Double-machine driving type walking device for coal mine overhead rail type inspection robot and using method of double-machine driving type walking device

Abstract

The invention relates to a double-machine driving type walking device for a coal mine overhead rail type inspection robot. The double-machine driving type walking device walks on an I-shaped steel guide rail. The double-machine driving type walking device for the coal mine overhead rail type inspection robot comprises a shell, a walking support, four sets of transverse auxiliary wheel assemblies, four sets of bearing wheel assemblies, two sets of driving wheel assemblies, two sets of longitudinal auxiliary wheel assemblies, a controller, two speed reducers and two servo motors. The invention further provides a using method of the walking device. The wheel train of the walking device is reasonable in structure, the robot can run stably and reliably, a reliable running platform is provided for the inspection robot, the using method is simple and reliable, the friction resistance of the device can be solidified through adjustment of the auxiliary wheel assemblies and the driving wheel assemblies, the installation accuracy is guaranteed, it is ensured that the motor driving force is matched with the friction resistance, and overload of the servo motors or slipping of the walking device is effectively avoided.

Description

Technical field [0001] The present invention relates to the technical field of special robots with coal mines, and in particular, to a coal mine driver traveling device and usage. Background technique [0002] In 2019, the National Coal Mine Safety Supervision Bureau issued the "Key R & D Directory of Coal Mine Robots", the 38 coal mine robots have proposed basic requirements for 5 categories, coal mining, coal coal, security and rescue, encourage and support coal mine enterprises and China. Surgical research units, robot manufacturing enterprises to cooperate, vigorously develop application coal mine robots, promote high quality development of coal industry, and promote coal mine safety development. [0003] The crane patrol robot can be applied to the long-range belt machine, the downhole distribution chamber, gas mining pumping station, etc., and replaced the manual inspection and realizes the intelligent value of the manual inspection. The walking device of the mineral tag pa...

AI Technical Summary

Problems solved by technology

[0004] Because the coal mine operation environment is a high-risk place, the electrical equipment needs special explosion-proof design. Conventional explosion-proof treatment will increase the weight and volume of the equipment, and a large-power motor needs to be used to complete the traction and walking, resulting in high power consumption of the whole machine and severely limited battery life; coal mines The working environment in the field is harsh and complex, and the inspection robot’s walking path is changeable. The track is easy to collect dust and cause the track surface to be uneven, and the running device is prone to high-frequency vibration, which seriously affects the realization of robot image acquisition and other functions

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