CN217152031U - Subsection traction power device of underground inspection robot - Google Patents
Subsection traction power device of underground inspection robot Download PDFInfo
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- CN217152031U CN217152031U CN202122638525.6U CN202122638525U CN217152031U CN 217152031 U CN217152031 U CN 217152031U CN 202122638525 U CN202122638525 U CN 202122638525U CN 217152031 U CN217152031 U CN 217152031U
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Abstract
The utility model discloses a subsection traction power device of an underground inspection robot, which comprises more than one section of traction power units and a trolley, wherein the traction power units are arranged in a row, and the inspection robot is arranged on the trolley; the traction power unit comprises a driving assembly, a track assembly, a driven assembly and a steel wire rope, wherein the driving assembly and the driven assembly are arranged on the track assembly, the trolley is provided with more than two rope grippers, and the rope grippers are used for tightly gripping or loosening the steel wire rope; when the trolley passes through the driving assembly and the driven assembly, at least one rope clip grasps the steel wire rope. The utility model discloses not only can the segmentation combination realize the different length tunnel in the pit and patrol and examine the demand, can ensure the heavy slope climbing of robot and variable speed operation moreover, and enable the inspection device and avoid skidding.
Description
Technical Field
The utility model relates to a sectional traction power device of a robot for underground inspection, which belongs to mine transportation equipment.
Background
As a strategic technical field of the twenty-first century, robots have been widely used in various industries, and in the coal mine industry, mechanized human replacement is a trend. The application of the inspection robot meets the requirements of intelligent mine construction, the labor intensity of workers can be reduced, the inspection error is reduced, and the working efficiency is improved.
The belt conveyor is the main transportation equipment in the pit in the colliery, and colliery production efficiency has direct relation with the performance of conveyer, and the common trouble of belt conveyor for the mine has: the belt fracture, belt off tracking, skid, damaged fracture appear in the long-time work of bearing roller etc. not only can influence the production efficiency in colliery, serious even can take place the production accident.
At present, the application of inspection robots in domestic coal mines is not yet popularized, most of mines mainly adopt manual detection as a main method, namely, inspection personnel judge whether equipment is abnormal or not according to own experience, and the inspection method is low in efficiency, poor in accuracy, incapable of achieving real-time detection and high in labor cost.
In recent years, with the development of robot technology, part of mines gradually adopt belt type inspection robots, the tracks of the belt type inspection robots are hoisted, and inspection robot driving wheels walk on the tracks to detect the state condition of a belt conveyor. Therefore, in order to avoid serious consequences caused by damage of belt conveyor equipment, the conveyor needs to be detected in time, and the subsection traction power device of the underground inspection robot is designed, so that the underground inspection robot can be driven to inspect the belt conveyor.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to avoid belt conveyor equipment to damage the serious consequence that causes, need in time detect the cargo airplane, the utility model provides an inspection robot segmentation traction power device in pit, the utility model discloses can drive the inspection robot and patrol and examine the belt conveyor, can realize the operation of patrolling and examining in the single section according to the on-the-spot demand, the segmentation combination realizes that different length tunnels in the pit patrol and examine the demand, is applied to the abominable environment in the mine, can ensure the heavy slope climbing of robot and variable speed operation, and enables the inspection device and avoid skidding.
The technical scheme is as follows: in order to achieve the above object, the utility model adopts the following technical scheme:
the utility model provides a robot segmentation traction power device patrols and examines in pit, includes traction power unit, the dolly more than one section, traction power unit arranges into one row, patrols and examines the robot and install on the dolly. The traction power unit comprises a driving assembly, a track assembly, a driven assembly and a steel wire rope, wherein the driving assembly and the driven assembly are installed on the track assembly, the driving assembly and the driven assembly are in transmission connection through the steel wire rope, the trolley is arranged on the track assembly, and the traction power unit comprises:
the trolley is provided with more than two rope grippers, and the rope grippers are used for tightly gripping or loosening the steel wire rope. When the trolley runs on the track assembly, at least one rope clip grasps the steel wire rope. When the trolley runs to the driving assembly, the steel wire rope is loosened through the rope clip of the driving assembly, and the steel wire rope is tightly clipped through the rope clip behind the driving assembly. When the trolley runs to the driven assembly, the steel wire rope is released through the rope clip of the driven assembly, and the steel wire rope is tightly clipped through the rope clip behind the driven assembly.
Preferably: the tensioning device comprises a tensioning assembly, wherein the tensioning assembly is arranged on a track assembly, and the tensioning assembly is used for providing a tensioning force for a steel wire rope. When the trolley runs to the tensioning assembly, the steel wire rope is loosened through the rope clip of the tensioning assembly, and the steel wire rope is tightly held through the rope clip behind the tensioning assembly.
Preferably: the rope gripper comprises a rope gripping wheel, a rope gripping small hand, a rope gripper bottom plate, a rope gripping wheel support and a rope gripping small hand reset spring, the rope gripping small hand is used for grasping or loosening a steel wire rope, the rope gripping small hand is rotatably installed on the rope gripper bottom plate through a bearing, one end of the rope gripping small hand reset spring is fixedly connected with the rope gripper bottom plate, and the other end of the rope gripping small hand reset spring is fixedly connected with the rope gripping small hand. Grab rope sheave support and grab rope handlet fixed connection, grab the rope sheave and install on grabbing the rope sheave support.
Preferably: the dolly includes dolly wheel, dolly upper bracket, dolly lower carriage, wherein, on the rope clip distributes the installation dolly upper bracket, dolly lower carriage fixed mounting is in the below of dolly upper bracket, the dolly lower carriage is used for the installation to patrol and examine the robot. The trolley wheels are arranged on the trolley upper bracket.
Preferably: the rope clip bottom plate is fixedly arranged on the trolley upper support through the rope clip fixing frame.
Preferably: the trolley lower support is fixedly arranged below the trolley upper support through a bolt, and a copper sleeve is arranged on the outer side of the bolt.
Preferably: the drive assembly includes frequency conversion explosion-proof machine, motor support, action wheel support, first tensioning leading wheel, division hand boss one, action wheel, driving shaft, shaft coupling, reduction gear, wherein:
the variable-frequency explosion-proof motor is fixed on the motor support, the driving wheel support is fixedly installed with the motor support, and the driving wheel support is installed on the track assembly. The driving wheel and the first tensioning guide wheel are distributed and mounted on the driving wheel support along the traveling direction of the trolley, the first hand opening boss is mounted on the driving wheel support and located below the driving wheel and the first tensioning guide wheel, and the variable-frequency explosion-proof motor, the speed reducer, the coupler, the driving shaft and the driving wheel are sequentially in transmission connection.
Preferably: tensioning assembly includes overspeed device tensioner support, tensioning bolt, take-up pulley, division hand boss two, holds in the palm rope mechanism, second tensioning leading wheel, tensioning shaft, wherein:
the tensioning wheel is installed on a tensioning wheel shaft, the tensioning wheel shaft is installed on a tensioning device support in a vertically sliding mode, the lower end of the tensioning bolt is fixedly connected with the tensioning wheel shaft through a spring, and the upper end of the tensioning bolt is installed on the tensioning device support. The second tensioning guide wheel and the second hand opening boss are arranged on the tensioning device support, the second tensioning guide wheel and the tensioning wheel are distributed along the running direction of the trolley, and the second hand opening boss is located below the second tensioning guide wheel and the tensioning wheel.
Preferably: the track assembly includes that first back closes hand boss, first preceding close hand boss, second back and closes hand boss, second front and close hand boss, third back and close hand boss, third front and close hand boss, KBK track, wherein:
the first rear hand-closing boss, the first front hand-closing boss, the second rear hand-closing boss, the second front hand-closing boss, the third rear hand-closing boss and the third front hand-closing boss are sequentially installed on the KBK track, the first front hand-closing boss is located in front of the driving assembly, and the first rear hand-closing boss is located behind the driving assembly. The second front hand-closing boss is positioned in front of the tensioning assembly, and the second rear hand-closing boss is positioned behind the tensioning assembly. The third front hand-closing boss is positioned in front of the driven assembly, and the third rear hand-closing boss is positioned behind the driven assembly.
Preferably: the driven assembly includes from driving wheel support, driven tensioning leading wheel, division hand boss three, from the driving wheel, wherein: the driven tensioning guide wheel and the driven wheel are mounted on the driven wheel support along the trolley running direction, the third opening boss is mounted on the driven wheel support, and the third opening boss is located below the driven tensioning guide wheel and the driven wheel.
Compared with the prior art, the utility model, following beneficial effect has:
the utility model discloses a wire rope segmentation is pull, can realize the operation of patrolling and examining in single one-section 200 meters according to the on-the-spot demand, and the demand is patrolled and examined in different length tunnels in the pit is realized in the segmentation combination, has avoided power not enough. Through the tensioning assembly, the inspection robot is prevented from moving and slipping. The robot body is arranged on the trolley, so that the robot is more convenient to replace, and the contact between the robot and the track is avoided to cause abrasion. The climbing operation can be realized under the slope with a larger inclination angle, and when the trolley passes through the driving and driven wheels, the tensioning assembly and the next section of track, the hand closing boss and the hand opening boss are arranged, so that the trolley can grasp the steel wire rope to pass through smoothly.
Drawings
Fig. 1 is the utility model discloses a sectional traction power device stereogram of robot patrols and examines in pit.
Fig. 2 is a schematic structural view of the rope clip of the present invention.
Fig. 3 is a schematic structural view of the cart of the present invention.
Fig. 4 is a schematic structural diagram of the driving assembly of the present invention.
Fig. 5 is a schematic structural view of the tensioning assembly of the present invention.
Fig. 6 is a schematic structural diagram of the track assembly of the present invention.
Fig. 7 is a schematic structural diagram of the driven assembly of the present invention.
Detailed Description
The invention will be further elucidated with reference to the drawings and specific embodiments, it being understood that these examples are intended to illustrate the invention only and are not intended to limit the scope of the invention, and that modifications to the various equivalent forms of the invention, which may occur to those skilled in the art after reading the present invention, fall within the scope of the invention as defined in the claims appended hereto.
The utility model provides a robot segmentation traction power device patrols and examines in pit, includes traction power unit, dolly 1 more than one section, it is listed as one to pull power unit, patrols and examines the robot and install on dolly 1. The traction power unit comprises a driving assembly 2, a tensioning assembly 3, a track assembly 4, a driven assembly 5 and a steel wire rope, wherein the track assembly 4 is hung and installed in a well, the driving assembly 2, the tensioning assembly 3 and the driven assembly 5 are installed on the track assembly 4, the track assembly 4 is used for driving a trolley 1 to run on a track, the driving assembly 2 and the driven assembly 5 are in transmission connection through the steel wire rope, the trolley 1 is arranged on the track assembly 4, and the traction power unit comprises:
the driving assembly 2 is used for providing driving force for the trolley 1 through a steel wire rope.
The tensioning assembly 3 is used for providing tensioning force for the steel wire rope, mainly ensures the tensioning of the steel wire rope and prevents the robot from slipping in the operation process.
The driven assembly 5 is used for providing supporting force for the steel wire rope. The driven assembly 5 rotates through friction force and mainly plays a supporting role.
The trolley 1 is used for driving on the track assembly 4 according to the driving force provided by the driving assembly 2 for the trolley 1 through the steel wire rope.
The trolley 1 is provided with more than two rope grippers, and the rope grippers are used for tightly holding or loosening the steel wire rope. When the trolley 1 runs on the track assembly 4, at least one rope clip grips the steel wire rope. When the trolley 1 runs to the driving assembly 2, the steel wire rope is released through the rope clip of the driving assembly 2, the steel wire rope is tightly held through the rope clip behind the driving assembly 2, when the trolley 1 runs to the tensioning assembly 3, the steel wire rope is released through the rope clip of the tensioning assembly 3, and the steel wire rope is tightly held through the rope clip behind the tensioning assembly 3. When the trolley 1 runs to the driven assembly 5, the steel wire rope is released through the rope clip of the driven assembly 5, and the steel wire rope is tightly clipped through the rope clip behind the driven assembly 5.
The rope gripper comprises a rope gripping wheel, a rope gripping small hand, a rope gripper bottom plate, a rope gripping wheel support and a rope gripping small hand reset spring, the rope gripping small hand is used for grasping or loosening a steel wire rope, the rope gripping small hand is rotatably installed on the rope gripper bottom plate through a bearing, one end of the rope gripping small hand reset spring is fixedly connected with the rope gripper bottom plate, and the other end of the rope gripping small hand reset spring is fixedly connected with the rope gripping small hand. Grab rope sheave support and grab rope handlet fixed connection, grab the rope sheave and install on grabbing the rope sheave support.
For the sectional traction power device of the underground inspection robot with only one section of traction power unit, after the trolley passes through the driven assembly 5, the driving assembly 2 of the traction power unit of the section stops driving, and the trolley stops. For the underground inspection robot subsection traction power device with more than two sections of traction power units, the trolley 1 is transited to the driving assembly 2 of the next section of traction power unit through the driven assembly 5 of the section, and thus, one circulation is completed. Therefore the utility model discloses can realize the operation of patrolling and examining in single one section 200 meters according to the on-the-spot demand of mine, the demand is patrolled and examined in different length tunnels in the pit is realized in the segmentation combination.
The trolley 1 comprises two rope grippers, namely a front rope gripper and a rear rope gripper 1-1, trolley wheels 1-3, an upper trolley support 1-4 and a lower trolley support 1-8,
the front rope gripper comprises a front rope gripping wheel 1-5, a front rope gripping small hand 1-6, a front rope gripper bottom plate, a front rope gripping wheel support and a front rope gripping small hand reset spring, wherein the front rope gripping small hand 1-6 is rotatably installed on the front rope gripper bottom plate through a bearing, one end of the front rope gripping small hand reset spring is fixedly connected with the front rope gripper bottom plate, and the other end of the front rope gripping small hand reset spring is fixedly connected with the front rope gripping small hand 1-6. The front rope grabbing wheel bracket is fixedly connected with the front rope grabbing small hands 1-6, and the front rope grabbing wheels 1-5 are installed on the front rope grabbing wheel bracket. The front rope clip bottom plate is fixedly arranged on the front rope clip fixing frame.
The rear rope gripper 1-1 comprises a rear rope gripping wheel 1-1-1, a rear rope gripping small hand 1-1-2, a rear rope gripper base plate 1-1-3, a rear rope gripping wheel support and a rear rope gripping small hand reset spring, wherein the rear rope gripping small hand 1-1-2 is rotatably mounted on the rear rope gripper base plate 1-1-3 through a bearing, one end of the rear rope gripping small hand reset spring is fixedly connected with the rear rope gripper base plate 1-1-3, and the other end of the rear rope gripping small hand reset spring is fixedly connected with the rear rope gripping small hand 1-1-2. The rear rope grabbing wheel bracket is fixedly connected with the rear rope grabbing small hand 1-1-2, and the rear rope grabbing wheel 1-1-1 is installed on the rear rope grabbing wheel bracket. The rear rope clip bottom plate 1-1-3 is fixedly arranged on the rear rope clip fixing frame 1-2.
The rear rope clip fixing frame 1-2 is installed at the rear end of the trolley upper support 1-4, and the front rope clip fixing frame is installed at the front end of the trolley upper support 1-4. The trolley lower support 1-8 is fixedly arranged below the trolley upper support 1-4, and the trolley lower support 1-8 is used for installing an inspection robot. The trolley wheels 1-3 are arranged on the trolley upper bracket 1-4. The bottom plate of the rope clip is fixedly arranged on the upper bracket 1-4 of the trolley through a rope clip fixing frame. The trolley lower support 1-8 is used for installing an inspection robot, the trolley lower support 1-8 is fixedly installed below the trolley upper support 1-4 through bolts 1-9, and copper sleeves 1-7 are arranged on the outer sides of the bolts 1-9 to protect the bolts.
The front rope grabbing handgrips 1-6 of the trolley 1 are fixedly connected with the front rope grabbing wheel 1-5 through front rope grabbing handgrips reset springs, the rear rope grabbing handgrips 1-1-2 are fixedly connected with the rear rope grabbing wheel 1-1-1 through rear rope grabbing handgrips reset springs, and the front rope grabbing handgrips 1-6 and the rear rope grabbing handgrips 1-1-2 always grab the steel wire rope to drive the trolley 1 to run under the walking state by means of the spring tension of the front rope grabbing handgrips reset springs and the rear rope grabbing handgrips reset springs.
When the trolley 1 passes through the driving assembly 2, the tensioning assembly 3, the driven assembly 5 and the next section of traction power unit, only one rope grabbing small hand of one rope clip grabs the steel wire rope, the front rope clip grabs the steel wire rope or the rear rope clip 1-1 grabs the steel wire rope, the front rope grabbing wheel 1-5 of the trolley 1 climbs the hand-closing boss firstly, the front rope grabbing wheel 1-5 is lifted at the moment, the front rope grabbing small hand 1-6 can grasp the steel wire rope more effectively, when the front part of the trolley 1 starts to enter the parts, the trolley firstly passes through the hand-opening boss and runs along the lower edge of the hand-opening boss, at the moment, the front rope grabbing wheel 1-5 is pressed downwards by the hand-opening boss, under the action of a connecting spring, the front rope grabbing small hand 1-6 is opened to avoid the collision of the trolley 1, at the moment, the rear rope grabbing wheel 1-1-1-1 of the trolley 1 climbs the hand-closing boss, the rear rope gripping wheel 1-1-1 is lifted to enable the rear rope gripping small hand 1-1-2 to grip the steel wire rope more effectively so as to ensure that the trolley 1 has enough driving force, when the front part of the trolley 1 is driven out of the assembly parts, the front rope gripping wheel 1-5 of the trolley 1 climbs the hand-closing boss again, the front rope gripping wheel 1-5 is lifted again to enable the front rope gripping small hand 1-6 to grip the steel wire rope more effectively, then the rope gripping wheel 1-1-1 climbs the hand-opening boss so as to enable the rear rope gripping wheel 1-1-1 to be forced to be pressed downwards, and the rear rope gripping small hand 1-1-2 is opened, so that the trolley 1 can pass through smoothly under the conditions of no collision and effective gripping of the steel wire rope.
The driving assembly 2 comprises a variable-frequency explosion-proof motor 2-1, a motor support 2-2, a driving wheel support 2-3, a first tensioning guide wheel 2-5, a first handle opening boss 2-6, a driving wheel 2-7, a driving shaft 2-8, a coupling 2-9 and a speed reducer 2-10, wherein:
the variable-frequency explosion-proof motor 2-1 is fixed on the motor support 2-2, in order to enable the motor to be more fixed and avoid the rail from turning over, the anchor rod hoisting is carried out on the motor support 2-2, the driving wheel support 2-3 is fixedly installed with the motor support 2-2, and the driving wheel support 2-3 is installed on the rail assembly 4. The variable-frequency explosion-proof motor is characterized in that the driving wheel 2-7 and the first tensioning guide wheel 2-5 are distributed and installed on the driving wheel support 2-3 along the driving direction of the trolley 1, the first tensioning guide wheel 2-5 is installed on the driving wheel support 2-3 through a bolt and plays roles in increasing tensioning force and guiding, the first hand opening boss 2-6 is installed on the driving wheel support 2-3, the first hand opening boss 2-6 is located below the driving wheel 2-7 and the first tensioning guide wheel 2-5, and the variable-frequency explosion-proof motor 2-1, the speed reducer 2-10, the coupler 2-9, the driving shaft 2-8 and the driving wheel 2-7 are sequentially in transmission connection. The steel wire rope bypasses the driving wheels 2-7, and the driving wheels 2-7 drive the steel wire rope to move through friction. When the trolley 1 runs along the lower edge of the first handle opening boss 2-6, the lower edge of the first handle opening boss sequentially and forcibly presses the front rope gripping wheel 1-5 and the rear rope gripping wheel 1-1-1 running on the first handle opening boss, so that the front rope gripping small hand 1-6 and the rear rope gripping small hand 1-1-2 are sequentially opened, the driving wheel 2-7 and the first tensioning guide wheel 2-5 are prevented from being touched, and the trolley can smoothly pass through the guide wheel. The driving wheel supports 2-3 are arranged on the track assembly 4, wherein the driving wheel supports 2-3 are symmetrically arranged, the two supports are fixed together through hinges I2-4, and in order to clearly see the internal structure, the driving wheel supports 2-3 on the other side are hidden in the matching drawing of the utility model.
The tensioning assembly 3 comprises a tensioning device support 3-1, a tensioning bolt 3-2, a tensioning wheel 3-4, a second handle opening boss 3-5, a rope supporting mechanism 3-6, a second tensioning guide wheel 3-7 and a tensioning wheel shaft 3-8, wherein:
the tensioning wheel 3-4 is installed on a tensioning wheel shaft 3-8, the tensioning wheel shaft 3-8 is installed on a tensioning device support 3-1 in a vertically sliding mode, the lower end of the tensioning bolt 3-2 is fixedly connected with the tensioning wheel shaft 3-8 through a spring, and the upper end of the tensioning bolt 3-2 is installed on the tensioning device support 3-1. The second tensioning guide wheel 3-7 and the second hand opening boss 3-5 are mounted on the tensioning device support 3-1, the second tensioning guide wheel 3-7 and the tensioning wheel 3-4 are distributed along the driving direction of the trolley 1, and the second hand opening boss 3-5 is located below the second tensioning guide wheel 3-7 and the tensioning wheel 3-4. The tensioning wheel 3-4 is arranged on the tensioning device bracket 3-1 through a tensioning wheel shaft 3-8, the tensioning wheel 3-4 can move up and down to adapt to tension change in the inspection process, the left tensioning device bracket 3-1 and the right tensioning device bracket 3-1 are connected together through a hinge II 3-3, the opening boss II 3-5 is fixed with the tensioning device bracket 3-1 through a bolt, the opening boss II 3-5 and the tensioning device bracket 3-1 are arranged on a KBK track 5-2 through a bolt, the opening boss II 3-5 mainly functions in that the front rope gripping 1-5 and the rear rope gripping 2-1-1 of the trolley 2 are pressed down forcibly in sequence when the trolley 2 passes through, so that the front rope gripping handgrips 1-6 and the rear rope gripping handgrips 1-1-2 are opened in sequence to avoid collision, and the tensioning assembly 3 is smoothly passed through, the tensioning bolt 3-2 is provided with a spring which is arranged on a tensioning wheel shaft 3-8, when the tensioning wheel moves up and down, the spring can play a role of buffering, a rope supporting frame bearing of the rope supporting device 3-6 can rotate, and the contact area of the steel wire rope and the steel wire rope is reduced, so that the abrasion of the steel wire rope is reduced.
The track assembly 4 comprises a first rear hand-closing boss 4-1, a first front hand-closing boss 4-2, a second rear hand-closing boss, a second front hand-closing boss, a third rear hand-closing boss, a third front hand-closing boss and a KBK track assembly 4-3, wherein:
the first rear hand-closing boss 4-1, the first front hand-closing boss 4-2, the second rear hand-closing boss, the second front hand-closing boss, the third rear hand-closing boss and the third front hand-closing boss are sequentially installed on the KBK track assembly 4-3, the first front hand-closing boss 4-2 is located in front of the driving assembly 2, and the first rear hand-closing boss 4-1 is located behind the driving assembly 2. The second front hand-closing boss is positioned in front of the tensioning assembly 3, and the second rear hand-closing boss is positioned behind the tensioning assembly 3. The third front hand-closing boss is positioned in front of the driven assembly 5, and the third rear hand-closing boss is positioned behind the driven assembly 5.
When the trolley 1 passes through the driving assembly 2 to tension the assembly 3 and the driven assembly 5, the process comprises the steps that firstly, the front rope gripping wheel 1-5 of the trolley 1 climbs the first rear hand-closing boss 4-1, the second rear hand-closing boss and the third rear hand-closing boss to be closed, so that the height of the front rope gripping wheel 1-5 is lifted, the front rope gripping small hand 1-6 can grip the steel wire rope more effectively through the connecting spring, when the trolley 1 enters the driving assembly 2, the tensioning assembly 3 and the driven assembly 5, only one rope gripping small hand grips the steel wire rope, at the moment, the rear rope gripping wheel 1-1-1 of the trolley 1 climbs the first rear hand-closing boss 4-1, the second rear hand-closing boss and the third rear hand-closing boss, so that the rear rope gripping small hand 1-1-2 can grip the steel wire rope firmly, the front rope gripping small hand 1-6 is opened, when the trolley 1 is driven out of the front part of the assembly, the front rope grabbing wheel 1-5 of the trolley 1 climbs the first front rope grabbing boss 4-2, the second front rope grabbing boss and the third front rope grabbing boss, so that the front rope grabbing small hand 1-6 is closed again to firmly grab the steel wire rope, and the rear rope grabbing small hand 1-1-2 is opened to avoid collision and smoothly pass through, and meanwhile, the rope grabbing small hand is guaranteed to effectively grab the steel wire rope.
The driven assembly 5 comprises a driven wheel bracket 5-2, a driven tensioning guide wheel 5-4, a hand opening boss three 5-5 and a driven wheel 5-6, wherein: the driven tensioning guide wheel 5-4 and the driven wheel 5-6 are mounted on the driven wheel support 5-2 along the driving direction of the trolley 1, the hand opening boss three 5-5 is mounted on the driven wheel support 5-2, and the hand opening boss three 5-5 is located below the driven tensioning guide wheel 5-4 and the driven wheel 5-6. The driven wheel 5-5 is mounted on the driven wheel support 5-2 through a bolt 5-1, the two driven wheel supports 5-2 are connected together through a hinge 5-3, and the driven tensioning guide wheel 5-4 is mounted on the driven wheel support 5-2 through a bolt, so that the tensioning effect is achieved, the tightness degree of the steel wire rope is adjusted, and meanwhile the steel wire rope can run in the set direction.
The utility model discloses patrol and examine robot segmentation traction power device can realize the operation of patrolling and examining in order to single one-section 200 meters according to the on-the-spot demand, and the segmentation combination realizes that different length laneways in the pit patrol and examine the demand, is applied to adverse circumstances under the mine, can ensure robot heavy grade climbing and variable speed operation, and enables the device of patrolling and examining and avoid skidding. The utility model discloses a sectional type patrols and examines the mode, patrols and examines the robot hoist and mount, and the dismouting of being convenient for is maintained, and power device is integrated on the track, further alleviates and patrols and examines robot weight and volume, and the operation is patrolled and examined in the realization type quantization.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, a plurality of modifications and decorations can be made, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a robot segmentation traction power device patrols and examines in pit which characterized in that: the inspection robot comprises more than one section of traction power units and a trolley (1), wherein the traction power units are arranged in a row, and the inspection robot is arranged on the trolley (1); the traction power unit comprises a driving assembly (2), a track assembly (4), a driven assembly (5) and a steel wire rope, wherein the driving assembly (2) and the driven assembly (5) are installed on the track assembly (4), the driving assembly (2) and the driven assembly (5) are connected through the steel wire rope in a transmission manner, the trolley (1) is arranged on the track assembly (4), and the traction power unit comprises:
the trolley (1) is provided with more than two rope grippers, and the rope grippers are used for tightly gripping or loosening the steel wire rope; when the trolley (1) runs on the track assembly (4), at least one rope clip grasps the steel wire rope; when the trolley (1) runs to the driving assembly (2), the steel wire rope is loosened through the rope clip of the driving assembly (2), and the steel wire rope is tightly clipped through the rope clip behind the driving assembly (2); when the trolley (1) runs to the driven assembly (5), the steel wire rope is released through the rope clip of the driven assembly (5), and the steel wire rope is tightly clipped through the rope clip behind the driven assembly (5).
2. The segmented traction power device of the underground inspection robot according to claim 1, characterized in that: the device comprises a tensioning assembly (3), wherein the tensioning assembly (3) is arranged on a track assembly (4), and the tensioning assembly (3) is used for providing a tensioning force for a steel wire rope; when the trolley (1) runs to the tensioning assembly (3), the steel wire rope is loosened through the rope clip of the tensioning assembly (3), and the steel wire rope is tightly clipped through the rope clip behind the tensioning assembly (3).
3. The segmented traction power device of the underground inspection robot according to claim 2, characterized in that: the rope clip comprises a rope gripping wheel, a rope gripping small hand, a rope clip bottom plate, a rope gripping wheel support and a rope gripping small hand reset spring, wherein the rope gripping small hand is used for gripping or loosening a steel wire rope, the rope gripping small hand is rotatably arranged on the rope clip bottom plate through a bearing, one end of the rope gripping small hand reset spring is fixedly connected with the rope clip bottom plate, and the other end of the rope gripping small hand reset spring is fixedly connected with the rope gripping small hand; grab rope sheave support and grab rope handlet fixed connection, grab the rope sheave and install on grabbing the rope sheave support.
4. The segmented traction power device of the underground inspection robot according to claim 3, wherein: the trolley (1) comprises trolley wheels (1-3), an upper trolley support (1-4) and a lower trolley support (1-8), wherein the rope grippers are distributed on the upper trolley support (1-4), the lower trolley support (1-8) is fixedly arranged below the upper trolley support (1-4), and the lower trolley support (1-8) is used for mounting an inspection robot; the trolley wheels (1-3) are arranged on the trolley upper bracket (1-4).
5. The segmented traction power device of the underground inspection robot according to claim 4, wherein: the bottom plate of the rope clip is fixedly arranged on the upper bracket (1-4) of the trolley through a rope clip fixing frame.
6. The segmented traction power device of the underground inspection robot according to claim 5, wherein: the trolley lower support (1-8) is fixedly arranged below the trolley upper support (1-4) through bolts (1-9), and copper sleeves (1-7) are arranged on the outer sides of the bolts (1-9).
7. The segmented traction power device of the underground inspection robot according to claim 3, wherein: the drive assembly (2) comprises a variable-frequency explosion-proof motor (2-1), a motor support (2-2), a driving wheel support (2-3), a first tensioning guide wheel (2-5), a first handle opening boss (2-6), a driving wheel (2-7), a driving shaft (2-8), a coupler (2-9) and a speed reducer (2-10), wherein:
the variable-frequency explosion-proof motor (2-1) is fixed on the motor support (2-2), the driving wheel support (2-3) is fixedly installed with the motor support (2-2), and the driving wheel support (2-3) is installed on the track assembly (4); the driving wheel (2-7) and the first tensioning guide wheel (2-5) are distributed and mounted on the driving wheel support (2-3) along the traveling direction of the trolley (1), the first hand opening boss (2-6) is mounted on the driving wheel support (2-3), the first hand opening boss (2-6) is located below the driving wheel (2-7) and the first tensioning guide wheel (2-5), and the variable-frequency explosion-proof motor (2-1), the speed reducer (2-10), the coupler (2-9), the driving shaft (2-8) and the driving wheel (2-7) are sequentially in transmission connection.
8. The segmented traction power device of the underground inspection robot according to claim 7, wherein: the tensioning assembly (3) comprises a tensioning device support (3-1), a tensioning bolt (3-2), a tensioning wheel (3-4), a second opening boss (3-5), a rope supporting mechanism (3-6), a second tensioning guide wheel (3-7) and a tensioning wheel shaft (3-8), wherein:
the tensioning wheel (3-4) is mounted on a tensioning wheel shaft (3-8), the tensioning wheel shaft (3-8) is vertically slidably mounted on a tensioning device support (3-1), the lower end of the tensioning bolt (3-2) is fixedly connected with the tensioning wheel shaft (3-8) through a spring, and the upper end of the tensioning bolt (3-2) is mounted on the tensioning device support (3-1); the second tensioning guide wheel (3-7) and the second opening boss (3-5) are mounted on the tensioning device support (3-1), the second tensioning guide wheel (3-7) and the tensioning wheel (3-4) are distributed along the traveling direction of the trolley (1), and the second opening boss (3-5) is located below the second tensioning guide wheel (3-7) and the tensioning wheel (3-4).
9. The segmented traction power device of the underground inspection robot according to claim 8, wherein: the track assembly (4) comprises a first rear hand-closing boss (4-1), a first front hand-closing boss (4-2), a second rear hand-closing boss, a second front hand-closing boss, a third rear hand-closing boss, a third front hand-closing boss and a KBK track (4-3), wherein:
the first rear hand-closing boss (4-1), the first front hand-closing boss (4-2), the second rear hand-closing boss, the second front hand-closing boss, the third rear hand-closing boss and the third front hand-closing boss are sequentially arranged on the KBK track (4-3), the first front hand-closing boss (4-2) is positioned in front of the driving assembly (2), and the first rear hand-closing boss (4-1) is positioned behind the driving assembly (2); the second front hand-closing boss is positioned in front of the tensioning assembly (3), and the second rear hand-closing boss is positioned behind the tensioning assembly (3); the third front hand-closing boss is positioned in front of the driven assembly (5), and the third rear hand-closing boss is positioned behind the driven assembly (5).
10. The segmented traction power device of the underground inspection robot according to claim 9, wherein: driven assembly (5) are including following driving wheel support (5-2), driven tensioning leading wheel (5-4), division hand boss three (5-5), follow driving wheel (5-6), wherein: the driven tensioning guide wheel (5-4) and the driven wheel (5-6) are mounted on the driven wheel support (5-2) along the running direction of the trolley (1), the hand opening boss III (5-5) is mounted on the driven wheel support (5-2), and the hand opening boss III (5-5) is located below the driven tensioning guide wheel (5-4) and the driven wheel (5-6).
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| CN202122638525.6U CN217152031U (en) | 2021-10-29 | 2021-10-29 | Subsection traction power device of underground inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113829389A (en) * | 2021-10-29 | 2021-12-24 | 江苏博一矿业科技有限公司 | Segmented traction and power device and method for underground inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829389A (en) * | 2021-10-29 | 2021-12-24 | 江苏博一矿业科技有限公司 | Segmented traction and power device and method for underground inspection robot |
| CN113829389B (en) * | 2021-10-29 | 2023-09-26 | 江苏博一矿业科技有限公司 | Segmented traction power device and method for underground inspection robot |
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Denomination of utility model: A sectional traction power device for underground inspection robot Effective date of registration: 20221122 Granted publication date: 20220809 Pledgee: Xuzhou Huaichang Investment Co.,Ltd. Pledgor: Jiangsu Boyi Mining Technology Co.,Ltd. Registration number: Y2022320000727 |