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Track robot walking mechanism

A technology for orbital robots and walking mechanisms, applied in manipulators, mining devices, mining equipment, etc., can solve problems such as slippage, increased accident risk, poor equipment stability, etc., achieve good limit effect, improve operation stability and safety, The effect of stable running trajectory

Pending Publication Date: 2021-11-26
CCTEG SHENYANG RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing hanging rail type track robot used in underground coal mines may slip due to insufficient friction between the drive wheel and the track when the load is climbing uphill due to the constant positive pressure between the driving wheel and the track.
Poor equipment stability increases the risk of accidents

Method used

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  • Track robot walking mechanism
  • Track robot walking mechanism
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Experimental program
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Effect test

Embodiment Construction

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] refer to Figure 1-Figure 5 , an orbital robot walking mechanism, combined with Figure 1 to Figure 4 As shown, it includes the main frame 1, the walking supporting wheel system 5 and the driving wheel system 6. The walking supporting wheel system 5 and the driving wheel system 6 are all assembled on the main frame 1, and the walking supporting wheel system 5 is clamped with the I-shaped steel track groove. The inner side of the drive wheel train 6 is closely attached to the surface of the I-shaped steel track. The track robot walking mechanism also includes a power assembly 2, an assembly shaft 3, a transmission assembly 4, an output shaft 7 of the transmission assembly, a compression spring 8 and a load suspension. Loading end 9, the assembly shaft 3 is fixedly installed on both sides of the power assembly 2, and the assembly shaft 3 is rotatably installed ...

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Abstract

The invention discloses a track robot walking mechanism. The track robot walking mechanism comprises a main body frame, a walking supporting wheel system, a driving wheel system, a power assembly, an assembling shaft, a transmission assembly, a transmission assembly output shaft, a pressure spring and a load mounting end, wherein the walking supporting wheel system comprises a track wheel support and track wheels; and the driving wheel system comprises a driving wheel supporting frame, driving wheels, a transmission chain and chain wheels. Part of load force is converted into positive pressure of the driving wheel system on a track and pressure between the track wheels and the inner wall of the track through a connecting rod mechanism. The positive pressure of the driving wheel system on the track is increased, and friction force between the driving wheel system and the track is increased. The friction force between the driving wheel system and the track is in direct proportion to a load, and finally the self-locking effect that the heavier the load is, the larger the friction force between the driving wheel system and the track is achieved. The situation that the driving wheels slip when a track robot climbs a slope with a heavy object is avoided, and the operation stability and safety of the track robot are improved.

Description

technical field [0001] The invention belongs to the technical field of rail-suspended rail robots in coal mines, and in particular provides a walking mechanism for rail robots. Background technique [0002] Areas where humans exploit coal resources in coal-rich mining areas are generally divided into underground coal mines and open-pit coal mines. Coal mine is the general term for the wells, chambers, equipment, ground buildings and structures that form the underground coal mine production system. Due to the complex working environment under the mine, in order to ensure the safety of production and mining, it is necessary to carry out strict inspections on the under-mine environment and work process. [0003] With the promotion of intelligence in coal mines, hanging rail robots are more and more widely used in underground material transportation, inspection and other aspects. The existing hanging rail robot used in underground coal mines may slip due to insufficient fricti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21F13/00E21F17/00E21F17/18B25J5/02B25J11/00
Inventor 王雷田刚王新铭张维娜张英男白鹤
Owner CCTEG SHENYANG RES INST
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