CN110450131A - A kind of robot track and installation method for defeated coal inspection - Google Patents
A kind of robot track and installation method for defeated coal inspection Download PDFInfo
- Publication number
- CN110450131A CN110450131A CN201910750147.5A CN201910750147A CN110450131A CN 110450131 A CN110450131 A CN 110450131A CN 201910750147 A CN201910750147 A CN 201910750147A CN 110450131 A CN110450131 A CN 110450131A
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- Prior art keywords
- hanger
- square tube
- aluminum alloy
- fixed
- fixing part
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a kind of robot tracks and installation method for defeated coal inspection, the robot track for defeated coal inspection includes the first I-steel ceiling mounted tracks, second I-steel ceiling mounted tracks, four kinds of ceiling mounted tracks of tripod ceiling mounted tracks and smallpox transverse beam lifting track, the first I-steel ceiling mounted tracks and the second I-steel ceiling mounted tracks are using the I-shaped gooseneck of defeated coal gallery as hanger position, it gathers materials on the spot, greatly reduce the use of raw material, the case where triangle ceiling mounted tracks and smallpox transverse beam lifting track are suitable for no I-shaped gooseneck to provide lifting position, it is lifted by being fixed on metope and smallpox crossbeam, the structure of design is adjustable, flexibility is high, applicable different site environment and installation requirement, it is applied widely.
Description
Technical field
The present invention relates to robot track technical field more particularly to a kind of robot tracks and peace for defeated coal inspection
Dress method.
Background technique
For a long time, mine safety accidents take place frequently, and mainly include gas explosion, landslide, infiltration and such as belt, power supply, lead to
Wind, drainage equipment failure bring accident.It traces it to its cause and does not carry out stringent safety inspection according to the rules mainly, to lead
It causes problematic no discovery in time, handle, coal mine is also without a set of stable mature safety pre-warning system, down to after causing seriously
Fruit.Therefore reinforce being very urgent thing to the safety patrol inspection management of coal mine.
Therefore, crusing robot and cruising inspection system arise, but there is no complete robot inspection rails at present
The installation method in road causes operator that can only need to formulate for different site requirements different according to the experience of itself
Mount scheme, and the problem of be also easy to appear cooperation during multioperation personnel, installation effectiveness is largely effected on, so being badly in need of
A kind of installation method of robot inspection easy for installation, the efficiency of the assembly for the personnel that speed operations.
Summary of the invention
The purpose of the present invention is to provide a kind of robot tracks and installation method for defeated coal inspection, and structure is simple,
It is easy for installation, it is high-efficient, it is adjusted, has a wide range of application.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of robot track for defeated coal inspection, including the first I-steel ceiling mounted tracks, the second I-steel lift rail
Road, the first I-steel ceiling mounted tracks include the first I-steel, the first connecting plate, first square tube hanger and the first aluminium alloy rail
The bottom of first I-steel is fixed on the top of the first square tube hanger by fastener by road, first connecting plate
End, first aluminum alloy rail is fixed in the bottom end of the first square tube hanger；
The second I-steel ceiling mounted tracks are hung including the second I-steel, the second connecting plate, the first hanging bracket fixing part, second
Frame square tube frame, the second hanging bracket fixing part and the second aluminum alloy rail, second connecting plate are hung by fastener by described first
Frame fixing piece is fixed on the bottom end of second I-steel, and first hanger is fixed on the top of the second hanger square tube frame
Second hanging bracket fixing part is fixed in fixing piece, the bottom end of the second hanger square tube frame, and second hanger is fixed on institute
State the second aluminum alloy rail.
Preferably, first hanging bracket fixing part includes third connecting plate and the first hanger supports plate, second connection
The third connecting plate is fixed on the second I-steel by fastener by plate, and institute is fixed on the top of the second hanger square tube frame
The first hanger supports plate is stated, it is circle that the first hanger supports plate, which is equipped with the fixed point on the top of the second hanger square tube frame,
First arcuate socket of the heart, the second hanger square tube frame can be rotated along first arcuate socket.
Preferably, second hanging bracket fixing part includes third connecting plate and the second hanger supports plate, the third connection
Plate is fixed on second aluminum alloy rail, and the second hanger supports plate is fixed in the bottom end of the second hanger square tube frame,
The second hanger supports plate is equipped with using the fixed point of the bottom end of the second hanger square tube frame as second arcuate socket in the center of circle, institute
Stating the second hanger square tube frame can rotate along first arcuate socket and the second arcuate socket simultaneously.
It preferably, further include tripod ceiling mounted tracks, the tripod ceiling mounted tracks include third aluminum alloy rail, triangle
Frame and cross pinboard, the tripod include vertical supporting element and horizontal support piece, and the vertical supporting element is fixed on metope,
The cross pinboard includes the first pinboard and the second pinboard, and first pinboard and second pinboard are vertically set
It sets, first pinboard is fixed on the third aluminum alloy rail, and the third aluminum alloy rail is fixed on described second turn
Fishplate bar.
It preferably, further include smallpox transverse beam lifting track, the smallpox transverse beam lifting track includes third party tube hanger,
Cubic tube hanger, third hanging bracket fixing part, the 4th hanging bracket fixing part and the 4th aluminum alloy rail, the third party tube hanger and institute
It states the cubic tube hanger and is equipped with multiple through-holes, one end equipped with multiple through-holes of the third party tube hanger is sheathed on described the
One end equipped with multiple through-holes of cubic tube hanger, fastener are inserted into the third party tube hanger and the cubic tube hanger
Through-hole, the other end of the third party tube hanger are fixed on the 4th hanging bracket fixing part, and the 4th hanging bracket fixing part is fixed
The third hanging bracket fixing part, the third hanging bracket fixing part are fixed in the other end of ceiling, the cubic tube hanger
It is fixed on the 4th aluminum alloy rail.
Preferably, the third hanging bracket fixing part includes the 5th connecting plate and the third hanger supports plate, described
5th connecting plate is fixed on the 4th aluminum alloy rail, and the other end of the 4th hanger square tube frame is fixed on the third and hangs
Frame support plate, the first hanger supports plate are equipped with using the fixed point of the 4th hanger square tube frame as the third arc in the center of circle
Hole, the 4th hanger square tube frame can be rotated along the third arcuate socket；
4th hanging bracket fixing part includes the 6th connecting plate and the 4th hanger supports plate, the 6th connection
Plate is fixed on ceiling, and the other end of the third hanger square tube frame is fixed on the 4th hanger supports plate, and the described 4th hangs
Frame support plate is equipped with using the fixed point of the third hanger square tube frame as the 4th arcuate socket in the center of circle, the third hanger square tube frame
It can be rotated along the 4th arcuate socket.
A kind of installation method of the robot track for defeated coal inspection, including the first I-steel ceiling mounted tracks installation side
Method, the first I-steel ceiling mounted tracks the following steps are included:
S11, size is measured, at interval of the position of mark installment first square tube hanger at 2m on the first I-steel；
After S12, measurement size determine position, the top of first square tube hanger is adjacent to the bottom end of the first I-steel, is used in combination
The bottom end of the first I-steel is fixed on the top of first square tube hanger by the first connecting plate, hex bolts and flange nut；
S13, after installing all first square tube hangers, T-bolt is inserted into the corresponding slot of the first aluminum alloy rail,
The position for adjusting T-bolt, is fixed on the first aluminum alloy rail corresponding positions for the bottom end of each first square tube hanger with T-bolt
It sets, and is tightened with flange nut；
S14, before next first aluminum alloy rail is tightened, two first aluminum alloy rail closed butt joints are used in combination
Two first aluminum alloy rails are stitched together by orbital docking plate, and the first aluminum alloy rail of adjustment can be required according to in-site installation
Splice length.
Preferably, further include the second I-steel ceiling mounted tracks installation method, the second I-steel ceiling mounted tracks include with
Lower step:
S21, size is measured, at interval of the position of mark installment second square tube hanger at 2m on the second I-steel；
S22, two the first hanger supports plates for first any end of second square tube hanger being placed on the first hanging bracket fixing part
Between, the hole location of second square tube hanger is directed at the hole location of the first hanger supports plate, is then hung with hex bolts through second square tube
Frame and the first hanger supports plate are simultaneously tightened with flange nut, it is desirable that second square tube hanger can be along the first of the first hanger supports plate
Arcuate socket rotation；
S23, first the second arcuate socket of the first arcuate socket of the first hanging bracket fixing part and the second hanging bracket fixing part reversely set
It sets, then the other end of second square tube hanger is placed between two the second frame support plates of the second hanging bracket fixing part, and second
The hole location of square tube hanger is directed at the hole location of the second hanger supports plate, is then hung with hex bolts through second square tube hanger and second
Frame support plate is simultaneously tightened with flange nut, it is desirable that second square tube hanger can be simultaneously along the second arcuate socket of the second hanger supports plate
It is rotated with the first arcuate socket of the first hanger supports plate；
S24, the bottom surface that the top surface of the third connecting plate of assembled second square tube hanger is close to the second I-steel, are used in combination
The bottom end of the second I-steel is fixed on the top of second square tube hanger by the second connecting plate, hex bolts and flange nut；
S25, after installing all second square tube hangers, T-bolt is inserted into the corresponding slot of the second aluminum alloy rail,
The position for adjusting T-bolt, is fixed on the second aluminum alloy rail corresponding positions for the bottom end of each second square tube hanger with T-bolt
It sets, and is tightened with flange nut；
S26, before next second aluminum alloy rail is tightened, using the freedom degree of second square tube hanger by two second
Aluminum alloy rail closed butt joint, and two second aluminum alloy rails are stitched together with orbital docking plate, it can be according to in-site installation
It is required that the splicing length of the second aluminum alloy rail of adjustment；
S27, second square tube hanger and the first hanging bracket fixing part, the second hanging bracket fixing part then adjusted according to field demand
Angle is rotated, and is locked.
Preferably, further include tripod ceiling mounted tracks installation method, the tripod ceiling mounted tracks installation method include with
Lower step:
S31, size is measured, tripod is fixed on same level wall with stainless steel expansion bolt every 2m, if desired
It tilts upward or downward, then controls highly being installed vertically for tripod；
S32, tripod support end set there are four slot, according to suitable two slots of the route selection of track, with six
Corner bolt passes through the second pinboard of cross pinboard, and is locked but is not screwed on flange nut, makes it that can also control shifting
It is dynamic；
S33, after installing all tripods and fixing cross pinboard, T-bolt is inserted into third aluminum alloy rail
In corresponding slot, the position of T-bolt is adjusted, by the first pinboard of T-bolt insertion cross pinboard, and with flange spiral shell
Mother tightens；
S34, before next third aluminum alloy rail is tightened, two third aluminum alloy rail closed butt joints are used in combination
Two third aluminum alloy rails are stitched together by orbital docking plate, and adjustment third aluminum alloy rail can be required according to in-site installation
Splice length.
It preferably, further include smallpox transverse beam lifting pwoer track installing method, the smallpox transverse beam lifting pwoer track installing method packet
Include following steps:
S41, size is measured, at interval of the position of the 4th hanging bracket fixing part of mark installment at 2m on smallpox crossbeam；
S42, first the other end of third party tube hanger be placed on the 4th hanging bracket fixing part two the 4th hanger supports plates it
Between, the hole location of third party tube hanger is directed at the hole location of the 4th hanger supports plate, then runs through third party tube hanger with hex bolts
With the 4th hanger supports plate and tightened with flange nut, it is desirable that third party tube hanger can be along the 4th arc of the 4th hanger supports plate
The rotation of shape hole；
S43, first the 4th arcuate socket of the third arcuate socket of third hanging bracket fixing part and the 4th hanging bracket fixing part reversely set
It sets, then the other end of cubic tube hanger is placed between two third frame support plates of third hanging bracket fixing part, and the 4th
The hole location of the hole location alignment third hanger supports plate of square tube hanger, is then hung with hex bolts through cubic tube hanger and third
Frame support plate is simultaneously tightened with flange nut, it is desirable that cubic tube hanger can turn along the third arcuate socket of third hanger supports plate
It is dynamic；
S44, the multi-pass nose end that the multi-pass nose end of cubic tube hanger is pierced into third party tube hanger, then use hex bolts
The two is run through and is screwed on flange nut, is not fallen, it is desirable that third party tube hanger and the cubic tube hanger together along
The 4th arcuate socket rotation of the third arcuate socket and the 4th hanger supports plate of third hanger supports plate；
S45, according to field condition, is divided into two kinds of installation situations:
If S451, installation direction are single, the mounting height difference of two third party tube hangers 41 is less than predetermined value, described pre-
Definite value is the mounting height franchise value of two third party tube hangers 41 of the setting of operator according to field condition, then by the 4th
Hanging bracket fixing part is beaten fixes position in smallpox crossbeam accordingly, then by the telescopic adjustment of third party tube hanger and the cubic tube hanger
To suitable length, and lock；
If S452, setting angle are big, position is complicated, estimates that the position of locking is difficult to reach, then needs to compare before installation
It is right: first the 4th hanging bracket fixing part to be posted on smallpox crossbeam, by mobile or the 4th hanging bracket fixing part of rotation to suitable position, so
The rotation angle and third party tube hanger of the 4th hanging bracket fixing part and third party tube hanger and stretching for cubic tube hanger are adjusted afterwards
Then contracting length holds the 4th aluminum alloy rail and is compared to its institute through place:
If it was found that the position for then adjusting the 4th hanging bracket fixing part and third party tube hanger and cubic tube hanger cannot be reached
It sets；It as reachable, then carry out mark and the 4th hanging bracket fixing part is then beaten into the position compared on smallpox crossbeam, then by third party
The collapsing length of tube hanger and the cubic tube hanger is locked to desired value；
S46, after installing all third party tube hanger and cubic tube hanger, T-bolt is inserted into the second aluminium alloy
In the corresponding slot of track, the position of T-bolt is adjusted, each 5th connecting plate is fixed on the 4th aluminium alloy rail with T-bolt
Road corresponding position, and tightened with flange nut；
S47, before next 4th aluminum alloy rail is tightened, using the freedom degree of side cross tube hanger by two the 4th aluminium
Alloy track closed butt joint, and two the 4th aluminum alloy rails are stitched together with orbital docking plate, it can be wanted according to in-site installation
Seek the splicing length of the 4th aluminum alloy rail of adjustment；
S48, the rotation angle for finally adjusting two connecting plates and side cross tube hanger, and lock.
The robot track for defeated coal inspection includes the first I-steel ceiling mounted tracks, the second I-steel lifting rail
Four kinds of road, tripod ceiling mounted tracks and smallpox transverse beam lifting track ceiling mounted tracks, the first I-steel ceiling mounted tracks and
Two I-steel ceiling mounted tracks, as hanger position, are gathered materials on the spot using the I-shaped gooseneck of defeated coal gallery, greatly reduce raw material
Use, the triangle ceiling mounted tracks and smallpox transverse beam lifting track are suitable for no I-shaped gooseneck to provide the feelings of lifting position
Condition is lifted by being fixed on metope and smallpox crossbeam, and the structure of design is adjustable, and flexibility is high, and applicable different shows
Field environment and installation requirement, it is applied widely, and mechanical installation method is used, structure is simple, and installation effectiveness is high, is also convenient for
Subsequent removable property.
Detailed description of the invention
The present invention will be further described for attached drawing, but the content in attached drawing does not constitute any limitation of the invention.
Fig. 1 is the structural schematic diagram of the first I-steel ceiling mounted tracks of the one of embodiment of the present invention；
Fig. 2 is the left view of the first I-steel ceiling mounted tracks of the one of embodiment of the present invention；
Fig. 3 is the structure partial enlarged drawing of the first I-steel ceiling mounted tracks of the one of embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the second I-steel ceiling mounted tracks of the one of embodiment of the present invention；
Fig. 5 is the scheme of installation of the second hanging bracket fixing part of the one of embodiment of the present invention；
Fig. 6 is the scheme of installation of the first hanging bracket fixing part of the one of embodiment of the present invention；
Fig. 7 is the structural schematic diagram of the tripod ceiling mounted tracks of the one of embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the cross pinboard of the one of embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the smallpox transverse beam lifting track of the one of embodiment of the present invention；
Figure 10 is the scheme of installation of the 4th hanging bracket fixing part of the one of embodiment of the present invention；
Figure 11 is the scheme of installation of the third hanging bracket fixing part of the one of embodiment of the present invention；
Wherein: the first I-steel 11；First connecting plate 12；First square tube hanger 13；First aluminum alloy rail 14；Second work
Word steel 21；Second connecting plate 22；First hanging bracket fixing part 23；Third connecting plate 231；First hanger supports plate 232；First arc
Hole 233；Second square tube hanger 24；Second hanging bracket fixing part 25；4th connecting plate 251；Second hanger supports plate 252；Second arc
Shape hole 253；Second aluminum alloy rail 26；Third aluminum alloy rail 31；Tripod 32；Vertical supporting element 321；Horizontal support piece
322；Cross pinboard 33；First pinboard 331；Second pinboard 332；Third party tube hanger 41；Cubic tube hanger 42；The
Three hanging bracket fixing parts 43；5th connecting plate 431；Third hanger supports plate 432；Third arcuate socket 433；4th hanging bracket fixing part
44；6th connecting plate 441；4th hanger supports plate 442；4th arcuate socket 443；4th aluminum alloy rail 45.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
The robot track for defeated coal inspection of the present embodiment, as shown in Figures 1 to 4, including the lifting of the first I-steel
Track, the second I-steel ceiling mounted tracks, the first I-steel ceiling mounted tracks include the first I-steel 11, the first connecting plate 12,
First square tube hanger 13 and the first aluminum alloy rail 14, first connecting plate 12 pass through fastener for the first square tube hanger
The bottom end of first I-steel 11 is fixed on 13 top, and first aluminium is fixed in the bottom end of the first square tube hanger 13
Alloy track 14；
The second I-steel ceiling mounted tracks include the second I-steel 21, the second connecting plate 22, the first hanging bracket fixing part 23,
Second hanger square tube frame 24, the second hanging bracket fixing part 25 and the second aluminum alloy rail 26, second connecting plate 22 pass through fastening
First hanging bracket fixing part 23 is fixed on the bottom end of second I-steel 21, the top of the second hanger square tube frame 24 by part
First hanging bracket fixing part 23 is fixed at end, and the bottom end of the second hanger square tube frame 24 is fixed on second hanger and is fixed
Part 25, second hanger are fixed on second aluminum alloy rail 26.
First I-steel 11 and the second I-steel 21 is the crossbeam for supporting defeated coal gallery, using the work of defeated coal gallery
Lifting position of the word gooseneck as robot inspection track, gathers materials on the spot, and greatly reduces the use of raw material, and use machine
Tool formula installation method, structure is simple, and installation effectiveness is high, is also convenient for subsequent removable property.
Preferably, shown in Fig. 6, first hanging bracket fixing part 23 includes third connecting plate 231 and the first hanger supports plate
232, the third connecting plate 231 is fixed on the second I-steel 21 by fastener by second connecting plate 22, and described second
The first hanger supports plate 232 is fixed on the top of hanger square tube frame 24, and the first hanger supports plate 232 is equipped with described
The fixed point on the top of the second hanger square tube frame 24 is first arcuate socket 233 in the center of circle, and the second hanger square tube frame 24 can edge
First arcuate socket 233 rotates.
The second hanger square tube frame 24 can be rotated along first arcuate socket 233, can according to scene inspection route into
Row fixes the position of the second hanger square tube 24 again after adjusting, applicable range is wider.
Preferably, as shown in figure 5, second hanging bracket fixing part 25 includes third connecting plate 251 and the second hanger supports
Plate 252, the third connecting plate 251 are fixed on second aluminum alloy rail 26, the bottom end of the second hanger square tube frame 24
It is fixed on the second hanger supports plate 252, the second hanger supports plate 252 is equipped with the second hanger square tube frame 24
The fixed point of bottom end is second arcuate socket 253 in the center of circle, and the second hanger square tube frame 24 can be simultaneously along first arcuate socket
233 and second arcuate socket 254 rotate.
The second hanger square tube 24 can be rotated along first arcuate socket 233 and the second arcuate socket 254 simultaneously, can basis
The inspection route at scene fixes the position of the second hanger square tube 24 again after being adjusted, adjustable extent is bigger, flexibility
Higher, applicable range is wider.
It preferably, as shown in Figure 7, Figure 8, further include tripod ceiling mounted tracks, the tripod ceiling mounted tracks include third
Aluminum alloy rail 31, tripod 32 and cross pinboard 33, the tripod 32 include vertical supporting element 321 and horizontal support piece
322, the vertical supporting element 321 is fixed on metope, and the cross pinboard 33 includes the first pinboard 331 and the second pinboard
332, first pinboard 331 and second pinboard 332 are vertically arranged, and first pinboard 331 is fixed on described
Third aluminum alloy rail 31, the third aluminum alloy rail 31 are fixed on second pinboard 332.
In entire defeated breeching, many places are no I-shaped goosenecks to provide lifting position, so depending on the site environment
And inspection requirement, tripod ceiling mounted tracks are devised, the tripod ceiling mounted tracks are fixed on metope, will using cross pinboard
Third aluminum alloy rail 31 is forwarded to inspection orientation, and uses mechanical installation method, and structure is simple, and installation effectiveness is high,
Convenient for subsequent removable property.
Preferably, if Fig. 9 further includes smallpox transverse beam lifting track, the smallpox transverse beam lifting track includes that third party tube is hung
Frame 41, cubic tube hanger 42, third hanging bracket fixing part 43, the 4th hanging bracket fixing part 44 and the 4th aluminum alloy rail 45, it is described
Third party tube hanger 41 and the cubic tube hanger 42 are equipped with multiple through-holes, and being equipped with for the third party tube hanger 41 is multiple
One end of through-hole is sheathed on one end equipped with multiple through-holes of the cubic tube hanger 42, and fastener is inserted into the third party tube
The through-hole of hanger 41 and the cubic tube hanger 42, the other end of the third party tube hanger 41 are fixed on the 4th hanger
Fixing piece 44, the 4th hanging bracket fixing part 44 are fixed on ceiling, and the other end of the cubic tube hanger 42 is fixed on institute
Third hanging bracket fixing part 43 is stated, the third hanging bracket fixing part 43 is fixed on the 4th aluminum alloy rail 45.
The smallpox transverse beam lifting track is suitable for no I-shaped gooseneck to provide lifting position and be turned without metope
The case where connecing, smallpox transverse beam lifting track needs punch on crossbeam or ceiling, installation lifting position, and can pass through tune
The fixed position of through-hole of third party tube hanger 41 and cubic tube hanger 42 is saved, to adjust the height of the 4th aluminum alloy rail 45
Degree, in addition, structure is simple using mechanical installation method, installation effectiveness is high, is also convenient for subsequent removable property.
Preferably, as shown in Figure 10, Figure 11, the third hanging bracket fixing part 43 includes the 5th connecting plate 431 and institute
Third hanger supports plate 432 is stated, the 5th connecting plate 431 is fixed on the 4th aluminum alloy rail 45, the 4th hanger
The other end of square tube frame 42 is fixed on the third hanger supports plate 432, and the first hanger supports plate 432 is equipped with described the
The fixed point of four hanger square tube framves 42 is the third arcuate socket 433 in the center of circle, and the 4th hanger square tube frame 42 can be along the third
Arcuate socket 433 rotates；
4th hanging bracket fixing part 44 includes the 6th connecting plate 441 and the 4th hanger supports plate 442, described
6th connecting plate 441 is fixed on ceiling, and the other end of the third hanger square tube frame 41 is fixed on the 4th hanger supports
Plate 442, the 4th hanger supports plate 442 are equipped with using the fixed point of the third hanger square tube frame 41 as the 4th arc in the center of circle
Hole 443, the third hanger square tube frame 41 can be rotated along the 4th arcuate socket 443.
The third hanger square tube 41 can be rotated along the third arcuate socket 433 and the 4th arcuate socket 443 simultaneously, can basis
The inspection route at scene fixes the position of the third hanger square tube 41 again after being adjusted, adjustable extent is bigger, flexibility
Higher, freedom degree is more, and applicable range is wider.
A kind of installation method of the robot track for defeated coal inspection, including the first I-steel ceiling mounted tracks installation side
Method, the first I-steel ceiling mounted tracks the following steps are included:
S11, size is measured, at interval of the position of mark installment first square tube hanger 13 at 2m on the first I-steel 11；
After S12, measurement size determine position, the top of first square tube hanger 13 is adjacent to the bottom end of the first I-steel 11,
And the first I-steel 11 is fixed on the top of first square tube hanger 13 with the first connecting plate 12, hex bolts and flange nut
Bottom end；
S13, after installing all first square tube hangers 13, it is corresponding that T-bolt is inserted into the first aluminum alloy rail 14
In slot, the position of T-bolt is adjusted, the first aluminium alloy rail is fixed in the bottom end of each first square tube hanger 13 with T-bolt
14 corresponding position of road, and tightened with flange nut；
S14, before next first aluminum alloy rail 14 is tightened, by two first aluminum alloy rail, 14 closed butt joints,
And two first aluminum alloy rails 14 are stitched together with orbital docking plate, the first aluminium alloy of adjustment can be required according to in-site installation
The splicing length of track 14.
Because the first I-steel 11 of the first I-steel ceiling mounted tracks, only need to be first using the crossbeam for supporting defeated coal gallery
It being lifted at I-steel 11, mounting structure is few, and installation steps are simple, and it is high-efficient, and mechanical installation method is used, it is also convenient for
Subsequent removable property.
Preferably, further include the second I-steel ceiling mounted tracks installation method, the second I-steel ceiling mounted tracks include with
Lower step:
S21, size is measured, at interval of the position of mark installment second square tube hanger 24 at 2m on the second I-steel 21；
S22, two the first hanger branch for first any end of second square tube hanger 24 being placed on the first hanging bracket fixing part 23
Between fagging 232, the hole location of second square tube hanger 24 is directed at the hole location of the first hanger supports plate 232, is then passed through with hex bolts
It wears second square tube hanger 24 and the first hanger supports plate 232 and is tightened with flange nut, it is desirable that second square tube hanger 24 can be along
First arcuate socket 233 of the first hanger supports plate 232 rotates；
S23, first by the second arcuate socket of the first arcuate socket 233 of the first hanging bracket fixing part 23 and the second hanging bracket fixing part 25
253 is oppositely arranged, then the other end of second square tube hanger 24 is placed on two the second frame support plates of the second hanging bracket fixing part 25
Between 252, and the hole location of second square tube hanger 24 is directed at the hole location of the second hanger supports plate 252, is then passed through with hex bolts
It wears second square tube hanger 24 and the second hanger supports plate 252 and is tightened with flange nut, it is desirable that second square tube hanger 24 can be simultaneously
Along the first arcuate socket 233 rotation of the second arcuate socket 253 and the first hanger supports plate 232 of the second hanger supports plate 252；
S24, the bottom that the top surface of the third connecting plate 233 of assembled second square tube hanger 24 is close to the second I-steel 21
Face, and the second I-steel is fixed on the top of second square tube hanger 24 with the second connecting plate 22, hex bolts and flange nut
21 bottom end；
S25, after installing all second square tube hangers 24, it is corresponding that T-bolt is inserted into the second aluminum alloy rail 26
In slot, the position of T-bolt is adjusted, the second aluminium alloy rail is fixed in the bottom end of each second square tube hanger 24 with T-bolt
26 corresponding position of road, and tightened with flange nut；
S26, before next second aluminum alloy rail 26 is tightened, using the freedom degree of second square tube hanger 24 by two
Second aluminum alloy rail, 26 closed butt joint, and two second aluminum alloy rails 26 are stitched together with orbital docking plate, it can basis
In-site installation requires the splicing length of the second aluminum alloy rail 26 of adjustment；
S27, it second square tube hanger 24 and the first hanging bracket fixing part 23, the second hanger is then adjusted according to field demand fixes
The rotation angle of part 25, and lock.
The second I-steel 21 used need to only be lifted for the crossbeam for supporting defeated coal gallery at the second I-steel 21,
Installation steps are simple, high-efficient；And the third hanger square tube 41 can be simultaneously along the third arcuate socket 433 and the 4th arc
Hole 443 rotates, and fixes the position of the third hanger square tube 41 after being adjusted according to the inspection route at scene again, is adjusted
Range is bigger, and flexibility is higher, and freedom degree is more, and applicable range is wider.
Preferably, further include tripod ceiling mounted tracks installation method, the tripod ceiling mounted tracks installation method include with
Lower step:
S31, size is measured, tripod 32 is fixed on same level wall with stainless steel expansion bolt every 2m, if needing
It to tilt upward or downward, then control highly being installed vertically for tripod 32；
S32, tripod 32 support end set there are four slot, according to suitable two slots of the route selection of track, use
Hex bolts passes through the second pinboard 332 of cross pinboard 33, and is locked but is not screwed on flange nut, makes it can also
It moves left and right；
S33, after installing all tripods 32 and fixing cross pinboard 33, T-bolt is inserted into third aluminium alloy
In the corresponding slot of track 31, the position of T-bolt is adjusted, by the first pinboard 331 of T-bolt insertion cross pinboard 33
In, and tightened with flange nut；
S34, before next third aluminum alloy rail 31 is tightened, by two 31 closed butt joints of third aluminum alloy rail,
And two third aluminum alloy rails 31 are stitched together with orbital docking plate, adjustment third aluminium alloy can be required according to in-site installation
The splicing length of track 31.
The installation of tripod ceiling mounted tracks is suitable for no I-shaped gooseneck to provide lifting position and have metope to be fixed
Tripod ceiling mounted tracks are fixed on metope and lifted by the case where lifting, using cross pinboard by third aluminum alloy rail
31 are forwarded to inspection orientation, and use mechanical installation method, and structure is simple, and installation effectiveness is high, are also convenient for subsequent removable
Dress property.
It preferably, further include smallpox transverse beam lifting pwoer track installing method, the smallpox transverse beam lifting pwoer track installing method packet
Include following steps:
S41, size is measured, at interval of the position of the 4th hanging bracket fixing part 44 of mark installment at 2m on smallpox crossbeam；
S42, two the 4th hanger supports for first other end of third party tube hanger 41 being placed on the 4th hanging bracket fixing part 44
Between plate 442, the hole location of third party tube hanger 41 is directed at the hole location of the 4th hanger supports plate 442, is then run through with hex bolts
Third party tube hanger 41 and the 4th hanger supports plate 442 are simultaneously tightened with flange nut, it is desirable that third party tube hanger 41 can be along
4th arcuate socket 443 of four hanger supports plates 442 rotates；
S43, first by the 4th arcuate socket of the third arcuate socket 433 of third hanging bracket fixing part 43 and the 4th hanging bracket fixing part 44
443 is oppositely arranged, then the other end of cubic tube hanger 42 is placed on two third frame support plates of third hanging bracket fixing part 43
Between 432, and the hole location of the hole location alignment third hanger supports plate 432 of cubic tube hanger 42, then passed through with hex bolts
It wears the cubic tube hanger 42 and third hanger supports plate 432 and is tightened with flange nut, it is desirable that cubic tube hanger 42 can be along
The third arcuate socket 433 of third hanger supports plate 432 rotates；
S44, the multi-pass nose end that the multi-pass nose end of cubic tube hanger 42 is pierced into third party tube hanger 41, then use hexagonal
Bolt runs through the two and is screwed on flange nut, does not fall, it is desirable that third party tube hanger 41 and cubic tube hanger 42
Together along the third arcuate socket 433 of third hanger supports plate 432 and 443 turns of the 4th arcuate socket of the 4th hanger supports plate 442
It is dynamic；
S45, according to field condition, is divided into two kinds of installation situations:
If S451, installation direction are single, the mounting height difference of two third party tube hangers is less than predetermined value, described predetermined
Value is the mounting height franchise value of two third party tube hangers 41 of the setting of operator according to field condition, then hangs the 4th
Frame fixing piece 44 is beaten fixes position in smallpox crossbeam accordingly, then by the flexible of third party tube hanger 41 and the cubic tube hanger 42
It is adjusted to suitable length, and is locked；
If S452, setting angle are big, position is complicated, estimates that the position of locking is difficult to reach, then needs to compare before installation
It is right: first the 4th hanging bracket fixing part 44 being posted on smallpox crossbeam, passes through mobile or the 4th hanging bracket fixing part 44 of rotation to suitable position
It sets, then adjusts rotation angle and third party tube hanger 41 and the four directions of the 4th hanging bracket fixing part 44 and third party tube hanger 41
Then the collapsing length of tube hanger 42 holds the 4th aluminum alloy rail 45 and is compared to its institute through place:
If then adjusting the 4th hanging bracket fixing part 44 and third party tube hanger 41 and cubic tube hanger it was found that cannot reach
42 position；If reached, then carries out mark and the 4th hanging bracket fixing part 44 is then beaten into the position compared on smallpox crossbeam, then
By the collapsing length of third party tube hanger 41 and cubic tube hanger 42 to desired value, and lock；
S46, after installing all third party tube hanger 41 and cubic tube hanger 42, T-bolt is inserted into the 4th aluminium
In the corresponding slot of alloy track 45, the position of T-bolt is adjusted, each 5th connecting plate 431 is fixed on the 4th with T-bolt
45 corresponding position of aluminum alloy rail, and tightened with flange nut；
S47, before next 4th aluminum alloy rail 45 is tightened, using the freedom degree of side cross tube hanger by two the 4th
45 closed butt joint of aluminum alloy rail, and two the 4th aluminum alloy rails 45 are stitched together with orbital docking plate, it can be according to scene
Installation requirement adjusts the splicing length of the 4th aluminum alloy rail 45；
S48, the rotation angle for finally adjusting two connecting plates and side cross tube hanger, and lock.
The smallpox transverse beam lifting track is suitable for no I-shaped gooseneck to provide lifting position and be turned without metope
The case where connecing, smallpox transverse beam lifting track needs punch on crossbeam or ceiling, installation lifting position, and can pass through tune
The fixed position of through-hole of third party tube hanger 41 and cubic tube hanger 42 is saved, to adjust the height of the 4th aluminum alloy rail 45
Degree, in addition, third hanger square tube 41 can be rotated along third arcuate socket 433 and the 4th arcuate socket 443 simultaneously, it can patrolling according to scene
Inspection route fixes the position of the third hanger square tube 41 again after being adjusted, adjustable extent is bigger, and flexibility is higher, freely
Degree is more, and applicable range is wider.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (10)
1. a kind of robot track for defeated coal inspection, it is characterised in that: including the first I-steel ceiling mounted tracks, the second I-shaped
Steel ceiling mounted tracks, the first I-steel ceiling mounted tracks include the first I-steel 11, the first connecting plate 12, first square tube hanger 13
With the first aluminum alloy rail 14, the top of the first square tube hanger 13 is fixed on by first connecting plate 12 by fastener
First aluminum alloy rail 14 is fixed in the bottom end of first I-steel 11, the bottom end of the first square tube hanger 13；
The second I-steel ceiling mounted tracks include the second I-steel 21, the second connecting plate 22, the first hanging bracket fixing part 23, second
Hanger square tube frame 24, the second hanging bracket fixing part 25 and the second aluminum alloy rail 26, second connecting plate 22 will by fastener
First hanging bracket fixing part 23 is fixed on the bottom end of second I-steel 21, and the top of the second hanger square tube frame 24 is solid
Second hanging bracket fixing part is fixed on due to the bottom end of first hanging bracket fixing part 23, the second hanger square tube frame 24
25, second hanger is fixed on second aluminum alloy rail 26.
2. the robot track according to claim 1 for defeated coal inspection, it is characterised in that: first hanger is fixed
Part 23 includes third connecting plate 231 and the first hanger supports plate 232, and second connecting plate 22 passes through fastener for the third
Connecting plate 231 is fixed on the second I-steel 21, and first hanger supports are fixed on the top of the second hanger square tube frame 24
Plate 232, the first hanger supports plate 232 are equipped with the using the fixed point on the top of the second hanger square tube frame 24 as the center of circle
One arcuate socket 233, the second hanger square tube frame 24 can be rotated along first arcuate socket 233.
3. the robot track according to claim 2 for defeated coal inspection, it is characterised in that: second hanger is fixed
Part 25 includes third connecting plate 251 and the second hanger supports plate 252, and the third connecting plate 251 is fixed on second aluminium and closes
The second hanger supports plate 252, the second hanger branch are fixed in golden track 26, the bottom end of the second hanger square tube frame 24
Fagging 252 is equipped with using the fixed point of the bottom end of the second hanger square tube frame 24 as second arcuate socket 253 in the center of circle, and described second
Hanger square tube frame 24 can be rotated along first arcuate socket 233 and the second arcuate socket 254 simultaneously.
4. the robot track according to claim 3 for defeated coal inspection, it is characterised in that: further include tripod lifting
Track, the tripod ceiling mounted tracks include third aluminum alloy rail 31, tripod 32 and cross pinboard 33, the tripod
32 include vertical supporting element 321 and horizontal support piece 322, and the vertical supporting element 321 is fixed on metope, the cross pinboard
33 include the first pinboard 331 and the second pinboard 332, and first pinboard 331 and second pinboard 332 are vertically set
It sets, first pinboard 331 is fixed on the third aluminum alloy rail 31, and the third aluminum alloy rail 31 is fixed on described
Second pinboard 332.
5. the robot track according to claim 4 for defeated coal inspection, it is characterised in that: further include that smallpox crossbeam is hung
Track is filled, the smallpox transverse beam lifting track includes third party tube hanger 41, cubic tube hanger 42, third hanging bracket fixing part
43, the 4th hanging bracket fixing part 44 and the 4th aluminum alloy rail 45, the third party tube hanger 41 and the cubic tube hanger 42
Multiple through-holes are equipped with, one end equipped with multiple through-holes of the third party tube hanger 41 is sheathed on the cubic tube hanger 42
One end equipped with multiple through-holes, fastener is inserted into the through-hole of the third party tube hanger 41 and the cubic tube hanger 42,
The other end of the third party tube hanger 41 is fixed on the 4th hanging bracket fixing part 44, and the 4th hanging bracket fixing part 44 is fixed
In ceiling, the other end of the cubic tube hanger 42 is fixed on the third hanging bracket fixing part 43, and the third hanger is solid
Determine part 43 and is fixed on the 4th aluminum alloy rail 45.
6. the robot track according to claim 5 for defeated coal inspection, it is characterised in that: the third hanger is fixed
Part 43 includes the 5th connecting plate 431 and the third hanger supports plate 432, and the 5th connecting plate 431 is fixed on described
4th aluminum alloy rail 45, the other end of the 4th hanger square tube frame 42 is fixed on the third hanger supports plate 432, described
First hanger supports plate 432 is equipped with using the fixed point of the 4th hanger square tube frame 42 as the third arcuate socket 433 in the center of circle, described
4th hanger square tube frame 42 can be rotated along the third arcuate socket 433；
4th hanging bracket fixing part 44 include the 6th connecting plate 441 and the 4th hanger supports plate 442, the described 6th
Connecting plate 441 is fixed on ceiling, and the other end of the third hanger square tube frame 41 is fixed on the 4th hanger supports plate
442, the 4th hanger supports plate 442 is equipped with using the fixed point of the third hanger square tube frame 41 as the 4th arcuate socket in the center of circle
443, the third hanger square tube frame 41 can be rotated along the 4th arcuate socket 443.
7. the installation method of the robot track according to claim 6 for defeated coal inspection, it is characterised in that: including
One I-steel ceiling mounted tracks installation method, the first I-steel ceiling mounted tracks the following steps are included:
S11, size is measured, at interval of the position of mark installment first square tube hanger 13 at 2m on the first I-steel 11；
After S12, measurement size determine position, the top of first square tube hanger 13 is adjacent to the bottom end of the first I-steel 11, is used in combination
The bottom of the first I-steel 11 is fixed on the top of first square tube hanger 13 by the first connecting plate 12, hex bolts and flange nut
End；
S13, after installing all first square tube hangers 13, T-bolt is inserted into the corresponding slot of the first aluminum alloy rail 14,
The position for adjusting T-bolt, is fixed on 14 phase of the first aluminum alloy rail for the bottom end of each first square tube hanger 13 with T-bolt
Position is answered, and is tightened with flange nut；
S14, before next first aluminum alloy rail 14 is tightened, two first aluminum alloy rail, 14 closed butt joints are used in combination
Two first aluminum alloy rails 14 are stitched together by orbital docking plate, and the first aluminum alloy rail of adjustment can be required according to in-site installation
14 splicing length.
8. the installation method of the robot track according to claim 7 for defeated coal inspection, it is characterised in that: further include
Second I-steel ceiling mounted tracks installation method, the second I-steel ceiling mounted tracks the following steps are included:
S21, size is measured, at interval of the position of mark installment second square tube hanger 24 at 2m on the second I-steel 21；
S22, two the first hanger supports plates for first any end of second square tube hanger 24 being placed on the first hanging bracket fixing part 23
Between 232, the hole location of second square tube hanger 24 is directed at the hole location of the first hanger supports plate 232, then with hex bolts through the
Two square tube hangers 24 and the first hanger supports plate 232 are simultaneously tightened with flange nut, it is desirable that second square tube hanger 24 can be along first
First arcuate socket 233 of hanger supports plate 232 rotates；
S23, first by the second arcuate socket 253 of the first arcuate socket 233 of the first hanging bracket fixing part 23 and the second hanging bracket fixing part 25
It is oppositely arranged, then the other end of second square tube hanger 24 is placed on two the second frame support plates 252 of the second hanging bracket fixing part 25
Between, and the hole location of second square tube hanger 24 is directed at the hole location of the second hanger supports plate 252, then with hex bolts through the
Two square tube hangers 24 and the second hanger supports plate 252 are simultaneously tightened with flange nut, it is desirable that second square tube hanger 24 can simultaneously along
The first arcuate socket 233 rotation of the second arcuate socket 253 and the first hanger supports plate 232 of second hanger supports plate 252；
S24, the bottom surface that the top surface of the third connecting plate 233 of assembled second square tube hanger 24 is close to the second I-steel 21,
And the second I-steel 21 is fixed on the top of second square tube hanger 24 with the second connecting plate 22, hex bolts and flange nut
Bottom end；
S25, after installing all second square tube hangers 24, T-bolt is inserted into the corresponding slot of the second aluminum alloy rail 26,
The position for adjusting T-bolt, is fixed on 26 phase of the second aluminum alloy rail for the bottom end of each second square tube hanger 24 with T-bolt
Position is answered, and is tightened with flange nut；
S26, before next second aluminum alloy rail 26 is tightened, using the freedom degree of second square tube hanger 24 by two second
26 closed butt joint of aluminum alloy rail, and two second aluminum alloy rails 26 are stitched together with orbital docking plate, it can be according to scene
Installation requirement adjusts the splicing length of the second aluminum alloy rail 26；
S27, second square tube hanger 24 and the first hanging bracket fixing part 23, the second hanging bracket fixing part 25 then adjusted according to field demand
Rotation angle, and lock.
9. the installation method of the robot track according to claim 7 for defeated coal inspection, it is characterised in that: further include
Tripod ceiling mounted tracks installation method, the tripod ceiling mounted tracks installation method the following steps are included:
S31, measure size, tripod 32 is fixed on same level wall with stainless steel expansion bolt every 2m, if desired to
It above or tilts down, then controls highly being installed vertically for tripod 32；
S32, tripod 32 support end set hexagonal used according to suitable two slots of the route selection of track there are four slot
Bolt passes through the second pinboard 332 of cross pinboard 33, and is locked but is not screwed on flange nut, control it can also
It is mobile；
S33, after installing all tripods 32 and fixing cross pinboard 33, T-bolt is inserted into third aluminum alloy rail
In 31 corresponding slots, the position of T-bolt is adjusted, T-bolt is inserted into the first pinboard 331 of cross pinboard 33, and
It is tightened with flange nut；
S34, before next third aluminum alloy rail 31 is tightened, two 31 closed butt joints of third aluminum alloy rail are used in combination
Two third aluminum alloy rails 31 are stitched together by orbital docking plate, and adjustment third aluminum alloy rail can be required according to in-site installation
31 splicing length.
10. the installation method of the robot track according to claim 7 for defeated coal inspection, it is characterised in that: also wrap
Include smallpox transverse beam lifting pwoer track installing method, the smallpox transverse beam lifting pwoer track installing method the following steps are included:
S41, size is measured, at interval of the position of the 4th hanging bracket fixing part 44 of mark installment at 2m on smallpox crossbeam；
S42, two the 4th hanger supports plates 442 for first other end of third party tube hanger 41 being placed on the 4th hanging bracket fixing part 44
Between, the hole location of third party tube hanger 41 is directed at the hole location of the 4th hanger supports plate 442, then runs through third party with hex bolts
Tube hanger 41 and the 4th hanger supports plate 442 are simultaneously tightened with flange nut, it is desirable that third party tube hanger 41 can be along the 4th hanger
4th arcuate socket 443 of support plate 442 rotates；
S43, first by the 4th arcuate socket 443 of the third arcuate socket 433 of third hanging bracket fixing part 43 and the 4th hanging bracket fixing part 44
It is oppositely arranged, then the other end of the cubic tube hanger 42 is placed on two third frame support plates 432 of third hanging bracket fixing part 43
Between, and the hole location of the hole location alignment third hanger supports plate 432 of the cubic tube hanger 42, then with hex bolts through the
Cubic tube hanger 42 and third hanger supports plate 432 are simultaneously tightened with flange nut, it is desirable that cubic tube hanger 42 can be along third
The third arcuate socket 433 of hanger supports plate 432 rotates；
S44, the multi-pass nose end that the multi-pass nose end of cubic tube hanger 42 is pierced into third party tube hanger 41, then use hex bolts
The two is run through and is screwed on flange nut, is not fallen, it is desirable that third party tube hanger 41 and cubic tube hanger 42 are together
Along the 4th arcuate socket 443 rotation of the third arcuate socket 433 and the 4th hanger supports plate 442 of third hanger supports plate 432；
S45, according to field condition, is divided into two kinds of installation situations:
If S451, installation direction are single, the mounting height difference of two third party tube hangers 41 is less than predetermined value, then hangs the 4th
Frame fixing piece 44 is beaten fixes position in smallpox crossbeam accordingly, then by the flexible of third party tube hanger 41 and the cubic tube hanger 42
It is adjusted to suitable length, and is locked；
If S452, setting angle are big, position is complicated, estimates that the position of locking is difficult to reach, then needs to compare before installation: first
4th hanging bracket fixing part 44 is posted on smallpox crossbeam, by mobile or the 4th hanging bracket fixing part 44 of rotation to suitable position, so
The 4th hanging bracket fixing part 44 is adjusted afterwards to hang with the rotation angle and third party tube hanger 41 of third party tube hanger 41 and the 4th square tube
Then the collapsing length of frame 42 holds the 4th aluminum alloy rail 45 and is compared to its institute through place:
If then adjusting the 4th hanging bracket fixing part 44 and third party tube hanger 41 and cubic tube hanger 42 it was found that cannot reach
Position；It as reachable, then carry out mark and the 4th hanging bracket fixing part 44 is then beaten into the position compared on smallpox crossbeam, then by the
The collapsing length of tripartite's tube hanger 41 and the cubic tube hanger 42 is locked to desired value；
S46, after installing all third party tube hanger 41 and cubic tube hanger 42, T-bolt is inserted into the 4th aluminium alloy
In the corresponding slot of track 45, the position of T-bolt is adjusted, each 5th connecting plate 431 is fixed on the 4th aluminium with T-bolt and is closed
Golden 45 corresponding position of track, and tightened with flange nut；
S47, before next 4th aluminum alloy rail 45 is tightened, two the 4th aluminium are closed using the freedom degree of side cross tube hanger
Golden 45 closed butt joint of track, and two the 4th aluminum alloy rails 45 are stitched together with orbital docking plate, it can be according to in-site installation
It is required that the splicing length of the 4th aluminum alloy rail 45 of adjustment；
S48, the rotation angle for finally adjusting two connecting plates and side cross tube hanger, and lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910750147.5A CN110450131B (en) | 2019-08-14 | 2019-08-14 | Robot track for coal conveying inspection and installation method |
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| CN201910750147.5A CN110450131B (en) | 2019-08-14 | 2019-08-14 | Robot track for coal conveying inspection and installation method |
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| CN111168643A (en) * | 2020-01-08 | 2020-05-19 | 山东康威通信技术股份有限公司 | Guide rail suspension structure and track mechanism of tunnel inspection robot in tunnel cross well |
| CN112030624A (en) * | 2020-09-03 | 2020-12-04 | 南京派光高速载运智慧感知研究院有限公司 | A track infrastructure for piping lane robot operation |
| CN113524141A (en) * | 2021-08-03 | 2021-10-22 | 中铁十一局集团有限公司 | Hang rail inspection robot rail system based on existing piping lane |
| CN113964915A (en) * | 2021-11-08 | 2022-01-21 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-part track robot |
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| CN113964915A (en) * | 2021-11-08 | 2022-01-21 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-part track robot |
| CN113964915B (en) * | 2021-11-08 | 2023-11-07 | 北京华能新锐控制技术有限公司 | Control method for cooperative work of multi-working-section track robot |
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| CN110450131B (en) | 2021-01-12 |
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