CN111252083B - Mining track type inspection climbing robot - Google Patents
Mining track type inspection climbing robot Download PDFInfo
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- CN111252083B CN111252083B CN202010039117.6A CN202010039117A CN111252083B CN 111252083 B CN111252083 B CN 111252083B CN 202010039117 A CN202010039117 A CN 202010039117A CN 111252083 B CN111252083 B CN 111252083B
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- pressing wheel
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- limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B3/00—Elevated railway systems with suspended vehicles
- B61B3/02—Elevated railway systems with suspended vehicles with self-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C13/00—Locomotives or motor railcars characterised by their application to special systems or purposes
- B61C13/04—Locomotives or motor railcars characterised by their application to special systems or purposes for elevated railways with rigid rails
Abstract
The invention discloses a track type inspection climbing robot for a mine, which comprises a rack, a traveling wheel, a driving device, a pressing wheel and an adjusting device, wherein the traveling wheel is arranged on the rack and used for rolling along a track wing plate to drive the rack to travel along a track, the driving device is used for driving the traveling wheel to rotate, the pressing wheel is arranged on the rack and used for pressing the bottom of the track wing plate, the adjusting device is used for adjusting the pressing wheel, the pressing wheel is close to the track and pressed at the bottom of the track wing plate when the robot climbs or descends, and the pressing wheel is far away from the track when the robot travels horizontally to release the pressing force on the bottom of the track; when the robot climbs or descends, the friction force between the travelling wheels and the track can be increased through the pressing wheels, the driving force output of the robot is improved, and the climbing or descending performance of the inspection robot is improved; when the robot walks at the track horizontal segment, the pinch roller is kept away from the track, reduces the walking wheel and presses in the normal pressure of track pterygoid lamina, reduces frictional resistance and the energy consumption that the robot walked, helps increasing the robot continuation of the journey mileage.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a track type inspection climbing robot for a mine.
Background
The mining track type inspection robot is generally used for inspecting along a walking track in a hanging mode, and the walking track is generally H-shaped steel or I-shaped steel erected at the top of a roadway; the mine roadway fluctuates and often has an up-down slope, so that the walking track generally changes along with the fluctuation of the roadway, and the inspection climbing robot has multiple walking working conditions of horizontal walking, climbing and downhill on the walking track; because the environment in the mine is comparatively abominable, when dust, steam in the mine underground are gathered on the slope walking track, cause the walking track coefficient of friction to reduce easily, and then lead to patrolling and examining the robot and skid at the climbing or downhill path in-process, influence normally to patrol and examine, still can cause the swift current car accident when serious.
Therefore, a track type inspection climbing robot for mines is needed to adapt to the working conditions of climbing or descending, prevent skidding in the process of climbing and descending and improve the operation reliability of the robot.
Disclosure of Invention
In view of the above, the invention provides a track type inspection climbing robot for mine, which is provided with a pressing wheel and an adjusting device, wherein the pressing wheel is pressed on a body below a guide rail through the adjusting device during climbing and descending, so that the pressure of the walking wheel of the robot on the track is improved, the friction force between the walking wheel of the robot and the track is increased, and the sliding is avoided, so that the climbing and descending capacity of the robot is improved.
The invention discloses a track type inspection climbing robot for a mine, which comprises a rack, traveling wheels, a driving device, a pressing wheel and an adjusting device, wherein the traveling wheels are arranged on the rack and used for rolling along a track wing plate to drive the rack to travel along a track, the driving device is used for driving the traveling wheels to rotate, the pressing wheel is arranged on the rack and used for pressing the bottom of the track wing plate, the adjusting device is used for adjusting the pressing wheel, the pressing wheel is close to the track and pressed on the bottom of the track wing plate when the robot climbs or descends, and the pressing wheel is far away from the track when the robot travels horizontally to release the pressing force on the bottom of.
Further, the pinch roller sets up in the frame with the mode that can be close to or keep away from track pterygoid lamina bottom, still be provided with elastic component I in the frame, the elastic component has the elastic force of drive pinch roller to being close to track pterygoid lamina bottom motion, and adjusting device drive pinch roller is kept away from the track pterygoid lamina bottom and is spacing to the pinch roller formation when the robot is walked along track horizontal segment, and when the robot climbs the slope or the downhill path, adjusting device removes the spacing messenger pinch roller to being close to track pterygoid lamina bottom motion and compress tightly in track pterygoid lamina bottom.
Furthermore, the adjusting device comprises an adjusting part and a limiting device, the adjusting part is installed at the bottom of the track, the limiting device is installed on the rack, when the robot runs from the horizontal section to the inclined section, the adjusting part drives the limiting device to be away from the pressing wheel, so that the pressing wheel moves towards the side close to the bottom of the wing plate of the track and is pressed at the bottom of the wing plate of the track, when the robot runs from the inclined section to the horizontal section, the adjusting part drives the pressing wheel to be away from the bottom of the wing plate of the track and drives the limiting device to be close to the pressing wheel to.
Further, the adjusting piece is arranged at one end, close to the inclined section, of the horizontal section of the track and comprises a vertical protrusion and a horizontal protrusion, the vertical protrusion is arranged at the bottom of the track and protrudes downwards to drive the pressing wheel to be far away from the track, the horizontal protrusion protrudes out of the side of the track laterally, the limiting device comprises a limiting block, an elastic piece II and an unlocking rod, the elastic piece II has elastic force which enables the limiting block to move towards the side close to the pressing wheel, the unlocking rod is connected to the limiting block, the horizontal bulge is provided with inclined edges for guiding the unlocking rod to slide at two ends along the length direction of the track, the unlocking rod slides along the bevel edge in the walking process of the robot and drives the limiting block to be close to or far away from the pressing wheel so as to limit or unlock the pressing wheel, one bevel edge of the horizontal protrusion is positioned on one side of the vertical protrusion, which is close to the inclined section of the track, and the other bevel edge of the horizontal protrusion and the vertical protrusion are projected and superposed in the width direction of the track.
Further, the pinch roller is installed on the pinch roller support, the bottom of the pinch roller support is slidably sleeved in the support base, and the elastic piece I is connected between the pinch roller support and the support base.
Furthermore, the limiting device further comprises a limiting base installed on the rack, the limiting block is installed on the limiting base in a sliding mode close to or far away from the pressing wheel, and the elastic part II is connected between the limiting block and the limiting base.
Furthermore, a guide rod is connected to the limiting block, the guide rod is sleeved on the limiting base in a sliding mode, and the elastic part II is connected between the guide rod and the limiting base.
Further, the compressing wheel is provided with a limiting table matched with the limiting block, and when the limiting table is away from the bottom of the guide rail wing plate along with the compressing wheel, the limiting block is driven to be close to the compressing wheel and used for being abutted to the upper portion of the limiting table to limit the limiting table to move and reset to the bottom of the guide rail wing plate.
Furthermore, the guide rod and the limiting base are in single-degree-of-freedom sliding fit in the direction away from or close to the pressing wheel through the sliding block and sliding groove fit.
Furthermore, the single-degree-of-freedom sliding fit of the pinch roller support and the support base in the direction away from or close to the pressing rail wing plate is realized through the mode of matching the slide block and the slide groove between the pinch roller support and the support base.
The invention has the beneficial effects that:
when the robot climbs or descends the slope, the pressing wheels are pressed at the bottoms of the wing plates of the rails, a downward reaction force is formed on the chassis, and the acting force acts on the travelling wheels through the side plates and the driving device, so that the travelling wheels are pressed on the upper surfaces of the wing plates of the rails, the friction force between the travelling wheels and the rails is increased, the driving force output of the robot is improved, the climbing or descending performance of the inspection robot is improved, the potential safety hazard caused by the slipping of the travelling wheels in the climbing or descending process is improved, and the operation reliability of the robot is improved; when the robot walks at the track horizontal segment, the pinch roller is kept away from the track, reduces the walking wheel and presses in the normal pressure of track pterygoid lamina, reduces frictional resistance and the energy consumption that the robot walked, helps increasing the robot continuation of the journey mileage.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is a partial schematic view;
FIG. 4 is a schematic view of a horizontal projection and a vertical projection;
Detailed Description
FIG. 1 is a schematic structural view of the present invention; FIG. 2 is a schematic cross-sectional view of the present invention; FIG. 3 is a partial schematic view; FIG. 4 is a schematic view of a horizontal projection and a vertical projection;
the embodiment provides a mining track type inspection climbing robot, which is shown in the attached drawing and comprises a rack 1, traveling wheels 2, a driving device, a pressing wheel 3 and an adjusting device, wherein the traveling wheels 2 are installed on the rack and used for rolling along a track wing plate to drive the rack to travel along a track, the driving device drives the traveling wheels to rotate, the pressing wheel 3 is installed on the rack and used for pressing the bottom of the track wing plate, the adjusting device is used for adjusting the pressing wheel, the pressing wheel is close to the track and pressed at the bottom of the track wing plate when the robot climbs or descends, and the pressing wheel is far away from the track when the robot travels horizontally to release the pressing force on the bottom of the track.
Referring to fig. 1, the rail is an i-shaped structure, the rail is hoisted in a coal mine roadway, the robot is installed on the rail in a hanging manner, the rail is divided into three sections in this embodiment, the three sections include an inclined rail 16b located in the middle of a lower horizontal rail 16a located below the rail and an upper horizontal rail 16c located above the rail, and the principle of the robot when climbing a slope or descending a slope is explained by taking the three sections of rails as an example; in this embodiment, two sets of walking wheels are provided, the two sets of walking wheels are respectively located at two sides of the rail web plate and roll along the upper surface of the rail lower wing plate, and are matched with the walking wheels, two sets of compression wheels are also provided, the compression wheels are installed right below the walking wheels, the compression wheels are used for compressing the rail lower wing plate to improve the friction force of the walking wheels, and the number of the walking wheels and the number of the compression wheels can be adjusted according to the matching form of the walking wheels and the rail, which is not specifically described again; the walking wheels can walk along the upper surface of the upper wing plate of the track, and the pressing wheels can be pressed on the lower surface of the upper wing plate or the lower surface of the lower wing plate at the moment, which is not described in detail; the base frame comprises a chassis 1a and side plates 1b, wherein the chassis is located right below the bottom of the track, the two side plates are respectively located on two sides of the width of the track and are respectively connected with two sides of the chassis, the tops of the side plates are connected with a driving device, the driving device is a motor 15 in the embodiment, and the driving device can also be a diesel engine or other forms of power devices, which are not specifically described in detail; the output shaft of the driving device is in transmission fit with the walking wheels to drive the walking wheels to rotate, wherein a plurality of walking wheels can be arranged in each group, the driving device is matched with a transmission device consisting of a plurality of gears to synchronously drive the walking wheels, and anti-skid lines are arranged outside the driving wheels to improve the climbing capacity of the driving wheels; the chassis is used as an installation platform and is provided with a pinch roller and an adjusting device, and the chassis is also convenient for installing devices such as a sensor and the like required in inspection; when the robot climbs or descends, the pressing wheels are tightly pressed at the bottom of a rail wing plate to form a downward reaction force on the chassis, and the reaction force acts on the traveling wheels through the side plates and the driving device, so that the traveling wheels are tightly pressed on the upper surface of the rail wing plate, the friction force between the traveling wheels and the rail is increased, the driving force output of the robot is improved, the climbing or descending performance of the inspection robot is improved, the potential safety hazard caused by slipping of the traveling wheels in the climbing or descending process is improved, and the operation reliability of the robot is improved; when the robot walks at the track horizontal segment, the pinch roller is kept away from the track, reduces the walking wheel and presses in the normal pressure of track pterygoid lamina, reduces frictional resistance and the energy consumption that the robot walked, helps increasing the robot continuation of the journey mileage.
In this embodiment, the pinch roller sets up in the frame with the mode that can be close to or keep away from track pterygoid lamina bottom, still be provided with elastic component I4 in the frame, the elastic component has the elastic force of drive pinch roller to being close to track pterygoid lamina bottom motion, and adjusting device drive pinch roller is kept away from the track pterygoid lamina bottom and is spacing to the pinch roller formation when the robot walks along track horizontal segment, and when the robot climbed or downhill path, adjusting device removes the spacing to the pinch roller and makes the pinch roller move and compress tightly in track pterygoid lamina bottom to being close to track pterygoid lamina bottom. Referring to fig. 2 and 4, the elastic member i is a cylindrical coil spring, and may also be an elastic structure such as a disc spring or a wave spring, which is not described in detail herein; when the pressing wheel is not limited, the pressing wheel is pressed on the bottom of a rail wing plate in an upward sliding manner under the action of the elastic force of the elastic piece I, the state is suitable for the robot to walk along the inclined rail 16b, the friction force between the walking wheel and the rail is large at the moment, when the pressing wheel is far away from the rail and is limited, the state is suitable for the robot to walk along the horizontal rail, and the adjusting device can adopt a hydraulic structure or an electromagnet structure to drive the pressing wheel to run, which is not specifically described;
in this embodiment, adjusting device is including installing in the regulating part of track bottom and installing the stop device in the frame, when the robot ran from the horizontal segment to the slope section, regulating part drive stop device kept away from the pinch roller and made the pinch roller to be close to track pterygoid lamina bottom side motion and compress tightly in track pterygoid lamina bottom, when the robot ran from the slope section to the horizontal segment, regulating part drive pinch roller kept away from track pterygoid lamina bottom and drive stop device and be close to the pinch roller and form spacing prevention pinch roller and reset. The adjusting part has two functions, one of which is to drive the pinch roller to vertically move so as to be close to the rail wing plate or be far away from the bottom of the rail wing plate, and the other of which is to drive the limiting device to horizontally move close to or far away from the pinch roller so as to limit or unlock the pinch roller, wherein the limiting device can be a pin shaft and is matched with a positioning hole structure on the pinch roller bracket, and can also be a limiting block matched with a limiting step on the pinch roller bracket, which is not described in detail, wherein the adjusting part can drive the pinch roller and the limiting device through hydraulic drive or matched with a lead screw nut, and is not described in detail;
in the embodiment, the adjusting piece is arranged at one end of the horizontal section of the track, which is close to the inclined section, and comprises a vertical bulge 5 which is arranged at the bottom of the track and is downwards bulged for driving the pinch roller to be far away from the track and a horizontal bulge 6 which is laterally bulged at the side part of the track, the limiting device comprises a limiting block 7, an elastic piece II 8 and an unlocking rod 9, the elastic piece II has elastic force which enables the limiting block to move towards the side close to the pressing wheel, the unlocking rod is connected to the limiting block, the horizontal bulge is provided with inclined edges 6a guiding the unlocking rod to slide at two ends along the length direction of the track, the unlocking rod slides along the bevel edge in the walking process of the robot and drives the limiting block to be close to or far away from the pressing wheel so as to limit or unlock the pressing wheel, one bevel edge of the horizontal protrusion is positioned on one side of the vertical protrusion, which is close to the inclined section of the track, and the other bevel edge of the horizontal protrusion and the vertical protrusion are projected and superposed in the width direction of the track.
Referring to fig. 1, an adjusting member is mounted on the lower horizontal rail 16a and the upper horizontal rail 16c near the inclined rail 16b located in the middle, wherein the horizontal protrusion and the vertical protrusion are mounted at the bottom of the lower wing plate of the rail, referring to fig. 2 to 4, the elastic member ii is a cylindrical coil spring, and may also be an elastic structure such as a spring or a wave spring, which is not described in detail herein; the bevel edge is used for guiding the unlocking rod to slide onto the horizontal protrusion to drive the limiting block to be far away from or close to the pressing force in the width direction of the track, in the figure 4, the arrow direction is the direction moving towards the inclined track along the horizontal track, the vertical protrusion is of a flat plate structure and is attached to the lower part of the track wing plate to form a protrusion structure formed along the lower surface of the track wing plate, the two sides of the vertical protrusion in the track direction are provided with guide inclined planes for guiding the pressing wheel to roll onto the vertical protrusion, and when the pressing wheel rolls onto the vertical protrusion, the pressing wheel is far away from the lower wing plate of the track; the horizontal protrusions are also of a flat plate structure, two horizontal protrusions are arranged on two sides of the vertical protrusions at the bottom of the lower wing plate of the track, the horizontal protrusions extend along the width direction of the track to form protrusions on two sides of the track, the inclined edges of the horizontal protrusions enable acute angle structures to be formed at two ends of the horizontal protrusions along the length direction of the track, the acute angle structures are located on one sides, close to the track, of the horizontal protrusions in the width direction of the track, the limiting block is of a horseshoe-shaped structure, the unlocking rod is perpendicular to the middle portion connected to the limiting block, the pressing wheel support 10 faces the opening end of the limiting block, the pressing wheel support is of a cylindrical structure, and; referring to fig. 3 and 4, in the process of the robot running along the horizontal rail to the inclined rail, the pressing wheel is firstly pressed on the vertical protrusion 5, at the same time, the pressing wheel runs downwards to be far away from the rail against the elastic force of the elastic piece i, the robot continues to run forwards, at the same time, the unlocking rod 9 is in contact with one inclined edge of the horizontal protrusion, the unlocking rod and the limiting block are driven to move towards the direction far away from the pressing wheel, the robot continues to run, the pressing wheel runs onto the lower wing plate of the rail from the vertical protrusion, the pressing wheel is driven by the elastic force of the elastic piece i to move upwards to be close to the lower wing plate of the rail and tightly press the bottom of the wing plate, in the process of the pressing wheel moving towards the lower wing plate of the rail, the limiting block is still driven by the horizontal protrusion to be far away from the pressing wheel, the robot continues to run, the, the limiting block does not limit the pressing wheel at the moment, and the pressing wheel presses the bottom of the lower wing plate of the track to improve the climbing capability of the robot; when the robot runs from the inclined rail 16b to the horizontal rail 16c, at the moment, the running direction of the robot is opposite to the arrow head direction in fig. 4, the unlocking rod 9 is firstly contacted with one oblique edge of the horizontal protrusion and is driven to be far away from the pressing wheel, then the pressing wheel runs to the vertical protrusion and is driven to be far away from the lower wing plate of the rail, the robot continues to run, the unlocking rod is contacted with the other oblique edge of the horizontal protrusion and moves to be reset to the side close to the pressing wheel, the limiting block moves to the side close to the pressing wheel to limit the pressing wheel, the robot continues to run, the pressing wheel cannot overcome the elastic force to move to the lower wing plate side of the rail from the vertical protrusion due to the limiting of the limiting block, at the moment, the pressing wheel is overhead relative to the lower wing plate of the.
In this embodiment, the pinch roller is installed on the pinch roller support 10, the bottom of the pinch roller support is slidably sleeved in the support base 11, and the elastic member i 4 is connected between the pinch roller support and the support base. Combine shown in fig. 2 and 3, pinch roller support head is the horseshoe structure, the pinch roller is installed in the pinch roller middle part through pivot normal running fit, pinch roller support afterbody is for connecting in the body of rod 10a of its head, the support base is the axle sleeve structure, support base fixed connection is on chassis 1a, the body of rod part endotheca of pinch roller support is on the support base, elastic component I4 is arranged in support base inner chamber and provides the elastic force that makes it remove to track lower wing board side for the pinch roller support, the automatic lower wing board that compresses tightly of pinch roller of being convenient for of this structure resets, the mechanical properties of elastic component I is according to slope track slope and minimum coefficient of friction mu selection, its elasticity should satisfy the requirement of traveling of patrolling and examining the robot on the wet and slippery inclined track.
In this embodiment, stop device is still including installing spacing base 12 in the frame, the stopper is in order can be close to the pinch roller or keep away from the mode slidable mounting on spacing base of pinch roller, II 8 connections in the elastic component are between stopper and spacing base. Referring to fig. 2 and 3, the limiting base 12 is fixedly connected to the chassis, the bottom of the limiting base is an inverted T-shaped bracket 12a, the top of the T-shaped bracket is connected with a guide sleeve 12b, and the limiting block is partially sleeved in the guide sleeve and provides required elastic force for the limiting block through an elastic member ii.
In this embodiment, be connected with guide arm 13 on the stopper, the guide arm slidable endotheca is on spacing base, elastic component II 8 is connected between guide arm and spacing base. As shown in fig. 2, one end of the guide sleeve is open, the middle part of the limiting block is horizontally connected with a guide rod, the guide rod is sleeved in the guide sleeve, the guide rod is of a stepped shaft structure, the large-diameter section of the guide rod is connected to the limiting block, the closed end of the guide sleeve is provided with a guide hole matched with the small-diameter section of the guide rod, the small-diameter section of the guide rod penetrates out of the guide sleeve through the guide hole, and the elastic part ii is located in the guide sleeve and connected to the shaft shoulder of the guide rod and the bottom of the guide sleeve to provide;
in this embodiment, the pinch roller is last to have with spacing platform 14 of stopper complex, when spacing platform was kept away from the guide rail pterygoid lamina bottom along with the pinch roller, the stopper was driven to be close to the pinch roller and is used for supporting in spacing bench top with the spacing platform of restriction to being close to guide rail pterygoid lamina bottom and remove and reset. As shown in a combined graph 2 and a combined graph 3, the limiting table is a semicircular protruding structure protruding from the outer circle of the pressing wheel support rod body 10a, the limiting table is adaptive to the limiting block structure and provided with two straight edges matched with the two sides inside the horseshoe-shaped limiting block, when the pressing wheel moves downwards to be far away from the guide rail, the limiting block is driven to move towards the side close to the pressing wheel to enable the limiting block to move to the position above the limiting table, so that the limiting table is limited to reset upwards, and the pressing wheel is enabled to be far away from the lower wing plate of.
In this embodiment, the guide rod 13 and the limiting base are in single-degree-of-freedom sliding fit in the direction away from or close to the pinch roller by means of the matching of the sliding block and the sliding groove. The sliding block is not a block structure in a strict sense, and can also be other similar sliding block structures which are matched with the sliding groove to prevent the guide rod from rotating, in the embodiment, the sliding block adopts a screw I17, wherein the screw I is screwed on the excircle of the guide sleeve 12b, the head of the screw I is positioned in the inner cavity of the guide sleeve, the outer circle of the guide rod 13 is radially provided with the sliding groove, the head of the screw I is positioned in the sliding groove, the length of the sliding groove can be determined according to the sliding stroke of the limiting block, the guide rod can be prevented from rotating through the structural matching, and the operation precision; certainly, the inner cavities of the guide rod and the guide sleeve can also be arranged into a polygonal structure to prevent the guide from rotating relative to the limiting base, which is not described in detail;
in this embodiment, the single-degree-of-freedom sliding fit of the pinch roller support and the support base in the direction away from or close to the pressure rail wing plate is realized through the slide block and the chute fit between the pinch roller support and the support base. Similarly, in the embodiment, the sliding block corresponding to the pressing wheel support is a screw ii 18, wherein the screw ii is screwed on the outer circle of the support base 11, the head of the screw ii is located in the inner cavity of the support base, the outer circle of the rod body 10a is radially provided with a sliding groove, the head of the screw ii is located in the sliding groove, the length of the sliding groove can be determined according to the sliding stroke of the pressing wheel, the rotation of the rod body can be prevented through the structural cooperation, and the operation reliability of the pressing wheel is improved; of course, the rod body and the inner cavity of the bracket base can also be set to be polygonal structures to prevent the rod body from rotating relative to the bracket base, which is not described in detail;
finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. The utility model provides a climbing robot is patrolled and examined to mining rail mounted which characterized in that: the robot comprises a rack, traveling wheels, a driving device, a pressing wheel and an adjusting device, wherein the traveling wheels are arranged on the rack and used for rolling along a rail wing plate to drive the rack to walk along a rail, the driving device is used for driving the traveling wheels to rotate, the pressing wheel is arranged on the rack and used for pressing the bottom of the rail wing plate, the adjusting device is used for adjusting the pressing wheel, the pressing wheel is close to the rail and pressed at the bottom of the rail wing plate when the robot climbs or descends, and the pressing wheel is far away from the rail when the robot walks horizontally to release the pressing force on the bottom of;
the pressing wheel is arranged on the rack in a mode of being close to or far away from the bottom of the rail wing plate, an elastic part I is further arranged on the rack, the elastic part has elastic force for driving the pressing wheel to move towards the bottom of the rail wing plate, when the robot travels along the horizontal section of the rail, the adjusting device drives the pressing wheel to be far away from the bottom of the rail wing plate and limit the pressing wheel, and when the robot climbs a slope or goes down the slope, the adjusting device releases the limit on the pressing wheel so that the pressing wheel moves towards the bottom of the rail wing plate and is pressed at the bottom of the rail wing plate;
the adjusting device comprises an adjusting part and a limiting device, the adjusting part is installed at the bottom of the track, the limiting device is installed on the rack, when the robot runs from the horizontal section to the inclined section, the adjusting part drives the limiting device to keep away from the pressing wheel, so that the pressing wheel moves towards the side close to the bottom of the wing plate of the track and is pressed at the bottom of the wing plate of the track, when the robot runs from the inclined section to the horizontal section, the adjusting part drives the pressing wheel to keep away from the bottom of the wing plate of the track and drives the limiting device to be close to the pressing wheel.
2. The mining track-type inspection climbing robot according to claim 1, characterized in that: the regulating part is installed and is close to slope section one end in the track horizontal segment, the regulating part is including installing in track bottom and downward protruding vertical arch and the lateral protrusion in the horizontal arch of track lateral part that are used for driving the pinch roller to keep away from orbital, stop device includes stopper, elastic component II and unblock lever, elastic component II has the elastic force that makes the stopper move to being close to the pinch roller side, unblock lever connection is on the stopper, and horizontal arch has the gliding hypotenuse of guide unblock lever at along track length direction both ends, unblock lever is at the walking in-process of random robot along the hypotenuse slide and drive the stopper be close to or keep away from the pinch roller in order to form spacing or unblock to the pinch roller, a horizontal protruding hypotenuse is located vertical arch and is close to track slope section one side, and another hypotenuse coincides at track width direction projection.
3. The mining track-type inspection climbing robot according to claim 1, characterized in that: the pressing wheel is installed on the pressing wheel support, the bottom of the pressing wheel support is slidably sleeved in the support base, and the elastic piece I is connected between the pressing wheel support and the support base.
4. The mining track-type inspection climbing robot according to claim 2, characterized in that: the limiting device further comprises a limiting base installed on the rack, the limiting block is installed on the limiting base in a sliding mode close to the pressing wheel or far away from the pressing wheel, and the elastic piece II is connected between the limiting block and the limiting base.
5. The mining track-type inspection climbing robot according to claim 4, characterized in that: the limiting block is connected with a guide rod, the guide rod is sleeved on the limiting base in a sliding mode, and the elastic part II is connected between the guide rod and the limiting base.
6. The mining track-type inspection climbing robot according to claim 2, characterized in that: the pressing wheel is provided with a limiting table matched with the limiting block, and when the limiting table is far away from the bottom of the guide rail wing plate along with the pressing wheel, the limiting block is driven to be close to the pressing wheel and used for supporting the limiting table above the limiting table to move and reset to the bottom of the guide rail wing plate.
7. The mining track-type inspection climbing robot according to claim 5, characterized in that: the guide rod and the limiting base are in single-degree-of-freedom sliding fit in the direction away from or close to the pressing wheel through the sliding block and sliding groove fit.
8. The mining track-type inspection climbing robot according to claim 3, characterized in that: the single-degree-of-freedom sliding fit of the pinch roller support and the support base in the direction away from or close to the pressing rail wing plate is realized through the mode of matching the slide block and the slide groove between the pinch roller support and the support base.
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| CN202010039117.6A CN111252083B (en) | 2020-01-14 | 2020-01-14 | Mining track type inspection climbing robot |
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| CN202010039117.6A CN111252083B (en) | 2020-01-14 | 2020-01-14 | Mining track type inspection climbing robot |
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| CN111252083A CN111252083A (en) | 2020-06-09 |
| CN111252083B true CN111252083B (en) | 2021-04-16 |
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| CN114644021A (en) * | 2020-12-21 | 2022-06-21 | 广东博智林机器人有限公司 | Walking device of inspection robot and inspection robot |
| CN112606856A (en) * | 2020-12-28 | 2021-04-06 | 榆林神华能源有限责任公司 | Climbing device and system of inspection robot |
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