CN110450131B - Robot track for coal conveying inspection and installation method - Google Patents

Robot track for coal conveying inspection and installation method Download PDF

Info

Publication number
CN110450131B
CN110450131B CN201910750147.5A CN201910750147A CN110450131B CN 110450131 B CN110450131 B CN 110450131B CN 201910750147 A CN201910750147 A CN 201910750147A CN 110450131 B CN110450131 B CN 110450131B
Authority
CN
China
Prior art keywords
hanger
pipe
gallows
aluminum alloy
track
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910750147.5A
Other languages
Chinese (zh)
Other versions
CN110450131A (en
Inventor
陈建忠
褚孝国
蔡焕捷
赵霞
洪利丰
陈晓伟
田宏哲
吴坤松
孙建龙
周润洪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Huaneng Xinrui Control Technology Co ltd
Shantou Power Plant Of Huaneng Power International Inc
Original Assignee
Beijing Huaneng Xinrui Control Technology Co ltd
Shantou Power Plant Of Huaneng Power International Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Huaneng Xinrui Control Technology Co ltd, Shantou Power Plant Of Huaneng Power International Inc filed Critical Beijing Huaneng Xinrui Control Technology Co ltd
Priority to CN201910750147.5A priority Critical patent/CN110450131B/en
Publication of CN110450131A publication Critical patent/CN110450131A/en
Application granted granted Critical
Publication of CN110450131B publication Critical patent/CN110450131B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway

Abstract

The invention discloses a robot track for coal conveying inspection and an installation method thereof, wherein the robot track for coal conveying inspection comprises four hoisting tracks, namely a first I-steel hoisting track, a second I-steel hoisting track, a tripod hoisting track and a ceiling beam hoisting track, the I-steel beams of a coal conveying gallery are used as hoisting positions of the first I-steel hoisting track and the second I-steel hoisting track, local materials are used, the use of raw materials is greatly reduced, the triangular hoisting track and the ceiling beam hoisting track are suitable for the condition that the I-steel beams do not exist to provide the hoisting positions, and the lifting is carried out by fixing the triangular hoisting track and the ceiling beam on a wall surface and the ceiling beam.

Description

Robot track for coal conveying inspection and installation method
Technical Field
The invention relates to the technical field of robot tracks, in particular to a robot track for coal conveying inspection and an installation method.
Background
For a long time, coal mine safety accidents frequently occur, and mainly include accidents caused by gas explosion, collapse, water seepage and faults of belt, power supply, ventilation and drainage equipment. The reason is that strict safety inspection is not carried out according to the regulations, so that problems are not found and processed in time, and a set of stable and mature safety early warning system is not provided for a coal mine, so that serious consequences are caused. It is therefore an extremely slow matter to enhance the safety patrol management of coal mines.
Therefore, the inspection robot and the inspection system are developed, but at present, a complete installation method for the inspection rail of the robot is not available, so that an operator can only make different installation schemes according to own experience and different field requirements, and the problem of matching is easily caused in the process of multiple operators, so that the installation efficiency is greatly influenced, and therefore, the installation method for the inspection of the robot with convenient installation is urgently needed, and the assembly efficiency of the operator is accelerated.
Disclosure of Invention
The invention aims to provide a robot track for coal conveying inspection and an installation method, which are simple in structure, convenient to install, high in efficiency, adjustable and wide in application range.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot track for coal conveying inspection comprises a first I-steel hoisting track and a second I-steel hoisting track, wherein the first I-steel hoisting track comprises first I-steel, a first connecting plate, a first square tube hanger and a first aluminum alloy track, the top end of the first square tube hanger is fixed to the bottom end of the first I-steel through a fastener by the first connecting plate, and the bottom end of the first square tube hanger is fixed to the first aluminum alloy track;
second I-steel hoist and mount track includes second I-steel, second connecting plate, first gallows mounting, second gallows square pipe support, second gallows mounting and second aluminum alloy track, the second connecting plate will through the fastener first gallows mounting is fixed in the bottom of second I-steel, the top of second gallows square pipe support is fixed in first gallows mounting, the bottom mounting of second gallows square pipe support in second gallows mounting, second gallows mounting is fixed in second aluminum alloy track.
Preferably, first gallows mounting includes third connecting plate and first gallows backup pad, the second connecting plate will through the fastener the third connecting plate is fixed in the second I-steel, the top of second gallows side pipe support is fixed in first gallows backup pad, first gallows backup pad be equipped with the fixed point on the top of second gallows side pipe support is the first arc hole of centre of a circle, second gallows side pipe support can be followed first arc hole rotates.
Preferably, the second gallows mounting includes third connecting plate and second gallows backup pad, the third connecting plate is fixed in the second aluminum alloy track, the bottom mounting of second gallows side pipe support is in the second gallows backup pad, the second gallows backup pad be equipped with the fixed point of the bottom of second gallows side pipe support is the second arc hole of centre of a circle, second gallows side pipe support can be followed simultaneously first arc hole and second arc hole rotate.
Preferably, the tripod hoisting track comprises a third aluminum alloy track, a tripod and a cross adapter plate, the tripod comprises a vertical support piece and a transverse support piece, the vertical support piece is fixed on the wall surface, the cross adapter plate comprises a first adapter plate and a second adapter plate, the first adapter plate and the second adapter plate are vertically arranged, the first adapter plate is fixed on the third aluminum alloy track, and the tripod is fixed on the second adapter plate.
Preferably, the ceiling beam hoisting track comprises a third-party pipe hanger, a fourth-party pipe hanger, a third hanger fixing part, a fourth hanger fixing part and a fourth aluminum alloy track, wherein the third-party pipe hanger and the fourth-party pipe hanger are respectively provided with a plurality of through holes, one end of the third-party pipe hanger, which is provided with the plurality of through holes, is sleeved on one end of the fourth-party pipe hanger, which is provided with the plurality of through holes, a fastener is inserted into the through holes of the third-party pipe hanger and the fourth-party pipe hanger, the other end of the third-party pipe hanger is fixed on the fourth hanger fixing part, the fourth hanger fixing part is fixed on a ceiling, the other end of the fourth-party pipe hanger is fixed on the third hanger fixing part, and the third hanger fixing part is fixed on the fourth aluminum alloy track.
Preferably, the third hanger fixing member includes a fifth connecting plate and a third hanger supporting plate, the fifth connecting plate is fixed to the fourth aluminum alloy rail, the other end of the fourth hanger square pipe frame is fixed to the third hanger supporting plate, the third hanger supporting plate is provided with a third arc-shaped hole with a fixed point of the fourth hanger square pipe frame as a circle center, and the fourth hanger square pipe frame can rotate along the third arc-shaped hole;
the fourth gallows mounting includes sixth connecting plate and fourth gallows backup pad, the sixth connecting plate is fixed in the ceiling, the other end of third gallows side pipe support is fixed in the fourth gallows backup pad, the fourth gallows backup pad be equipped with the fixed point of third gallows side pipe support is the fourth arc hole of the centre of a circle, third gallows side pipe support can be followed the fourth arc hole rotates.
The mounting method of the robot track for coal conveying inspection comprises a first I-steel hoisting track mounting method, wherein the first I-steel hoisting track comprises the following steps:
s11, measuring the size, and marking the position of the first square pipe hanger at intervals of 2m on the first I-steel;
s12, after the size is measured and the position is determined, the top end of the first square pipe hanger is tightly attached to the bottom end of the first I-shaped steel, and the top end of the first square pipe hanger is fixed to the bottom end of the first I-shaped steel through a first connecting plate, a hexagon bolt and a flange nut;
s13, after all the first square pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of the first aluminum alloy rails, adjusting the positions of the T-shaped bolts, fixing the bottom end of each first square pipe hanger at the corresponding position of the first aluminum alloy rail by using the T-shaped bolts, and screwing the first square pipe hangers by using flange nuts;
s14, before the next first aluminum alloy rail is screwed down, the two first aluminum alloy rails are in tight butt joint, the two first aluminum alloy rails are spliced together through the rail butt joint plates, and the splicing length of the first aluminum alloy rails can be adjusted according to the field installation requirement.
Preferably, the method further comprises a second i-beam hoisting track installation method, wherein the second i-beam hoisting track comprises the following steps:
s21, measuring the size, and marking the position of the second square pipe hanger at intervals of 2m on the second I-steel;
s22, placing any end of a second square pipe hanger between two first hanger supporting plates of a first hanger fixing piece, aligning the hole site of the second square pipe hanger with the hole site of the first hanger supporting plate, penetrating the second square pipe hanger and the first hanger supporting plate by a hexagon bolt and screwing the second square pipe hanger and the first hanger supporting plate by a flange nut, wherein the second square pipe hanger is required to rotate along the first arc-shaped hole of the first hanger supporting plate;
s23, reversely arranging a first arc-shaped hole of the first hanger fixing piece and a second arc-shaped hole of the second hanger fixing piece, placing the other end of a second square pipe hanger between two second frame supporting plates of the second hanger fixing piece, aligning the hole position of the second square pipe hanger to the hole position of the second hanger supporting plate, penetrating the second square pipe hanger and the second hanger supporting plate through a hexagon bolt and screwing the second square pipe hanger and the second hanger supporting plate through a flange nut, and requiring that the second square pipe hanger can simultaneously rotate along the second arc-shaped hole of the second hanger supporting plate and the first arc-shaped hole of the first hanger supporting plate;
s24, enabling the top surface of a third connecting plate of the assembled second square pipe hanger to be tightly attached to the bottom surface of the second I-shaped steel, and fixing the top end of the second square pipe hanger to the bottom end of the second I-shaped steel through the second connecting plate, the hexagon bolts and the flange nuts;
s25, after all the second square pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of the second aluminum alloy rails, adjusting the positions of the T-shaped bolts, fixing the bottom end of each second square pipe hanger at the corresponding position of the second aluminum alloy rail by using the T-shaped bolts, and screwing the T-shaped bolts and the second square pipe hangers by using flange nuts;
s26, before the next second aluminum alloy rail is screwed, the two second aluminum alloy rails are tightly butted by using the freedom degree of the second square pipe hanger, the two second aluminum alloy rails are spliced by using the rail butting plate, and the splicing length of the second aluminum alloy rails can be adjusted according to the field installation requirement;
s27, adjusting the rotation angles of the second square pipe hanger, the first hanger fixing piece and the second hanger fixing piece according to the field requirements, and locking.
Preferably, the method further comprises a tripod hoisting track installation method, and the tripod hoisting track installation method comprises the following steps:
s31, measuring the size, fixing the tripod on the same horizontal wall by using stainless steel expansion bolts every 2m, and controlling the vertical height of the tripod to mount if the tripod needs to incline upwards or downwards;
s32, arranging four slotted holes at the supporting end of the tripod, selecting two appropriate slotted holes according to the trend of the track, penetrating a second adapter plate of the cross adapter plate by a hexagon bolt, and locking the second adapter plate by a flange nut without screwing the second adapter plate, so that the second adapter plate can move left and right;
s33, after all the tripods are installed and the cross adapter plate is fixed, inserting the T-shaped bolt into a corresponding groove of the third aluminum alloy track, adjusting the position of the T-shaped bolt, inserting the T-shaped bolt into the first adapter plate of the cross adapter plate, and screwing the T-shaped bolt by using a flange nut;
s34, before the next third aluminum alloy rail is screwed down, the two third aluminum alloy rails are in tight butt joint, the two third aluminum alloy rails are spliced together through the rail butt joint plates, and the splicing length of the third aluminum alloy rails can be adjusted according to the field installation requirement.
Preferably, the method for installing the ceiling beam hoisting track further comprises the following steps:
s41, measuring the size, and marking the position for mounting a fourth hanger fixing piece at intervals of 2m on the ceiling beam;
s42, placing the other end of the third pipe hanger between two fourth hanger supporting plates of the fourth hanger fixing piece, aligning the hole site of the third pipe hanger with the hole site of the fourth hanger supporting plate, penetrating the third pipe hanger and the fourth hanger supporting plate by a hexagon bolt and screwing the third pipe hanger and the fourth hanger supporting plate by a flange nut, and requiring that the third pipe hanger can rotate along the fourth arc-shaped hole of the fourth hanger supporting plate;
s43, reversely arranging a third arc-shaped hole of a third hanger fixing piece and a fourth arc-shaped hole of a fourth hanger fixing piece, placing the other end of a fourth pipe hanger between two third hanger supporting plates of the third hanger fixing piece, aligning the hole position of the fourth pipe hanger to the hole position of the third hanger supporting plate, penetrating the fourth pipe hanger and the third hanger supporting plate through a hexagon bolt and screwing the hexagon bolt by a flange nut, and requiring that the fourth pipe hanger can rotate along the third arc-shaped hole of the third hanger supporting plate;
s44, penetrating the multi-through hole end of the fourth pipe hanger into the multi-through hole end of the third pipe hanger, then penetrating the multi-through hole end of the third pipe hanger through a hexagon bolt and screwing the multi-through hole end of the third pipe hanger and the third pipe hanger on the third pipe hanger by using a flange nut, and ensuring that the third pipe hanger and the fourth pipe hanger do not fall off and rotate along the third arc-shaped hole of the third hanger supporting plate and the fourth arc-shaped hole of the fourth hanger supporting plate together;
s45, according to the field situation, the method is divided into two installation situations:
s451, if the installation direction is single, the difference between the installation heights of the two third-party pipe hangers 41 is smaller than a preset value, and the preset value is the installation height allowable difference of the two third-party pipe hangers 41 set by an operator according to the field condition, hitting a fourth hanger fixing piece at a corresponding fixed position of a ceiling beam, adjusting the extension and retraction of the third-party pipe hangers and the fourth-party pipe hangers to proper lengths, and locking;
s452, if the installation angle is large, the position is complex, and the estimated locking position is difficult to reach, comparison is needed before installation: paste the fourth gallows mounting on the smallpox crossbeam earlier, through removing or rotatory fourth gallows mounting to suitable position, then adjust the rotation angle of fourth gallows mounting and third party pipe gallows and the flexible length of third party pipe gallows and fourth party pipe gallows, then handheld fourth aluminum alloy track compares to its place of passing through:
if the pipe hanger can not reach the position, the positions of the fourth hanger fixing part, the third pipe hanger and the fourth pipe hanger are adjusted; if the pipe hanger can reach the position, marking, punching a fourth hanger fixing piece on the position of the ceiling beam for comparison, and locking the telescopic lengths of the third-party pipe hanger and the fourth-party pipe hanger to proper values;
s46, after all third and fourth pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of the second aluminum alloy rail, adjusting the positions of the T-shaped bolts, fixing each fifth connecting plate at corresponding positions of the fourth aluminum alloy rail by using the T-shaped bolts, and screwing by using flange nuts;
s47, before the next fourth aluminum alloy rail is screwed, the two fourth aluminum alloy rails are tightly butted by using the freedom degree of the two square pipe hanger, the two fourth aluminum alloy rails are spliced by using the rail butt plates, and the splicing length of the fourth aluminum alloy rails can be adjusted according to the field installation requirement;
and S48, finally, adjusting the rotation angles of the two connecting plates and the two square pipe hangers, and locking.
The robot track for coal conveying inspection comprises four hoisting tracks, namely a first I-steel hoisting track, a second I-steel hoisting track, a tripod hoisting track and a ceiling beam hoisting track, the I-steel beam of a coal conveying gallery is adopted as a hoisting position for the first I-steel hoisting track and the second I-steel hoisting track, local materials are used, the use of raw materials is greatly reduced, the triangular hoisting track and the ceiling beam hoisting track are suitable for the condition that no I-steel beam is used for providing the hoisting position, the hoisting is carried out by fixing the robot track on a wall surface and a ceiling beam, the designed structure is adjustable, the flexibility is high, the robot track is suitable for different field environments and installation requirements, the application range is wide, a mechanical installation method is adopted, the structure is simple, the installation efficiency is high, and subsequent detachability is facilitated.
Drawings
The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.
FIG. 1 is a schematic structural view of a first I-steel lifting rail according to one embodiment of the invention;
FIG. 2 is a left side view of a first I-steel lifting rail according to one embodiment of the present invention;
FIG. 3 is a partial enlarged view of the structure of a first I-beam lifting rail according to one embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a second I-steel lifting rail according to one embodiment of the invention;
FIG. 5 is a schematic view of the installation of a second hanger fixture according to one embodiment of the invention;
FIG. 6 is a schematic view of the installation of a first hanger fixture according to one embodiment of the invention;
figure 7 is a schematic structural view of a tripod lifting rail according to one embodiment of the present invention;
FIG. 8 is a schematic structural view of a cross adapter plate according to one embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a ceiling beam hoisting track according to one embodiment of the invention;
FIG. 10 is a schematic view of the installation of a fourth hanger fixture in accordance with one embodiment of the invention;
FIG. 11 is a schematic view of the installation of a third hanger fixture in accordance with one embodiment of the invention;
wherein: a first i-beam 11; a first connecting plate 12; a first square tube hanger 13; a first aluminum alloy rail 14; a second i-beam 21; a second connecting plate 22; a first hanger fixing member 23; the third connecting plate 231; a first hanger support plate 232; a first arc-shaped hole 233; a second square tube hanger 24; second hanger fixing members 25; the fourth connecting plate 251; a second hanger support plate 252; a second arcuate aperture 253; a second aluminum alloy rail 26; a third aluminum alloy rail 31; a tripod 32; the vertical supports 321; a transverse support 322; a cross adaptor plate 33; a first transfer plate 331; a second adapter plate 332; a third party pipe hanger 41; a fourth pipe hanger 42; third hanger fixing members 43; a fifth connecting plate 431; a third hanger support plate 432; a third arcuate aperture 433; a fourth hanger fixing member 44; a sixth connecting plate 441; a fourth hanger support plate 442; a fourth arcuate hole 443; a fourth aluminum alloy rail 45.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The robot track for coal conveying inspection of the embodiment is shown in fig. 1 to 4 and comprises a first i-steel hoisting track and a second i-steel hoisting track, wherein the first i-steel hoisting track comprises a first i-steel 11, a first connecting plate 12, a first pipe hanger 13 and a first aluminum alloy track 14, the first connecting plate 12 fixes the top end of the first pipe hanger 13 to the bottom end of the first i-steel 11 through a fastener, and the bottom end of the first pipe hanger 13 is fixed to the first aluminum alloy track 14;
second I-steel hoist and mount track includes second I-steel 21, second connecting plate 22, first gallows mounting 23, second gallows side pipe support 24, second gallows mounting 25 and second aluminum alloy track 26, second connecting plate 22 will through the fastener first gallows mounting 23 is fixed in the bottom of second I-steel 21, the top of second gallows side pipe support 24 is fixed in first gallows mounting 23, the bottom mounting of second gallows side pipe support 24 is in second gallows mounting 25, the second gallows is fixed in second aluminum alloy track 26.
The first I-steel 11 and the second I-steel 21 are cross beams for supporting the coal conveying gallery, the I-steel cross beams of the coal conveying gallery are used as hoisting positions of the robot routing inspection track, materials are used locally, the use of raw materials is greatly reduced, and a mechanical installation method is adopted, so that the structure is simple, the installation efficiency is high, and the subsequent detachability is facilitated.
Preferably, as shown in fig. 6, the first hanger fixing member 23 includes a third connecting plate 231 and a first hanger supporting plate 232, the third connecting plate 231 is fixed to the second i-beam 21 by the second connecting plate 22 through a fastener, the top end of the second hanger square pipe frame 24 is fixed to the first hanger supporting plate 232, the first hanger supporting plate 232 is provided with a first arc-shaped hole 233 using the fixed point of the top end of the second hanger square pipe frame 24 as a circle center, and the second hanger square pipe frame 24 is rotatable along the first arc-shaped hole 233.
Second gallows square pipe support 24 can follow first arc hole 233 rotates, can adjust the back according to the route of patrolling and examining at the scene and fix again second gallows square pipe 24's position, and applicable scope is wider.
Preferably, as shown in fig. 5, the second hanger fixing member 25 includes a third connecting plate 251 and a second hanger supporting plate 252, the third connecting plate 251 is fixed to the second aluminum alloy rail 26, the bottom end of the second hanger square pipe frame 24 is fixed to the second hanger supporting plate 252, the second hanger supporting plate 252 is provided with a second arc-shaped hole 253 centered on the fixed point of the bottom end of the second hanger square pipe frame 24, and the second hanger square pipe frame 24 is rotatable along the first arc-shaped hole 233 and the second arc-shaped hole 253 at the same time.
Second gallows side pipe 24 can follow simultaneously first arc hole 233 and second arc hole 253 rotate, can adjust the back according to the route of patrolling and examining at scene and fix again second gallows side pipe 24's position, but adjustable range is bigger, and the flexibility is higher, and applicable scope is wider.
Preferably, as shown in fig. 7 and 8, the tripod hoisting track further comprises a third aluminum alloy track 31, a tripod 32 and a cross adapter plate 33, the tripod 32 comprises a vertical support 321 and a transverse support 322, the vertical support 321 is fixed to a wall surface, the cross adapter plate 33 comprises a first adapter plate 331 and a second adapter plate 332, the first adapter plate 331 and the second adapter plate 332 are vertically arranged, the first adapter plate 331 is fixed to the third aluminum alloy track 31, and the tripod 32 is fixed to the second adapter plate 332.
In the whole coal conveying channel, I-shaped steel cross beams are not arranged in many places to provide hoisting positions, so that a tripod hoisting track is designed according to the field environment and the inspection requirements, the tripod hoisting track is fixed on the wall surface, the third aluminum alloy track 31 is connected to the inspection position through a cross adapter plate, and a mechanical installation method is adopted, so that the structure is simple, the installation efficiency is high, and the subsequent detachability is facilitated.
Preferably, as shown in fig. 9, the ceiling beam hoisting track is further comprised, the ceiling beam hoisting track comprises a third pipe hanger 41, a fourth pipe hanger 42, a third hanger fixing member 43, a fourth hanger fixing member 44 and a fourth aluminum alloy track 45, the third pipe hanger 41 and the fourth pipe hanger 42 are both provided with a plurality of through holes, one end of the third pipe hanger 41 provided with a plurality of through holes is sleeved on one end of the fourth pipe hanger 42 provided with a plurality of through holes, fasteners are inserted into the through holes of the third pipe hanger 41 and the fourth pipe hanger 42, the other end of the third pipe hanger 41 is fixed to the fourth hanger fixing member 44, the fourth hanger fixing member 44 is fixed to the ceiling, the other end of the fourth pipe hanger 42 is fixed to the third hanger fixing member 43, and the third hanger fixing member 43 is fixed to the fourth aluminum alloy rail 45.
The ceiling beam hoisting track is suitable for the condition that no I-steel beam is used for providing a hoisting position and no wall surface is used for switching, the ceiling beam hoisting track needs to be punched on a beam or a ceiling, the hoisting position is installed, and the through hole fixing positions of the third side pipe hanger 41 and the fourth side pipe hanger 42 can be adjusted, so that the height of the fourth aluminum alloy track 45 is adjusted.
Preferably, as shown in fig. 10 and 11, the third hanger fixing member 43 includes a fifth connecting plate 431 and a third hanger supporting plate 432, the fifth connecting plate 431 is fixed to the fourth aluminum alloy rail 45, the other end of the fourth hanger square tube frame 42 is fixed to the third hanger supporting plate 432, the third hanger supporting plate 432 is provided with a third arc-shaped hole 433 which takes the fixed point of the fourth hanger square tube frame 42 as a circle center, and the fourth hanger square tube frame 42 is rotatable along the third arc-shaped hole 433;
the fourth hanger fixing member 44 includes a sixth connecting plate 441 and a fourth hanger support plate 442, the sixth connecting plate 441 is fixed to the ceiling, the other end of the third hanger square tube frame 41 is fixed to the fourth hanger support plate 442, the fourth hanger support plate 442 is provided with a fourth arc-shaped hole 443 centered on the fixed point of the third hanger square tube frame 41, and the third hanger square tube frame 41 is rotatable along the fourth arc-shaped hole 443.
Third gallows side pipe 41 can follow simultaneously third arc hole 433 and fourth arc hole 443 rotate, can adjust the back according to the route of patrolling and examining at scene and fix again third gallows side pipe 41's position, but adjustable range is bigger, and the flexibility is higher, and the degree of freedom is many, and applicable scope is wider.
The mounting method of the robot track for coal conveying inspection comprises a first I-steel hoisting track mounting method, wherein the first I-steel hoisting track comprises the following steps:
s11, measuring the size, and marking the position of the first square pipe hanger 13 at intervals of 2m on the first I-shaped steel 11;
s12, after the size is measured and the position is determined, the top end of the first square pipe hanger 13 is tightly attached to the bottom end of the first I-shaped steel 11, and the top end of the first square pipe hanger 13 is fixed to the bottom end of the first I-shaped steel 11 through the first connecting plate 12, the hexagon bolts and the flange nuts;
s13, after all the first square pipe hangers 13 are installed, inserting T-shaped bolts into corresponding grooves of the first aluminum alloy rails 14, adjusting the positions of the T-shaped bolts, fixing the bottom end of each first square pipe hanger 13 at the corresponding position of the first aluminum alloy rails 14 by the T-shaped bolts, and screwing the first square pipe hangers 13 by flange nuts;
s14, before the next first aluminum alloy rail 14 is screwed, the two first aluminum alloy rails 14 are in tight butt joint, the two first aluminum alloy rails 14 are spliced by the rail butt joint plates, and the splicing length of the first aluminum alloy rails 14 can be adjusted according to the field installation requirement.
Because the first I-beam 11 of the first I-beam hoisting track adopts the cross beam for supporting the coal conveying gallery, only the first I-beam 11 needs to be hoisted, the installation structure is less, the installation steps are simple, the efficiency is high, and the subsequent detachability is convenient by adopting a mechanical installation method.
Preferably, the method further comprises a second i-beam hoisting track installation method, wherein the second i-beam hoisting track comprises the following steps:
s21, measuring the size, and marking the position of the second square pipe hanger 24 at intervals of 2m on the second I-steel 21;
s22, placing any end of the second square pipe hanger 24 between two first hanger support plates 232 of the first hanger fixing member 23, aligning the hole position of the second square pipe hanger 24 with the hole position of the first hanger support plate 232, penetrating the second square pipe hanger 24 and the first hanger support plate 232 with a hexagon bolt and tightening with a flange nut, requiring the second square pipe hanger 24 to rotate along the first arc hole 233 of the first hanger support plate 232;
s23, first, reversely arranging the first arc hole 233 of the first hanger fixing member 23 and the second arc hole 253 of the second hanger fixing member 25, then placing the other end of the second square pipe hanger 24 between the two second hanger supporting plates 252 of the second hanger fixing member 25, and aligning the hole of the second square pipe hanger 24 with the hole of the second hanger supporting plate 252, then penetrating the second square pipe hanger 24 and the second hanger supporting plate 252 with a hexagon bolt and tightening with a flange nut, so that the second square pipe hanger 24 can rotate along the second arc hole 253 of the second hanger supporting plate 252 and the first arc hole 233 of the first hanger supporting plate 232 at the same time;
s24, enabling the top surface of the third connecting plate 233 of the assembled second square pipe hanger 24 to be tightly attached to the bottom surface of the second I-beam 21, and fixing the top end of the second square pipe hanger 24 to the bottom end of the second I-beam 21 through the second connecting plate 22, the hexagon bolts and the flange nuts;
s25, after all the second square pipe hangers 24 are installed, inserting T-shaped bolts into corresponding grooves of the second aluminum alloy rails 26, adjusting the positions of the T-shaped bolts, fixing the bottom end of each second square pipe hanger 24 at the corresponding position of the second aluminum alloy rails 26 by the T-shaped bolts, and screwing the T-shaped bolts and the second square pipe hangers by flange nuts;
s26, before the next second aluminum alloy rail 26 is screwed, the two second aluminum alloy rails 26 are tightly butted by using the freedom degree of the second square pipe hanger 24, the two second aluminum alloy rails 26 are spliced by using the rail butting plates, and the splicing length of the second aluminum alloy rails 26 can be adjusted according to the field installation requirement;
and S27, adjusting the rotation angles of the second square pipe hanger 24, the first hanger fixing piece 23 and the second hanger fixing piece 25 according to the field requirement, and locking.
The second I-beam 21 is used as a cross beam for supporting the coal conveying gallery, and only the second I-beam 21 needs to be hoisted, so that the installation steps are simple and the efficiency is high; and third gallows side pipe 41 can follow simultaneously third arc hole 433 and fourth arc hole 443 rotate, can adjust the back according to the route of patrolling and examining on the spot and fix third gallows side pipe 41's position again, but adjustable range is bigger, and the flexibility is higher, and the degree of freedom is many, and applicable scope is wider.
Preferably, the method further comprises a tripod hoisting track installation method, and the tripod hoisting track installation method comprises the following steps:
s31, measuring the size, fixing the tripod 32 on the same horizontal wall by using stainless steel expansion bolts every 2m, and controlling the vertical height of the tripod 32 to mount if the tripod needs to incline upwards or downwards;
s32, the supporting end of the tripod 32 is provided with four slotted holes, two slotted holes are selected according to the trend of the track, a hexagon bolt penetrates through the second adapter plate 332 of the cross adapter plate 33, and the cross adapter plate is locked by a flange nut but is not screwed, so that the cross adapter plate can move left and right;
s33, after all the tripods 32 are installed and the cross adapter plate 33 is fixed, inserting T-shaped bolts into corresponding grooves of the third aluminum alloy rail 31, adjusting the positions of the T-shaped bolts, inserting the T-shaped bolts into the first adapter plate 331 of the cross adapter plate 33, and screwing the T-shaped bolts with flange nuts;
and S34, before the next third aluminum alloy rail 31 is screwed, tightly butting the two third aluminum alloy rails 31, splicing the two third aluminum alloy rails 31 by using rail butting plates, and adjusting the splicing length of the third aluminum alloy rails 31 according to the field installation requirement.
The installation of the tripod hoisting track is suitable for the condition that no I-steel beam is used for providing a hoisting position and a wall surface is used for fixing and hoisting, the tripod hoisting track is fixed on the wall surface for hoisting, the third aluminum alloy track 31 is switched to the inspection position by utilizing the cross adapter plate, and a mechanical installation method is adopted, so that the structure is simple, the installation efficiency is high, and the subsequent detachability is convenient.
Preferably, the method for installing the ceiling beam hoisting track further comprises the following steps:
s41, measuring the size, and marking the position for mounting the fourth hanger fixing piece 44 at the position of 2m on the ceiling beam;
s42, placing the other end of the third pipe hanger 41 between the two fourth hanger support plates 442 of the fourth hanger holder 44, with the hole site of the third pipe hanger 41 aligned with the hole site of the fourth hanger support plate 442, and then using a hexagon bolt to penetrate the third pipe hanger 41 and the fourth hanger support plate 442 and tightening them with a flange nut, so as to require that the third pipe hanger 41 can rotate along the fourth arc-shaped hole 443 of the fourth hanger support plate 442;
s43, first, the third arc hole 433 of the third hanger holder 43 and the fourth arc hole 443 of the fourth hanger holder 44 are disposed in opposite directions, and then the other end of the fourth pipe hanger 42 is placed between the two third hanger support plates 432 of the third hanger holder 43, and the hole of the fourth pipe hanger 42 is aligned with the hole of the third hanger support plate 432, and then the fourth pipe hanger 42 is screwed through the fourth pipe hanger 42 and the third hanger support plate 432 by a hexagon bolt and a flange nut, so that the fourth pipe hanger 42 is required to be rotatable along the third arc hole 433 of the third hanger support plate 432;
s44, inserting the multi-hole end of the fourth pipe hanger 42 into the multi-hole end of the third pipe hanger 41, and then inserting the third pipe hanger 41 and the fourth pipe hanger 42 through a hexagon bolt and screwing the third pipe hanger and the fourth pipe hanger with a flange nut, without dropping, so that the third pipe hanger 41 and the fourth pipe hanger 42 are required to rotate together along the third arc-shaped hole 433 of the third hanger support plate 432 and the fourth arc-shaped hole 443 of the fourth hanger support plate 442;
s45, according to the field situation, the method is divided into two installation situations:
s451, if the installation direction is single, the difference between the installation heights of the two third-party pipe hangers is smaller than a preset value, and the preset value is the installation height allowable difference of the two third-party pipe hangers 41 set by an operator according to the field condition, hitting the fourth hanger fixing piece 44 at the corresponding fixed position of the ceiling beam, adjusting the extension of the third-party pipe hanger 41 and the fourth pipe hanger 42 to the proper length, and locking;
s452, if the installation angle is large, the position is complex, and the estimated locking position is difficult to reach, comparison is needed before installation: paste fourth gallows mounting 44 on the smallpox crossbeam earlier, through removing or rotating fourth gallows mounting 44 to suitable position, then adjust the rotation angle of fourth gallows mounting 44 and third party pipe gallows 41 and the flexible length of third party pipe gallows 41 and fourth party pipe gallows 42, then handheld fourth aluminum alloy track 45 compares to its place of passing through:
if it is found that the third and fourth pipe hangers 41 and 42 cannot be reached, the positions of the fourth hanger fixing member 44 and the third and fourth pipe hangers 42 are adjusted; if the pipe hanger can reach the position, marking, punching a fourth hanger fixing piece 44 at the position for comparison on the ceiling beam, and locking the telescopic lengths of the third-party pipe hanger 41 and the fourth-party pipe hanger 42 to a proper value;
s46, after all the third pipe hanger 41 and the fourth pipe hanger 42 are installed, inserting T-shaped bolts into corresponding grooves of the fourth aluminum alloy rail 45, adjusting the positions of the T-shaped bolts, fixing each fifth connecting plate 431 at corresponding positions of the fourth aluminum alloy rail 45 by the T-shaped bolts, and screwing the fifth connecting plates by flange nuts;
s47, before the next fourth aluminum alloy track 45 is screwed, the two fourth aluminum alloy tracks 45 are tightly butted by using the freedom degree of the two square pipe hanger, the two fourth aluminum alloy tracks 45 are spliced by using the track butt plate, and the splicing length of the fourth aluminum alloy tracks 45 can be adjusted according to the field installation requirement;
and S48, finally, adjusting the rotation angles of the two connecting plates and the two square pipe hangers, and locking.
Ceiling crossbeam hoist and mount track is applicable to and does not have the I-steel crossbeam to provide the hoist and mount position and do not have the wall to carry out the condition of switching, ceiling crossbeam hoist and mount track need punch on crossbeam or ceiling, the installation hoist and mount position, and can be through the through-hole fixed position of adjusting third party pipe gallows 41 and fourth party pipe gallows 42, thereby adjust fourth aluminum alloy track 45's height, in addition, third gallows square pipe 41 can rotate along third arc hole 433 and fourth arc hole 443 simultaneously, can adjust the back according to the route of patrolling and examining at the scene and fix again third gallows square pipe 41's position, but the adjustable range is bigger, the flexibility is higher, the degree of freedom is many, applicable scope is wider.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (8)

1. The utility model provides a robot track for coal conveying patrols and examines which characterized in that: the first I-steel hoisting track comprises first I-steel, a first connecting plate, a first square pipe hanger and a first aluminum alloy track, wherein the top end of the first square pipe hanger is fixed at the bottom end of the first I-steel through a fastener by the first connecting plate, and the bottom end of the first square pipe hanger is fixed at the first aluminum alloy track;
the second I-beam hoisting track comprises second I-beams, a second connecting plate, a first hanger fixing piece, a second hanger square pipe frame, a second hanger fixing piece and a second aluminum alloy track, the second connecting plate fixes the first hanger fixing piece to the bottom end of the second I-beams through a fastener, the top end of the second hanger square pipe frame is fixed to the first hanger fixing piece, the bottom end of the second hanger square pipe frame is fixed to the second hanger fixing piece, and the second hanger fixing piece is fixed to the second aluminum alloy track;
the first hanger fixing part comprises a third connecting plate and a first hanger supporting plate, the third connecting plate is fixed on the second I-shaped steel through a fastener by the second connecting plate, the top end of the second hanger square pipe frame is fixed on the first hanger supporting plate, the first hanger supporting plate is provided with a first arc-shaped hole taking a fixed point at the top end of the second hanger square pipe frame as a circle center, and the second hanger square pipe frame can rotate along the first arc-shaped hole;
the second gallows mounting includes third connecting plate and second gallows backup pad, the third connecting plate is fixed in the second aluminum alloy track, the bottom mounting of second gallows side pipe support in the second gallows backup pad, the second gallows backup pad be equipped with the fixed point of the bottom of second gallows side pipe support is the second arc hole of the centre of a circle, second gallows side pipe support can be followed simultaneously first arc hole and second arc hole rotate.
2. The robot track for coal conveying inspection according to claim 1, wherein: still include tripod hoist and mount track, tripod hoist and mount track includes third aluminum alloy track, tripod and cross keysets, the tripod includes vertical support piece and horizontal support piece, vertical support piece is fixed in the wall, the cross keysets includes first keysets and second keysets, first keysets with the perpendicular setting of second keysets, first keysets is fixed in third aluminum alloy track, the tripod is fixed in the second keysets.
3. The robot track for coal conveying inspection according to claim 2, wherein: still include smallpox crossbeam hoist and mount track, smallpox crossbeam hoist and mount track includes third party pipe gallows, fourth party pipe gallows, third gallows mounting, fourth gallows mounting and fourth aluminum alloy track, third party pipe gallows with fourth party pipe gallows all is equipped with a plurality of through-holes, the pot head that is equipped with a plurality of through-holes of third party pipe gallows is located the one end that is equipped with a plurality of through-holes of fourth party pipe gallows, the fastener inserts third party pipe gallows with the through-hole of fourth party pipe gallows, the other end of third party pipe gallows is fixed in fourth gallows mounting, fourth gallows mounting is fixed in the ceiling, the other end of fourth party pipe gallows is fixed in third gallows mounting, third gallows mounting is fixed in fourth aluminum alloy track.
4. The robot track for coal conveying inspection according to claim 3, wherein: the third hanger fixing part comprises a fifth connecting plate and a third hanger supporting plate, the fifth connecting plate is fixed on the fourth aluminum alloy track, the other end of the fourth hanger square pipe frame is fixed on the third hanger supporting plate, the third hanger supporting plate is provided with a third arc-shaped hole which takes a fixed point of the fourth hanger square pipe frame as a circle center, and the fourth hanger square pipe frame can rotate along the third arc-shaped hole;
the fourth gallows mounting includes sixth connecting plate and fourth gallows backup pad, the sixth connecting plate is fixed in the ceiling, the other end of third gallows side pipe support is fixed in the fourth gallows backup pad, the fourth gallows backup pad be equipped with the fixed point of third gallows side pipe support is the fourth arc hole of the centre of a circle, third gallows side pipe support can be followed the fourth arc hole rotates.
5. The installation method of the robot track for coal transportation inspection according to claim 4, wherein: the method comprises a first I-steel hoisting track installation method, wherein the first I-steel hoisting track comprises the following steps:
s11, measuring the size, and marking the position of the first square pipe hanger at intervals of 2m on the first I-steel;
s12, after the size is measured and the position is determined, the top end of the first square pipe hanger is tightly attached to the bottom end of the first I-shaped steel, and the top end of the first square pipe hanger is fixed to the bottom end of the first I-shaped steel through a first connecting plate, a hexagon bolt and a flange nut;
s13, after all the first square pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of the first aluminum alloy rails, adjusting the positions of the T-shaped bolts, fixing the bottom end of each first square pipe hanger at the corresponding position of the first aluminum alloy rail by using the T-shaped bolts, and screwing the first square pipe hangers by using flange nuts;
s14, before the next first aluminum alloy rail is screwed down, the two first aluminum alloy rails are in tight butt joint, the two first aluminum alloy rails are spliced together through the rail butt joint plates, and the splicing length of the first aluminum alloy rails can be adjusted according to the field installation requirement.
6. The installation method of the robot track for coal transportation inspection according to claim 5, wherein: the method for installing the second I-beam hoisting track comprises the following steps:
s21, measuring the size, and marking the position of the second square pipe hanger at intervals of 2m on the second I-steel;
s22, placing any end of a second square pipe hanger between two first hanger supporting plates of a first hanger fixing piece, aligning the hole site of the second square pipe hanger with the hole site of the first hanger supporting plate, penetrating the second square pipe hanger and the first hanger supporting plate by a hexagon bolt and screwing the second square pipe hanger and the first hanger supporting plate by a flange nut, wherein the second square pipe hanger is required to rotate along the first arc-shaped hole of the first hanger supporting plate;
s23, reversely arranging a first arc-shaped hole of the first hanger fixing piece and a second arc-shaped hole of the second hanger fixing piece, placing the other end of a second square pipe hanger between two second frame supporting plates of the second hanger fixing piece, aligning the hole position of the second square pipe hanger to the hole position of the second hanger supporting plate, penetrating the second square pipe hanger and the second hanger supporting plate through a hexagon bolt and screwing the second square pipe hanger and the second hanger supporting plate through a flange nut, and requiring that the second square pipe hanger can simultaneously rotate along the second arc-shaped hole of the second hanger supporting plate and the first arc-shaped hole of the first hanger supporting plate;
s24, enabling the top surface of a third connecting plate of the assembled second square pipe hanger to be tightly attached to the bottom surface of the second I-shaped steel, and fixing the top end of the second square pipe hanger to the bottom end of the second I-shaped steel through the second connecting plate, the hexagon bolts and the flange nuts;
s25, after all the second square pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of the second aluminum alloy rails, adjusting the positions of the T-shaped bolts, fixing the bottom end of each second square pipe hanger at the corresponding position of the second aluminum alloy rail by using the T-shaped bolts, and screwing the T-shaped bolts and the second square pipe hangers by using flange nuts;
s26, before the next second aluminum alloy rail is screwed, the two second aluminum alloy rails are tightly butted by using the freedom degree of the second square pipe hanger, the two second aluminum alloy rails are spliced by using the rail butting plate, and the splicing length of the second aluminum alloy rails can be adjusted according to the field installation requirement;
s27, adjusting the rotation angles of the second square pipe hanger, the first hanger fixing piece and the second hanger fixing piece according to the field requirements, and locking.
7. The installation method of the robot track for coal transportation inspection according to claim 5, wherein: the method for installing the tripod hoisting track further comprises the following steps:
s31, measuring the size, fixing the tripod on the same horizontal wall by using stainless steel expansion bolts every 2m, and controlling the vertical height of the tripod to mount if the tripod needs to incline upwards or downwards;
s32, arranging four slotted holes at the supporting end of the tripod, selecting two appropriate slotted holes according to the trend of the track, penetrating a second adapter plate of the cross adapter plate by a hexagon bolt, and locking the second adapter plate by a flange nut without screwing the second adapter plate, so that the second adapter plate can move left and right;
s33, after all the tripods are installed and the cross adapter plate is fixed, inserting the T-shaped bolt into a corresponding groove of the third aluminum alloy track, adjusting the position of the T-shaped bolt, inserting the T-shaped bolt into the first adapter plate of the cross adapter plate, and screwing the T-shaped bolt by using a flange nut;
s34, before the next third aluminum alloy rail is screwed down, the two third aluminum alloy rails are in tight butt joint, the two third aluminum alloy rails are spliced together through the rail butt joint plates, and the splicing length of the third aluminum alloy rails can be adjusted according to the field installation requirement.
8. The installation method of the robot track for coal transportation inspection according to claim 5, wherein: the method for installing the ceiling beam hoisting track further comprises the following steps:
s41, measuring the size, and marking the position for mounting a fourth hanger fixing piece at intervals of 2m on the ceiling beam;
s42, placing the other end of the third pipe hanger between two fourth hanger supporting plates of the fourth hanger fixing piece, aligning the hole site of the third pipe hanger with the hole site of the fourth hanger supporting plate, penetrating the third pipe hanger and the fourth hanger supporting plate by a hexagon bolt and screwing the third pipe hanger and the fourth hanger supporting plate by a flange nut, and requiring that the third pipe hanger can rotate along the fourth arc-shaped hole of the fourth hanger supporting plate;
s43, reversely arranging a third arc-shaped hole of a third hanger fixing piece and a fourth arc-shaped hole of a fourth hanger fixing piece, placing the other end of a fourth pipe hanger between two third hanger supporting plates of the third hanger fixing piece, aligning the hole position of the fourth pipe hanger to the hole position of the third hanger supporting plate, penetrating the fourth pipe hanger and the third hanger supporting plate through a hexagon bolt and screwing the hexagon bolt by a flange nut, and requiring that the fourth pipe hanger can rotate along the third arc-shaped hole of the third hanger supporting plate;
s44, penetrating the multi-through hole end of the fourth pipe hanger into the multi-through hole end of the third pipe hanger, then penetrating the multi-through hole end of the third pipe hanger through a hexagon bolt and screwing the multi-through hole end of the third pipe hanger and the third pipe hanger on the third pipe hanger by using a flange nut, and ensuring that the third pipe hanger and the fourth pipe hanger do not fall off and rotate along the third arc-shaped hole of the third hanger supporting plate and the fourth arc-shaped hole of the fourth hanger supporting plate together;
s45, according to the field situation, the method is divided into two installation situations:
s451, if the installation direction is single and the difference between the installation heights of the two third-party pipe hangers is smaller than a preset value, hitting a fourth hanger fixing piece at a corresponding fixed position of a ceiling cross beam, and then adjusting the extension and contraction of the third-party pipe hanger and the fourth-party pipe hanger to proper lengths and locking;
s452, if the installation angle is large, the position is complex, and the estimated locking position is difficult to reach, comparison is needed before installation: paste the fourth gallows mounting on the smallpox crossbeam earlier, through removing or rotatory fourth gallows mounting to suitable position, then adjust the rotation angle of fourth gallows mounting and third party pipe gallows and the flexible length of third party pipe gallows and fourth party pipe gallows, then handheld fourth aluminum alloy track compares to its place of passing through:
if the pipe hanger can not reach the position, the positions of the fourth hanger fixing part, the third pipe hanger and the fourth pipe hanger are adjusted; if the pipe hanger can reach the position, marking, punching a fourth hanger fixing piece on the position of the ceiling beam for comparison, and locking the telescopic lengths of the third-party pipe hanger and the fourth-party pipe hanger to proper values;
s46, after all third-side pipe hangers and fourth-side pipe hangers are installed, inserting T-shaped bolts into corresponding grooves of a fourth aluminum alloy rail, adjusting the positions of the T-shaped bolts, fixing each fifth connecting plate at corresponding positions of the fourth aluminum alloy rail by using the T-shaped bolts, and screwing the fifth connecting plates by using flange nuts;
s47, before the next fourth aluminum alloy rail is screwed, the two fourth aluminum alloy rails are tightly butted by using the freedom degree of the two square pipe hanger, the two fourth aluminum alloy rails are spliced by using the rail butt plates, and the splicing length of the fourth aluminum alloy rails can be adjusted according to the field installation requirement;
and S48, finally, adjusting the rotation angles of the two connecting plates and the two square pipe hangers, and locking.
CN201910750147.5A 2019-08-14 2019-08-14 Robot track for coal conveying inspection and installation method Active CN110450131B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910750147.5A CN110450131B (en) 2019-08-14 2019-08-14 Robot track for coal conveying inspection and installation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910750147.5A CN110450131B (en) 2019-08-14 2019-08-14 Robot track for coal conveying inspection and installation method

Publications (2)

Publication Number Publication Date
CN110450131A CN110450131A (en) 2019-11-15
CN110450131B true CN110450131B (en) 2021-01-12

Family

ID=68486538

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910750147.5A Active CN110450131B (en) 2019-08-14 2019-08-14 Robot track for coal conveying inspection and installation method

Country Status (1)

Country Link
CN (1) CN110450131B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111168643B (en) * 2020-01-08 2021-05-25 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

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008188680A (en) * 2007-01-31 2008-08-21 Kobe Steel Ltd Welding robot system
CN102814637A (en) * 2012-08-31 2012-12-12 天津博信汽车零部件有限公司 Manipulator for mounting and hoisting automobile rear seat
CN203684019U (en) * 2014-01-23 2014-07-02 中铁一局集团有限公司 Height and span adjustable track laying machine for subway construction
CN104875179A (en) * 2015-05-29 2015-09-02 南京理工大学 Power system segmented automatic inspection robot
CN205438531U (en) * 2016-01-05 2016-08-10 山东康威通信技术股份有限公司 Light -duty track robot
CN206085053U (en) * 2016-09-19 2017-04-12 上海永乾机电有限公司 Robot is patrolled and examined to power distribution station intelligence
CN107139161A (en) * 2017-06-09 2017-09-08 杭州亚美利嘉科技有限公司 Suspension type guide rails of robots, suspension type robot and its runtime

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008188680A (en) * 2007-01-31 2008-08-21 Kobe Steel Ltd Welding robot system
CN102814637A (en) * 2012-08-31 2012-12-12 天津博信汽车零部件有限公司 Manipulator for mounting and hoisting automobile rear seat
CN203684019U (en) * 2014-01-23 2014-07-02 中铁一局集团有限公司 Height and span adjustable track laying machine for subway construction
CN104875179A (en) * 2015-05-29 2015-09-02 南京理工大学 Power system segmented automatic inspection robot
CN205438531U (en) * 2016-01-05 2016-08-10 山东康威通信技术股份有限公司 Light -duty track robot
CN206085053U (en) * 2016-09-19 2017-04-12 上海永乾机电有限公司 Robot is patrolled and examined to power distribution station intelligence
CN107139161A (en) * 2017-06-09 2017-09-08 杭州亚美利嘉科技有限公司 Suspension type guide rails of robots, suspension type robot and its runtime

Also Published As

Publication number Publication date
CN110450131A (en) 2019-11-15

Similar Documents

Publication Publication Date Title
CN205371829U (en) A multilayer pipeline gallows convenient to equipment
CN110450131B (en) Robot track for coal conveying inspection and installation method
US20130034450A1 (en) Wind power plant with modular tower system
WO2017133245A1 (en) Support for rail
CN107035129B (en) Adjustable stepping system
CN204815441U (en) High altitude construction safety belt hangs lifeline system
KR20140008933A (en) Duct alignment device
JP2008253091A (en) Ascending/descending step-bolt mounting device for steel-tower constituting member or the like
CN110900082A (en) Large I-beam welding platform and welding method
CN111022758A (en) Air duct installation method
CN106638184B (en) Multi-working-condition movable type traveling rail supporting device and using method
CN109024561A (en) A kind of flange form connection structure at steel-pipe pile top and I-shaped gooseneck
CN213871780U (en) Camera support
CN214031463U (en) Adjustable track davit of patrolling and examining
CN209891088U (en) Bailey beam traction device
CN108519245B (en) Cable maintenance equipment performance test device and test method
CN213054905U (en) Common frame device for installation of continuous casting robot
CN212563836U (en) Rotatory anti-skidding structure of industry fan hoist and mount
CN210067495U (en) Hole aligning fixing device for butt joint of H-shaped steel stand columns
CN211364328U (en) A adjustment type base for installation of contact net channel in tunnel
CN209608264U (en) A kind of temporary cable holder device of foldable turnover
CN211826562U (en) Bolt lacks bolt not hard up monitoring devices
CN111555177B (en) Tubular bus post insulator replacement tool
CN213897759U (en) Ceiling device connected with steel beam
KR20170130948A (en) Pole member for installing suspension scaffold and Method for mounting the same

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant