CN215395242U

CN215395242U - Underground surveying robot

Info

Publication number: CN215395242U
Application number: CN202121191264.1U
Authority: CN
Inventors: 李亚威; 牛德仲; 朱琨; 马德良
Original assignee: Xuzhou Rong Innovative Materials Technology Research Institute Co ltd
Current assignee: Xuzhou Rong Innovative Materials Technology Research Institute Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2022-01-04
Anticipated expiration: 2031-05-31

Abstract

The utility model relates to an underground surveying robot, which comprises a robot main body, a ball screw, a driving motor, a moving member, a sliding member and a driving assembly, wherein the ball screw is rotatably connected to the top of the robot main body; through setting up motor, ball screw, slider and drive assembly cooperation work and promote testing platform's height to effectual survey height that has improved the robot has enlarged detection range, makes the testing result more reliable, and then can provide safe and reliable's data guidance more for search and rescue work.

Description

Underground surveying robot

Technical Field

The utility model relates to the technical field of robot design and manufacture, in particular to an underground surveying robot.

Background

Coal mines are areas where humans mine coal resources in coal-rich mining areas, and are generally divided into underground coal mines and opencast coal mines. When the coal seam is far from the ground surface, a tunnel is usually dug to the underground, so that the coal is a mineworker coal mine. And because the mineworker's colliery is far away from the earth's surface, after the colliery takes place the accident, still there are a large amount of natural explosive gas and toxic gas in the mine, need survey the robot in the pit and get into the mine and survey, including detecting the inside destruction degree of mine and the concentration of natural explosive gas and toxic gas to judge whether safe in the pit circumstances, whether suitable personnel get into and search and rescue work.

However, the currently used underground surveying robot can detect a height of about 300mm due to the height limitation of the underground surveying robot, which is far lower than the height that a worker can reach when walking vertically, so that the underground surveying robot cannot detect whether the underground environment is safe in a wider range.

Therefore, there is a need to provide a new technical solution to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to provide a downhole surveying robot that effectively solves the above mentioned technical problems.

In order to achieve the purpose of the utility model, the following technical scheme is adopted:

a downhole survey robot comprising:

a robot main body;

ball screw: the top of the robot main body is rotatably connected and vertically arranged;

driving a motor: the end part of a driving shaft of the robot is fixedly arranged in the robot main body, extends out of the top surface of the robot main body and is fixedly connected with the ball screw;

moving parts: one end of the ball screw is connected with the ball screw in a sliding way;

a sliding part: the sensor platform is fixedly arranged at the top of the moving piece;

and, a drive assembly: and the sensor platform can reach the height which is the sum of the heights of the ball screw and the sliding part.

Preferably, one side of the sliding part is fixedly provided with a bar gear, and the driving assembly comprises a circular gear in meshed connection with the bar gear and a servo motor for driving the circular gear to drive the sliding part to vertically slide.

Preferably, a portal frame is fixedly arranged at the top of the robot main body, a through hole for the sliding part and the sensor platform to pass through is formed in the top of the robot main body, and the top end of the ball screw is rotatably connected with the portal frame.

Preferably, the guide way has all been seted up at the both sides inside wall middle part of portal frame, the both sides of moving member all set firmly with guide block of guide way sliding connection.

Preferably, the electromagnets are installed on two sides of the inner side wall of the top of the portal frame, the electromagnets are provided with contact switches, and the top of the guide block is fixedly provided with a magnet block matched with the electromagnets for use.

Preferably, the robot further comprises a protective air bag which is sleeved on the outer side of the robot main body.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the motor, the ball screw, the sliding part and the driving assembly are arranged to work in a matched manner to lift the height of the detection platform, so that the surveying height of the robot is effectively improved, the detection range is expanded, the detection result is more reliable, and safer and more reliable data guidance can be provided for search and rescue work.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is a schematic diagram of a downhole survey robot according to the present invention;

FIG. 2 is a left side view of a moving member in a downhole survey robot provided by the present invention.

Numerical description in the figures:

1. a robot main body; 2. a ball screw; 3. a drive motor; 4. a moving member; 5. a slider; 6. a servo motor; 7. a sensor platform; 8. a bar gear; 9. a circular gear; 10. a gantry; 11. a guide block; 12. an electromagnet; 13. a magnet block; 14. and (4) protecting the air bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.

In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the utility model and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the scope of the utility model. When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

A downhole survey robot of the present invention will now be described more fully with reference to the accompanying drawings.

As shown in fig. 1 and 2, the present invention provides a downhole survey robot, which includes a robot main body 1, a ball screw 2, a driving motor 3, a moving member 4, a sliding member 5, and a driving assembly.

The ball screw 2 is rotatably connected to the top of the robot body 1 and is vertically arranged. The driving motor 3 is fixedly arranged in the robot main body 1, and the end part of the driving shaft extends out of the top surface of the robot main body 1 and is fixedly connected with the ball screw 2, so that the ball screw 2 is driven to rotate. One end of the moving member 4 is slidably connected to the ball screw 2. The sliding part 5 is connected to the other end of the moving part 4 in a sliding manner, and a sensor platform 7 is fixedly arranged at the top of the sliding part. The driving component is fixedly connected with the moving member 4 and is used for driving the sliding member 5 to vertically move.

When the device is used, a sensor and a camera shooting assembly which are needed are installed on a sensor platform 7, wherein the sensor includes but is not limited to a temperature sensor, a humidity sensor, an oxygen sensor, a CH4 sensor and the like, then the robot is driven to enter a mine, after the robot enters the mine, a control module located inside the robot controls the driving motor 3 to start, the moving member 4, the sliding member 5 and the sensor platform 7 are driven to vertically ascend until the moving member 4 moves to the top of the ball screw 2, the driving motor 3 is closed, the driving assembly is opened, the sliding member 5 is driven to vertically ascend, and the sensor platform 7 is driven to ascend again, in the process, the sensor on the sensor platform 7 can detect air and the like with different heights in the mine, and in the embodiment, the maximum height which can be reached by the sensor platform 7 is the sum of the height of the ball screw 2 and the height of the sliding member 5, in particular, 1500mm can be achieved.

In this embodiment, promote testing platform's height through setting up motor, ball screw 2, slider 5 and drive assembly cooperation work to effectual survey height that has improved the robot has enlarged detection range, makes the testing result more reliable, and then can provide safe and reliable's data guidance more for search and rescue work.

Specifically, in this embodiment, the running mechanism of the robot main body 1 adopts a crawler-type moving mechanism, so that it can well cope with complex underground road conditions. Meanwhile, an installation chamber is formed in the top of the robot main body 1, and the driving motor 3 is installed in the installation chamber. In addition, a vertical groove is formed in the top of the robot body 1 on the left side of the installation chamber, and the slider 5 is partially positioned in the vertical groove in an initial state.

And a vertical strip-shaped gear 8 is arranged on the right side wall of the sliding piece 5, and is provided with 1-3 strips which are arranged in parallel.

The drive assembly comprises a servo motor 6 and a circular gear 9, the servo motor 6 is installed on the outer side wall of the moving member 4, the circular gear 9 is located inside the moving member 4, and is fixedly connected with a drive shaft of the servo motor 6 and meshed with the bar gears 8, the circular gear 9 corresponds to the bar gears 8 in a one-to-one mode in quantity, the height of the sensor platform 7 is improved through the matched motion between the gears, the stability is good, and sufficient power support can be provided.

When the sensor platform is used, the servo motor 6 drives the circular gear 9 to rotate, and then the strip-shaped gear 8 is driven to drive the sliding piece 5 and the sensor platform 7 to ascend or descend.

Specifically, in this embodiment, a gantry 10 is installed on the top of the robot body 1, and the top of the ball screw 2 is rotatably connected to the inner side wall of the top of the gantry 10.

The top of the portal frame 10 is provided with a through hole for the sliding part 5 and the sensor platform 7 to pass through; simultaneously, all seted up the guide way in the left side inside wall middle part of portal frame 10 and the right side inside wall, the guide block 11 is all installed on the left surface of moving member 4 and the side, guide block 11 with guide way sliding connection to play the direction supporting role from moving member 4, improve the stability of moving member 4's motion in-process.

Simultaneously, electro-magnet 12 is all installed at the left side and the right side middle part of portal frame 10's top inside wall, install contact switch (not shown) on the electro-magnet 12, complex magnet piece 13 is installed with it at the top of moving member 4, works as in the motion of moving member 4 after magnet piece 13 contacts with electro-magnet 12, driving motor 3 closes, and the contact switch of electro-magnet 12 is opened, adsorbs electro-magnet 12 to when can effectively avoiding the robot to receive external force striking, the unexpected landing of moving member 4, thereby can guarantee the security of robot in the course of the work.

The standard parts used in the utility model can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described, and the content not described in detail in the specification belongs to the prior art known by persons skilled in the art.

Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.

Claims

1. A downhole survey robot, comprising: the method comprises the following steps:

a robot main body;

2. A downhole surveying robot according to claim 1, characterized by: one side of slider has set firmly bar gear, drive assembly include with the circular gear that bar gear meshing is connected and drive circular gear drives the vertical gliding servo motor of slider.

3. A downhole surveying robot according to claim 1 or 2, characterized by: the top of the robot main body is fixedly provided with a portal frame, the top of the robot main body is provided with a through hole for the sliding part and the sensor platform to pass through, and the top end of the ball screw is rotatably connected with the portal frame.

4. A downhole surveying robot according to claim 3, characterized by: the guide way has all been seted up at the both sides inside wall middle part of portal frame, the both sides of moving member all set firmly with guide way sliding connection's guide block.

5. A downhole surveying robot according to claim 4, characterized by: the electro-magnet is all installed to the both sides of the top inside wall of portal frame, install contact switch on the electro-magnet, the top of guide block set firmly with the magnet piece that the electro-magnet cooperation was used.

6. A downhole surveying robot according to claim 5, characterized by: the robot further comprises a protective air bag which is sleeved on the outer side of the robot main body.