CN111745687B - Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear - Google Patents
Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear Download PDFInfo
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- CN111745687B CN111745687B CN202010630392.5A CN202010630392A CN111745687B CN 111745687 B CN111745687 B CN 111745687B CN 202010630392 A CN202010630392 A CN 202010630392A CN 111745687 B CN111745687 B CN 111745687B
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- butt joint
- charging
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- joint shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
The invention discloses a charging and butting mechanism and method of a mining inspection robot based on a drum-shaped gear, and the charging and butting mechanism comprises an inspection track, a robot body and a charging station, wherein a generator for providing conversion electric energy for charging a battery of the robot body is arranged on the robot body; the charging method using the mechanism comprises the following steps: the robot body is moved to a position close to a charging station on the inspection track; the electric motor is started, the electric motor drives the butt joint shaft to rotate slowly, the robot body continues to operate towards the charging butt joint adjusting mechanism until the butt joint hole and the butt joint shaft can be successfully butted, and at the moment, the electric motor drives the generator to rotate rapidly to generate electricity according to the rated rotating speed. The invention avoids the occurrence of the condition that the butt joint shaft and the butt joint hole are blocked, and improves the success rate of charging butt joint.
Description
Technical Field
The invention relates to the technical field of charging of mine robots, in particular to a charging butt joint mechanism and method of a mine inspection robot based on a drum gear.
Background
The mining inspection robot is usually powered by a storage battery, and when the electric quantity of the storage battery is insufficient, a charging station is required to be charged. At present, the most feasible scheme for charging the underground mine inspection robot is a non-electric contact type charging method. Mention a scheme through four pyramid shaft holes transmission mechanical energy in the patent automatic charging device of autonomous mobile equipment in pit in the colliery, this scheme has avoided the complicated explosion-proof design of the interface that charges to adopt the design of plum blossom toper to reduce the butt joint degree of difficulty, nevertheless do not fully consider the butt joint angle of plum blossom conical shaft and plum blossom bell mouth in the butt joint process, there is the shaft hole port dead in top, and the unable correct butt joint in shaft hole leads to the problem of charging failure.
Therefore, in order to solve the above problems, a charging docking mechanism and a charging docking method for a mining inspection robot based on a drum gear are needed, which can solve the problem that the mining inspection robot is stuck and cannot dock in the docking and charging process, and improve the reliability of charging docking.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provides a charging docking mechanism and method for a mining inspection robot based on a drum gear, which can realize successful docking and complete charging regardless of any initial state, and improve the reliability of charging docking.
The invention discloses a charging and docking mechanism of a mining inspection robot based on a drum-shaped gear, which comprises an inspection track, a robot body arranged on the inspection track in a sliding manner and a charging station arranged on the inspection track, wherein the charging station is generally arranged at the end part of the inspection track, a generator for providing conversion electric energy for charging a battery of the robot body is arranged on the robot body, the charging station comprises a base arranged on the inspection track, a motor arranged on the base, a docking shaft in transmission connection with the motor and a docking adjusting component arranged on the base and used for adjusting the spatial position of the docking shaft, and a docking hole engaged with the docking shaft is arranged on the input end of the generator;
the butt joint shaft is a drum-shaped external gear, the butt joint hole is a drum-shaped internal gear, the butt joint shaft and the butt joint hole can be completely meshed, and a buffer component for assisting the butt joint shaft and the butt joint hole to be smoothly meshed in the rotating process is arranged between the butt joint shaft and the output end of the motor.
Further, the buffer assembly comprises a shaft sleeve used for limiting the circumferential freedom degree of the butt joint shaft and a spring arranged between the shaft sleeve and the butt joint shaft and used for adjusting the radial displacement of the butt joint shaft, and the spring is in a compressed state.
Further, the motor is connected to a buffer assembly connected with the butt joint shaft through a first coupler, and the rotation of the motor is transmitted to the butt joint shaft through the buffer assembly.
Further, the butt joint adjusting component comprises an adjusting screw and a strip-shaped hole which is arranged on the base and the motor and is connected with the base and the motor through the adjusting screw and can move mutually.
Further, a first speed reducer is further arranged between the first coupler and the buffer assembly and used for matching rotating speed and transmitting torque between the motor and the butt joint shaft.
Further, the generator is connected to the docking hole through a second coupling, and the rotation received by the docking hole is transmitted to the generator.
Further, a second speed reducer used for improving the rotating speed of the generator is further arranged between the second coupling and the butt joint hole, and the second speed reducer is used for playing roles of matching the rotating speed and transmitting torque between the butt joint hole and the generator.
Further, the motor is a variable frequency motor.
A charging and docking method of a charging and docking mechanism of a mining inspection robot based on a drum-shaped gear comprises the following steps: s1, moving a robot body to a position close to a charging station on an inspection track;
s2, starting the motor, enabling the motor to rotate and drive the butt joint shaft to rotate slowly, enabling the robot body to continue to operate towards the charging butt joint adjusting mechanism until the butt joint hole and the butt joint shaft can be in butt joint successfully, and enabling the motor to drive the generator to rotate rapidly to generate electricity according to the rated rotating speed;
and S3, after charging is finished, stopping the motor, enabling the robot to leave the charging station, and disconnecting and butting.
Because the rotating speed of the motor is lower after the rotating speed of the motor is reduced by the first speed reducer, when the rotating speed of the motor cannot be meshed with the initial angle of the butt joint hole, the butt joint shaft can retract a distance towards the direction away from the butt joint hole under the assistance of the buffer assembly, at the moment, the butt joint shaft is still in the rotating process, when the butt joint shaft rotates to the angle capable of being completely meshed with the butt joint hole, the spring in a compressed state directly presses the butt joint shaft into the butt joint hole, and the butt joint shaft and the butt joint hole are meshed to charge.
The beneficial effects of the invention are: when the internal teeth of the butt joint hole are meshed with the external teeth of the butt joint shaft in the butt joint process, when the internal teeth and the external teeth cannot be meshed, the butt joint shaft can rotate by a certain angle by means of the rotation of the motor, the butt joint shaft tends to move towards the butt joint hole under the action of the elastic force of a spring in the buffer assembly, the butt joint shaft can be completely meshed with the butt joint shaft when rotating to a proper angle, the condition that the butt joint shaft and the butt joint hole are clamped is avoided, and the success rate of charging butt joint is improved.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is an enlarged view of a portion of the cushioning assembly of fig. 1.
Detailed Description
Fig. 1 is a schematic structural diagram of the present invention, and as shown in the drawing, the inspection robot charging docking mechanism for mining based on a crown gear in this embodiment includes an inspection rail 3, a robot body 2 slidably disposed on the inspection rail 3, and a charging station 1 disposed on the inspection rail 3, where the charging station 1 is generally disposed at an end of the inspection rail 3, a generator 21 for providing converted electric energy for charging a battery of the robot body 2 is disposed on the robot body 2, the charging station 1 includes a base 16 disposed on the inspection rail 3, a motor 11 mounted on the base 16, a docking shaft 15 in transmission connection with the motor 11, and a docking adjustment assembly disposed on the base 16 for adjusting a spatial position of the docking shaft 15, and a docking hole 24 engaged with the docking shaft 15 is disposed on an input end of the generator 21;
the butt joint shaft 15 is a drum-shaped external gear, the butt joint hole 24 is a drum-shaped internal gear, the butt joint shaft 15 and the butt joint hole 24 can be completely meshed, and a buffer component 14 assisting the butt joint shaft 15 and the butt joint hole 24 to be smoothly meshed in the rotating process is arranged between the butt joint shaft 15 and the output end of the motor 11.
In this embodiment, the buffering assembly 14 includes a shaft sleeve 141 for defining the circumferential degree of freedom of the docking shaft 15, and a spring 142 disposed between the shaft sleeve 141 and the docking shaft 15 for adjusting the radial displacement of the docking shaft 15, wherein the spring 142 is in a compressed state.
In this embodiment, the motor 11 is connected to a buffer assembly 14 connected to the docking shaft 15 through a first coupling 12, and the rotation of the motor 11 is transmitted to the docking shaft 15 through the buffer assembly 14.
In this embodiment, the docking adjusting component includes an adjusting screw and a strip-shaped hole which is formed on the base 16 and the motor 11 and connected by the adjusting screw to move mutually.
In this embodiment, a first speed reducer 13 is further disposed between the first coupling 12 and the buffer assembly 14, and the first speed reducer 13 is configured to match a rotating speed and a transmission torque between the electric motor 11 and the butt-joint shaft 15.
In this embodiment, the generator 21 is connected to the docking hole 24 through the second coupling 22, and the rotation received by the docking hole 24 is transmitted to the generator 21.
In this embodiment, a second speed reducer 23 for increasing the rotation speed of the generator 21 is further disposed between the second coupling 22 and the docking hole 24, the second speed reducer 23 is used for matching the rotation speed and transmitting the torque between the docking hole 24 and the generator 21, and the docking hole 24 is made of a flame-retardant antistatic non-metallic material to prevent sparks from being generated in the docking process and the transmission process.
In the present embodiment, the motor 11 is a variable frequency motor.
A charging and docking method of a charging and docking mechanism of a mining inspection robot based on a drum-shaped gear comprises the following steps: s1, running a robot body 2 on an inspection track 3 to a position close to a charging station 1;
s2, starting the motor 11, enabling the motor 11 to rotate and drive the butt joint shaft 15 to rotate slowly, enabling the robot body 2 to continue to operate towards the charging butt joint adjusting mechanism 1 until the butt joint hole 24 and the butt joint shaft 15 can be successfully butted, and enabling the motor 11 to drive the generator 21 to rotate rapidly to generate electricity according to the rated rotating speed;
and S3, after the charging is finished, stopping the motor 11, and disconnecting the robot from the charging station 1.
The inspection robot calculates the residual electric energy W1 and the electric energy W2 required by the inspection robot to travel to the charging station in real time in the inspection process, and when the W1 is gradually close to the W2, the robot body 2 drives to the charging station 1 to be charged. The variable frequency motor of the charging station 1 is fixed on the H-shaped inspection track 3, when a butt joint hole 24 of the robot body 2 is gradually close to a butt joint shaft 15, the variable frequency motor is started slowly, a drum-shaped internal gear butt joint hole 24 on a rotating shaft of a generator 21 of the robot body 2 is in butt joint with a drum-shaped external gear butt joint shaft 15 on an output shaft of the variable frequency motor, when internal teeth and external teeth of the drum-shaped internal gear and the drum-shaped external gear are butted and pressed against each other and cannot be meshed, the robot body 2 continues to run slowly, a buffer component 14 at the rear end of the drum-shaped external gear can enable the drum-shaped external gear to retreat for a certain distance, at the moment, due to the slow rotation of the rotating shaft of the variable frequency motor, the dead internal teeth and the dead external teeth can be meshed in a sliding mode, and therefore energy transfer between the generator 21 of the robot body 2 and the variable frequency motor of the charging station 1 is guaranteed. After the charging station controller 4 detects a docking in-place signal through the travel switch, the docking in-place signal is transmitted to the robot body 2 through wireless communication to control the robot to stop walking, and the charging station controller 4 controls the variable-frequency motor to run at full speed to drive the generator 21 to charge the storage battery of the robot body 2.
Since the rotation speed of the docking shaft 15 is low after the rotation speed of the motor 11 is reduced by the first reducer 13, when the initial angle of the docking shaft 24 cannot be engaged, the docking shaft 15 can be retracted by a distance in the direction away from the docking hole 24 with the aid of the buffer assembly 14, and at this time, the docking shaft 15 is still in the process of rotating, and when the docking shaft 15 rotates to an angle that can be completely engaged with the docking hole 24, the spring 142 in a compressed state will directly press the docking shaft 15 into the docking hole 24, and the docking shaft 15 and the docking hole 24 are engaged.
Finally, 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 various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides a mining inspection robot docking mechanism's butt joint method that charges based on drum-shaped gear, its characterized in that: the method comprises the following steps:
s1, moving a robot body to a position close to a charging station on an inspection track;
s2, starting the motor, enabling the motor to rotate and drive the butt joint shaft to rotate slowly, enabling the robot body to continue to operate towards the charging butt joint adjusting mechanism until the butt joint hole and the butt joint shaft can be in butt joint successfully, and enabling the motor to drive the generator to rotate rapidly to generate electricity according to the rated rotating speed;
s3, after charging is finished, stopping the motor, enabling the robot to leave the charging station, and disconnecting and butting;
wherein, butt joint guiding mechanism is including patrolling and examining the track, smoothly locating the robot body on patrolling and examining the track and setting up the charging station on patrolling and examining the track, is provided with the generator that provides the conversion electric energy for the battery charging of robot body on the robot body, its characterized in that: the charging station comprises a base arranged on the inspection track, a motor arranged on the base, a butt joint shaft in transmission connection with the motor and a butt joint adjusting assembly arranged on the base and used for adjusting the spatial position of the butt joint shaft, wherein a butt joint hole jointed with the butt joint shaft is formed in the input end of the generator;
the butt joint shaft is a drum-shaped external gear, the butt joint hole is a drum-shaped internal gear, the butt joint shaft and the butt joint hole can be completely meshed, and a buffer component for assisting the butt joint shaft and the butt joint hole to be smoothly meshed in the rotating process is arranged between the butt joint shaft and the output end of the motor;
the generator is connected to the butt joint hole through the second coupling, and the rotation received by the butt joint hole is transmitted to the generator;
the motor is a variable frequency motor.
2. The charging and docking method of the charging and docking mechanism for the inspection robot for mines, which is based on the crowned gear, according to claim 1, characterized in that: the buffer assembly comprises a shaft sleeve used for limiting the circumferential freedom degree of the butt joint shaft and a spring arranged between the shaft sleeve and the butt joint shaft and used for adjusting the radial displacement of the butt joint shaft, and the spring is in a compressed state.
3. The charging and docking method of the charging and docking mechanism of the drum gear-based mining inspection robot according to claim 2, characterized in that: the motor is connected to a buffer assembly connected with the butt joint shaft through a first coupler, and the rotation of the motor is transmitted to the butt joint shaft through the buffer assembly.
4. The charging and docking method of the charging and docking mechanism of the drum gear-based mining inspection robot according to claim 3, characterized in that: the butt joint adjusting component comprises an adjusting screw and a strip-shaped hole which is arranged on the base and the motor and is connected with the motor through the adjusting screw and can move mutually.
5. The charging and docking method of the charging and docking mechanism of the drum gear-based mining inspection robot according to claim 3, characterized in that: and a first speed reducer is further arranged between the first coupler and the buffer assembly and is used for matching the rotating speed and transmitting the torque between the motor and the butt joint shaft.
6. The charging and docking method of the charging and docking mechanism of the drum gear-based mining inspection robot according to claim 1, characterized in that: and a second speed reducer used for improving the rotating speed of the generator is also arranged between the second coupler and the butt joint hole, and the second speed reducer is used for playing roles of matching the rotating speed and transmitting torque between the butt joint hole and the generator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010630392.5A CN111745687B (en) | 2020-07-03 | 2020-07-03 | Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear |
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| CN202010630392.5A CN111745687B (en) | 2020-07-03 | 2020-07-03 | Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear |
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| CN111745687A CN111745687A (en) | 2020-10-09 |
| CN111745687B true CN111745687B (en) | 2023-03-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114803361A (en) * | 2022-04-11 | 2022-07-29 | 厦门三烨清洁科技股份有限公司 | High stability is patrolled and examined robot for conveyer |
| CN114726063B (en) * | 2022-06-07 | 2022-09-16 | 无锡军工智能电气股份有限公司 | Underground robot charging system and gear engagement control and protection method |
| CN115800432B (en) * | 2022-11-08 | 2023-05-26 | 上海山源电子科技股份有限公司 | Charging coupling mechanism and method for mining inspection robot |
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