CN113246093A - Intrinsically safe hanging rail type flexible walking device of inspection robot for coal mine and use method - Google Patents
Intrinsically safe hanging rail type flexible walking device of inspection robot for coal mine and use method Download PDFInfo
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- CN113246093A CN113246093A CN202110293409.7A CN202110293409A CN113246093A CN 113246093 A CN113246093 A CN 113246093A CN 202110293409 A CN202110293409 A CN 202110293409A CN 113246093 A CN113246093 A CN 113246093A
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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
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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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Abstract
The invention belongs to the field of special robots for coal mines, and discloses an intrinsically safe hanging rail type inspection robot flexible walking device for coal mines, wherein two groups of bearing wheel assemblies and driving wheel assemblies are respectively arranged on the left side and the right side of a vertical plate of a I-steel, each bearing wheel assembly comprises a bearing wheel and a bearing wheel connecting structure, each bearing wheel is arranged on an outer cover of a driving device through the corresponding bearing wheel connecting structure, each bearing wheel can be arranged on the upper surface of a lower transverse plate in a walking mode, each driving wheel assembly comprises a driving wheel and a driving wheel connecting structure, driving wheels in the two driving wheel assemblies are pressed on the surfaces of the two sides of the vertical plate of the I-steel, and the power end of each driving device is in power connection with the wheel shaft of one driving wheel so as to drive the intrinsically safe hanging rail type inspection robot flexible walking device for coal mines to walk on a hanging rail. This running gear, volume weight is little, can adapt to high dust environment and operate steadily. The invention also provides a use method of the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine.
Description
Technical Field
The invention belongs to the field of special robots for coal mines, and particularly relates to a flexible walking device of an intrinsically safe hanger rail type inspection robot for coal mines and a use method of the flexible walking device.
Background
With the development of industrial automation technology and informatization technology, the integration of the two technologies becomes one of important strategies for promoting the development of enterprises, and the 'mechanized people reduction and automatic people change' becomes one of important directions of coal mine electromechanical development. The unattended automatic control is implemented, so that workers can be liberated from underground working environments with high temperature, high humidity and high noise, and the automatic control method is one of important ways for reducing the quantity of workers, improving safe production conditions and saving labor cost for coal enterprises.
The mining hanger rail type inspection robot can replace manual work to automatically inspect special occasions such as a coal mine belt conveyor, a power transformation chamber and a gas extraction pump station, collects equipment running state data and environmental data, timely finds abnormal conditions and gives early warning, automatically generates an inspection data table, improves inspection efficiency and guarantees safety production. The walking mechanism of the mining hanger rail type inspection robot is a main body for completing inspection tasks, acquiring data and uploading as an inspection robot, various detection devices are carried to provide walking driving force for the robot, a reliable and stable moving platform is provided for the robot, and the walking mechanism is a difficult point and a key point for the development of the hanger rail type inspection robot.
Aiming at the special working environment under a coal mine, explosion-proof treatment is required to be carried out on a walking device of the inspection robot, explosion-proof technology is mostly adopted for treatment at present, the weight and the volume of a robot body are increased rapidly, and the load of the robot is too large to influence the endurance capacity of the whole machine; in the harsh operation environment of underground moisture and high dust of a coal mine, a large amount of coal dust is easily accumulated on a robot walking track, so that the walking stability of the robot is poor, the running vibration is large, and the stability of the image acquisition function of the robot is influenced.
Disclosure of Invention
In order to solve the problems, the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine is small in size and weight, can adapt to a high-dust environment and is stable in operation. The invention also provides a use method of the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine.
In order to achieve the purpose, the invention adopts the technical scheme that:
in the first technical scheme, the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine is installed on a hanging rail, the hanging rail main body is made of I-shaped steel, the hanging rail comprises a lower transverse plate, an upper transverse plate and a vertical plate used for connecting the lower transverse plate and the upper transverse plate, the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine comprises a driving device, a driving device outer cover and two groups of bearing wheel assemblies and driving wheel assemblies, wherein the two groups of bearing wheel assemblies and the driving wheel assemblies are respectively installed on the left side and the right side of the I-shaped steel vertical plate, the bearing wheel assemblies comprise bearing wheels and bearing wheel connecting structures, the bearing wheels are installed on the driving device outer cover through the bearing wheel connecting structures, the bearing wheels can be installed on the upper surface of the lower transverse plate in a walking mode and comprise driving wheels and driving wheel connecting structures, and the driving wheels in the two driving wheel assemblies press the surfaces on, the driving device is installed in the driving device outer cover, and the power end of the driving device is in power connection with a wheel shaft of a driving wheel so as to drive the intrinsically safe hanging rail type inspection robot flexible traveling device for the coal mine to travel on the hanging rail.
In the first technical scheme, the bearing wheel assemblies are preferably symmetrically arranged on two sides of the vertical plate.
In the first technical scheme, preferably, the bearing wheel connecting structure is a walking wheel train housing, the walking wheel train housing comprises a bearing beam, the bearing wheel assembly comprises two groups of spring fixing hinges, a spring guide II, a spring I, a bearing wheel, a connecting rod and a connecting rod fixing hinge, wherein the bearing beam is positioned between a lower transverse plate and an upper transverse plate, a main body of the bearing beam extends along the front and rear walking direction of the intrinsically safe hanger rail type inspection robot flexible walking device for coal mines, a base of the spring fixing hinge is fixedly connected to the lower edge of the bearing beam, the upper end of the spring I is fixedly connected to the rotating end of the spring fixing hinge, the lower end of the spring I is fixedly connected to a wheel axle seat of the bearing wheel, the spring guide II is installed in the spring, a first end of the connecting rod is hinged to a wheel axle of the bearing wheel, a second end of the connecting rod is hinged to the lower edge of the bearing beam through the connecting rod fixing hinge, the spring fixing hinge, the spring guide II, the spring I, the connecting rod and the connecting rod fixing hinge form a swing arm damping mechanism.
In the first technical scheme, preferably, in the bearing wheel assembly, two springs I are vertically arranged, and two connecting rods are arranged in a splayed mode.
In a first technical scheme, as preferred, drive arrangement includes right angle reduction gear, servo motor and servo motor controller, the input of right angle reduction gear is connected to servo motor's output, right angle reduction gear's output and drive wheel power are connected, servo motor controller and servo motor signal connection, servo motor controller send the execution signal to servo motor after accepting control signal, and servo motor rotates through execution signal drive wheel to realize that the flexible running gear of robot wholly gos forward or retreats is patrolled and examined to the mining safe type hanger rail formula of essence of coal.
In a first technical scheme, preferably, the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine further comprises two groups of auxiliary wheel assemblies, each auxiliary wheel assembly comprises an auxiliary wheel and an auxiliary wheel connecting structure, and the auxiliary wheels in the two auxiliary wheel assemblies are pressed on the surfaces of the two sides of a vertical plate of the I-steel.
In the first technical solution, preferably, the auxiliary wheel assembly and the driving wheel assembly are respectively installed in front of and behind the bearing wheel set.
In a first technical scheme, as preferred, the auxiliary wheel subassembly still includes linear guide I, spring fixing base I and two sets of auxiliary wheel extension rods, auxiliary wheel fixing base, guide rail slider, spring I, spring direction I and, linear guide I installs at drive arrangement dustcoat downside, and spring fixing base I installs and corresponds riser below position at linear guide I, two guide rail slider all installs on linear guide I and is located I both sides of spring fixing base respectively, and the auxiliary wheel fixing base is installed on the guide rail slider, the auxiliary wheel extension rod is installed on the auxiliary wheel fixing base, the auxiliary wheel passes through the auxiliary wheel axle and installs on the auxiliary wheel extension rod, I both ends butt of spring is in spring fixing base I and guide rail slider, I cartridge of spring direction is inside spring direction I.
In a first technical scheme, as preferred, two among the drive wheel subassembly, not with the drive wheel subassembly of drive arrangement butt joint still includes drive wheel axle fixing base, spring fixing base II, spring direction III, spring III, guide rail slider II, linear guide II and drive wheel fixing base, linear guide II installs at drive arrangement dustcoat downside, and spring fixing base II is installed at linear guide II and is corresponded riser below position, and guide rail slider II installs on linear guide II, and the drive wheel fixing base is installed on guide rail slider II, and the drive wheel passes through drive wheel axle fixing base and installs on the drive wheel fixing base.
In the second technical scheme, the usage of the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine uses the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine as the first technical scheme, an external installation interface is arranged in the driving device outer cover of the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine, the driving device outer cover is assembled with the inspection robot through a standard component, then the integrated inspection robot is integrally hoisted on a guide rail, the inspection robot and a servo motor controller are communicated with each other and supply power, a servo motor is driven to work, the walking requirement of the inspection robot is met, and a mobile platform is provided for the inspection robot.
The invention has the beneficial effects that:
the intrinsically safe hanging rail type flexible walking device of the inspection robot for the coal mine is a novel flexible walking mechanism, can solve the technical problems of the existing hanging rail type flexible walking device that the weight and the size are large, the walking stability is poor, the high-frequency vibration and the environmental adaptability are insufficient, and has remarkable effects:
(1) the device load-bearing unit and the walking unit adopt damping elements, so that the bumping and vibration of the robot in the walking process can be effectively filtered, and the running stability of the robot is improved;
(2) the internal walking structure of the device adopts a reasonable holding device, the structure is compact and simple, and the robot is effectively prevented from slipping;
(3) the device adopts the explosion-proof processing of safe type of essence, and is small, light in weight, and the complete machine burden of robot is little patrolling and examining, helps patrolling and examining the complete machine of robot and promotes the duration.
(4) The robot track is simple in structure, low in cost and suitable for long-distance inspection occasions.
Drawings
Fig. 1 is a schematic diagram of the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine.
Fig. 2 is a schematic diagram of the hanger rail structure of the intrinsically safe hanger rail type inspection robot flexible walking device for coal mines.
Fig. 3 is a schematic diagram of a splicing structure of guide rails of the intrinsically safe hanger rail type inspection robot flexible walking device for coal mines.
Fig. 4 is a schematic diagram of an auxiliary wheel assembly of the flexible walking device of the intrinsically safe hanger rail type inspection robot for the coal mine.
Fig. 5 is a schematic diagram of a bearing wheel assembly of the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine.
Fig. 6 is a schematic diagram of a driving wheel assembly of the flexible traveling device of the intrinsically safe hanging rail type inspection robot for the coal mine.
Fig. 7 is an effect diagram of the intrinsically safe hanger rail type inspection robot flexible walking device for coal mines.
The reference numerals include:
1-a hanging rail, 2-an auxiliary wheel assembly, 3-a bearing wheel assembly, 4-a traveling wheel train housing, 5-a driving wheel assembly, 6-a right-angle reducer, 7-a servo motor, 8-a driving device housing, 9-a servo motor controller, 10-a hanging rail mounting bracket and 11-an inspection robot;
101-corner guide rail, 102-fastening standard component, 103-linear guide rail;
201-auxiliary wheel shaft, 202-auxiliary wheel, 203-auxiliary wheel connecting rod, 204-auxiliary wheel fixing seat, 205-linear guide rail I, 206-guide rail sliding block, 207-spring I, 208-spring guide I, 209-spring fixing seat I;
301-spring fixed hinge, 302-spring guide II, 303-spring II, 304-bearing wheel, 305-connecting rod and 306-connecting rod fixed hinge;
501-driving wheel shaft fixing seat, 502-driving wheel, 503-spring fixing seat II, 504-spring guide III, 505-spring III, 506-guide rail sliding block II, 507-linear guide rail II, 508-driving wheel fixing seat.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
Example 1
As shown in fig. 1-7, the intrinsically safe hanger rail 1 type inspection robot flexible traveling device for coal mines provided by this embodiment is installed on a hanger rail 1, the hanger rail 1 is made of i-steel, the hanger rail 1 includes a lower transverse plate, an upper transverse plate and a vertical plate for connecting the lower transverse plate and the upper transverse plate, the intrinsically safe hanger rail 1 type inspection robot flexible traveling device for coal mines includes a driving device, a driving device housing 8, and two sets of bearing wheel assemblies 3 and driving wheel assemblies 5, wherein the two sets of bearing wheel assemblies 3 and driving wheel assemblies 5 are respectively installed on the left and right sides of the i-steel vertical plate, the bearing wheel assembly 3 includes a connecting structure of a bearing wheel 304 and a bearing wheel 304, the bearing wheel 304 is installed on the driving device housing 8 through the connecting structure of the bearing wheel 304, the bearing wheel 304 is installed on the upper surface of the lower transverse plate in a movable manner, the driving wheel assembly 5 includes a connecting structure of a driving wheel 502 and a driving wheel 502, the driving wheels 502 in the two driving wheel assemblies 5 are pressed on the surfaces of the two sides of the vertical plate of the I-steel in a butt mode, the driving device is installed in the driving device outer cover 8, and the power end of the driving device is in power connection with the wheel shaft of one driving wheel 502 so as to drive the intrinsically safe type hanging rail 1 type inspection robot flexible walking device for the coal mine to walk on the hanging rail.
In this embodiment, hanger rail 1 comprises linear guide 103 and corner guide 101, and linear guide 103 and corner guide 101 connection site all adopt unsmooth grafting structure, splices together through fastening standard 102, and the guide rail wholly combines firmly and levelly and smoothly, and linear hanger rail 1 and corner hanger rail 1 all adopt section bar I-steel to process and form, simple structure, low cost.
The bearing wheel components 3 are symmetrically arranged on two sides of the vertical plate. The bearing wheel 304 connecting structure is a walking wheel train outer cover 4, the walking wheel train outer cover 4 comprises a bearing beam, the bearing wheel assembly 3 comprises two groups of spring fixing hinges 301, spring guides II 302, springs I207, bearing wheels 304, connecting rods 305 and connecting rod fixing hinges 306, the bearing beam is positioned between a lower transverse plate and an upper transverse plate, the main body of the bearing beam extends along the front and rear walking direction of the intrinsically safe type hanging rail 1 type inspection robot flexible walking device for coal mines, the base of the spring fixing hinges 301 is fixedly connected to the lower edge of the bearing beam, the upper end of the springs I207 is fixedly connected to the rotating end of the spring fixing hinges 301, the lower end of the springs I207 is fixedly connected to a wheel axle seat of the bearing wheels 304, the spring guides II 302 are installed in the springs, the first end of the connecting rods 305 is hinged to a wheel axle of the bearing wheels 304, the second end of the connecting rods 305 is hinged to the lower edge of the bearing beams through the connecting rod fixing hinges 306, the spring fixing hinge 301, the spring guide II 302, the spring I207, the connecting rod 305 and the connecting rod fixing hinge 306 form a swing arm damping mechanism.
In the bearing wheel assembly 3, two springs I207 are vertically arranged, and two connecting rods 305 are arranged in a splayed shape.
The bearing wheel assembly 3 is fixed on the walking wheel train outer cover 4, and the whole weight of the walking device and the inspection robot is transmitted to four bearing wheels 304 which are symmetrically arranged through the walking wheel train outer cover 4. When dust and foreign matters in the operation environment of the inspection robot are accumulated in the hanger rail 1 to cause uneven walking surfaces, the bearing wheels 304 can flexibly walk in a self-adaptive road condition under the driving of the connecting rod 305 mechanism and the springs, the unevenness of the walking surfaces is filtered, the operation is stable, the vibration of the whole machine is reduced, and a reliable inspection platform is provided for the inspection robot.
Drive arrangement includes right angle reduction gear 6, servo motor 7 and servo motor controller 9, the input of right angle reduction gear 6 is connected to servo motor 7's output, right angle reduction gear 6's output and drive wheel 502 power are connected, servo motor controller 9 and servo motor 7 signal connection, servo motor controller 9 sends the execution signal to servo motor 7 after accepting control signal, servo motor 7 rotates through execution signal drive wheel 502, in order to realize that the colliery is with safe type hanger rail 1 formula of essence patrols and examines flexible running gear of robot wholly gos forward or retreat.
The intrinsically safe type hanging rail 1 type inspection robot flexible walking device for the coal mine further comprises two groups of auxiliary wheel assemblies 2, each auxiliary wheel assembly 2 comprises an auxiliary wheel 202 and an auxiliary wheel 202 connecting structure, and the auxiliary wheels 202 in the two auxiliary wheel assemblies 2 are oppositely pressed on the surfaces of the two sides of a vertical plate of the I-steel.
The auxiliary wheel assembly 2 and the driving wheel assembly 5 are respectively arranged in front of and behind the bearing wheel 304 group.
After the auxiliary wheel 202 and the auxiliary wheel shaft 201 are assembled, the auxiliary wheel connecting rod 203 and the auxiliary wheel fixing seat 204 are connected with the guide rail sliding block 206, the symmetrically arranged springs I207 provide pulling force, the guide rail sliding block 206 is driven to slide towards the side of the hanging rail 1 on the linear guide rail I205, and the symmetrically arranged auxiliary wheel 202 is fastened in the I-steel of the hanging rail 1 under the action of the pulling force of the springs.
Linear guide I205, spring fixing base I209 are fixed on drive arrangement dustcoat 8.
When dust and foreign matters in the operation environment of the inspection robot are accumulated in the hanger rail 1 to cause uneven walking surfaces, the auxiliary wheel 202202 can adaptively stretch and filter the uneven condition of the surface of the I-shaped steel under the traction of the spring I207207, the vibration caused to the walking device is reduced, and the stable operation is ensured. When dust and foreign matters in the running environment of the inspection robot are accumulated in the hanger rail 1 to cause uneven running surfaces, the auxiliary wheel 202 can adaptively stretch and filter the uneven condition of the surface of the I-shaped steel under the traction of the spring I207, so that the vibration caused to the running device is reduced, and the stable running is ensured.
Among two drive wheel assembly 5, drive wheel assembly 5 that does not dock with drive arrangement still includes drive wheel 502 axle fixing base 501, spring fixing base II 503, spring direction III 504, spring III 505, guide rail II 506, linear guide II 507 and drive wheel fixing base 508, 8 downside at the drive arrangement dustcoat are installed to linear guide II 507, spring fixing base II 503 is installed and is corresponded riser below position at linear guide II 507, guide rail II 506 is installed on linear guide II 507, drive wheel fixing base 508 is installed on guide rail II 506, drive wheel 502 passes through drive wheel 502 axle fixing base 501 and installs on drive wheel fixing base 508.
Under the action of the tension of the spring III 505, the two driving wheels 502 are fastened in the I-steel of the suspension rail 1 through the guide rail sliding block II 506, the linear guide rail II 507 and the driving wheel fixing seat 508, so that pre-tightening force is provided for the traveling device to prevent the traveling device from slipping. The servo motor 7 overcomes the static friction through the right-angle speed reducer 6 and the driving wheel 502 to drive the running device to run, when dust and foreign matters in the running environment of the inspection robot are accumulated in the hanger rail 1 to cause uneven running surfaces, the driving wheel 502 can self-adaptively stretch and filter the uneven condition of the surface of the I-shaped steel under the traction of the spring III 505, the vibration caused to the running device is reduced, and the stable running is ensured.
As shown in fig. 7, the driving device housing 8 in the traveling device is provided with an external installation interface, and is assembled with the inspection robot 11 through a standard component, and then is integrally hung on the guide rail 1, the inspection robot and the servo motor controller 9 are communicated with each other and supply power to drive the servo motor 7 to work, so that the traveling requirement of the inspection robot 11 is met, and a moving platform is provided for the inspection robot 11.
Example 2
The usage of the intrinsically safe hanger rail 1 type inspection robot flexible walking device for the coal mine provided by the embodiment uses the intrinsically safe hanger rail 1 type inspection robot flexible walking device for the coal mine in the embodiment 1, a driving device outer cover 8 in the intrinsically safe hanger rail 1 type inspection robot flexible walking device for the coal mine is provided with an external installation interface, the external installation interface is assembled with an inspection robot through a standard component, then the external installation interface is integrally hoisted on a guide rail, the inspection robot and a servo motor controller 9 are communicated with each other and supply power, a servo motor 7 is driven to work, the walking requirement of the inspection robot is met, and a mobile platform is provided for the inspection robot.
The foregoing is only a preferred embodiment of the present invention, and many variations in the detailed description and the application range can be made by those skilled in the art without departing from the spirit of the present invention, and all changes that fall within the protective scope of the invention are therefore considered to be within the scope of the invention.
Claims (10)
1. The flexible running gear of robot is patrolled and examined to safe type hanger rail formula of essence for the coal mine, it is installed on the hanger rail, the hanger rail main part is the I-steel, and the hanger rail includes diaphragm, last diaphragm down and is used for connecting the riser of diaphragm and last diaphragm down, its characterized in that: the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine comprises a driving device, a driving device outer cover, two groups of bearing wheel assemblies and two groups of driving wheel assemblies, wherein, the two groups of bearing wheel components and the driving wheel components are respectively arranged at the left side and the right side of the I-steel vertical plate, the bearing wheel components comprise bearing wheels and bearing wheel connecting structures, the bearing wheels are arranged on the outer cover of the driving device through the bearing wheel connecting structures, the bearing wheels can be arranged on the upper surface of the lower transverse plate in a walking way, the driving wheel assembly comprises a driving wheel and a driving wheel connecting structure, the driving wheels in the two driving wheel assemblies are pressed on the surfaces of two sides of the vertical plate of the I-steel, the driving device is arranged in the driving device outer cover, the power end of the driving device is in power connection with a wheel axle of a driving wheel, the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine is driven to walk on the hanging rail.
2. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 1, which is characterized in that: the bearing wheel components are symmetrically arranged on two sides of the vertical plate.
3. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 2, characterized in that: the bearing wheel connecting structure is a walking wheel train outer cover which comprises a bearing beam, the bearing wheel assembly comprises two groups of spring fixing hinges, a spring guide II, a spring I, a bearing wheel, a connecting rod and a connecting rod fixing hinge, wherein the bearing beam is positioned between a lower transverse plate and an upper transverse plate, the main body of the bearing beam extends along the front and rear walking directions of the intrinsically safe hanging rail type patrol robot flexible walking device for coal mines, the base of the spring fixing hinge is fixedly connected to the lower edge of the bearing beam, the upper end of the spring I is fixedly connected to the rotating end of the spring fixing hinge, the lower end of the spring I is fixedly connected to a wheel axle seat of the bearing wheel, the spring guide II is installed in the spring, the first end of the connecting rod is hinged to a wheel axle of the bearing wheel, the second end of the connecting rod is hinged to the lower edge of the bearing beam through the connecting rod fixing hinge, the spring fixing hinge, The spring guide II, the spring I, the connecting rod and the connecting rod fixing hinge form a swing arm damping mechanism.
4. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 3, characterized in that: in the bearing wheel assembly, two springs I are vertically arranged, and two connecting rods are arranged in a splayed shape.
5. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 1, which is characterized in that: the drive arrangement includes right angle reduction gear, servo motor and servo motor controller, the input of right angle reduction gear is connected to servo motor's output, right angle reduction gear's output and drive wheel power are connected, servo motor controller and servo motor signal connection, servo motor controller send the execution signal to servo motor after accepting control signal, and servo motor rotates through execution signal drive wheel to realize that the flexible running gear of robot wholly gos forward or retreats in the safe type hanger rail formula of mining essence patrols and examines.
6. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 1, which is characterized in that: the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine further comprises two sets of auxiliary wheel assemblies, each auxiliary wheel assembly comprises an auxiliary wheel and an auxiliary wheel connecting structure, and the auxiliary wheels in the auxiliary wheel assemblies are pressed on the surfaces of the two sides of the vertical plate of the I-steel.
7. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 6, characterized in that: the auxiliary wheel assembly and the driving wheel assembly are respectively arranged in front of and behind the bearing wheel assembly.
8. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 6 or 7, characterized in that: the auxiliary wheel assembly further comprises a linear guide rail I, a spring fixing seat I, two groups of auxiliary wheel rotating connecting rods, two auxiliary wheel fixing seats, two guide rail sliding blocks, a spring I and a spring guide I, wherein the linear guide rail I is installed on the lower side of the outer cover of the driving device, the spring fixing seat I is installed on the position, corresponding to the vertical plate, of the linear guide rail I, the two guide rail sliding blocks are installed on the linear guide rail I and are respectively located on two sides of the spring fixing seat I, the auxiliary wheel fixing seats are installed on the guide rail sliding blocks, the auxiliary wheel rotating connecting rods are installed on the auxiliary wheel fixing seats, the auxiliary wheels are installed on the auxiliary wheel rotating connecting rods through auxiliary wheel shafts, two ends of each spring I are abutted to the spring fixing seats I and the guide rail sliding blocks, and the spring guide I is inserted into the spring guide I.
9. The coal mine intrinsically safe hanger rail type inspection robot flexible walking device according to claim 1, which is characterized in that: among two drive wheel subassemblies, the drive wheel subassembly that does not dock with drive arrangement still includes drive wheel axle fixing base, spring fixing base II, spring direction III, spring III, guide rail slider II, linear guide II and drive wheel fixing base, linear guide II installs at drive arrangement dustcoat downside, and spring fixing base II installs and corresponds riser below position at linear guide II, and guide rail slider II installs on linear guide II, and the drive wheel fixing base is installed on guide rail slider II, and the drive wheel passes through drive wheel axle fixing base and installs on the drive wheel fixing base.
10. The use method of the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine uses the intrinsically safe hanger rail type inspection robot flexible walking device for the coal mine according to any one of claims 1 to 9, and is characterized in that: the driving device outer cover in the intrinsically safe hanging rail type inspection robot flexible walking device for the coal mine is provided with an external installation interface, the external installation interface and the inspection robot are assembled together through a standard component and then integrally hung on a guide rail, the inspection robot and the servo motor controller are communicated with each other and supply power to drive the servo motor to work, the walking requirement of the inspection robot is met, and a moving platform is provided for the inspection robot.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113681537A (en) * | 2021-09-13 | 2021-11-23 | 合肥市信同信息科技有限公司 | High-altitude suspension type electric power inspection robot |
| CN113954906A (en) * | 2021-11-05 | 2022-01-21 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN114147684A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | Take curve guide rail guiding mechanism of pre-compaction and robot thereof |
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| CN113681537A (en) * | 2021-09-13 | 2021-11-23 | 合肥市信同信息科技有限公司 | High-altitude suspension type electric power inspection robot |
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| CN113954906B (en) * | 2021-11-05 | 2022-12-13 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN114147684A (en) * | 2021-11-15 | 2022-03-08 | 杭州申昊科技股份有限公司 | Take curve guide rail guiding mechanism of pre-compaction and robot thereof |
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