Self-adaptive multi-agent cooperative control operation device

Abstract

A self-adaptive multi-agent cooperative control operation device relates to the technical field of auxiliary equipment for mine track cleaning and is characterized in that a track surface cleaning mechanism and a moving mechanism are respectively mounted in a main body shell, and a cleaning end of the track surface cleaning mechanism and a driving end of the moving mechanism are both positioned in the main body shell; the rotating end of the track surface cleaning mechanism is connected with the driving end of the track wheel cleaning mechanism; according to the self-adaptive multi-agent cooperative control operation device, the main body shell is connected with the wheels of the mine car through the rail wheel cleaning mechanism, so that the shell moves along with the mine car, and meanwhile, the rail wheel cleaning mechanism can conveniently clean the wheels of the mine car; the track where the mine car needs to pass is cleaned through the track surface cleaning mechanism, the moving mechanism is driven to work in the cleaning process, certain power is provided through the moving mechanism, certain power is provided for workers to push the mine car, and the workers can push the mine car conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of auxiliary equipment for mine track cleaning, and in particular to an adaptive multi-agent collaborative control operation device. Background Art

[0002] The tracks laid in the mine tunnel are generally used for the passage of mine carts. When transporting coal or other minerals, slag will fall with the bumps of the mine cart, and part of the slag will fall on the track. Larger slag may cause the mine cart to derail, and smaller slag will be crushed on the track as the mine cart passes by. The crushed slag will be adsorbed on the surface of the track or the surface of the mine cart wheels. The crushed slag will be tightly adsorbed on the surface of the track or the surface of the mine cart wheels, and it takes a lot of force to clean it. If it is not cleaned, the adsorbed slag will accumulate more and more, causing the mine cart to bump more severely during movement, causing more coal or other minerals in the mine cart to fall, resulting in a waste of resources. Summary of the invention

[0003] In order to overcome the shortcomings in the background technology, the present invention discloses an adaptive multi-agent collaborative control working device. The present invention connects the main body shell with the wheel of the mine car through a rail wheel cleaning mechanism, so that the shell moves with the mine car, and at the same time facilitates the rail wheel cleaning mechanism to clean the wheels of the mine car. The track that the mine car needs to pass is cleaned through the track surface cleaning mechanism. During the cleaning process, the moving mechanism is driven to work, and a certain power is provided through the moving mechanism. A certain power is provided for the staff to push the mine car, which is convenient for the staff to push the mine car.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: An adaptive multi-agent collaborative control operation device includes a main body shell, and the number of the main body shells is two, and the two main body shells are connected by a connecting head. A track surface cleaning mechanism and a moving mechanism are respectively installed in the main body shells, and the cleaning end of the track surface cleaning mechanism and the driving end of the moving mechanism are both located in the main body shell, the rotating end of the track surface cleaning mechanism is connected to the driving end of the rail wheel cleaning mechanism, the rail wheel cleaning mechanism is installed on the side of the main body shell away from the connecting head, and a power switch is installed on the main body shell, the input end of the power switch is electrically connected to the output end of the internal power supply, and the power supply output end of the power switch is electrically connected to the power supply input end of the track surface cleaning mechanism.

[0005] The main body shell comprises a shell, a connecting shaft, a flip frame and an inserting pin. One side of the shell is connected to the flip frame through the connecting shaft, and the flip frame and the shell are both connected to the inserting pin.

[0006] The inner cavity of the shell is connected to the inner cavity of the turning frame, and two sliding grooves are provided on the inner wall of the shell, the sliding grooves are connected to the inner cavity of the shell, and a track surface cleaning mechanism is installed in the inner cavity of the shell, and the longitudinal inner cavity of the shell and the inner cavity of the turning frame are respectively installed with track wheel cleaning mechanisms.

[0007] The track surface cleaning mechanism includes a dual-axis servo motor, a transmission block, a cleaning brush, a transmission rod, a rotating rod and a fixed block. The dual-axis servo motor is located in an inner cavity of the shell and is fixedly connected, and the motor shafts on both sides of the dual-axis servo motor are respectively connected to the rotating rod, and the two rotating rods are respectively rotatably connected to the fixed block, and the fixed block is located in the inner cavity of the shell and is fixedly connected, a transmission rod is slidably connected to the rotating rod, and one end of the transmission rod is fixedly connected to the transmission block, the transmission block is located in a sliding groove and is slidably connected, and the bottom end of the transmission block passes through the sliding groove and is fixedly connected to the cleaning brush, and the cleaning brush is located in the shell.

[0008] The rotating rod is composed of two round straight rods and a U-shaped rod, and a transmission rod is slidably connected to the U-shaped rod of the rotating rod.

[0009] The transmission rod is composed of a rectangular frame and a square rod, wherein the rectangular frame is located inside the U-shaped rod and is slidably connected, and two ends of the square rod are respectively fixedly connected to the transmission block and the rectangular frame.

[0010] The moving mechanism includes a rotating rod, a contact wheel, a first synchronous wheel, a synchronous belt and a second synchronous wheel. The second synchronous wheel is located on the circular straight rod end of the rotating rod and is fixedly connected. There are two rotating rods, which are respectively located in the inner cavity of the flip frame and the longitudinal inner cavity of the shell and are rotatably connected. One end of the rotating rod passes through the frame wall and is fixedly connected to the contact wheel. The first synchronous wheel is fixedly connected to one end of the rotating rod located in the inner cavity, and the first synchronous wheel is connected to the second synchronous wheel through a synchronous belt.

[0011] The rail wheel cleaning mechanism comprises a positioning frame and a scraper. The positioning frame is located on a frame wall of a shell body away from a connector and is fixedly connected thereto. The positioning frame is fixedly connected with a scraper, and one end of the scraper is located outside the positioning frame.

[0012] The scraper is inclined in the positioning frame.

[0013] One side of the positioning frame is rotatably connected to a rotating block, the rotating block is rotatably connected to an internally threaded sleeve, and the internally threaded sleeve is internally threadedly connected to a screw rod, one end of the screw rod is rotatably connected to a connecting block, and one side of the connecting block is rotatably connected to a contact roller, and the position of the contact roller corresponds to the position of the scraper.

[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: The adaptive multi-agent collaborative control operating device described in the present invention connects the main body shell with the wheel of the mine car through the rail wheel cleaning mechanism, so that the shell moves with the mine car, and at the same time facilitates the rail wheel cleaning mechanism to clean the wheels of the mine car, and cleans the track that the mine car needs to pass through through the track surface cleaning mechanism. During the cleaning process, the moving mechanism is driven to work, and a certain amount of power is provided through the moving mechanism, which provides a certain amount of power for the staff to push the mine car, making it convenient for the staff to push the mine car. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 is a first cross-sectional view of the present invention; Figure 3 for Figure 2 A schematic diagram of the enlarged structure of the present invention; Figure 4 is a second cross-sectional view of the present invention; 1. Main body shell; 101. Shell; 102. Connecting shaft; 103. Turning frame; 104. Insert pin; 2. Connecting head; 3. Power switch; 4. Track surface cleaning mechanism; 401. Dual-axis servo motor; 402. Transmission block; 403. Cleaning brush; 404. Transmission rod; 405. Rotating rod; 406. Fixed block; 5. Track wheel cleaning mechanism; 501. Positioning frame; 502. Scraper; 503. Contact roller; 504. Connecting block; 505. Screw; 506. Rotating block; 507. Internal threaded sleeve; 6. Moving mechanism; 601. Rotating rod; 602. Contact wheel; 603. First synchronous wheel; 604. Synchronous belt; 605. Second synchronous wheel. DETAILED DESCRIPTION

[0016] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0017] Combined with Figures 1 to 4The adaptive multi-agent collaborative control operation device includes a main body shell 1, and the number of the main body shells 1 is two. The two main body shells 1 are connected by a connector 2, so that the two main body shells 1 can be bent, which is convenient for cleaning the track at the curve. The track surface cleaning mechanism 4 and the moving mechanism 6 are respectively installed in the main body shell 1, and the cleaning end of the track surface cleaning mechanism 4 and the driving end of the moving mechanism 6 are both located in the main body shell 1. The rotating end of the track surface cleaning mechanism 4 is connected to the driving end of the rail wheel cleaning mechanism 5. The rail wheel cleaning mechanism 5 is installed on the side of the main body shell 1 away from the connector 2, and a power switch 3 is installed on the main body shell 1. The input end of the power switch 3 is electrically connected to the output end of the internal power supply, and the power supply output end of the power switch 3 is electrically connected to the power supply input end of the track surface cleaning mechanism 4. The power switch 3 is provided with switch buttons corresponding to all electrical equipment in the track surface cleaning mechanism 4, and all electrical equipment in the track surface cleaning mechanism 4 are controlled to work through the switch buttons.

[0018] The main body shell 1 includes a shell 101 , a connecting shaft 102 , a flip frame 103 and an insertion pin 104 . One side of the shell 101 is connected to the flip frame 103 via the connecting shaft 102 , and the flip frame 103 and the shell 101 are both connected to the insertion pin 104 .

[0019] The inner cavity of the shell 101 is connected to the inner cavity of the turning frame 103, and two sliding grooves are provided on the inner wall of the shell 101, the sliding grooves are connected to the inner cavity of the shell 101, and the inner cavity of the shell 101 is equipped with a track surface cleaning mechanism 4, and the longitudinal inner cavity of the shell 101 and the inner cavity of the turning frame 103 are respectively equipped with rail wheel cleaning mechanisms 5.

[0020] The track surface cleaning mechanism 4 includes a dual-axis servo motor 401, a transmission block 402, a cleaning brush 403, a transmission rod 404, a rotating rod 405 and a fixed block 406. The dual-axis servo motor 401 is located in the inner cavity of the shell 101 and is fixedly connected, and the motor shafts on both sides of the dual-axis servo motor 401 are respectively connected to the rotating rod 405, and the two rotating rods 405 are respectively rotatably connected to the fixed block 406, and the fixed block 406 is located in the inner cavity of the shell 101 and is fixedly connected, the rotating rod 405 is slidably connected, and one end of the transmission rod 404 is fixedly connected to the transmission block 402, the transmission block 402 is located in the sliding groove and is slidably connected, and the bottom end of the transmission block 402 passes through the sliding groove and is fixedly connected to the cleaning brush 403, and the cleaning brush 403 is located in the shell 101.

[0021] The rotating rod 405 is composed of two round straight rods and a U-shaped rod, and the transmission rod 404 is slidably connected to the U-shaped rod of the rotating rod 405 .

[0022] The transmission rod 404 is composed of a rectangular frame and a square rod, and the rectangular frame is located inside the U-shaped rod and is slidably connected. The two ends of the square rod are respectively fixedly connected to the transmission block 402 and the rectangular frame. The transmission rod 404 equipped with a cleaning brush 403 is driven to reciprocate by the rotating rod 405, which facilitates the cleaning brush 403 to reciprocate and clean the track surface, and can effectively clean the debris adsorbed on the track surface.

[0023] The moving mechanism 6 includes a rotating rod 601, a contact wheel 602, a first synchronous wheel 603, a synchronous belt 604 and a second synchronous wheel 605. The second synchronous wheel 605 is located on the circular straight rod end of the rotating rod 405 and is fixedly connected. There are two rotating rods 601. The two rotating rods 601 are respectively located in the inner cavity of the flip frame 103 and the longitudinal inner cavity of the shell 101 and are rotatably connected. One end of the rotating rod 601 passes through the frame wall and is fixedly connected to the contact wheel 602. The rotating rod 601 is fixedly connected to one end of the inner cavity with the first synchronous wheel 603, and the first synchronous wheel 603 is connected to the second synchronous wheel 605 through the synchronous belt 604. The bristles of the cleaning brush 403 have a certain degree of toughness, which will provide an upward force for the shell 101, so that the contact wheel 602 is close to the inner wall of the top of the track.

[0024] The rail wheel cleaning mechanism 5 includes a positioning frame 501 and a scraper 502. The positioning frame 501 is located on the frame wall of the shell 101 away from the connecting head 2 and is fixedly connected. The scraper 502 is fixedly connected inside the positioning frame 501. One end of the scraper 502 is located outside the positioning frame 501. The scraper 502 is used to clean the surface of the mine car wheel.

[0025] The scraper 502 is inclined in the positioning frame 501 .

[0026] One side of the positioning frame 501 is rotatably connected to a rotating block 506, and an internally threaded sleeve 507 is rotatably connected to the rotating block 506, and the internally threaded sleeve 507 is internally threadedly connected to a screw 505, one end of the screw 505 is rotatably connected to a connecting block 504, and one side of the connecting block 504 is rotatably connected to a contact roller 503, and the position of the contact roller 503 corresponds to the position of the scraper 502.

[0027] When the adaptive multi-agent collaborative control operation device is in use, the worker pulls out the insertion pin 104, flips the flip frame 103, and clamps the shell 101 on the track. After the shell 101 is installed, the flip frame 103 is reset, and the position of the flip frame 103 is fixed by the insertion pin 104, so that the shell 101 is fixed on the track. When it is necessary to connect with the mine car wheel, the worker rotates the internal threaded sleeve 507 to extend the screw 505 in the internal threaded sleeve 507, and the extension of the screw 505 drives the contact roller 503 to move. When the contact roller 503 moves to the cavity position in the mine car wheel, the contact roller 503 is rotated so that the contact roller 503 is located in the cavity in the mine car wheel, and the contact roller 503 is driven by the internal threaded sleeve 507. 03 is in close contact with the inner wall of the wheel, and the scraper 502 on the shell 101 is in contact with the outer surface of the mine car wheel. During the movement, the outer surface of the mine car wheel is cleaned by the scraper 502. The dual-axis servo motor 401 is started by the power switch 3. The dual-axis servo motor 401 drives the transmission rod 404 and the second synchronous wheel 605 to rotate respectively through the rotating rod 405. The transmission block 402 equipped with the cleaning brush 403 is pushed to reciprocate through the transmission rod 404, so that the cleaning brush 403 cleans the track surface back and forth. The second synchronous wheel 605 drives the first synchronous wheel 603 fixed with the rotating rod 601 to rotate through the synchronous belt 604, and drives the contact wheel 602 to rotate through the rotating rod 601. The rotation of the contact wheel 602 provides a certain power for the movement of the mine car.

[0028] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. An adaptive multi-agent collaborative control operation device, comprising a main body shell (1), wherein the number of the main body shells (1) is two, and the two main body shells (1) are connected by a connector (2), wherein the device is characterized in that: A track surface cleaning mechanism (4) and a moving mechanism (6) are respectively installed in the main body shell (1), and the cleaning end of the track surface cleaning mechanism (4) and the driving end of the moving mechanism (6) are both located in the main body shell (1), the rotating end of the track surface cleaning mechanism (4) is connected to the driving end of the track wheel cleaning mechanism (5), the track wheel cleaning mechanism (5) is installed on the side of the main body shell (1) away from the connector (2), and a power switch (3) is installed on the main body shell (1), the input end of the power switch (3) is electrically connected to the output end of the internal power supply, and the power supply output end of the power switch (3) is electrically connected to the power supply input end of the track surface cleaning mechanism (4).

2. The adaptive multi-agent collaborative control operation device according to claim 1 is characterized in that: The main body shell (1) comprises a shell (101), a connecting shaft (102), a flip frame (103) and an insertion pin (104); one side of the shell (101) is connected to the flip frame (103) via the connecting shaft (102), and the flip frame (103) and the shell (101) are both connected to the insertion pin (104).

3. The adaptive multi-agent collaborative control operation device according to claim 2 is characterized in that: The inner cavity of the shell (101) is connected to the inner cavity of the turnover frame (103), and two sliding grooves are provided on the inner wall of the shell (101), the sliding grooves are connected to the inner cavity of the shell (101), and a track surface cleaning mechanism (4) is installed in the inner cavity of the shell (101), and a track wheel cleaning mechanism (5) is installed in the longitudinal inner cavity of the shell (101) and the inner cavity of the turnover frame (103), respectively.

4. The adaptive multi-agent collaborative control operation device according to claim 1 is characterized in that: The track surface cleaning mechanism (4) comprises a dual-axis servo motor (401), a transmission block (402), a cleaning brush (403), a transmission rod (404), a rotating rod (405) and a fixed block (406); the dual-axis servo motor (401) is located in an inner cavity of the housing (101) and is fixedly connected thereto; the motor shafts on both sides of the dual-axis servo motor (401) are respectively connected to the rotating rod (405); the two rotating rods (405) are respectively connected to the fixed block (406). The rotating rod (405) is slidably connected to a transmission rod (404), and one end of the transmission rod (404) is fixedly connected to a transmission block (402), the transmission block (402) is located in a sliding groove and is slidably connected, and the bottom end of the transmission block (402) passes through the sliding groove and is fixedly connected to a cleaning brush (403), and the cleaning brush (403) is located in the housing (101).

5. The adaptive multi-agent collaborative control operation device according to claim 4 is characterized in that: The rotating rod (405) is composed of two circular straight rods and a U-shaped rod, and the U-shaped rod of the rotating rod (405) is slidably connected to a transmission rod (404).

6. The adaptive multi-agent collaborative control operation device according to claim 4 is characterized in that: The transmission rod (404) is composed of a rectangular frame and a square rod, wherein the rectangular frame is located inside the U-shaped rod and is slidably connected, and the two ends of the square rod are respectively fixedly connected to the transmission block (402) and the rectangular frame.

7. The adaptive multi-agent collaborative control operation device according to claim 1 is characterized in that: The moving mechanism (6) comprises a rotating rod (601), a contact wheel (602), a first synchronous wheel (603), a synchronous belt (604) and a second synchronous wheel (605); the second synchronous wheel (605) is located on the round straight rod end of the rotating rod (405) and is fixedly connected; there are two rotating rods (601); the two rotating rods (601) are respectively located in the inner cavity of the flip frame (103) and the longitudinal inner cavity of the shell (101) and are rotatably connected; one end of the rotating rod (601) passes through the frame wall and is fixedly connected to the contact wheel (602); the first synchronous wheel (603) is fixedly connected to one end of the rotating rod (601) located in the inner cavity; and the first synchronous wheel (603) is connected to the second synchronous wheel (605) via a synchronous belt (604).

8. The adaptive multi-agent collaborative control operation device according to claim 1 is characterized in that: The rail wheel cleaning mechanism (5) comprises a positioning frame (501) and a scraper (502); the positioning frame (501) is located on a frame wall of the housing (101) on a side away from the connector (2) and is fixedly connected thereto; the scraper (502) is fixedly connected inside the positioning frame (501); one end of the scraper (502) is located outside the positioning frame (501).

9. The adaptive multi-agent collaborative control operation device according to claim 8 is characterized in that: The scraper (502) is inclined in the positioning frame (501).

10. The adaptive multi-agent collaborative control operation device according to claim 8, characterized in that: One side of the positioning frame (501) is rotatably connected to a rotating block (506), the rotating block (506) is rotatably connected to an internally threaded sleeve (507), and the internally threaded sleeve (507) is internally threadedly connected to a screw rod (505), one end of the screw rod (505) is rotatably connected to a connecting block (504), and one side of the connecting block (504) is rotatably connected to a contact roller (503), and the position of the contact roller (503) corresponds to the position of the scraper (502).

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