WO2022184151A1 - 驱动装置和巡检装置 - Google Patents

驱动装置和巡检装置 Download PDF

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Publication number
WO2022184151A1
WO2022184151A1 PCT/CN2022/079148 CN2022079148W WO2022184151A1 WO 2022184151 A1 WO2022184151 A1 WO 2022184151A1 CN 2022079148 W CN2022079148 W CN 2022079148W WO 2022184151 A1 WO2022184151 A1 WO 2022184151A1
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WO
WIPO (PCT)
Prior art keywords
rotating shaft
motor
guide rail
driving
bearing
Prior art date
Application number
PCT/CN2022/079148
Other languages
English (en)
French (fr)
Inventor
任伟
刘帅
谷敏永
王鹏
付振
李再峰
黄骞
Original Assignee
北京天玛智控科技股份有限公司
北京煤科天玛自动化科技有限公司
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
Priority claimed from CN202110247166.3A external-priority patent/CN112884938A/zh
Priority claimed from CN202110247168.2A external-priority patent/CN112884939A/zh
Priority claimed from CN202120484911.1U external-priority patent/CN214335795U/zh
Priority claimed from CN202120484875.9U external-priority patent/CN214335794U/zh
Application filed by 北京天玛智控科技股份有限公司, 北京煤科天玛自动化科技有限公司 filed Critical 北京天玛智控科技股份有限公司
Priority to AU2022231255A priority Critical patent/AU2022231255A1/en
Publication of WO2022184151A1 publication Critical patent/WO2022184151A1/zh

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman

Definitions

  • the present application relates to the technical field of fully mechanized coal mining, and more particularly, to a driving device and an inspection device having the driving device.
  • the present application aims to solve one of the technical problems in the related art at least to a certain extent.
  • an embodiment of the present application provides a driving device, which can walk on a track laid horizontally on a fully mechanized mining face, and can realize truly unmanned inspection.
  • Another embodiment of the present application provides an inspection device with the driving device.
  • the driving device includes a chassis; a power assembly, the power assembly includes a first motor, a second motor, a first rotating shaft and a second rotating shaft, the first motor and the second motor are both Set below the chassis, the upper end of the first shaft is connected to the first motor so that the first motor drives the first shaft to rotate, and the upper end of the second shaft is connected to the second motor so that the second motor drives the second shaft to rotate; a first driving wheel and a second driving wheel, the first driving wheel is connected to the lower end of the first shaft, and the second driving wheel is connected to the first driving wheel The lower ends of the two rotating shafts are connected.
  • the first driving wheel and the second driving wheel are arranged under the chassis, the first driving wheel is movably installed on the first track in the horizontal direction, and the second driving wheel is movable in the horizontal direction. It is installed on the second track, and at the same time, an elastic member is arranged between the first rotating shaft and the second rotating shaft.
  • the elastic member 6 can be used to push the first bearing 45 and the second bearing 46 in the left-right direction, so that the first bearing 45 and the second bearing 46 can be pushed.
  • the driving wheel 51 is in close contact with the first track 1, and the second driving wheel 52 is in close contact with the second rail 2, which is beneficial to increase the friction between the above-mentioned driving wheel and the above-mentioned rail, and is conducive to improving the stability of the driving device 100. sex.
  • the driving device further includes an elastic member, the elastic member is arranged on the chassis, one end of the elastic member is connected to the first rotating shaft, and the other end of the elastic member is connected to the first rotating shaft.
  • the second rotating shaft is connected.
  • the driving device further includes a first bearing and a second bearing, the first bearing is arranged on the chassis and sleeved on the first rotating shaft, and the second bearing is arranged at The chassis is sleeved on the second rotating shaft, one end of the elastic piece is connected with the first bearing, and the other end of the elastic piece is connected with the second bearing.
  • the driving device further includes a guide rail assembly
  • the guide rail assembly includes a first guide rail and a second guide rail
  • the first guide rail and the second guide rail are spaced apart from and parallel to the chassis.
  • the first motor is movably arranged between the first guide rail and the second guide rail
  • the second motor is movably arranged between the first guide rail and the second guide rail.
  • the driving device further includes a first mounting bracket and a second mounting bracket, the first mounting bracket is movably disposed on the first guide rail and the second guide rail, the first mounting frame The motor is arranged on the first mounting frame, the second mounting frame is movably arranged on the first guide rail and the second guide rail, and the second motor is arranged on the second installation frame.
  • the driving device further includes a first speed reducer and a second speed reducer, the first speed reducer is provided on the first motor, the upper end of the first rotating shaft and the first speed reducer
  • the second reducer is arranged on the second motor, and the upper end of the second rotating shaft is connected to the second reducer.
  • the first motor, the second motor, the first rotating shaft, the second rotating shaft, the first driving wheel, and the second driving wheel are all multiple, a plurality of The first driving wheel, the plurality of first rotating shafts and the plurality of the first motors are in one-to-one correspondence, and the plurality of the second driving wheels, the plurality of the second rotating shafts and the plurality of the second motors One-to-one correspondence.
  • the number of the plurality of first driving wheels and the number of the plurality of second driving wheels is the same.
  • the driving device further includes a first bearing wheel and a second bearing wheel, and the first bearing wheel and the second bearing wheel are arranged below the chassis.
  • both the first load bearing wheel and the second load bearing wheel are plural.
  • the inspection device includes: a first track and a second track, the first track and the second track are spaced apart and arranged in parallel; a driving device, the driving device is any of the above
  • the first driving wheel is movably installed on the first rail in a horizontal direction
  • the second driving wheel is connected to the lower end of the second rotating shaft
  • the first driving wheel is connected to the lower end of the second rotating shaft.
  • the two driving wheels are movably mounted on the second rail along the horizontal direction.
  • the inspection device further includes a casing, the casing is arranged on the chassis, and the material of the casing is an aviation composite material.
  • the inspection device further includes a signal antenna, the signal antenna includes a Lora antenna and a WiFi antenna, and both the Lora antenna and the WiFi antenna are provided on the housing.
  • the inspection device further includes a methane sensor, and the methane sensor is provided on the housing.
  • the inspection device further includes a pickup, and the pickup is provided on the housing.
  • the inspection device further includes a thermal imager, and the thermal imager is provided on the housing.
  • the inspection device further includes a camera, and the camera is provided on the housing.
  • FIG. 1 is a schematic diagram of an inspection device according to an embodiment of the present application.
  • FIG. 2 is another schematic diagram of an inspection device according to an embodiment of the present application.
  • FIG. 3 is a front view of a driving device according to an embodiment of the present application.
  • FIG. 4 is a top view of a driving device according to an embodiment of the present application.
  • Housing 201 Lora antenna 202, WiFi antenna 203, methane sensor 204, pickup 205, thermal imager 206, video camera 207, power button 208, power status indicator 209, emergency stop button 210, charging interface 211, handle 212.
  • the inspection device 200 includes a first track 1 , a second track 2 and a driving device 100 .
  • the first track 1 and the second track 2 are spaced apart and arranged in parallel. As shown in FIG. 3 , the cross sections of the first track 1 and the second track 2 are both circular, and the first track 1 and the second track 2 are generally Cylindrical rails, the first rail 1 and the second rail 2 are spaced apart and parallel in the left-right direction, and the first rail 1 and the second rail 2 extend horizontally in the front-rear direction as shown in FIG. 4 .
  • the driving device 100 further includes a chassis 3 , a power assembly 4 , a first driving wheel 51 , a second driving wheel 52 and an elastic member 6 .
  • the power assembly 4 includes a first motor 41 , a second motor 42 , a first rotating shaft 43 and a second rotating shaft 44 .
  • the first motor 41 and the second motor 42 are both arranged below the chassis 3, and the upper end of the first shaft 43 is connected to the first motor 41 so that the first motor 41 drives the first shaft 43 to rotate, and the upper end of the second shaft 44 is connected to the second motor 41.
  • the motor 42 is connected so that the second motor 42 drives the second shaft 44 to rotate.
  • the first driving wheel 51 is connected to the lower end of the first rotating shaft 43 , and the first driving wheel 51 is movably installed on the first rail 1 along the horizontal direction (eg, the left-right direction shown in FIG. 1 ).
  • the second driving wheel 52 is connected to the lower end of the second rotating shaft 44 , and the second driving wheel 52 is movably installed on the second rail 2 along the horizontal direction.
  • the elastic member 6 is arranged on the chassis 3. One end of the elastic member 6 (eg, the left end of the elastic member 6 in FIG. 3 ) is connected to the first rotating shaft 43 , and the other end of the elastic member 6 (eg, the right end of the elastic member 6 in FIG. 3 ) is connected to the first rotating shaft 43 .
  • the second rotating shaft 44 is connected.
  • the elastic member 6 is used for pushing and pulling the first rotating shaft 43 and the second rotating shaft 44 along the left and right directions.
  • the first rotating shaft 43 and the first driving wheel 51 move to the left
  • the second rotating shaft 44 and the second driving wheel 52 move to the right
  • the first driving wheel 51 can be closely attached to the first track 1
  • the second driving wheel 52 can be closely attached to the second track 2, which is beneficial to increase the friction force between the above-mentioned driving wheel and the above-mentioned rail, which is beneficial to The stability of the drive device 100 is improved.
  • the driving device 100 can be removed from between the first rail 1 and the second rail 2, so that the driving device 100 can be installed and removed More convenient next time.
  • the specific implementation process of the driving device 100 according to the embodiment of the present application is as follows:
  • the first track 1 and the second track 2 can be laid in parallel in the front and rear directions under the coal mine, the chassis 3 is generally located above the first track 1 and the second track 2, and the first motor 41 and the second track are arranged below the chassis 3.
  • the motor 42 , the first motor 41 and the second motor 42 can drive the first rotating shaft 43 and the second rotating shaft 44 to rotate respectively, and then the first rotating shaft 43 and the second rotating shaft 44 can drive the first driving wheel 51 and the second driving wheel 52 rotate.
  • the first driving wheel 51 is movably installed on the first track 1 in the horizontal direction
  • the second driving wheel 52 is movably installed on the second track 2 in the horizontal direction
  • the first driving wheel 51 and the second driving wheel 52 Rotate to move the chassis 3 in the front-rear direction.
  • the elastic member 6 is arranged between the first rotating shaft 43 and the second rotating shaft 44 .
  • first driving wheel 51 and the second driving wheel 52 in the present application are movably installed on the first track 1 and the second track 2 in the horizontal direction, so that the first driving wheel 51 and the second driving wheel 52 are connected with the first driving wheel 51 and the second driving wheel 52.
  • the connection between the first rail 1 and the second rail 2 is more stable, so that the driving device 100 of the embodiment of the present application can adapt to the complex terrain in the coal mine, ensuring that the driving device 100 of the embodiment of the present application can be laid horizontally on the fully mechanized mining face.
  • the first driving wheel 51 is slidably connected to the first rotation shaft 43 in the up-down direction
  • the second driving wheel 52 is slidably connected to the second rotation shaft 44 in the up-down direction. Therefore, the first driving wheel 51 and the second driving wheel 55 can be slid up and down to adapt to the uneven first track 1 and the second track 2 in the coal mine.
  • the drive device 100 further includes a first bearing 45 and a second bearing 46 .
  • the first bearing 45 is disposed on the chassis 3 and sleeved on the first rotating shaft 43
  • the second bearing 46 is disposed on the chassis 3 and sleeved on the second rotating shaft 44 .
  • One end of the elastic member 6 is connected to the first bearing 45
  • the other end of the elastic member 6 is connected to the second bearing 46 .
  • the first bearing 45 and the second bearing 46 are arranged below the chassis 3 , and the first bearing 45 and the second bearing 46 are respectively sleeved on the upper end of the first rotating shaft 43 and the second rotating shaft 44 at the upper end.
  • the first bearing 45 is beneficial to improve the stability of the first rotating shaft 43 when it rotates.
  • the second bearing 46 is beneficial to improve the stability of the second rotating shaft 44 when it rotates, so that the driving device 100 can be more stably along the first axis.
  • a track 1 and a second track 2 travel.
  • the elastic member 6 is connected to the first bearing 45 and the second bearing 46 , preventing the elastic member 6 from directly contacting the first rotating shaft 43 and the second rotating shaft 44 , which is beneficial to prolong the service life of the first rotating shaft 43 and the second rotating shaft 44 .
  • the driving device 100 further includes a guide rail assembly 7 .
  • the guide rail assembly 7 includes a first guide rail 71 and a second guide rail 72 , and the first guide rail 71 and the second guide rail 72 are spaced apart and arranged in parallel.
  • the first motor 41 is movably arranged between the first guide rail 71 and the second guide rail 72
  • the second motor 42 is movably arranged between the first guide rail 71 and the second guide rail 72 .
  • first guide rails 71 and the second guide rails 72 are spaced apart and parallel to the chassis 3 along the left-right direction.
  • the first guide rails 71 and the second guide rails 72 are beneficial to improve the first motor 41 and the The convenience of moving the two motors 42 in the left and right directions.
  • the driving device 100 further includes a first mounting bracket 73 and a second mounting bracket 74, the first mounting bracket 73 is movably arranged on the first guide rail 71 and the second guide rail 72, and the first motor 41 is arranged on the On the first installation frame 73 , the second installation frame 74 is movably arranged on the first guide rail 71 and the second guide rail 72 , and the second motor 42 is arranged on the second installation frame 74 .
  • the driving device 100 further includes a first reducer 47 and a second reducer 48 .
  • the first reducer 47 is arranged on the first motor 41, the upper end of the first rotating shaft 43 is connected to the first reducer 47, the second reducer 48 is arranged on the second motor 42, and the upper end of the second rotating shaft 44 is connected to the second reducer 47.
  • machine 48 is connected. Therefore, the first reducer 47 and the second reducer 48 can be used to reduce the rotational speed of the first rotating shaft 43 and the second rotating shaft 44 , which is beneficial to prolong the service life of the first rotating shaft 43 and the second rotating shaft 44 .
  • the first motor 41 , the second motor 42 , the first rotating shaft 43 , the second rotating shaft 44 , the first driving wheel 51 and the second driving wheel 52 are all multiple , the plurality of first driving wheels 51 , the plurality of first rotating shafts 43 and the plurality of first motors 41 are in one-to-one correspondence, and the plurality of second driving wheels 52 , the plurality of second rotating shafts 44 and the plurality of second motors 42 are in one-to-one correspondence , a plurality of first driving wheels 51 are movably installed on the first track 1 along the horizontal direction, and a plurality of second driving wheels 52 are movably installed on the second track 2 along the horizontal direction. Therefore, the driving device 100 of the embodiment of the present invention can improve the stability of the driving device 100 on the first rail 1 and the second rail 2 through the plurality of first driving wheels 51 and the plurality of second driving wheels 52 .
  • the number of the plurality of first driving wheels 51 and the number of the plurality of second driving wheels 52 is the same. As a result, the forces on the left and right sides of the driving device 100 are more uniform.
  • the driving device 100 further includes a first bearing wheel 81 and a second bearing wheel 82 .
  • the first bearing wheel 81 and the second bearing wheel 82 are arranged below the chassis 3 , the first bearing wheel 81 is movably mounted on the first track 1 in the vertical direction, and the second bearing wheel 82 is movably mounted in the vertical direction. Installed on the second track 2. Therefore, the first bearing wheel 81 and the second bearing wheel 82 can improve the supporting force for the chassis 3, which is beneficial to improve the stability of the driving device 100 during the traveling process.
  • first rail 1 and the second rail 2 include but are not limited to parallel cylindrical rails, and the corresponding shapes of the first driving wheel 51 and the second driving wheel 52 can also be based on the shapes of the first rail 1 and the second rail 2 vary.
  • the inspection device 200 further includes a casing 201 , the casing 201 is arranged on the chassis 3 , and the material of the casing 201 is an aviation composite material.
  • the aviation composite material is light in weight, which is beneficial to reduce the overall weight of the inspection device 200 and improve the endurance of the inspection device 200 .
  • the material of the casing 201 is an aviation composite material, so that the maintenance of the casing 201 is convenient.
  • the inspection apparatus 200 further includes a signal antenna, the signal antenna includes a Lora antenna 202 and a WiFi antenna 203 , and both the Lora antenna 202 and the WiFi antenna 203 are provided on the housing 201 .
  • the Lora antenna 202 and the WiFi antenna 203 are communication clients of the inspection apparatus 200 , and the Lora antenna 202 and the WiFi antenna 203 provide a robust and stable communication system for the inspection apparatus 200 .
  • WiFi is used for the communication of large data packets such as video and images
  • LoRa is used for the communication of data such as command control, location information, and gas sensors.
  • a WiFi base station and a LoRa base station are respectively arranged in the inspection area, which can realize data communication with the Lora antenna 202 and the WiFi antenna 203 on the inspection device 200 .
  • the inspection device 200 further includes a methane sensor 204 , and the methane sensor 204 is provided on the housing 201 .
  • the methane sensor 204 can collect the methane concentration in the fully mechanized mining area in real time. When the collected methane concentration exceeds the set threshold, the methane sensor 204 can send an alarm message, which is beneficial to improve the personal safety of the workers in the fully mechanized mining area. .
  • the inspection device 200 further includes a pickup 205 , and the pickup 205 is provided on the housing 201 .
  • the pickup 205 can complete sound extraction during the traveling process of the inspection device 200, and the pickup 205 can judge whether the shearer cuts a rock through the collected sound.
  • the inspection device 200 further includes a thermal imager 206 , and the thermal imager 206 is provided on the housing 201 .
  • thermal imager 206 should be installed facing the side of the coal wall, and the thermal imager 206 is used to collect the relevant information of the drum when the shearer is working, and to mark the temperature and position the drum of the shearer.
  • the inspection apparatus 200 further includes a camera 207 , and the camera 207 is provided on the housing 201 .
  • the camera 207 has a certain flexibility, the camera 207 can quickly inspect the equipment and environmental status of the working face, the camera 207 can quickly operate to observe the operation of the working face, and assist the staff to solve the problems that occur on the working face. timely judgment.
  • the camera 207 can follow the rotation of the shearer, and the mining process can be monitored more closely and intuitively through the camera 207 .
  • the inspection device 200 further includes a battery (not shown), the battery is the energy core of the inspection device 200, and the battery provides power for the inspection device as a whole.
  • the battery can be connected to the housing 201, Lora antenna 202, WiFi antenna 203, methane sensor 204, pickup 205, thermal imager 206 and camera 207 through the power circuit board. After the power is turned on, the above instruments can be powered normally.
  • the power button is 208
  • the power status indicator light is 209
  • the emergency stop button is 210
  • the charging interface is 211
  • the inspection device 200 is further provided with a handle 212 .
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between the two components, unless otherwise expressly qualified.
  • installed installed
  • connected connected
  • fixed a detachable connection
  • it can be a mechanical connection or an electrical connection or can communicate with each other
  • it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between the two components, unless otherwise expressly qualified.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is level lower than the second feature.
  • the terms “one embodiment,” “some embodiments,” “example,” “specific example,” or “some examples,” etc. mean the specific features, structures, materials, or characteristics described in connection with the embodiment or example. Features are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

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Abstract

一种驱动装置（100）和巡检装置（200），驱动装置（100）包括底盘（3）、动力组件（4）、第一主动轮（51）、第二主动轮（52）和弹性件（6），动力组件（4）包括第一电机（41）、第二电机（42）、第一转轴（43）和第二转轴（44），第一电机（41）和第二电机（42）均设在底盘（3）的下方，第一转轴（43）的上端和第一电机（41）相连以便第一电机（41）带动第一转轴（43）旋转，第二转轴（44）的上端和第二电机（42）相连以便第二电机（42）带动第二转轴（44）旋转，第一主动轮（51）和第一转轴（43）的下端相连，第二主动轮（52）和第二转轴（44）的下端相连，弹性件（6）设在底盘（3）上，弹性件（6）的一端和第一转轴（43）相连，弹性件（6）的另一端和第二转轴（44）相连。驱动装置（100）能够在综采工作面水平铺设的轨道上行走，实现无人化巡检。

Description

驱动装置和巡检装置
相关申请的交叉引用
本申请要求申请号为202110247166.3、申请日为2021年03月05日的中国专利申请的优先权和权益；要求申请号为202120484911.1，申请日为2021年03月05日的中国专利申请的优先权和权益；要求申请号为202120484875.9、申请日为2021年03月05日的中国专利申请的优先权和权益；要求申请号为202110247168.2、申请日为2021年03月05日的中国专利申请的优先权和权益。上述中国专利申请的全部内容在此通过引用并入本申请。
技术领域
本申请涉及煤矿综采的技术领域，更具体地，涉及一种驱动装置和具有该驱动装置的巡检装置。
背景技术
在相关技术中，许多煤矿产业应用了可视化远程干预型智能无人化综采，但是综采工作面内仍然需要至少1名工人进行巡检作业，增加了人工成本，且容易对进行巡检作业的工人造成安全隐患。
申请内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本申请的一方面实施例提出一种驱动装置，该驱动装置能够在综采工作面水平铺设的轨道上行走，且能够实现真正无人化巡检。
本申请的另一方面实施例提出一种具有该驱动装置的巡检装置。
根据本申请第一方面实施例的驱动装置包括底盘；动力组件，所述动力组件包括第一电机、第二电机、第一转轴和第二转轴，所述第一电机和所述第二电机均设在所述底盘的下方，所述第一转轴的上端和所述第一电机相连以便所述第一电机带动所述第一转轴旋转，所述第二转轴的上端和所述第二电机相连以便所述第二电机带动所述第二转轴旋转；第一主动轮和第二主动轮，所述第一主动轮和所述第一转轴的下端相连，所述第二主动轮和所述第二转轴的下端相连。
根据本申请实施例的驱动装置，在底盘的下方设置第一主动轮和第二主动轮，第一主动轮沿水平方向可移动地安装在第一轨道上，第二主动轮沿水平方向可移动地安装在第二轨道上，同时，在第一转轴和第二转轴之间设置弹性件，弹性件6可用于沿左右方向推动第一轴承45和第二轴承46，由此，可使得第一主动轮51紧贴在第一轨道1上，第二主动轮52紧贴在第二轨道2上，有利于增大上述主动轮和上述轨道之间的摩擦力，有利于提高驱动装置100的稳定性。
在一些实施例中，所述驱动装置还包括弹性件，所述弹性件设在所述底盘上，所述弹性件的一端和所述第一转轴相连，所述弹性件的另一端和所述第二转轴相连。
在一些实施例中，所述的驱动装置还包括第一轴承和第二轴承，所述第一轴承设在所述底盘上且套设在所述第一转轴上，所述第二轴承设在所述底盘上且套设在所述第二转轴上，所述弹性件的一端和所述第一轴承相连，所述弹性件的另一端和所述第二轴承相连。
在一些实施例中，所述的驱动装置还包括导轨组件，所述导轨组件包括第一导轨和第二导轨，所述第一导轨和所述第二导轨间隔开且平行地设置在所述底盘上，所述第一电机可移动地设置在所述第一导轨和所述第二导轨之间，所述第二电机可移动地设置在所述第一导轨和所述第二导轨之间。
在一些实施例中，所述驱动装置还包括第一安装架和第二安装架，所述第一安装架可移动地设置在所述第一导轨和所述第二导轨上，所述第一电机设在所述第一安装架上，所述第二安装架可移动地设置在所述第一导轨和所述第二导轨上，所述第二电机设在所述第二安装架上。
在一些实施例中，所述驱动装置还包括第一减速机和第二减速机，所述第一减速机设在所述第一电机上，所述第一转轴的上端和所述第一减速机相连，所述第二减速机设在所述第二电机上，所述第二转轴的上端和所述第二减速机相连。
在一些实施例中，所述第一电机、所述第二电机、所述第一转轴、所述第二转轴、所述第一主动轮和所述第二主动轮均为多个，多个所述第一主动轮、多个所述第一转轴和多个所述第一电机一一对应，多个所述第二主动轮、多个所述第二转轴和多个所述第二电机一一对应。
在一些实施例中，多个所述第一主动轮和多个所述第二主动轮的数量一致。
在一些实施例中，所述驱动装置还包括第一承重轮和第二承重轮，所述第一承重轮和所述第二承重轮设在所述底盘的下方。
在一些实施例中，所述第一承重轮和所述第二承重轮均为多个。
根据本申请第二方面实施例的巡检装置包括：第一轨道和第二轨道，所述第一轨道和所述第二轨道间隔开且平行地设置；驱动装置，所述驱动装置为上述任一项实施例所述的驱动装置，所述第一主动轮沿水平方向可移动地安装在所述第一轨道上，所述第二主动轮和所述第二转轴的下端相连，所述第二主动轮沿水平方向可移动地安装在所述第二轨道上。
在一些实施例中，所述的巡检装置还包括外壳，所述外壳设在所述底盘上，所述外壳的材质为航空复合材料。
在一些实施例中，所述的巡检装置还包括信号天线，所述信号天线包括Lora天线和WiFi天线，所述Lora天线和所述WiFi天线均设在所述外壳上。
在一些实施例中，所述的巡检装置还包括甲烷传感器，所述甲烷传感器设在所述外壳上。
在一些实施例中，所述的巡检装置还包括拾音器，所述拾音器设在所述外壳上。
在一些实施例中，所述的巡检装置还包括热成像仪，所述热成像仪设在所述外壳上。
在一些实施例中，所述的巡检装置还包括摄像仪，所述摄像仪设在所述外壳上。
附图说明
图1是根据本申请实施例的巡检装置的一个示意图。
图2是根据本申请实施例的巡检装置的另一个示意图。
图3是根据本申请实施例的驱动装置的正视图。
图4是根据本申请实施例的驱动装置的俯视图。
附图标记：
驱动装置100，
第一轨道1，第二轨道2，底盘3，动力组件4，第一电机41，第二电机42，第一转轴43，第二转轴44，第一轴承45，第二轴承46，第一减速机47，第二减速机48，第一主动轮51，第二主动轮52，弹性件6，导轨组件7，第一导轨71，第二导轨72，第一安装架73，第二安装架74，第一承重轮81，第二承重轮82，
巡检装置200，
外壳201，Lora天线202，WiFi天线203，甲烷传感器204，拾音器205，热成像仪206，摄像仪207，电源按钮208，电源状态指示灯209，急停按钮210，充电接口211，提手212。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
如图1-图4所示，根据本申请实施例的巡检装置200包括第一轨道1和第二轨道2和驱动装置100。
第一轨道1和第二轨道2间隔开且平行地设置，如图3所示，第一轨道1和第二轨道2的横截面均为圆形，第一轨道1和第二轨道2大体为圆柱形轨道，第一轨道1和第二轨道2沿左右方向间隔开且平行地设置，第一轨道1和第二轨道2沿图4所示的前后方向水平地延伸。
驱动装置100进一步包括底盘3、动力组件4、第一主动轮51、第二主动轮52和弹性件6。
动力组件4包括第一电机41、第二电机42、第一转轴43和第二转轴44。第一电机41和第二电机42均设在底盘3的下方，第一转轴43的上端和第一电机41相连以便第一电机41带动第一转轴43旋转，第二转轴44的上端和第二电机42相连以便第二电机42带动第 二转轴44旋转。
第一主动轮51和第一转轴43的下端相连，第一主动轮51沿水平方向(例如图1中所示的左右方向)可移动地安装在第一轨道1上。第二主动轮52和第二转轴44的下端相连，第二主动轮52沿水平方向可移动地安装在第二轨道2上。
弹性件6设在底盘3上，弹性件6的一端(例如图3中弹性件6的左端)和第一转轴43相连，弹性件6的另一端(例如图3中弹性件6的右端)和第二转轴44相连。
其中，弹性件6用于沿左右方向推动和拉缩第一转轴43和第二转轴44。
当弹性件6用于沿左右方向推动第一转轴43和第二转轴44时，第一转轴43和第一主动轮51向左移动，第二转轴44和第二主动轮52向右移动，由此，可使得第一主动轮51紧贴在第一轨道1上，第二主动轮52紧贴在第二轨道2上，有利于增大上述主动轮和上述轨道之间的摩擦力，有利于提高驱动装置100的稳定性。
当弹性件6用于沿左右方向拉缩第一转轴43和第二转轴44时，可将驱动装置100从第一轨道1和第二轨道2之间取下，使得该驱动装置100安装和取下时更方便。
根据本申请实施例的驱动装置100的具体实施过程如下：
第一轨道1和第二轨道2可沿前后方向平行地铺设在煤矿井下，底盘3大体上位于第一轨道1和第二轨道2的上方，底盘3的下方设有第一电机41和第二电机42，第一电机41和第二电机42可分别带动第一转轴43和第二转轴44旋转，进而，第一转轴43和第二转轴44可带动第一主动轮51和第二主动轮52旋转。
第一主动轮51沿水平方向可移动地安装在第一轨道1上，第二主动轮52沿水平方向可移动地安装在第二轨道2上，第一主动轮51和第二主动轮52发生旋转以使底盘3沿前后方向移动。
弹性件6设在第一转轴43和第二转轴44之间。
其中，本申请中的第一主动轮51和第二主动轮52沿水平方向可移动地安装在第一轨道1和第二轨道2上，使得第一主动轮51和第二主动轮52与第一轨道1和第二轨道2之间连接更稳定，使得本申请实施例的驱动装置100能够适应煤矿井下的复杂地形，保证了本申请实施例的驱动装置100能够在综采工作面水平铺设。
优选地，第一主动轮51沿上下方向可滑动和第一转轴43相连，第二主动轮52沿上下方向可滑动和第二转轴44相连，由此，第一主动轮51和第二主动轮55可通过上下滑动以适应煤矿井下高低不平的第一轨道1和第二轨道2。
在一些实施例中，如图3所示，驱动装置100还包括第一轴承45和第二轴承46。第一轴承45设在底盘3上且套设在第一转轴43上，第二轴承46设在底盘3上且套设在第二转轴44上。弹性件6的一端和第一轴承45相连，弹性件6的另一端和第二轴承46相连。
具体地，如图3所示，第一轴承45和第二轴承46设在底盘3的下方，且第一轴承45和第二轴承46分别套设在第一转轴43的上端部和第二转轴44的上端部。第一轴承45有利于提高第一转轴43旋转时的稳定性，同样的，第二轴承46有利于提高第二转轴44旋转时的稳定性，由此，使得驱动装置100能够更稳定沿着第一轨道1和第二轨道2行进。
同时，弹性件6与第一轴承45和第二轴承46相连，避免了弹性件6直接接触第一转轴43和第二转轴44，有利于延长第一转轴43和第二转轴44的使用寿命。
在一些实施例中，如图4所示，驱动装置100还包括导轨组件7，导轨组件7包括第一导轨71和第二导轨72，第一导轨71和第二导轨72间隔开且平行地设置在底盘3上，第一电机41可移动地设置在第一导轨71和第二导轨72之间，第二电机42可移动地设置在第一导轨71和第二导轨72之间。
具体地，如图4所示，第一导轨71和第二导轨72沿左右方向间隔开且平行地设置在底盘3上，第一导轨71和第二导轨72有利于提高第一电机41和第二电机42沿左右方向移动的便捷性。
在一些实施例中，驱动装置100还包括第一安装架73和第二安装架74，第一安装架73可移动地设置在第一导轨71和第二导轨72上，第一电机41设在第一安装架73上，第二安装架74可移动地设置在第一导轨71和第二导轨72上，第二电机42设在第二安装架74上。由此，有利于保护第一电机41和第二电机42，避免了第一电机41和第二电机42直接与第一导轨71和第二导轨72接触。
在一些实施例中，驱动装置100还包括第一减速机47和第二减速机48。第一减速机47设在第一电机41上，第一转轴43的上端和第一减速机47相连，第二减速机48设在第二电机42上，第二转轴44的上端和第二减速机48相连。由此，第一减速机47和第二减速机48可用于降低第一转轴43和第二转轴44的转速，有利于延长第一转轴43和第二转轴44的使用寿命。
在一些实施例中，如图3-图4所示，第一电机41、第二电机42、第一转轴43、第二转轴44、第一主动轮51和第二主动轮52均为多个，多个第一主动轮51、多个第一转轴43和多个第一电机41一一对应，多个第二主动轮52、多个第二转轴44和多个第二电机42一一对应，多个第一主动轮51沿水平方向可移动地安装在第一轨道1上，多个第二主动轮52沿水平方向可移动地安装在第二轨道2上。由此，本实用新型实施例的驱动装置100通过多个第一主动轮51和多个第二主动轮52能够提高驱动装置100在第一轨道1和第二轨道2上的稳定性。
在一些实施例中，如图3所示，多个第一主动轮51和多个第二主动轮52的数量一致。由此，使得驱动装置100的左右两侧受力更均匀。
在一些实施例中，驱动装置100还包括第一承重轮81和第二承重轮82。第一承重轮81和第二承重轮82设在底盘3的下方，第一承重轮81沿竖直方向可移动地安装在第一轨道1上，第二承重轮82沿竖直方向可移动地安装在第二轨道2上。由此，第一承重轮81和第二承重轮82能够为底盘3提高支撑力，有利于提高驱动装置100在行进过程中的稳定性。
进一步地，第一轨道1和第二轨道2包含但不限于平行圆柱形轨道，相应的第一主动轮51和第二主动轮52的形状也可以根据第一轨道1和第二轨道2的形状不同而改变。
在一些实施例中，如图1所示，巡检装置200还包括外壳201，外壳201设在底盘3上，外壳201的材质为航空复合材料。可以理解的是，该航空复合材料重量轻，有利于降低巡检装置200的整体重量，提高巡检装置200的续航能力。同时，外壳201的材质采用航空复合材料，使得外壳201维修方便。
在一些实施例中，如图1所示，巡检装置200还包括信号天线，信号天线包括Lora天线202和WiFi天线203，Lora天线202和WiFi天线203均设在外壳201上。
可以理解的是，Lora天线202和WiFi天线203是巡检装置200的通信客户端，Lora天线202和WiFi天线203为巡检装置200提供强健稳定的通讯系统。
其中，WiFi用于视频、图像等大数据包的通讯，LoRa用于指令控制、位置信息、气体传感器等数据的通讯。
进一步地，巡检区域内还分别布有WiFi基站与LoRa基站，能够与巡检装置200上的Lora天线202和WiFi天线203实现数据联通。
在一些实施例中，如图1所示，巡检装置200还包括甲烷传感器204，甲烷传感器204设在外壳201上。
可以理解的是，甲烷传感器204能够实时采集综采区域的甲烷浓度，当所采集到的甲烷浓度超过设定阈值时，甲烷传感器204可发出报警信息，有利于提高综采区域内的工人的人身安全。
在一些实施例中，如图1所示，巡检装置200还包括拾音器205，拾音器205设在外壳201上。
可以理解的是，拾音器205能够在巡检装置200行进过程中完成声音提取，拾音器205可通过采集到的声音判断采煤机是否截割到岩石。
在一些实施例中，如图1所示，巡检装置200还包括热成像仪206，热成像仪206设在外壳201上。
可以理解的是，热成像仪206应面向煤壁侧安装，热成像仪206用于采集采煤机工作时滚筒的相关信息，并且进行温度标注与对采煤机的滚筒进行定位。
在一些实施例中，如图1所示，巡检装置200还包括摄像仪207，摄像仪207设在外壳201上。
可以理解的是，摄像仪207具有一定的灵活性，摄像仪207能够快速巡视工作面的设备和环境状态，摄像仪207可快速运行观察工作面运行情况，协助工作人员对工作面出现的问题进行及时判断。
同时，摄像仪207能够跟随采煤机转动，通过摄像仪207更近更直观的监视开采过程。
进一步地，巡检装置200还包括电池(未示出)，电池是巡检装置200的能源核心，电池为巡检装置整体供电。
电池可通过电源电路板与外壳201、Lora天线202、WiFi天线203、甲烷传感器204、拾音器205、热成像仪206和摄像仪207连接至一起，电源打开开关后，上述仪器均可正常供电。
进一步地，电源按钮为208，电源状态指示灯为209，急停按钮为210，充电接口为211，巡检装置200上还设有提手212。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、 “下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本申请中，术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (17)

  1. 一种驱动装置，其特征在于，包括：
    底盘；
    动力组件，所述动力组件包括第一电机、第二电机、第一转轴和第二转轴，所述第一电机和所述第二电机均设在所述底盘的下方，所述第一转轴的上端和所述第一电机相连以便所述第一电机带动所述第一转轴旋转，所述第二转轴的上端和所述第二电机相连以便所述第二电机带动所述第二转轴旋转；
    第一主动轮和第二主动轮，所述第一主动轮和所述第一转轴的下端相连，所述第二主动轮和所述第二转轴的下端相连。
  2. 根据权利要求1所述的驱动装置，其特征在于，还包括弹性件，所述弹性件设在所述底盘上，所述弹性件的一端和所述第一转轴相连，所述弹性件的另一端和所述第二转轴相连。
  3. 根据权利要求2所述的驱动装置，其特征在于，还包括第一轴承和第二轴承，所述第一轴承设在所述底盘上且套设在所述第一转轴上，所述第二轴承设在所述底盘上且套设在所述第二转轴上，所述弹性件的一端和所述第一轴承相连，所述弹性件的另一端和所述第二轴承相连。
  4. 根据权利要求1所述的驱动装置，其特征在于，还包括导轨组件，所述导轨组件包括第一导轨和第二导轨，所述第一导轨和所述第二导轨间隔开且平行地设置在所述底盘上，所述第一电机可移动地设置在所述第一导轨和所述第二导轨之间，所述第二电机可移动地设置在所述第一导轨和所述第二导轨之间。
  5. 根据权利要求4所述的驱动装置，其特征在于，还包括第一安装架和第二安装架，所述第一安装架可移动地设置在所述第一导轨和所述第二导轨上，所述第一电机设在所述第一安装架上，所述第二安装架可移动地设置在所述第一导轨和所述第二导轨上，所述第二电机设在所述第二安装架上。
  6. 根据权利要求1所述的驱动装置，其特征在于，还包括第一减速机和第二减速机，所述第一减速机设在所述第一电机上，所述第一转轴的上端和所述第一减速机相连，所述第二减速机设在所述第二电机上，所述第二转轴的上端和所述第二减速机相连。
  7. 根据权利要求1所述的驱动装置，其特征在于，所述第一电机、所述第二电机、所述第一转轴、所述第二转轴、所述第一主动轮和所述第二主动轮均为多个，多个所述第一主动轮、多个所述第一转轴和多个所述第一电机一一对应，多个所述第二主动轮、多个所述第二转轴和多个所述第二电机一一对应。
  8. 根据权利要求7所述的驱动装置，其特征在于，多个所述第一主动轮和多个所述第 二主动轮的数量一致。
  9. 根据权利要求1所述的驱动装置，其特征在于，还包括第一承重轮和第二承重轮，所述第一承重轮和所述第二承重轮设在所述底盘的下方。
  10. 根据权利要求9所述的驱动装置，其特征在于，所述第一承重轮和所述第二承重轮均为多个。
  11. 一种巡检装置，其特征在于，包括：
    第一轨道和第二轨道，所述第一轨道和所述第二轨道间隔开且平行地设置；
    驱动装置，所述驱动装置为权利要求1-10中任一项所述的驱动装置，所述第一主动轮沿水平方向可移动地安装在所述第一轨道上，所述第二主动轮和所述第二转轴的下端相连，所述第二主动轮沿水平方向可移动地安装在所述第二轨道上。
  12. 根据权利要求11所述的巡检装置，其特征在于，还包括外壳，所述外壳设在所述底盘上，所述外壳的材质为航空复合材料。
  13. 根据权利要求12所述的巡检装置，其特征在于，还包括信号天线，所述信号天线包括Lora天线和WiFi天线，所述Lora天线和所述WiFi天线均设在所述外壳上。
  14. 根据权利要求12所述的巡检装置，其特征在于，还包括甲烷传感器，所述甲烷传感器设在所述外壳上。
  15. 根据权利要求12所述的巡检装置，其特征在于，还包括拾音器，所述拾音器设在所述外壳上。
  16. 根据权利要求12所述的巡检装置，其特征在于，还包括热成像仪，所述热成像仪设在所述外壳上。
  17. 根据权利要求12所述的巡检装置，其特征在于，还包括摄像仪，所述摄像仪设在所述外壳上。
PCT/CN2022/079148 2021-03-05 2022-03-03 驱动装置和巡检装置 WO2022184151A1 (zh)

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