CN112338928A

CN112338928A - Rope bidirectional-driven flexible guide type track inspection robot platform and inspection method

Info

Publication number: CN112338928A
Application number: CN202011138817.7A
Authority: CN
Inventors: 刘善增; 杨瑾; 仇李良; 孙朝阳
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2021-02-09

Abstract

The invention relates to a rope two-way driven flexible guide type track inspection robot platform and an inspection method, wherein the platform comprises a plurality of groups of upright posts which are sequentially distributed, each group of upright posts comprises two upright posts which are relatively distributed, a parallel guide rail group is arranged at the top of the groups of upright posts, and a moving platform is connected in the parallel guide rail group in a matching manner; the rope driving device is arranged on the upright post group positioned at the end part, and the rope driving device is started, so that the first rope and the second rope are matched to move to realize the movement of the movement platform in the parallel track group; the invention has the advantages of simple structure, low cost, large bearing capacity, high operation precision, good stability, strong adaptability and the like.

Description

Rope bidirectional-driven flexible guide type track inspection robot platform and inspection method

Technical Field

The invention relates to a rope bidirectional-driven flexible guide type track inspection robot platform and an inspection method, which are suitable for an intelligent robot inspection occasion of an industrial production line and belong to the field of industrial automation and mechanical engineering.

Background

Especially, there are the condition that the road conditions are complicated, the dust is big, the day night difference in temperature is showing and frost in the coal mine area of Xinjiang, and coal mine belt conveyor is one of the important equipment of coal mining, and it often appears that the belt breaks, the belt off tracking, the bearing roller card is dead, the bolt is not hard up and trouble or accident such as thing spontaneous combustion are carried in, has constituted very big threat to the economic benefits of production enterprise and public institution and staff's life, consequently needs a equipment that can replace artifical the patrolling and examining to appear urgently.

Disclosure of Invention

The invention provides a rope bidirectional-driven flexible guide type track inspection robot platform and an inspection method, and the platform has the advantages of simple structure, low cost, high bearing capacity, high operation precision, good stability, strong adaptability and the like.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a rope bidirectional-driven flexible guide type track inspection robot platform comprises a plurality of groups of upright columns which are sequentially distributed, each group of upright columns comprises two upright columns which are relatively distributed, parallel guide rail groups are arranged at the tops of the groups of upright columns, and a motion platform is connected in the parallel guide rail groups in a matching manner;

the rope driving device is arranged on the upright post group positioned at the end part, and the rope driving device is started, so that the first rope and the second rope are matched to move to realize the movement of the movement platform in the parallel track group;

as a further preferred aspect of the present invention,

the rope driving device comprises a first rope roller and a second rope roller, the first rope roller and the second rope roller are arranged between two upright posts at the end part from bottom to top, a first big gear is sleeved on the first rope roller, a second big gear is sleeved on the second rope roller, a small gear is arranged between the first big gear and the second big gear, and the small gear is simultaneously meshed with the first big gear and the second big gear; the pinion is inserted on a motor shaft of the motor;

as a further preferred aspect of the present invention,

the wheel set comprises a head sheave, a tail sheave, a plurality of upper supporting wheels, a plurality of lower supporting wheels and a tensioning wheel, wherein the upper supporting wheels are arranged between the tops of the oppositely arranged upright columns of each group, the lower supporting wheels are arranged between the positions, close to the bottom ends, of the oppositely arranged upright columns of each group, the head sheave and the tail sheave are respectively arranged at the two ends of the parallel guide rail group, the tensioning wheel is arranged on the upright column group at the other end part, and the tensioning wheel is positioned below the tail sheave;

the first rope sequentially passes through the first rope roller, the tensioning wheel, the tail head sheave and the moving platform, the second rope sequentially passes through the head sheave and the moving platform, and the first rope and the second rope are supported by the upper supporting wheel and the lower supporting wheel in the process of penetrating;

as a further preferred aspect of the present invention,

the parallel guide rail group comprises two parallel guide rails which are oppositely arranged;

the motion platform comprises a platform body, angular members are respectively installed at four corners of the bottom surface of the platform body, each angular member is connected with a guide wheel through a flexible steel sheet, and the guide wheels are connected in adjacent parallel guide rails in a matching manner;

the bottom surface of the platform body is also provided with supporting wheels near four corners, the two supporting wheels which are oppositely arranged are connected through a connecting rod, the connecting rod is vertically arranged with the parallel guide rail, meanwhile, the connecting rod is respectively sleeved with a rope connecting ring, a second rope is connected with the platform body through the rope connecting ring near the head sheave, and a first rope is connected with the platform body through the rope connecting ring near the tail sheave;

as a further preferred aspect of the present invention,

the flexible steel sheet is arranged in a U shape, and the opening end of the flexible steel sheet is connected with a rotating shaft of an adjacent guide wheel through a pin shaft;

as a further preferred aspect of the present invention,

vertical slots are respectively formed in two stand columns in the stand column group positioned at the other end part, the tension pulley is connected in the vertical slots through a rotating shaft, and the tension pulley can move up and down in the vertical slots;

as a further preferred aspect of the present invention,

the head sheave, the tail sheave, the plurality of upper supporting wheels, the plurality of lower supporting wheels and the tensioning wheel are all connected with the rotating shaft through bearings, and the rotating shaft is connected with the upright post group through bolts;

a rotating shaft of the first rope roller is connected with the upright post group through a first bearing seat, and a rotating shaft of the second rope roller is connected with the upright post group through a second bearing seat;

based on the aforesaid wantonly gentle and agreeable direction formula track of rope two-way drive patrols and examines inspection method of robot platform, in use, choose to wait to patrol and examine the position after, starter motor, the motor shaft rotates and drives the pinion operation, first gear wheel, the second gear wheel meshes with the pinion simultaneously, the pinion operation drives first gear wheel, the second gear wheel carries out opposite direction, the rotation that the rotational speed is the same, first gear wheel drives first rope cylinder and rotates this moment, the second gear wheel drives second rope cylinder and rotates, first rope cylinder, second rope cylinder carries out antiport equally, first rope cylinder drives first rope and removes, second rope cylinder drives second rope and removes, finally drive the removal of platform body in parallel guide organizes, reach and wait to patrol and examine the position.

Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:

1. the rope bidirectional-driven flexible guide type track inspection robot platform provided by the invention can be widely used for inspection work of production operation tasks such as communication gas, petrochemical industry, mining, electric power stations, livestock breeding, tunnel exploration, water supply and drainage, industrial production lines and the like, is particularly suitable for inspection occasions with much dust, large temperature difference and severe cold, and can solve the problems that a gear and rack transmission mode is easy to block, a belt transmission mode is easy to slip, a friction wheel transmission mode is easy to drive to lose efficacy and the like;

2. the rope bidirectionally-driven flexible guide type track inspection robot platform provided by the invention realizes the bidirectional driving of the track inspection robot by utilizing the gear meshing principle and the flexible mechanism theory and adopting a rope driving mode;

3. the rope bidirectional-driven flexible guide type track inspection robot platform provided by the invention has the advantages of simple structure, low cost, simple processing equipment, high bearing capacity, high operation precision, excellent stability, strong adaptability and the like.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a front view of a preferred embodiment provided by the present invention;

FIG. 2 is a partial left side view at A in a preferred embodiment of the present invention;

fig. 3 is a partial cross-sectional view at B-B in a preferred embodiment of the present invention.

In the figure: the device comprises a stand column 1, a first rope roller 2, a first bearing seat 3, a first large gear 4, a motor 5, a pinion 6, a second rope roller 7, a second bearing seat 8, a second large gear 9, a second rope 10, a head pulley 11, a guide rail 12, an upper supporting wheel 13, a platform body 14, a supporting wheel 15, a flexible steel sheet 16, a guide wheel 17, a tail pulley 18, a tensioning wheel 19, a lower supporting wheel 20, a rope connecting ring 21 and a first rope 22.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

Because the weather problem in some areas of china, if the Xinjiang area, its morning and evening difference in temperature is very big, the transportation to colliery class band conveyer has great challenge, through the cold and hot alternation of a plurality of days, the fracture appears very easily in the belt of conveyer, the card phenomenon of dying, and in the transportation, because the dust is piled up, also can cause the card machine accident of conveyer, consequently need transport the control to the supply line in real time, this application aims at providing a patrol and examine robot platform, can replace the manual work to patrol and examine, satisfy the purpose that the cost of manufacture is low simultaneously, stability is preferred.

Examples

Fig. 1 is a front view of a preferred embodiment provided by the present application, and it can be generally seen from the figure that the preferred embodiment mainly includes several parts, including several groups of upright posts 1 arranged in sequence, each group of upright posts 1 includes two upright posts 1 arranged oppositely, a group of parallel guide rails 12 is installed at the top of the groups of upright posts 1, and the arrangement of the group of parallel guide rails 12 is to facilitate the connection of a moving platform, so that the moving platform can freely move in the group of parallel guide rails 12 and can reach a designated inspection position; set up the wheelset on 1 group of stand, still include two ropes, be first rope respectively, second rope 10, the wheelset distributes around the structure of organizing to constitute by stand 1, in preferred implementation, the wheelset is worn to establish clockwise in order by first rope, motion platform, the wheelset is worn to establish counterclockwise in order by second rope 10, motion platform, still install rope drive arrangement on 1 group of stand that lie in the tip, start rope drive arrangement, first rope, the removal of motion platform in parallel rails group is realized in second rope 10's cooperation removal.

Fig. 2 shows a side view of fig. 1 in a direction a, as can be clearly seen from the side view, the rope driving device includes a first rope drum 2 and a second rope drum 7, and the first rope drum 2 and the second rope drum 7 are installed between two columns 1 at the end from bottom to top, where the first rope drum 2 and the second rope drum 7 have the same structural size parameters, the first rope drum 2 is sleeved with a first gearwheel 4, the second rope drum 7 is sleeved with a second gearwheel 9, a pinion 6 is installed between the first gearwheel 4 and the second gearwheel 9, and the pinion 6 is simultaneously engaged with the first gearwheel 4 and the second gearwheel 9; the pinion 6 is inserted on the shaft of the motor 5; the wheel set comprises a head sheave 11, a tail sheave 18, a plurality of upper supporting sheaves 13, a plurality of lower supporting sheaves 20 and a tensioning wheel 19, the upper supporting sheaves 13 are installed between the tops of the upright posts 1 oppositely arranged in each group, the lower supporting sheaves 20 are installed between the positions, close to the bottom ends, of the upright posts 1 oppositely arranged in each group, the head sheave 11 and the tail sheave 18 are respectively installed at the two ends of the parallel guide rail 12 group, the tensioning wheel 19 is installed on the upright post 1 group positioned at the other end part, and the tensioning wheel 19 is positioned below the tail sheave 18; in the preferred embodiment, the first rope sequentially passes through the first rope roller 2, the tension pulley 19, the tail pulley 18 and the moving platform, the second rope 10 sequentially passes through the head pulley 11 and the moving platform, that is, one end of the first rope is wound on the first rope roller 2, the other end of the first rope sequentially passes through the tension pulley 19 and the tail pulley 18 and then is connected with the platform, one end of the second rope 10 is wound on the second rope roller 7, the other end of the second rope sequentially passes through the head pulley 11 and then is connected with the platform, and the first rope and the second rope 10 are supported by the upper supporting roller 13 and the lower supporting roller 20 in the process of penetrating, so that the structure can be realized, after the rope driving device is started, the first rope roller 2 and the second rope roller 7 can realize matching rotation under the matching of the first gearwheel 4, the second gearwheel 9 and the pinion 6, thereby driving the first rope and the second rope 10 to move, and finally realizing the sliding of the moving platform in the parallel guide rail 12 group.

Fig. 3 shows a cross-sectional view at B-B of fig. 1, from which the mode of operation of the set of parallel guide rails 12 can be seen, wherein the set of parallel guide rails 12 comprises two parallel guide rails 12 arranged oppositely, and the two parallel guide rails 12 are of a channel-steel structure; the motion platform comprises a platform body 14, wherein angular components are respectively installed at four corners of the bottom surface of the platform body 14, each angular component is connected with a guide wheel 17 through a flexible steel sheet 16, in the preferred embodiment, the flexible steel sheet 16 is U-shaped, the opening end of the flexible steel sheet is connected with a rotating shaft of the adjacent guide wheel 17 through a pin shaft, the flexible steel sheet 16 is in a deformation state during operation after being installed, the guide wheels 17 corresponding to the side surfaces of the platform body 14 can generate force for pressing the parallel guide rails 12 to keep the running stability of the platform body 14, and the guide wheels 17 are connected in the adjacent parallel guide rails 12 in a matching manner, so that a guiding effect can be exerted on the platform body 14 to enable the platform body to only slide in the parallel guide rails 12;

as can also be seen from fig. 3, the bottom surface of the platform body 14 is further provided with supporting wheels 15 near four corners, the two supporting wheels 15 arranged oppositely are connected through a connecting rod, the connecting rod is arranged perpendicular to the parallel guide rail 12, meanwhile, rope connecting rings 21 are respectively sleeved on the connecting rod, the second rope 10 is connected with the platform body 14 through the rope connecting ring 21 near the head sheave 11, and the first rope is connected with the platform body 14 through the rope connecting ring 21 near the tail sheave 18.

In the whole system, in order to adjust the tensioning traction degree of the first rope conveniently, two vertical slots are respectively formed in two vertical columns 1 in a vertical column 1 group (taking fig. 1 as an example, the vertical column 1 group is located on the right side of the whole body) located at the other end part, a tensioning wheel 19 is connected in the vertical slots through a rotating shaft, and the tensioning wheel 19 can move up and down in the vertical slots.

In the application, a head sheave 11, a tail sheave 18, a plurality of upper supporting sheaves 13, a plurality of lower supporting sheaves 20 and a tensioning wheel 19 are connected with a rotating shaft through bearings, and the rotating shaft is connected with a stand column 1 group through bolts; the rotating shaft of the first rope drum 2 is connected with the upright 1 through a first bearing block 3, and the rotating shaft of the second rope drum 7 is connected with the upright 1 through a second bearing block 8.

The application also provides a method for inspecting the flexible guide type track inspection robot platform driven by the ropes in a two-way mode, when the robot platform is used, after an inspection position is selected, the motor 5 is started, the motor 5 rotates to drive the pinion 6 to rotate, the first gearwheel 4 and the second gearwheel 9 are simultaneously meshed with the pinion 6, the pinion 6 drives the first gearwheel 4 and the second gearwheel 9 to rotate in opposite directions and at the same rotating speed, at the moment, the first gearwheel 4 drives the first rope roller 2 to rotate, the second gearwheel 9 drives the second rope roller 7 to rotate, the first rope roller 2 and the second rope roller 7 also rotate in opposite directions, the first rope roller 2 drives the first ropes 22 to move, the second rope roller 7 drives the second ropes 10 to move, and finally the platform body 14 is driven to move in the parallel guide rail 12 group to reach the inspection position.

Through the platform and the inspection method explained above, the bidirectional reciprocating operation is realized by the rope driving of the single motor 5, the real-time inspection of the transport state of the conveyor can be realized, and meanwhile, the structure is free from the influence of factors such as weather, simple in structure, good in stability and suitable for large-scale popularization.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" as used herein is intended to include both the individual components or both.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a robot platform is patrolled and examined to rope both way drive's gentle and agreeable direction formula track which characterized in that: the device comprises a plurality of groups of upright post groups which are sequentially arranged, wherein each group of upright post group comprises two upright posts which are oppositely arranged, a parallel guide rail group is arranged at the top of the plurality of groups of upright post groups, and a motion platform is connected in the parallel guide rail group in a matching way;

still including installing the wheelset on the column group, wheelset, motion platform are worn to establish clockwise in order to first rope, and wheelset, motion platform are worn to establish in order to the anticlockwise second rope, install rope drive arrangement on the column group that lies in the tip, start rope drive arrangement, and the removal of motion platform in parallel rails group is realized in the cooperation removal of first rope, second rope.

2. The rope bi-directional driven compliant guided track inspection robot platform of claim 1, wherein:

the rope driving device comprises a first rope roller and a second rope roller, the first rope roller and the second rope roller are arranged between two upright posts at the end part from bottom to top, a first big gear is sleeved on the first rope roller, a second big gear is sleeved on the second rope roller, a small gear is arranged between the first big gear and the second big gear, and the small gear is simultaneously meshed with the first big gear and the second big gear; the pinion is inserted on a motor shaft of the motor.

3. The rope bi-directional driven compliant guided track inspection robot platform of claim 2, wherein:

first rope passes first rope cylinder, take-up pulley, tail head sheave, motion platform in order, and the first head sheave, motion platform are passed in order to the second rope, and first rope, second rope are wearing to establish the in-process and still form the support through top riding wheel, lower riding wheel.

4. The rope bi-directional driven compliant guided track inspection robot platform of claim 3, wherein:

the bottom surface of platform body is close to four angle departments and still installs the supporting wheel, connects through the connecting rod between two supporting wheels of laying relatively, and the connecting rod is laid perpendicularly with parallel guide, overlaps respectively on the connecting rod simultaneously and establishes the rope go-between, and the second rope is through the rope go-between and this body coupling of platform near the leading sheave, and first rope is through the rope go-between and this body coupling of platform near the tail sheave.

5. The rope bi-directional driven compliant guided track inspection robot platform of claim 4, wherein: the flexible steel sheet is arranged in a U shape, and the opening end of the flexible steel sheet is connected with the rotating shaft of the adjacent guide wheel through a pin shaft.

6. The rope bi-directional driven compliant guided track inspection robot platform of claim 3, wherein: vertical slotted holes are respectively formed in two stand columns in the stand column group positioned at the other end part, the tension wheel is connected in the vertical slotted holes through a rotating shaft, and the tension wheel can move up and down in the vertical slotted holes.

7. The rope bi-directional driven compliant guided track inspection robot platform of claim 3, wherein: the head sheave, the tail sheave, the plurality of upper supporting wheels, the plurality of lower supporting wheels and the tensioning wheel are all connected with the rotating shaft through bearings, and the rotating shaft is connected with the upright post group through bolts;

the rotating shaft of the first rope roller is connected with the upright post group through a first bearing seat, and the rotating shaft of the second rope roller is connected with the upright post group through a second bearing seat.

8. The inspection method of the platform of the rope bidirectional driving flexible guide type track inspection robot based on any claim, which is characterized in that: during the use, choose to wait to patrol and examine the position after, starter motor, the motor shaft rotates and drives the pinion operation, first gear wheel, the second gear wheel meshes with the pinion simultaneously, the pinion operation drives first gear wheel, the second gear wheel carries out opposite direction, the rotation that the rotational speed is the same, first gear wheel drives first rope cylinder and rotates this moment, the second gear wheel drives second rope cylinder and rotates, first rope cylinder, second rope cylinder carries out antiport equally, first rope cylinder drives first rope and removes, second rope cylinder drives the removal of second rope, finally drive the removal of platform body in parallel guide rail group, reach and wait to patrol and examine the position.