CN111716319A - Stable track structure for track robot - Google Patents

Stable track structure for track robot Download PDF

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Publication number
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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China
Prior art keywords
track
transmission
straight circular
dust
chain
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CN202010405025.5A
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Chinese (zh)
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CN111716319B (en
Inventor
吴兆立
朱元彩
翟靖轩
宋志军
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Jiangsu Jianzhu Institute
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Jiangsu Jianzhu Institute
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Priority to CN202010405025.5A priority Critical patent/CN111716319B/en
Publication of CN111716319A publication Critical patent/CN111716319A/en
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Publication of CN111716319B publication Critical patent/CN111716319B/en
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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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a stable track structure for a track robot, which is driven by an integral chain, can avoid precision errors caused by a pulley phenomenon, and can prevent dust in the track transmission through the outer dust-proof brush and the inner dust-proof brush, it is characterized in that a plurality of suspension posts are fixed on the top of the straight circular track at equal intervals, the straight circular track is of a hollow structure, the straight circular track is internally provided with a clapboard which divides the interior of the straight circular track into a transmission cavity and a 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, two opposite groove walls of the walking groove are respectively provided with an outer dustproof brush, 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 supporting bearings.

Description

Stable track structure for track robot
Technical Field
The invention discloses a stable rail structure for a rail robot, relates to a stable rail structure for a rail robot, and belongs to the field of coal mine equipment. In particular to a stable track structure for a track robot, which can avoid the precision error caused by the pulley phenomenon by the transmission of an integral chain and can prevent dust in the track transmission through an outer dust-proof brush and an inner dust-proof brush.
Background
Present rail mounted walking laser dish coal appearance is when using, because the dust is serious in the coal yard, the coal dust can deposit in the track, make the laser dish coal machine that removes through the running wheel mechanism produce the pulley phenomenon easily when marcing, the influence is carried the stability of the dolly of laser dish coal appearance, thereby cause the stroke to calculate and produce the error, cause very big influence to the measurement accuracy of coal yard coal pile, and current adoption carries out the stroke proofreading at the mode that the track set up the stroke calibration identification code, only rectify the error on the stroke, and do not solve the unstable problem of marcing that the deposited dust of track caused, therefore the scanning detection precision of dish coal appearance still receives certain interference and influence.
Notice number CN209868587U discloses a positioning system for track robot and track robot, including: the positioning code bar is arranged on a track of the track robot, the encoder and the photoelectric sensor are arranged on the track robot, the positioning code bar comprises a plurality of beacons which are 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; the device deposits coal yard dust easily on the track to the stability of the advancing vehicle that carries the laser panel coal appearance causes the influence, disturbs the scanning precision.
Publication number CN210013065U discloses a laser coal tray instrument track, which comprises a first track disposed above a coal pile and extending in a winding manner, and a moving mechanism at least partially located in the first track and capable of moving along the first track, wherein the coal tray instrument is mounted on the moving mechanism to move along with the moving mechanism, and dust easily enters the track, which affects the stable movement of the moving mechanism.
Disclosure of Invention
In order to improve the situation, the stable track structure for the track robot, provided by the invention, is used for transmission through an integral chain, can avoid precision errors caused by a pulley phenomenon, and can prevent dust in the track transmission through the outer dust-proof brush and the inner dust-proof brush.
The stable track structure for the track robot is realized by the following steps: the invention relates to a stable track structure for a track robot, which consists of suspension columns, a straight circular track, a transmission chain, an anti-abrasion pad, a transmission cavity, support rollers, a walking cavity, an outer dustproof brush, a connecting frame, an inner dustproof brush, a chain wheel and a driving motor, wherein the top of the straight circular track is fixedly provided with a plurality of suspension columns at equal intervals, the straight circular track is of a hollow structure, the straight circular track is internally provided with a partition plate which 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 opposite groove walls of the walking groove are respectively provided with the outer dustproof brush, the connecting frame is positioned in the walking cavity, the connecting frame is provided with a rolling shaft, the two support rollers are respectively sleeved on the rolling shaft through support bearings, and two ends of the rolling shaft are respectively provided with a limit lug, the bottom surface of the walking cavity is provided with two guide grooves, the two rolling wheels are respectively arranged in the two guide grooves, the partition plate is provided with a transmission groove, the two opposite groove walls of 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 distances, 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, the connecting frame is connected with the bottom of the transmission chain, an anti-abrasion pad is arranged between the bottom of the transmission chain and the bottom of the transmission cavity, the outer side surface of the straight circular track is hinged with two opposite baffle plates, the anti-abrasion pad is provided with a sliding groove, a plurality of balls are arranged in the sliding groove, and a plurality of inserting pieces are arranged on, and a slot is formed in the position, corresponding to the inserting sheet, of the straight circular track.
Advantageous effects
Firstly, the transmission is carried out through the whole chain, and the precision error caused by the pulley phenomenon which is only caused by the walking roller can be avoided.
And secondly, the interior of the track transmission is prevented from dust through the outer dust-proof brush and the inner dust-proof brush, so that the normal operation of the travelling mechanism is not interfered while the dust is prevented from entering.
Drawings
Fig. 1 is a perspective view showing a stable rail structure for a rail robot according to the present invention.
Fig. 2 is a schematic structural view of a stable rail structure for a rail robot according to the present invention.
FIG. 3 is a schematic structural diagram of a transmission cavity inside a straight circular rail with a stable rail structure for a rail robot.
In the attached drawings
Wherein the method comprises the following steps: the device comprises a suspension column (1), a straight circular track (2), a laser coal driling instrument (3), a transmission chain (4), an anti-abrasion pad (5), a transmission cavity (6), a supporting roller (7), a walking cavity (8), an outer dustproof brush (9), a connecting frame (10), an inner dustproof brush (11), a chain wheel (12) and a driving motor (13).
The specific implementation mode is as follows:
the stable track structure for the track robot is realized by the following steps: the invention relates to a stable track structure for a track robot, which comprises suspension columns (1), a straight circular track (2), a transmission chain (4), an anti-abrasion pad (5), a transmission cavity (6), a support roller (7), a walking cavity (8), an outer dustproof brush (9), a connecting frame (10), an inner dustproof brush (11), a chain wheel (12) and a driving motor (13), wherein the top of the straight circular track (2) is fixedly provided with a plurality of suspension columns (1) at equal intervals, the straight circular track (2) is of a hollow structure, a partition plate is arranged in the straight circular track (2), the partition plate divides the inside of the straight circular track (2) into the transmission cavity (6) and the walking cavity (8), the transmission cavity (6) is positioned above the walking cavity (8), the bottom surface of the straight circular track (2) is provided with walking grooves, and two opposite groove walls of the walking grooves are provided with the outer dustproof brush (9), the connecting frame (10) is positioned in the walking cavity (8), a rolling shaft is arranged on the connecting frame (10), two supporting rollers (7) are respectively sleeved on the rolling shaft through supporting bearings, limiting lugs are respectively arranged at two ends of the rolling shaft, two guide grooves are formed in the bottom surface of the walking cavity (8), two rolling wheels are respectively arranged in the two guide grooves, a transmission groove is formed in the partition plate, cleaning brushes are respectively arranged on two opposite groove walls of the transmission groove, the top of the connecting frame (10) penetrates through the transmission groove and extends upwards for a certain distance, a plurality of driving motors (13) are fixedly arranged on the inner wall of the transmission cavity (6) at equal distances, a chain wheel (12) is sleeved on a motor shaft of each driving motor (13), the chain wheels (12) are connected through a transmission chain (4), and the transmission chain (4) is meshed with the chain wheel (12), the connecting frame (10) is connected with the bottom of the transmission chain (4), an anti-abrasion pad (5) is arranged between the bottom of the transmission chain (4) and the bottom of the transmission cavity (6), two opposite baffles are hinged on the outer side surface of the straight circular track (2), a sliding groove is formed in the anti-abrasion pad (5), a plurality of balls are arranged in the sliding groove, a plurality of inserting pieces are arranged on the inner dustproof brush (11) and the outer dustproof brush (9), and inserting grooves are formed in the straight circular track (2) corresponding to the inserting pieces;
when the device is used, firstly, the laser coal jigger (3) penetrates through a walking groove and is fixed at the bottom of a connecting frame (10), a straight circular track (2) is suspended above a coal pile through a suspension column (1), a motor is started, a motor shaft on the motor drives a chain wheel (12) to rotate, the chain wheel (12) is meshed with a transmission chain (4), the transmission chain (4) is driven by the chain wheel (12), the connecting frame (10) is driven by the transmission chain (4) to move, the laser coal jigger (3) is driven by the connecting frame (10) to move along the walking groove, the accurate measurement of the height and the volume of the coal pile is realized, a support roller (7) moves in a rolling mode in the moving process of the connecting frame (10), and the connecting frame (10) is supported;
the bristles on the inner dustproof brush (11) on the transmission groove can completely cover the transmission groove to prevent dust from entering the transmission cavity (6), the inner dustproof brush (11) can clean the connection frame (10) in the moving process of the connection frame (10) in the transmission groove, the bristles on the outer dustproof brush (9) on the walking groove can completely cover the walking groove to prevent the dust from entering the walking groove, meanwhile, the outer dustproof brush (9) can clean the dust on the laser coal-coiling instrument (3) in contact with the walking groove to prevent the dust from entering the device from the joint of the laser coal-coiling instrument (3) and the connection frame (10), the normal use of the device is prevented from being influenced, and the accurate measurement of the laser coal-coiling instrument (3) is ensured;
in the moving process of the laser coal driling instrument (3), the laser coal driling instrument is driven to move through the whole chain transmission, so that the pulley phenomenon caused by the movement of the laser coal driling instrument only depending on the walking roller wheel can be avoided, and the precision error caused by the measurement can be further avoided;
the design that an anti-abrasion pad (5) is arranged between the bottom of the transmission chain (4) and the bottom of the transmission cavity (6) can avoid abrasion to the bottom of the transmission cavity (6) in the chain transmission process;
the design that two opposite baffles are hinged on the outer side surface of the straight circular track (2) can enable the baffles to rotate to the two sides of the straight circular track (2) when the straight circular track is not used, so that dust on the two sides is prevented from entering the straight circular track (2);
one end of the rolling shaft is provided with a limiting lug, so that the supporting roller (7) on the rolling shaft can be limited, and the normal use of the supporting roller (7) is ensured;
the anti-abrasion pad (5) is provided with a sliding groove, and a plurality of balls are arranged in the sliding groove, so that the friction between the driven chain and the anti-abrasion pad (5) can be reduced, and the transmission of the driven chain is prevented from being influenced;
the bottom surface of the walking cavity (8) is provided with two guide grooves, and the two rolling wheels are respectively arranged in the two guide grooves, so that the rolling range of the supporting roller (7) can be limited, the roller is prevented from deviating when rolling, and the normal use of the device is prevented from being influenced;
the inner dustproof brush (11) and the outer dustproof brush (9) are respectively provided with a plurality of inserting pieces, and the straight circular track (2) is provided with inserting slots corresponding to the inserting pieces, so that the inner dustproof brush and the outer dustproof brush (9) can be detached, the dustproof brushes can be conveniently replaced, and the influence on the use effect of the device due to the excessive abrasion of the brushes is avoided;
the plurality of chain wheels (12) are matched with the driven chain and the connecting frame (10), so that the driven chain can be integrally driven, the laser coal tray instrument (3) is driven to move, and the driving stability is better;
the connecting frame (10), the inner dustproof brush (11) and the outer dustproof brush (9) are designed in a matched mode, a double-layer resisting structure is formed for external dust, the dust can be prevented from entering the straight circular track (2), meanwhile, the dust attached to the transmission groove and the walking groove is cleaned, and normal use of the device is guaranteed;
the driving motor (13) works, the transmission chain (4) rotates and moves to drive the connecting frame (10) to move, so that the design of driving the laser coal panel (3) to move is realized, the whole transmission chain (4) moves to drive the laser coal panel to move, the pulley phenomenon caused by the movement of a walking roller only can be avoided, and the precision error caused by the measurement can be avoided;
reach and carry out the transmission through whole chain, can avoid the precision error because of the pulley phenomenon produces, and can carry out dirt-proof purpose through outer dustproof brush (9) and interior dustproof brush (11) to track transmission inside.
The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

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.
CN202010405025.5A 2020-05-14 2020-05-14 Stable track structure for track robot Active CN111716319B (en)

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Application Number Priority Date Filing Date Title
CN202010405025.5A CN111716319B (en) 2020-05-14 2020-05-14 Stable track structure for track robot

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Application Number Priority Date Filing Date Title
CN202010405025.5A CN111716319B (en) 2020-05-14 2020-05-14 Stable track structure for track robot

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CN111716319A true CN111716319A (en) 2020-09-29
CN111716319B CN111716319B (en) 2023-08-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024067561A1 (en) * 2022-09-30 2024-04-04 安徽容知日新科技股份有限公司 Track assembly for inspection robot system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002254379A (en) * 2001-02-26 2002-09-10 Komatsu Ltd Holding device for railroad
CN101725096A (en) * 2009-12-26 2010-06-09 枣庄矿业(集团)有限责任公司田陈煤矿 Adjustable rail shaper
CN104032628A (en) * 2013-03-06 2014-09-10 昆明中铁大型养路机械集团有限公司 Side cut type track switch cleaning machine
CN104858086A (en) * 2015-04-30 2015-08-26 苏州柳溪机电工程有限公司 Heavy-type turntable device
CN108724145A (en) * 2018-07-03 2018-11-02 武汉奋进智能机器有限公司 A kind of robot inspection tour system
CN109797611A (en) * 2019-01-22 2019-05-24 重庆文理学院 Non-fragment orbit switches tracks robot
CN210335940U (en) * 2019-06-17 2020-04-17 辽宁艾特斯智能交通技术有限公司 Patrol and examine running gear and system of patrolling and examining

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002254379A (en) * 2001-02-26 2002-09-10 Komatsu Ltd Holding device for railroad
CN101725096A (en) * 2009-12-26 2010-06-09 枣庄矿业(集团)有限责任公司田陈煤矿 Adjustable rail shaper
CN104032628A (en) * 2013-03-06 2014-09-10 昆明中铁大型养路机械集团有限公司 Side cut type track switch cleaning machine
CN104858086A (en) * 2015-04-30 2015-08-26 苏州柳溪机电工程有限公司 Heavy-type turntable device
CN108724145A (en) * 2018-07-03 2018-11-02 武汉奋进智能机器有限公司 A kind of robot inspection tour system
CN109797611A (en) * 2019-01-22 2019-05-24 重庆文理学院 Non-fragment orbit switches tracks robot
CN210335940U (en) * 2019-06-17 2020-04-17 辽宁艾特斯智能交通技术有限公司 Patrol and examine running gear and system of patrolling and examining

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024067561A1 (en) * 2022-09-30 2024-04-04 安徽容知日新科技股份有限公司 Track assembly for inspection robot system

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