CN111716319A - A stable track structure for orbital robots - Google Patents

A stable track structure for orbital robots Download PDF

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CN111716319A
CN111716319A CN202010405025.5A CN202010405025A CN111716319A CN 111716319 A CN111716319 A CN 111716319A CN 202010405025 A CN202010405025 A CN 202010405025A CN 111716319 A CN111716319 A CN 111716319A
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track
dust
transmission
straight circular
cavity
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CN111716319B (en
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吴兆立
朱元彩
翟靖轩
宋志军
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Jiangsu Jianzhu Institute
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    • 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
    • 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
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0058Means for cleaning manipulators, e.g. dust removing means

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Abstract

本发明一种轨道机器人用稳定轨道结构公开了一种通过整体链条进行传动,能够避免因滑轮现象产生的精度误差,且能够通过外防尘刷和内防尘刷对轨道传动内部进行防尘的轨道机器人用稳定轨道结构,其特征在于所述直圆形轨道顶部等距离固定置有多个悬吊柱,所述直圆形轨道为中空结构,所述直圆形轨道内置有隔板,所述隔板将直圆形轨道内部分为传动腔和行走腔两个部分,所述传动腔位于行走腔上方,所述直圆形轨道底面开有行走槽,所述行走槽相对的两个槽壁上均置有外防尘刷,所述连接架位于行走腔内,所述连接架上置有滚动轴,两个所述支撑滚轮分别通过支撑轴承套置于滚动轴上。

Figure 202010405025

The invention discloses a stable track structure for an orbital robot, which discloses a transmission through an integral chain, which can avoid the precision error caused by the pulley phenomenon, and can dust-proof the inside of the orbital transmission through the outer dust-proof brush and the inner dust-proof brush. The stable track structure for orbital robots is characterized in that a plurality of suspension columns are fixed at the top of the straight circular track at equal distances, the straight circular track is a hollow structure, and the straight circular track has built-in partitions, so The baffle divides the interior of the straight circular track into two parts, a transmission cavity and a walking cavity, the transmission cavity is located above the walking cavity, the bottom surface of the straight circular track is provided with a walking groove, and the two opposite grooves of the walking groove External dust-proof brushes are arranged on the walls, the connecting frame is located in the walking cavity, a rolling shaft is arranged on the connecting frame, and the two supporting rollers are respectively sleeved on the rolling shaft through a supporting bearing.

Figure 202010405025

Description

一种轨道机器人用稳定轨道结构A stable track structure for orbital robots

技术领域technical field

本发明一种轨道机器人用稳定轨道结构涉及一种轨道机器人用的稳定轨道结构,属于煤矿设备领域。特别涉及一种通过整体链条进行传动,能够避免因滑轮现象产生的精度误差,且能够通过外防尘刷和内防尘刷对轨道传动内部进行防尘的轨道机器人用稳定轨道结构。The invention relates to a stable track structure for a track robot, which belongs to the field of coal mine equipment. In particular, it relates to a stable track structure for a track robot that can be driven by an integral chain, can avoid the precision error caused by the pulley phenomenon, and can dust-proof the inside of the track transmission by the outer dust-proof brush and the inner dust-proof brush.

背景技术Background technique

目前轨道式行走激光盘煤仪在进行使用时,由于煤场内粉尘严重,煤尘会沉积在轨道内,使得通过行走轮机构进行移动的激光盘煤机在行进时容易产生滑轮现象,影响载有激光盘煤仪的小车的稳定性,从而造成行程计算上产生误差,对煤场煤堆的测量精度造成极大影响,而现有采用在轨道设置行程校准标识码的方式进行行程校对,只是对行程上的误差进行了校正,而没有解决轨道沉积粉尘造成的行进不稳的问题,因而盘煤仪的扫描检测精度依然受到一定干扰与影响。At present, when the orbital traveling laser coal machine is in use, due to the serious dust in the coal yard, the coal dust will be deposited in the track, so that the laser coal machine that moves through the traveling wheel mechanism is prone to pulley phenomenon when traveling, which affects the load. The stability of the trolley with the laser disk coal meter causes errors in the calculation of the stroke, which has a great impact on the measurement accuracy of the coal pile in the coal yard. The existing method of setting the stroke calibration code on the track to calibrate the stroke is only The error on the stroke is corrected, but the problem of unstable travel caused by the dust deposited on the track is not solved. Therefore, the scanning detection accuracy of the coal-panning instrument is still interfered and affected to a certain extent.

公告号CN209868587U公开了一种轨道机器人定位系统及轨道机器人,包括:编码器、定位码条以及光电传感器,所述定位码条设置于所述轨道机器人的轨道上,所述编码器以及所述光电传感器设置于所述轨道机器人的机器人上,所述定位码条包括在所述轨道的延伸方向上排列设置的多个信标,所述光电传感器的出光方向与所述定位码条表面所在平面垂直;该装置轨道上容易沉积煤场粉尘,从而对载有激光盘煤仪的行进车稳定性造成影响,干扰扫描精度。Announcement No. CN209868587U discloses an orbital robot positioning system and orbital robot, comprising: an encoder, a positioning code bar and a photoelectric sensor, the positioning code bar is arranged on the track of the orbital robot, the encoder and the photoelectric sensor The sensor is arranged on the robot of the track robot, the positioning code bar includes a plurality of beacons arranged in the extending direction of the track, and the light emitting direction of the photoelectric sensor is perpendicular to the plane where the surface of the positioning code bar is located ; Coal yard dust is easily deposited on the track of the device, which affects the stability of the traveling vehicle carrying the laser disk coal meter and interferes with the scanning accuracy.

公告号CN210013065U公开了一种激光盘煤仪轨道,激光盘煤仪轨道包括设置在煤堆上方并呈蜿蜒延伸状的第一轨道以及至少部分位于所述第一轨道内并能沿所述第一轨道移动的移动机构,所述盘煤仪用于安装在所述移动机构上以随所述移动机构移动,该轨道内部容易进入粉尘,对行进机构的稳定行进造成影响。Announcement No. CN210013065U discloses a laser disk coal meter track. The laser disk coal meter track includes a first track arranged above the coal pile and extending in a meandering shape, and a first track at least partially located in the first track and capable of extending along the first track. A moving mechanism for orbital movement, and the coal coiling instrument is used to be installed on the moving mechanism to move with the moving mechanism. Dust is easily entered into the inside of the orbit, which affects the stable traveling of the traveling mechanism.

发明内容SUMMARY OF THE INVENTION

为了改善上述情况,本发明一种轨道机器人用稳定轨道结构提供了一种通过整体链条进行传动,能够避免因滑轮现象产生的精度误差,且能够通过外防尘刷和内防尘刷对轨道传动内部进行防尘的轨道机器人用稳定轨道结构。In order to improve the above situation, a stable track structure for a track robot of the present invention provides a drive through an integral chain, which can avoid the precision error caused by the pulley phenomenon, and can drive the track through the outer dust-proof brush and the inner dust-proof brush. A stable rail structure for orbital robots with dust-proof interior.

本发明一种轨道机器人用稳定轨道结构是这样实现的:本发明一种轨道机器人用稳定轨道结构由悬吊柱、直圆形轨道、传动链条、防磨垫、传动腔、支撑滚轮、行走腔、外防尘刷、连接架、内防尘刷、链轮和驱动电机组成,所述直圆形轨道顶部等距离固定置有多个悬吊柱,所述直圆形轨道为中空结构,所述直圆形轨道内置有隔板,所述隔板将直圆形轨道内部分为传动腔和行走腔两个部分,所述传动腔位于行走腔上方,所述直圆形轨道底面开有行走槽,所述行走槽相对的两个槽壁上均置有外防尘刷,所述连接架位于行走腔内,所述连接架上置有滚动轴,两个所述支撑滚轮分别通过支撑轴承套置于滚动轴上,所述滚动轴两端分别置有限位凸块,所述行走腔底面开有两个导向槽,两个所述滚动轮分别置于两个导向槽内,所述隔板上开有传动槽,所述传动槽相对的两个槽壁上均置有清扫毛刷,所述连接架顶部贯穿传动槽,并向上延伸一段距离,所述传动腔内壁上等距离固定置有多个驱动电机,所述驱动电机的电机轴上套置有链轮,多个链轮通过传动链条相连接,所述传动链条和链轮相啮合,所述连接架和传动链条底部相连接,所述传动链条底部和传动腔底部之间置有防磨垫,所述直圆形轨道外侧面上铰接置有两个相对的挡板,所述防磨垫上开有滑槽,所述滑槽内置有多个滚珠,所述内防尘刷和外防尘刷上均置有多个插片,所述直圆形轨道上对应插片位置开有插槽。The stable track structure for a track robot of the present invention is realized as follows: the stable track structure for a track robot of the present invention consists of a suspension column, a straight circular track, a transmission chain, a wear-resistant pad, a transmission cavity, a support roller, and a walking cavity. , an outer dust-proof brush, a connecting frame, an inner dust-proof brush, a sprocket and a drive motor, a plurality of suspension columns are fixed at the top of the straight circular track at an equal distance, and the straight circular track is a hollow structure, so The straight circular track has a built-in partition, and the partition divides the interior of the straight circular track into a transmission cavity and a walking cavity. The two opposite groove walls of the walking groove are provided with external dust-proof brushes, the connecting frame is located in the walking cavity, the connecting frame is provided with a rolling shaft, and the two supporting rollers pass through the supporting bearings respectively. Sleeve on the rolling shaft, the two ends of the rolling shaft are respectively provided with limiting bumps, the bottom surface of the walking cavity is provided with two guide grooves, the two rolling wheels are respectively placed in the two guide grooves, the spacers There is a transmission groove on the plate, and cleaning brushes are arranged on the two opposite groove walls of the transmission groove. The top of the connecting frame penetrates the transmission groove and extends upward for a distance. The inner wall of the transmission cavity is fixed at an equal distance. There are multiple drive motors, the motor shaft of the drive motor is sleeved with a sprocket, the multiple sprockets are connected by a transmission chain, the transmission chain and the sprocket are engaged, and the connecting frame is connected with the bottom of the transmission chain , between the bottom of the transmission chain and the bottom of the transmission cavity, a wear-resistant pad is arranged, two opposite baffles are hinged on the outer surface of the straight circular track, and a chute is opened on the wear-resistant pad, and the sliding A plurality of balls are built in the groove, a plurality of inserts are arranged on the inner dust-proof brush and the outer dust-proof brush, and slots are provided on the straight circular track corresponding to the positions of the inserts.

有益效果beneficial effect

一、通过整体链条进行传动,能够避免因单纯依靠行走滚轮出现的滑轮现象而产生的精度误差。1. The transmission through the whole chain can avoid the precision error caused by the pulley phenomenon caused by simply relying on the walking roller.

二、通过外防尘刷与内防尘刷对轨道传动内部进行防尘,在避免粉尘进入的同时不干扰行进机构的正常运行。2. Dust-proof the inside of the track drive through the outer dust-proof brush and the inner dust-proof brush, which does not interfere with the normal operation of the traveling mechanism while avoiding the entry of dust.

附图说明Description of drawings

图1本发明一种轨道机器人用稳定轨道结构的立体结构图。Fig. 1 is a three-dimensional structural view of a stable track structure for a track robot according to the present invention.

图2本发明一种轨道机器人用稳定轨道结构的结构示意图。FIG. 2 is a schematic structural diagram of a stable track structure for a track robot according to the present invention.

图3本发明一种轨道机器人用稳定轨道结构直圆形轨道内部传动腔处的结构示意图。FIG. 3 is a schematic structural diagram of the inner drive cavity of a straight circular track of a stable track structure for a track robot according to the present invention.

附图中in the attached drawing

其中为:悬吊柱(1),直圆形轨道(2),激光盘煤仪(3),传动链条(4),防磨垫(5),传动腔(6),支撑滚轮(7),行走腔(8),外防尘刷(9),连接架(10),内防尘刷(11),链轮(12),驱动电机(13)。Among them: suspension column (1), straight circular track (2), laser disc coal meter (3), transmission chain (4), anti-wear pad (5), transmission cavity (6), support roller (7) , Walking cavity (8), outer dust-proof brush (9), connecting frame (10), inner dust-proof brush (11), sprocket (12), drive motor (13).

具体实施方式:Detailed ways:

本发明一种轨道机器人用稳定轨道结构是这样实现的:本发明一种轨道机器人用稳定轨道结构由悬吊柱(1)、直圆形轨道(2)、传动链条(4)、防磨垫(5)、传动腔(6)、支撑滚轮(7)、行走腔(8)、外防尘刷(9)、连接架(10)、内防尘刷(11)、链轮(12)和驱动电机(13)组成,所述直圆形轨道(2)顶部等距离固定置有多个悬吊柱(1),所述直圆形轨道(2)为中空结构,所述直圆形轨道(2)内置有隔板,所述隔板将直圆形轨道(2)内部分为传动腔(6)和行走腔(8)两个部分,所述传动腔(6)位于行走腔(8)上方,所述直圆形轨道(2)底面开有行走槽,所述行走槽相对的两个槽壁上均置有外防尘刷(9),所述连接架(10)位于行走腔(8)内,所述连接架(10)上置有滚动轴,两个所述支撑滚轮(7)分别通过支撑轴承套置于滚动轴上,所述滚动轴两端分别置有限位凸块,所述行走腔(8)底面开有两个导向槽,两个所述滚动轮分别置于两个导向槽内,所述隔板上开有传动槽,所述传动槽相对的两个槽壁上均置有清扫毛刷,所述连接架(10)顶部贯穿传动槽,并向上延伸一段距离,所述传动腔(6)内壁上等距离固定置有多个驱动电机(13),所述驱动电机(13)的电机轴上套置有链轮(12),多个链轮(12)通过传动链条(4)相连接,所述传动链条(4)和链轮(12)相啮合,所述连接架(10)和传动链条(4)底部相连接,所述传动链条(4)底部和传动腔(6)底部之间置有防磨垫(5),所述直圆形轨道(2)外侧面上铰接置有两个相对的挡板,所述防磨垫(5)上开有滑槽,所述滑槽内置有多个滚珠,所述内防尘刷(11)和外防尘刷(9)上均置有多个插片,所述直圆形轨道(2)上对应插片位置开有插槽;A stable track structure for an orbital robot of the present invention is realized as follows: a stable track structure for an orbital robot of the present invention consists of a suspension column (1), a straight circular track (2), a transmission chain (4), a wear-resistant pad (5), transmission cavity (6), support roller (7), walking cavity (8), outer dust-proof brush (9), connecting frame (10), inner dust-proof brush (11), sprocket (12) and A drive motor (13) is formed, a plurality of suspension columns (1) are fixed at the top of the straight circular rail (2) at equal distances, the straight circular rail (2) is a hollow structure, and the straight circular rail (2) is a hollow structure. (2) There is a built-in partition, which divides the interior of the straight circular track (2) into two parts, a transmission cavity (6) and a walking cavity (8), and the transmission cavity (6) is located in the walking cavity (8). ), the bottom surface of the straight circular track (2) is provided with a walking groove, the two opposite groove walls of the walking groove are provided with external dust-proof brushes (9), and the connecting frame (10) is located in the walking cavity In (8), the connecting frame (10) is provided with a rolling shaft, the two supporting rollers (7) are respectively placed on the rolling shaft through the supporting bearing sleeve, and the two ends of the rolling shaft are respectively provided with limiting bumps , the bottom surface of the walking cavity (8) is provided with two guide grooves, the two rolling wheels are respectively placed in the two guide grooves, the partition plate is provided with a transmission groove, and the two opposite grooves of the transmission groove Cleaning brushes are arranged on the walls, the top of the connecting frame (10) penetrates the transmission groove and extends upward for a distance, and a plurality of driving motors (13) are fixedly fixed on the inner wall of the transmission cavity (6) at equal distances, so A sprocket (12) is sleeved on the motor shaft of the drive motor (13), a plurality of sprockets (12) are connected by a transmission chain (4), and the transmission chain (4) is meshed with the sprocket (12). , the connecting frame (10) is connected with the bottom of the transmission chain (4), a wear-resistant pad (5) is placed between the bottom of the transmission chain (4) and the bottom of the transmission cavity (6), and the straight circular track (2) Two opposing baffles are hingedly arranged on the outer side, the anti-wear pad (5) is provided with a chute, the chute has a plurality of built-in balls, and the inner dust-proof brush (11) and The outer dust-proof brush (9) is provided with a plurality of inserts, and the straight circular track (2) is provided with slots corresponding to the inserts;

使用时,首先将激光盘煤仪(3)穿过行走槽固定在连接架(10)底部,通过悬吊柱(1)将直圆形轨道(2)悬吊在煤堆上方,启动电机,电机上的电机轴带动链轮(12)转动,由于链轮(12)与传动链条(4)相啮合,链轮(12)带动传动链条(4)传动,传动链条(4)带动连接架(10)移动,连接架(10)带动激光盘煤仪(3)沿行走槽移动,实现对煤堆高度、体积的精确测量,连接架(10)移动过程中支撑滚轮(7)滚动式移动,对连接架(10)进行支撑;When in use, firstly fix the laser disc coal meter (3) on the bottom of the connecting frame (10) through the walking groove, suspend the straight circular track (2) above the coal pile through the suspension column (1), start the motor, The motor shaft on the motor drives the sprocket (12) to rotate. Since the sprocket (12) is engaged with the transmission chain (4), the sprocket (12) drives the transmission chain (4) to drive, and the transmission chain (4) drives the connecting frame ( 10) When moving, the connecting frame (10) drives the laser disc coal meter (3) to move along the walking groove to realize accurate measurement of the height and volume of the coal pile. During the moving process of the connecting frame (10), the supporting roller (7) moves in a rolling manner, supporting the connecting frame (10);

传动槽上内防尘刷(11)上的刷毛能够将传动槽完全覆盖,避免灰尘进入到传动腔(6)内,连接架(10)在传动槽内移动过程中,内防尘刷(11)能够对连接架(10)进行清尘,行走槽上的外防尘刷(9)上的刷毛能够将行走槽完全覆盖,避免灰尘进入到行走槽内,同时,外防尘刷(9)能够清除所接触的激光盘煤仪(3)上的灰尘,避免灰尘从激光盘煤仪(3)与连接架(10)的连接处进入装置中,避免影响装置的正常使用,保证激光盘煤仪(3)的精确测量;The bristles on the inner dust-proof brush (11) on the transmission groove can completely cover the transmission groove to prevent dust from entering the transmission cavity (6). During the movement of the connecting frame (10) in the transmission groove, the inner dust-proof brush (11) ) can clean the connecting frame (10), and the bristles on the outer dust-proof brush (9) on the running groove can completely cover the running groove to prevent dust from entering the running groove. At the same time, the outer dust-proof brush (9) It can remove the dust on the contacted laser disk coal meter (3), prevent dust from entering the device from the connection between the laser disk coal meter (3) and the connecting frame (10), avoid affecting the normal use of the device, and ensure the laser disk coal Accurate measurement of instrument (3);

激光盘煤仪(3)移动过程中,通过整个链条传动带动其移动,能够避免因单纯依靠行走滚轮移动出现的滑轮现象,进而能够避免测量时因此产生的精度误差;During the movement of the laser disc coal meter (3), it is driven by the entire chain drive, which can avoid the pulley phenomenon caused by simply relying on the walking roller to move, and thus avoid the resulting accuracy error during measurement;

所述传动链条(4)底部和传动腔(6)底部之间置有防磨垫(5)的设计,能够避免链条传动过程中对传动腔(6)底部的磨损;The design of the anti-wear pad (5) placed between the bottom of the transmission chain (4) and the bottom of the transmission cavity (6) can avoid the wear of the bottom of the transmission cavity (6) during the chain transmission process;

所述直圆形轨道(2)外侧面上铰接置有两个相对的挡板的设计,在不使用时,能够将挡板转动至直圆形轨道(2)两侧,避免两侧的灰尘进入到直圆形轨道(2)内;The design of two opposite baffles hinged on the outer surface of the straight circular track (2), when not in use, the baffles can be rotated to both sides of the straight circular track (2) to avoid dust on both sides Enter into the straight circular track (2);

所述滚动轴一端置有限位凸块的设计,能够对滚动轴上的支撑滚轮(7)进行限位,保证支撑滚轮(7)的正常使用;The design of the limiting bump at one end of the rolling shaft can limit the position of the supporting roller (7) on the rolling shaft, so as to ensure the normal use of the supporting roller (7);

所述防磨垫(5)上开有滑槽,所述滑槽内置有多个滚珠的设计,能够减小从动链条与防磨垫(5)之间的摩擦,避免影响从动链条的传动;The anti-wear pad (5) is provided with a chute, and the chute is designed with a plurality of built-in balls, which can reduce the friction between the driven chain and the anti-wear pad (5) and avoid affecting the movement of the driven chain. transmission;

所述行走腔(8)底面开有两个导向槽,两个所述滚动轮分别置于两个导向槽内的设计,能够限定支撑滚轮(7)的滚动范围,避免滚轮滚动时出现偏移,避免影响装置的正常使用;The bottom surface of the walking cavity (8) is provided with two guide grooves, and the design that the two rolling wheels are respectively placed in the two guide grooves can limit the rolling range of the supporting rollers (7) and avoid the offset when the rollers roll. , to avoid affecting the normal use of the device;

所述内防尘刷(11)和外防尘刷(9)上均置有多个插片,所述直圆形轨道(2)上对应插片位置开有插槽的设计,使得内外防尘刷(9)能够拆卸,便于防尘刷的更换,避免因毛刷过度磨损影响装置的使用效果;The inner dust-proof brush (11) and the outer dust-proof brush (9) are both provided with a plurality of inserts, and the straight circular track (2) is designed with a slot corresponding to the position of the inserts, so that the inner and outer The dust brush (9) can be disassembled, which is convenient for the replacement of the dust brush, and avoids the effect of the device being affected by excessive wear of the brush;

多个所述链轮(12)配合从动链条和连接架(10),能够使从动链条整体传动,进而带动激光盘煤仪(3)移动,传动稳定性更好;The plurality of sprockets (12) cooperate with the driven chain and the connecting frame (10), so that the driven chain can be driven as a whole, thereby driving the laser disc coal meter (3) to move, and the transmission stability is better;

所述连接架(10)、内防尘刷(11)、外防尘刷(9)的配合设计,对外部的灰尘形成双层抵挡结构,能够防止灰尘进入直圆形轨道(2)内部的同时,对传动槽和行走槽附着的灰尘进行清理,确保装置的正常使用;The matching design of the connecting frame (10), the inner dust-proof brush (11), and the outer dust-proof brush (9) forms a double-layer resistance structure for the external dust, which can prevent the dust from entering the inside of the straight circular track (2). At the same time, clean the dust attached to the transmission groove and the walking groove to ensure the normal use of the device;

驱动电机(13)工作,传动链条(4)旋转移动带动连接架(10)移动,以此实现带动激光盘煤仪(3)移动的设计,通过整个传动链条(4)移动带动其移动,能够避免因单纯依靠行走滚轮移动出现的滑轮现象,进而能够避免测量时因此产生的精度误差;The drive motor (13) works, and the transmission chain (4) rotates and moves to drive the connecting frame (10) to move, so as to realize the design of driving the laser disc coal meter (3) to move. Avoid the pulley phenomenon caused by simply relying on the walking roller to move, thereby avoiding the resulting accuracy error during measurement;

达到通过整体链条进行传动,能够避免因滑轮现象产生的精度误差,且能够通过外防尘刷(9)和内防尘刷(11)对轨道传动内部进行防尘的目的。The transmission through the integral chain can avoid the precision error caused by the pulley phenomenon, and the purpose of dustproofing the inside of the track transmission through the outer dustproof brush (9) and the inner dustproof brush (11).

上述实施例为本发明的较佳实施例,并非用以限定本发明实施的范围。任何本领域的普通技术人员,在不脱离本发明的发明范围内,当可作些许的改进,即凡是依照本发明所做的同等改进,应为本发明的范围所涵盖。The above-mentioned embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention. Any person of ordinary skill in the art can make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made according to the present invention should be covered by the scope of the present invention.

Claims (10)

1. The utility model provides a track robot is with stabilizing track structure which characterized by: the anti-dust and anti-dust device is composed of suspension columns, a straight circular track, a transmission chain, an anti-wear pad, a transmission cavity, supporting rollers, a walking cavity, an outer anti-dust brush, a connecting frame, an inner anti-dust brush, a chain wheel and a driving motor, wherein a plurality of suspension columns are fixedly arranged at the top of the straight circular track at equal intervals, the straight circular track is of a hollow structure, a partition plate is arranged in the straight circular track and divides the interior of the straight circular track into the transmission cavity and the walking cavity, the transmission cavity is positioned above the walking cavity, the bottom surface of the straight circular track is provided with a walking groove, the two groove walls opposite to the walking groove are provided with the outer anti-dust brush, the connecting frame is positioned in the walking cavity, a rolling shaft is arranged on the connecting frame, the two supporting rollers are respectively arranged on the rolling shaft through supporting bearings, the two ends of the rolling shaft are respectively provided with a limiting lug, the two rolling wheels are respectively arranged in the two guide grooves, the partition plate is provided with a transmission groove, the two groove walls opposite to the transmission groove are respectively provided with a cleaning brush, the top of the connecting frame penetrates through the transmission groove and extends upwards for a certain distance, the inner wall of the transmission cavity is fixedly provided with a plurality of driving motors at equal intervals, a motor shaft of each driving motor is sleeved with a chain wheel, the chain wheels are connected through a transmission chain, the transmission chain is meshed with the chain wheel, and the connecting frame is connected with the bottom of the transmission chain.
2. The stable rail structure for the rail robot as claimed in claim 1, wherein during use, the laser coal instrument is driven to move by the whole chain transmission in the moving process, so that the pulley phenomenon caused by the movement of the laser coal instrument only by the walking rollers can be avoided, and further the precision error caused by the movement can be avoided.
3. The stable track structure for the track robot as claimed in claim 1, wherein the plurality of sprockets are coupled with the driven chain and the connecting frame, so that the driven chain is integrally driven to drive the laser coal panel to move.
4. The stable rail structure for the rail robot as claimed in claim 1, wherein the coupling frame, the inner dust brush and the outer dust brush are cooperatively designed to form a double-layered structure for resisting external dust, so that the dust can be prevented from entering the inside of the straight circular rail and the dust attached to the transmission groove and the traveling groove can be cleaned.
5. The stable rail structure for the rail robot as claimed in claim 1, wherein the driving motor is operated to rotate the transmission chain to move the connecting frame, so as to drive the laser coal instrument to move.
6. The stable track structure for the track robot as claimed in claim 1, wherein two opposite baffles are hinged to the outer side of the straight circular track, and when the stable track structure is not in use, the baffles can be rotated to two sides of the straight circular track to prevent dust on two sides from entering the straight circular track.
7. The stable rail structure for a rail robot as claimed in claim 1, wherein an anti-wear pad is disposed between the bottom of the driving chain and the bottom of the driving cavity.
8. The stabilizing track structure for a rail robot as claimed in claim 7, wherein the wear pad has a sliding slot.
9. The stabilized rail structure for a rail robot as claimed in claim 8, wherein a plurality of balls are built in the slide groove.
10. The stable track structure for the track robot as claimed in claim 1, wherein the inner and outer dust brushes are respectively provided with a plurality of insertion pieces, and the straight circular track is provided with insertion slots corresponding to the insertion pieces.
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