CN114474155A - Walking track for inspection robot and installation method thereof - Google Patents
Walking track for inspection robot and installation method thereof Download PDFInfo
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- CN114474155A CN114474155A CN202210106903.2A CN202210106903A CN114474155A CN 114474155 A CN114474155 A CN 114474155A CN 202210106903 A CN202210106903 A CN 202210106903A CN 114474155 A CN114474155 A CN 114474155A
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- 238000007689 inspection Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000009434 installation Methods 0.000 title abstract description 10
- 230000000670 limiting effect Effects 0.000 claims description 17
- 230000002093 peripheral effect Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000004904 shortening Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 239000003245 coal Substances 0.000 description 10
- 238000005065 mining Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- B25J11/00—Manipulators not otherwise provided for
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking track for an inspection robot and an installation method thereof, wherein the walking track for the inspection robot comprises: first track, second track and adapting unit, adapting unit includes first fixed block, second fixed block, elastic connection spare and connects the rope, elastic connection spare is located first fixed block with between the second fixed block, first fixed block with first track with elastic connection spare detachably connects, the second fixed block with the second track with elastic connection spare detachably connects, connect the rope and wear to establish in the elastic connection spare and with first fixed block with the second fixed block links to each other. The walking track for the inspection robot and the installation method thereof are reliable in connection and good in use effect.
Description
Technical Field
The invention relates to the technical field of coal production equipment, in particular to a walking track for an inspection robot and an installation method thereof.
Background
The main equipment for mechanized and fully mechanized coal mining of coal mines is a coal mining machine, a scraper conveyor and a hydraulic support. With the development of the technology, the comprehensive mechanized coal mining is developed to automation and unmanned, and the robot routing inspection is a trend to replace manual routing inspection. However, due to the special geological conditions and environment of the coal mining working face of the coal mine, the conventional technology of obstacle identification, obstacle avoidance and obstacle crossing of the independent walking robot cannot be realized on the fully mechanized coal mining working face, and the inspection robot must walk on the fully mechanized coal mining working face by means of the rail.
Due to the influence of coal mining technology and geological conditions, the track not only needs to fluctuate up and down, but also can be bent back and forth, so that the inspection robot can conveniently walk on the track. However, the rail connection in the related art is rough and has low reliability in use.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the invention provides the walking track for the inspection robot, which is reliable in connection and good in using effect.
The embodiment of the invention also provides an installation method of the walking track.
The walking track for the inspection robot according to the embodiment of the invention comprises: first track, second track and adapting unit, adapting unit includes first fixed block, second fixed block, elastic connection spare and connects the rope, elastic connection spare is located first fixed block with between the second fixed block, first fixed block with first track with elastic connection spare detachably connects, the second fixed block with the second track with elastic connection spare detachably connects, connect the rope and wear to establish in the elastic connection spare and with first fixed block with the second fixed block links to each other.
According to the walking track for the inspection robot, the elastic connecting piece is detachably arranged between the first track and the second track through the first fixing block and the second fixing block, so that the problem that the first track and the second track are up and down fluctuated or uneven can be avoided, the connection effect between the first track and the second track is good, and the connecting rope is arranged in the elastic connecting piece in a penetrating mode and connected with the first fixing block and the second fixing block, so that when the elastic connecting piece is separated due to external force, the risk that the elastic connecting piece is separated due to the limiting effect of the connecting rope to injure people can be avoided, and the reliability of the walking track in use is high.
In some embodiments, the resilient connector is a coil spring.
In some embodiments, the first fixing block includes a first cylinder and a first flange, the second fixing block includes a second cylinder and a second flange, the first flange is disposed on the peripheral wall of the first cylinder, the second flange is disposed on the peripheral wall of the second cylinder, one end of the elastic connector is sleeved on the first cylinder and abutted against the first flange, and the other end of the elastic connector is sleeved on the second cylinder and abutted against the second flange.
In some embodiments, a first channel is disposed on the first fixing block, a second channel is disposed on the second fixing block, one end of the connecting rope is matched with the first channel, and the other end of the connecting rope is matched with the second channel.
In some embodiments, the connecting rope passes through the first channel and the second channel, one end of the connecting rope is provided with a first limiting block for limiting one end of the connecting rope to be separated from the first channel, and the other end of the connecting rope is provided with a second limiting block for limiting the other end of the connecting rope to be separated from the second channel.
In some embodiments, one end of the connecting string is tied to form the first stopper, and the other end of the connecting string is tied to form the second stopper.
In some embodiments, the first stopper and the second stopper are both buckles, and the buckles are fixed on the connecting rope.
In some embodiments, at least one of the first rail and the second rail is provided with an anti-slip groove, and/or the first rail and the second rail are both provided with a cavity therein, and the bottom of at least one of the first rail and the second rail is provided with a water leakage hole communicated with the cavity.
In some embodiments, the traveling rail further includes a bracket, and the first rail, the second rail and the connecting member are provided in two sets, wherein one set of the first rail, the second rail and the connecting member is provided on one side of the bracket, and the other set of the first rail, the second rail and the connecting member is provided on the other side of the bracket.
A method of installing a travel rail according to another embodiment of the present invention is applied to the travel rail for an inspection robot of any one of the above embodiments, and includes:
connecting one end of the elastic connecting piece with the first fixing block, and connecting the other end of the elastic connecting piece with the second fixing block;
the connecting rope penetrates through the elastic connecting piece and is connected with the first fixing block and the second fixing block;
installing the first fixed block on the first rail, and installing the second fixed block on the second rail;
shortening the distance between the first track and the second track to compress the elastic connector.
According to the installation method of the walking track, the elastic connecting piece is connected between the first track and the second track through the first fixing block and the second fixing block, so that the problem that the first track and the second track are up and down fluctuated or uneven can be avoided, the connection effect between the first track and the second track is good, and the connecting rope is arranged in the elastic connecting piece in a penetrating mode and connected with the first fixing block and the second fixing block, so that when the elastic connecting piece is separated due to external force, the risk that the elastic connecting piece is broken out to hurt people due to the limiting effect of the connecting rope can be avoided, and the reliability of the walking track is high when the walking track is used.
Drawings
Fig. 1 is a schematic view of a travel track for an inspection robot according to an embodiment of the present invention.
Fig. 2 is a sectional view of a connection member for a travel rail of an inspection robot according to an embodiment of the present invention.
Fig. 3 is a partial view of a travel rail for an inspection robot according to an embodiment of the present invention.
Fig. 4 is a schematic view of a first fixing block of a travel rail for an inspection robot according to an embodiment of the present invention.
Reference numerals:
1. a first track; 11. an anti-slip groove; 12. a water leakage hole;
2. a second track;
3. a connecting member; 31. a first fixed block; 311. a first column; 312. a first flange; 313. a first channel; 32. a second fixed block; 321. a second cylinder; 322. a second flange; 323. a second channel; 33. an elastic connecting member; 34. connecting ropes; 35. a first stopper; 36. a second limiting block;
4. and (4) a bracket.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A travel rail for an inspection robot and an installation method thereof according to an embodiment of the present invention will be described with reference to fig. 1 to 4.
As shown in fig. 1 to 4, a travel rail for an inspection robot according to an embodiment of the present invention includes: first track 1, second track 2 and adapting unit 3, adapting unit 3 includes first fixed block 31, second fixed block 32, elastic connection piece 33 and connection rope 34, elastic connection piece 33 locates between first fixed block 31 and the second fixed block 32, first fixed block 31 and first track 1 and elastic connection piece 33 detachably connect, second fixed block 32 and second track 2 and elastic connection piece 33 detachably connect, connect rope 34 wear to establish in elastic connection piece 33 and link to each other with first fixed block 31 and second fixed block 32.
According to the walking track for the inspection robot, the elastic connecting piece 33 is detachably arranged between the first track 1 and the second track 2 through the first fixing block 31 and the second fixing block 32, so that the problem that the first track 1 and the second track 2 are up and down fluctuated or uneven can be avoided, the connection effect between the first track 1 and the second track 2 is good, and the connecting rope 34 penetrates through the elastic connecting piece 33 and is connected with the first fixing block 31 and the second fixing block 32, so that when the elastic connecting piece 33 is separated due to external force, the risk that the elastic connecting piece 33 is broken out to hurt people due to the limiting effect of the connecting rope 34 can be avoided, and the reliability of the walking track is high when the walking track is used.
It can be understood that, as shown in fig. 1 and 2, the left end of the first fixing block 31 is detachably coupled to the first rail 1, and the right end of the first fixing block 31 is detachably coupled to the left end of the elastic connection member 33. The left end of the second fixing block 32 is detachably coupled to the right end of the elastic connection member 33, and the right end of the second fixing block 32 is detachably coupled to the second rail 2. After the connecting member 3 is installed between the first rail 1 and the second rail 2, the distance between the first rail 1 and the second rail 2 is shortened to compress the elastic connection member 33. Because the connecting rope 34 is arranged in the elastic connecting piece 33 in a penetrating way and is connected with the first fixing block 31 and the second fixing block 32, the elastic connecting piece 33 cannot be broken out to hurt people, and the reliability of the walking track in use is improved.
Alternatively, as shown in fig. 1 and 2, the elastic connection member 33 is a coil spring to facilitate the manufacture and processing of the connection member 3 and to reduce the manufacturing cost. Further, first track 1 and second track 2 are cylindric structure, and coil spring's external diameter is the same with first track 1 and second track 2's external diameter roughly to make and patrol and examine the walking stationarity of robot on the walking track better.
Alternatively, as shown in fig. 1 and 2, the first fixing block 31 includes a first cylinder 311 and a first flange 312, and the second fixing block 32 includes a second cylinder 321 and a second flange 322. The first flange 312 is provided on the outer peripheral wall of the first cylinder 311, and the second flange 322 is provided on the outer peripheral wall of the second cylinder 321. It should be understood that, taking the first fixing block 31 as an example, the first cylinder 311 and the first flange 312 may be of an integrally formed structure, and may also be connected by a threaded connection or a welding connection, which is not limited in this application.
One end of the elastic connector 33 is fitted over the first column 311 and abuts against the first flange 312, and the other end of the elastic connector 33 is fitted over the second column 321 and abuts against the second flange 322. It can be understood that the left end of the first column 311 is sleeved in the through hole of the first rail 1, and the right end of the first column 311 is sleeved in the elastic connecting member 33. The left end of the second column 321 is sleeved in the elastic connecting piece 33, and the right end of the second column 321 is sleeved in the through hole of the second rail 2. According to the walking track for the inspection robot, the first fixing block 31 and the second fixing block 32 are arranged to be of the structure, so that the processing and manufacturing of the connecting part 3 can be facilitated, and the assembly work of the walking track is facilitated.
Further, as shown in fig. 1, 2 and 4, a first channel 313 is disposed on the first fixing block 31, a second channel 323 is disposed on the second fixing block 32, one end of the connecting rope 34 is engaged with the first channel 313, and the other end of the connecting rope 34 is engaged with the second channel 323. For example, the connection rope 34 passes through the first passage 313 and the second passage 323, one end of the connection rope 34 is provided with a first stopper 35 for restricting one end of the connection rope 34 from coming out of the first passage 313, and the other end of the connection rope 34 is provided with a second stopper 36 for restricting the other end of the connection rope 34 from coming out of the second passage 323, so that the installation and fixation of the connection rope 34 with the first fixing block 31 and the second fixing block 32 can be facilitated.
Alternatively, as shown in fig. 2, one end of the connection string 34 is tied to form a first stopper 35, and the other end of the connection string 34 is tied to form a second stopper 36, it being understood that one end of the connection string 34 may be tied so that one end of the connection string 34 cannot be withdrawn from the first passage 313. Likewise, the other end of the connecting string 34 may be knotted such that the other end of the connecting string 34 cannot be withdrawn from the second passage 323.
Optionally, as shown in fig. 2, the first stopper 35 and the second stopper 36 are both buckles, and the buckles are fixed on the connecting rope 34, it can be understood that, after the connecting rope 34 passes through the first channel 313 and the second channel 323, the buckles can be fixed on the connecting rope 34, so as to avoid the connecting rope 34 from coming out of the first channel 313 and the second channel 323, for example, the connecting rope 34 may be a steel wire rope, so that the connecting strength of the connecting rope 34 may be improved, and the reliability of the connecting part 3 in use is improved.
In some embodiments, as shown in fig. 3, at least one of the first track 1 and the second track 2 is provided with an anti-skid pattern, an anti-skid print or an anti-skid groove 11. For example, the first rail 1 and the second rail 2 are both provided with the anti-slip groove 11, the anti-slip groove 11 may be a triangle, a rectangle, or another structure, the anti-slip groove 11 may penetrate through the first rail 1 and the second rail 2, or the anti-slip groove 11 is an anti-slip pattern, an anti-slip seal, or the like, which is not limited in this application.
Optionally, a cavity is disposed in each of the first rail 1 and the second rail 2, and a water leakage hole 12 communicated with the cavity is disposed at the bottom of at least one of the first rail 1 and the second rail 2. For example, the bottom of each of the first and second rails 1 and 2 is provided with a water leakage hole 12 communicating with the cavity. Because the bottom of first track 1 and second track 2 is equipped with the hole 12 that leaks to can avoid entering into the problem that water or mud of first track 1 and second track 2 can't get rid of by antiskid groove 11, prolong orbital life of walking.
In some embodiments, as shown in fig. 1, the walking track further includes a bracket 4, and the first track 1, the second track 2 and the connecting member 3 are provided in two sets, wherein one set of the first track 1, the second track 2 and the connecting member 3 is provided on one side of the bracket 4, and the other set of the first track 1, the second track 2 and the connecting member 3 is provided on the other side of the bracket 4. It is understood that the two sets of the first rail 1, the second rail 2 and the connecting part 3 are arranged parallel to each other, and the first rail 1 and the second rail 2 can be connected with the bracket 4 by bolts, generally by welding, or by other detachable means.
As shown in fig. 1, a method for installing a travel rail according to another embodiment of the present invention is applied to a travel rail for an inspection robot according to an embodiment of the present invention, and includes:
one end of the elastic connecting member 33 is connected to the first fixing block 31, and the other end of the elastic connecting member 33 is connected to the second fixing block 32;
the connecting rope 34 passes through the elastic connecting piece 33 and is connected with the first fixing block 31 and the second fixing block 32;
a first fixing block 31 is installed on the first rail 1, and a second fixing block 32 is installed on the second rail 2;
the distance between the first track 1 and the second track 2 is shortened to compress the elastic connection 33. It will be appreciated that after compression of the link 33, the mounting holes in the brackets 4 are bolted to holes in the scraper conveyor, which ensures that the link 33 will continue to compress and extend to accommodate changes in the distance between the scraper conveyors as they bend or move closer and further apart.
According to the installation method of the walking track of another embodiment of the present invention, the elastic connection member 33 is connected between the first track 1 and the second track 2 through the first fixing block 31 and the second fixing block 32, so that the problem of up-and-down fluctuation or unevenness of the first track 1 and the second track 2 can be avoided, the connection effect between the first track 1 and the second track 2 is better, and the connection rope 34 is inserted into the elastic connection member 33 and connected with the first fixing block 31 and the second fixing block 32, so that when the elastic connection member 33 is separated due to an external force, the risk that the elastic connection member 33 is separated due to the restriction of the connection rope 34 and hurts people is not caused, and the reliability of the walking track when in use is higher.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a walking track for patrolling and examining robot which characterized in that includes: first track, second track and adapting unit, adapting unit includes first fixed block, second fixed block, elastic connection spare and connects the rope, elastic connection spare is located first fixed block with between the second fixed block, first fixed block with first track with elastic connection spare detachably connects, the second fixed block with the second track with elastic connection spare detachably connects, connect the rope and wear to establish in the elastic connection spare and with first fixed block with the second fixed block links to each other.
2. The travel rail for an inspection robot according to claim 1, wherein the elastic connection member is a coil spring.
3. The walking track for inspecting the robot according to claim 1, wherein the first fixing block comprises a first cylinder and a first flange, the second fixing block comprises a second cylinder and a second flange, the first flange is arranged on the peripheral wall of the first cylinder, the second flange is arranged on the peripheral wall of the second cylinder, one end of the elastic connecting piece is sleeved on the first cylinder and abutted to the first flange, and the other end of the elastic connecting piece is sleeved on the second cylinder and abutted to the second flange.
4. The walking track for the inspection robot according to claim 1, wherein a first channel is arranged on the first fixing block, a second channel is arranged on the second fixing block, one end of the connecting rope is matched with the first channel, and the other end of the connecting rope is matched with the second channel.
5. The walking track for the inspection robot according to claim 4, wherein the connection rope passes through the first channel and the second channel, a first limiting block is arranged at one end of the connection rope for limiting the one end of the connection rope to be separated from the first channel, and a second limiting block is arranged at the other end of the connection rope for limiting the other end of the connection rope to be separated from the second channel.
6. The walking rail for the inspection robot according to claim 5, wherein one end of the connection rope is tied to form the first stopper, and the other end of the connection rope is tied to form the second stopper.
7. The walking track for the inspection robot according to claim 5, wherein the first limiting block and the second limiting block are both buckles, and the buckles are fixed to the connecting ropes.
8. The track for routing inspection robots according to any one of claims 1 to 7, wherein at least one of the first track and the second track is provided with an anti-slip groove,
and/or a cavity is arranged in each of the first track and the second track, and a water leakage hole communicated with the cavity is formed in the bottom of at least one of the first track and the second track.
9. The track for routing inspection robots according to any one of claims 1 to 7, wherein the track further comprises a support, and the first track, the second track and the connecting members are provided in two sets, wherein the first track, the second track and the connecting members of one set are provided on one side of the support, and the first track, the second track and the connecting members of the other set are provided on the other side of the support.
10. A method of installing a running rail, applied to the running rail for an inspection robot according to any one of claims 1 to 9, the method comprising:
connecting one end of the elastic connecting piece with the first fixing block, and connecting the other end of the elastic connecting piece with the second fixing block;
the connecting rope penetrates through the elastic connecting piece and is connected with the first fixing block and the second fixing block;
installing the first fixed block on the first rail, and installing the second fixed block on the second rail;
shortening the distance between the first track and the second track to compress the elastic connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210106903.2A CN114474155A (en) | 2022-01-28 | 2022-01-28 | Walking track for inspection robot and installation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210106903.2A CN114474155A (en) | 2022-01-28 | 2022-01-28 | Walking track for inspection robot and installation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114474155A true CN114474155A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210106903.2A Pending CN114474155A (en) | 2022-01-28 | 2022-01-28 | Walking track for inspection robot and installation method thereof |
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| CN (1) | CN114474155A (en) |
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2022
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