CN112873169A - Be applied to colliery both arms tunnel in pit and patrol and examine robot - Google Patents
Be applied to colliery both arms tunnel in pit and patrol and examine robot Download PDFInfo
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- CN112873169A CN112873169A CN202110085269.4A CN202110085269A CN112873169A CN 112873169 A CN112873169 A CN 112873169A CN 202110085269 A CN202110085269 A CN 202110085269A CN 112873169 A CN112873169 A CN 112873169A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a double-arm tunnel inspection robot applied to an underground coal mine, which comprises a robot main body, wherein an explosion-proof camera and a plurality of sensors for detecting environment safety parameters are arranged on the robot main body; the robot main body is provided with a driving component; the driving assembly comprises two driving wheels which rotate in opposite directions and can clamp the walking track, and the axis direction of the driving wheels is vertical to the extension tangential direction of the walking track; each driving wheel is connected with a driving piece for driving the driving wheel to rotate; the driving assembly is connected with a clamping assembly which can adjust the distance between the two driving wheels and can enable the two driving wheels to clamp the walking track; a group of guide assemblies are respectively arranged on the robot main body at the front end and the rear end of the driving assembly. The invention can stably move forward, climb and turn on the walking track in the roadway by arranging the driving assembly and the guiding assembly, thereby completing the inspection operation of all positions of the underground roadway of the coal mine.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to a double-arm tunnel inspection robot applied to an underground coal mine.
Background
China is rich in coal resources, and determines the energy production and consumption structure of 'mainly coal' in China. However, the coal industry in China is a high-risk industry for a long time, and the huge economic loss caused by mine disaster, high mortality and stopping production severely restricts the healthy development of the society and the economy in China. The development of coal mine safety is not slow at all.
The main reasons for causing frequent safety accidents in coal production are as follows: the mine production process is limited by five natural disasters of water, fire, gas, coal dust and a roof; in the production process, the working procedures and links such as mining, digging, machine-building, transporting and dredging are not properly matched, so that faults can be caused; backward equipment and process, and accidents caused by low comprehensive quality of safety technical management personnel and production staff. Therefore, in order to realize safe production of the coal mine, various production technologies and management technologies must be comprehensively utilized, and the underground safety of the coal mine is improved.
The inspection is a main means for ensuring safe and reliable operation of underground personnel and equipment of the coal mine. At present, the main modes for underground inspection of coal mines can be divided into two types of manual inspection and automatic monitoring: the manual inspection is mainly implemented by carrying relevant point inspection equipment or sensors by coal mine safety monitoring technicians to carry out daily inspection on important indexes such as equipment operation conditions, environmental safety parameters and the like in an inspection line; the automatic monitoring can be divided into a gas drainage monitoring system, a transportation lane monitoring system, a power supply monitoring system, a mine pressure monitoring system, a personnel position monitoring system and the like according to the monitoring purpose. But the two inspection modes have obvious defects: the labor intensity of manual inspection is high, and the detection result is influenced by the level difference of inspectors and has great uncertainty; the automatic monitoring has the disadvantages of high investment cost and difficulty in continuous follow-up of management and maintenance due to complex system, large net distribution area and various equipment types. Therefore, the development of the inspection robot is particularly important.
The tunnel is various passages drilled between the earth surface and an ore body and is used for carrying ore, ventilating, draining water, pedestrians, various necessary preparation projects for newly excavating the ore extracted by metallurgical equipment and the like. The underground coal mine roadway is communicated with all directions and leads to all working faces, so that the inspection robot can reach all underground positions along the roadway, an inspector and a fixed-point monitoring system are replaced, and environmental parameters are monitored.
However, the underground roadway of the coal mine comprises a horizontal roadway and an inclined roadway, the roadway mostly has a certain gradient, the main roadway is wider, the branch roadways leading to each working face or goaf are more, the bend angles leading to each branch roadway are different in size, the turning curvature radii are different, and the roadway gradient increases the difficulty for the smooth passing of the inspection robot.
Based on the problems, the application provides a double-arm tunnel inspection robot applied to the underground coal mine, which travels on the top of the tunnel on the basis of fully utilizing the top space of the underground coal mine tunnel, replaces an inspector and a fixed-point monitoring system to complete monitoring of environmental parameters, wherein an I-shaped traveling track for the inspection robot to travel is arranged on the top of the underground coal mine tunnel; simultaneously the robot of patrolling and examining that this application provided has the function of stably turning round, climbing through overall structure setting, can realize following orbital stable walking of walking.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a double-arm tunnel inspection robot applied to an underground coal mine.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-arm roadway inspection robot applied to an underground coal mine comprises a robot main body, wherein an explosion-proof camera and a plurality of sensors for detecting environment safety parameters are arranged on the robot main body;
the robot main body is provided with a driving assembly; the driving assembly comprises two driving wheels which rotate in opposite directions and can clamp the traveling track, and the axis direction of the driving wheels is vertical to the extension tangential direction of the traveling track; each driving wheel is connected with a driving piece for driving the driving wheel to rotate;
the driving assembly is connected with a clamping assembly which can adjust the distance between the two driving wheels and can enable the two driving wheels to clamp the walking track;
and a group of guide assemblies are respectively arranged on the robot main body at the front end and the rear end of the driving assembly.
Preferably, a shell is arranged outside the robot main body, and the explosion-proof camera penetrates out of the shell.
Preferably, the driving part comprises a servo motor, the output end of the servo motor is connected with a speed reducer, and the output end of the speed reducer is connected with the driving wheel;
the bottom ends of the two speed reducers are connected with the clamping assembly.
Preferably, the clamping assembly comprises two end plates which are arranged in parallel, and two clamping guide shafts and a clamping screw rod are vertically arranged between the two end plates;
two ends of the clamping screw rod are respectively and rotatably connected with corresponding end plates; external threads with opposite rotation directions are arranged at the two ends of the clamping screw rod;
the two ends of the clamping screw rod are symmetrically provided with clamping seats, and the clamping seats are connected with the bottom ends of the corresponding speed reducers; the clamping seat is provided with a nut which is used for being in threaded fit with the corresponding end part of the clamping screw rod, and the clamping seat is provided with a clamping shaft sleeve which is used for being in sliding fit with the clamping guide shaft;
when the clamping screw rod rotates, the two clamping seats can synchronously move in the opposite direction or synchronously move back to back;
the end plate is fixedly connected with the robot main body.
Preferably, the clamping seat comprises two spring seats, and the spring seats are provided with clamping through holes for the clamping guide shafts and the clamping screw rods to pass through;
the nut is fixedly arranged on the spring seat close to the side of the proximal end plate;
a clamping shaft sleeve is arranged at the matching position of the spring seat and the clamping guide shaft;
the bottom end of the speed reducer is connected with a spring seat on the side of the corresponding clamping seat far away from the end plate;
and a pressing spring is sleeved on the clamping guide shaft between the two spring seats on the clamping seat.
Preferably, the guide assembly comprises a guide base, and two parallel supporting seats with adjustable distance are vertically arranged at the upper part of the guide base;
the opposite end surfaces of the two supporting seats are symmetrically provided with an upper guide assembly, a lower guide assembly and a side guide assembly;
the upper guide assembly comprises an upper guide wheel which is used for rolling and guiding the upper guide surface of the walking track and an upper pressure spring which presses the upper guide wheel to the upper guide surface of the walking track;
the lower guide assembly comprises a lower guide wheel which is used for being in rolling fit with the lower guide surface of the walking track; the central axis of the lower guide wheel is parallel to the central axis of the upper guide wheel;
the side guide assembly comprises side guide wheels which are used for being in rolling fit with the outer side face of the bottom of the walking track and a side guide adjusting assembly which presses the side guide wheels to the outer side face of the bottom of the walking track; the central axis of the side guide wheel is vertical to the central axis of the upper guide wheel;
and the middle part of the bottom end of the guide base is provided with a slewing bearing which is used for being rotatably connected with the robot body.
Preferably, the bottom of the supporting seat is provided with a sliding block, and the upper surface of the guide base is provided with a sliding chute which is in sliding fit with the corresponding upper sliding block of the supporting seat along the axial direction of the lower guide wheel;
two ends of the guide base along the axial direction of the lower guide wheel are fixedly provided with side baffles, and circular through holes are formed in the side baffles;
adjusting studs are vertically and fixedly arranged at the bottoms of the end surfaces of the two supporting seats which are opposite to each other; the other end of the adjusting stud penetrates through the circular through hole on the corresponding side baffle;
and locking nuts are arranged on the adjusting studs on the two sides of the side baffle.
Preferably, the upper guide assembly comprises a first connecting plate and a second connecting plate;
the first connecting plate is of an L-shaped structure, and the second connecting plate is of an F-shaped structure;
an upper guide wheel shaft is vertically and fixedly arranged on the vertical end face of the first connecting plate, and the upper guide wheel is rotationally connected with the upper guide wheel shaft;
the vertical end face of the second connecting plate is fixedly connected with the upper part of the supporting seat;
the horizontal end face of the first connecting plate is positioned between the two horizontal end faces of the second connecting plate; an upper pressure spring guide shaft is vertically and fixedly arranged on two horizontal end faces of the second connecting plate and penetrates through the horizontal end face of the first connecting plate;
and the upper compression spring is sleeved on an upper compression spring guide shaft between the horizontal end face of the first connecting plate and the horizontal end face of the lower part of the second connecting plate.
Preferably, the lower guide assembly comprises a lower guide wheel shaft, one end of the lower guide wheel shaft is coaxially and fixedly connected with the lower guide wheel, and the other end of the lower guide wheel shaft is rotatably connected with the supporting seat.
Preferably, the side guide assembly comprises a side guide wheel frame in a U-shaped structure, and two ends of the side guide wheel are rotatably connected with two parallel side plates of the side guide wheel frame through a side guide wheel shaft;
the side guide adjusting assembly comprises two parallel side guide adjusting studs, one ends of the side guide adjusting studs are fixedly connected with the vertical end plate of the side guide wheel frame, and the other ends of the side guide adjusting studs penetrate through the supporting seat and are matched with side guide adjusting nuts;
and a jackscrew is in threaded fit with the supporting seat between the two side guide adjusting studs, and the end part of the jackscrew is jacked on the vertical end surface of the side guide wheel frame.
The invention has the beneficial effects that:
(1) the double-arm tunnel inspection robot applied to the underground coal mine can stably move forward, stably climb and turn on a walking track in a tunnel through the arrangement of the driving assembly and the guiding assembly; meanwhile, the robot body is provided with the explosion-proof camera and various sensors, when the inspection robot moves along the walking track, the explosion-proof camera shoots image data of each working position, and each sensor detects corresponding environmental parameters of the working position, so that inspection operation of all places of the underground coal mine roadway is completed.
(2) According to the invention, the guide assembly is arranged in an integral structure, when the inspection robot turns left and right along the walking track, the guide base rotates correspondingly through the slewing bearing, so that the side guide wheels on two sides are always pressed on the outer side surfaces of the bottoms on two sides of the walking track, and a stable guide effect is achieved, and left and right shaking during turning is reduced; when the inspection robot goes up and down a slope or the walking track is uneven along the walking track, the arrangement of the upper pressure spring can solve the problem of up-and-down bumping of the robot caused by the uneven walking track or the up-and-down slope, namely the problem of shock absorption can be solved, and the reliability of the inspection robot system is improved.
(3) The clamping assembly can enable the two driving wheels to clamp the walking track, so that sufficient friction force can be provided, and the inspection robot cannot slip; simultaneously two drive wheel symmetries press from both sides tight orbital setting of walking in this application, can ensure to patrol and examine the robot and move steadily, avoid unilateral wheel driven instability simultaneously.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an external structure schematic diagram of a double-arm tunnel inspection robot applied to an underground coal mine;
FIG. 2 is a schematic structural diagram of a double-arm tunnel inspection robot applied to an underground coal mine;
FIG. 3 is a schematic view of the construction of the guide assembly of the present invention;
FIG. 4 is a schematic view of the clamp assembly of the present invention;
FIG. 5 is a schematic view of the drive assembly of the present invention;
FIG. 6 is a schematic structural view of an angular contact ball bearing assembly according to the present invention;
wherein the content of the first and second substances,
0-walking track, 01-upper guide surface, 02-lower guide surface, 03-bottom side surface, 04-inner end surface;
1. the shell comprises a shell body and 1-1. an explosion-proof camera;
2. the robot comprises a robot main body, 2-1 parts of a main body bottom plate, 2-2 parts of a main body top plate, 2-3 parts of an angle iron bracket and 2-4 parts of a waist-shaped hole;
3. the device comprises a guide assembly, 3-1 parts of a guide base, 3-1-1 parts of a side baffle, 3-1-2 parts of an adjusting stud and 3-1-3 parts of a locking nut; 3-2 parts of an upper guide assembly, 3-2-1 parts of an upper guide wheel, 3-2-2 parts of an upper guide wheel shaft, 3-2-3 parts of a first connecting plate, 3-2-4 parts of a second connecting plate, 3-2-5 parts of an upper pressure spring guide shaft and 3-2-6 parts of an upper pressure spring; 3-3 parts of a lower guide assembly, 3-3-1 parts of a lower guide wheel, 3-3-2 parts of a lower guide wheel shaft, 3-3-3 parts of a lower guide shaft sleeve and 3-3-4 parts of a bearing seat; 3-4 parts of a side guide assembly, 3-4-1 parts of a side guide wheel, 3-4-2 parts of a side guide wheel frame, 3-4-3 parts of a side guide adjusting stud, 3-4-4 parts of a top thread, 3-4-5 parts of a side guide wheel shaft and 3-4-6 parts of a side guide adjusting nut; 3-5, supporting the base;
4. the clamping assembly comprises 4-1 parts of end plates, 4-2 parts of clamping guide shafts, 4-3 parts of clamping screw rods, 4-4 parts of clamping seats, 4-4-1 parts of nuts, 4-4-2 parts of clamping shaft sleeves, 4-4-3 parts of spring seats and 4-5 parts of damping springs;
5. the device comprises a driving assembly, 5-1 driving wheels, 5-2 servo motors, 5-3 speed reducers, 5-4 angular contact ball bearing assemblies, 5-4-1 angular contact ball bearing seats, 5-4-2 angular contact ball bearing end covers, 5-4-3 bearing seat gaskets, 5-4-4 angular contact bearings, 5-5 speed reducer shafts, 5-6 wheel hubs and 5-7 tensioning sleeves, wherein the driving assembly comprises a driving assembly, a driving wheel, a servo motor, a speed reducer, a;
6. a power source.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all 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 is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not particularly indicate any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
As shown in figure 2, the robot for inspecting the double-arm tunnel in the coal mine comprises a robot main body 2, wherein an explosion-proof camera 1-1 and a plurality of sensors for detecting environment safety parameters are arranged on the robot main body 2, and each sensor comprises a sensor capable of detecting CH in an environment4Concentration, O2Concentration, CO2Concentration, SO2A concentration sensor and a sensor capable of detecting the temperature, humidity, pressure and wind speed in the environment;
the robot main body 2 is provided with a driving component 5, and the driving component 5 drives the robot to walk along the walking track 0; the driving assembly 5 comprises two driving wheels 5-1 which are opposite in rotation direction and can clamp the traveling track 0, specifically, the two driving wheels 5-1 clamp inner end surfaces 04 on two sides of the traveling track 0, and the axial direction of the driving wheels 5-1 is perpendicular to the extension tangential direction of the traveling track 0; each driving wheel 5-1 is connected with a driving piece for driving the driving wheel to rotate; the two driving wheels 5-1 clamp the end face of the traveling track 0, when the driving piece drives the driving wheels 5-1 to rotate, the driving piece can travel by the friction force generated by clamping the traveling track 0 by the driving wheels 5-1, wherein the driving piece provides sufficient driving force, and can complete turning and climbing;
the driving assembly 5 is connected with a clamping assembly 4 which can adjust the distance between the two driving wheels 5-1 and can enable the two driving wheels 5-1 to clamp the travelling track 0; the clamping assembly 4 can adjust the distance between the two driving wheels 5-1, so that the robot can conveniently inspect the upper line and the lower line of the robot, and the clamping assembly 4 can enable the two driving wheels 5-1 to clamp the walking track 0 so as to provide friction force required by walking;
and a group of guide assemblies 3 are respectively arranged on the robot main body 2 at the front end and the rear end of the driving assembly 5.
Preferably, as shown in fig. 1, a housing 1 is arranged outside the robot main body 2, and the explosion-proof camera 1-1 penetrates out of the housing 1.
Specifically, a charging head is further arranged on the shell 1, the explosion-proof camera 1-1 and the charging head are connected with a power supply 6 through an intelligent control box, and each sensor is connected with the intelligent control box; the power supply 6 is arranged on the robot main body 2 and supplies power to the inspection robot, the intelligent control box is arranged at the lower part of the front end of the robot main body 2 and receives image data shot by the explosion-proof camera 1-1 and environmental parameters detected by the sensor and can upload the data to the server; meanwhile, the intelligent control box also has an alarm function; the electric quantity condition of intelligent control case real-time supervision power 6 when the electric quantity is less than the setting value, patrols and examines that the robot switches to the power saving mode and automatic operation carries out the automation to filling electric pile and charges.
Specifically, the robot main body 2 comprises a main body bottom plate 2-1, a main body top plate 2-2 and an angle iron support 2-3 which is vertically fixed between the main body bottom plate 2-1 and the main body top plate 2-2, wherein the angle iron support 2-3 is connected with the main body bottom plate 2-1 and the main body top plate 2-2 through bolts.
Preferably, as shown in fig. 5, the driving member comprises a servo motor 5-2, an output end of the servo motor 5-2 is connected with a speed reducer 5-3, and an output end of the speed reducer 5-3 is connected with a driving wheel 5-1;
the bottom ends of the two speed reducers 5-3 are connected with the clamping component 4.
Specifically, an angular contact ball bearing assembly 5-4 used for being in rotary connection with a speed reducer shaft 5-5 is fixedly arranged on a shell of the speed reducer 5-3, a hub 5-6 is arranged inside the driving wheel 5-1, and the middle of the hub 5-6 is coaxially and fixedly connected with the speed reducer shaft 5-5 through a tensioning sleeve 5-7. The arrangement of the angular contact ball bearing assembly 5-4 increases the strength of the reducer shaft 5-5.
As shown in figure 6, the angular contact ball bearing assembly 5-4 comprises an angular contact ball bearing seat 5-4-1, an angular contact ball bearing end cover 5-4-2, a bearing seat gasket 5-4-3 and an angular contact bearing 5-4-4, wherein the angular contact bearing 5-4-4 is arranged inside the angular contact ball bearing seat 5-4-1, and the upper end and the lower end of the angular contact bearing 5-4-4 are respectively positioned through the angular contact ball bearing end cover 5-4-2 and the bearing seat gasket 5-4-3. Specifically, the outer circle of the angular contact ball bearing end cover 5-4-2 is provided with an external thread used for being in threaded connection with the angular contact ball bearing seat 5-4-1, and a groove used for placing a sealing ring is dug in the inner circle of the angular contact ball bearing end cover 5-4-2.
The lower end of the angular contact ball bearing seat 5-4-1 is provided with three threaded holes, and bolts used for fixedly connecting with a shell of the speed reducer 5-3 are arranged in the three threaded holes.
The driving wheel 5-1 is positioned at the upper part of the main body top plate 2-2, and a waist-shaped hole 2-4 for moving the angular contact ball bearing assembly 5-4 is arranged on the main body top plate 2-2.
Preferably, as shown in fig. 4, the clamping assembly 4 comprises two end plates 4-1 arranged in parallel, two clamping guide shafts 4-2 and a clamping screw 4-3 are vertically arranged between the two end plates 4-1;
two ends of the clamping screw rod 4-3 are respectively in rotary connection with the corresponding end plate 4-1, and specifically, the clamping screw rod 4-3 is in rotary connection with the end plate 4-1 through a deep groove ball bearing; external threads with opposite rotation directions are arranged at two ends of the clamping screw rod 4-3; specifically, the clamping screw 4-3 is a forward and backward trapezoidal screw;
two ends of the clamping screw rod 4-3 are symmetrically provided with clamping seats 4-4, and the clamping seats 4-4 are connected with the bottom ends of the corresponding speed reducers 5-3; a nut 4-4-1 used for being in threaded fit with the corresponding end of a clamping screw rod 4-3 is arranged on the clamping seat 4-4, and a clamping shaft sleeve 4-4-2 used for being in sliding fit with a clamping guide shaft 4-2 is arranged on the clamping seat 4-4;
when the clamping screw rod 4-3 rotates, the two clamping seats 4-4 can synchronously move in opposite directions or synchronously move back, so that the two driving wheels 5-1 can be driven to synchronously move in opposite directions or synchronously move back;
the end plate 4-1 is fixedly connected with the robot main body 2, and specifically, the end plate 4-1 is fixedly connected with the bottom of the main body top plate 2-2.
Preferably, the clamping seat 4-4 comprises two spring seats 4-4-3, and the spring seats 4-4-3 are provided with clamping through holes for the clamping guide shaft 4-2 and the clamping screw rod 4-3 to pass through;
the nut 4-4-1 is fixedly arranged on the spring seat 4-4-3 close to the side of the end plate 4-1;
a clamping shaft sleeve 4-4-2 is arranged at the matching part of the spring seat 4-4-3 and the clamping guide shaft 4-2; specifically, one end of the clamping shaft sleeve 4-4-2 is provided with a square flange, and the square flange is connected with the spring seat 4-4-3 through a bolt;
the bottom end of the speed reducer 5-3 is connected with a spring seat 4-4-3 on the side, far away from the end plate 4-1, of the corresponding clamping seat 4-4;
and a pressing spring 4-5 is sleeved on a clamping guide shaft 4-2 between two spring seats 4-4-3 on the clamping seat 4-4. Specifically, two ends of the compression spring 4-5 are fixedly connected with the corresponding spring seats 4-4-3.
The clamping screw 4-3 is rotated, and under the threaded fit of the clamping screw 4-3 and the nut 4-4-1 and the sliding limit fit between the clamping shaft sleeve 4-4-2 on the spring seat 4-4-3 close to the side of the end plate 4-1 and the clamping guide shaft 4-2, the synchronous opposite movement or synchronous back movement of the two spring seats 4-4-3 provided with the nut 4-4-1 on the two clamping seats 4-4 can be realized; when the two spring seats 4-4-3 provided with the nuts 4-4-1 move oppositely, the respective compression springs 4-5 are extruded, so that the compression springs 4-5 extrude the respective spring seats 4-4-3 positioned at the inner sides, and the spring seats 4-4-3 positioned at the inner sides drive the two speed reducers 5-3 to move oppositely, so that the two driving wheels 5-1 compress the walking track 0.
When the inspection robot turns and climbs, the clamping force of the driving wheel 5-1 on the walking track can be automatically adjusted by the aid of the compression springs 4-5, and meanwhile, the shock absorption effect can be achieved.
Preferably, as shown in fig. 3, the guide assembly 3 comprises a guide base 3-1, and two parallel support bases 3-5 with adjustable distance are vertically arranged at the upper part of the guide base 3-1;
the opposite end surfaces of the two supporting seats 3-5 are symmetrically provided with an upper guide component 3-2, a lower guide component 3-3 and a side guide component 3-4;
the upper guide assembly 3-2 comprises an upper guide wheel 3-2-1 which is used for rolling guide matching with the upper guide surface 01 of the walking track and an upper pressure spring 3-2-6 which presses the upper guide wheel 3-2-1 to the upper guide surface 01 of the walking track; the upper pressure spring 3-2-6 provides upward elasticity to press the upper guide wheel 3-2-1 to the upper guide surface 01 of the walking track on one hand, and is adaptable to fluctuant and changeable mine roadways on the other hand, so that the problem of up-and-down bumping of the robot caused by uneven walking track 0 and up-and-down slope is reduced, namely the problem of shock absorption can be solved;
the lower guide assembly 3-3 comprises a lower guide wheel 3-3-1 which is used for being in rolling fit with the lower guide surface 02 of the walking track; the central axis of the lower guide wheel 3-3-1 is parallel to the central axis of the upper guide wheel 3-2-1, wherein the central axes of the lower guide wheel 3-3-1 and the upper guide wheel 3-2-1 are parallel to the upper guide surface 01 and the lower guide surface 02 of the walking track 0;
the side guide assembly 3-4 comprises a side guide wheel 3-4-1 which is used for being in rolling fit with the outer side face 03 at the bottom of the walking rail and a side guide adjusting assembly which presses the side guide wheel 3-4-1 to the outer side face 03 at the bottom of the walking rail; the central axis of the side guide wheel 3-4-1 is vertical to the central axis of the upper guide wheel 3-2-1, wherein the central axis of the side guide wheel 3-4-1 is vertical to the upper guide surface 01 and the lower guide surface 02 of the walking track;
the middle part of the bottom end of the guide base 3-1 is provided with a slewing bearing which is used for being rotationally connected with the robot body 2; wherein, the two supporting seats 3-5 are positioned at two sides of the slewing bearing and are symmetrically arranged relative to the slewing bearing; the slewing bearing is arranged to enable the guide assembly 3 to be rotatably connected with the robot body 2, when the inspection robot turns left and right along the walking track 0, the guide base 3-1 correspondingly rotates through the slewing bearing, so that the side guide wheels 3-4-1 on two sides are always pressed on the outer side faces of the bottoms on two sides of the walking track 0, and a stable guide effect is achieved. Specifically, the guide base 3-1 is rotatably connected with the main body top plate 2-2 through a slewing bearing.
Preferably, the bottom of the supporting seat 3-5 is provided with a sliding block, and the upper surface of the guide base 3-1 is provided with a sliding groove which is in sliding fit with the sliding block on the corresponding supporting seat 3-5 along the axial direction of the lower guide wheel 3-3-1;
as shown in fig. 3, side baffles 3-1-1 are fixedly arranged at two ends of the guide base 3-1 along the axial direction of the lower guide wheel 3-3-1, and circular through holes are arranged on the side baffles 3-1-1;
the bottom of the end surface of the two support seats 3-5 which are opposite to each other is vertically and fixedly provided with an adjusting stud 3-1-2; the other end of the adjusting stud 3-1-2 penetrates through a circular through hole on the corresponding side baffle 3-1-1;
and locking nuts 3-1-3 are arranged on the adjusting studs 3-1-2 on the two sides of the side baffle 3-1-1.
Preferably, as shown in fig. 3, the upper guide assembly 3-2 includes a first connecting plate 3-2-3, a second connecting plate 3-2-4;
the first connecting plate 3-2-3 is of an L-shaped structure, and the second connecting plate 3-2-4 is of an F-shaped structure;
an upper guide wheel shaft 3-2-2 is vertically and fixedly arranged on the vertical end face of the first connecting plate 3-2-3, and the upper guide wheel 3-2-1 is rotatably connected with the upper guide wheel shaft 3-2-2; specifically, an upper guide wheel shaft 3-2-2 is fixedly arranged on the vertical end face of the first connecting plate 3-2-3 through a nut, a bearing used for being in running fit with the upper guide wheel shaft 3-2-2 is arranged in the upper guide wheel 3-2-1, one end of the upper guide wheel 3-2-1 and one end of the upper guide wheel shaft 3-2-2 are positioned through a shaft shoulder, and the other end of the upper guide wheel shaft 3-2-2 is fixed through a snap spring;
the vertical end face of the second connecting plate 3-2-4 is fixedly connected with the upper part of the supporting seat 3-5;
the horizontal end face of the first connecting plate 3-2-3 is positioned between two horizontal end faces of the second connecting plate 3-2-4; an upper pressure spring guide shaft 3-2-5 is vertically and fixedly arranged on two horizontal end faces of the second connecting plate 3-2-4, and the upper pressure spring guide shaft 3-2-5 penetrates through the horizontal end face of the first connecting plate 3-2-3;
the upper pressure spring 3-2-6 is sleeved on an upper pressure spring guide shaft 3-2-5 between the horizontal end face of the first connecting plate 3-2-3 and the horizontal end face of the lower part of the second connecting plate 3-2-4.
Specifically, a sliding hole for allowing the end part of the horizontal end face in the first connecting plate 3-2-3 to slide up and down is formed in the vertical end face between the two horizontal end faces in the second connecting plate 3-2-4.
Preferably, as shown in fig. 3, the lower guide assembly 3-3 comprises a lower guide wheel shaft 3-3-2, one end of the lower guide wheel shaft 3-3-2 is coaxially and fixedly connected with the lower guide wheel 3-3-1, and the other end of the lower guide wheel shaft 3-3-2 is rotatably connected with the support base 3-5.
Specifically, the lower guide wheel 3-3-1 is in key connection with a lower guide wheel shaft 3-3-2, and a lower guide shaft sleeve 3-3-3 is arranged outside the lower guide wheel shaft 3-3-2; the lower guide shaft sleeve 3-3-3 is rotatably connected with a bearing seat 3-3-4 fixedly arranged on the support seat 3-5.
Preferably, as shown in fig. 3, the side guide assembly 3-4 comprises a side guide wheel carrier 3-4-2 in a U-shaped structure, and two ends of the side guide wheel 3-4-1 are rotatably connected with two parallel side plates of the side guide wheel carrier 3-4-2 through a side guide wheel shaft 3-4-5;
the side guide adjusting assembly comprises two parallel side guide adjusting studs 3-4-3, one ends of the side guide adjusting studs 3-4-3 are fixedly connected with vertical end plates of the side guide wheel frames 3-4-2, and the other ends of the side guide adjusting studs 3-4-3 penetrate through the supporting seats 3-5 and are matched with side guide adjusting nuts 3-4-6;
a supporting seat 3-5 between the two side guide adjusting studs 3-4-3 is in threaded fit with a top thread 3-4-4, and the end part of the top thread 3-4-4 is propped against the vertical end face of the side guide wheel frame 3-4-2.
The utility model provides a be applied to colliery both arms tunnel in pit and patrol and examine robot, its specific implementation is as follows:
firstly, two supporting seats 3-5 move oppositely to enable upper guide wheels 3-2-1 and lower guide wheels 3-3-1 on two sides to be pressed on an upper guide surface 01 and a lower guide surface 02 of a walking track respectively; then, tightening locking nuts 3-1-3 on adjusting studs 3-1-2 at two sides of the side baffle 3-1-1 to fix the two supporting seats 3-5; at the moment, the inspection robot is hung on the walking track 0;
then, the clamping screw 4-3 is rotated to enable the two driving wheels 5-1 to move oppositely until the driving wheels 5-1 are clamped on the inner end surface 04 of the walking track 0;
then, the top thread 3-4-4 is rotated to press the side guide wheels 3-4-1 at two sides on the outer side surface 03 at the bottom of the walking track 0, and then the side guide adjusting nut 3-4-6 is screwed;
the cooperation setting of this application inspection robot and walking track 0 has just been accomplished above.
The servo motor 5-2 is started to enable the two driving wheels 5-1 to rotate in opposite directions, and the driving wheels 5-1 and the inner end surface 04 of the walking track are driven by friction force to move along the walking track 0 in the roadway.
When the inspection robot moves along the walking track 0, the servo motor 5-2 provides sufficient driving force, and turning and climbing can be completed; when the inspection robot moves along the walking track, the explosion-proof camera 1-1 shoots image data of each working position, and each sensor detects corresponding environmental parameters of the working position, so that inspection operation on all positions of the underground coal mine roadway is completed.
When turning left and right, the guide base 3-1 rotates correspondingly through the slewing bearing, so that the side guide wheels 3-4-1 on the two sides are always pressed on the outer side surfaces of the bottoms on the two sides of the walking track 0, and a stable guide effect is achieved, and left and right shaking during turning is reduced; when the inspection robot goes up and down the slope along the walking track 0 or the walking track 0 is uneven, the arrangement of the upper pressure springs 3-2-6 can solve the problem of up-and-down bumping of the robot caused by the uneven walking track or the up-and-down slope, namely the problem of shock absorption can be solved.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.
Claims (10)
1. A double-arm roadway inspection robot applied to an underground coal mine comprises a robot main body, wherein an explosion-proof camera and a plurality of sensors for detecting environment safety parameters are arranged on the robot main body; it is characterized in that the utility model is characterized in that,
the robot main body is provided with a driving assembly; the driving assembly comprises two driving wheels which rotate in opposite directions and can clamp the traveling track, and the axis direction of the driving wheels is vertical to the extension tangential direction of the traveling track; each driving wheel is connected with a driving piece for driving the driving wheel to rotate;
the driving assembly is connected with a clamping assembly which can adjust the distance between the two driving wheels and can enable the two driving wheels to clamp the walking track;
and a group of guide assemblies are respectively arranged on the robot main body at the front end and the rear end of the driving assembly.
2. The double-arm roadway inspection robot applied to the underground coal mine according to claim 1, wherein a shell is arranged outside the robot body, and the explosion-proof camera penetrates out of the shell.
3. The double-arm roadway inspection robot applied to the underground coal mine according to claim 1, wherein the driving piece comprises a servo motor, an output end of the servo motor is connected with a speed reducer, and an output end of the speed reducer is connected with a driving wheel;
the bottom ends of the two speed reducers are connected with the clamping assembly.
4. The double-arm roadway inspection robot applied to the underground coal mine according to claim 3, wherein the clamping assembly comprises two end plates which are arranged in parallel, and two clamping guide shafts and a clamping screw rod are vertically arranged between the two end plates;
two ends of the clamping screw rod are respectively and rotatably connected with corresponding end plates; external threads with opposite rotation directions are arranged at the two ends of the clamping screw rod;
the two ends of the clamping screw rod are symmetrically provided with clamping seats, and the clamping seats are connected with the bottom ends of the corresponding speed reducers; the clamping seat is provided with a nut which is used for being in threaded fit with the corresponding end part of the clamping screw rod, and the clamping seat is provided with a clamping shaft sleeve which is used for being in sliding fit with the clamping guide shaft;
when the clamping screw rod rotates, the two clamping seats can synchronously move in the opposite direction or synchronously move back to back;
the end plate is fixedly connected with the robot main body.
5. The double-arm roadway inspection robot applied to the underground coal mine according to claim 4, wherein the clamping seat comprises two spring seats, and clamping through holes for the clamping guide shafts and the clamping screw rods to penetrate through are formed in the spring seats;
the nut is fixedly arranged on the spring seat close to the side of the proximal end plate;
a clamping shaft sleeve is arranged at the matching position of the spring seat and the clamping guide shaft;
the bottom end of the speed reducer is connected with a spring seat on the side of the corresponding clamping seat far away from the end plate;
and a pressing spring is sleeved on the clamping guide shaft between the two spring seats on the clamping seat.
6. The double-arm roadway inspection robot applied to the underground coal mine according to claim 1, wherein the guide assembly comprises a guide base, and two parallel supporting seats with adjustable distance are vertically arranged at the upper part of the guide base;
the opposite end surfaces of the two supporting seats are symmetrically provided with an upper guide assembly, a lower guide assembly and a side guide assembly;
the upper guide assembly comprises an upper guide wheel which is used for rolling and guiding the upper guide surface of the walking track and an upper pressure spring which presses the upper guide wheel to the upper guide surface of the walking track;
the lower guide assembly comprises a lower guide wheel which is used for being in rolling fit with the lower guide surface of the walking track; the central axis of the lower guide wheel is parallel to the central axis of the upper guide wheel;
the side guide assembly comprises side guide wheels which are used for being in rolling fit with the outer side face of the bottom of the walking track and a side guide adjusting assembly which presses the side guide wheels to the outer side face of the bottom of the walking track; the central axis of the side guide wheel is vertical to the central axis of the upper guide wheel;
and the middle part of the bottom end of the guide base is provided with a slewing bearing which is used for being rotatably connected with the robot body.
7. The double-arm roadway inspection robot applied to the underground coal mine according to claim 6, wherein a sliding block is arranged at the bottom of each supporting seat, and a sliding groove which is in sliding fit with the sliding block on the corresponding supporting seat along the axial direction of the lower guide wheel is arranged on the upper surface of each guide base;
two ends of the guide base along the axial direction of the lower guide wheel are fixedly provided with side baffles, and circular through holes are formed in the side baffles;
adjusting studs are vertically and fixedly arranged at the bottoms of the end surfaces of the two supporting seats which are opposite to each other; the other end of the adjusting stud penetrates through the circular through hole on the corresponding side baffle;
and locking nuts are arranged on the adjusting studs on the two sides of the side baffle.
8. The double-arm roadway inspection robot applied to the underground coal mine according to claim 6, wherein the upper guide assembly comprises a first connecting plate and a second connecting plate;
the first connecting plate is of an L-shaped structure, and the second connecting plate is of an F-shaped structure;
an upper guide wheel shaft is vertically and fixedly arranged on the vertical end face of the first connecting plate, and the upper guide wheel is rotationally connected with the upper guide wheel shaft;
the vertical end face of the second connecting plate is fixedly connected with the upper part of the supporting seat;
the horizontal end face of the first connecting plate is positioned between the two horizontal end faces of the second connecting plate; an upper pressure spring guide shaft is vertically and fixedly arranged on two horizontal end faces of the second connecting plate and penetrates through the horizontal end face of the first connecting plate;
and the upper compression spring is sleeved on an upper compression spring guide shaft between the horizontal end face of the first connecting plate and the horizontal end face of the lower part of the second connecting plate.
9. The double-arm roadway inspection robot applied to the underground coal mine according to claim 6, wherein the lower guide assembly comprises a lower guide wheel shaft, one end of the lower guide wheel shaft is coaxially and fixedly connected with the lower guide wheel, and the other end of the lower guide wheel shaft is rotatably connected with the supporting seat.
10. The double-arm roadway inspection robot applied to the underground coal mine according to claim 6, wherein the side guide assembly comprises a side guide wheel frame in a U-shaped structure, and two ends of the side guide wheel are rotatably connected with two parallel side plates of the side guide wheel frame through side guide wheel shafts;
the side guide adjusting assembly comprises two parallel side guide adjusting studs, one ends of the side guide adjusting studs are fixedly connected with the vertical end plate of the side guide wheel frame, and the other ends of the side guide adjusting studs penetrate through the supporting seat and are matched with side guide adjusting nuts;
and a jackscrew is in threaded fit with the supporting seat between the two side guide adjusting studs, and the end part of the jackscrew is jacked on the vertical end surface of the side guide wheel frame.
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| CN202110085269.4A CN112873169B (en) | 2021-01-22 | 2021-01-22 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
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| CN202110085269.4A CN112873169B (en) | 2021-01-22 | 2021-01-22 | Be applied to colliery both arms tunnel in pit and patrol and examine robot |
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| CN112873169B CN112873169B (en) | 2023-03-14 |
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| CN113601481A (en) * | 2021-08-18 | 2021-11-05 | 广州高新兴机器人有限公司 | Driving mechanism for rail-hanging robot |
| CN113681535A (en) * | 2021-07-16 | 2021-11-23 | 煤炭科学技术研究院有限公司 | Inspection robot walking device and inspection robot system thereof |
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| CN114043490A (en) * | 2021-10-11 | 2022-02-15 | 北京天玛智控科技股份有限公司 | Universal chassis structure of inspection robot |
| CN114770465A (en) * | 2022-05-26 | 2022-07-22 | 南京天创电子技术有限公司 | Hang rail robot walking drive structure |
| CN114803337A (en) * | 2022-03-30 | 2022-07-29 | 浙江工业大学台州研究院 | Track inspection robot |
| CN115229759A (en) * | 2022-04-14 | 2022-10-25 | 哈尔滨理工大学 | Self-adaptive pressure-regulating chassis of track robot |
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Effective date of registration: 20230602 Address after: 264006 Room 611, No. 2, Wuzhishan No.1, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: Shandong Yunhao Intelligent Technology Co.,Ltd. Address before: Room c-308b, industrial building 2, Science Park, Shandong University of science and technology, 579 qianwangang Road, Huangdao District, Qingdao City, Shandong Province 266590 Patentee before: Qingdao Shared Intelligent Manufacturing Co.,Ltd. |