CN113043239B - Double-motor driving type walking device for coal mine hanging rail type inspection robot and using method - Google Patents
Double-motor driving type walking device for coal mine hanging rail type inspection robot and using method Download PDFInfo
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- CN113043239B CN113043239B CN202110305032.2A CN202110305032A CN113043239B CN 113043239 B CN113043239 B CN 113043239B CN 202110305032 A CN202110305032 A CN 202110305032A CN 113043239 B CN113043239 B CN 113043239B
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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
- 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
- B25J19/0091—Shock absorbers
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention relates to a double-motor driven type walking device for a coal mine hanging rail type inspection robot, which walks on an I-shaped steel guide rail, and comprises a shell, a walking bracket, 4 groups of transverse auxiliary wheel assemblies, 4 groups of bearing wheel assemblies, 2 groups of driving wheel assemblies, 2 groups of longitudinal auxiliary wheel assemblies, 1 controller, 2 speed reducers and 2 servo motors. The invention also provides a use method of the walking device. The wheel train of the walking device is reasonable in structure, the robot can run stably and reliably, a reliable running platform is provided for the inspection robot, the use method is simple and reliable, the friction resistance of the curing device can be realized through the adjustment of the auxiliary wheel assembly and the driving wheel assembly, the installation accuracy is ensured, the matching of the driving force of the motor and the friction resistance is ensured, and the overload of a servo motor or the slippage of the walking device is effectively avoided.
Description
Technical Field
The invention relates to the technical field of special robots for coal mines, in particular to a double-motor driving type walking device for a hanger rail type inspection robot for a coal mine and a using method of the double-motor driving type walking device.
Background
In 2019, the national coal mine safety supervision bureau issues a 'coal mine robot key research and development catalogue', provides basic requirements for 5 and 38 kinds of coal mine robots for tunneling, coal mining, coal transportation, safety control and rescue, encourages and supports coal mine enterprises to cooperate with domestic and foreign research and development units and robot manufacturing enterprises, vigorously researches and develops and applies the coal mine robots, promotes high-quality development of the coal industry, and promotes safety development of the coal mine.
The hanger rail type inspection robot can be applied to occasions such as a long-distance belt conveyor, an underground distribution room, a gas extraction pump station and the like as a safety control robot in the field of coal mines, replaces manual inspection, and realizes an intelligent unattended mode. The walking device of the mine hanging rail type inspection robot is a main body for automatically completing inspection tasks, carries various sensors and a camera to collect images and environmental state data, provides a reliable walking platform for the robot, and is the key point for developing the hanging rail type inspection robot.
Because the coal mine operation environment belongs to a high-risk occasion, the electrical equipment needs to be subjected to special explosion-proof design, the weight and the volume of the equipment can be increased by conventional explosion-proof treatment, and a motor with larger power needs to be applied to finish traction walking, so that the power consumption of the whole machine is large, and the cruising ability is severely limited; the environment of the working occasions in the coal mine field is severe and complex, the walking path of the inspection robot is variable, and the inspection robot needs to run under multiple working conditions such as turning, climbing, descending and the like, so that the walking device is easy to slip, and the normal inspection is influenced; under the high dust operation environment in colliery, the robot track is very easily collected dirt and leads to the track surface unevenness, and running gear easily produces high frequency vibration, seriously influences the realization of functions such as robot image acquisition.
Disclosure of Invention
The invention aims to provide a double-motor driving type walking device for a coal mine rail type inspection robot and a use method thereof.
The above object of the present invention is achieved by the following technical solutions: the double-motor driven walking device for the coal mine hanging rail type inspection robot walks along an I-shaped steel guide rail and comprises a shell, a walking bracket, 4 groups of transverse auxiliary wheel assemblies, 4 groups of bearing wheel assemblies, 2 groups of driving wheel assemblies, 2 groups of longitudinal auxiliary wheel assemblies, 1 controller, 2 speed reducers and 2 servo motors; the traveling support is installed above the inside of the shell, 2 groups of transverse auxiliary wheel assemblies arranged in the front-back direction are installed on vertical connecting frames arranged on two sides of the traveling support in parallel respectively, the 2 groups of transverse auxiliary wheel assemblies are tightly attached to an I-steel guide rail, 2 groups of bearing wheel assemblies arranged in the front-back direction are installed on the inner sides of the 2 vertical connecting frames of the traveling support respectively, the 2 groups of bearing wheel assemblies are in contact with the horizontal section of the middle bottom of the I-steel guide rail, 2 groups of longitudinal auxiliary wheel assemblies arranged in the front-back direction are installed on the horizontal plate at the bottom of the traveling support, the longitudinal auxiliary wheel assemblies are matched with the bearing wheel assemblies to ensure the longitudinal stability of the traveling device, 1 group of driving wheel assemblies are symmetrically installed on the 2 vertical connecting frames of the traveling support respectively, each group of driving wheel assemblies is in contact with the vertical section of the I-steel guide rail, the bottom end of each group of driving wheel assemblies is connected with a speed reducer respectively, the speed reducers are additionally connected with servo motors arranged on the same side, 2 servo motors are additionally connected with controller signals, the controller controls the 2 servo motors to respectively drive the driving wheel assemblies on the same side of the I-steel guide rail to travel, and the controller, the 2 speed reducers and the 2 servo motors are all installed at the bottom ends of the inside the shell.
Furthermore, the transverse auxiliary wheel assembly comprises a transverse auxiliary wheel, a limiting shaft sleeve, a spring I and a spring shaft I, two ends of the transverse auxiliary wheel are fixed to the vertical connecting frame of the walking support through the spring shaft I and the limiting shaft sleeve respectively, and the spring I is further mounted on the spring shaft I.
Furthermore, a spring shaft I installation in-place marking structure is arranged on the spring shaft I.
Furthermore, the bearing wheel assembly comprises a bearing wheel, a bearing wheel shaft and a nut I, the bearing wheel shaft is arranged on the bearing wheel, the bearing wheel shaft penetrates through the vertical connecting frame of the walking support along the horizontal direction and is fixed through the nut I, and the bottom of the bearing wheel is in contact with the horizontal section of the bottom of the I-shaped steel guide rail.
Furthermore, the driving wheel assembly comprises a driving wheel, a driving wheel shaft and a driving wheel support, the driving wheel shaft is mounted on the driving wheel, the driving wheel support is mounted below the driving wheel shaft, and the driving wheel support is connected with the speed reducer.
Further, the driving wheel assembly further comprises a driving wheel adjusting assembly, and the driving wheel adjusting assembly comprises 2 driving wheel supports, 2 pin shafts, 2 pins, 2 nuts II, 2 springs III and a lead screw; every drive wheel bracket's one end is rotatably installed on walking bracket's perpendicular link through round pin axle and pin, fixed mutually with the drive wheel support after driving wheel bracket's the centre disconnection, 2 perpendicular link outsides of walking bracket are arranged in to 2 drive wheel bracket's the other end, and wear to be equipped with the lead screw on 2 drive wheel bracket and 2 perpendicular links, the both ends at 2 drive wheel bracket's outside lead screw are equipped with spring III respectively, and install nut II respectively at the both ends of lead screw, nut II fastens two drive wheels on the I-steel guide rail through the lead screw under spring III effect.
Furthermore, two ends of the screw rod are respectively provided with a nut installation in-place marking structure.
Further, vertical auxiliary wheel subassembly includes vertical auxiliary wheel, spring II, spring axle II and spacing pin, spring axle II is installed perpendicularly respectively at the both ends of vertical auxiliary wheel, on the bottom of spring axle II and the horizontal plate of walking support bottom, every spring axle II's bottom all overlaps and is equipped with spring II, every spacing pin is all installed on spring axle II's top, and vertical auxiliary wheel is fixed in I-steel guide rail bottom side under spring II's effect.
The usage of the double-motor driven type walking device for the coal mine rail type inspection robot specifically comprises the following steps:
(1) Assembling a shell of the walking device and the inspection robot together, assembling the inspection robot below the shell, and mutually communicating and supplying power between the inspection robot and the controller;
(2) The positions between a transverse auxiliary wheel assembly and a transverse driving wheel assembly in the traveling device and the I-steel guide rail are adjusted, so that the friction force of the traveling device is matched with the driving force of a motor, the power output of a servo motor is ensured, and the overload or slip phenomenon is avoided;
(3) 2 servo motors are controlled by the controller to respectively drive the driving wheels on the same side to move on the I-steel guide rail, so that the inspection robot is driven to walk.
Further, the adjusting of the transverse auxiliary wheel assembly in the step (2) is to adjust the front end of the spring shaft I to the position where the spring shaft I is installed in the position marking structure, and the adjusting of the driving wheel assembly is to adjust the two nuts II to the position where the nuts at the two ends of the lead screw are installed in the position marking structure respectively.
The invention has the beneficial effects that: the double-motor driving type traveling device for the coal mine rail type inspection robot is a novel traveling mechanism for the mine inspection robot, runs stably and reliably, and has the remarkable effects that:
(1) The double-motor driving mode is adopted, the driving modes of the two servo motors are diversified, energy-saving operation is realized through rotation speed adjustment, and the double-motor driving system is stable in operation and low in power consumption;
(2) The walking device adopts the structure of the transverse auxiliary wheel assembly and the longitudinal auxiliary wheel assembly, has better fitting performance with the I-shaped steel guide rail, can adapt to different operating conditions, has stable turning, does not slide during climbing, and has wide trial range.
(3) The walking device is provided with a spring shaft I installation in-place marking structure and a nut installation in-place marking structure, so that the friction resistance of the device can be cured, the installation accuracy is ensured, the driving force of the servo motor is matched with the friction resistance, and the overload of the servo motor or the slippage of the walking device is effectively avoided.
(4) The servo motor and the controller in the traveling device are processed by adopting an intrinsically safe explosion-proof technology, so that the traveling device is small in occupied space, light in weight and low in power consumption of the whole machine, and can be matched with different inspection robots for use.
(5) The I-steel guide rail for the robot to walk is made of conventional I-steel, so that the cost is low, long-distance inspection is facilitated, and the manufacturing cost of the inspection robot is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic structural view of a walking device of the present invention;
FIG. 2 is a schematic view of a transverse auxiliary wheel assembly mounting structure;
FIG. 3 is a schematic view of a longitudinal auxiliary wheel assembly mounting arrangement;
FIG. 4 is a schematic view of a load bearing wheel assembly mounting structure;
FIG. 5 is a schematic view of the mounting structure of the driving wheel assembly and the driving wheel adjusting assembly;
FIG. 6 is a top view of the drive wheel assembly and drive wheel adjustment assembly mounting structure;
FIG. 7 is a schematic view of an assembly structure of the traveling device and the inspection robot of the present invention;
FIG. 8 is a structural schematic diagram of a spring shaft I installation in-place marking structure;
FIG. 9 is a schematic view of a nut in-place marking structure;
FIG. 10 is a left side view of FIG. 1;
in the figure: 1. an I-steel guide rail; 2. a housing; 3. a transverse auxiliary wheel assembly; 301. a limiting shaft sleeve; 302. a spring I; 303. a spring shaft I; 3031. the spring shaft I is installed in the in-place marking structure; 304. a transverse auxiliary wheel; 4. a load bearing wheel assembly; 401. a load-bearing wheel; 402. a load bearing axle; 5. a drive wheel assembly; 501. a drive wheel; 502. a drive axle; 503. a drive wheel support; 504. a pin shaft; 505. a drive wheel support; 506. a pin; 507. a nut II; 508. a spring III; 509. a lead screw; 5091. the nut is installed in place and marked with a structure; 6. a traveling bracket; 601. a vertical connecting frame; 602. a horizontal plate; 7. a longitudinal auxiliary wheel assembly; 701. a spring shaft II; 702. a longitudinal auxiliary wheel; 703. a spring II; 704. a limit pin; 8. a controller; 9. a speed reducer; 10. a servo motor; 11. and (5) inspecting the robot.
Detailed Description
The details and embodiments of the present invention are further described with reference to the accompanying drawings and the following embodiments.
Example 1
Referring to fig. 1-6 and 10, the double-motor driven type traveling device for the coal mine rail type inspection robot travels along an i-steel guide rail 1, and comprises a shell 2, a traveling bracket 6, 4 groups of transverse auxiliary wheel assemblies 3, 4 groups of bearing wheel assemblies 4,2 groups of driving wheel assemblies 5, 2 groups of longitudinal auxiliary wheel assemblies 7, 1 controller 8, 2 speed reducers 9 and 2 servo motors 10; the traveling support 6 is arranged above the inside of the shell 2, 2 groups of transverse auxiliary wheel assemblies 3,2 are respectively arranged on vertical connecting frames 601 arranged at two sides of the traveling support 6 in parallel, 2 groups of transverse auxiliary wheel assemblies 3 arranged along the front-back direction are tightly attached to the I-steel guide rail 1, 2 groups of bearing wheel assemblies 4,2 arranged along the front-back direction are respectively arranged on the inner sides of the 2 vertical connecting frames 601 of the traveling support 6, the bearing wheel assemblies 4 are contacted with the horizontal section of the middle bottom of the I-steel guide rail 1, 2 groups of longitudinal auxiliary wheel assemblies 7 arranged along the front-back direction are arranged on a horizontal plate 602 at the bottom of the traveling support 6, the longitudinal auxiliary wheel assemblies 7 are matched with the bearing wheel assemblies 4 to ensure the longitudinal stability of the traveling device, 1 group of driving wheel assemblies 5 are respectively and symmetrically arranged on the 2 vertical connecting frames 601 of the traveling support 6, each group of driving wheel assemblies 5 is contacted with the vertical section of the I-steel guide rail 1, the bottom end of each group of driving wheel assembly 5 is respectively connected with a speed reducer 9, the speed reducer 9 is additionally connected with a servo motor 10 arranged on the same side, 2 servo motors 10 are additionally connected with a controller 8 signals, and the controller is respectively arranged on the shell and the servo motor 5 and the I-steel guide rail 2 servo motor 5 and the same side and the servo motor controller and the I-steel guide rail 2.
The transverse auxiliary wheel assembly 3 comprises a transverse auxiliary wheel 304, a limiting shaft sleeve 301, a spring I302 and a spring shaft I303, two ends of the transverse auxiliary wheel 304 are fixed on a vertical connecting frame 601 of the walking bracket 6 through the spring shaft I303 and the limiting shaft sleeve 301 respectively, and the spring I302 is further mounted on the spring shaft I303.
The spring shaft I303 is provided with a spring shaft I installation in-place marking structure 3031, the spring shaft I installation in-place marking structure 3031 is an annular groove machined in the spring shaft I303, and when the front end edge of the annular groove is aligned with the tail end edge of the transverse auxiliary wheel 304, the spring shaft I303 is installed in place.
The bearing wheel assembly 4 comprises a bearing wheel 401, a bearing wheel shaft 402 and a nut I403, wherein the bearing wheel shaft 402 is arranged on the bearing wheel 401, the bearing wheel shaft 402 penetrates through a vertical connecting frame 601 of the walking bracket 6 along the horizontal direction and is fixed through the nut I403, and the bottom of the bearing wheel 401 is in contact with the horizontal section of the middle bottom of the I-shaped steel guide rail 1.
The driving wheel assembly 5 comprises a driving wheel 501, a driving wheel shaft 502 and a driving wheel support 503, wherein the driving wheel shaft 502 is installed on the driving wheel 501, the driving wheel support 503 is installed below the driving wheel shaft 502, and the driving wheel support 503 is connected with the speed reducer 9.
The driving wheel assembly 5 further comprises a driving wheel adjusting assembly, and the driving wheel adjusting assembly comprises 2 driving wheel brackets 505, 2 pin shafts 504, 2 pins 506, 2 nuts II507, 2 springs III508 and a lead screw 509; one end of each driving wheel support 505 is rotatably mounted on a vertical connecting frame 601 of the traveling support 6 through a pin 504 and a pin 506, the middle of each driving wheel support 505 is disconnected and then fixed with the driving wheel support 503, the other end of each driving wheel support 505 is arranged on the outer side of each vertical connecting frame 601 of the traveling support 6, a lead screw 509 penetrates through each driving wheel support 505 and each vertical connecting frame 601, two ends of the lead screw 509 on the outer sides of the 2 driving wheel supports 505 are respectively sleeved with a spring III508, two ends of the lead screw 509 are respectively provided with a nut II507, and the two driving wheels 501 are fastened on the I-steel guide rail 1 through the lead screws 509 under the action of the springs III508 by the nuts II 507.
The both ends of lead screw 509 are equipped with nut installation marking structure 5091 that targets in place respectively, nut installation marking structure 5091 that targets in place is the annular groove of processing on lead screw 509, and when nut II507 outside border rotatory to with the inboard border department of annular groove, then nut II507 installs and targets in place.
The longitudinal auxiliary wheel assembly 7 comprises a longitudinal auxiliary wheel 702, a spring II703, a spring shaft II701 and a limit pin 704, the spring shaft II701 is vertically arranged at each of two ends of the longitudinal auxiliary wheel 702, the bottom end of the spring shaft II701 is connected with a horizontal plate 602 at the bottom of the walking bracket 6, the spring II703 is sleeved at the bottom end of each spring shaft II701, the limit pin 704 is arranged at the top end of each spring shaft II701, and the longitudinal auxiliary wheel 702 is fixed at the bottom side of the I-steel guide rail 1 under the action of the spring II 703.
The utility model provides a colliery hanger rail formula inspection robot is with usage of duplex drive formula running gear, specifically includes the following step:
referring to fig. 7, (1) a shell 2 of the walking device and an inspection robot 11 are assembled together, the inspection robot 11 is assembled below the shell 2, the assembly mode can be that screws are adopted to fix the inspection robot 11, the inspection robot 11 and a controller 8 are mutually communicated and power-supplied to be connected, and the running state of the walking device is controlled;
referring to fig. 8-9, (2) adjusting the positions between the transverse auxiliary wheel assembly 3 and the driving wheel assembly 5 in the walking device and the i-steel guide rail 1, ensuring that the friction force of the walking device is matched with the driving force of the driving motor, ensuring the power output of the servo motor 10 and avoiding overload or slipping;
(3) The controller 8 controls 2 servo motors 10 to respectively drive the driving wheels 501 on the same side to move on the I-steel guide rail 1, so that the inspection robot is driven to walk.
The adjustment of the transverse auxiliary wheel assembly 3 in the step (2) is to adjust the front end of the spring shaft I303 to the position of the spring shaft I installation in-place marking structure 3031, so that the transverse auxiliary wheel assembly 3 is ensured to be installed in place, the adjustment of the driving wheel assembly 5 is to adjust the two nuts II507 to the positions of the nut installation in-place marking structures 5091 at the two ends of the lead screw 509 respectively, so that the driving wheel assembly 5 is ensured to be installed in place, the installation accuracy of different operators on the walking device can be ensured by the marking of the installation positions, and the running reliability of the walking device is improved.
Because the walking device overcomes the friction force to realize walking by providing the driving force by the servo motor 10, the pretightening force between the transverse auxiliary wheel component 3 and the driving wheel component 5 and the I-shaped steel guide rail 1 in the walking device designed by the invention is adjustable, so that the friction resistance of the walking device is adjustable, the pretightening force needs to be adjusted to a marking position during installation, the friction force of the walking device is matched with the driving force of the servo motor 10, the power output of the servo motor 10 is ensured, and the overload or slip phenomenon can be avoided.
The working principle of the walking device of the invention is as follows: the servo motor 10 receives an operation instruction of the controller 8, the traction driving wheel assembly 5 walks on the I-steel guide rail 1, the whole weight of the inspection robot 11 is borne by the bearing wheel assembly 4, and the transverse auxiliary wheel assembly 3 and the longitudinal auxiliary wheel assembly 7 guarantee walking stability. The servo motor 10 and the controller 8 in the walking device are processed by adopting an intrinsically safe explosion-proof technology, so that the weight is small and the occupied space is small.
The transverse auxiliary wheel assemblies 3 are four groups in total, are positioned in the front and the back of the traveling direction and are respectively two groups and used for guaranteeing the transverse stability of the traveling device, the transverse auxiliary wheels 304 are fastened on the two sides of the I-steel guide rail 1 under the action of the springs I302, when the traveling and turning device travels and can be well attached to the I-steel guide rail, and when the surface of the I-steel guide rail is uneven, the springs I302 can filter bumping vibration and guarantee the running stability.
The longitudinal auxiliary wheel assemblies 7 are two groups in total, are respectively arranged in the front and the back of the advancing direction and are matched with the bearing wheels 401 for use, so that the longitudinal stability of the walking device is ensured. When the traveling device runs on a slope, the longitudinal auxiliary wheel assembly 7 can ensure the stability of the device on the I-shaped steel guide rail 1, the landslide state can be avoided, and when the surface of the I-shaped steel guide rail 1 is uneven, the spring II703 can ensure the stable running of the device through stretching.
The bearing wheel assemblies 4 are four in number and are arranged in front of and behind the traveling direction of the inspection robot 11, the bearing wheels 401 and the bearing wheel shafts 402 are assembled and then fixed on the traveling support 6 through nuts I403, and meanwhile, the bearing wheels are in contact with the I-shaped steel guide rails 1 and are used for bearing the weight of the whole inspection robot 11.
The driving wheel support 503 of the driving wheel assembly 5 is connected with the speed reducer 9 and the servo motor 10 and used for transmitting torque from the servo motor 10, the pretightening force between the driving wheel 501 and the I-steel guide rail 1 is adjusted through the nut II507 and used for providing different pretightening pressures for the walking device, and the polling robots 11 with different weights are driven to walk under the action of friction force.
When the surface of the I-steel guide rail 1 is uneven, the spring III508 plays a role in shock absorption, the walking stability of the whole device is guaranteed, and a reliable running platform is provided for the inspection robot 11.
The driving wheel assemblies 5 which are symmetrically arranged can realize synchronous operation or differential operation under the traction of the corresponding servo motors 10, the reliability of the traveling device during linear operation and turning operation is ensured, and the operation mode is more energy-saving and low in overall power consumption under the double-motor driving mode.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (3)
1. The double-motor driven walking device for the coal mine hanging rail type inspection robot is characterized by comprising a shell, a walking bracket, 4 groups of transverse auxiliary wheel assemblies, 4 groups of bearing wheel assemblies, 2 groups of driving wheel assemblies, 2 groups of longitudinal auxiliary wheel assemblies, 1 controller, 2 speed reducers and 2 servo motors; the walking bracket is arranged above the inside of the shell, 2 groups of transverse auxiliary wheel assemblies arranged along the front-back direction are respectively arranged on vertical connecting frames arranged on two sides of the walking bracket in parallel, the 2 groups of transverse auxiliary wheel assemblies are tightly attached to the I-steel guide rail, 2 groups of bearing wheel assemblies arranged along the front-back direction are respectively arranged on the inner sides of the 2 vertical connecting frames of the walking bracket, the 2 groups of bearing wheel assemblies are in contact with the horizontal section of the middle bottom of the I-steel guide rail, 2 groups of longitudinal auxiliary wheel assemblies arranged along the front-back direction are arranged on the horizontal plate at the bottom of the walking bracket, the longitudinal auxiliary wheel assemblies are matched with the bearing wheel assemblies to ensure the longitudinal stability of the walking device, 1 group of driving wheel assemblies are respectively and symmetrically arranged on the 2 vertical connecting frames of the walking bracket, each group of driving wheel assemblies is in contact with the vertical section of the I-steel guide rail, the bottom end of each group of driving wheel assemblies is respectively connected with a speed reducer, the speed reducers are additionally connected with servo motors arranged on the same side, 2 servo motors are additionally connected with a controller through signals, the controller controls the 2 servo motors to respectively drive the driving wheel assemblies on the same side of the I-steel guide rail to advance, and the controller, and the anti-explosion motor processor, and the servo motor processor adopt the intrinsic safety type;
the transverse auxiliary wheel assembly comprises a transverse auxiliary wheel, a limiting shaft sleeve, a spring I and a spring shaft I, two ends of the transverse auxiliary wheel are respectively fixed on the vertical connecting frame of the walking bracket through the spring shaft I and the limiting shaft sleeve, and the spring I is further mounted on the spring shaft I;
the spring shaft I is provided with a spring shaft I installation in-place marking structure;
the driving wheel assembly comprises a driving wheel, a driving wheel shaft and a driving wheel support, the driving wheel shaft is mounted on the driving wheel, the driving wheel support is mounted below the driving wheel shaft, and the driving wheel support is connected with the speed reducer;
the driving wheel assembly further comprises a driving wheel adjusting assembly, and the driving wheel adjusting assembly comprises 2 driving wheel supports, 2 pin shafts, 2 pins, 2 nuts II, 2 springs III and a lead screw; one end of each driving wheel support is rotatably arranged on a vertical connecting frame of the walking support through a pin shaft and a pin, the middle of each driving wheel support is fixed with the corresponding driving wheel support after being disconnected, the other ends of the 2 driving wheel supports are arranged on the outer sides of the 2 vertical connecting frames of the walking support, lead screws penetrate through the 2 driving wheel supports and the 2 vertical connecting frames, springs III are sleeved at the two ends of the lead screws on the outer sides of the 2 driving wheel supports respectively, nuts II are arranged at the two ends of the lead screws respectively, and the two driving wheels are fastened on the I-shaped steel guide rail through the lead screws under the action of the springs III;
two ends of the screw rod are respectively provided with a nut installation in-place marking structure;
the vertical auxiliary wheel assembly comprises a vertical auxiliary wheel, a spring II, a spring shaft II and a limiting pin, the spring shaft II is vertically arranged at two ends of the vertical auxiliary wheel respectively, the bottom end of the spring shaft II and a horizontal plate at the bottom of the walking support are respectively sleeved with the spring II, the limiting pin is arranged at the top end of the spring shaft II, and the vertical auxiliary wheel is fixed at the bottom side of the I-shaped steel guide rail under the action of the spring II.
2. The double-motor driven type traveling device for the coal mine hanger rail type inspection robot as claimed in claim 1, wherein the bearing wheel assembly comprises a bearing wheel, a bearing wheel shaft and a nut I, the bearing wheel is provided with the bearing wheel shaft, the bearing wheel shaft horizontally penetrates through a vertical connecting frame of the traveling bracket and is fixed through the nut I, and the bottom of the bearing wheel is in contact with a horizontal section of the middle bottom of the I-shaped steel guide rail.
3. The use method of the double-motor driven type traveling device for the coal mine hoisting rail type inspection robot according to any one of claims 1 to 2, comprises the following steps:
(1) Assembling a shell of the walking device and an inspection robot together, wherein the inspection robot is assembled below the shell, and the inspection robot and a controller are in communication power supply connection with each other;
(2) The positions between a transverse auxiliary wheel assembly and a driving wheel assembly in the walking device and an I-shaped steel guide rail are adjusted, so that the friction force of the walking device is matched with the driving force of a motor, the power output of a servo motor is ensured, and the overload or slip phenomenon is avoided;
(3) The controller controls the 2 servo motors to respectively drive the driving wheels on the same side to move on the I-shaped steel guide rail, so that the inspection robot is driven to move;
and (3) adjusting the transverse auxiliary wheel assembly in the step (2) to adjust the front end of the spring shaft I to the position where the spring shaft I is installed in place, and adjusting the driving wheel assembly to respectively adjust two nuts II to the positions where the nuts at the two ends of the screw rod are installed in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110305032.2A CN113043239B (en) | 2021-03-18 | 2021-03-18 | Double-motor driving type walking device for coal mine hanging rail type inspection robot and using method |
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| CN202110305032.2A CN113043239B (en) | 2021-03-18 | 2021-03-18 | Double-motor driving type walking device for coal mine hanging rail type inspection robot and using method |
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| CN113043239B true CN113043239B (en) | 2022-11-25 |
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| CN113843766A (en) * | 2021-09-27 | 2021-12-28 | 诠航科技有限公司 | Damping device of hanger rail type inspection robot driving wheel |
| CN113910196A (en) * | 2021-10-15 | 2022-01-11 | 北京华能新锐控制技术有限公司 | Moving mechanism of heavy-load track robot |
| CN114918895B (en) * | 2022-05-26 | 2023-08-15 | 华能左权煤电有限责任公司 | Intelligent inspection robot for pipe belt machine |
| CN116423532B (en) * | 2023-04-11 | 2024-01-30 | 安吉思防爆技术（苏州）有限公司 | Explosion-proof type track inspection robot |
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| WO2011100404A1 (en) * | 2010-02-10 | 2011-08-18 | Electric Power Research Institute, Inc. | Line inspection robot and system |
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| CN107139949A (en) * | 2017-06-10 | 2017-09-08 | 中信重工开诚智能装备有限公司 | A kind of pipe gallery crusing robot hoofing part mechanism |
| CN210971057U (en) * | 2019-11-15 | 2020-07-10 | 江苏博一矿业科技有限公司 | A drive structure that is used for colliery big inclination of down-hole rail mounted to patrol and examine robot |
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