CN114336416B - Robot track system and inspection system - Google Patents
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- CN114336416B CN114336416B CN202210138106.2A CN202210138106A CN114336416B CN 114336416 B CN114336416 B CN 114336416B CN 202210138106 A CN202210138106 A CN 202210138106A CN 114336416 B CN114336416 B CN 114336416B
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- 238000003032 molecular docking Methods 0.000 claims description 9
- 239000004033 plastic Substances 0.000 claims description 5
- 229920002379 silicone rubber Polymers 0.000 claims description 3
- 239000004945 silicone rubber Substances 0.000 claims description 2
- 238000007789 sealing Methods 0.000 abstract description 4
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Abstract
The invention provides a robot track system and a patrol 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 main bodies; in the process of dislocation and disconnection of the adjacent track main bodies, the hoisting mechanism can perform loosening action to draw out the first steel wire rope; in the process of resetting and butting the adjacent track main bodies, the winding mechanism performs recovery action to inwards wind and tighten the first steel wire rope. The application forms a closed track system after forward propulsion through the track main body, the hoisting mechanism and the butt joint assembly. Meanwhile, the flexibility of the hoisting mechanism ensures the sealing performance of the track system and the safety of dislocation disconnection and reset butt joint.
Description
Technical Field
The application relates to the technical field of fully-mechanized mining of coal mines, in particular to a robot track system and a patrol system.
Background
The fully mechanized mining face of the large-scale coal at the present stage basically realizes the full mechanized mining and intelligent control, but the cooperative action among all main devices still depends on manual detail intervention to ensure the reliable operation of the whole system. In particular to the cooperation of the hydraulic support and the coal mining machine, the fully-mechanized coal face is reliably supported by a plurality of hydraulic supports which are parallel to the face and are arranged side by side and are responsible for geological layers above the coal mining action range, and the coal mining machine executes the coal mining action under the support protection of the hydraulic supports. Along with the advancing of the coal mining machine along the depth direction of the fully-mechanized mining working face, the hydraulic support positioned in front of the traveling of the coal mining machine needs to retract the front end guard plate clung to the working face upwards according to a preset speed rhythm so as not to interfere with the running drum of the coal mining machine, on the other hand, the hydraulic support positioned behind the traveling of the coal mining machine needs to advance one layer of working face to the depth one by one according to the preset speed rhythm (namely, the pulling frame action), and after the advancing is completed, the front end guard plate is stretched downwards so as to be clung to the working face, so that reliable supporting is ensured.
Although the cooperative actions can be primarily controlled by the intelligent control system. However, due to the influence of the comprehensive factors such as actual topography, coal seam structure, equipment action deviation and the like, the hydraulic support cannot realize accurate positioning of each action. Due to the accumulation of the action of the inaccuracy factors, the collaborative operation of the coal mining system still cannot leave the human intervention of a bracket inspection worker, and the development requirements of comprehensive intelligent and safe mining are not met. In addition, a robot is used for replacing a manual inspection work, but the interference damage to a single-section track when a pull frame is misplaced cannot be solved by the currently known track system.
Disclosure of Invention
In order to solve the problems in the prior art, in a first aspect, the present application provides a robot track system, including a plurality of track bodies, a plurality of hoisting mechanisms disposed at both ends of the track bodies, and a plurality of docking assemblies connecting adjacent track 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 main bodies; the 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 disconnection 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 the adjacent track main bodies, the winding mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
In an embodiment, the robotic rail system further comprises a plurality of flexible assemblies, each flexible assembly disposed between adjacent rail bodies; at least one through hole is formed in the flexible assembly, and the first steel wire ropes in the butt joint assembly penetrate through the through holes in a one-to-one correspondence mode.
In an embodiment, the flexible component is made of silicone rubber.
In an embodiment, guide pieces are respectively arranged at two ends of the track main body, and at least one guide passage is arranged on the guide pieces for the first steel wire ropes in the butt joint assembly to pass through in a one-to-one correspondence manner.
In one embodiment, the guide member is made of a hard wear-resistant plastic plate.
In one embodiment, the winding mechanism comprises a housing, a spiral spring, a second wire rope and a revolving shaft, wherein the spiral spring, the second wire rope and the revolving shaft are arranged in the housing;
one end of the scroll spring is fixed at the first end of the rotary shaft, and the other end of the scroll spring is fixed on the shell;
one end of the second steel wire rope is fixed at the second end of the rotary shaft and is wound on the rotary shaft, and the other end of the second steel wire rope penetrates out of the shell to be connected with the connecting buckle at the corresponding end;
in the process of dislocation and disconnection of the adjacent track main bodies, a second steel wire rope in the winding mechanism at the corresponding end is pulled out to drive the rotary shaft to rotate, so that the spiral spring is screwed to accumulate elastic force; in the process of resetting and butting the adjacent track main bodies, the spiral spring releases elasticity and drives the rotary shaft to reversely rotate, so that the second steel wire rope is wound inwards and tightened.
In one embodiment, the hoisting mechanism is a hoist.
In an embodiment, the track body is provided with a passive positioning tag, and the passive positioning tag includes position information.
In a second aspect, the present application provides a robotic inspection system comprising: any robot track system, at least one robot moving on the robot track system and a hydraulic support corresponding to the track main body one by one; the robot track system is rigidly connected with the corresponding hydraulic support.
In an embodiment, the track main body is further provided with a passive positioning tag, and the robot can acquire the position information by reading the passive positioning tag.
According to the track system, the effective linkage mechanism is formed through the track main body, the hoisting mechanism and the butt joint assembly, so that each track section can be synchronously misplaced and separated along with the action of the pull frame, and can be in butt joint one by one, and a closed track system after forward propulsion is formed. Meanwhile, the winding mechanism has certain flexibility, so that the sealing performance of the track system and the safety of dislocation disconnection and reset butt joint are ensured.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a robot track system provided herein.
Fig. 2 is a schematic connection diagram of a hydraulic support and a rail main body provided in the present application.
Fig. 3 is a schematic view of the track body provided in the present application side by side to form a complete track system.
Fig. 4 to 5 are schematic views of dislocation of adjacent track main body pull frames provided in the present application.
Fig. 6 is a schematic view of closed butt joint of adjacent track bodies provided in the present application.
Fig. 7 is a schematic diagram 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 the hoisting mechanism provided in the present application.
Fig. 10 is an exploded view of the hoisting mechanism provided in the present application.
Fig. 11 is a schematic structural view of a track body provided in the present application.
Reference numerals:
1-a track body; 11-a hoisting mechanism mounting rack; 12-a track body fastening frame; 13-access cover; 2-a hoisting mechanism; 21-a housing; 22-scroll springs; 23-a second wire rope; 24-a rotary shaft; 241-a seated bearing; 242-clamping members; 243-tightening the nut; 25-PU separator; 26-a plastic hollow tube; 3-docking assembly; 31-connecting buckle; 32-a first wire rope 32; 4-a flexible component; 5-a guide; 6-passive positioning tags; 7-a hydraulic bracket; 8-rail section.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In a first aspect, the present application provides a robot rail system, as shown in fig. 1 and 7, which 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 the adjacent rail bodies;
wherein, the docking assembly 3 comprises two connecting buckles 31 and at least one first steel wire rope 32 with two ends 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 a connecting buckle 31 at the corresponding end. In the process of dislocation and disconnection of the 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 the adjacent track main bodies, the winding mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
Each track body in the robot track system of the present application is attached to a hydraulic support, as shown in fig. 2, each track body 1 is rigidly fixed to an inner top portion of a hydraulic support 7 (for example, by a beam), and can travel synchronously with the travel of the hydraulic support to the depth of the coal face (i.e., travel along the traveling direction X of the pull frame). All the track main bodies, the hoisting mechanisms arranged on the track main bodies and the butt joint assemblies form a complete track system side by side, so that the inspection robot can walk, as shown in fig. 3. For simplicity of description, a single track body, winding mechanisms provided at both ends of the track body, and corresponding docking assemblies are collectively referred to as a track section 8.
The hydraulic support and the coal mining machine cooperatively act to advance to the depth direction of the fully mechanized mining face one by one (namely, move along the pulling frame advancing direction X one by one and have the step length of 960 mm), so that the corresponding track sections are driven to separate from the original track system one by one to advance, and the pulling frame is misplaced, and meanwhile, the misplacement of the adjacent track sections is formed, as shown in fig. 4 to 5. And because the second steel wire rope 23 is pulled out by the winding mechanism 2 at the end of the rail joint in the dislocation process of the pull frame, the second steel wire rope 23 can be reliably connected with the butt joint assembly 3 at the corresponding end. When the adjacent rail sections sequentially finish forward advancing along with the action of the pulling frame, the second steel wire ropes 23 on the two winding mechanisms 2 at the dislocation ends are wound inwards and tightened, so that the rail sections are pulled to be in a position alignment, and after the adjacent rail sections are pushed forward and flush, the butt joint gaps return to a closed state, as shown in the part in the circle of fig. 6.
It should be noted that, the application range of the robot track system designed for the action mechanism of the hydraulic support includes, but is not limited to, a fully intelligent control system of a fully mechanized coal mining face, and is also applicable to an automation device or system with a similar action mechanism. This provides only one example for illustration and is not intended to limit the scope of application of the present application.
In one embodiment, as shown in fig. 1 and 7, the robotic track system further includes a plurality of flexible assemblies 4, each flexible assembly 4 being disposed between adjacent track bodies. At least one through hole is formed in the flexible component 4, and the first steel wire ropes in the butt joint component 3 correspondingly penetrate through the through holes one by one. Fig. 7 is a schematic connection diagram of a docking assembly and a flexible assembly provided in the present application, and the docking assembly 3 shown in fig. 7 includes two connection buckles 31, and two first steel wires 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 pass through the through holes.
The connecting buckle 31 is connected with a second steel wire rope on the hoisting mechanism 2 at the corresponding end, and the flexible component can be hung at the butt joint gap of the adjacent track main bodies and form a closed track with the butt joint gap under the elastic tensioning effect of one hoisting mechanism at two sides.
Wherein, the flexible component can be made of materials such as silicon rubber and the like with excellent elastic deformation capability.
The application of the flexible component can enable the end surfaces of adjacent track main bodies to be in butt joint to form a track seal, so that impurities such as falling rocks are prevented from being blocked in a track joint butt joint gap; on the other hand, in the dislocation process of the pull frame, the flexible component combines the comprehensive effect of the elastic tension of the hoisting mechanism, so that the damage in the whole process can be effectively avoided, and the good restoration capability can be maintained.
In an embodiment, as shown in fig. 1 and 8, two ends of the track main body are respectively and fixedly provided with a guide member 5, and at least one guide passage is arranged on the guide member 5 for the first steel wire ropes in the butt joint assembly to pass through in a one-to-one correspondence manner. In fig. 8, a connection structure of the guide 5 and the flexible member 4 between the adjacent two rail main bodies 1 is shown, and the flexible member 4 is located between the guide 5 of the adjacent two rail main bodies 1. The broken line portion penetrating through the flexible component 4 and the guide piece 5 is the connecting buckle 31 of the butt joint component 3, the first steel wire rope 32 and the second steel wire rope 23 of the hoisting mechanism 2.
Wherein, the guide piece can be made of hard wear-resistant materials such as hard wear-resistant plastic plates.
In the process of disengaging dislocation and restoring to be flush of the rail sections, 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, and the bending radius of the first steel wire rope is optimized, so that excessive bending of the steel wire rope is avoided.
In one embodiment, the hoist mechanism may employ a micro hoist. However, the micro-windlass on the market generally requires electric drive. Therefore, in another embodiment, the winch structure can be realized by only relying on a mechanical structure without energizing. 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, a spiral spring 22 disposed in the housing 21, a second wire rope 23, and a rotating shaft 24, wherein a plastic hollow tube 26 is sleeved on the rotating shaft 24; the two axial sides of the scroll spring 22 are limited by arranging PU partition plates 25; the rotary shaft 24 is provided with a seated bearing 241 at both ends thereof.
Wherein one end of the scroll spring 22 is fixed to a first end of the rotary shaft 24; the other end is fixed to the housing 21. Specifically, a clamping member 242 is provided on a first end of the rotary shaft 24 to clamp one end of the scroll 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 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 so as to realize the clamping. Specifically, a fastening nut 243 is provided on the second end of the swivel shaft 24 to clamp one end of the second wire rope 23.
In the process of dislocation and disconnection of the adjacent track bodies, the second steel wire rope 23 in the winding mechanism 2 at the corresponding end is pulled out to drive the rotary shaft 24 to rotate, so that the spiral spring 22 is tightly screwed to accumulate elastic force; during the process of resetting and abutting the adjacent track bodies, the spiral spring 22 releases the elastic force to drive the rotary shaft 24 to reversely rotate, so that the second steel wire rope 23 is wound inwards and tightened. In the whole process, the second steel wire rope 23 is kept connected with the connecting buckle on the butt joint assembly at the corresponding end, the first steel wire rope on the butt joint assembly is tightened, and the flexible assembly on the first steel wire rope is hung on the first steel wire rope.
The spiral spring 22 has the functions of elastic extension and contraction, so that synchronous reset of the abutting joint gaps of adjacent track sections can be realized in the process of advancing track sections one by one through the winding mechanism, and the closed state of the track system is maintained.
Wherein the hoisting mechanism 2 shown in fig. 9 and 10 can be fixed to the rail main body by the structure in fig. 11. In fig. 11, the flexible assembly 4, the guide 5 and the rail body 1 are shown. Wherein, the two sides of the track main body 1 are symmetrically provided with a hoisting mechanism mounting frame 11 and a track main body 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 frame 12 is used to fix the rail body to the 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 tag 6 is provided at a predetermined position on the track body 1 and is protected by an access cover 13. The passive positioning tag 6 contains position information, so that coordinate calibration of the track system is realized. When the inspection robot passes, the position of the inspection robot can be confirmed and corrected in real time by reading the data in the passive positioning tag, and a reliable walking path can be determined.
In summary, the robot track system provided by the application forms an effective linkage mechanism through the track main body, the guide piece, the winding mechanism, the flexible assembly and the like, realizes that each track section is synchronously misplaced and disconnected along with the action of the pull frame of the hydraulic support, returns to be in butt joint one by one, and forms a closed track system after forward pushing. Meanwhile, due to the flexibility of the flexible component and the winding mechanism, the sealing performance of the track system and the safety of dislocation disconnection and reset butt joint are ensured. The passive position labels fixed at the designated positions of the rail sections are combined, so that a reliable walking path can be provided for the inspection robot.
In a second aspect, the present application provides a robotic inspection system comprising: any one of the robot track systems, at least one robot moving on the robot track system and the hydraulic supports corresponding to the track main bodies one by one provided by the previous embodiment of the application; the robot track system is rigidly connected with the corresponding hydraulic support. The schematic diagrams of the robot inspection system of the present application may be referred to fig. 2 to 6.
In an embodiment, the track main body is further provided with a passive positioning tag, and the robot can acquire the position information by reading the passive positioning tag.
According to the track system, the effective linkage mechanism is formed through the track main body, the hoisting mechanism and the butt joint assembly, so that each track section can be synchronously misplaced and separated along with the action of the pull frame, and can be in butt joint one by one, and a closed track system after forward propulsion is formed. Meanwhile, the winding mechanism has certain flexibility, so that the sealing performance of the track system and the safety of dislocation disconnection and reset butt joint are ensured.
Various embodiments in this specification are described in an incremental manner, and identical and similar parts are found in each other, so that each embodiment is emphasized differently from the other embodiments, and it is apparent to those skilled in this art that in this specification, a description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., is meant to include a specific feature, structure, material, or characteristic described in connection with the embodiment or example in at least one embodiment or example of the present specification.
In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction. The foregoing is merely an example of an embodiment of the present disclosure and is not intended to limit the embodiment of the present disclosure. Various modifications and variations of the illustrative embodiments will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles 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. The robot track system is characterized by comprising a plurality of track bodies, a plurality of hoisting mechanisms arranged at two ends of the track bodies and a plurality of butt joint assemblies connected with the adjacent track 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 main bodies; the 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 disconnection of the adjacent track main bodies, the hoisting mechanism performs loosening action to draw out the second steel wire rope; and in the process of resetting and butting the adjacent track main bodies, the winding mechanism performs recovery action to inwards wind and tighten the second steel wire rope.
2. The robotic rail system according to claim 1, further comprising a plurality of flexible assemblies, each flexible assembly disposed between adjacent rail bodies; at least one through hole is formed in the flexible assembly, and the first steel wire ropes in the butt joint assembly penetrate through the through holes in a one-to-one correspondence mode.
3. The robotic rail system according to claim 2, wherein the flexible member is made of silicone rubber.
4. The robot track system according to claim 2, wherein guide members are respectively arranged at two ends of the track main body, and at least one guide passage is arranged on the guide members for the first steel wire ropes in the docking assembly to pass through in a one-to-one correspondence.
5. The robotic rail system according to claim 4, wherein the guide is a rigid wear-resistant plastic plate.
6. The robotic orbital system according to claim 2, wherein the hoisting mechanism comprises a housing and a spiral spring, a second wire rope and a swivel shaft disposed within the housing;
one end of the scroll spring is fixed at the first end of the rotary shaft, and the other end of the scroll spring is fixed on the shell;
one end of the second steel wire rope is fixed at the second end of the rotary shaft and is wound on the rotary shaft, and the other end of the second steel wire rope penetrates out of the shell to be connected with the connecting buckle at the corresponding end;
in the process of dislocation and disconnection of the adjacent track main bodies, a second steel wire rope in the winding mechanism at the corresponding end is pulled out to drive the rotary shaft to rotate, so that the spiral spring is screwed to accumulate elastic force; in the process of resetting and butting the adjacent track main bodies, the spiral spring releases elasticity and drives the rotary shaft to reversely rotate, so that the second steel wire rope is wound inwards and tightened.
7. The robotic rail system according to claim 2, wherein the hoisting mechanism is a hoist.
8. The robotic rail system according to any one of claims 1-7, wherein the rail body has a passive positioning tag disposed thereon, the passive positioning tag including position information therein.
9. A robotic inspection system, comprising: the robot rail system of any one of claims 1 to 7, at least one robot moving on the robot rail system, and a hydraulic mount in one-to-one correspondence with the rail main body; the robot track system is rigidly connected with the corresponding hydraulic support.
10. The robotic inspection system of claim 9, wherein the track body is further provided with a passive positioning tag, and the robot obtains the position information by reading the passive positioning tag.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210138106.2A CN114336416B (en) | 2022-02-15 | 2022-02-15 | Robot track system and inspection system |
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| CN202210138106.2A CN114336416B (en) | 2022-02-15 | 2022-02-15 | Robot track system and inspection system |
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| CN114336416A CN114336416A (en) | 2022-04-12 |
| CN114336416B true CN114336416B (en) | 2024-02-27 |
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| CN115900687B (en) * | 2023-01-06 | 2023-06-06 | 西安华创马科智能控制系统有限公司 | Hydraulic support robot track positioning method and device |
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| CN114336416A (en) | 2022-04-12 |
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