CN108248718A - A kind of all-around mobile job platform - Google Patents
A kind of all-around mobile job platform Download PDFInfo
- Publication number
- CN108248718A CN108248718A CN201810056495.8A CN201810056495A CN108248718A CN 108248718 A CN108248718 A CN 108248718A CN 201810056495 A CN201810056495 A CN 201810056495A CN 108248718 A CN108248718 A CN 108248718A
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- Prior art keywords
- platform
- spiral
- job platform
- drive sprocket
- gear box
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 238000005065 mining Methods 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 abstract description 7
- 239000003245 coal Substances 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/122—Working or loading platforms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Environmental & Geological Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of all-around mobile job platforms, are related to mining machinery field., synchronous gear box and motor are made of the left-and-right spiral roller under job platform, platform.Left and right helix drum is to being arranged symmetrically, and unilateral spiral is divided into front and rear oppositely oriented two sections, and front and rear section is both provided with the drive sprocket of driven sprocket, corresponding synchronous gear box input terminal and output terminal.Commutator built in synchronous gear box can adjust input and output side drive sprocket in the same direction or reverse sync rotate, and by changing the rotation direction of left-and-right spiral roller pair, realize the omnibearing ambulation of advance, retrogressing, left and right translation and the rotation of job platform.The use of reverse acting spiral pair before and after all-around mobile job platform of the present invention, it is high laterally with the accuracy of movement, can be good to complicated ground operating condition adaptability with separate operaton or grouped jobs, it is particularly suitable for narrow working space.
Description
Technical field
The present invention relates to mining machinery field, more particularly to a kind of more all-around mobile job platforms are adapted to coal mine
The well lanes engineering operations such as lower material transportation, roadway repair.
Background technology
Colliery downhole equipment, material transportation and well lane engineering construction need to use a large amount of rail and trackless vehicle and equipment
The mobile platforms such as train.Wherein equipment train is the required equipment of assistant conveyance in coal mine fully-mechanized mining working crossheading, mainly as
The carrying and movement of fully-mechanized mining working auxiliary equipment such as Multifunctional combination switching, spraying pumping plant, substation and emulsion power pack are put down
Platform based on rail transport, also begins to rise with oil cylinder pushing Forward from moving device train；Downhole materials conveying is most of to adopt
With rail transport, geological conditions preferable mining area in part is transported using trackless rubber-tyred；The special operations such as well lane engineering platform due to
Condition is poor, mainly uses crawler travel mode.The shortcomings that rail transport, is to need early period to be laid with track, and the later stage needs to remove rail
Road is taken a lot of work laborious；The shortcomings that trackless rubber-tyred transports is more demanding to mining conveying condition, it is desirable that road surface is hardened, and is set simultaneously
The defeated bulk of received shipment is more demanding, is difficult in adapt to most of mining area underground transportation environment.The common drawback of above-mentioned mobile platform
It is that turning radius is big, scheduling is inconvenient, it is impossible to adapt to subsurface environment very well.
Screw propulsion vehicle is walked using force of rolling friction principle, is suitble to severe pavement behavior, and can realize lateral translation,
It is one of developing direction of underground moving platform.A kind of omnibearing ambulation advanced hydraulic support of patent（201710027725.3）It is public
Opened a kind of underworkings supporting advance timbering mobile platform, realized before and after single group advance timbering using screw propulsion mode and
Lateral movement, due to only realizing left and right helical symmetry, produces turning moment, can not realize lateral linear motion；Patent
Helix drum walking arrangement（201610087433.4）A kind of four screw drives platforms of parallel arrangement are disclosed, it theoretically can be with
Turning moment is offset, is realized lateral（Roller direction）Rectilinear translation, due to independently driving spiral using four motors, control is multiple
It is miscellaneous, it can not ensure fully synchronized, single platform can not be used as equipment train.
To overcome the shortcomings of above-mentioned technology, there is an urgent need for it is a kind of can adapt to the severe road surface in underground, narrow operating environment full side
Displacement moving platform.
Invention content
The purpose of the present invention is provide a kind of comprehensive row for coal mine fully-mechanized mining working assistant conveyance and well lane engineering operation
Platform is walked, which has the function of height adjustability and autonomous advance, retrogressing, lateral translation, rotates left and right omnibearing ambulation.
Technical solution：A kind of all-around mobile job platform of the present invention sets symmetrical reverse acting spiral to roll under platform
Cylinder realizes advance, retrogressing, the lateral movement of job platform to running part by the different rotation directions of two symmetrical counter-drums pair
With the actions such as rotation, the all-around mobile of job platform is solved the problems, such as.The characteristics of reverse acting spiral roller, is unilateral spiral
Roller is to being divided into front and rear two sections, and front and rear section helical blade is oppositely oriented, and left and right sides helix drum is to being arranged symmetrically.Two horses
Up to respectively by synchronous gear box drive left and right helix drum to rotation.
When the present invention is moved forward and backward, reverse acting spiral roller under the action of synchronous gear box to reversely rotating, axial thrust load
Direction is identical, and left and right sides helix drum reversely rotates, and lateral force is mutually cancelled out each other instead, before platform is under axial force action
After move linearly；When laterally moving to the left or right, reverse acting spiral helix drum offsets rotating Vortex, axial force, left and right sides spiral
Roller rotating Vortex, platform laterally move along a straight line along rotation direction；During steering, reverse acting spiral helix drum is to reversely rotating, left and right two
Side helix drum generates torque in the same direction, platform is under resultant moment effect around center steering to rotating Vortex.The comprehensive shifting of the present invention
The multi-platform series connection of dynamic job platform, the servo-actuated trailer platform of centre setting, can use as equipment train.
The platform can also be used as power source, and traction miscellaneous equipment is migrated.Omni-directional moving platform of the present invention solves
Current coal mine fully-mechanized mining working assistant conveyance and tunnel operation rail travel is time-consuming, problem of bad adaptability, the present invention
Tool has the advantage that：（1）Using screw propulsion, hard surface is not required to, it is good to underworkings complex road surface condition adaptability；（2）
The accuracy of lateral movement is improved, and can be adaptable to small space around center steering；（3）Synchronous gear box is answered
With reducing power part, synchronism is good, just for manipulating.
Description of the drawings
Fig. 1 is the structure principle chart of the present invention.
Fig. 2 is the equipment train schematic diagram of the present invention.
In figure：1-1：Left back spiral；1-2：Left front spiral；2-1：Right rear screw；2-2：Spiral before the right side；3-1、3-2、4-1、
4-2：Driven sprocket；7-1、7-2、8-1、8-2：Drive sprocket；5、6：Motor；9、10：Synchronous gear box；11,12：Commutator;
13：Job platform 14：Universal wheel；I：Trailer；II：Trailer；III：Head vehicle.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of all-around mobile job platform, including job platform（11）, the left side that is located under job platform
Helix drum pair（1-1、1-2）, right-hand screw roller pair（2-1、2-2）, drive sprocket（7-1、7-2、8-1、8-2）, synchromesh gear
Case（11）, driven sprocket（7-1、7-2、8-1、8-2）And commutator（11、12）.Left back spiral（1-1）For dextrorotation, left front spiral shell
Rotation（1-2）To be left-handed, left-hand screw roller pair is symmetrically formed before and after the two, accessary sprocket wheel 3-1, left front spiral shell are equipped in left back spiral forepart
Supination portion is equipped with driven sprocket 3-2；Motor 5 drives synchronous gear box revolution, and drive sprocket is equipped in synchronous gear box input terminal
7-1, output terminal are equipped with drive sprocket 7-2；The synchronous gear box has a pair of directly meshed gears pair and is nibbled by idle pulley
The gear set of conjunction, when commutator 12 couples output shaft with direct meshing gear, drive sprocket 7-1 and 7-2 is reversely exported；Commutation
When device 12 engages output shaft with idle pulley transmission gear, 7-1 and 7-2 is exported in the same direction.Right-hand screw roller pair and left-hand screw roller pair
It is arranged symmetrically, transmission principle is identical.
When the comprehensive job platform unit of the present invention works, two motors pass through synchronous gear box and chain wheel drive system control
The rotation of each section of spiral is made, realizes the comprehensive movement of job platform.Motor 5 drives left back spiral 1-1 by synchronous gear box 9
It turns right, left front spiral 1-2 is left-handed, and motor 6 drives spiral 2-2 dextrorotation before the right side by synchronous gear box 10, and right rear screw 2-1 is left-handed
When, job platform Forward, while change the rotation direction of motor 5 and 6, it is moved after job platform；Motor 5 is driven by synchronous gear box 9
Left back spiral 1-1 turns right, left front spiral 1-2 dextrorotation, and motor 6 drives spiral 2-2 dextrorotation before the right side by synchronous gear box 10, after right
During spiral 2-1 dextrorotation, job platform moves to right, while changes the rotation direction of motor 5 and 6, and job platform moves to left；Motor 5 passes through synchronization
Gear-box 9 drives left back spiral 1-1 to turn left, left front spiral 1-2 dextrorotation, and motor 6 drives spiral before the right side by synchronous gear box 10
When 2-2 dextrorotation, right rear screw 2-1 are left-handed, job platform left steering, while change the rotation direction of motor 5 and 6, job platform is turned right
To.
It is illustrated in figure 2 job platform operation principle in groups, the most simple device train that 3 vehicles are formed, head vehicle III and trailer
It is set between I and job platform is moved based on trailer II, head vehicle III and trailer I, trailer II is follow operation platform, the trailer II bottoms
Portion uses universal wheel, meets the requirement of servo-actuated all-around mobile.
Above-described embodiment is that effective embodiment of the present invention is described, and not the range of present aspect is limited
It is fixed, under the premise of the design spirit for not departing from the present invention, various modifications and improvement that engineers and technicians make the present invention,
It should fall into the protection domain that claims of the present invention determines.
Claims (4)
1. a kind of all-around mobile job platform, by job platform（11）, left-hand screw roller pair（1-1、1-2）, right-hand screw roller
It is right（2-1、2-2）, synchronous gear box（9、10）, motor（5、6）Composition, left back spiral（1-1）Front end is provided with accessary sprocket wheel（3-
1）, left front spiral（1-2）Rear end is provided with driven sprocket（3-2）, right rear screw（2-1）Front end is provided with driven sprocket（8-1）,
Spiral before the right side（2-2）Rear end is provided with driven sprocket（8-2）, the driving synchronous gear box of motor 5（9）, in synchronous gear box（5）It is defeated
Enter end and be equipped with drive sprocket（7-1）, output terminal be equipped with drive sprocket（7-2）, motor（6）Drive synchronous gear box（10）, same
Walk gear-box（10）Input terminal is equipped with drive sprocket（8-1）, output terminal is equipped with drive sprocket（8-2）, all-around mobile of the present invention
Job platform can be with separate operaton or grouped jobs.
2. the all-around mobile job platform as described in right 1, it is characterised in that：Left-hand screw roller is front and rear oppositely oriented to being divided into
Left front spiral（1-2）With left back spiral（1-1）, left front spiral（1-2）With left back spiral（1-1）Between share bearing block, it is right
Helix drum is arranged symmetrically with left-hand screw roller.
3. the all-around mobile job platform as described in right 1, it is characterised in that：Have in the synchronous gear box a pair of straight
Meshed gears pair and a pair are connect by idle pulley meshed gears group, commutator（12）Output shaft is coupled with direct meshing gear
When, input terminal drive sprocket（7-1）With output terminal drive sprocket（7-2）It reversely rotates, commutator（12）By output shaft and idle pulley
When driving gear set couples, input terminal drive sprocket（7-1）With 7-2 output terminal drive sprocket rotating Vortexes.
4. the all-around mobile job platform as described in right 1, it is characterised in that：Omni-directional moving platform is used in series in groups
When, servo-actuated trailer platform is arranged between power platform, multigroup power platform structure is formed, ten thousand is set under the servo-actuated trailer platform
To wheel, according to surface conditions, the axis of screw direction of omni-directional moving platform is parallel with direction of advance or is arranged vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810056495.8A CN108248718A (en) | 2018-01-21 | 2018-01-21 | A kind of all-around mobile job platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810056495.8A CN108248718A (en) | 2018-01-21 | 2018-01-21 | A kind of all-around mobile job platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248718A true CN108248718A (en) | 2018-07-06 |
Family
ID=62741979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810056495.8A Pending CN108248718A (en) | 2018-01-21 | 2018-01-21 | A kind of all-around mobile job platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248718A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110219333A (en) * | 2019-07-02 | 2019-09-10 | 天津市环境保护技术开发中心设计所 | Fast reaction formula screw propulsion excavates machine |
| CN110741801A (en) * | 2019-09-16 | 2020-02-04 | 江苏大学 | Harvester chassis walking device and harvester |
| CN111299273A (en) * | 2020-02-13 | 2020-06-19 | 中南大学 | Pipeline internal walking mechanism and control method thereof |
| CN113232573A (en) * | 2021-06-02 | 2021-08-10 | 国网冀北电力有限公司检修分公司 | Anti-interference automatic inspection device for converter station valve hall |
| CN114922569A (en) * | 2022-05-19 | 2022-08-19 | 浙江大学 | Seabed surface movement and underground drilling dual-mode robot |
| CN116220190A (en) * | 2023-05-10 | 2023-06-06 | 浙大城市学院 | All-terrain robot based on four-screw driving |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3396690A (en) * | 1966-05-10 | 1968-08-13 | Ishikawajim Harima Jukogyo Kab | Power transmission for an amphibious vehicle |
| CN105480299A (en) * | 2015-12-01 | 2016-04-13 | 南京航空航天大学 | Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method |
| CN105730165A (en) * | 2016-02-16 | 2016-07-06 | 宁波高新区科宁机械设备有限公司 | Spiral roller walking device |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
-
2018
- 2018-01-21 CN CN201810056495.8A patent/CN108248718A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3396690A (en) * | 1966-05-10 | 1968-08-13 | Ishikawajim Harima Jukogyo Kab | Power transmission for an amphibious vehicle |
| CN105480299A (en) * | 2015-12-01 | 2016-04-13 | 南京航空航天大学 | Automated guided railless carrying train with flexibly configured kinds of carrying trains and operation control method |
| CN105730165A (en) * | 2016-02-16 | 2016-07-06 | 宁波高新区科宁机械设备有限公司 | Spiral roller walking device |
| CN106593503A (en) * | 2017-01-16 | 2017-04-26 | 天地科技股份有限公司 | Omnibearing traveling type forepoling hydraulic support |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110219333A (en) * | 2019-07-02 | 2019-09-10 | 天津市环境保护技术开发中心设计所 | Fast reaction formula screw propulsion excavates machine |
| CN110741801A (en) * | 2019-09-16 | 2020-02-04 | 江苏大学 | Harvester chassis walking device and harvester |
| CN111299273A (en) * | 2020-02-13 | 2020-06-19 | 中南大学 | Pipeline internal walking mechanism and control method thereof |
| CN113232573A (en) * | 2021-06-02 | 2021-08-10 | 国网冀北电力有限公司检修分公司 | Anti-interference automatic inspection device for converter station valve hall |
| CN114922569A (en) * | 2022-05-19 | 2022-08-19 | 浙江大学 | Seabed surface movement and underground drilling dual-mode robot |
| CN114922569B (en) * | 2022-05-19 | 2023-01-17 | 浙江大学 | Seabed surface movement and underground drilling dual-mode robot |
| CN116220190A (en) * | 2023-05-10 | 2023-06-06 | 浙大城市学院 | All-terrain robot based on four-screw driving |
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Application publication date: 20180706 |
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