CN208362820U - A kind of crusing robot flexible rail system - Google Patents
A kind of crusing robot flexible rail system Download PDFInfo
- Publication number
- CN208362820U CN208362820U CN201820500508.1U CN201820500508U CN208362820U CN 208362820 U CN208362820 U CN 208362820U CN 201820500508 U CN201820500508 U CN 201820500508U CN 208362820 U CN208362820 U CN 208362820U
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- flexible
- rigid guideway
- guide rail
- hydraulic support
- crusing robot
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000005096 rolling process Methods 0.000 claims description 4
- 239000003245 coal Substances 0.000 abstract description 18
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000005065 mining Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model is a kind of crusing robot flexible rail system, comprising: rigid guideway, flexible guide rail and hanging component；It is characterized by: rigid guideway and flexible guide rail are fixed on the top plate of hydraulic support by hanging component；Rigid guideway includes quiet piece of rigid guideway, rigid guideway motion block；Rigid guideway motion block can slide in quiet piece of rigid guideway.The utility model is using flexible guide rail, rigidity the flexible rail system that slidably guide rail and flexible hanging component match, it is mobile to the dislocation for going up and down 2 freedom degrees before and after adjacent hydraulic support operation bring, flexible rail system can be adaptive, from main regulation, guarantees that crusing robot is accessible and pass through.Since flexible rail system is erected in the top coversheet of hydraulic support, the operating of hydraulic support, coalcutter and other relevant devices is not interfered with, ensure that crusing robot in the safe operation of coal working face.
Description
Technical field
The utility model patent belongs to robot field, specifically a kind of patrolling applied to underground coal mine fully-mechanized mining working
Examine robot flexible rail.
Background technique
First production scene of the underground coal mine coal working face as coal, have working space is narrow, mechanical equipment is more,
The feature that visual environment is poor, temperature is high is the multiple place of mine accident.Coal mine roof plate accident, water leak accident, spontaneous combustionof coal thing
Therefore gas explosion accident, dust explosion accident and occupational disease etc. are sizable there is a situation where all occupying in coal working face
Ratio.Therefore, people start to be monitored working environment in coal working face application crusing robot, with what is prevented accident
Occur.
Such as: a kind of coal mine fully-mechanized mining working crusing robot (application number CN 201710008322.4), robot master
Will include active friction wheel, driven pulley, flexible steel wire, cable car carriage, driving motor, sensitive gas sensor, vision and
Laser sensor, battery etc..Active and passive friction pulley is mounted at the top of hydraulic support by the robot, and driving hanging is in wirerope
On cable car carriage achieve the purpose that reciprocal inspection, utilize the frictional force of friction pulley to drive flexible steel wire and cable car carriage fortune
Row, wirerope are in tension always.The active and passive friction pulley device volume of the invention is very big, to coal mining hydraulic support
Operation brings certain influence.
Since fully-mechanized mining working equipment is more, narrow space, not influence the normal of hydraulic support, coalcutter and scrapper conveyor
Working face, it is desirable that coal mine work area crusing robot should have the ability that inspection is realized on flexible rail, on the one hand need to determine
On the other hand the installation site of crusing robot flexible rail solves the problems, such as that crusing robot is current in small space, real
The function with monitoring is now run on flexible rail by ground industrial control terminal Manipulation of the machine people.
Summary of the invention
In order to solve the above technical problems, the utility model provides a kind of crusing robot flexible rail for fully-mechanized mining working
System, the system be not only able to satisfy the space requirement of fully-mechanized mining working, but also can guarantee that crusing robot is transported safely on flexible rail
Row.
The utility model the technical solution adopted is that: a kind of crusing robot flexible rail system, comprising: rigid guideway I, soft
Property guide rail II, hanging component III；It is characterized by: the rigid guideway I, flexible guide rail II, are fixed on by hanging component III
On the top plate of hydraulic support；The rigid guideway I includes quiet piece 1 of rigid guideway, rigid guideway motion block 6；The rigid guideway is dynamic
The bottom of block 6 is provided with elongated slot 6-1, is built-in with rolling bearing；The rigid guideway motion block 6 can slide in quiet piece 1 of rigid guideway.
Preferably, the flexible guide rail II includes flexible joint 2, upper junction plate 3, lower connecting plate 4, shaft 5；The flexibility
Guide rail II includes at least three flexible joint 2；There are limited post 3-1, the limited post 3-1 and lower connecting plate on the upper junction plate 3
Limiting slot 4-1 cooperation on 4, limiting rotation angle is in 0-20 °.
Unrestricted, one end of the flexible joint 2 is interior concave arc, and the other end is evagination circular arc, and flexible joint 2 is first
Tail is connected, fixed by upper junction plate 3, lower connecting plate 4, shaft 5, forms flexible guide rail II.Rigid guideway I passes through upper junction plate
3, lower connecting plate 4 and shaft 5 link together with flexible guide rail II.
Further, the hanging component III includes lifting angle bar 7, lifting chain 8, lifting seat 9, the lifting angle bar installation
In on the top plate of hydraulic support, lifting seat 9 is fixed on the step of quiet piece 1 protrusion of lower connecting plate 4 or rigid guideway.
Further, the method for operation one of of the crusing robot in flexible rail system are as follows: before hydraulic support
When dislocation is mobile afterwards, the flexible rail bending or stretching, extension, rigid guideway motion block 6 being suspended at the top of hydraulic support are quiet in rigid guideway
Sliding in fast 1；When hydraulic support goes up and down dislocation movement, the lifting chain 8 on the hanging component of two adjacent groups is shunk, by soft
Property track and hanging component mutual cooperation, the multivariant dislocation to compensate hydraulic support is mobile to flexible rail bring
It influences, it is ensured that robot body accessible walking on flexible rail.
The beneficial effect of the utility model patent is:
Firstly, the utility model is using flexible guide rail, the rigidity flexible rail that slidably guide rail and flexible hanging component match
System, to the dislocation of 2 freedom degrees is mobile up and down before and after adjacent hydraulic support operation bring, flexible rail system can be adaptive
It answers, from main regulation, crusing robot accessible can pass through；
Secondly, flexible rail system quick release and connection, can adapt to the track dismounting during hydraulic support maintenance
Work；
Again, it since flexible rail system is erected in the top coversheet of hydraulic support, do not interfere with hydraulic support, adopt
The operating of coal machine and other relevant devices ensure that crusing robot in the safe operation of coal mine work area.
Detailed description of the invention
Fig. 1 is crusing robot flexible rail stereoscopic schematic diagram；
Fig. 2 is the stereoscopic schematic diagram of rigid guideway I Yu II connection type of flexible guide rail；
Fig. 3 is quiet piece 1 of rigid guideway of stereoscopic schematic diagram；
Fig. 4 is the stereoscopic schematic diagram of flexible joint 2；
Fig. 5 is the stereoscopic schematic diagram of upper junction plate 3；
Fig. 6 is the stereoscopic schematic diagram of lower connecting plate 4；
Fig. 7 is the stereoscopic schematic diagram of rigid guideway motion block 6；
Fig. 8 is the stereoscopic schematic diagram of hanging component III；
Fig. 9 is mounting means schematic diagram of the flexible rail system in coal mine work area.
In figure: I, rigid guideway, II, flexible guide rail, III, hanging component, quiet piece of 1. rigid guideways, 2. flexible joints,
3. upper junction plate, 3-1. limited post, 4. lower connecting plates, 4-1. limiting slot, 5. shafts, 6. rigid guideway motion blocks, 6-1. axis
Hold slot, 7. lifting angle bar, 8. lifting chains, 9. lifting seats
Specific embodiment
The utility model is further described with specific embodiment with reference to the accompanying drawings of the specification.
With reference to Fig. 1 and Fig. 2, a kind of crusing robot flexible rail is provided in the first embodiment of the utility model, is wrapped
It includes: rigid guideway I, flexible guide rail II, hanging component III；The rigid guideway I, flexible guide rail II, it is solid by hanging component III
It is scheduled on the top plate of hydraulic support；The rigid guideway I includes quiet piece 1 of rigid guideway, rigid guideway motion block 6；The rigidity is led
The bottom of rail motion block 6 is provided with bearing groove 6-1, is built-in with rolling bearing；The rigidity motion block 6 slides in quiet piece 1 of rigid guideway.
Flexible guide rail II includes flexible joint 2, upper junction plate 3, lower connecting plate 4, shaft 5；The flexible guide rail II includes
At least three flexible joint 2；There are limited post 3-1, the limit on the limited post 3-1 and lower connecting plate 4 on the upper junction plate 3
Slot 4-1 cooperation, limiting rotation angle is in 0-20 °.
As shown in Fig. 3, Fig. 4, Fig. 7, one end of rigid guideway motion block 6 is designed as evagination circular arc, and increases 2 through-holes,
It is successively connected to a fixed together with flexible joint 2 by shaft 5, upper junction plate 3, lower connecting plate 4, is freely rotatable certain angle
Degree；The other end of rigid guideway motion block 6 is designed to pyramidal structure, is conveniently inserted into quiet piece 1 of rigid guideway of slot, bearing groove 6-
It can reduce rigid guideway motion block 6 and running resistance when quiet piece 1 of rigid guideway sliding after 1 installation rolling bearing.
One end of flexible joint 2 is interior recessed circle, and another one evagination circular arc, flexible joint 2 joins end to end, and passes through upper connection
Plate 3, lower connecting plate 4, shaft 5 are fixed, form flexible guide rail II.Rigid guideway I passes through upper junction plate 3, lower connecting plate 4 and shaft
5 link together with flexible guide rail II.
Further, described to hang as shown in figure 8, the hanging component III includes lifting angle bar 7, lifting chain 8, lifts seat 9
Dress angle bar 7 is installed on the top plate of hydraulic support, and lifting seat 9 is fixed on the step of quiet piece 1 protrusion of lower connecting plate 4 or rigid guideway
On.
Fig. 9 is mounting means schematic diagram of the flexible rail system in coal mine work area, for the ease of position of giving top priority to what is the most important, this
The equipment such as coalcutter, scrapper conveyor in working face are omitted in figure；Crusing robot is suspended on flexible rail, is existed by driving wheel
It walks on the web of flexible rail.
Further, the method for operation one of of the crusing robot in flexible rail system are as follows: before hydraulic support
When dislocation is mobile afterwards, the bending of flexible guide rail II or the stretching, extension being suspended at the top of hydraulic support, rigid guideway motion block 6 is in rigid guideway
Sliding in quiet fast 1, this flexible guide rail, which matches bring freedom degree with rigid guideway and can offset hydraulic support, to be moved forward and backward
When displacement；When hydraulic support goes up and down dislocation movement, the lifting chain 8 on the hanging component of two adjacent groups is shunk, and is passed through
The mutual cooperation of flexible rail and hanging component brings flexible rail to compensate the multivariant dislocation movement of hydraulic support
Influence, many kinds of measures interoperation, it is ensured that robot body accessible walking on guide rail.
The beneficial effect of the utility model patent is:
Firstly, the utility model is using flexible guide rail, the rigidity flexible rail that slidably guide rail and flexible hanging component match
System, mobile to adjacent hydraulic support operation bring front and back, the dislocation of upper and lower 2 freedom degrees, flexible rail system can be certainly
It adapts to, from main regulation, crusing robot accessible can pass through；
Secondly, flexible rail system quick release and connection, can adapt to the track dismounting during hydraulic support maintenance
Work；
Again, it since flexible rail system is erected in the top coversheet of hydraulic support, do not interfere with hydraulic support, adopt
The operating of coal machine and other relevant devices ensure that crusing robot in the safe operation of coal mine work area.
Specific embodiment the embodiment described is not limited to described in the utility model, as long as those skilled in the art are according to this
New Scheme obtains other embodiments, also belongs to the range of the technological innovation and protection of the utility model.
Claims (2)
1. a kind of crusing robot flexible rail system, comprising: rigid guideway (I), flexible guide rail (II), hanging component
(III)；It is characterized by: the rigid guideway (I), flexible guide rail (II), are fixed on hydraulic support by hanging component (III)
On top plate；The rigid guideway (I) includes quiet piece of rigid guideway (1), rigid guideway motion block (6)；The rigid guideway motion block (6)
Bottom be provided with elongated slot (6-1), be built-in with rolling bearing, rigid guideway motion block (6) can the sliding in quiet piece of rigid guideway (1)；
The flexible guide rail (II) includes flexible joint (2), upper junction plate (3), lower connecting plate (4) and shaft (5), the flexible guide rail
It (II) include at least three flexible joint (2)；Have limited post (3-1) on the upper junction plate (3), the limited post (3-1) is under
Limiting slot (4-1) cooperation on connecting plate (4), limiting rotation angle is in 0-20 °；One end of the flexible joint (2) is interior
Concave arc, the other end are evagination circular arc, and flexible joint (2) joins end to end, and pass through upper junction plate (3), lower connecting plate (4), shaft
(5) fixed, it forms flexible guide rail (II)；Rigid guideway (I) by upper junction plate (3), lower connecting plate (4) and shaft (5) with it is soft
Property guide rail (II) links together.
2. a kind of crusing robot flexible rail system according to claim 1, it is characterised in that: the hanging component
It (III) include lifting angle bar (7), lifting chain (8) and lifting seat (9), the lifting angle bar is installed on the top plate of hydraulic support
On, lifting seat (9) is fixed on lower connecting plate (4) or the step of quiet piece of rigid guideway (1) protrusion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820500508.1U CN208362820U (en) | 2018-04-10 | 2018-04-10 | A kind of crusing robot flexible rail system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820500508.1U CN208362820U (en) | 2018-04-10 | 2018-04-10 | A kind of crusing robot flexible rail system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208362820U true CN208362820U (en) | 2019-01-11 |
Family
ID=64922556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820500508.1U Withdrawn - After Issue CN208362820U (en) | 2018-04-10 | 2018-04-10 | A kind of crusing robot flexible rail system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208362820U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108316067A (en) * | 2018-04-10 | 2018-07-24 | 中信重工开诚智能装备有限公司 | A kind of crusing robot flexible rail system |
| CN110130161A (en) * | 2019-05-07 | 2019-08-16 | 北京天地玛珂电液控制***有限公司 | A kind of flexible rail of seamless connection |
| CN111168643A (en) * | 2020-01-08 | 2020-05-19 | 山东康威通信技术股份有限公司 | Guide rail suspension structure and track mechanism of tunnel inspection robot in tunnel cross well |
-
2018
- 2018-04-10 CN CN201820500508.1U patent/CN208362820U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108316067A (en) * | 2018-04-10 | 2018-07-24 | 中信重工开诚智能装备有限公司 | A kind of crusing robot flexible rail system |
| CN108316067B (en) * | 2018-04-10 | 2024-02-20 | 中信重工开诚智能装备有限公司 | Flexible track system for inspection robot |
| CN110130161A (en) * | 2019-05-07 | 2019-08-16 | 北京天地玛珂电液控制***有限公司 | A kind of flexible rail of seamless connection |
| CN111168643A (en) * | 2020-01-08 | 2020-05-19 | 山东康威通信技术股份有限公司 | Guide rail suspension structure and track mechanism of tunnel inspection robot in tunnel cross well |
| CN111168643B (en) * | 2020-01-08 | 2021-05-25 | 康威通信技术股份有限公司 | Guide rail suspension structure and track mechanism of tunnel inspection robot in tunnel cross well |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190111 Effective date of abandoning: 20240220 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190111 Effective date of abandoning: 20240220 |