CN214839398U

CN214839398U - Combine and adopt working face and inhale a crawler-type and patrol and examine robot frame

Info

Publication number: CN214839398U
Application number: CN202120169511.1U
Authority: CN
Inventors: 李晓明; 贺俊义; 李栋庆; 梁耀林; 高波
Original assignee: Shanxi Keda Automation Control Co ltd
Current assignee: Shanxi Keda Automation Control Co ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2021-11-23
Anticipated expiration: 2031-01-21

Abstract

The utility model provides a combine and adopt working face and inhale a crawler-type and patrol and examine robot frame relates to and combine and adopt working face and patrol and examine robot technical field. It includes: a tracked frame comprising: the crawler belt type rolling machine comprises crawler belts, a vehicle framework and rollers, wherein the two crawler belts are respectively arranged at two ends of the vehicle framework, at least four rollers are arranged in each crawler belt, and the rollers are rotatably arranged on the vehicle framework; two corresponding idler wheels positioned at two ends of the vehicle framework are coaxially connected to form a pair of synchronous idler wheels; the supporting rod is hinged with the fixed beam at one end and fixedly connected with the bottom of the frame at the other end; the two ends of the spring are fixedly connected with the supporting rod and the top of the coal mining machine respectively; and the at least one camera is arranged on the frame. The utility model realizes that the combined mining working surface ceiling crawler type inspection robot frame moves along the inner side of the hydraulic support top plate along with the movement of the coal mining machine all the time; the installation quantity of the fixed cameras on the unmanned working face is reduced.

Description

Combine and adopt working face and inhale a crawler-type and patrol and examine robot frame

Technical Field

The utility model relates to a combine and adopt working face and patrol and examine robot technical field, specifically for combine and adopt working face and inhale a crawler-type and patrol and examine robot frame.

Background

The thickness of the thin coal seam is small, the vertical height of the coal seam under a normal inclination angle is lower than the height of a person, the difficulty of manual mining or manual operation mining is high, and the potential safety hazard is high. The biggest characteristic of unmanned face coal mining is that workers get rid of dangerous working places, but the requirement for collecting information by a video monitoring system is high. The existing video monitoring system usually adopts a plurality of cameras which are fixedly installed, but due to the narrow space, the coal mining work can be influenced by too many cameras.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a combine and adopt working face to inhale a crawler-type and patrol and examine robot frame.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

combine and adopt working face and inhale a crawler-type and patrol and examine robot frame, include: a tracked frame comprising: the crawler belt type rolling machine comprises crawler belts, a vehicle framework and rollers, wherein the two crawler belts are respectively arranged at two ends of the vehicle framework, at least four rollers are arranged in each crawler belt, and the rollers are rotatably arranged on the vehicle framework; two corresponding idler wheels positioned at two ends of the vehicle framework are coaxially connected to form a pair of synchronous idler wheels; the supporting rod is hinged with the fixed beam at one end and fixedly connected with the bottom of the frame at the other end; the two ends of the spring are fixedly connected with the supporting rod and the top of the coal mining machine respectively; and the at least one camera is arranged on the frame.

As the utility model discloses a further improvement, be located the arbitrary appearance of making a video recording of respectively installing on the synchronous gyro wheel of car skeleton top, the camera lens of one of them appearance of making a video recording is towards the support, and the camera lens of another appearance of making a video recording is towards the cutting disc of coal-winning machine.

As a further improvement of the present invention, the present invention further comprises: with camera lens mirror surface dust removal structure that appearance one-to-one set up makes a video recording, it includes: a striker and a dust removal plate; a collision rod is eccentrically and fixedly arranged on the roller; the center of the dust removing plate is rotatably arranged on the vehicle framework through a rotating shaft, one end of the dust removing plate is fixedly provided with a dust removing sheet, the other end of the dust removing plate is in contact with the collision rod, and the dust removing sheet is positioned at the lens of the camera.

As a further improvement of the utility model, the car skeleton is trapezoidal, the side plates are respectively fixed at the two ends of the car skeleton, and the bottom plate is fixed at the bottom of the car skeleton.

As a further improvement of the present invention, the present invention further comprises: and the strong permanent magnets are respectively fixedly arranged on the side plates and positioned below the top part of the crawler.

As a further improvement of the utility model, the number of the support rods is two, and the support rods are arranged corresponding to the springs one by one; the two support rods are arranged side by side or in front and back along the moving direction of the frame.

As a further improvement of the utility model, a groove is arranged in the middle of the bottom plate, a slide block is arranged in the groove, and the slide block slides in the groove along the motion direction of the frame; the top end of the supporting rod is fixedly connected with the bottom of the sliding block.

The utility model provides a combine and adopt working face and inhale a crawler-type inspection robot frame, link firmly with the coal-winning machine fuselage through the fixed beam, the track keeps in contact with the roof inboard of hydraulic support all the time, realizes that combine and adopt working face and inhale a crawler-type inspection robot frame and move along the inboard of hydraulic support roof all the time along the removal of coal-winning machine; the installation quantity of the fixed cameras on the unmanned working surface is reduced; the device is particularly suitable for low mining working faces with a mining height of less than two meters in thin coal seams.

Drawings

FIG. 1 is a schematic structural diagram of a ceiling-mounted crawler type inspection robot frame of a fully mechanized mining face in an embodiment;

FIG. 2 is a schematic structural diagram of a dust removal structure of a lens surface in an embodiment;

FIG. 3 is a schematic diagram of the installation position of a frame of the fully mechanized mining face ceiling crawler type inspection robot in the embodiment;

fig. 4 is a schematic view of the shape of the support rod in the embodiment.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-3, fig. 1 shows that the fully mechanized mining face ceiling-suction crawler type inspection robot frame 102 moves left and right along the inner side of the ceiling of the support 101, and fig. 3 shows that the fully mechanized mining face ceiling-suction crawler type inspection robot frame 102 moves back and forth along the inner side of the ceiling of the support 101. This embodiment provides combine and adopt working face to inhale a crawler-type and patrol and examine robot frame, include: the device comprises a crawler-type frame 1, a fixed beam 4 fixedly connected with the top of a coal mining machine 100, a support rod 5, a spring 6 and at least one camera 7;

wherein, crawler-type frame 1 includes: the crawler-type vehicle comprises crawlers 2, a vehicle framework and rollers 3, wherein the two crawlers 2 are respectively arranged at two ends of the vehicle framework, at least four rollers 3 are arranged in each crawler 2, and the rollers 3 are rotatably arranged on the vehicle framework; two corresponding idler wheels positioned at two ends of the vehicle framework are coaxially connected to form a pair of synchronous idler wheels; one end of the support rod 5 is hinged with the fixed beam 4, and the other end is fixedly connected with the bottom of the frame 1; the two ends of the spring 6 for supporting the support rod 5 are fixedly connected with the support rod 5 and the top of the coal mining machine 100 respectively; the camera 7 is mounted on the frame 1. In this embodiment, the fixed beam 4 is fixedly arranged at the top of the coal mining machine 100, the support rod 5 is connected with the fixed beam 4 through a hinge, the support rod 5 can rotate around the hinge axis, and the crawler frame is always in contact with the inner side of the top plate of the hydraulic support 101 through the support rod 5 under the action of the spring 6. In the embodiment shown in fig. 2, the spring 6 is arranged on the rear side of the support bar 5.

Preferably, a camera 7 is arranged on any pair of synchronous rollers 3 positioned at the top of the carriage frame, wherein the lens of one camera faces the bracket 101, and the lens of the other camera faces the cutting disc of the coal mining machine 100. In the embodiment, the camera 7 is preferably a wireless network and is rechargeable, and the lens of the camera faces the direction of the bracket 101, so that the movement of the bracket 101 can be monitored in real time; the lens of the camera faces the direction of the cutting disc of the coal mining machine 100, and the working state of the cutting disc can be monitored in real time.

As shown in fig. 2, the track type inspection robot frame for the fully mechanized mining face ceiling suction in the embodiment further comprises: with the camera lens mirror surface dust removal structure that 7 one-to-one of appearance set up of making a video recording, it includes: a striker 8 and a dust-removing plate 9; a collision rod 8 is eccentrically and fixedly arranged on the roller 3; the center of the dust removing plate 9 is rotatably arranged on the vehicle framework through a rotating shaft 10, one end of the dust removing plate 9 is fixedly provided with a dust removing sheet, the other end of the dust removing plate is contacted with the collision rod 8 (when the collision rod 8 is positioned at a low position), and the dust removing sheet is positioned at the lens of the camera 7. The dust removal sheet in the embodiment can be made of materials such as rubber sheets and sponge in the prior art. In this embodiment, when the coal mining machine 100 moves, the crawler type inspection robot frame 102 is driven to move, the crawler 2 makes contact friction with the inner side of the top plate of the hydraulic support 101, the crawler rotates to enable the roller assembled with the crawler to rotate, the striker on the roller impacts the lens dust removing plate arranged on the frame 1 to swing with the rotating shaft as the center, and the purpose of wiping the lens surface is achieved through the swinging of the dust removing plate.

Preferably, the vehicle framework is trapezoidal, the two ends of the vehicle framework are respectively and fixedly provided with a side plate, and the bottom of the vehicle framework is fixedly provided with a bottom plate. In the embodiment, two pairs of synchronous rollers are arranged at the bottom of the vehicle framework, wherein one pair of synchronous rollers is a fixed pulley, the other pair of synchronous rollers is a pulley capable of adjusting the tightness of the crawler, and the structure of the synchronous rollers is the prior art.

The full-mechanized mining working face in the embodiment inhales a crawler-type and patrols and examines robot frame, still includes: a plurality of powerful permanent magnetism blocks 11 set firmly respectively on the curb plate, are located the below of 2 top parts of track, and its effect is the dynamics that increases track frame and the inboard contact of hydraulic support 101 roof, and the size of suction is set for needs and is satisfied: guarantee to combine and adopt working face to inhale a crawler-type and patrol and examine robot frame 102 and support 101 roof inboard attached, be less than the frictional force between track 2 and the roof simultaneously, guarantee to have relative motion between track 2 and the roof.

The supporting rod 5 in the embodiment can be designed into a straight rod, an S shape or other shapes according to actual needs. Preferably, as shown in fig. 4, the support rod 5 is S-shaped, and the design does not occupy the bottom space of the crawler frame 1, so that other facilities such as cables, cameras and the like can be conveniently mounted.

Preferably, the number of the support rods 5 is two, and the support rods are arranged in one-to-one correspondence with the springs 6; the two support rods 5 are arranged side by side or in front and back along the movement direction of the frame 1.

Preferably, the middle of the bottom plate is provided with a groove 12, a sliding block is arranged in the groove 12, and the sliding block slides in the groove 12 along the movement direction of the frame 1; the top end of the support rod 5 is fixedly arranged on the slide block. When the coal mining machine 100 drives the fully mechanized mining face ceiling crawler type inspection robot frame 102 to move forwards (to the left in the direction shown in fig. 1), the top end of the support rod 5 is positioned on the front side of the groove 12 along with the slide block; when the coal mining machine 100 drives the fully mechanized mining face ceiling crawler type inspection robot frame 102 to move backwards (to the right in the direction shown in fig. 1), the top end of the support rod 5 slides to the rear side of the groove 12 along with the slide block.

The utility model discloses a combine and adopt working face and inhale a crawler-type and patrol and examine robot frame, the track structure is for adapting to the difference in height change (the difference in height is less than 100mm) of two adjacent support 101 roofs, makes the collection image picture of appearance of making a video recording clear, steady. The crawler type inspection robot frame is fixedly connected with the body of the coal mining machine through the fixed beam, and the crawler belt is always in contact with the inner side of the top plate of the hydraulic support, so that the top-suction crawler type inspection robot frame on the fully mechanized mining face can always move along the inner side of the top plate of the hydraulic support along with the movement of the coal mining machine; the installation quantity of the fixed cameras on the unmanned working surface is reduced; the device is particularly suitable for low mining working faces with a mining height of less than two meters in thin coal seams.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Combine and adopt working face and inhale a crawler-type robot frame of patrolling and examining, its characterized in that includes:

crawler frame (1) comprising: the crawler belt type trolley comprises crawler belts (2), a trolley framework and rollers (3), wherein the two crawler belts (2) are respectively arranged at two ends of the trolley framework, at least four rollers (3) are arranged in each crawler belt (2), and the rollers (3) are rotatably arranged on the trolley framework; two corresponding idler wheels positioned at two ends of the vehicle framework are coaxially connected to form a pair of synchronous idler wheels;

the supporting device comprises a fixed beam (4), a supporting rod (5) and a spring (6), wherein the fixed beam (4), the supporting rod (5) and the spring (6) are fixedly connected with the top of the coal mining machine (100), one end of the supporting rod (5) is hinged with the fixed beam (4), and the other end of the supporting rod is fixedly connected with the bottom of the frame (1); the two ends of the spring (6) are fixedly connected with the supporting rod (5) and the top of the coal mining machine (100) respectively;

at least one camera (7) is arranged on the frame (1).

2. The fully mechanized mining face ceiling crawler type inspection robot frame according to claim 1, wherein one camera (7) is mounted on each pair of synchronous rollers (3) located at the top of the frame, a lens of one camera faces the support (101), and a lens of the other camera faces a cutting disc of the coal mining machine (100).

3. The fully mechanized mining face ceiling crawler type inspection robot frame according to claim 2, further comprising: with camera lens mirror surface dust removal structure that appearance (7) one-to-one set up makes a video recording, it includes: a striker (8) and a dust removal plate (9); a collision rod (8) is eccentrically and fixedly arranged on the roller (3); the center of the dust removing plate (9) is rotatably arranged on the vehicle framework through a rotating shaft (10), one end of the dust removing plate (9) is fixedly provided with a dust removing sheet, the other end of the dust removing plate is in contact with the collision rod (8), and the dust removing sheet is positioned at the lens of the camera (7).

4. The fully mechanized mining face ceiling crawler type inspection robot frame according to any one of claims 1 to 3, wherein the frame is trapezoidal, side plates are fixedly arranged at two ends of the frame respectively, and a bottom plate is fixedly arranged at the bottom of the frame.

5. The fully mechanized mining face ceiling crawler type inspection robot frame according to claim 4, further comprising: and the strong permanent magnets (11) are respectively fixedly arranged on the side plates and are positioned below the top part of the crawler belt (2).

6. The fully mechanized mining face ceiling crawler type inspection robot frame according to any one of claims 1 to 3, wherein the number of the support rods (5) is two, and the two support rods are arranged in one-to-one correspondence with the springs (6); the two support rods (5) are arranged side by side or in the front and back direction along the moving direction of the frame (1).

7. The fully mechanized mining face ceiling crawler type inspection robot frame according to claim 6, wherein the support rod (5) is a straight rod or an S-shaped.

8. The fully mechanized mining face ceiling crawler type inspection robot frame according to claim 7, wherein a groove (12) is formed in the middle of the bottom plate, a sliding block is arranged in the groove (12), and the sliding block slides in the groove (12) along the movement direction of the frame (1); the top end of the supporting rod (5) is fixedly connected with the bottom of the sliding block.