CN111472215A - Track system for coal mine robot and omnidirectional deformation connecting structure thereof - Google Patents
Track system for coal mine robot and omnidirectional deformation connecting structure thereof Download PDFInfo
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- CN111472215A CN111472215A CN202010290770.XA CN202010290770A CN111472215A CN 111472215 A CN111472215 A CN 111472215A CN 202010290770 A CN202010290770 A CN 202010290770A CN 111472215 A CN111472215 A CN 111472215A
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- module unit
- hole
- structure according
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
- E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B23/00—Easily dismountable or movable tracks, e.g. temporary railways; Details specially adapted therefor
- E01B23/02—Tracks for light railways, e.g. for field, colliery, or mine use
- E01B23/04—Fastening or joining means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a track system for a coal mine robot and an omnidirectional deformation connecting structure thereof, wherein the connecting structure comprises a plurality of module units which are mutually connected in series, each module unit is provided with a carrier walking part and a supporting part which is vertical to the walking part, two adjacent module units are connected through at least one group of connecting members, each module unit is provided with a long hole which extends along the track direction, two ends of each connecting member are connected with the long holes through limiting parts, and the end parts of the connecting members can slide in the transverse space provided by the long holes under the matching of the limiting parts, so that the distance between the two adjacent module units can be adjusted; gaps are arranged between the connecting component and the module unit and between the limiting part and the long hole. The invention has the advantages and beneficial effects that: the flexible connection between the rails is realized, the pavement of the rail lines bent in various directions and angles can be efficiently realized, and smooth transition between two sections of linear rails is realized.
Description
Technical Field
The invention belongs to the technical field of rails, and particularly relates to a rail system for a coal mine robot and an omnidirectional deformation connecting structure of the rail system.
Background
The track technology plays an important role in various transportation links in industrial and mining enterprises, most of conventional tracks are rigid bodies, most of the conventional tracks are linear tracks or curve tracks with fixed shapes, the curve tracks are formed by bending the linear tracks according to the bending of line tracks in the track laying process, the bending length and radian need to be surveyed and calculated in advance, under the scene that track lines such as mines are variable, the curve tracks which form fixed shapes through bending obviously have very large workload, and the difficulty in maintaining and repairing the curve tracks which form fixed shapes through bending is higher.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a track system for a coal mine robot and an omnidirectional deformation connecting structure thereof, and the track system does not need to bend the bent part of a track, so that the track laying efficiency in a complex environment is improved.
The technical scheme of the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides an omnidirectional deformation connecting structure for a track for a coal mine robot, including a plurality of module units connected in series, where each module unit has a carrier traveling part and a supporting part perpendicular to the traveling part, two adjacent module units are connected by at least one set of connecting members, each module unit is provided with a long hole extending along a track direction, two ends of each connecting member are connected with the long hole by a limiting part, ends of the connecting members can slide in a transverse space provided by the long holes under the cooperation of the limiting parts, so that an interval between two adjacent module units can be adjusted, and a length of the entire connecting structure can be extended and contracted; gaps are reserved between the connecting component and the module units and between the limiting part and the long hole, so that small-angle torsion can be reserved between two adjacent module units, and the whole connecting structure can realize larger-angle torsion along with the increase of the number of the module units.
The module unit is provided with accommodating holes along the track direction, two ends of the connecting component are arranged in the accommodating holes, the long holes are arranged on the side walls on two sides of the accommodating holes, the limiting part is vertically inserted into the end part of the connecting component from the long hole on one side and extends into the long hole on the other side, and the end part of the connecting component is limited in the accommodating holes.
The cross-sectional diameter of the limiting part is slightly smaller than the width of the long hole, and the cross-sectional diameter of the connecting member is slightly smaller than the diameter of the accommodating hole, so that the connecting member has a movable space in each direction in the accommodating hole.
The accommodating hole penetrates through the module unit, and at least one side wall of the accommodating hole is higher than the surface of the module unit.
The front and rear side wings of the walking part of the module unit in the rail direction are provided with edge shrinking structures, and the bending angle of the module unit is increased when the walking part is bent.
The cross section of the accommodating hole is circular, the cross section of the connecting component is chamfered into a square, and the limiting part vertically penetrates through the plane on one side of the connecting component.
The connecting members are arranged on two sides of two adjacent module units in pairs, the end parts of the connecting members are arranged on two sides of the long hole, and the limiting part penetrates through the long hole to connect the connecting members on two sides, so that at least one pair of connecting members are clamped on two sides of the module units.
The distance between the at least one pair of connecting members is greater than the thickness of the module unit, so that a gap is formed between the connecting members and the module unit.
The modular units are provided with series ribs in a penetrating mode along the track direction, the at least one group of connecting members and the at least one series rib are not located in the same horizontal plane or the same vertical plane, and the connecting members and the at least one series rib form a triangular structure through the combination of the number and the positions.
And the front and rear side wings of the walking part of the module unit in the rail direction are provided with edge shrinking structures.
In a second aspect, an embodiment of the present invention provides a track system for a coal mine robot, including a linear track and the above-mentioned connection structure connecting two linear tracks.
The invention has the advantages and beneficial effects that:
the flexible connection between the tracks is realized through the omnidirectional deformation connecting structure, the linear tracks do not need to be bent, the track line pavement with various bent directions and angles can be efficiently realized under the complex and changeable environment, smooth transition between two sections of linear tracks is realized, and smooth walking tracks are provided for the carriers.
Drawings
Fig. 1 is a schematic structural diagram of a track omnidirectional deformation connection structure for a coal mine robot provided by the invention;
fig. 2 is a schematic structural diagram of a second track omnidirectional deformation connection structure for a coal mine robot, provided by the invention;
fig. 3 is a schematic structural diagram of a track omnidirectional deformation connection structure for a third coal mine robot provided by the invention;
fig. 4 is a schematic structural diagram of a track system for a coal mine robot provided by the invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1, an embodiment of the present invention provides an omnidirectional deformation connection structure for a track for a coal mine robot, including a plurality of module units 100 connected in series, where each module unit has a walking portion 110 on which a vehicle such as a robot moves and a supporting portion 120 perpendicular to the walking portion, two adjacent module units are connected by at least one set of connection members 200, each module unit 100 is provided with a long hole 130 extending along a track direction, two ends of each connection member 200 are connected to the long holes by a limiting component 210, ends of the connection members 200 can slide in a transverse space provided by the long holes 130 under the cooperation of the limiting components 210, so that an interval between two adjacent module units 100 can be adjusted, and a length of the whole connection structure can be extended and contracted; gaps are reserved between the connecting member 200 and the module unit 100 and between the limiting part 210 and the long hole 130, so that small-angle torsion can be achieved between two adjacent module units 100, and the whole connecting structure can achieve larger-angle torsion along with the increase of the number of the module units.
Example 1:
as shown in fig. 1, in an implementation of the connection structure of the present invention, an accommodation hole 140 is formed at a connection portion between the support portion 120 and the traveling portion 110 of the module unit 100 along a rail direction, the connection member 200 is a columnar member, two ends of the connection member are disposed in the accommodation hole 140, the long hole 130 is disposed on side walls of two sides of the accommodation hole, the position limiting member 130 is a pin or an expansion pin-like columnar member, and the end portion of the connection member 100 is vertically inserted into the long hole 130 on one side and extends into the long hole on the other side, so as to limit the end portion of the connection member 100 in the accommodation hole 140.
In the embodiment of the present invention, the cross-sectional diameter of the position limiting part 210 is slightly smaller than the width of the long hole 130, and at the same time, the maximum diameter of the cross-section of the connecting member 200 is slightly smaller than the diameter of the receiving hole 140, so that the connecting member has a movable space in each direction in the receiving hole, and the smaller the part of the connecting member in the receiving hole, the larger the movable angle; the cross section of the receiving hole 140 is circular, the cross section of the connecting member 200 is chamfered to be square, and the four sides of the connecting member are provided with a plane, so that the limiting part can vertically penetrate through the plane on one side of the connecting member.
In the embodiment of the present invention, the receiving hole 140 penetrates through the supporting portion of the module unit 100, and two sidewalls 141 of the receiving hole are higher than the surface of the supporting portion 120, so as to increase the connecting surface between the supporting portion and the walking portion, and increase the supporting surface and supporting effect of the supporting portion on the walking portion.
In the embodiment of the present invention, the front and rear side wings of the walking part 110 of the module unit 100 in the rail direction are provided with a shrinking edge structure 111, so that the bending angle of the module unit is increased when the walking part is bent.
In the present embodiment, the lower portion of the module unit supporting part 120 is provided with at least one rail coupling hole 121.
In the embodiment of the present invention, at least one rail coupling hole 121 is formed on the supporting portion 120 of the module unit.
In the embodiment of the present invention, a pair of series ribs 400 are formed in the two wings of the traveling part 110 of all the connected module units along the track direction, the series ribs are made of steel wires or cables, and the pair of series ribs and the connecting member form a triangular structure.
Example 2:
another implementation manner of the connection structure of the present invention as shown in fig. 2 is different from that of embodiment 1 in that the lower end of the support portion 120 of the module unit is further provided with a second receiving hole 142, and a second connection member 201 is provided between the second receiving holes of two adjacent module units.
Example 3:
in another embodiment of the connecting structure shown in fig. 3, the connecting members are connecting pieces 202 arranged in pairs at two sides of two adjacent module units, the ends of the connecting pieces 202 are arranged at two sides of the long hole 130, and the limiting part 211 penetrates through the long hole to connect the connecting pieces 202 at two sides, so that the pair of connecting pieces are clamped at two sides of the module unit 100.
In the embodiment of the present invention, the distance between the pair of connecting members 202 is greater than the thickness of the module unit 100, so that there is a gap between the connecting members and the module unit.
Preferably, the connecting members 202 are provided in two sets, and are respectively disposed at the upper and lower ends of the module unit supporting part.
Preferably, a series rib, not shown, is also provided between the traveling parts of the module units.
Preferably, the module units 100 at both ends of the connection structure are provided with a single connection hole 150 for connecting with the linear rail.
The embodiment of the invention further provides a track system for a coal mine robot, which comprises a linear track 300 and any one of the connection structures in the embodiments 1 to 3 for connecting two linear tracks, only the embodiment 2 is taken as an example for description, and as shown in fig. 4, an omnidirectional deformable connection structure composed of 10 module units 100 is arranged between the two linear tracks 300; the end of the linear rail 300 is connected to at least one rail connection hole 121 of the module unit 100 through a connection plate 310, the connection plate 310 is disposed at both sides of the linear rail and the module unit, and the connection plate and the linear rail are fixed by at least two bolts.
Preferably, the lower surface of the connection plate 310 connected to the module unit 100 is opposite to the upper wall of the second receiving hole, so as to form a line contact, thereby increasing the connection stability.
The present invention has been described in detail with reference to the examples, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. The omnidirectional deformation connecting structure of the track for the coal mine robot is characterized by comprising at least two module units which are connected in series, wherein each module unit is provided with a carrier walking part and a supporting part which is perpendicular to the walking part, two adjacent module units are connected through at least one group of connecting members, each module unit is provided with a long hole which extends along the track direction, two ends of each connecting member are connected with the long holes through limiting parts, and the end parts of the connecting members can slide in the transverse space provided by the long holes under the matching of the limiting parts, so that the distance between the two adjacent module units can be adjusted; gaps are reserved between the connecting component and the module units and between the limiting part and the long hole, so that the adjacent two module units can be twisted.
2. The connecting structure according to claim 1, wherein receiving holes are formed in the module unit in the rail direction, both ends of the connecting member are disposed in the receiving holes, the elongated holes are formed in the side walls on both sides of the receiving holes, and the stopper is inserted into the end of the connecting member perpendicularly from the elongated hole on one side and extends into the elongated hole on the other side to restrain the end of the connecting member in the receiving holes.
3. The connecting structure according to claim 2, wherein a sectional diameter of the stopper part is slightly smaller than a width of the long hole, and a sectional diameter of the connecting member is slightly smaller than a diameter of the receiving hole, so that the connecting member has a movable space in the receiving hole in all directions.
4. The connection structure according to claim 2, wherein the accommodation hole penetrates through the module unit, and at least one side wall of the accommodation hole is higher than a surface of the module unit.
5. The coupling structure according to claim 1, wherein the coupling members are provided in pairs at both sides of the adjacent two module units, the end portions of the coupling members are disposed at both sides of the elongated hole, and the stopper member passes through the elongated hole to couple the coupling members at both sides, so that at least one pair of the coupling members is clamped at both sides of the module units.
6. The coupling structure according to claim 5, wherein the at least one pair of coupling members are spaced apart from each other by a distance greater than the thickness of the module unit such that a gap is provided between the coupling members and the module unit.
7. The connecting structure according to claim 1, wherein front and rear side wings of the traveling part of the module unit in the rail direction are provided with a beading structure.
8. The connecting structure according to claim 1, wherein at least one series rib is formed in the at least two module units connected in series along the rail direction, and the at least one group of connecting members and the at least one series rib are not located in the same horizontal plane or the same vertical plane.
9. The coupling structure according to any one of claims 1, wherein the support portion of the module unit is provided with at least one rail coupling hole.
10. A rail system for a coal mine robot, comprising a linear rail and a connection structure according to any one of claims 1 to 9 connecting two linear rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010290770.XA CN111472215B (en) | 2020-04-14 | 2020-04-14 | Track system for coal mine robot and omnidirectional deformation connecting structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010290770.XA CN111472215B (en) | 2020-04-14 | 2020-04-14 | Track system for coal mine robot and omnidirectional deformation connecting structure thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111472215A true CN111472215A (en) | 2020-07-31 |
| CN111472215B CN111472215B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010290770.XA Active CN111472215B (en) | 2020-04-14 | 2020-04-14 | Track system for coal mine robot and omnidirectional deformation connecting structure thereof |
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| CN209890977U (en) * | 2019-04-17 | 2020-01-03 | 深圳煜禾森科技有限公司 | Coal mining inspection robot walking track |
| CN110924243A (en) * | 2019-10-18 | 2020-03-27 | 中铁磁浮交通投资建设有限公司 | Medium-low speed magnetic levitation track sensor detection surface seamless expansion device |
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| US128592A (en) * | 1872-07-02 | Improvement in self-acting expansion rails and chairs | ||
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| CN201761902U (en) * | 2010-08-10 | 2011-03-16 | 广州市加杰机械设备有限公司 | Flexible suspension chain track |
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| Publication number | Publication date |
|---|---|
| CN111472215B (en) | 2021-08-10 |
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