CN216500918U - Cleaning device of rail robot - Google Patents
Cleaning device of rail robot Download PDFInfo
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- CN216500918U CN216500918U CN202123067500.1U CN202123067500U CN216500918U CN 216500918 U CN216500918 U CN 216500918U CN 202123067500 U CN202123067500 U CN 202123067500U CN 216500918 U CN216500918 U CN 216500918U
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- scraper
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Abstract
A cleaning device of a track robot comprises a driving device and a cleaning device which are arranged in a mirror symmetry mode along the track direction; cleaning device includes casing subassembly, cleans subassembly, lateral wall scraper blade subassembly and bottom scraper blade subassembly, laying dust board and connecting bolt. The side wall scraper component and the bottom scraper component are pressed on the rail under the action of the double-torsion spring, and when the cleaning device of the rail robot moves forwards, the side wall scraper component scrapes sludge on the side wall to the bottom surface of the rail; the bottom scraper component scrapes the sludge at the bottom, and the sludge scraped by the side scrapers are accumulated on the bottom surface of the track together and move forwards along with the bottom scraper. The cleaning assembly is provided with a brush for cleaning sludge accumulated on the bottom surface of the track to the dust-collecting plate. The cleaning device is suitable for cleaning the I-shaped steel rail under the coal mine. The deposit dust in the track can high-efficient quick clearance fall, solves the jamming problem that probably appears when patrolling and examining the robot motion, effectively prevents the track because mud piles up the trouble that leads to.
Description
Technical Field
The utility model relates to a cleaning robot, in particular to a rail robot cleaning device suitable for cleaning an I-shaped steel rail of a patrol robot under a coal mine, and belongs to the technical field of mining equipment.
Background
In order to ensure smooth underground work, inspection robots are often adopted for inspection, and most of the inspection robots adopt a rail type. Because the underground environment is severe, a large amount of dust is diffused in the air, and the I-shaped steel rail is exposed for a long time and can cover a large amount of dust over time. The underground dust removal method is usually adopted, water mist falls off and is often condensed with dust to form sludge which is attached to the I-shaped steel rail. When the inspection robot passes through the I-shaped steel rail with sludge attached, the robot is easily blocked, so that the inspection task is forced to be stopped. The current common solution is to design a clamping mechanism for the inspection robot, so that the inspection robot can pass over sludge when passing through an I-shaped steel track with sludge attached. However, the method can only cross a sludge layer with a thin thickness, and when the thickness of the sludge reaches a certain degree, the compression of the spring of the clamping mechanism reaches the limit, and the spring cannot cross the sludge, which still causes blockage. Therefore, the problem to be solved in the field is to design a cleaning device capable of cleaning track sludge.
SUMMERY OF THE UTILITY MODEL
The technical problem is as follows: the utility model aims to overcome the defects in the prior art and provide a cleaning device of a track robot, wherein the robot can effectively clean dust and coal slime on an I-steel track so as to solve the problem of jamming possibly occurring when the inspection robot moves.
The technical scheme is as follows: in order to achieve the purpose, the cleaning device of the track robot comprises a driving device and a cleaning device which are symmetrically arranged along the direction of an I-shaped steel track, wherein the driving device comprises a driving device shell, a driving wheel connecting frame, a driving motor and a bearing wheel which are arranged in the I-shaped steel track; the driving wheel is connected to the driving motor, the driving wheel and the driving motor are integrally arranged on a driving wheel connecting frame, the driving wheel connecting frame is connected to a driving device shell, and the bearing wheels are arranged on the driving device shell and symmetrically arranged on two sides of the driving wheel; the cleaning device comprises a cleaning device shell assembly, a cleaning assembly, a side wall scraper assembly, a bottom scraper assembly, a dust collecting plate and a connecting bolt, wherein the cleaning device shell assembly, the cleaning assembly, the side wall scraper assembly, the bottom scraper assembly, the dust collecting plate and the connecting bolt are arranged in the I-shaped steel track; the cleaning device comprises a cleaning device shell assembly, a side wall scraper assembly, a bottom scraper assembly and a dust board, wherein the cleaning device shell assembly is fixed on a driving device shell through bolts, the cleaning assembly is arranged in the cleaning device shell assembly, the side wall scraper assembly is arranged in the cleaning device shell assembly on one side of the cleaning assembly, the bottom scraper assembly is arranged above the cleaning assembly, and the dust board is fixed on the driving device shell through bolts.
The cleaning device shell assembly is formed by welding a shell ring plate, a shell cover plate and a shell inner support plate.
The side wall scraper component comprises a side wall scraper supporting shaft, a side wall scraper assembly, a side wall scraper double-torsion spring and a side wall scraper double-torsion spring clamping seat; the side wall scraper double-torsion spring clamping seat is arranged in the middle of the side wall scraper supporting shaft, and the circumferential direction of the side wall scraper double-torsion spring clamping seat is positioned by using keys; one axial end of the side wall scraper double-torsion spring clamping seat is positioned through a shaft shoulder, and the other axial end of the side wall scraper double-torsion spring clamping seat is positioned through an elastic retainer ring for a shaft; the side wall scraper blade double-torsion spring is sleeved in the middle of the side wall scraper blade supporting shaft, the middle fixed end of the side wall scraper blade double-torsion spring is installed in a U-shaped groove of the side wall scraper blade double-torsion spring clamping seat, and the free ends on the two sides of the side wall scraper blade double-torsion spring are installed in two spring clamping grooves of the scraper blade assembly supporting plate.
The bottom scraper component comprises a bottom scraper supporting shaft, a bottom scraper assembly, a bottom scraper double-torsion spring and a bottom scraper double-torsion spring clamping seat; a bottom scraper double-torsion spring clamping seat is arranged in the middle of the bottom scraper supporting shaft, and the bottom scraper double-torsion spring clamping seat is circumferentially positioned by using keys; one axial end is positioned by a shaft shoulder, and the other axial end is positioned by an elastic retaining ring for a shaft; the bottom scraper blade double-torsion spring is sleeved in the middle of the bottom scraper blade supporting shaft, the middle fixed end of the bottom scraper blade double-torsion spring is installed in a U-shaped groove of the bottom scraper blade double-torsion spring clamping seat, and the free ends on the two sides of the bottom scraper blade double-torsion spring are installed in two spring clamping grooves of the scraper blade assembly supporting plate.
The cleaning assembly comprises a brush, an output shaft, a friction wheel, an input shaft, a gear box, a pinion, a bull gear, a pressure applying assembly supporting seat and a pressure applying assembly; the small gear, the large gear, the input shaft and the output shaft are all arranged in the gear box, the large gear is meshed with the small gear, and the input shaft extends out of one side of the gear box close to the track after penetrating through the large gear and is connected with the friction wheel; the friction wheel is pressed on the I-shaped steel rail; the output shaft penetrates through the pinion and then extends out of one side of the gear box close to the rail to be connected with a brush; the hairbrush is spiral along the axis, and the hairstyle distribution is dextrorotation.
The pressing assembly comprises a connecting nut, a spring seat, a spring, a sliding rod, a sliding cylinder and a connecting cap; the sliding cylinder is connected to a supporting plate in the shell through a connecting cap, the spring seat is arranged below the connecting cap, the spring is arranged in the spring seat, and the sliding rod sequentially penetrates through the sliding cylinder, the spring seat and the spring and is connected to the gear box or the pressure applying assembly supporting seat through a connecting nut.
The pressing assembly supporting seat is welded on the gear box.
Has the advantages that: due to the adoption of the technical scheme, the dust and coal slime on the I-steel rail can be efficiently and quickly cleaned, and the problem of blocking possibly caused by the movement of the inspection robot is solved. The adopted side wall scraper component and the bottom scraper component can be pressed on the track under the action of the double-torsion spring with a certain pressure, and when the cleaning device of the track robot moves on the track, the side wall scraper component scrapes off sludge on the side wall and drops to the bottom surface of the track; the bottom scraper component scrapes the sludge at the bottom, and the sludge scraped by the side scrapers are accumulated on the bottom surface of the track and move forwards along with the bottom scraper component. The friction wheel and the track surface friction drive the input shaft and the large gear to rotate, so as to drive the small gear and the output shaft to drive the brush to rotate, and the sludge and the coal ash accumulated on the track surface are cleaned to the dust accumulation plate. In order to ensure that the friction wheel can still drive the brush to clean the track under various complex working conditions. The adopted pressing assembly presses the cleaning assembly through the elastic force of the spring, so that the friction wheel is always pressed on the track with certain pressure. The structure is compact, the use is convenient, the fault caused by the sludge stacking of the track can be effectively prevented, and the practicability is wide.
Drawings
Fig. 1 is an overall view of a cleaning apparatus for a track robot.
FIG. 2 is a rear view of the cleaning apparatus of the present invention with the components installed.
FIG. 3 is a cross-sectional view of the sidewall scraper assembly of the present invention.
FIG. 4 is a cross-sectional view of the bottom screed assembly of the present invention.
FIG. 5 is a schematic view of the squeegee cleaning process of the present invention.
FIG. 6 is a schematic view of the scraper cleaning torsion spring of the present invention.
Figure 7 is an isometric view of a sweeping assembly of the present invention.
Fig. 8 is a cross-sectional view of a sweeping assembly pressing assembly of the present invention.
FIG. 9 is a cross-sectional view of a gearbox of the present invention.
In the figure: 1-driving device, 2-cleaning device, 3-cleaning device shell component, 4-cleaning component, 5-side wall scraper component, 6-bottom scraper component, 8-dust-collecting plate, 9-connecting bolt, 11-driving device shell, 12-driving wheel, 13-driving wheel connecting frame, 14-driving motor, 15-bearing wheel, 31-shell ring plate, 32-shell cover plate, 33-shell inner supporting plate, 40-brush, 41-output shaft, 42-friction wheel, 43-input shaft, 44-gear box, 45-pinion, 46-bull gear, 47-pressing component supporting seat, 48-pressing component, 48-1-connecting nut, 48-2-spring seat, 48-3-spring, 48-4-sliding rod, 48-5-sliding cylinder, 48-6-connecting cap, 50-side wall scraper supporting shaft, 51-side wall assembly, 53-side wall scraper double torsion spring, 54-side wall scraper double torsion spring clamping seat, 60-bottom scraper supporting shaft, 61-bottom scraper assembly, 63-bottom scraper double torsion spring, 64-bottom scraper double torsion spring clamping seat, 71-side wall scraper shaft supporting seat, 72-side wall scraper shaft connecting bolt, 73-bottom scraper shaft supporting seat and 74-bottom scraper shaft connecting bolt.
Detailed Description
The utility model will be further described with reference to examples in the drawings to which:
as shown in fig. 1, the cleaning device of the track robot of the present invention mainly comprises a driving device and a cleaning device which are symmetrically arranged along the direction of the i-steel track, wherein the driving device 1 comprises a driving device shell 11, a driving wheel 12, a driving wheel connecting frame 13, a driving motor 14 and a bearing wheel 15 which are arranged in the i-steel track; the driving wheel 12 is connected to the driving motor 14, the driving wheel 12 and the driving motor 14 are integrally installed on the driving wheel connecting frame 13, the driving wheel connecting frame 13 is connected to the driving device shell 11, and the bearing wheels 15 are installed on the driving device shell 11 and symmetrically arranged on two sides of the driving wheel 12; the cleaning device 2 comprises a cleaning device shell assembly 3, a cleaning assembly 4, a side wall scraper assembly 5, a bottom scraper assembly 6, a dust collecting plate 8 and a connecting bolt 9 which are arranged in the I-shaped steel track; the cleaning device shell assembly 3 is fixed on the driving device shell 11 through a bolt 9, the cleaning assembly 4 is arranged in the cleaning device shell assembly 3, and the dust collecting plate 8 is fixed on the driving device through a connecting bolt. The side wall scraper component 5 is arranged in the cleaning device shell component 3 on one side of the cleaning component 4, the bottom scraper component 6 is arranged above the cleaning component 4, and the dust collecting plate 8 is fixed on the driving device shell 11 through bolts. When the inspection robot walks on the track attached with sludge, the sludge attached to the side wall and the bottom of the track is shoveled off by the side wall scraper component 5 and the bottom scraper component 6, and then the shoveled dust and coal slime are brushed down onto the dust accumulation plate 8 by the sweeping component 4, so that the track cleaning work is completed.
As shown in fig. 2, the cleaning device 2 includes a cleaning device housing assembly 3, a sweeping assembly 4, side wall and bottom squeegee assemblies 5, 6, a dust panel 8, and various connectors. The cleaning device shell assembly 3 is formed by welding a shell ring plate 31, a shell cover plate 32 and a shell inner support plate 33 and is fixed on the driving device by connecting bolts. The cleaning assembly 4 is fixed on the shell inner supporting plate 33 through four groups of pressure applying assemblies 48; one end of the side wall scraper component 5 is connected with a bolt 72 through a side wall scraper shaft, and the other end is fixed on the shell ring plate through a side wall scraper shaft supporting seat 71; one end of the bottom scraper component 6 is fixed on the shell cover plate through a bottom scraper shaft connecting bolt, and the other end is fixed on the inner support plate of the shell through a bottom scraper shaft supporting seat 73; the dust plate 8 is fixed to the driving device by a connecting bolt.
As shown in fig. 3, the sidewall scraper assembly includes a sidewall scraper support shaft 50, a sidewall scraper assembly 51, a sidewall scraper double torsion spring 53, and a sidewall scraper double torsion spring holder 54; the side wall scraper supporting shaft 50 is provided with a bearing, the side wall scraper assembly 51 is arranged on two outer bearing rings, two bearing end covers are used for sealing and positioning the bearing respectively, and a sealing felt ring is used for sealing between the bearing end covers and the side wall scraper supporting shaft 50. A side wall scraper double-torsion spring clamping seat 54 is arranged in the middle of the side wall scraper supporting shaft 50, and the positioning circumference of the side wall scraper double-torsion spring clamping seat 54 is positioned by using keys; one axial end is positioned by a shaft shoulder, and the other axial end is positioned by an elastic retaining ring for a shaft. The side wall scraper blade double-torsion spring 53 is sleeved in the middle of the side wall scraper blade supporting shaft 50, the middle fixed end of the side wall scraper blade double-torsion spring is installed in a U-shaped groove of the side wall scraper blade double-torsion spring clamping seat 54, and the free ends at two sides of the side wall scraper blade double-torsion spring are installed in two spring clamping grooves of the side wall scraper blade assembly supporting plate.
As shown in fig. 4, the bottom squeegee assembly 6 includes a bottom squeegee support shaft 60, a bottom squeegee assembly 61, a bottom squeegee double torsion spring 63, and a bottom squeegee double torsion spring retainer 64; a bottom scraper double-torsion spring clamping seat 64 is arranged in the middle of the bottom scraper supporting shaft 60, and is positioned by keys in the circumferential direction; one axial end is positioned by a shaft shoulder, and the other axial end is positioned by an elastic retaining ring for a shaft; the bottom scraper double-torsion spring 63 is sleeved in the middle of the bottom scraper supporting shaft 60, the middle fixed end of the bottom scraper double-torsion spring is installed in a U-shaped groove of the bottom scraper double-torsion spring clamping seat 64, and the free ends at two sides of the bottom scraper double-torsion spring are installed in two spring clamping grooves of the scraper assembly supporting plate. The bottom scraper component 6 is similar to the side wall scraper component 5 in structure, and the difference of the internal structure is that the bearing is sealed and fixed by a shaft end check ring and an inner hexagon screw.
As shown in fig. 5 and 6, the side wall and bottom screed assemblies 5 and 6 are pressed against the rail with a certain pressure by the action of the double torsion springs. When the track robot moves along the track, the side wall scraper component 5 scrapes off sludge on the side wall of the track and drops the sludge onto the bottom surface of the track; the bottom scraper component 6 scrapes off the sludge at the bottom of the track, and the sludge scraped by the side scrapers are accumulated on the bottom surface of the track and move forwards along with the bottom scraper component.
As shown in fig. 7 and 8, the cleaning assembly 4 includes a brush 40, an output shaft 41, a friction wheel 42, an input shaft 43, a gear box 44, a pinion gear 45, a bull gear 46, a pressing assembly support 47 and a pressing assembly 48. The small gear 45 and the large gear 46, the input shaft 43 and the output shaft 41 are all arranged inside the gear box 44; the bull gear 46 meshes with the pinion gear 45; the input shaft 43 passes through the bull gear 46 and then extends out of one side of the gear box 44 close to the rail to be connected with the friction wheel 42; the friction wheel 42 is pressed on the I-shaped steel rail; the output shaft 43 passes through the pinion 45 and then extends out of one side of the gear box 44 close to the track to be connected with the brush 40; the brush 40 is spiral along the axis, and the hair shape is right-handed. The friction wheel 42 and the track surface friction drive the input shaft 43 and the large gear 46 to rotate, and further drive the small gear 45 and the output shaft 41 to drive the brush 40 to rotate. The brush 40 rotates to clean the sludge and coal ash accumulated on the rail surface to the dust plate 8.
As shown in fig. 9, the pressing assembly 48 includes a spring seat 48-2, a spring 48-3, a sliding rod 48-4, a sliding cylinder 48-5, and a connecting cap 48-6; the sliding cylinder 48-5 is connected to the supporting plate 33 in the shell through a connecting cap 48-6, the spring seat 48-2 is arranged below the connecting cap 48-6, the spring 48-3 is arranged in the spring seat 48-2, and the sliding rod 48-4 sequentially passes through the sliding cylinder 48-5, the spring seat 48-2 and the spring 48-3 and is connected to the gear box 44 or the pressure applying assembly supporting seat 47 through a connecting nut 48-1; the pressing assembly support seat 47 is welded to the gear case 44. The upper part of the pressure applying assembly 48 fixes the sliding cylinder 48-5 and the connecting cap 48-6 to the cleaning mechanism shell 33 through bolts, the lower part fixes the sliding rod 48-4 to the gear box 44 through connecting bolts, and the sliding rod 48-4 and the sliding cylinder 48-5 are in a sliding pair state. In operation, the sliding cylinder 48-5 remains stationary and the spring 48-3 presses against the sliding rod 48-4 and the gear box 44, thereby ensuring that sufficient positive pressure is maintained between the friction wheel 42 and the orbital surfaces to drive the brush to rotate. Wherein, the bottom of the two groups of pressure applying components 48 close to one side of the track are arranged on the supporting seat 47, and the two groups of pressure applying components 48 far away from one side of the track are arranged on the gear box 44; the pressing assembly support seat 47 is welded to the gear case 44.
Claims (7)
1. The utility model provides a cleaning device of track robot, includes along the drive arrangement and the cleaning device of I-steel rail direction symmetrical arrangement, its characterized in that: the driving device comprises a driving device shell, a driving wheel connecting frame, a driving motor and a bearing wheel, wherein the driving device shell, the driving wheel connecting frame, the driving motor and the bearing wheel are arranged in the I-shaped steel track; the driving wheel is connected to the driving motor, the driving wheel and the driving motor are integrally arranged on a driving wheel connecting frame, the driving wheel connecting frame is connected to a driving device shell, and the bearing wheels are arranged on the driving device shell and symmetrically arranged on two sides of the driving wheel; the cleaning device comprises a cleaning device shell assembly, a cleaning assembly, a side wall scraper assembly, a bottom scraper assembly, a dust collecting plate and a connecting bolt, wherein the cleaning device shell assembly, the cleaning assembly, the side wall scraper assembly, the bottom scraper assembly, the dust collecting plate and the connecting bolt are arranged in the I-shaped steel track; the cleaning device comprises a cleaning device shell assembly, a side wall scraper assembly, a bottom scraper assembly and a dust board, wherein the cleaning device shell assembly is fixed on a driving device shell through bolts, the cleaning assembly is arranged in the cleaning device shell assembly, the side wall scraper assembly is arranged in the cleaning device shell assembly on one side of the cleaning assembly, the bottom scraper assembly is arranged above the cleaning assembly, and the dust board is fixed on the driving device shell through bolts.
2. The cleaning apparatus for an orbital robot as set forth in claim 1, wherein: the cleaning device shell assembly is formed by welding a shell ring plate, a shell cover plate and a shell inner support plate.
3. The cleaning apparatus for an orbital robot as set forth in claim 1, wherein: the side wall scraper component comprises a side wall scraper supporting shaft, a side wall scraper assembly, a side wall scraper double-torsion spring and a side wall scraper double-torsion spring clamping seat; the side wall scraper double-torsion spring clamping seat is arranged in the middle of the side wall scraper supporting shaft, and the circumferential direction of the side wall scraper double-torsion spring clamping seat is positioned by using keys; one axial end of the side wall scraper double-torsion spring clamping seat is positioned through a shaft shoulder, and the other axial end of the side wall scraper double-torsion spring clamping seat is positioned through an elastic retainer ring for a shaft; the side wall scraper blade double-torsion spring is sleeved in the middle of the side wall scraper blade supporting shaft, the middle fixed end of the side wall scraper blade double-torsion spring is installed in a U-shaped groove of the side wall scraper blade double-torsion spring clamping seat, and the free ends on the two sides of the side wall scraper blade double-torsion spring are installed in two spring clamping grooves of the scraper blade assembly supporting plate.
4. The cleaning apparatus for an orbital robot as set forth in claim 1, wherein: the bottom scraper component comprises a bottom scraper supporting shaft, a bottom scraper assembly, a bottom scraper double-torsion spring and a bottom scraper double-torsion spring clamping seat; a bottom scraper double-torsion spring clamping seat is arranged in the middle of the bottom scraper supporting shaft, and the bottom scraper double-torsion spring clamping seat is circumferentially positioned by using keys; one axial end is positioned by a shaft shoulder, and the other axial end is positioned by an elastic retaining ring for a shaft; the bottom scraper double-torsion spring is sleeved in the middle of the bottom scraper supporting shaft, the middle fixed end of the bottom scraper double-torsion spring is arranged in a U-shaped groove of the bottom scraper double-torsion spring clamping seat, and the free ends on two sides of the bottom scraper double-torsion spring are arranged in two spring clamping grooves of the scraper assembly supporting plate.
5. The cleaning apparatus for an orbital robot as set forth in claim 1, wherein: the cleaning assembly comprises a brush, an output shaft, a friction wheel, an input shaft, a gear box, a pinion, a bull gear, a pressure applying assembly supporting seat and a pressure applying assembly; the small gear, the large gear, the input shaft and the output shaft are all arranged in the gear box, the large gear is meshed with the small gear, and the input shaft extends out of one side of the gear box close to the track after penetrating through the large gear and is connected with the friction wheel; the friction wheel is pressed on the I-shaped steel rail; the output shaft penetrates through the pinion and then extends out of one side of the gear box close to the rail to be connected with a brush; the hairbrush is spiral along the axis, and the hairstyle distribution is dextrorotation.
6. The cleaning apparatus for an orbital robot as set forth in claim 5, wherein: the pressing assembly comprises a connecting nut, a spring seat, a spring, a sliding rod, a sliding cylinder and a connecting cap; the sliding cylinder is connected to a supporting plate in the shell through a connecting cap, the spring seat is arranged below the connecting cap, the spring is arranged in the spring seat, and the sliding rod sequentially penetrates through the sliding cylinder, the spring seat and the spring and is connected to the gear box or the pressure applying assembly supporting seat through a connecting nut.
7. The cleaning apparatus for a track robot according to claim 5, wherein: the pressing assembly supporting seat is welded on the gear box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123067500.1U CN216500918U (en) | 2021-12-08 | 2021-12-08 | Cleaning device of rail robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123067500.1U CN216500918U (en) | 2021-12-08 | 2021-12-08 | Cleaning device of rail robot |
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| Publication Number | Publication Date |
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| CN216500918U true CN216500918U (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123067500.1U Active CN216500918U (en) | 2021-12-08 | 2021-12-08 | Cleaning device of rail robot |
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| CN (1) | CN216500918U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114273276A (en) * | 2021-12-08 | 2022-04-05 | 中国矿业大学 | Cleaning device of track robot |
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2021
- 2021-12-08 CN CN202123067500.1U patent/CN216500918U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114273276A (en) * | 2021-12-08 | 2022-04-05 | 中国矿业大学 | Cleaning device of track robot |
| CN114273276B (en) * | 2021-12-08 | 2024-02-06 | 中国矿业大学 | Cleaning device of track robot |
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