CN115744705A - Dragging robot and using method thereof - Google Patents
Dragging robot and using method thereof Download PDFInfo
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- CN115744705A CN115744705A CN202211288591.8A CN202211288591A CN115744705A CN 115744705 A CN115744705 A CN 115744705A CN 202211288591 A CN202211288591 A CN 202211288591A CN 115744705 A CN115744705 A CN 115744705A
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Abstract
The invention discloses a dragging robot and a using method thereof, the dragging robot comprises a crawler walking mechanism capable of steering and moving, explosion-proof devices are uniformly arranged on all units capable of being detonated in a working environment, a support plate is arranged on the upper part of the crawler walking mechanism, a mechanical arm for clamping a cable and a camera of an image recognition system are arranged on the upper part of one side of the support plate, the mechanical arm is controlled by a remote control or a program, a winch wheel capable of being sleeved with a cable knot is arranged on the upper part of the support plate, which is adjacent to the mechanical arm, and a guide frame for supporting the cable is arranged on the outer side of the support plate. According to the invention, the rope knot is clamped by the mechanical arm and placed into the reel, the crawler travelling mechanism pulls the rope to a required position, the crawler travelling mechanism rotates 360 degrees to drive the supporting plate to rotate at a position where the rope cannot reach at a dead angle, the rope is wound and supported on the upper part of the guide frame, the rope is effectively wound and transported, the rope is pulled to the farthest position, the labor amount of manpower is reduced, and the operation is convenient.
Description
Technical Field
The invention relates to the technical field of mining machinery, in particular to a dragging robot and a using method thereof.
Background
In mining operations, cables are a common component. The cable car is widely applied to cable cars under mines. During the use process of the cable, the cable is inevitably worn, broken and the like to be damaged. The old cable needs to be pulled and wound, and then a new cable is laid on the unwinding.
If the traditional traction cable used when the safety support frame for the coal mining surface is moved out is adopted, the traditional mode generally adopts manual dragging, generally 6-9 persons are needed, the labor amount of manpower is overlarge, and the whole operation is inconvenient.
Disclosure of Invention
Technical problem to be solved
The invention can solve the problems that the existing cable is generally coiled firstly by coiling equipment and then manually transported, the labor amount of manpower is overlarge, and the integral operation is inconvenient.
(II) technical scheme
In order to achieve the above object, in one aspect, the invention adopts the following technical scheme that the towing robot comprises a crawler traveling mechanism capable of steering and moving, and a support plate arranged at the upper part of the crawler traveling mechanism, wherein a mechanical arm for clamping a cable is arranged at the upper part of one side of the support plate, a reel into which a cable knot can be sleeved is arranged at the upper part of the support plate, which is adjacent to the mechanical arm, and a guide frame for supporting the cable is arranged at the outer side of the support plate; the cable knot is clamped by the mechanical arm and placed into the reel, the crawler traveling mechanism turns to move to drive the supporting plate to turn to move, and the cable is wound and supported on the upper portion of the guide frame.
As a preferable technical scheme of the invention, the crawler traveling mechanism comprises a steel frame, a cross beam arranged at the side part of the steel frame, a plurality of thrust wheels arranged at the lower part of the cross beam, a guide wheel rotatably arranged at one end of the cross beam, a driving wheel rotatably arranged at the other end of the cross beam, and a crawler arranged at the outer sides of the guide wheel, the plurality of thrust wheels and the driving wheel in a transmission way.
As a preferable technical solution of the present invention, the guide frame includes a connecting plate, and a support frame mounted on a side portion of the connecting plate, and a support rod connected to the cross beam is mounted on a lower portion of the support frame.
As a preferable technical scheme of the invention, the supporting plate is arranged at the upper part of the steel frame, and the upper part of the supporting plate is provided with a side plate matched with the connecting plate.
As a preferable technical solution of the present invention, a diesel engine driving the driving wheel is installed on an upper portion of the supporting plate, a protection frame is installed on an upper portion of the supporting plate, and a door panel is installed on a side portion of the protection frame.
As a preferred technical solution of the present invention, a scissor lift table is installed on an upper portion of the protective frame, and a table plate for accommodating a person to stand is installed on an upper portion of the scissor lift table.
As a preferable technical scheme of the invention, the plurality of the reel wheels are arranged, and the diameters of the reel wheels are gradually increased from the middle to the two ends.
As a preferable technical scheme of the invention, a support rod is arranged on the side part of the support plate adjacent to the reel, and a first CCD camera is arranged on the upper part of the support rod.
As a preferable technical solution of the present invention, a second CCD camera is installed at a side of the robot arm, and a clamping jaw for clamping a cable is installed at an end of the robot arm.
In addition, the invention also provides a using method of the dragging robot, which comprises the following steps:
s1, manually knotting the end part of the mooring rope to support a circular rope knot;
s2, clamping a mooring rope by the mechanical arm, and sleeving the knot into the reel;
s3, the crawler traveling mechanism turns to move, and the cable is wound and wound on the upper portion of the guide frame;
s4, after the winding is finished, the crawler traveling mechanism moves to a position where a cable needs to be placed;
s5, the crawler belt walking mechanism turns and moves according to the opposite direction of winding, and the cable is unfolded;
and S6, clamping the mooring rope by the mechanical arm, and taking down the mooring rope from the reel through the knot to finish the dragging and transferring process of the mooring rope.
(III) advantageous effects
1. According to the dragging robot, the rope knot of the rope is clamped by the mechanical arm and placed into the reel, the track walking mechanism turns to move to drive the supporting plate to turn to move, the rope is wound and supported on the upper portion of the guide frame, then the track walking mechanism is used for moving to a position needing to be used, the track walking mechanism is moved in a reverse turning mode to unfold the rope, the mechanical arm is operated again, and the rope knot of the rope is taken down from the reel, so that the dragging and transferring of the rope are realized, the labor amount of manpower is reduced, and the operation and the use are convenient;
2. according to the dragging robot, the guide frame is used for supporting the wound cable, the size of the whole dragging robot is basically equivalent to that of the crawler travel mechanism, the cable can be wound or unfolded conveniently in the rotating and moving process of the crawler travel mechanism, and the possibility of excessive disorder in the cable unwinding process is reduced;
3. according to the dragging robot provided by the invention, the scissor lifting platform capable of accommodating personnel to stand is arranged at the upper part of the supporting plate, so that the space for personnel to stand can be provided when a cable is initially withdrawn, and the function of an aerial ladder is realized;
4. the dragging robot provided by the invention collects images through the CCD camera, and is convenient for clamping a cable and a cable knot to be sleeved in or separated from a reel.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of a first perspective of the present invention;
FIG. 2 is a schematic view of a second perspective of the present invention;
FIG. 3 is a schematic view of the protective frame and a portion of the diesel engine of the present invention;
FIG. 4 is a schematic view of a portion of the track-laying mechanism of the present invention;
FIG. 5 is a schematic view of the jaw and second CCD camera portion of the present invention;
FIG. 6 is a schematic view of the construction of the body portion of the robotic arm of the present invention;
FIG. 7 is an enlarged schematic view of the jaw portion construction of the present invention;
fig. 8 is a schematic view of the internal structure of the housing of the present invention.
In the figure: 1. a crawler travel mechanism; 11. a steel frame; 12. a cross beam; 13. a thrust wheel; 14. a guide wheel; 15. a drive wheel; 16. a crawler belt; 2. a support plate; 21. a side plate; 22. a diesel engine; 23. a protective frame; 24. a door panel; 25. a scissor lift table; 26. a platen; 27. a support bar; 28. a first CCD camera; 3. a mechanical arm; 31. a second CCD camera; 32. a clamping jaw; 4. a reel; 5. a guide frame; 51. a connecting plate; 52. a support frame; 53. a strut; 6. a mechanical arm body; 61. connecting blocks; 62. a housing; 63. an electromagnet; 64. a clamping block; 7. a drive member; 71. a positive and negative rotation motor; 72. a screw rod; 8. and (7) pushing the block.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "longitudinal", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, 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.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
As shown in fig. 1 to 5, a towing robot includes a crawler traveling mechanism 1 capable of turning and moving, a support plate 2 installed on an upper portion of the crawler traveling mechanism 1, a plurality of mechanical arms 3 for holding cables are installed on an upper portion of the support plate 2, a reel 4 into which cable ties can be inserted is installed on an upper portion of the support plate 2 adjacent to the mechanical arms 3, a guide frame 5 for supporting cables is installed on an outer side of the support plate 2, the cable ties are held by the mechanical arms 3 and placed into the reel 4, and in order to facilitate winding, the reel 4 is provided with a plurality of reels, and the diameters of the reels 4 are gradually increased from the middle to both ends to prevent the cable ties from being separated, the crawler traveling mechanism 1 turns and moves to drive the support plate 2 to turn and move, the cables are wound and supported on an upper portion of the guide frame 5, that the movement of the crawler traveling mechanism 1 can be transferred to a desired position, then the crawler traveling mechanism 1 is turned and moved in a direction opposite to the winding direction, the wound cables can be unfolded, and then the mechanical arms 3 are used to hold the cables to separate the cable ties from the reel 4, thereby realizing a towing and transferring process.
It should be understood that the crawler 1 performs 360 ° turning movement during the cable winding and unwinding, and the crawler 1 performs turning when encountering an obstacle in the same manner as a normal vehicle during the winding and transferring.
As shown in fig. 1, 2 and 4, when specifically arranged, the crawler 1 includes a steel frame 11, a cross beam 12 installed at a side portion of the steel frame 11, a plurality of thrust wheels 13 installed at a lower portion of the cross beam 12, a guide wheel 14 rotatably installed at one end of the cross beam 12, a driving wheel 15 rotatably installed at the other end of the cross beam 12, and a crawler 16 drivingly installed at an outer side of the guide wheel 14, the plurality of thrust wheels 13 and the driving wheel 15, and the support plate 2 is installed at an upper portion of the steel frame 11, and a diesel engine 22 for driving the driving wheel 15 is installed at an upper portion of the support plate 2.
As shown in fig. 1, 2 and 3, in the present embodiment, the guide frame 5 includes a connection plate 51 and a support frame 52 mounted on a side of the connection plate 51, a support rod 53 connected to the cross beam 12 is mounted on a lower portion of the support frame 52, a side plate 21 engaged with the connection plate 51 is mounted on an upper portion of the support plate 2, the connection plate 51 is conveniently fixed by the side plate 21, the connection plate 51 may have a certain slope, and the cable may be wound on the upper portion of the support frame 52 during 360 ° rotation. Of course, it should be understood that, in the initial stage of rolling the cable in the rotating and moving manner, because the first circle of cable is difficult to roll under the action of the traction force and the self weight of the cable, the rolling of the first circle of cable can be manually assisted, and after the first circle of cable is rolled, the subsequent cable can be automatically rolled in a rotating manner.
In addition, the guide frame 5 supports the coiled cable, the overall size of the cable is basically equal to that of the crawler walking mechanism 1, the cable is convenient to coil or expand in the rotating and moving process of the crawler walking mechanism 1, and the possibility of excessive disorder in the cable expanding process is reduced.
As shown in fig. 1 and 3, in the present embodiment, a protection frame 23 is installed on the upper portion of the support plate 2, the protection frame 23 covers the outside of the diesel engine 22, and a door panel 24 is installed on the side portion of the protection frame 23, so as to facilitate protection of the diesel engine 22 and opening of the door panel 24 for maintenance of the diesel engine 22.
When specifically using, the upper portion of diesel engine 22 still is abundant more space, can cut the fork elevating platform 25 in the upper portion installation of protective frame 23, cuts the upper portion of fork elevating platform 25 and installs the platen 26 that holds personnel and stand, can go up and down, is convenient for provide the function of aerial ladder, and when being convenient for initially dismantle the hawser, provide the space that personnel stood.
As shown in fig. 1 and 3, in particular, a support rod 27 is installed at a side portion of the support plate 2 adjacent to the reel 4, a first CCD camera 28 is installed at an upper portion of the support rod 27, a second CCD camera 31 is installed at a side portion of the robot arm 3, a clamping jaw 32 for clamping a cable is installed at an end portion of the robot arm 3, the CCD camera is used for taking a picture to obtain image information, the clamping jaw 32 is convenient for clamping the cable, and a cable knot is sleeved in the reel 4, it should be understood that the first CCD camera 28 and the second CCD camera 31 need to be configured with corresponding recognition systems, and the recognition systems are in the prior art and will not be described herein.
In this embodiment, the mechanical arm includes six arms 6 to and install in the connecting block 61 of arm 6 output, and casing 62 is installed to the tip of connecting block 61, and the lateral part symmetry of two clamping jaws 32 articulates in the both sides of casing 62, and the electro-magnet 63 is installed to the relative lateral part of clamping jaw 32, and clamp splice 64 is installed to the relative lateral part of electro-magnet 63, and the internally mounted of casing 62 has driving piece 7, and the tip of driving piece 7 is installed the ejector pad 8 with clamp splice 64 separately.
It should be understood that at least two electromagnets 63 and matched clamping blocks 64 are arranged on the upper part of each clamping jaw 32, a gap is arranged between two adjacent electromagnets 63, and due to the arrangement of the electromagnets 63, better clamping can be realized, and the clamping blocks 64 are arranged into the clamping blocks 64 with rough surfaces, so that friction force can be better increased, and the clamping effect is further improved
The driving piece 7 comprises a forward and reverse rotation motor 71 and a screw rod 72 arranged at the output end of the forward and reverse rotation motor 71, the push block 8 is arranged at the end part of the screw rod 72, the forward and reverse rotation motor 71 is arranged inside the shell 62, the screw rod 72 extends out of the end part of the shell 62, and the screw rod 72 is driven to rotate and extend out through the operation of the forward and reverse rotation motor 71, so that the push block 8 moves to separate the clamping block 64 from the clamping jaw 32.
Of course, the driving member 7 may be provided in a form of an electric cylinder matching the push rod, or in a form of an electric push rod matching the push rod.
In addition, the invention also provides a using method of the dragging robot, which comprises the following steps:
the robot enters a coal mining surface from a coal mine entrance, the robot is driven to the position near an equipment support frame, a worker climbs the scissor lifting platform 25 and lifts the scissor lifting platform 25 to a proper height, and the worker removes cables, hydraulic oil pipes and connecting mechanisms above the coal mining equipment support frame, so that all equipment components can be removed independently. The robot moves to a cable to be pulled (the cable is generally a wire rope, and has a diameter phi 32 to phi 50).
S1, manually knotting the end part of the mooring rope to support a circular rope knot;
s2, the mechanical arm 3 clamps the cable, and the knot is sleeved in the reel 4, specifically: a manipulator of the robot searches for a knot of a traction cable through two cameras, after the position of the knot is confirmed, the head of the cable is tightly grabbed under the action of a manipulator gripper under the guidance of a self-learning manipulator program, and then the knot of the cable is sleeved in a capstan 4 in diameter 32 and diameter 50;
s3, the crawler belt traveling mechanism 1 rotates and moves, and the cable is wound and wound on the upper portion of the guide frame 5;
s4, after the winding is finished, the crawler belt walking mechanism 1 moves to a position where a cable needs to be placed, specifically to a coal mine entrance;
s5, the crawler belt walking mechanism 1 rotates and moves in the opposite direction of the rolling, and the cable is unfolded;
s6, the mechanical arm 3 clamps the cable, and the cable is taken down from the reel 4 through the knot, so that the dragging and transferring process of the cable is completed.
Generally, the coal mining surface is more than 300 meters long, and 150-200 coal mining equipment safety support frames are arranged. The coal mining equipment used on the coal mining surface is moved out through the dragging robot, the dragging cable equipment and the transportation equipment. The moving of the coal mining equipment used on the coal mining surface is completed.
In conclusion: the rope knot of the rope is clamped by the mechanical arm 3 and placed into the reel 4, in order to facilitate winding, the track walking mechanism 1 rotates and moves to drive the supporting plate 2 to rotate and move, the rope is wound and supported on the upper portion of the guide frame 5, the rope can be transferred to a position required to be used by using the movement of the track walking mechanism 1, then the track walking mechanism 1 rotates and moves according to the reverse direction of winding, the wound rope can be unfolded, the mechanical arm 3 is used for clamping the rope, the rope knot of the rope is separated from the reel 4, the dragging and transferring process can be achieved, the labor amount of manpower is reduced, and operation and use are convenient.
It should be noted that when the robot is used specifically, the robot can also carry other mine equipment, and the robot can be directly clamped and transported by using the mechanical arm, which is not described herein too much.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A towing robot, comprising: the cable conveying device comprises a track travelling mechanism (1) capable of steering and moving, and a support plate (2) arranged on the upper part of the track travelling mechanism (1), wherein a mechanical arm (3) for clamping a cable is arranged on the upper part of one side of the support plate (2), a reel (4) into which a cable knot can be sleeved is arranged on the upper part of the support plate (2) close to the mechanical arm (3), and a guide frame (5) for supporting the cable is arranged on the outer side of the support plate (2);
the mooring rope knot is clamped by the mechanical arm (3) and placed into the reel (4), the crawler belt walking mechanism (1) turns to move to drive the supporting plate (2) to turn to move, and the mooring rope is wound and supported on the upper portion of the guide frame (5).
2. The towing robot according to claim 1, wherein: the crawler travelling mechanism (1) comprises a steel frame (11), a cross beam (12) arranged on the side portion of the steel frame (11), a plurality of thrust wheels (13) arranged on the lower portion of the cross beam (12), a guide wheel (14) rotatably arranged at one end of the cross beam (12), a driving wheel (15) rotatably arranged at the other end of the cross beam (12), and a crawler (16) arranged on the guide wheel (14), the plurality of thrust wheels (13) and the outer side of the driving wheel (15) in a transmission mode.
3. The towing robot according to claim 2, wherein: the guide frame (5) comprises a connecting plate (51) and a supporting frame (52) arranged on the side of the connecting plate (51), and a supporting rod (53) connected with the cross beam (12) is arranged on the lower portion of the supporting frame (52).
4. The towing robot according to claim 3, wherein: the supporting plate (2) is arranged on the upper portion of the steel frame (11), and a side plate (21) matched with the connecting plate (51) is arranged on the upper portion of the supporting plate (2).
5. The towing robot according to claim 2, wherein: the drive is installed on the upper portion of backup pad (2) diesel engine (22) of drive wheel (15), protective frame (23) are installed on the upper portion of backup pad (2), door plant (24) are installed to the lateral part of protective frame (23).
6. The towing robot of claim 5, wherein: a scissor lifting table (25) is installed on the upper portion of the protective frame (23), and a bedplate (26) for accommodating personnel to stand is installed on the upper portion of the scissor lifting table (25).
7. The towing robot of claim 1 wherein: the reel (4) is provided with a plurality of, reel (4) from the middle to both ends diameter increase gradually.
8. A towing robot according to claim 1 or 7, wherein: a supporting rod (27) is installed on the side portion, close to the reel (4), of the supporting plate (2), and a first CCD camera (28) is installed on the upper portion of the supporting rod (27).
9. The towing robot according to claim 1, wherein: a second CCD camera (31) is installed on the side portion of the mechanical arm (3), and a clamping jaw (32) for clamping a cable rope is installed at the end portion of the mechanical arm (3).
10. The use method of the towing robot according to claim 1, wherein: the method comprises the following steps:
s1, manually knotting the end part of the mooring rope to support a circular rope knot;
s2, clamping a cable by the mechanical arm (3), and sleeving a knot into the reel (4);
s3, the crawler belt walking mechanism (1) turns to move, and the cable is wound and wound on the upper part of the guide frame (5);
s4, after the winding is finished, the crawler belt walking mechanism (1) moves to a position where a cable is required to be placed;
s5, the crawler belt walking mechanism (1) turns and moves according to the opposite direction of winding, and the cable is unfolded;
s6, the mechanical arm (3) clamps the cable and takes down the cable from the reel (4) through a knot, and then the dragging and transferring process of the cable is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211288591.8A CN115744705A (en) | 2022-10-20 | 2022-10-20 | Dragging robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211288591.8A CN115744705A (en) | 2022-10-20 | 2022-10-20 | Dragging robot and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115744705A true CN115744705A (en) | 2023-03-07 |
Family
ID=85352343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211288591.8A Pending CN115744705A (en) | 2022-10-20 | 2022-10-20 | Dragging robot and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115744705A (en) |
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2022
- 2022-10-20 CN CN202211288591.8A patent/CN115744705A/en active Pending
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