CN108725091B

CN108725091B - All-directional traveling wheel

Info

Publication number: CN108725091B
Application number: CN201810577685.4A
Authority: CN
Inventors: 徐亚军; 王国法; 张德生; 程骏; 刘成峰; 朱军; 吕东林; 李丁一
Original assignee: Tiandi Science and Technology Co Ltd
Current assignee: Tiandi Science and Technology Co Ltd
Priority date: 2018-06-07
Filing date: 2018-06-07
Publication date: 2020-09-22
Anticipated expiration: 2038-06-07
Also published as: CN108725091A

Abstract

The utility model provides an all-round walking wheel, includes wheel hub (1), tire (2), retaining ring (3) and bolt (4) part, its characterized in that: tire (2) are according to bull spiral mode equipartition on wheel hub (1), tire (2) spiral parameter is unanimous with tire fixing base (5), tire (2) are fixed through tire fixing base (5) and tire cassette (6), tire (2) both ends are spacing through retaining ring (3), retaining ring (3) are fixed at wheel hub (1) through bolt (4), walking wheel (10) bilateral symmetry arranges in haulage equipment (11) both sides, through turning to and the rotational speed of control walking wheel (10), realize advancing, retreating, lateral translation, the all-round walking of bilateral rotation of haulage equipment (11). The omnibearing walking wheel has the characteristics of stable migration, small damage to the bottom plate and no influence of broken waste rock and float coal, solves the problem that the bottom plate of the roadway is damaged when the spiral roller walking mechanism moves, avoids the phenomenon that the roller does not roll and only slides after being blocked by the waste rock and the float coal when the roller-type omnibearing walking wheel walks, and is suitable for underground hardened bottom plate roadway equipment transportation.

Description

All-directional traveling wheel

Technical Field

The invention relates to the field of engineering machinery, in particular to an omnibearing walking wheel which is suitable for coal mine hardened floor roadway and roadway equipment transportation with good floor conditions.

Background

The underground coal mine roadway has small section and limited space when the equipment is moved, most of the current underground equipment adopts rail transportation, part of mining areas with better geological conditions adopt trackless rubber wheels for transportation, some old mining areas adopt steel wire ropes for traction, and a small part of mining areas adopt monorail crane for transportation, but the difficult problem of safe and efficient transportation of the current underground equipment cannot be well solved.

The track needs to be laid in the early stage of track transportation, and needs to be dismantled in the later stage, which takes labor and time; trackless rubber-tyred transportation has high requirements on mine transportation conditions, requires large transportation space of equipment and flat roadway bottom plates, and is difficult to adapt to the underground transportation environment of most mining areas; the steel wire rope transportation needs to be provided with a winch fixed position, a roadway cannot be walked when the winch operates, and the steel wire rope is influenced by conditions such as underground humid environment, transportation abrasion and the like, so that the strength of the steel wire rope is difficult to ensure, and the safety is poor; the monorail crane needs to hoist the track in the early stage and needs to dismantle the track in the later stage, which is labor-consuming and laborious.

The characteristics of underground equipment transportation of the coal mine require that the transport vehicle has the characteristics of mobility and flexibility, the transport vehicle can have the movement functions of advancing, retreating, lateral translation, free rotation and the like so as to adapt to the characteristic of smaller space of the cross section of an underground roadway, and the key point of the problem is to change the traditional equipment walking mode and meet the target only by designing new walking wheels.

Patent CN201510206463 relates to an omnidirectional moving platform, four tires with diagonal lines on the treads are arranged below a platform base, each diagonal line comprises a plurality of inclined grooves and a plurality of inclined blocks which incline towards the same direction, and the inclined grooves and the inclined blocks are alternately arranged to try to realize omnidirectional movement of the platform by using the diagonal lines on the tire treads; the problem of this patent is that if the width of the chute is set too small, there is no effect on the running of the tire, and the tire still runs in a conventional manner, with the goal of not fully moving.

CN201510162971 relates to a wheel hub of a Mecanum wheel, and is characterized in that a certain number of rotatable rollers are arranged on the wheel hub of the wheel, and the rollers and the wheel axis form a certain included angle, so that the defect is that the rollers are not suitable for underground roadway transportation.

The invention patent 201210335978.A discloses a Mecanum omni-directional wheel, which is characterized in that a certain number of rotatable rollers are mounted on a hub of a traditional wheel, two ends of a roller shaft protrude out of the corresponding rollers, external threads are arranged at the parts protruding out of the rollers, a left supporting turntable and a right supporting turntable are arranged on the hub, the roller shaft is fixed through the left supporting turntable and the right supporting turntable, an included angle of 45 degrees is formed between the axis of the roller shaft and the axis of the hub, when the wheel rotates, the rollers move laterally, and a vehicle body can move and rotate in any direction in a movement plane through the combined use and control of a certain number of wheels, the omni-directional wheel has the defects that the requirements on transportation conditions are high, the omni-directional wheel is not suitable for underground roadway transportation, because the underground transportation conditions are complex, broken waste rocks and float coals are small, and after the broken waste rocks and the float coals enter the rollers are clamped, the rollers do not roll but only slide, can not move and rotate in any direction, and can not achieve the aim of all-directional walking.

The invention patent 201510102560.2 discloses an omnidirectional wheel, which is characterized in that each omnidirectional wheel is divided into a first group of wheels and a second group of wheels, the first group of wheels and the second group of wheels are driven by a servo motor, each group of wheels consists of four wheels, the inner side of each wheel is a circular truncated cone, the outer side of each wheel is a spherical circular truncated cone, the four wheels form a sphere-like structure, the bottom surfaces of the circular truncated cones of the wheels are arranged on a driving shaft, and the wheels are made of nylon materials.

The invention discloses an all-directional walking type advance hydraulic support (application number: 201710027725.3), which is characterized in that spiral rollers are adopted as walking wheels, the spiral rollers are symmetrically arranged at two sides of a train, the all-directional walking of a transport vehicle in the advancing, retreating, lateral translation and left-right rotation modes is realized by controlling the rotating speed and the steering direction of the spiral rollers at the left side and the right side, the spiral rollers are suitable for underground coal mine transportation conditions of uneven roadway bottom plates, large fluctuation change, more broken gangue and float coal and the like, and the spiral rollers have certain destructiveness on roadway hardened bottom plates.

Disclosure of Invention

The invention aims to provide an all-directional walking wheel for a hardening bottom plate of a coal mine underground roadway, and the all-directional walking of a transport vehicle, such as forward walking, backward walking, lateral translation walking and left-right rotation walking, is realized.

The technical scheme is as follows: on the basis of the traditional wheel, a certain number of pneumatic tires are circularly and uniformly distributed on the wheel hub in a multi-head spiral mode by changing the structural form of the wheel hub, the surface of each tire is provided with textures to increase friction force, and each tire is fixed through the inner ring fixing lugs and the two side fixing lugs: the inner ring fixing lugs penetrate through the tire fixing seat, the fixing lugs on two sides penetrate through the tire clamping seat, the tire is pressed and expanded after being inflated and pressurized, and the inner ring fixing lugs and the fixing lugs on two sides are tightly attached to the tire fixing seat and the tire clamping seat under the pressure effect, so that the tire is tightly fixed on a wheel hub, and the tire has certain bearing capacity.

Four all-round walking wheels are symmetrically arranged on the left side and the right side of the transport vehicle, deflection is generated under the action of horizontal torque when the transport vehicle is prevented from laterally translating, different axial forces and radial forces can be generated by the tires on the surfaces of the all-round walking wheels in a left-handed rotation mode or a right-handed rotation mode, and the transport vehicle can move forwards, backwards, laterally translating and laterally rotating to walk all-round by controlling the rotation direction and the rotation speed of the four all-round walking wheels.

Because the omnibearing road wheel adopts the pneumatic tire to contact with the bottom plate, the tire has certain deformability, thus the roadway bottom plate cannot be damaged in the process of transportation; meanwhile, the clearance between the adjacent tires is large, so that the travelling wheels are not influenced by broken waste rocks and float coals when in moving.

The invention solves the problem that the roller of the Mecanum wheel is easy to be blocked by gangue and floating coal, the roller can not roll and slide, cannot move laterally, cannot move and rotate in any direction and cannot walk in all directions, and the spiral roller serving as a walking mechanism is suitable for underground floor hardening or roadway transportation with a smoother floor.

The invention has the following advantages:

the whole set of device only has components such as wheel hub, tire, retaining ring and bolt and constitutes, simple structure.

(2) The tire is fixed through the fixed ear of inner circle and the fixed ear of both sides, and both ends adopt the retaining ring to carry on spacingly, inflates pressurization back tire pressurized inflation, and the fixed ear of inner circle and the fixed ear of both sides are hugged closely tire fixing base and tire cassette under the pressure effect, simple to operate.

(3) After the tire is deflated, the inner ring fixing lugs and the two side fixing lugs are automatically separated from the tire fixing seat and the tire clamping seat, and the tire is directly drawn out at the moment, so that the tire is convenient to detach.

The outer surface of the section of the tire is circular, after the tire is inflated, the surface of the tire expands to be circular, broken waste rocks and float coal cannot adhere to the tire, and a gap between adjacent tires is large, so that the traveling wheel is not affected by the broken waste rocks and the float coal when being moved.

Drawings

FIG. 1 is a three-dimensional solid model diagram of the present invention. In the figure, 1-wheel hub, 2-tyre, 3-retainer ring and 4-bolt.

FIG. 2 is a three-dimensional solid model of a wheel hub of the present invention. In the figure, 5-a tire fixing seat, 6-a tire clamping seat and 7-a bolt hole.

FIG. 3 is a transverse cross-sectional view of the tire of the present invention. In the figure, 8-inner ring fixing lugs and 9-two side fixing lugs.

Fig. 4 is a schematic view of the symmetrical arrangement of the present invention on a transport vehicle. In the figure, 10 is a road wheel and 11 is a transport vehicle.

Embodiments of the invention are further described below with reference to the following drawings:

as shown in figure 1, the omnibearing road wheel comprises a wheel hub (1), a tire (2), a check ring (3) and bolt (4) components, wherein the tire (2) is circularly and uniformly distributed on the wheel hub (1) in a multi-head spiral mode, two ends of the tire are fixed through the check ring (3), and the check ring (3) is fixed on the wheel hub (1) through the bolt (4).

As shown in fig. 2, the wheel hub (1) is provided with a tire fixing seat (5) and a tire clamping seat (6), the tire fixing seat (5) is circularly and uniformly distributed on the wheel hub (1) by taking the axis of the wheel hub (1) as the center of a circle, the spiral parameters of each tire fixing seat (5) are completely the same, the middle of each two tire fixing seats (5) is provided with the tire clamping seat (6), and two sides of the tire (2) are fixed.

As shown in fig. 3, the tire (2) is of a hollow rubber structure, the tire (2) is provided with inner ring fixing lugs (8) and two side fixing lugs (9), the inner ring fixing lugs (8) penetrate through the tire fixing seat (5), the two side fixing lugs (9) penetrate through the tire clamping seat (6), and the tire (2) is fixed through the inner ring fixing lugs (8) and the two side fixing lugs (9); after pressurization and inflation, the tire (2) is pressed and expanded, the inner ring fixing lugs (8) and the fixing lugs (9) on the two sides are tightly attached to the tire fixing seat (5) and the tire clamping seat (6) under the pressure effect, the tire (2) is tightly fixed on the hub (1), and the tire (2) and the hub (1) move together.

As shown in figure 4, the four walking wheels (10) are arranged on the two sides of the transport vehicle (11) in a bilateral symmetry mode, deflection is prevented from occurring under the action of horizontal torque when the transport vehicle laterally translates, stability when the transport vehicle (11) laterally translates is guaranteed, and all-directional walking of the transport vehicle (11) in the forward direction, the backward direction, the lateral translation direction and the left-right rotation direction is achieved by controlling the steering and rotating speed of the walking wheels (10).

The above-mentioned embodiments are intended to describe the effective implementation of the present invention, and not to limit the scope of the present invention, and various modifications and improvements made by the engineer without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.

Claims

1. The utility model provides an all-round walking wheel, including wheel hub (1), tire (2), retaining ring (3) and bolt (4) part, a serial communication port, tire (2) are according to bull spiral mode equipartition on wheel hub (1), the tire both ends are fixed through retaining ring (3), retaining ring (3) adopt bolt (4) to fix on wheel hub (1), be equipped with tire fixing base (5) on wheel hub (1), tire cassette (6), tire fixing base (5) use wheel hub (1) axis as the circular equipartition in centre of a circle on wheel hub (1), the spiral parameter of every tire fixing base (5) is the same completely, be equipped with a tire cassette (6) in the middle of per two tire fixing base (5), fix tire (2) both sides.

2. The omni-directional road wheel according to claim 1, wherein: tire fixing base (5) are arranged according to the bull spiral mode on wheel hub (1) axis, and tire fixing base (5) use wheel hub (1) axis as centre of a circle equipartition on wheel hub (1), and tire fixing base (5) outer lane is great with tire area of contact to reduce tire pressure, tire fixing base (5) inner circle is equipped with the slot, and tire (2) inner circle is fixed ear (8) and is passed tire fixing base (5) slot, fixes tire (2) on wheel hub (1).

3. The omni-directional road wheel according to claim 1, wherein: the middle of every two tire fixing seats (5) of the wheel hub (1) is provided with a tire clamping seat (6), the tire fixing seats (5) are provided with grooves, and the fixing lugs (9) on the two sides of the tire (2) penetrate through the tire clamping seats (6) to fix the two sides of the tire (2).

4. The omni-directional road wheel according to claim 1, wherein: the tyre (2) is designed along the length direction according to a spiral line, and the spiral parameters are consistent with those of the tyre fixing seat (5).

5. The omni-directional road wheel according to claim 1, wherein: tire (2) are equipped with inner circle fixed ear (8) and both sides fixed ear (9), and inner circle fixed ear (8) pass tire fixing base (5), and both sides fixed ear (9) pass tire cassette (6), fix tire (2) through inner circle fixed ear (8) and both sides fixed ear (9).

6. The omni-directional road wheel according to claim 1, wherein: tire (2) are the hollow rubber structure, after tire (2) installation is accomplished, inflate through the pressurization, tire (2) inflation, inner circle fixed ear (8) and both sides fixed ear (9) are hugged closely tire fixing base (5) and tire cassette (6) under the pressure effect, fix tire (2) on wheel hub (1), tire (2) possess certain bearing capacity, because the clearance between adjacent tire is great, do not receive garrulous waste rock and float coal influence when guaranteeing the tire migration.

7. The omni-directional road wheel according to claim 1, wherein: the outer surface of the tire (2) is of a circular structure and is provided with textures, the tire (2) rolls together with the wheel hub (1) to increase friction force, and the matching surface of the inner side of the tire (2) and the tire fixing seat (5) is of a plane structure to reduce the bearing pressure of the tire (2).