CN114336416A - Robot track system and inspection system - Google Patents
Robot track system and inspection system Download PDFInfo
- Publication number
- CN114336416A CN114336416A CN202210138106.2A CN202210138106A CN114336416A CN 114336416 A CN114336416 A CN 114336416A CN 202210138106 A CN202210138106 A CN 202210138106A CN 114336416 A CN114336416 A CN 114336416A
- Authority
- CN
- China
- Prior art keywords
- steel wire
- wire rope
- track
- robot
- main bodies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 55
- 239000010959 steel Substances 0.000 claims abstract description 55
- 210000001503 joint Anatomy 0.000 claims abstract description 31
- 230000009471 action Effects 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims abstract description 5
- 238000000429 assembly Methods 0.000 claims abstract description 5
- 238000011084 recovery Methods 0.000 claims abstract description 4
- 238000004804 winding Methods 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 10
- 239000004033 plastic Substances 0.000 claims description 5
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 239000004945 silicone rubber Substances 0.000 claims 1
- 238000007789 sealing Methods 0.000 abstract description 5
- 230000000875 corresponding effect Effects 0.000 description 18
- 238000005065 mining Methods 0.000 description 18
- 239000003245 coal Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000002079 cooperative effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a robot track system and an inspection system, wherein the robot track system comprises a plurality of track main bodies, a plurality of hoisting mechanisms arranged at two ends of the track main bodies and a plurality of butt joint assemblies connected with adjacent track main bodies; the butt joint assembly comprises two connecting buckles and at least one first steel wire rope, wherein two ends of the first steel wire rope are respectively connected with the two connecting buckles; the connecting buckles are respectively connected to the hoisting mechanisms at the corresponding ends of the adjacent track bodies; in the process of dislocation and disengagement of adjacent track main bodies, the hoisting mechanism can perform loosening action to draw out the first steel wire rope; and in the process of resetting and butting adjacent track main bodies, the hoisting mechanism performs recovery action to inwards wind and tighten the first steel wire rope. This application forms the closed track system after advancing through track main part, hoist mechanism and butt joint subassembly. Meanwhile, the flexibility of the hoisting mechanism ensures the sealing property of the rail system and the safety of dislocation disconnection and reset butt joint.
Description
Technical Field
The application relates to the technical field of coal mine fully mechanized mining, in particular to a robot track system and an inspection system.
Background
The large-scale coal fully mechanized mining working face at the present stage has basically realized fully mechanized mining and intelligent control, but the cooperative action among all main equipment still depends on manual detail intervention to ensure the reliable operation of the whole system. Particularly, for the matching of the hydraulic supports and the coal mining machine, the hydraulic supports which are parallel to the working face and arranged side by side are used for reliably supporting the geological layer above the coal mining action range on the fully mechanized mining face, and the coal mining machine executes the coal mining action under the supporting protection of the hydraulic supports. Along with the advance of the coal mining machine along the depth direction of the fully mechanized mining face, the hydraulic support positioned in front of the walking of the coal mining machine needs to upwards retract the front end protection plate tightly attached to the working face according to a set speed rhythm so as to avoid interference with a roller of the coal mining machine in operation, and on the other hand, the hydraulic support positioned in back of the walking of the coal mining machine needs to advance towards the working face which has advanced to the depth one layer one by one according to the set speed rhythm (namely, pulling frame action), and after the advance is completed, the front end protection plate is downwards extended to be tightly attached to the working face so as to ensure reliable support.
Although the above cooperative actions can be primarily controlled by the current intelligent control system. However, due to the influence of comprehensive factors such as actual terrain, coal seam structure and equipment action deviation, the hydraulic support cannot accurately achieve each action. Due to the accumulation of the action of the inaccurate factors, the cooperative operation of the coal mining system still cannot leave the human intervention of a support inspector, which is not in line with the development requirements of comprehensive intelligent and safe mining. In addition, a robot is used for replacing manual work to carry out related routing inspection work, but the existing known track system cannot solve the problem of interference damage to a single track when a pulling frame is misplaced.
Disclosure of Invention
In order to solve the problems in the prior art, in a first aspect, the application provides a robot track system, which includes a plurality of track main bodies, a plurality of hoisting mechanisms arranged at two ends of the track main bodies, and a plurality of docking assemblies connecting adjacent track main bodies;
the butt joint assembly comprises two connecting buckles and at least one first steel wire rope, wherein two ends of the first steel wire rope are respectively connected with the two connecting buckles; the connecting buckles are respectively connected to the hoisting mechanisms at the corresponding ends of the adjacent track bodies; a second steel wire rope is wound on the hoisting mechanism, one end of the second steel wire rope is fixed on the hoisting mechanism, and the other end of the second steel wire rope is connected with the connecting buckle at the corresponding end;
in the process of dislocation and disengagement of the adjacent track main bodies, the hoisting mechanism can perform loosening action to draw out the second steel wire rope; and in the process of resetting and butting adjacent track main bodies, the hoisting mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
In one embodiment, the robotic rail system further comprises a plurality of flexible components, each flexible component disposed between adjacent rail bodies; the flexible assembly is provided with at least one through hole for the first steel wire ropes in the butt joint assembly to correspondingly penetrate through.
In one embodiment, the flexible member is made of silicon rubber.
In an embodiment, two ends of the rail main body are respectively provided with a guide member, and the guide member is provided with at least one guide passage for the first steel wire ropes in the butt joint assembly to pass through one to one.
In one embodiment, the material of the guide member is a hard wear-resistant plastic plate.
In one embodiment, the winding mechanism comprises a housing, and a spiral spring, a second steel wire rope and a rotating shaft which are arranged in the housing;
wherein, one end of the spiral spring is fixed on the first end of the rotating shaft, and the other end is fixed on the outer shell;
one end of the second steel wire rope is fixed at the second end of the rotating shaft and wound on the rotating shaft, and the other end of the second steel wire rope penetrates through the outer shell to be connected with the connecting buckle at the corresponding end;
in the process of dislocation and disconnection of adjacent track main bodies, the second steel wire rope in the hoisting mechanism at the corresponding end is pulled out outwards to drive the rotating shaft to rotate, so that the volute spiral spring is screwed to accumulate elastic force; in the process of the reset butt joint of the adjacent track main bodies, the spiral spring releases the elastic force to drive the rotating shaft to rotate reversely, so that the second steel wire rope is wound and tightened inwards.
In one embodiment, the hoisting mechanism is a winch.
In one embodiment, a passive positioning tag is disposed on the track main body, and the passive positioning tag includes position information.
In a second aspect, the present application provides a robot inspection system, comprising: any robot track system, at least one robot moving on the robot track system and hydraulic supports corresponding to the track main bodies one to one are provided; and the robot track system is rigidly connected with the corresponding hydraulic support.
In an embodiment, a passive positioning tag is further disposed on the track main body, and the robot can obtain the position information by reading the passive positioning tag.
This application forms effectual link gear through track main part, hoist mechanism and butt joint subassembly, has realized that each track section carries out the dislocation in step along with the action of pulling the frame and throw off to and reply the butt joint one by one, and form the closed track system after advancing. Meanwhile, the hoisting mechanism has certain flexibility, so that the sealing performance and the safety of dislocation disconnection and reset butt joint of the track system are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a robot track system provided in the present application.
Fig. 2 is a schematic connection diagram of a hydraulic support and a rail main body provided by the present application.
Fig. 3 is a schematic view of the track bodies provided herein side-by-side to form a complete track system.
Fig. 4 to 5 are schematic views illustrating the misalignment of adjacent rail body pull frames provided in the present application.
Fig. 6 is a schematic view of the close mating of adjacent rail bodies provided herein.
FIG. 7 is a schematic view of the connection of the docking assembly and the flexible assembly provided herein.
Fig. 8 is another schematic view of a robotic rail system provided herein.
Fig. 9 is an overall schematic diagram of a hoisting mechanism provided in the present application.
Fig. 10 is an exploded schematic view of a hoisting mechanism provided in the present application.
Fig. 11 is a schematic structural diagram of a rail main body provided in the present application.
Reference numerals:
1-a rail body; 11-hoisting mechanism mounting rack; 12-a rail body fastening frame; 13-access cover; 2-a hoisting mechanism; 21-a housing; 22-a volute spiral spring; 23-a second steel cord; 24-a rotating shaft; 241-a pedestal bearing; 242-a clamping member; 243-fastening nuts; 25-PU separator; 26-plastic hollow pipe; 3-a docking assembly; 31-connecting a buckle; 32-first wire rope 32; 4-a flexible component; 5-a guide; 6-passive positioning tag; 7-a hydraulic support; 8-track section.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a first aspect, the present application provides a robot rail system, as shown in fig. 1 and 7, the robot rail system includes a plurality of rail bodies 1, a plurality of winding mechanisms 2 disposed at both ends of the rail bodies, and a plurality of docking assemblies 3 connecting adjacent rail bodies;
the butt joint component 3 comprises two connecting buckles 31 and at least one first steel wire rope 32, wherein two ends of the first steel wire rope are respectively connected with the two connecting buckles; the connecting buckles 31 are respectively connected to the hoisting mechanisms 2 at the corresponding ends of the adjacent track bodies.
The winding mechanism 2 is provided with a second steel wire rope in a winding manner, one end of the second steel wire rope is fixed on the winding mechanism 2, and the other end of the second steel wire rope is connected with the connecting buckle 31 at the corresponding end. In the process of dislocation and disengagement of adjacent track main bodies, the hoisting mechanism 2 can perform loosening action to draw out the second steel wire rope; and in the process of resetting and butting adjacent track main bodies, the hoisting mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
Each rail body in the robot rail system of the present application is attached to a hydraulic support, and as shown in fig. 2, each rail body 1 is rigidly fixed to the top of the inner side of a hydraulic support 7 (for example, fixed by a cross beam), and can synchronously travel (i.e., travel along the rack traveling direction X) along with the travel of the hydraulic support to the depth of the coal face. All track main parts and set up hoist mechanism, the butt joint subassembly on the track main part and form complete track system side by side, and then supply to patrol and examine the robot walking, as shown in fig. 3. For simplicity, the single track body, the hoisting mechanisms disposed at both ends of the track body, and the corresponding docking assemblies are collectively referred to as a track segment 8.
The hydraulic support and the coal mining machine cooperatively act to push the track sections one by one in the depth direction of the fully mechanized coal mining face (i.e. move one by one in the traveling direction X of the pulling frame with a step length of 960mm), so that the corresponding track sections are driven to be separated from the original track system one by one to be pushed forward, and the pulling frame is dislocated, and the dislocation of adjacent track sections is formed, as shown in fig. 4 to 5. And because the second wire rope 23 is drawn out outwards by the hoisting mechanism 2 at the end of the track section in the process of pulling and staggering the frame, the reliable connection between the second wire rope 23 and the butt joint component 3 at the corresponding end can be ensured. When the adjacent track sections sequentially move forwards along with the action of the pulling frame, the second steel wire ropes 23 on the two hoisting mechanisms 2 at the dislocation ends are wound inwards and tightened, and then the track sections are dragged to return to the right positions, so that the butt joint gaps return to a closed state after the adjacent track sections are pushed forwards and flush, and the circular part in the figure 6 is shown.
The robot rail system designed for the action mechanism of the hydraulic support is applicable to, but not limited to, a fully intelligent control system of a coal fully mechanized mining face, and is also applicable to automation equipment or systems with similar action mechanisms. This is merely an example, which is not intended to limit the scope of the present application.
In one embodiment, as shown in fig. 1 and 7, the robotic rail system further comprises a plurality of flexible members 4, each flexible member 4 being disposed between adjacent rail bodies. At least one through hole is formed in the flexible assembly 4, and first steel wire ropes in the butt joint assembly 3 can correspondingly penetrate through the through hole. Fig. 7 is a schematic connection diagram of the docking assembly and the flexible assembly provided by the present application, and the docking assembly 3 shown in fig. 7 includes two connection buckles 31, and two first steel cables 32 are connected between the two connection buckles 31. Two through holes are correspondingly formed in the flexible component 4, and two first steel wire ropes 32 respectively penetrate through the through holes.
The connecting buckle 31 is connected with the second steel wire rope on the hoisting mechanism 2 at the corresponding end, and then the flexible assembly can be hung at the butt joint gap of the adjacent track main bodies and form a closed track with the adjacent track main bodies under the elastic tensioning action of the hoisting mechanisms at two sides.
Wherein, the flexible component can be made of materials with excellent elastic deformation capacity, such as silicon rubber and the like.
The flexible assembly can enable the end faces of adjacent track main bodies to be butted to form track sealing on one hand, and prevent impurities such as falling rocks from being clamped in a track joint butt joint gap; on the other hand, in the dislocation process of the pull frame, the flexible assembly combines the comprehensive action of the elastic tension of the hoisting mechanism, so that the damage in the whole process can be effectively avoided and the good resilience can be kept.
In an embodiment, as shown in fig. 1 and 8, two ends of the rail main body are respectively and fixedly provided with a guide member 5, and the guide member 5 is provided with at least one guide passage for the first steel cables in the docking assembly to pass through one to one. Fig. 8 shows a connection structure of the guide 5 and the flexible member 4 between two adjacent rail bodies 1, and the flexible member 4 is located between the guide 5 of two adjacent rail bodies 1. The dotted line portions penetrating through the flexible assembly 4 and the guide 5 are the connecting buckle 31 and the first wire rope 32 of the docking assembly 3, and the second wire rope 23 of the winding mechanism 2.
The guide piece can be made of hard and wear-resistant materials such as hard wear-resistant plastic plates.
In the process that the rail joint is dislocated and is returned to flush, the first steel wire rope is always guided by the guide passage on the guide piece, so that friction between the first steel wire rope and other metal parts is avoided, the bending radius of the first steel wire rope is optimized, and excessive bending of the steel wire rope is avoided.
In one embodiment, the winding mechanism may be a micro winding machine. However, the miniature windlasses on the market generally require electric power to drive. The present application thus provides in another embodiment a structure that can be hoisted by means of a mechanical structure without the need for electrical power. Fig. 9 and 10 are an overall schematic view and an exploded schematic view of the hoisting mechanism, respectively.
Referring to fig. 9 and 10, the winding mechanism 2 includes a housing 21, and a spiral spring 22, a second wire rope 23 and a rotating shaft 24 which are arranged in the housing 21, wherein a plastic hollow tube 26 is sleeved on the rotating shaft 24; the axial two sides of the scroll spring 22 are limited by arranging PU partition plates 25; both ends of the rotation shaft 24 are provided with a bearing 241 with a holder, respectively.
Wherein one end of the spiral spring 22 is fixed to a first end of the rotation shaft 24; the other end is fixed on the shell 21. Specifically, a clamping member 242 is provided on a first end of the rotating shaft 24 to clamp an end of the wrap spring 22.
One end of the second wire rope 23 is fixed to the second end of the rotating shaft 24 and wound around the rotating shaft 24; the other end of the connecting rod passes through the housing 21 and is connected with a connecting buckle 31 (see fig. 7) at the corresponding end, and the end can be fixedly provided with a structure matched with the connecting buckle 31 to realize clamping. Specifically, a fastening nut 243 is provided on the second end of the revolving shaft 24 to clamp one end of the second wire rope 23.
In the process of dislocation and disconnection of adjacent track main bodies, the second steel wire rope 23 in the hoisting mechanism 2 at the corresponding end is drawn out outwards to drive the rotating shaft 24 to rotate, so that the volute spiral spring 22 is screwed to accumulate elastic force; in the process of the reset butt joint of the adjacent track main bodies, the spiral spring 22 releases the elastic force to drive the rotating shaft 24 to rotate reversely, so that the second steel wire rope 23 is wound and tightened inwards. In the whole process, the second steel wire rope 23 is kept connected with the connecting buckle on the butt joint component at the corresponding end, the first steel wire rope on the butt joint component is tightened, and the flexible component on the first steel wire rope is hung on the first steel wire rope.
The spiral spring 22 has the elastic stretching and contracting functions, so that synchronous reset of the butt joint gaps of adjacent rail sections can be realized in the process of advancing the rail sections one by one through the hoisting mechanism, and the closed state of the rail system is kept.
Among them, the winding mechanism 2 shown in fig. 9 and 10 may be fixed on the rail main body by the structure of fig. 11. The flexible assembly 4, the guide 5 and the track body 1 are shown in fig. 11. Wherein, the both sides symmetry of track main part 1 is provided with hoisting mechanism mounting bracket 11 and track main part fastening frame 12. The hoisting mechanism mounting frame 11 is used for fixing the hoisting mechanism on the track main body 1; the rail body fastening bracket 12 is used to fix the rail body to a corresponding hydraulic bracket.
In one embodiment, as shown in fig. 11, the track body 1 is provided with a passive positioning tag 6. The passive position tags 6 are disposed at predetermined positions of the rail body 1 and protected by the access cover 13. The passive positioning tag 6 comprises position information, and coordinate calibration of the track system is achieved. When the inspection robot passes through, the data in the passive positioning tag is read, so that the self position can be confirmed and corrected in real time, and a reliable walking path can be determined.
To sum up, the robot track system that this application provided forms effectual link gear through track main part, guide and hoist mechanism, flexible assembly etc. has realized that each track section moves and misplaces in step along with hydraulic support's the action of drawing the frame and throw off to and reply the butt joint one by one, and form the closed track system after advancing forward. Meanwhile, the flexible assembly and the hoisting mechanism have certain flexibility, so that the sealing performance and the safety of dislocation disconnection and reset butt joint of the track system are ensured. The passive position label fixed at the designated position of the rail section is combined, so that a reliable walking path can be completely provided for the inspection robot.
In a second aspect, the present application provides a robot inspection system, comprising: any one of the robot rail systems provided by the previous embodiments of the present application, at least one robot moving on the robot rail system, and hydraulic supports corresponding to the rail main bodies one to one; and the robot track system is rigidly connected with the corresponding hydraulic support. The robot inspection system of the present application can be seen in schematic diagrams in fig. 2 to 6.
In an embodiment, a passive positioning tag is further disposed on the track main body, and the robot can obtain the position information by reading the passive positioning tag.
This application forms effectual link gear through track main part, hoist mechanism and butt joint subassembly, has realized that each track section carries out the dislocation in step along with the action of pulling the frame and throw off to and reply the butt joint one by one, and form the closed track system after advancing. Meanwhile, the hoisting mechanism has certain flexibility, so that the sealing performance and the safety of dislocation disconnection and reset butt joint of the track system are ensured.
Various embodiments in this specification have been described in a progressive manner, with like parts being referred to one another, and with emphasis on illustrating differences from other embodiments, it will be appreciated by those of skill in the art that reference throughout this specification to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the specification.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. The above description is only an example of the embodiments of the present disclosure, and is not intended to limit the embodiments of the present disclosure. Various modifications and variations to the embodiments described herein will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present specification should be included in the scope of the claims of the embodiments of the present specification.
Claims (10)
1. A robot track system is characterized by comprising a plurality of track main bodies, a plurality of hoisting mechanisms arranged at two ends of the track main bodies and a plurality of butt joint assemblies connected with adjacent track main bodies;
the butt joint assembly comprises two connecting buckles and at least one first steel wire rope, wherein two ends of the first steel wire rope are respectively connected with the two connecting buckles; the connecting buckles are respectively connected to the hoisting mechanisms at the corresponding ends of the adjacent track bodies; a second steel wire rope is wound on the hoisting mechanism, one end of the second steel wire rope is fixed on the hoisting mechanism, and the other end of the second steel wire rope is connected with the connecting buckle at the corresponding end;
in the process of dislocation and disengagement of the adjacent track main bodies, the hoisting mechanism can perform loosening action to draw out the second steel wire rope; and in the process of resetting and butting adjacent track main bodies, the hoisting mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
2. The robotic rail system of claim 1, further comprising a plurality of flexible members, each flexible member disposed between adjacent rail bodies; the flexible assembly is provided with at least one through hole for the first steel wire ropes in the butt joint assembly to correspondingly penetrate through.
3. The robotic track system according to claim 2, wherein the flexible member is silicone rubber.
4. The robot rail system according to claim 2, wherein guides are respectively disposed at two ends of the rail main body, and at least one guide passage is disposed on the guide for the first steel wire ropes in the docking assembly to pass through one to one.
5. The robotic track system according to claim 4, wherein the guide is made of a hard, wear resistant plastic plate.
6. The robotic track system of claim 2, wherein the winding mechanism includes a housing and a volute spring, a second wire rope, and a rotating shaft disposed within the housing;
wherein, one end of the spiral spring is fixed on the first end of the rotating shaft, and the other end is fixed on the outer shell;
one end of the second steel wire rope is fixed at the second end of the rotating shaft and wound on the rotating shaft, and the other end of the second steel wire rope penetrates through the outer shell to be connected with the connecting buckle at the corresponding end;
in the process of dislocation and disconnection of adjacent track main bodies, the second steel wire rope in the hoisting mechanism at the corresponding end is pulled out outwards to drive the rotating shaft to rotate, so that the volute spiral spring is screwed to accumulate elastic force; in the process of the reset butt joint of the adjacent track main bodies, the spiral spring releases the elastic force to drive the rotating shaft to rotate reversely, so that the second steel wire rope is wound and tightened inwards.
7. The robotic track system according to claim 2, wherein the hoisting mechanism is a winch.
8. A robot rail system according to any of claims 1-7, characterized in that a passive positioning tag is arranged on the rail body, which passive positioning tag contains position information.
9. A robot inspection system, comprising: the robotic rail system of any one of claims 1 to 7, at least one robot moving on the robotic rail system, and hydraulic mounts in one-to-one correspondence with the rail bodies; and the robot track system is rigidly connected with the corresponding hydraulic support.
10. The robot inspection system according to claim 9, wherein the track body is further provided with a passive positioning tag, and the robot can obtain the position information by reading the passive positioning tag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138106.2A CN114336416B (en) | 2022-02-15 | 2022-02-15 | Robot track system and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210138106.2A CN114336416B (en) | 2022-02-15 | 2022-02-15 | Robot track system and inspection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114336416A true CN114336416A (en) | 2022-04-12 |
| CN114336416B CN114336416B (en) | 2024-02-27 |
Family
ID=81031059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210138106.2A Active CN114336416B (en) | 2022-02-15 | 2022-02-15 | Robot track system and inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114336416B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115900687A (en) * | 2023-01-06 | 2023-04-04 | 西安华创马科智能控制系统有限公司 | Hydraulic support robot track positioning method and device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2039771A1 (en) * | 1991-03-06 | 1992-09-07 | Donald S. Seiford, Sr. | Rail car moving system |
| CN208857605U (en) * | 2018-07-16 | 2019-05-14 | 江西万达矿山设备有限责任公司 | A kind of mine rail multi-function switch and its railway points system |
| CN110697571A (en) * | 2019-10-16 | 2020-01-17 | 合肥正浩机械科技有限公司 | Single-guide-beam descending type beam feeding device and beam feeding method thereof |
| CN110842891A (en) * | 2019-10-29 | 2020-02-28 | 北京天地玛珂电液控制系统有限公司 | Patrol and examine track and patrol and examine device |
| CN210389712U (en) * | 2019-05-30 | 2020-04-24 | 能诚集团有限公司 | Modular track and platform cutting machine |
| CN112590822A (en) * | 2021-03-04 | 2021-04-02 | 西安博深安全科技股份有限公司 | Modular robot system is patrolled and examined to track |
| CN112947456A (en) * | 2021-02-24 | 2021-06-11 | 中国矿业大学 | Reconfigurable inspection robot track system for coal face and working method |
| CN113446057A (en) * | 2021-05-27 | 2021-09-28 | 中国矿业大学 | Mining monorail suspension type inspection device and using method |
| CN215725680U (en) * | 2021-09-26 | 2022-02-01 | 国能神东煤炭集团有限责任公司 | Positioning device and positioning assembly of inspection robot |
-
2022
- 2022-02-15 CN CN202210138106.2A patent/CN114336416B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2039771A1 (en) * | 1991-03-06 | 1992-09-07 | Donald S. Seiford, Sr. | Rail car moving system |
| CN208857605U (en) * | 2018-07-16 | 2019-05-14 | 江西万达矿山设备有限责任公司 | A kind of mine rail multi-function switch and its railway points system |
| CN210389712U (en) * | 2019-05-30 | 2020-04-24 | 能诚集团有限公司 | Modular track and platform cutting machine |
| CN110697571A (en) * | 2019-10-16 | 2020-01-17 | 合肥正浩机械科技有限公司 | Single-guide-beam descending type beam feeding device and beam feeding method thereof |
| CN110842891A (en) * | 2019-10-29 | 2020-02-28 | 北京天地玛珂电液控制系统有限公司 | Patrol and examine track and patrol and examine device |
| CN112947456A (en) * | 2021-02-24 | 2021-06-11 | 中国矿业大学 | Reconfigurable inspection robot track system for coal face and working method |
| CN112590822A (en) * | 2021-03-04 | 2021-04-02 | 西安博深安全科技股份有限公司 | Modular robot system is patrolled and examined to track |
| CN113446057A (en) * | 2021-05-27 | 2021-09-28 | 中国矿业大学 | Mining monorail suspension type inspection device and using method |
| CN215725680U (en) * | 2021-09-26 | 2022-02-01 | 国能神东煤炭集团有限责任公司 | Positioning device and positioning assembly of inspection robot |
Non-Patent Citations (1)
| Title |
|---|
| 李海丽;朱建安;刘俊海;张保吉;: "重型支架拆装设备在煤矿井下的应用", 矿山机械, vol. 41, no. 06, pages 135 - 136 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115900687A (en) * | 2023-01-06 | 2023-04-04 | 西安华创马科智能控制系统有限公司 | Hydraulic support robot track positioning method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114336416B (en) | 2024-02-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0891842A1 (en) | Robot construction | |
| CN114336416A (en) | Robot track system and inspection system | |
| US7343731B2 (en) | Skate truck for cable guide | |
| CN111029972B (en) | Fixing device for underground cable turning | |
| CN105150219A (en) | Super-redundant flexible mechanical arm based on rope driving | |
| US3999240A (en) | Cable cleaning device | |
| CN116093835A (en) | Tractor for high-voltage cable poling | |
| US20070018146A1 (en) | Skate for cable protection guide | |
| CN212543260U (en) | Power cable laying pipeline with strong compression resistance | |
| US4195894A (en) | Electrical connector and electrical connection system employing the same | |
| CN220358692U (en) | Multi-parameter integrated flexible traction plate | |
| US20150152834A1 (en) | Connection systems | |
| CN114877024B (en) | Chain link monomer, chain link assembly and drag chain assembly | |
| CN116117853A (en) | Robot winding device | |
| CN117068649A (en) | Inspection robot system and position determination method | |
| US6708640B1 (en) | Tow cable termination assembly | |
| CN214337512U (en) | Cable follower for crawler-type loader-digger | |
| US20240051801A1 (en) | Cable slack control and associated systems and methods | |
| CN114719113B (en) | Follow-up pipeline structure of double-dimensional rotary compound motion equipment | |
| CN113589457B (en) | Double-side strain clamp for optical cable rush-repair | |
| CN213870945U (en) | Towline cable with good bending performance | |
| CN221316616U (en) | Pipeline pulling and laying equipment and liquid cargo ship | |
| CN219035464U (en) | Pipeline disconnect-type tow chain mechanism | |
| CN118538484B (en) | Automatic cladding device of shielding layer for cable processing | |
| CN219825416U (en) | Pipe body guider, composite guiding device and double-wheel slot milling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |