CN208021576U

CN208021576U - A kind of high efficiency colliery underground robotic explorer

Info

Publication number: CN208021576U
Application number: CN201820239354.5U
Authority: CN
Inventors: 陈武琼
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-02-10
Filing date: 2018-02-10
Publication date: 2018-10-30
Anticipated expiration: 2028-02-10

Abstract

The utility model discloses a kind of high efficiency colliery underground robotic explorers, including brandreth, the lower surface of the brandreth is equipped with multiple holders, the bottom of the holder is equipped with the first runner, first runner is connected by the first axis pin with holder, first runner is flexibly connected with holder, and first iron is connected by first bearing with the first steel cylinder.The high efficiency colliery underground robotic explorer, pass through the first runner, first steel cylinder, first bearing, cooperation between first iron and the first screw rod, the vertical height of change first gear is accomplished, pass through the second screw rod, cooperation between second steel cylinder and the second iron, the horizontal position of change first gear is accomplished, work can also be completed more quickly by not only avoiding the damage to machine, it will not lead to the progress for being delayed rescue work, rescue work can fast and accurately be carried out, it is extremely convenient, can meet people for it is a kind of can be by the machine human needs in a variety of spaces.

Description

A kind of high efficiency colliery underground robotic explorer

Technical field

The present invention relates to robotic technology field, specially a kind of high efficiency colliery underground robotic explorer.

Background technology

High efficiency colliery underground robotic explorer can in advance enter instead of rescue personnel and detect mine disaster rescue scene, together When scene situation and environmental data pass to rescue personnel, so that rescue personnel can quickly and accurately make rescue party Case avoids unnecessary Loss of Life and property, but since mine disaster scene is often diversified, the inside of mine is also It can't bear since mine disaster becomes ruined, at this moment just sniffing robot needed to play a role, such as application No. is The patent of " 201310452270.1 " provides a kind of high efficiency colliery underground robotic explorer, including robot body, automatic receipts It puts fiber device, controller, the explosion-proof holder of lifting and intrinsic safety camera, the automatic deploying and retracting fiber device and is set to robot sheet The top of body, the controller are arranged in robot body positive pressure intracavitary, although which has accomplished to the automatic of fiber device Folding and unfolding, it is relatively quick compared with manual operation, but due to underground structure complexity, robot inevitably encounters barrier when inside is advanced Hinder, and meets narrow space, it is likely that the case where cannot get through, or be clipped in crack, it is not only a kind of to machine Damage may also cause work that can not complete, or even be delayed the progress of rescue work, can not fast and accurately carry out rescue work, It is extremely inconvenient, could not accomplish to cannot be satisfied the completion that everything goes well with your work people for it is a kind of can be by the machine in a variety of spaces Human needs.

Invention content

The purpose of the present invention is to provide a kind of high efficiency colliery underground robotic explorers, to solve in above-mentioned background technology The problem of proposition.

To achieve the above object, the present invention provides the following technical solutions：A kind of high efficiency colliery underground robotic explorer, packet Brandreth is included, the lower surface of the brandreth is equipped with strut, and the lower surface of the brandreth is equipped with multiple holders, the bottom of the holder Portion is equipped with the first runner, and first runner is connected by the first axis pin with holder, and first runner is flexibly connected with holder, The bottom of first runner is equipped with the first iron, and the bottom of first iron is equipped with first bearing, first iron Bar is connected by first bearing with the first steel cylinder, and first iron is flexibly connected with the first steel cylinder, first steel cylinder it is interior Portion is equipped with the first screw rod, and first screw rod is threadedly coupled with the first steel cylinder, and the bottom end of first screw rod is equipped with second Bearing, first screw rod are connected by second bearing with first rotating shaft, and the outer wall of the first rotating shaft is equipped with first gear, The left side of first iron is equipped with the second runner, and second runner is connected by the first axis pin with the second screw rod, and described the Two screw rods are flexibly connected with the second runner, and the left end of second screw rod is equipped with the second steel cylinder, second steel cylinder and second Screw flight connects, and the right end of second steel cylinder is equipped with first bearing, and second steel cylinder passes through first bearing and second Iron is connected, and second iron is flexibly connected with the second steel cylinder, and the left end of second iron passes through the first axis pin and second Runner is connected, and second runner is flexibly connected with the second iron, and the first iron is equipped on the left of second runner, described The lower section of brandreth is equipped with multiple big rollers, and the outer wall of the big roller is equipped with crawler belt, and the front of the big roller is equipped with second Gear, the second gear is engaged with first gear to be connected, and the big roller is connected by fourth bearing with third shaft, described Big roller is flexibly connected with third shaft, and third screw rod, the right side of the third screw rod are equipped with below the fourth bearing Outer wall is equipped with barrel nuts, and third screw rod is threadedly coupled with barrel nuts, and the inner right side of the barrel nuts is equipped with the 4th Screw rod, the 4th screw rod are threadedly coupled with barrel nuts, and fourth bearing is equipped with above the right end of the 4th screw rod, described The right side of first gear is equipped with third gear, and the right side of the third gear is equipped with first gear, the third gear and first Gear engagement is connected, and the third gear is connected by the 4th shaft with strut, and the top of the third gear is equipped with the 4th tooth Wheel, the 4th gear is engaged with third gear to be connected, and the upper surface center of the 4th gear is equipped with Long Irons, the length The outer wall of iron is equipped with long cylinder, and the right side of the long cylinder is equipped with threaded hole, and the threaded hole is internally provided with lag bolt, described short Bolt is threadedly coupled with threaded hole, and left end and the Long Irons of the lag bolt fit.

Preferably, the right end of the lag bolt is equipped with turntable.

Preferably, the outer wall of the turntable installs rubber sleeve.

Preferably, the bottom end of the long cylinder is equipped with rubber ring.

Compared with prior art, the beneficial effects of the invention are as follows：The high efficiency colliery underground robotic explorer, passes through first Cooperation between runner, the first steel cylinder, first bearing, the first iron and the first screw rod has been accomplished to change the vertical of first gear Highly, by the cooperation between the second screw rod, the second steel cylinder and the second iron, accomplished the horizontal position for changing first gear, By the cooperation of vertical height and horizontal position, realizes and change the whole of the high efficiency colliery underground robotic explorer traveling part Body size, can become larger can become smaller, the conventional track formula that compares robot, which can be by changing each gear Distance makes the overall volume of the robot bottom travel configuration become smaller, and can meet narrow sky by more narrow space Between when be not in or to be clipped in crack the case where cannot get through, the damage not only avoided to machine also can be complete more quickly At work, the progress for being delayed rescue work will not be caused, can fast and accurately carry out rescue work, extremely convenient, Ke Yiman Sufficient people can pass through the machine human needs in a variety of spaces for a kind of.

Description of the drawings

Fig. 1 is schematic structural view of the invention；

Fig. 2 is holder, the first runner and the first iron connection relation structural schematic diagram in Fig. 1；

Fig. 3 is Long Irons, long cylinder and turntable connection structure relationship sectional view in Fig. 1；

Fig. 4 is the first iron, the first steel cylinder and the first screw rod connection relation structure sectional view in Fig. 1.

In figure：1, brandreth, 2, holder, the 3, first runner, the 4, first iron, the 5, second runner, the 6, first axis pin, 7, Two screw rods, the 8, second steel cylinder, the 9, second iron, 10, fourth bearing, the 11, first steel cylinder, 12, first bearing, 13, rubber sleeve, 14, the first screw rod, 15, second bearing, 16, first rotating shaft, 17, first gear, 18, spring, 19,3rd bearing, 20, second Shaft, 21, trundle, 22, third shaft, 23, big roller, the 24, the 4th shaft, 25, third screw rod, the 26, the 4th screw rod, 27, barrel nuts, 28, third gear, the 29, the 4th gear, 30, Long Irons, 31, long cylinder, 32, turntable, 33, lag bolt, 34, Threaded hole, 35, crawler belt, 36, second gear, 37, rubber ring, 38, strut.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of high efficiency colliery underground robotic explorer, including The lower surface of brandreth 1, brandreth 1 is equipped with strut 38, and there are two holders 2 for the lower surface installation of brandreth 1, and the bottom of holder 2 is equipped with First runner 3, the first runner 3 are connected by the first axis pin 6 with holder 2, and the first runner 3 is flexibly connected with holder 2, first turn The bottom of wheel 3 is equipped with the first iron 4, the first iron 4 by matching between the first runner 3 and holder 2 and, can be lived with multi-angle Dynamic, the bottom of the first iron 4 is equipped with first bearing 12, and the first iron 4 is connected by first bearing 12 with the first steel cylinder 11, First iron 4 is flexibly connected with the first steel cylinder 11, and the inside of the first steel cylinder 11 is equipped with the first screw rod 14, by rotating the first steel Cylinder 11 can change the length that the first steel cylinder 11 is threadedly coupled part with the first screw rod 14, and then change the first steel cylinder 11 and first The length of screw rod 14 and, and then change the position of first gear 17, the first screw rod 14 is threadedly coupled with the first steel cylinder 11, the first spiral shell The bottom end of bar 14 is equipped with second bearing 15, and the first screw rod 14 is connected by second bearing 15 with first rotating shaft 16, first rotating shaft 16 outer wall is equipped with first gear 17, and first gear 17 drives second gear 36 to rotate under the drive of third gear 28, and one The left side of iron 4 is equipped with the second runner 5, and the second runner 5 is connected by the first axis pin 6 with the second screw rod 7, the second screw rod 7 and the Two runners 5 are flexibly connected, and the left end of the second screw rod 7 is equipped with the second steel cylinder 8, and the second steel cylinder 8 is threadedly coupled with the second screw rod 7, Cooperation, second steel cylinder identical as the cooperation between the first steel cylinder 11 and the first screw rod 14 between second steel cylinder 8 and the second screw rod 7 8 right end is equipped with first bearing 12, and the second steel cylinder 8 is connected by first bearing 12 with the second iron 9, the second iron 9 and Two steel cylinders 8 are flexibly connected, and the left end of the second iron 9 is connected by the first axis pin 6 with the second runner 5, by adjusting the second steel cylinder 8 may be implemented that the first iron 4 change position and angle, the second runner 5 is driven to be flexibly connected with the second iron 9, the second runner 5 Left side is equipped with the first iron 4, and the lower section of brandreth 1 is set there are two big roller 23, and the outer wall of big roller 23 is equipped with crawler belt 35, crawler belt 35 increase the contact area between the part and ground, and the front of big roller 23 is equipped with second gear 36, second gear 36 It engages and is connected with first gear 17, big roller 23 is connected by fourth bearing 10 with third shaft 22, and big roller 23 turns with third Axis 22 is flexibly connected, and realizes that big roller 23 is rotated around third shaft 22, and the lower section of fourth bearing 10 is equipped with third screw rod 25, the The outer right wall of three screw rods 25 barrel nuts 27, the wherein hand of spiral of third screw rod 25 and the 4th screw rod 26 are installed on the contrary, 27 inside left and right sides hand of spiral of round nut is also reversed simultaneously, and to accomplish, rotation round nut 27 accomplishes third spiral shell It is close or separate between bar 25 and the 4th screw rod 26, to change the horizontal distance between two big rollers 23, third spiral shell Bar 25 is threadedly coupled with barrel nuts 27, and the inner right side of barrel nuts 27 is equipped with the 4th screw rod 26, the 4th screw rod 26 and tubular Nut 27 is threadedly coupled, and is equipped with fourth bearing 10 above the right end of the 4th screw rod 26, the 4th screw rod 26 passes through fourth bearing 10 It is connected with big roller 23, realizes the position not influenced while big roller 23 rotates between third screw rod 25 and the 4th screw rod 26 The right side of relationship, first gear 17 is equipped with third gear 28, and the right side of third gear 28 is equipped with first gear 17, third gear 28 It engages and is connected with first gear 17, third gear 28 is connected by the 4th shaft 24 with strut 38, and the top of third gear 28 is set There is the 4th gear 29, the 4th gear 29 is engaged with third gear 28 to be connected, and the 4th gear 29 will be from long cylinder 31 and stock 30 The power of rotation passes to first gear 17 and second gear 36 and then big roller 23 is driven to rotate, and the rotation of big roller 23, which drives, carries out Band 35, to realize that the advance or retrogressing of the machine, the upper surface center of the 4th gear 29 are equipped with Long Irons 30, Long Irons 30 outer wall is equipped with long cylinder 31, and the right side of long cylinder 31 is equipped with threaded hole 34, and threaded hole 34 is internally provided with lag bolt 33, by short Matching between bolt 33, threaded hole 34 and, realize the entire length changed after being connected between long cylinder 31 and stock 30, Jin Ergai Become the whole height of the robot, wherein the top of long cylinder 31 is connected with the power plant of the robot, lag bolt 33 and spiral shell Pit 34 is threadedly coupled, and left end and the Long Irons 30 of lag bolt 33 fit, and the lower surface of brandreth 1 is installed there are two spring 18, The bottom end of spring 18 is equipped with 3rd bearing 19, and the outer wall of 3rd bearing 19 is equipped with trundle 21, passes through spring 18 and small rolling Cooperation between wheel 21, it is therefore intended that adapt to change required track length after changing position relationship between each gear Become, trundle 21 is connected by 3rd bearing 19 with the second shaft 20, and trundle 21 is flexibly connected with the second shaft 20, lag bolt 33 right end is equipped with turntable 32, adjusts lag bolt 33 by turntable 32, the outer wall of turntable 32 installs rubber sleeve 13, long cylinder 31 bottom end is equipped with rubber ring 37, and rubber ring 37 ensures the leakproofness between long cylinder 31 and stock 30.

Stock 30 and long cylinder 31 are adjusted to suitable installation site first, then lag bolt 33 turns left, makes short The left end of bolt 33 is tightly bonded with the surface of stock 30, and the first steel cylinder 11 and the second steel cylinder 8 are adjusted next, being combined with, the One steel cylinder 11, which rotates, can change the coupling part length of the first screw rod 14 and the first steel cylinder 11, and then the first steel cylinder 11 of change, the The length summation of one screw rod 14 and the first iron 4, in the case where the position of brandreth 1 is relatively motionless, the first screw rod 14 drives the One gear 17 changes position, and first gear 17 may lose engaging between third gear 28 and be connected at this time, by adjusting the It is close to each other or separate between two steel cylinders 8, two first gears 17 of drive, and then again by first gear 17 and third gear 28 engagements are connected, and then adjust barrel nuts 27, and the cooperation between barrel nuts 27 and third screw rod 25 and the 4th screw rod 26 is real Now drive two big rollers 23 between horizontal distance change, to make two big rollers 23 again with two first gears 17 engagements are connected, and by changing the length of crawler belt 35, ensure the compactness of crawler belt 35 and big roller 23, at this time just by the robot Traveling part be adjusted to required size, more narrow space can be passed through.

In the description of the present invention, it is to be understood that, term " coaxial ", " bottom ", " one end ", " top ", " middle part ", The orientation or positional relationship of the instructions such as " other end ", "upper", " side ", " top ", "inner", " front ", " center ", " both ends " is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair The limitation of the present invention.

In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " fixation ", Terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with It is mechanical connection, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly, for the common of this field For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace And modification, the scope of the present invention is defined by the appended.

Claims

1. a kind of high efficiency colliery underground robotic explorer, including brandreth (1), it is characterised in that：The lower surface of the brandreth (1) Strut (38) is installed, the lower surface of the brandreth (1) is equipped with multiple holders (2), and the bottom of the holder (2) is equipped with first Runner (3), first runner (3) are connected by the first axis pin (6) with holder (2), first runner (3) and holder (2) Flexible connection, the bottom of first runner (3) are equipped with the first iron (4), and the bottom of first iron (4) is equipped with the One bearing (12), first iron (4) are connected by first bearing (12) with the first steel cylinder (11), first iron (4) It is flexibly connected with the first steel cylinder (11), the inside of first steel cylinder (11) is equipped with the first screw rod (14), first screw rod (14) it being threadedly coupled with the first steel cylinder (11), the bottom end of first screw rod (14) is equipped with second bearing (15), and described first Screw rod (14) is connected by second bearing (15) with first rotating shaft (16), and the outer wall of the first rotating shaft (16) is equipped with the first tooth Take turns (17), the left side of first iron (4) is equipped with the second runner (5), second runner (5) by the first axis pin (6) with Second screw rod (7) is connected, and second screw rod (7) is flexibly connected with the second runner (5), the left end peace of second screw rod (7) Equipped with the second steel cylinder (8), second steel cylinder (8) is threadedly coupled with the second screw rod (7), the right end peace of second steel cylinder (8) Equipped with first bearing (12), second steel cylinder (8) is connected by first bearing (12) with the second iron (9), second iron Bar (9) is flexibly connected with the second steel cylinder (8), and the left end of second iron (9) passes through the first axis pin (6) and the second runner (5) It is connected, second runner (5) is flexibly connected with the second iron (9), and the first iron is equipped on the left of second runner (5) (4), the lower section of the brandreth (1) is equipped with multiple big rollers (23), and the outer wall of the big roller (23) is equipped with crawler belt (35), described The front of big roller (23) is equipped with second gear (36), and the second gear (36) is engaged with first gear (17) to be connected, institute It states big roller (23) by fourth bearing (10) to be connected with third shaft (22), the big roller (23) is living with third shaft (22) It is dynamic to connect, third screw rod (25), the outer right wall peace of the third screw rod (25) are installed below the fourth bearing (10) Equipped with barrel nuts (27), the third screw rod (25) is threadedly coupled with barrel nuts (27), the barrel nuts (27) it is interior The 4th screw rod (26) is equipped on the right side of portion, the 4th screw rod (26) is threadedly coupled with barrel nuts (27), the 4th screw rod (26) fourth bearing (10) is installed, the right side of the first gear (17) is equipped with third gear (28), described above right end The right side of third gear (28) is equipped with first gear (17), and the third gear (28) is engaged with first gear (17) to be connected, institute It states third gear (28) by the 4th shaft (24) to be connected with strut (38), the top of the third gear (28) is equipped with the 4th tooth It takes turns (29), the 4th gear (29) is engaged with third gear (28) to be connected, and is felt at ease in the upper surface of the 4th gear (29) Equipped with Long Irons (30), the outer wall of the Long Irons (30) is equipped with long cylinder (31), and the right side of the long cylinder (31) is equipped with threaded hole (34), the threaded hole (34) is internally provided with lag bolt (33), and the lag bolt (33) is threadedly coupled with threaded hole (34), institute The left end and Long Irons (30) for stating lag bolt (33) fit.

2. a kind of high efficiency colliery underground robotic explorer according to claim 1, it is characterised in that：The lag bolt (33) right end is equipped with turntable (32).

3. a kind of high efficiency colliery underground robotic explorer according to claim 2, it is characterised in that：The turntable (32) Outer wall installation rubber sleeve (13).

4. a kind of high efficiency colliery underground robotic explorer according to claim 1, it is characterised in that：The long cylinder (31) Bottom end rubber ring (37) is installed.