CN117318321A - Track and track assembly - Google Patents

Track and track assembly Download PDF

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Publication number
CN117318321A
CN117318321A CN202210709232.9A CN202210709232A CN117318321A CN 117318321 A CN117318321 A CN 117318321A CN 202210709232 A CN202210709232 A CN 202210709232A CN 117318321 A CN117318321 A CN 117318321A
Authority
CN
China
Prior art keywords
track
wireless charging
inspection robot
coils
coil
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.)
Pending
Application number
CN202210709232.9A
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Chinese (zh)
Inventor
吴福梅
马伊
张志成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Energy Investment Corp Ltd
National Institute of Clean and Low Carbon Energy
Original Assignee
China Energy Investment Corp Ltd
National Institute of Clean and Low Carbon Energy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by China Energy Investment Corp Ltd, National Institute of Clean and Low Carbon Energy filed Critical China Energy Investment Corp Ltd
Priority to CN202210709232.9A priority Critical patent/CN117318321A/en
Publication of CN117318321A publication Critical patent/CN117318321A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present disclosure relates to a track and a track assembly, the track is used for guiding a patrol robot to move along a first direction, at least one group of wireless charging transmitting coil groups or at least one group of electromagnetic driving coil groups are arranged on the track, each group of wireless charging transmitting coil groups comprises a plurality of wireless charging transmitting coils which are arranged at intervals along the first direction, and the plurality of wireless charging transmitting coils are configured to be used for sequentially transmitting electric energy to wireless charging receiving coils on the patrol robot when the patrol robot moves along the first direction; or each electromagnetic driving coil group comprises a plurality of electromagnetic driving coils which are arranged at intervals along the first direction, and the plurality of electromagnetic driving coils are configured to be used for sequentially driving the permanent magnets on the inspection robot to move along the first direction so as to drive the inspection robot to synchronously move. The safety potential problem that the inspection robot in the related art can be charged only by stopping working can be solved.

Description

Track and track assembly
Technical Field
The disclosure relates to the technical field of inspection robots and rails thereof, in particular to a rail and a rail assembly.
Background
Coal mine intellectualization is a big trend, in coal mine production, coal transportation mainly passes through the rubber belt conveyor, and rubber belts and carrier rollers in the rubber belt conveyor can cause damage of different degrees due to long-time operation, such as: the belt is broken and damaged, the carrier roller rotates inflexibly, abnormal sounds occur, and the like, so that the safety production is influenced. Therefore, people research and develop a robot for inspecting the belt conveyor along the line, which is hung and installed through a rail, and the robot for inspecting moves on the rail, and has the main functions of detecting the damage condition of the belt conveyor, abnormal sound alarm of a carrier roller, gas overrun alarm and the like.
In the related art, a driving scheme adopted by the coal mine inspection robot is mainly driven by battery power supply, the scheme needs to charge the battery after the inspection robot stops, but underground charging is generally dangerous, the safety performance is low, a charging chamber, an independent ventilation system and the like are also required to be built, the construction cost is high, and the underground charging is troublesome and reduces the working efficiency.
Disclosure of Invention
The utility model aims at providing a track and track subassembly, this track can solve among the correlation technique patrol and examine the robot and need stop work just can charge the problem that leads to high in use cost, security performance are low.
In order to achieve the above object, the present disclosure provides a track for guiding a patrol robot to move along a first direction, at least one wireless charging and transmitting coil group or at least one electromagnetic driving coil group is provided on the track, each wireless charging and transmitting coil group comprises a plurality of wireless charging and transmitting coils which are arranged at intervals along the first direction, and the plurality of wireless charging and transmitting coils are configured to be capable of sequentially transmitting electric energy to wireless charging and receiving coils on the patrol robot when the patrol robot moves along the first direction; or each electromagnetic driving coil group comprises a plurality of electromagnetic driving coils which are arranged at intervals along the first direction, and the plurality of electromagnetic driving coils are configured to be used for sequentially driving the permanent magnets on the inspection robot to move along the first direction so as to drive the inspection robot to synchronously move.
Optionally, the electromagnetic drive coil or the wireless charging transmitting coil is embedded and concealed in the track.
Optionally, a receiving cavity for receiving the electromagnetic driving coil or the wireless charging transmitting coil is arranged in the track.
Optionally, a cable channel which is communicated with a plurality of accommodating cavities is arranged in the track, and a cable wire which is used for electrically connecting a plurality of electromagnetic driving coils or a plurality of wireless charging transmitting coils is accommodated in the cable channel.
Optionally, the track is configured as a non-metallic track.
Optionally, the track is made of any one of nylon composite material, polyphenyl ether composite material, polyester composite material and polyolefin composite material.
Optionally, the track is an extrusion or injection molding.
Optionally, a cable groove is disposed on the track, and the cable groove extends along a first direction, and is used for a signal wire connected to the inspection robot to pass through in a sliding manner.
Optionally, the rail is configured as an i-shaped rail and comprises a top plate, a bottom plate and a connecting plate, wherein the top plate and the bottom plate are parallel, the connecting plate is connected between the top plate and the bottom plate, the cable slot is arranged on the bottom surface of the bottom plate, and the electromagnetic driving coil or the wireless charging transmitting coil is arranged on the top plate or the bottom plate; or, the track includes a T-shaped chute extending along a first direction, the T-shaped chute being for sliding connection with the inspection robot, the cable trough being disposed on an inner top surface of the T-shaped chute.
Another aspect of the present disclosure provides a track assembly including a signal line, a winding mechanism and a track as described above, the winding mechanism including a spool rotatable about its own axis, one end of the signal line being adapted to be connected to the inspection robot, the other end being wound on the spool so as to wind up or release the signal line through the spool when the inspection robot moves along the direction of extension of the track, a cable slot provided along a first direction being provided on the track, the signal line being located between the inspection robot and the spool, the line body being slidably provided in the cable slot.
Through the technical scheme, namely, when at least one electromagnetic driving coil group is arranged on the track, the permanent magnets on the inspection robot are sequentially driven to move along the extending direction of the track through the electromagnetic driving coils in each electromagnetic driving coil group, so that the inspection robot can be driven to synchronously move, uninterrupted work of the inspection robot can be realized without stopping to charge, the working efficiency can be remarkably improved, and the battery, a corresponding charging chamber and an independent ventilation system can be saved, so that the structure is simplified, the cost is reduced, and the safety performance is improved; when setting up at least a set of wireless transmitting coil group that charges on the track, a plurality of wireless transmitting coil that charges in every group wireless transmitting coil group that charges can be when the robot is patrolled and examined on the track removes, to the wireless receiving coil that charges on the robot that patrols and examines in proper order carry the electric energy to realize the incessant work of patrolling and examining the robot, need not to stop and charge, can show promotion work efficiency, consequently, can avoid charging chamber and independent ventilation system's installation, with simplifying the structure, reduce cost and improve security performance. Therefore, the track provided by the disclosure can solve the problems of high use cost and low safety performance caused by the fact that the inspection robot in the related art can be charged only after stopping working.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
fig. 1 is a schematic block diagram of a patrol robot system provided in a first embodiment of the present disclosure;
fig. 2 is a schematic diagram of a first mating mode of a track and a patrol robot in the patrol robot system provided in the first embodiment of the present disclosure;
fig. 3 is a schematic diagram of a second mating mode of a track and a patrol robot in the patrol robot system provided in the first embodiment of the present disclosure;
fig. 4 is a schematic block diagram of a patrol robot system provided in a second embodiment of the present disclosure;
fig. 5 is a schematic diagram of a first mating mode of a track and a patrol robot in the patrol robot system provided in the second embodiment of the present disclosure;
fig. 6 is a schematic diagram of a second mating mode of a track and a patrol robot in the patrol robot system provided in the second embodiment of the present disclosure.
Description of the reference numerals
1-track; 101-cable channels; 102-a cable tray; 103-top plate; 104-a bottom plate; 105-connecting plates; 106-T-shaped sliding grooves; 2-a wireless charging transmitting coil set; 201-a wireless charging transmitting coil; 3-electromagnetic drive coil groups; 301-electromagnetic drive coils; 3011-a first electromagnetic drive coil; 3012-a second electromagnetic drive coil; 4-inspection robots; 401-a support; 402-a moving part; 4021-a second slider; 4022-connecting blocks; 5-permanent magnets; 6-an electric walking mechanism; 601-travelling wheels; 7-a wireless charging receiving coil; 8-signal lines; 9-a winding mechanism; 901-winding reel.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
In this disclosure, unless otherwise indicated, terms of orientation such as "inner and outer" are used to refer to inner and outer relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first, second", etc. are used to distinguish one element from another element without order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
According to a first aspect of the present disclosure there is provided a patrol robot system, as shown with reference to fig. 1 to 6, comprising a track 1 and a patrol robot 4 movably arranged on the track 1. The inspection robot system can be applied to any suitable application scene according to actual requirements, for example, in an application scene, the track 1 and the inspection robot 4 are applied to underground coal mines, the extending direction of the track 1 is the same as the extending direction of an underground conveyor for conveying coal, and the inspection robot 4 is used for moving along the track 1 so as to be used for detecting the damage condition of a belt of the conveyor and the like.
The track 1 may be configured in any suitable manner, for example, a track provided in accordance with the second aspect of the present disclosure may be employed, as will be described in detail below.
A second aspect of the present disclosure provides a track for guiding a patrol robot 4 to move in a first direction, wherein the first direction is an extension direction of the track 1. In the first embodiment of the second aspect of the present disclosure, as shown with reference to fig. 1 to 3, at least one electromagnetic driving coil group 3 is provided on the track 1, each electromagnetic driving coil group 3 includes a plurality of electromagnetic driving coils 301 arranged at intervals along the first direction, and the plurality of electromagnetic driving coils 301 are configured to be capable of sequentially driving the permanent magnet 5 on the inspection robot 4 to move along the first direction to bring the inspection robot 4 to move synchronously.
Through the technical scheme that this first embodiment provided, through a plurality of electromagnetic drive coils 301 drive permanent magnet 5 in proper order along the extending direction of track 1 remove, and then can drive inspection robot 4 synchronous movement, this kind of mode can realize inspection robot 4's incessant work, need not to stop and charge, can show promotion work efficiency to can save battery and corresponding charging chamber, independent ventilation system's installation, with simplifying the structure, reduce cost and improve security performance.
In a specific operation, referring to fig. 1, the first direction is the X direction in fig. 1, and when the inspection robot moves in the direction indicated by the arrow in the X direction, that is, when moving from the right side to the left side in the drawing direction in fig. 1, for example, when the inspection robot 4 moves between two electromagnetic driving coils 301, the electromagnetic driving coil 301 located in front of (i.e., on the left side of) the inspection robot 4 is referred to as a first electromagnetic driving coil 3011, and the electromagnetic driving coil 301 located behind (i.e., on the right side of) the inspection robot 4 is referred to as a second electromagnetic driving coil 3012. At this time, the first electromagnetic driving coil 3011 may generate attractive force to the permanent magnet 5, and the second electromagnetic driving coil 3012 may generate repulsive force to the permanent magnet to push the permanent magnet to move forward (i.e., to the left), which may be achieved by the opposite current directions flowing to the first electromagnetic driving coil 3011 and the second electromagnetic driving coil 3012. After the permanent magnet 5 passes the first electromagnetic driving coil 3011 forward (i.e., to the left), the current direction of the first electromagnetic driving coil 3011 may be switched so that the first electromagnetic driving coil 3011 generates a repulsive force to the permanent magnet 5 to continue to push the permanent magnet to move. Repeating the above steps, uninterrupted movement of the permanent magnet can be achieved by switching the current direction of each electromagnetic drive coil 3011.
In the track provided by the first embodiment of the present disclosure, the structure of the track 1 may be configured in any suitable manner, for example, as shown with reference to fig. 2, and in the first embodiment, the track 1 may be configured as an i-shaped track and include top and bottom plates 103 and 104 in parallel and a connection plate 105 connected between the top and bottom plates 103 and 104.
Accordingly, exemplarily, the inspection robot 4 may include two support parts 401 oppositely arranged with respect to the first direction, the two support parts 401 being respectively movably supported on the base plate 104 and respectively located at opposite sides of the connection plate 105; the support portion 401 is configured as first sliders slidably supported on the bottom plate 104, the number of the electromagnetic drive coil groups 3 is two and is provided in the opposite ends of the bottom plate 104 or the top plate 103 with respect to the first direction, respectively, and the number of the permanent magnets 5 is two and is fixedly attached to the two first sliders, respectively. Fig. 2 exemplarily shows an embodiment in which two electromagnetic drive coil groups 3 are located in opposite ends of the bottom plate 104 with respect to the first direction, respectively. In this embodiment, the two permanent magnets 5 correspond to the two electromagnetic driving coil sets respectively, so that the two electromagnetic driving coil sets 3 drive the corresponding permanent magnets 5 to move respectively, so that the two support portions 401 of the inspection robot 4 can move synchronously, and the movement stability of the inspection robot 4 can be improved. Of course, in other embodiments, one or more than two sets of electromagnetic driving coil sets 3 may be provided, one or more than two corresponding permanent magnets 5 may be provided, and one permanent magnet 5 may be driven simultaneously by multiple sets of electromagnetic driving coil sets 3, which is not particularly limited in this disclosure.
In a second embodiment, shown with reference to fig. 3, the track 1 comprises a T-shaped runner 106 extending in a first direction.
Accordingly, exemplary, the inspection robot 4 includes a moving portion 402 movably supported within the T-shaped chute 106. The moving part 402 includes a second slider 4021 and a connecting block 4022 which are connected in a T-shape, one end, far away from the second slider 4021, of the connecting block 4022 is fixedly connected to the inspection robot 4, the second slider 4021 is slidably supported in the T-shaped sliding groove 106, the number of the electromagnetic driving coil groups 3 is two, the electromagnetic driving coil groups are respectively located on two opposite sides of the connecting block 4022, and the number of the permanent magnets 5 is one or more and fixedly connected to the second slider 4021 or the connecting block 4022. Fig. 3 exemplarily shows an embodiment when the number of the permanent magnets 5 is two and corresponds to two electromagnetic driving coil groups 3, in this embodiment, the two electromagnetic driving coil groups 3 respectively drive the corresponding permanent magnets 5 to move, so that the synchronous movement of the two supporting parts 401 of the inspection robot 4 can be realized, and the stability of the movement of the inspection robot 4 can be improved. Of course, in other embodiments, one or more than two sets of electromagnetic driving coil sets 3 may be provided, one or more than two permanent magnets 5 may be provided, and one permanent magnet 5 may be driven simultaneously by multiple sets of electromagnetic driving coil sets 3, for example, the permanent magnet 5 is provided in the connection block 4022, which is not specifically limited in this disclosure.
In a second embodiment provided by the present disclosure, as shown with reference to fig. 4 to 6, the track 1 is provided with at least one set of wireless charging and transmitting coil sets 2, each set of wireless charging and transmitting coil sets 2 comprising a plurality of wireless charging and transmitting coils 201 arranged at intervals along a first direction, the plurality of wireless charging and transmitting coils 201 being configured for being able to sequentially deliver electric energy to the wireless charging and receiving coils 7 on the inspection robot 4 when the inspection robot 4 moves along the first direction.
Through the technical scheme provided by the above-mentioned second embodiment, a plurality of wireless charging transmitting coils 201 in every wireless charging transmitting coil group 2 can be when inspection robot 4 moves on track 1, carry the electric energy to the wireless receiving coil 7 that charges on the inspection robot 4 in proper order to realize inspection robot 4's incessant work, need not to stop and charge, can show promotion work efficiency, consequently, can avoid charging chamber and independent ventilation system's installation, with simplifying the structure, reduce cost and improve security performance.
Illustratively, the inspection robot 4 may be provided with an electric traveling mechanism 6, where the electric traveling mechanism 6 includes a traveling wheel 601 and a driving device for driving the traveling wheel 601 to rotate around its own axis, and the inspection robot 4 is movably disposed on the track 1 through the traveling wheel 601, and the wireless charging receiving coil 7 is electrically connected with the driving device for providing electric power to the driving device. Thus, the electric energy received by the wireless charging receiving coil 7 is directly supplied to the driving device, so that the use of a battery can be saved, the cost is further reduced, and the potential safety hazard is avoided.
In specific operation, referring to fig. 4, when the inspection robot moves in the direction indicated by the arrow in the X direction, that is, from the right side to the left side in the direction of the drawing in fig. 4, for example, when the inspection robot 4 moves to the corresponding wireless charging transmitting coil 201, since the wireless charging transmitting coil 201 generates an electromagnetic field with a certain intensity in a certain spatial range, the wireless charging receiving coil 7 in the inspection robot 4 is located in the electromagnetic field, a certain induced electromotive force is generated in the wireless charging receiving coil 7 by the high-frequency change of the magnetic flux of the wireless charging transmitting coil 201, and the driving device can be provided with direct current by the bridge rectifier or the capacitor filter circuit loaded on the wireless charging receiving coil 7, so that the travelling wheel 601 can be driven to rotate, and the inspection robot 4 can be moved on the track 1. When the wireless charging receiving coil 7 on the inspection robot 4 moves between two adjacent wireless charging transmitting coils 201, the two adjacent wireless charging transmitting coils 201 can sequentially supply electric energy to the wireless charging receiving coil 7, or both can simultaneously supply electric energy to the wireless charging receiving coil 7. It should be noted that, the distance between two adjacent wireless charging transmitting coils 201 satisfies that the electromagnetic fields generated by the two wireless charging transmitting coils 201 partially overlap, so that when the inspection robot 4 moves to any position of the track 1, wireless charging can be realized, and uninterrupted movement of the inspection robot can be realized. The driving device may be, for example, a motor, and the motor is in driving connection with the travelling wheel 601, so as to drive the travelling wheel 601 to rotate.
The structure of the track 1 provided by the second embodiment of the present disclosure may be configured in any suitable manner, for example, as shown with reference to fig. 5, and in the first embodiment, the track 1 may be configured as an i-shaped track and includes top and bottom plates 103 and 104 that are parallel and a connection plate 105 connected between the top and bottom plates 103 and 104.
Accordingly, exemplarily, the inspection robot 4 may include two support parts 401 oppositely arranged with respect to the first direction, the two support parts 401 being respectively movably supported on the base plate 104 and respectively located at opposite sides of the connection plate 105; the number of the walking wheels 601 is two and respectively connected to the two supporting parts 401, the number of the wireless charging transmitting coil groups 2 is two and respectively arranged in two opposite ends of the bottom plate 104 or the top plate 103 with respect to the first direction, and the number of the wireless charging receiving coils 7 is two and respectively arranged in the two supporting parts 401. Fig. 5 exemplarily shows an embodiment in which two wireless charging transmission coil sets 2 are respectively located in opposite ends of the bottom plate 104 with respect to the first direction. In this embodiment, two wireless charging receiving coils 7 each correspond to one wireless charging transmitting coil set 2. In this embodiment, when the driving device is a motor, the number of the travelling wheels 601 is two, and accordingly, the number of the motors may be two, and the two motors are used to drive the respective travelling wheels 601 and the respective wireless charging receiving coils 7 are used to supply electric power. Of course, in other embodiments, the number of wireless charging transmitting coil sets 2 may be one set or more than two sets, and correspondingly, the number of wireless charging receiving coils 7 may be one or more than two, which is not particularly limited in this disclosure.
In a second embodiment, shown with reference to fig. 6, the track 1 comprises a T-shaped chute 106 extending in a first direction, the T-shaped chute 106 being for sliding connection with the inspection robot 4.
Accordingly, exemplary, the inspection robot 4 includes a moving portion 402 movably supported within the T-shaped chute 106. The moving part 402 comprises a connecting block 4022, one end of the connecting block 4022 is fixedly connected with the inspection robot 4, the other end of the connecting block 4022, which is far away from the inspection robot 4, extends into the T-shaped chute 106, the number of the travelling wheels 601 is two, the travelling wheels are respectively arranged on two opposite sides, which are far away from the inspection robot 4, of the connecting block 4022, of the other end of the connecting block 4022, and the wireless charging receiving coil 7 is arranged in the connecting block 4022. Fig. 6 illustrates an embodiment in which a wireless charging transmitting coil set 2 and a wireless charging receiving coil 7 are matched, in this embodiment, when the driving device is a motor, the number of the motors may be one or two, and two travelling wheels 601 are synchronously driven to rotate by one motor, where the motor may be, for example, a dual output shaft motor, or two motors may also respectively drive the respective corresponding travelling wheels 601 to rotate, which is not particularly limited in the disclosure.
The electromagnetic drive coil 301 or the wireless charging and transmitting coil 201 may be installed in the track 1 in any suitable manner, for example, the electromagnetic drive coil 301 or the wireless charging and transmitting coil 201 may be embedded and concealed in the track 1, so as to avoid the electromagnetic drive coil 301 or the wireless charging and transmitting coil 201 from being exposed outside the track 1, which may cause a safety hazard. The track 1 may be provided with a receiving cavity for installing the electromagnetic driving coil 301 or the wireless charging and transmitting coil 201, so that after the electromagnetic driving coil 301 or the wireless charging and transmitting coil 201 is installed in the receiving cavity, the installation cavity may be sealed by a sealing member, such as a sealing plate, so as to realize concealment of the electromagnetic driving coil 301 or the wireless charging and transmitting coil 201, and improve safety performance.
In addition, the wireless charging receiving coil 7 may also be disposed and concealed in the inspection robot 4, for example, the wireless charging receiving coil 7 may be installed inside the housing of the inspection robot 4, so as to improve the safety performance.
In addition, the permanent magnet 5 may be exposed to the outside of the housing of the inspection robot 4, or may be disposed inside the housing of the inspection robot 4, which is not particularly limited in the present disclosure.
In some specific embodiments, referring to fig. 1 or 4, a cable channel 101 communicating with a plurality of receiving chambers is provided in the track 1, and a cable line for electrically connecting a plurality of electromagnetic driving coils 301 or a plurality of wireless charging transmitting coils 201 is received in the cable channel 101. The cable is installed in the cable channel 101, so that the cable is prevented from being exposed, and particularly when the track is applied to the underground coal mine, for example, the safety performance can be improved, and meanwhile, the interference of the movement of the inspection robot and the like can be avoided. In addition, the cable may be connected to an external power source, for example, in a coal mine underground application scenario, the cable may be connected to an external power source located on the well to provide power to each electromagnetic drive coil or wireless charging transmitter coil 201.
In some embodiments, track 1 may be configured as a non-metallic track to avoid affecting electromagnetic drive coil 301 or wireless charging transmitter coil 201, so that wireless drive or wireless charging may be better.
In addition, the housing of the inspection robot 4 may also be configured as a non-metal housing, so that the signal transmission effect of various sensors in the inspection robot 4 is better, and the signal shielding effect caused by the metal housing is avoided.
In some specific embodiments, the housing of the track 1 and/or the inspection robot 4 may be made of a non-metal composite material, for example, the housing of the track 1 and/or the inspection robot 4 is made of any one of a nylon composite material, a polyphenylene oxide composite material, a polyester composite material, and a polyolefin composite material, so that the housing of the track 1 and the inspection robot 4 has flame retardant and antistatic properties, and the flame retardant rating of the track 1 may reach V-0, and the specific resistance may reach 3×10 8 Omega; flame retardant grade of shell of inspection robot 4To reach V-0 and resistivity of 10 5-11 Omega. Wherein the polyolefin composite may be a polypropylene composite.
In some embodiments, the track 1 may be an extrusion manufactured by a continuous extrusion process, or an injection molded article manufactured by an injection molding process, and the wireless charging transmitting coil 201 or the electromagnetic driving coil 301 may be embedded during the process of manufacturing the track 1, or may be embedded after manufacturing the track 1. The present disclosure is not limited thereto.
In some embodiments, the track 1 is provided with a cable slot 102, the cable slot 102 extending in a first direction for slidably passing a signal wire 8 connected to the inspection robot 4. The opposite end of the signal line 8 to the connection end of the inspection robot 4 may be connected to a background control center, so as to transmit information collected by the inspection robot 4 to the background control center. The signal is transmitted in a wired mode, so that the problem of high wireless transmission transmitting power is solved, and low-power signal transmission can be realized. In addition, the signal line 8 is provided in the cable groove 102, which can prevent the wire harness from being disordered and also can protect the signal line. In addition, the cable slot 102 is slidably penetrated by the signal wire 8, so that the movement of the inspection robot 4 can be prevented from being interfered, for example, the signal wire 8 can slide in the cable slot 102 following the movement of the inspection robot 4.
Referring to fig. 2 or 5, when the track 1 is constructed as an i-shaped track, the cable groove 102 may be provided on the bottom surface of the bottom plate 104 of the track 1 so as to be connected with the inspection robot 4, avoiding interference with the movement of the inspection robot 4.
Referring to fig. 3 or 6, when the track 1 includes a T-shaped chute 106 extending in the first direction, the cable groove 102 may be provided on an inner top surface of the T-shaped chute 106 so as to be connected with the inspection robot 4, avoiding interference with movement of the inspection robot 4.
According to the track provided in the second aspect of the present disclosure, the third aspect of the present disclosure further provides a track assembly including the signal wire 8, the winding mechanism 9, and the track 1 as described above, the winding mechanism 9 including the spool 901 rotatable about its own axis, one end of the signal wire 8 being for connection to the inspection robot 4, the other end being wound on the spool 901 to wind or release the signal wire 8 through the spool 901 when the inspection robot 4 moves in the extending direction of the track 1, the track 1 being provided with the cable slot 102 provided in the extending direction of the track 1, a wire body of the signal wire 8 located between the inspection robot 4 and the spool 901 being slidably provided in the cable slot 102. The opposite end of the signal line 8 to the connection end of the inspection robot 4 may be connected to a background control center, so as to transmit information collected by the inspection robot 4 to the background control center.
Through the technical scheme, the signal is transmitted in a wired mode, so that the problem of high wireless transmission transmitting power is solved, and low-power signal transmission can be realized. In addition, the signal line 8 is provided in the cable groove 102, which can prevent the wire harness from being disordered and also can protect the signal line. Further, by providing the spool 901, the signal lines can be wound or released with the movement of the inspection robot 4 to further regulate the arrangement of the signal lines. The winding mechanism 9 may further include a motor for driving the spool 901 to rotate to effect winding and releasing of the signal wire by the spool 901. In addition, the signal line may employ, for example, an optical cable.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims (10)

1. The track is characterized in that the track is used for guiding the inspection robot to move along a first direction, at least one group of wireless charging transmitting coil groups or at least one group of electromagnetic driving coil groups are arranged on the track, each group of wireless charging transmitting coil groups comprises a plurality of wireless charging transmitting coils which are arranged at intervals along the first direction, and the plurality of wireless charging transmitting coils are configured to be used for sequentially conveying electric energy to wireless charging receiving coils on the inspection robot when the inspection robot moves along the first direction; or each electromagnetic driving coil group comprises a plurality of electromagnetic driving coils which are arranged at intervals along the first direction, and the plurality of electromagnetic driving coils are configured to be used for sequentially driving the permanent magnets on the inspection robot to move along the first direction so as to drive the inspection robot to synchronously move.
2. The track according to claim 1, wherein the electromagnetic drive coil or the wireless charging transmitter coil is embedded and concealed in the track.
3. The track according to claim 2, wherein a receiving cavity for receiving the electromagnetic drive coil or the wireless charging transmitting coil is provided in the track.
4. A track according to claim 3, wherein a cable passage is provided in the track which communicates with a plurality of the accommodation chambers, the cable passage accommodating therein a cable wire for electrically connecting a plurality of the electromagnetic drive coils or a plurality of the wireless charging transmission coils.
5. The track according to claim 1, wherein the track is configured as a non-metallic track.
6. The track according to claim 1 or 5, wherein the track is made of any one of nylon composite, polyphenylene oxide composite, polyester composite, polyolefin composite.
7. The track according to claim 1, wherein the track is an extrusion or an injection molded part.
8. The track according to claim 1, wherein a cable slot is provided on the track, the cable slot extending in a first direction for slidably passing a signal wire connected to the inspection robot.
9. The track according to claim 8, wherein the track is configured as an i-shaped track and comprises a top plate and a bottom plate that are parallel and a connecting plate that is connected between the top plate and the bottom plate, the cable slot is provided on the bottom surface of the bottom plate, and the electromagnetic drive coil or the wireless charging transmitter coil is provided on the top plate or the bottom plate; or,
the track includes the T shape spout that extends along first direction, T shape spout be used for with inspection robot sliding connection, the cable groove sets up on the interior top surface of T shape spout.
10. A track assembly comprising a signal wire, a winding mechanism and a track according to any one of claims 1 to 9, the winding mechanism comprising a spool rotatable about its own axis, one end of the signal wire being adapted to be connected to the inspection robot and the other end being wound around the spool so as to wind or release the signal wire through the spool when the inspection robot moves in the direction of extension of the track, the track being provided with a cable slot arranged in a first direction, a body of the signal wire between the inspection robot and the spool being slidably arranged in the cable slot.
CN202210709232.9A 2022-06-21 2022-06-21 Track and track assembly Pending CN117318321A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210709232.9A CN117318321A (en) 2022-06-21 2022-06-21 Track and track assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210709232.9A CN117318321A (en) 2022-06-21 2022-06-21 Track and track assembly

Publications (1)

Publication Number Publication Date
CN117318321A true CN117318321A (en) 2023-12-29

Family

ID=89259112

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210709232.9A Pending CN117318321A (en) 2022-06-21 2022-06-21 Track and track assembly

Country Status (1)

Country Link
CN (1) CN117318321A (en)

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