A climbing auxiliary mechanism for a mine-use rail inspection robot

Abstract

The present invention belongs to the technical field of coal mine robots. It relates to a climbing auxiliary mechanism of a mine track inspection robot, including a frame, a driving wheel, a driving device for driving the driving wheel to rotate, a clamping wheel arranged on the frame and abutting against the bottom of the track to adjust the positive pressure between the driving wheel and the track, and also includes a step-by-step adjustment mechanism for adjusting the pressure between the clamping wheel and the track, the step-by-step adjustment mechanism includes an adjustment mechanism, a locking mechanism and a clamping mechanism; the clamping mechanism is arranged in the locking mechanism, and the locking mechanism is used to lock the height of the lifting cylinder; the adjustment mechanism is arranged at the slope change of the track, and the adjustment mechanism and the locking mechanism are slidably matched to drive the locking mechanism and adjust the height of the lifting cylinder, thereby changing the clamping force between the clamping wheel and the track through a compression spring. The present invention can realize multi-stage automatic adjustment of the driving force of the inspection robot through the step-by-step adjustment mechanism, which is particularly suitable for inspection routes with variable slopes.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine robots and relates to a climbing auxiliary mechanism of a mine track inspection robot. Background Art

[0002] Track-mounted inspection robots for mines usually patrol in a suspended manner along the walking track, which is usually an H-shaped steel or I-shaped steel installed on the top of the tunnel. Since mine tunnels are undulating and often have ups and downs, the walking track usually changes with the ups and downs of the tunnel. The inspection climbing robot has multiple walking conditions on the walking track, including horizontal walking, climbing, and downhill walking. Due to the harsh environment in the mine, when dust and water vapor accumulate on the sloped walking track, it is easy to cause the friction coefficient of the walking track to decrease, which in turn causes the inspection robot to slip during climbing or downhill, affecting normal inspections. In severe cases, it may also cause a slipping accident.

[0003] In the prior art, a Chinese patent with publication number CN111216743A discloses a climbing assist device for a mining rail-type inspection robot, including a clamping wheel for mounting on a robot frame and used in conjunction with a robot walking wheel and an adjusting device for adjusting the clamping wheel, wherein the adjusting device makes the clamping wheel approach the track and press against the bottom of the track wing plate when the robot is climbing or descending, and makes the clamping wheel move away from the track to release the pressing force on the bottom of the track wing plate when the robot is walking horizontally; the climbing assist device can adaptively change the positive pressure of the walking wheel on the track according to the road conditions of the robot walking, and when the robot is climbing or descending, the friction between the walking wheel and the track can be increased by the clamping wheel, the driving force output of the robot is increased, and the climbing or descending performance of the inspection robot is improved; when the robot is walking in the horizontal section of the track, the clamping wheel moves away from the track, reducing the positive pressure of the walking wheel on the track wing plate, reducing the friction resistance and energy consumption of the robot walking, and helping to increase the robot's cruising range. Its structure is simple and easy to implement.

[0004] However, this technical solution can only control the presence or absence of clamping force. When the slope of the inspection route is variable, in order to ensure that the inspection robot can climb normally, the clamping force of the clamping wheel can only be set according to the maximum slope; while ramps with non-maximum slopes do not require such a large clamping force. Excessive clamping force will increase the running resistance, thereby increasing the power consumption of the inspection robot and reducing the inspection distance. In addition, the compression spring is in the maximum clamping state on the horizontal section, and relaxes to a certain extent on the ramp to apply track pressure. The compression spring is compressed to the maximum for a long time, which is easy to cause deformation and lead to insufficient elastic force. At the same time, this technical solution requires the left and right drive wheels to be set with independent clamping devices respectively. Not only are there many parts and difficult installation, but also when there are differences in the degree of wear of the device or the performance of the parts is inconsistent, the clamping force provided by the left and right sides will be inconsistent, causing the output power of the left and right drive mechanisms to be unbalanced, causing the robot to deviate and affecting normal driving. Summary of the invention

[0005] In view of this, the purpose of the present invention is to solve the above-mentioned defects and adapt to the track lines with undulating and changing slopes. A climbing auxiliary mechanism for a mining track-type inspection robot is proposed. On the basis of meeting the climbing performance of the inspection robot, the friction resistance is reduced as much as possible to improve the endurance of the inspection robot.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A climbing auxiliary mechanism for a mining rail-type inspection robot comprises a frame, a driving wheel mounted on the frame and arranged on the wing plates on both sides of the track for driving the robot to move along the track, a driving device for driving the driving wheel to rotate, a clamping wheel arranged on the frame and abutting against the bottom of the track to adjust the positive pressure between the driving wheel and the track, and also comprises a step-by-step adjustment mechanism for adjusting the pressure between the clamping wheel and the track, the step-by-step adjustment mechanism comprises an adjustment mechanism, a locking mechanism and a clamping mechanism; the clamping mechanism comprises a lifting cylinder, a support rod and a compression spring, the clamping wheel is rotatably arranged on the support rod, and the support rod is slidably arranged in the lifting cylinder; one end of the compression spring abuts against the lifting cylinder, and the other end abuts against the support rod, and the clamping wheel is pressed against the bottom of the track under the action of the compression spring;

[0008] The clamping mechanism is arranged in the locking mechanism, and the locking mechanism is used to lock the height of the lifting cylinder; the adjusting mechanism is arranged at the place where the slope of the track changes, and the adjusting mechanism slidingly cooperates with the locking mechanism to drive the locking mechanism and adjust the height of the lifting cylinder, thereby changing the clamping force between the clamping wheel and the track through the compression spring.

[0009] Furthermore, the locking mechanism includes a base assembly and a clamping block; the base assembly includes two symmetrically arranged opening and closing bases connected by a tension spring, and the lifting cylinder is arranged between the two opening and closing bases;

[0010] The opening and closing base includes a sliding base, a card plate, and an adjustment plate; the sliding base is slidably arranged on the frame, the card plate is arranged at one end of the sliding base close to the lifting cylinder, and the adjustment plate is arranged at the other end of the sliding base; a card slot is arranged on one side of the card plate close to the lifting cylinder;

[0011] The card block is arranged on the lifting cylinder, and the card block is arranged in the card slot to lock the position of the lifting cylinder; the adjustment plate is slidably matched with the adjustment mechanism, and the adjustment mechanism drives the adjustment plate to drive the sliding base to slide horizontally, so that the card block is separated from the card slot, so that the lifting cylinder can be lifted and lowered; after the card plate is separated from the adjustment plate, the two opening and closing bases are closed under the drive of the tension spring, so that the card block is clamped in the card slot, thereby locking the height position of the lifting cylinder.

[0012] Furthermore, the adjustment mechanism includes a height adjustment block and a horizontal adjustment block; the horizontal adjustment block is arranged horizontally and is disposed between the clamping plate and the adjustment plate; the adjustment plate is in sliding contact with the horizontal adjustment block, and the distance between the two opening and closing bases is changed by the horizontal adjustment block, so that the clamping block is combined with or separated from the clamping slot to realize the height of the lifting cylinder;

[0013] The height adjustment block is arranged vertically and is disposed on one side of the lifting cylinder; a lifting rod is provided on the side wall of the lifting cylinder, and the lifting rod is slidably matched with the height adjustment block and changes the height of the lifting cylinder, thereby changing the compression amount of the compression spring.

[0014] Furthermore, there are multiple card slots, which are distributed on the card plate at intervals along the vertical direction, so as to achieve the adjustment of multiple height levels. The number and height difference of the card slots match the number of ramps, the slope change difference, and the adjustment accuracy.

[0015] Furthermore, both ends of the height adjustment block and the horizontal adjustment block are provided with transition slopes.

[0016] Furthermore, one end of the lifting rod is fixedly connected to the lifting cylinder, and the other end passes through the clamping plate and slidably cooperates with the clamping plate; a roller is provided on the lifting rod, and slidably cooperates with the height adjustment block through the roller.

[0017] Furthermore, a slide groove is provided at the bottom of the frame, and the sliding base is slidably arranged in the slide groove.

[0018] Furthermore, the height adjustment block includes two bosses arranged along the length direction of the track, which are the first boss and the second boss respectively; the roller is in sliding contact with the first boss and the second boss, and the height of the lifting rod is adjusted by the height difference between the first boss and the second boss; the two adjacent height adjustment blocks along the length direction of the track are the front height adjustment block and the rear height adjustment block respectively, and the height of the first boss on the rear height adjustment block is the same as the height of the second boss on the front height adjustment block.

[0019] Furthermore, the lifting cylinder is provided with a flat square hole, the support rod is provided with a flat square matching the flat square hole, and is slidably arranged in the flat square hole, and rotation is limited by the flat square hole.

[0020] The beneficial effect of the present invention is that the present invention can realize multi-level automatic adjustment of the driving force of the inspection robot through the step adjustment mechanism, which is particularly suitable for inspection routes with variable slopes. Different slopes of the slope track require different clamping forces, and the automatic adjustment of the clamping force is realized by configuring different adjustment mechanisms; and the clamping adjustment adopts a purely mechanical structure, which is simple and easy to implement. Only small local changes are required to the horizontal track, without adding electrical design or additional power consumption, and the cost is low and the construction and maintenance are easy.

[0021] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0023] Figure 1 This is a front view of the climbing auxiliary mechanism of the mining rail inspection robot in the present invention;

[0024] Figure 2 This is an axonometric diagram of the climbing auxiliary mechanism of the mine track inspection robot in the present invention;

[0025] Figure 3 It is a schematic diagram of the step adjustment mechanism in the present invention.

[0026] Figure 4 It is a schematic diagram of the height adjustment block structure in the present invention.

[0027] Figure 5 It is a schematic diagram of the lifting cylinder structure in the present invention.

[0028] Figure markings: 1-frame; 2-driving wheel; 3-driving motor; 4-track; 5-adjusting mechanism; 6-lifting cylinder; 7-pressure wheel; 8-support rod; 9-compression spring; 10-opening and closing base; 11-tension spring; 12-lifting rod; 13-roller; 14-slide; 101-adjusting plate; 102-sliding base; 103-clamping plate; 104-clamping block; 105-clamping slot; 51-height adjustment block; 52-horizontal adjustment block; 511-first boss; 512-second boss; 61-flat square hole. DETAILED DESCRIPTION

[0029] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0030] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0031] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0032] See also Figures 1 to 5 , is a climbing auxiliary mechanism for a mining rail-type inspection robot, comprising a frame 1, a driving wheel 2 installed on the frame 1 and located on the wing plates on both sides of the track 4 to drive the robot to move along the track 4, a driving motor 3 to drive the driving wheel 2 to rotate, and a clamping wheel 7 installed on the frame 1 and abutting against the bottom of the track 4 to adjust the positive pressure between the driving wheel 2 and the track 4. It also includes a step adjustment mechanism 5 for adjusting the pressure between the clamping wheel 7 and the track 4. The step adjustment mechanism 5 includes an adjustment mechanism 5, a locking mechanism and a clamping mechanism; the clamping mechanism includes a lifting cylinder 6, a support rod 8, and a compression spring 9. The clamping wheel 7 is rotatably installed on the support rod 8. The lifting cylinder 6 is provided with a flat square hole 61. The support rod 8 is provided with a flat square that matches the flat square hole 61 and is slidably installed in the flat square hole 61, and the rotation is limited by the flat square hole 61. One end of the compression spring 9 abuts against the lifting cylinder 6, and the other end abuts against the support rod 8. The clamping wheel 7 is pressed against the bottom of the track 4 under the action of the compression spring 9;

[0033] The clamping mechanism is arranged in the locking mechanism, and the locking mechanism is used to lock the height of the lifting cylinder 6; the adjusting mechanism 5 is installed at the slope change position of the track 4, and the adjusting mechanism 5 slides with the locking mechanism to drive the locking mechanism and adjust the height of the lifting cylinder 6, thereby changing the clamping force between the clamping wheel 7 and the track 4 through the compression spring 9.

[0034] The locking mechanism includes a base assembly and a clamping block 104; the base assembly includes two symmetrically arranged opening and closing bases 10 connected by a tension spring 11, and the lifting cylinder 6 is located between the two opening and closing bases 10; the opening and closing base 10 includes a sliding base 102, a clamping plate 103, and an adjustment plate 101; a slide groove 14 is provided at the bottom of the frame 1, and the sliding base 102 is slidably installed in the slide groove 14. The clamping plate 103 is provided at one end of the sliding base 102 close to the lifting cylinder 6, and the adjustment plate 101 is provided at the other end of the sliding base 102; a clamping groove 105 is provided on one side of the clamping plate 103 close to the lifting cylinder 6;

[0035] The clamping block 104 is fixedly mounted on the side wall of the lifting cylinder 6, and the clamping block 104 is arranged in the clamping groove 105 to lock the position of the lifting cylinder 6; the adjusting plate 101 is slidably matched with the adjusting mechanism 5, and the adjusting mechanism 5 drives the adjusting plate 101 to drive the sliding base 102 to slide horizontally, thereby separating the clamping block 104 from the clamping groove 105, so that the lifting cylinder 6 can be lifted and lowered; after the clamping plate 103 is separated from the adjusting plate 101, the two opening and closing bases 10 are driven by the tension spring 11 to close inward, so that the clamping block 104 is clamped in the clamping groove 105, thereby locking the height position of the lifting cylinder 6.

[0036] The adjustment mechanism 5 includes a height adjustment block 51 and a horizontal adjustment block 52; both ends of the height adjustment block 51 and the horizontal adjustment block 52 are provided with transition slopes. The horizontal adjustment block 52 is arranged horizontally and is located between the clamping plate 103 and the adjustment plate 101; the adjustment plate 101 is in sliding contact with the horizontal adjustment block 52, and the spacing between the two opening and closing bases 10 is changed through the horizontal adjustment block 52, so that the clamping block 104 is combined or separated with the clamping slot 105 to achieve the height of the lifting cylinder 6. The height adjustment block 51 is arranged vertically and installed on one side of the lifting cylinder 6; a lifting rod 12 is fixedly connected to the side wall of the lifting cylinder 6, one end of the lifting rod 12 passes through the clamping plate 103 and slides with the clamping plate 103; a roller 13 is installed on the lifting rod 12, and slides with the height adjustment block 51 through the roller 13, and changes the height of the lifting cylinder 6, thereby changing the compression amount of the compression spring 9.

[0037] In this embodiment, there are multiple slots 105, which are distributed on the card plate 103 at vertical intervals. The block 104 cooperates with different slots 105 to lock the lifting cylinder 6 at different height positions, thereby achieving different gear adjustments of the pressure between the clamping wheel 7 and the rail 4 through the compression spring 9.

[0038] The height adjustment block 51 includes two bosses arranged along the length direction of the track, namely, a first boss 511 and a second boss 512; the roller 13 is in sliding contact with the first boss 511 and the second boss 512, and the height of the lifting rod 12 is adjusted by the height difference between the first boss 511 and the second boss 512; the two adjacent height adjustment blocks along the length direction of the track are respectively a front height adjustment block and a rear height adjustment block, and the height of the first boss on the rear height adjustment block is the same as the height of the second boss on the front height adjustment block. The heights of the first boss 511 and the second boss 512 are respectively determined by the slope of the track they are close to: for example, the slopes of the track from left to right are 0°, 5°, 10°, and 0°, respectively; the height of the first boss on the height adjustment block at the slope change of 0 to 5° is 0, and the height of the second boss is 5mm; the height of the first boss on the height adjustment block at the change of 5 to 10° is 5mm, and the height of the second boss is 10mm; the height of the first boss of the height adjustment block at the change of 10 to 0° is 10mm, and the height of the first boss is 0.

[0039] Workflow:

[0040] When the inspection robot passes the slope change point of the track 4, the roller 13 contacts the first boss 511 and slides on the first boss 511. During the sliding process, the opening and closing base 10 contacts the horizontal adjustment block 52, and the opening and closing base 10 is opened under the action of the horizontal adjustment block 52, and the clamping block 104 is separated from the clamping slot 105. At this time, the lifting cylinder 6 can move freely up and down, and then the roller 13 on the lifting rod 12 contacts the second boss 512. Under the action of the second boss 512, the lifting rod 12 adjusts the height of the lifting cylinder 6. The lifting cylinder 6 is lifted to the set height, and the elastic force of the compression spring 9 is changed. The inspection robot continues to move forward, and the roller 13 continues to slide on the second boss 512. During the sliding process, the opening and closing base 10 gradually separates from the horizontal adjustment block 52, and the opening and closing base 10 closes inwardly under the action of the tension spring 11, and the card block 104 is inserted into the card slot 105 of the corresponding height, thereby locking the height position of the lifting cylinder 6, and the roller 13 separates from the second boss 512, and the upgrading cylinder 6 maintains the adjusted height, thereby realizing automatic adjustment of the friction between the driving wheel 2 and the track 4.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A climbing auxiliary mechanism for a mine rail inspection robot, comprising a frame, a driving wheel mounted on the frame and arranged on the wing plates on both sides of the track to drive the robot to move along the track, a driving device to drive the driving wheel to rotate, and a clamping wheel arranged on the frame and abutting against the bottom of the track to adjust the positive pressure between the driving wheel and the track. Features: It also includes a step-by-step adjustment mechanism for adjusting the pressure between the clamping wheel and the track, the step-by-step adjustment mechanism includes an adjustment mechanism, a locking mechanism and a clamping mechanism; the clamping mechanism includes a lifting cylinder, a support rod and a compression spring, the clamping wheel is rotatably arranged on the support rod, and the support rod is slidably arranged in the lifting cylinder; one end of the compression spring abuts against the lifting cylinder, and the other end abuts against the support rod, and the clamping wheel is pressed against the bottom of the track under the action of the compression spring; The clamping mechanism is arranged in the locking mechanism, and the locking mechanism is used to lock the height of the lifting cylinder; the adjusting mechanism is arranged at the position where the slope of the track changes, and the adjusting mechanism and the locking mechanism are slidably matched to drive the locking mechanism and adjust the height of the lifting cylinder, thereby changing the clamping force between the clamping wheel and the track through the compression spring; The locking mechanism includes a base assembly and a clamping block; the base assembly includes two symmetrically arranged opening and closing bases connected by a tension spring, and the lifting cylinder is arranged between the two opening and closing bases; The opening and closing base includes a sliding base, a card plate, and an adjustment plate; the sliding base is slidably arranged on the frame, the card plate is arranged at one end of the sliding base close to the lifting cylinder, and the adjustment plate is arranged at the other end of the sliding base; a card slot is arranged on one side of the card plate close to the lifting cylinder; The clamping block is arranged on the lifting cylinder, and the clamping block is arranged in the clamping slot to lock the position of the lifting cylinder; the adjusting plate is slidably matched with the adjusting mechanism, and the adjusting mechanism drives the adjusting plate to drive the sliding base to slide horizontally, so that the clamping block is separated from the clamping slot, so that the lifting cylinder can be lifted and moved; After the clamping plate is separated from the adjusting plate, the two opening and closing bases are closed under the drive of the tension spring, so that the clamping block is clamped in the clamping slot, thereby locking the height position of the lifting cylinder; The adjustment mechanism includes a height adjustment block and a horizontal adjustment block; the horizontal adjustment block is arranged horizontally and is disposed between the clamping plate and the adjustment plate; the adjustment plate is in sliding contact with the horizontal adjustment block, and the distance between the two opening and closing bases is changed by the horizontal adjustment block, so that the clamping block is combined with or separated from the clamping slot to realize the height of the lifting cylinder; The height adjustment block is arranged vertically and is disposed on one side of the lifting cylinder; a lifting rod is provided on the side wall of the lifting cylinder, and the lifting rod is slidably matched with the height adjustment block and changes the height of the lifting cylinder, thereby changing the compression amount of the compression spring.

2. The climbing auxiliary mechanism of the mine rail inspection robot according to claim 1, Features: There are a plurality of card slots, which are distributed on the card board at intervals along the vertical direction.

3. The climbing auxiliary mechanism of the mine rail inspection robot according to claim 1, Features: Both ends of the height adjustment block and the horizontal adjustment block are provided with transition slopes.

4. The climbing auxiliary mechanism of the mine rail inspection robot according to claim 1, Features: One end of the lifting rod is fixedly connected to the lifting cylinder, and the other end passes through the clamping plate and slidably cooperates with the clamping plate; a roller is provided on the lifting rod, and slidably cooperates with the height adjustment block through the roller.

5. The climbing auxiliary mechanism of the mine track inspection robot according to claim 1, Features: A slide groove is provided at the bottom of the frame, and the sliding base is slidably arranged in the slide groove.

6. The climbing auxiliary mechanism of the mine track inspection robot according to claim 4, Features: The height adjustment block includes two bosses arranged along the length direction of the track, namely the first boss and the second boss; the roller is in sliding contact with the first boss and the second boss, and the height of the lifting rod is adjusted by the height difference between the first boss and the second boss; the two adjacent height adjustment blocks along the length direction of the track are the front height adjustment block and the rear height adjustment block, and the height of the first boss on the rear height adjustment block is the same as the height of the second boss on the front height adjustment block.

7. The climbing auxiliary mechanism of the mine rail inspection robot according to claim 1, Features: The lifting cylinder is provided with a flat square hole, the support rod is provided with a flat square matching the flat square hole, and is slidably arranged in the flat square hole, and rotation is limited by the flat square hole.

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