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

Abstract

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.

Description

A stable track structure for orbital robots

technical field

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.

Background technique

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.

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.

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.

SUMMARY OF THE INVENTION

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.

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.

beneficial effect

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.

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.

Description of drawings

Fig. 1 is a three-dimensional structural view of a stable track structure for a track robot according to the present invention.

FIG. 2 is a schematic structural diagram of a stable track structure for a track robot according to the present invention.

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.

in the attached drawing

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).

Detailed ways:

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;

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);

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);

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;

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;

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);

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);

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;

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;

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;

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;

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;

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;

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).

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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