drill rod 25, so that the butt joint of the drill rod 25 and a reciprocating shaft 241 can be completed, the reciprocating shaft 241 can drive the drill rod 25 to reciprocate, and when the connection between the drill rod 25 and the reciprocating shaft 241 needs to be disconnected, the cylinder 243 drives the telescopic rod to retract and exit the positioning hole 251 of the drill rod 25, so that the drill rod 25 can be easily separated from the collet 242, and the disconnection between the reciprocating shaft 241 and the drill rod 25 can be realized.

Referring to fig. 4 and 5, in an embodiment of the present application, the grouting unit 3 includes a storage part, a water storage part, a slurry storage part, and a slurry spraying part.

Referring to fig. 4 and 5, wherein the mixing part includes a mixing tank 31, the mixing tank 31 is vertically fixed to a base 1, a rotating shaft 311 is rotatably connected to the mixing tank 31, a plurality of stirring blades 312 are fixed on the circumferential surface of the rotating shaft 311, a stirring driving member 313 is fixed at the upper end of the mixing tank 31 corresponding to the rotating shaft 311, the stirring driving member 313 may adopt a driving motor for driving the rotating shaft 311 to rotate, thereby driving the stirring blades to rotate,

referring to fig. 4 and 5, the storage part includes a storage tank 32 fixed above the mixing tank 31, the axis of the storage tank 32 is horizontally arranged and is cylindrical, a material distributing impeller 321 is rotationally connected to the storage tank 32, a storage area is formed between adjacent blades of the material distributing impeller 321 and the inner wall of the storage tank, a material distributing driving member 322 is further fixed at one end of the storage tank 32 and is used for driving the material distributing wheel to rotate, and specifically, the material distributing driving member 322 can adopt a servo motor.

Referring to fig. 4 and 5, a first control valve 323 is provided between the tank 32 and the mixing tank 31 for opening or closing communication between the mixing tank 31 and the tank 32, and the first control valve 323 employs a solenoid valve for facilitating control of the first control valve 323.

Referring to fig. 4 and 5, during operation, through the cooperation of the distribution impeller 321 and the storage tank 32 that set up, separate the storage tank 32 and be a plurality of storage areas, can store solid cement respectively, when the unloading is needed, open first control valve 323 to drive distribution impeller 321 through the distribution driving piece 322 and rotate according to required solid cement mixed quantity, can throw required quantity of solid cement down from the storage area, avoided the disposable input of cement in the storage tank 32, be convenient for mix the proportion of slip casting cement.

Referring to fig. 4 and 5, the water storage part includes a water tank 33 fixed to the base 1, a water pipe 331 connected to the upper end of the mixing tank 31 is fixed to one side of the water tank 33, and a self-priming pump 332 is fixed to the water pipe 331, and when in operation, the self-priming pump 332 works to send water in the water tank 33 into the mixing tank 31 to mix with solid cement.

Referring to fig. 4 and 5, a slurry storage part is fixed to the lower end of the mixing tank 31, a second control valve 341 is fixed between the slurry storage tank 34 and the mixing tank 31, for opening or closing the communication between the slurry storage tank 34 and the mixing tank 31, and the second control valve 341 adopts a timing valve in order to facilitate the control of the stirring time of the slurry in the mixing tank 31.

Referring to fig. 4 and 5, in preparation for grouting operation, after solid cement and water enter the mixing tank 31, the stirring plate 312 of the mixing tank 31 is started to operate, at this time, the second control valve 341 is started to operate, under the action of the stirring plate 312, the solid cement and water are fully stirred, after stirring is completed, the second control valve 341 is opened, and the mixed cement enters the slurry storage tank 34 for waiting grouting.

Referring to fig. 4, the spouting means includes a suction pipe 35, a suction pump 351, and a spouting head 352. Wherein the suction pipe 35 is a high-strength hose, such as a metal hose, the suction pipe 35 is connected to the slurry storage tank 34, the suction pump 351 is fixed to the suction pipe 35, and the grouting nozzle 352 is fixed to an end of the suction pipe 35 facing away from the slurry storage tank 34. The suction pump 351 is operated to pump out the cement slurry in the slurry storage tank 34 and send the cement slurry to the grouting nozzle 352 for ejection.

Referring to fig. 2 and 4, further, in order to facilitate the position adjustment of the grouting nozzle 352, an adjusting cylinder 36 is fixed on one side of the reciprocating driver 24 along the length direction thereof, and the grouting nozzle 352 is fixed on a telescopic rod of the adjusting cylinder 36, so that when grouting operation is required, the grouting nozzle 352 is driven to extend out of the front end of the drill rod 25 by the telescopic rod 36, and then the grouting nozzle 352 is driven to move to a proper position by the reciprocating driver 24 to perform grouting operation.

Referring to fig. 1, in an embodiment of the present application, a host system 4 is fixed on a base 1, the host system 4 is connected with a ground background system through a mobile communication network, a transmission unit and a remote control unit are both disposed on the host system 4, the transmission unit is configured to transmit various information detected by a detection unit and an image captured by a video unit to the ground background system, so that an operator of the background system can observe the information, and meanwhile, a control instruction output by the operator of the background system can control actions of a walking unit, a drilling unit 2 and a grouting unit 3 through the remote control system.

Furthermore, to facilitate the storage of information, a storage unit may be further disposed in the host system 4, for storing each item of information detected by the detection unit and the image captured by the video unit, so as to facilitate the record analysis of the later information.

Referring to fig. 6, as another embodiment of the present application, a traction unit 5 may be further provided, mainly for solving the problem that when danger occurs in a mine or the traveling wheel 11 is difficult to operate due to rock burst or the like at the bottom of the mine, the traveling wheel 11 can be assisted, so that the robot can be quickly retreated from the dangerous zone of the roadway to the safety zone, thereby protecting the robot.

Referring to fig. 6, specifically, the pulling unit 5 includes a winch 51, the winch 51 is rotatably connected to the base 1, one end of the winch 51 is wound around and fixed to the winch 51, one end of the winch rope 52, which is away from the winch 51, is fixed with a positioning pin 53, one end of the base 1, which corresponds to the winch 51, is also fixed with a rotary driving member 54, and the rotary driving member 54 may employ a servo motor.

In this way, during operation, an operator inserts the locating pin 53 in a safe area of the mine bottom surface, then drives the winch 51 to pay off through the rotary driving part, and simultaneously drives the robot through the walking part to realize that the robot enters the mine to carry out inspection work, when danger occurs in the mine, or when the mine bottom surface is difficult to operate due to rock burst and other reasons, the winch 51 can be driven to wind through the rotary driving part 54, and traction force is given to the robot, so that the robot can quickly retract.

Referring to fig. 7 and 8, further, to realize automatic insertion of the positioning pin 53, a plug pin unit 6 may be further provided, for realizing automatic insertion of the positioning pin 53, the plug pin unit 6 mainly includes:

a reciprocating motor 61 having an output shaft disposed downward and vertically movable with respect to the base 1;

a clamping member 62 relatively fixed to the lower side of the reciprocating motor 61;

a screw positioning pin 53 vertically rotatably disposed in the holding member 62 and rotatable or disengageable in synchronization with the output shaft of the reciprocating motor 61; the method comprises the steps of,

the collar 532 provided to the spiral positioning pin 53 and fixed to the rope 52 is rotated.

In this way, the spiral locating pin 53 is clamped by the clamping component 62, the clamping component 62 synchronously moves downwards along with the reciprocating motor 61 until the locating pin 53 abuts against the ground, then the reciprocating motor 61 drives the spiral locating pin 53 to rotate, the spiral locating pin 53 is inserted into the ground, in the rotating process of the spiral locating pin 53, the twisted rope 52 is prevented from synchronously rotating along with the loop 532, the spiral locating pin 53 is loosened by the clamping component 62, the spiral locating pin 53 is separated from the output shaft of the reciprocating motor 61, and the automatic insertion of the bolt component into the ground can be realized.

Referring to fig. 7 and 8, the plug pin unit 6 is described in detail below:

the spiral locating pin 53, namely the peripheral surface of the locating pin 53 is provided with a spiral groove 531, the upper end of the peripheral surface of the locating pin 53 is coaxially sleeved with a lantern ring 532 which is rotatably connected with the locating pin 53, the diameter of the lantern ring 532 is larger than that of the locating pin 53, the twisted rope 52 is fixed on the lantern ring 532, and the upper end of the locating pin 53 is also provided with a locating groove.

Referring to fig. 7 and 8, a stand 63 is vertically fixed at the rear end of the base 1, a sliding table 64 is vertically slidably connected to the stand 63, a reciprocating motor 61 with an output shaft arranged downward is vertically fixed to the sliding table 64, and a positioning plug is coaxially fixed to the output shaft of the reciprocating motor 61 and is used for being matched with a positioning groove at the upper end of the positioning pin 53, so that the reciprocating motor 61 can rotate when being output and can drive the positioning pin 53 to rotate reciprocally. The upper end of the vertical frame 63 is vertically fixed with a lifting cylinder 631, a telescopic rod of the lifting cylinder 631 is fixed on the sliding table 64, and the lifting cylinder 631 drives the sliding table 64 to vertically move so as to drive the driving motor to synchronously move.

Referring to fig. 7 and 8, the clamping member 62 includes a pneumatic clamp fixed to a lower end of the slide table 64, both jaws of the pneumatic clamp are combined to form a clamping hole having the same diameter as that of the positioning pin 53 for inserting the positioning pin 53 to enable the positioning pin 53 to rotate relative to the pneumatic clamp, and since the diameter of the collar 532 is larger than that of the positioning pin 53, the collar 532 can restrict the positioning pin 53 from being separated from between the combined jaws of the pneumatic clamp.

In summary, in the initial state, the positioning pin 53 is inserted between the two combined clamping jaws of the pneumatic clamp, so that the positioning pin 53 is carried, and when the robot moves to the entrance of the mine or other safety positions of the mine tunnel. The lifting cylinder 631 pushes the sliding table 64 to vertically move downwards until the lower end of the positioning pin 53 is abutted against the ground, then the output shaft of the reciprocating motor 61 rotates, the positioning pin 53 is driven to synchronously rotate through the cooperation of the positioning groove and the positioning head, the positioning pin 53 is inserted into the ground through the spiral groove 531 of the positioning pin 53, then the two clamping jaws of the pneumatic clamp are separated, and the lifting component drives the sliding table 64 to vertically move upwards, so that the two clamping jaws are separated from the positioning pin 53, and the positioning pin 53 can be buried underground.

When the robot exits from the roadway, the lifting cylinder 631 drives the sliding table 64 to vertically move downwards, so that the two clamping jaws of the pneumatic clamp are clamped on the outer side of the positioning pin 53, the positioning head of the output shaft of the reciprocating motor 61 is matched with the positioning groove at the upper end of the positioning pin 53 to complete butt joint, and finally the reciprocating motor 61 drives the positioning pin 53 to rotate reversely, so that the positioning pin 53 can be pulled out from the ground.

Referring to fig. 9-11, in another embodiment of the present application, in order to improve the adaptability of the inspection robot to the ground under the mine, on one hand, slip is avoided, on the other hand, the inspection robot is convenient to cooperate with the traction unit 5 when rapidly withdrawing, and the wheel body of the travelling wheel 11 can be modified as follows.

Referring to fig. 9 and 10, the wheel body of the road wheel 11 includes: hub 111, solid carcass 112 and auxiliary frame 113.

Referring to fig. 9 and 10, specifically, a rubber tire is fixed to the outer side of the hub 111, and a plurality of grooves 1121 (see fig. 11) are uniformly formed in the outer circumferential surface of the rubber tire, and the plurality of grooves 1121 are each provided in a direction inclined to the axis thereof.

Referring to fig. 9 and 10, the auxiliary frames 113 are each U-shaped, and include a non-slip bar 1131 disposed in the receiving groove 1121 in an inclined direction of the receiving groove 1121, and support bars 1132 fixed to both ends of the non-slip bar 1131 extending out of the receiving groove 1121. The support rods 1132 extend towards the axial direction of the hub 111, a sleeve 1111 is fixed at one side of the hub 111 corresponding to the support rod 1132 and is used for sliding with one support rod 1132 of the auxiliary frame 113, a driving cylinder 1112 is also fixed at the other side of the hub 111, and a telescopic rod of the driving cylinder 1112 is fixed on the other support rod 1132 of the auxiliary frame 113.

So, when traveling on normal road surface, drive bracing piece 1132 through actuating cylinder 1112 contracts, can make slide bar 1131 be located hold groove 1121, this moment, be solid matrix 112 with ground contact, so that make the robot travel fast, and because hold groove 1121 is the chute, also guaranteed solid matrix 112 in-process of traveling all the time have part to contact with ground, can not produce great jolt, and when meeting severe road conditions or producing the earth's surface cracked, solid matrix 112 rotates and produces the skid, can directly drive bracing piece 1132 through actuating cylinder 1112 and extend, thereby make slide bar 1131 bulge in solid matrix 112, cooperate with solid matrix 112 through a plurality of slide bars 1131, make the wheel body travel out fast in abominable ground.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (10)

1. The inspection robot is characterized by comprising:

the walking unit is used for realizing the movement of the robot, and the walking unit is provided with:

the detection unit is used for detecting the environment in the roadway;

the video unit is used for shooting images in the tunnel;

the drilling unit (2) is used for surrounding rock drilling;

the grouting unit (3) is used for grouting surrounding rock;

the transmission unit is used for transmitting the information detected by the detection unit and the image shot by the video unit to the background;

and the remote control unit is used for remotely controlling the running unit, the detection unit, the drilling unit (2) and the grouting unit (3) to run.

2. The inspection robot of claim 1, wherein: the drilling unit (2) comprises:

the rotary table (21) is horizontally and rotatably arranged on the walking unit;

the swing arm (22) is vertically arranged on the upper side of the rotary table (21) in a rotatable manner at the lower end;

one end of the mechanical arm (23) is rotatably arranged at the upper end of the swing arm (22);

and the drilling component is arranged at one end of the mechanical arm (23) which is away from the swing arm (22), and comprises a separable drill rod (25).

3. A patrol robot according to claim 2, characterized in that: the drilling component comprises:

a reciprocating driver (24) rotatably connected to the mechanical arm (23), the reciprocating driver (24) being provided with a reciprocating shaft (241);

the jacket (242) is coaxially fixed at the end of the reciprocating shaft (241), and one end of the drill rod (25) can be coaxially inserted into the jacket (242) to be in butt joint with the reciprocating shaft (241);

the locking mechanism is arranged on the clamping sleeve (242) and used for locking or unlocking the drill rod (25) to be connected with the reciprocating shaft (241).

4. The inspection robot of claim 1, wherein: the grouting unit (3) comprises:

the storage component is used for storing solid cement;

a water storage part for storing water;

the mixing component is connected between the storage element and the water storage element, and is used for receiving and mixing the solid cement and the water;

the slurry storage component is connected with the mixing component and is used for receiving the slurry mixed by the mixing unit;

and the guniting component is connected with the storage component and is used for guniting surrounding rocks.

5. The inspection robot of claim 4, wherein: the storage part includes:

a storage tank (32) communicated with and fixed above the feeding part of the mixing component;

the material distributing impeller (321) is horizontally and rotatably arranged in the storage tank (32), and a storage area is formed between adjacent blades of the material distributing impeller (321) and the inner wall of the storage tank;

and the material distributing driving piece (322) is used for driving the material distributing impeller (321) to rotate.

6. The inspection robot of claim 1, wherein: the detection component comprises a temperature and humidity sensor, a dust concentration sensor, a CO concentration sensor, a gas concentration sensor and an infrared detector.

7. The inspection robot of claim 1, wherein: the video unit includes:

the illumination component (13) is arranged in the walking unit and used for illuminating the roadway;

and an imaging unit (14) which is provided above the traveling unit and is used for imaging the interior of the mine.

8. The inspection robot of claim 7, wherein: the illumination component (13) comprises illumination lamps arranged at two ends of the movement direction of the walking unit;

the image pickup part (14) comprises a 360-degree panoramic camera arranged on the upper side of the walking unit.

9. The inspection robot of claim 1, wherein: the walking unit includes:

a base (1);

a plurality of walking wheels (11) set up in base (1) downside, include:

a hub (111) rotatably provided on the base (1);

a solid carcass (112) fixed on the peripheral surface of the hub (111), wherein a plurality of accommodating grooves (1121) are formed in the peripheral surface of the solid carcass (112);

the auxiliary frames (113) are arranged corresponding to the accommodating grooves (1121) and are movably arranged on the hub (111) along the radial direction of the hub (111), so that the auxiliary frames (113) can protrude out of the peripheral surface of the solid matrix (112).

10. The inspection robot of claim 1, wherein: also included is a pulling member comprising:

a winch (51) rotatably provided to the support unit;

the positioning pin (53) is used for being inserted into the bottom surface of the mine;

a winch rope (52) one end of which is wound and fixed on the winch (51), and the other end of which is fixed on the positioning pin (53);

and a rotation driving part for driving the winch (51) to rotate.

Images