CN217632571U

CN217632571U - Be applied to mine and patrol and examine running gear of robot

Info

Publication number: CN217632571U
Application number: CN202123204768.5U
Authority: CN
Inventors: 梁凤雷; 杨绪军; 胡友昌; 潘思成; 华明明
Original assignee: Jiangsu Shine Technology Co ltd
Current assignee: Jiangsu Shine Technology Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-10-21
Anticipated expiration: 2031-12-20

Abstract

The utility model provides a be applied to mine and patrol and examine running gear of robot, its characterized in that: including the support that tests the speed, motor, running gear support, bottom plate, walking wheel support, drive shaft, drive support pivot, motor support, pivot fixed block, adjusting screw support, the support mount pad that tests the speed, running gear wiring cavity, drive wheel, shaft coupling, walking wheel and pressure wheel, the bottom plate level place and it fixes in the shell cover. The utility model discloses a hang the running gear that the rail formula replaced the formula of pasting ground, played the effect that increases the practicality of patrolling and examining the robot, made it can the rapid stabilization reach any position of mine to realize the more comprehensive collection of data, thereby improved mine staff's security performance.

Description

Be applied to mine and patrol and examine running gear of robot

Technical Field

The utility model relates to a colliery is patrolled and examined technical field, specificly relates to a be applied to the mine and patrol and examine running gear of robot.

Background

At present, when mining operation is carried out in the coal mine field, in order to ensure smooth operation of the mining operation, the life safety of operators is ensured, on-site inspection work is often required, an inspection robot is used as a substitute of an inspector and can acquire, store and transmit on-site images in real time, and data such as sound, temperature, smoke and the like, so that the labor intensity is reduced, the labor risk is reduced, a track of the inspection robot needs to be installed on an inspection route in advance, and as a large number of detection devices are arranged on the inspection robot, vibration generated in the walking process of the inspection robot can cause great interference to the detection devices, and even damage is caused. However, the existing mine type inspection robot is usually a wheel type or crawler type inspection robot walking close to the ground, the height of the inspection robot is uneven, the inclined plane is steep, and the inspection robot walking close to the ground has great limitation, so that the design of the rail hanging type inspection robot walking mechanism applied to the mine is particularly important.

Disclosure of Invention

The utility model provides a be applied to mine and patrol and examine running gear of robot replaces the running gear of formula of pasting through the rail formula, has played the effect that increases the practicality of patrolling and examining the robot, makes it can the rapid stabilization reachs any position of mine to realize the more comprehensive collection of data, thereby improved mine staff's security performance.

In order to solve the technical problem, the utility model provides a be applied to mine and patrol and examine running gear of robot which characterized in that: including speed measuring support, motor, running gear support, bottom plate, walking wheel support, drive shaft, driving support pivot, motor support, pivot fixed block, adjusting screw support, speed measuring support mount pad, running gear wiring cavity, drive wheel, shaft coupling, walking wheel and pressure wheel, the bottom plate level place and it fixes in the shell cover, the motor pass through motor support and install the bottom at the bottom plate, motor support link to each other with the bottom plate through driving support pivot, the one end of driving support pivot carries out fixed connection to motor support through pivot fixed block and fixing bolt, the other end of driving support pivot passes the bottom plate and links to each other with driving support's one end, driving support's other end swing joint is at the top of bottom plate, the drive wheel be provided with two, two drive wheels are front and back level and place and contact with orbital both sides outer wall respectively, one of which passes through the shaft coupling and links to the motor, the front and back both sides of drive wheel respectively are provided with a running gear support, running gear support connect at the top of bottom plate through the steering mechanism that the walking wheel is installed on the same side of track along the upper edge of walking wheel, the walking wheel is installed on the speed measuring support, the pressure wheel is connected with the bottom plate through the pressure wheel of adjusting mechanism, the pressure wheel of speed measuring support, the walking wheel is connected with the bottom plate along the lower side of the adjusting screw, the pressure wheel of the bottom plate, the pressure wheel of installing of the pressure wheel is connected with the pressure wheel of speed measuring support, the adjusting mechanism is connected with the pressure wheel of the bottom plate along the bottom plate, the pressure wheel of adjusting mechanism is connected with the bottom plate, the pressure wheel of the bottom plate, and the pressure wheel of adjusting mechanism is connected with the bottom plate, the encoder meter wheel is in contact with the track and is electrically connected with the encoder.

Further: steering mechanism include running gear wiring cavity, steering wheel and steering wheel fixed plate, the steering wheel pass through the steering wheel fixed plate and install the bottom at the bottom plate, the steering wheel be located the top of bottom plate and link to each other with the steering wheel, the running gear support set up on the steering wheel, running gear wiring cavity also install the bottom at the bottom plate, the control box passes through running gear wiring cavity and steering wheel electric connection, the steering wheel drive the steering wheel together rotatory.

And further: the pressure wheel is installed in the travel rod assembly welding piece, the lower end of the travel rod assembly welding piece extends into the spring sleeve and is movably connected with the spring sleeve, the lower end of the spring sleeve is fixed on the steering plate through the spring sleeve end cover, the outer side of the spring sleeve is provided with the pressure wheel spring in a surrounding mode, two ends of the pressure wheel spring are respectively connected with the travel rod assembly welding piece and the steering plate, and the lower end of the spring sleeve is further provided with a travel rod limiting block.

And further: the bottom plate of the front side and the rear side of the driving wheel is respectively fixed with two guide wheel installation seats, the two guide wheel installation seats on the same side are oppositely arranged, two guide wheels are arranged on each guide wheel installation seat, the guide wheels are installed at one end of a guide wheel spring guide rod through connecting pieces, the other end of the guide wheel spring guide rod penetrates through the guide wheel installation seats and is movably connected with the guide wheel installation seats, guide compression springs are arranged on the outer sides of the guide wheel spring guide rod in a surrounding mode, the two ends of each guide compression spring are respectively connected with the guide wheel installation seats and the connecting pieces, and the guide wheels are in contact with the outer wall of the lower edge of the lower end.

And further: and the front end and the rear end of the bottom plate are respectively provided with a proximity switch through a proximity switch bracket.

After the structure is adopted, the utility model replaces the ground-attached walking mechanism with the rail-hanging type, thereby playing a role of increasing the practical performance of the inspection robot, enabling the inspection robot to quickly and stably reach any position of a mine, realizing more comprehensive data acquisition and improving the safety performance of mine workers; the robot is provided with a steering mechanism, so that the robot is flexible in steering during curve routing inspection and stable and reliable in operation; the robot is driven by the motor, the driving force of the robot is adjustable, walking, ascending and turning can be realized without skidding, and the inspection requirement is met.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Figure 1 is a practical state diagram of the present invention

Fig. 2 is a schematic top view of the present invention.

Fig. 3 is a schematic side view of the present invention.

Fig. 4 is a schematic bottom view of the present invention.

Fig. 5 isbase:Sub>A cross-sectional view taken alongbase:Sub>A-base:Sub>A of fig. 2 according to the present invention.

Fig. 6 is a view showing an installation structure of the pressure wheel.

Detailed Description

As shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the walking mechanism applied to the mine inspection robot is characterized in that: including speed measuring support 2, motor 3, running gear support 4, bottom plate 5, walking wheel support 6, drive shaft 16, driving support 17, driving support pivot 20, motor support 21, pivot fixed block 23, adjusting screw support 24, speed measuring support mount pad 30, running gear wiring cavity 33, drive wheel 36, shaft coupling 46, walking wheel 49 and pressure wheel 55, the bottom plate level place and it is fixed in outer clamshell 10, the motor pass through motor support and install the bottom at the bottom plate, motor support link to each other with the bottom plate through the driving support pivot, the one end of driving support pivot carries out fixed connection to motor support through pivot fixed block and fixing bolt, the other end of driving support pivot passes the bottom plate and links to each other with driving support's one end, driving support's other end swing joint is at the top of bottom plate, the drive wheel be provided with two, two driving wheels are horizontally placed front and back and are respectively contacted with the outer walls of two sides of a track, one of the driving wheels is connected with a motor through a shaft coupling, the front side and the back side of each driving wheel are respectively provided with a walking mechanism bracket, the walking mechanism brackets are connected to the top of a bottom plate through a steering mechanism, the front side and the back side of each driving wheel are respectively provided with two walking wheels, the walking wheels at the same side are oppositely arranged and are respectively contacted with the upper edges of two sides of the lower end of the track, the walking wheels are arranged on the walking mechanism brackets through the walking wheel brackets, a pressure wheel is arranged under each walking wheel and is also arranged on the steering mechanism and is contacted with the lower edge of the lower end of the track, the speed measuring bracket is fixed at the top of the bottom plate through a speed measuring bracket mounting seat, the speed measuring bracket is connected with an encoder meter wheel through an adjusting screw bracket, the encoder metering wheel is in contact with the track and is electrically connected with the encoder. The utility model replaces the ground-attached walking mechanism with the rail-hanging type, thereby increasing the practical performance of the inspection robot, and the inspection robot can reach any position of a mine quickly and stably, so that the data can be collected more comprehensively, and the safety performance of mine workers is improved; and this robot drives through the motor, and its drive power is adjustable, can realize walking, uphill, turn and do not skid, satisfies the needs of patrolling and examining.

The steering mechanism shown in fig. 5 comprises a traveling mechanism wiring cavity 33, a steering plate 7, a steering wheel 8 and a steering wheel fixing plate 9, wherein the steering wheel is installed at the bottom of a bottom plate through the steering wheel fixing plate, the steering plate is located above the bottom plate and connected with the steering wheel, a traveling mechanism support is arranged on the steering plate, the traveling mechanism wiring cavity is also installed at the bottom of the bottom plate, a control box is electrically connected with the steering wheel through the traveling mechanism wiring cavity, and the steering plate drives the steering plate to rotate together. The robot is provided with a steering mechanism, and the robot is flexible in steering and stable and reliable in operation when the robot is used for curve routing inspection.

The pressure wheel shown in fig. 6 is installed in the travel bar assembly welding piece 1, the lower end of the travel bar assembly welding piece extends into the spring sleeve 11 and is movably connected with the spring sleeve, the lower end of the spring sleeve is fixed on the steering plate through the spring sleeve end cover 12, a pressure wheel spring 56 is arranged around the outer side of the spring sleeve, two ends of the pressure wheel spring are respectively connected with the travel bar assembly welding piece and the steering plate, and a travel bar limiting block 13 is further arranged in the lower end of the spring sleeve.

As shown in fig. 2, two guide wheel mounting seats 25 are respectively fixed on the front and rear bottom plates of the driving wheel, the two guide wheel mounting seats on the same side are oppositely arranged and each guide wheel mounting seat is provided with two guide wheels 51, the guide wheels are mounted on one end of a guide wheel spring guide rod 26 through a connecting piece 27, the other end of the guide wheel spring guide rod passes through the guide wheel mounting seats and is movably connected with the guide wheel mounting seats, a guide compression spring 52 is further arranged on the outer side of the guide wheel spring guide rod in a surrounding manner, two ends of the guide compression spring are respectively connected with the guide wheel mounting seats and the connecting piece, and the guide wheels are in contact with the outer wall of the lower edge of the lower end.

The front and rear ends of the base plate as shown in fig. 3 and 5 are each mounted with a proximity switch 70 via a proximity switch bracket 29.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a be applied to mine and patrol and examine running gear of robot which characterized in that: comprises a speed measuring bracket (2), a motor (3), a walking mechanism bracket (4), a bottom plate (5), a walking wheel bracket (6), a driving shaft (16), a driving bracket (17), a driving bracket rotating shaft (20), a motor bracket (21), a rotating shaft fixing block (23), an adjusting screw rod bracket (24), a speed measuring bracket mounting seat (30), a walking mechanism wiring cavity (33), a driving wheel (36), a shaft coupling (46), a walking wheel (49) and a pressure wheel (55), wherein the bottom plate is horizontally arranged and fixed in the upper end of a shell cover (10), the motor is arranged at the bottom of the bottom plate through the motor bracket, the motor bracket is connected with the bottom plate through the driving bracket rotating shaft, one end of the driving bracket rotating shaft is fixedly connected with the motor bracket through the rotating shaft fixing block and a fixing bolt, the other end of the driving bracket rotating shaft passes through the bottom plate to be connected with one end of the driving bracket, the other end of the driving bracket is movably connected with the top of the bottom plate, the driving wheel is provided with two driving wheels which are horizontally arranged and are respectively contacted with the outer walls of two sides of the track, one of the two driving wheel is connected with the walking mechanism through the front and the two sides of the walking mechanism, and the walking mechanism are arranged along the same side of the upper end of the lower end of the walking mechanism, and the two sides of the walking mechanism are arranged on the front and back of the lower end of the walking mechanism, the walking wheel pass through walking wheel support mounting on the running gear support, all be provided with a pressure wheel under every walking wheel, the pressure wheel also install on steering mechanism and contact with the lower border of track lower extreme, the support that tests the speed fix at the top of bottom plate through the support mount pad that tests the speed, the support that tests the speed have encoder meter wheel through adjusting screw leg joint, encoder meter wheel contacts with the track and is connected with the encoder electricity.

2. The travelling mechanism applied to the mine inspection robot according to claim 1, characterized in that: steering mechanism include running gear wiring cavity (33), steering wheel (7), steering wheel (8) and steering wheel fixed plate (9), the steering wheel pass through the steering wheel fixed plate and install the bottom at the bottom plate, the steering wheel be located the top of bottom plate and link to each other with the steering wheel, the running gear support set up on the steering wheel, running gear wiring cavity also install the bottom at the bottom plate, the control box passes through running gear wiring cavity and steering wheel electric connection, the steering wheel drive the steering wheel together rotatory.

3. The travelling mechanism applied to the mine inspection robot according to claim 2, characterized in that: the pressure wheel install in stroke pole assembly welding spare (1), the lower extreme of stroke pole assembly welding spare stretch into in spring housing (11) and rather than swing joint, the lower extreme of spring housing passes through spring housing end cover (12) and fixes on the deflector, the outside of spring housing around be provided with pressure wheel spring (56), the both ends of pressure wheel spring link to each other with stroke pole assembly welding spare and deflector respectively, still be provided with stroke pole stopper (13) in the lower extreme of spring housing.

4. The travelling mechanism applied to the mine inspection robot according to claim 1, characterized in that: still respectively be fixed with two leading wheel mount pads (25) on the bottom plate of drive wheel front side and rear side, with two leading wheel mount pads of one side place relatively and all be provided with two leading wheels (51) on every leading wheel mount pad, the leading wheel pass through connecting piece (27) and install one of leading wheel spring guide arm (26) and serve, the other end of leading wheel spring guide arm is fixed on the leading wheel mount pad, the connecting piece can slide along leading wheel spring guide arm, the outside of leading wheel spring guide arm still encircle and be provided with direction compression spring (52), direction compression spring's both ends link to each other with leading wheel mount pad and connecting piece respectively, the leading wheel contact with the outer wall of lower extreme lower limb.

5. The travelling mechanism applied to the mine inspection robot according to claim 1, characterized in that: and the front end and the rear end of the bottom plate are respectively provided with a proximity switch (70) through a proximity switch bracket (29).