Heavy-load anti-jamming walking mechanism of push-pull robot

Abstract

The heavy-load anti-jamming walking mechanism of the push-pull robot comprises a supporting base, a sliding rail supporting block is fixed to the top of the supporting base, a sliding rail is fixed to the top of the sliding rail supporting block through a bolt, a moving assembly is slidably connected to the inner wall of the sliding rail, and the moving assembly comprises rolling wheels, a moving trolley, a connecting base and a connecting shaft pin; a driving assembly is arranged in the moving trolley; the driving assembly comprises a motor mounting seat, a gear motor, a driving shaft, a driving gear and a rack; a bidirectional push-pull mechanism is arranged on the inner wall, close to the driving assembly, of the moving trolley; the driving assembly is arranged, and the rack is of a vertical tooth surface structure, so that a large amount of coal ash and sundries can be prevented from being accumulated on the rack, the situation of tooth sliding between the driving gear and the rack is avoided, the teeth do not have an inclination angle at the turning position, the parallel structure of the teeth can be kept, and the situation of jamming during meshing rotation of the driving gear and the rack can be prevented; and therefore, the situation that the driving gear and the rack are stuck is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine transportation, in particular to a heavy-load anti-jamming walking mechanism of a push-pull robot. Background Art

[0002] The auxiliary shaft of a coal mine is responsible for the lifting of personnel, mine cars and materials in the entire mine, and is an important part of coal mine production. Its safety at the wellhead and well bottom and production efficiency are important factors affecting coal mine production. In the underground transportation system of a mine, the transportation efficiency of mine cars and flatbed trucks directly affects the continuity of production. A pusher is required to move the mine cars and flatbed trucks. Among them, the walking mechanism of the push-pull robot is an important part that drives its movement. The stability of the walking mechanism also determines the stability of the push-pull robot. However, the walking mechanism of the existing push-pull robot is generally composed of a gear and rack structure with the tooth surface facing upward. During actual operation, due to the complex environment underground, a large amount of coal Dust and debris will adhere to the rack. Since the tooth surface of the rack is facing upward, coal dust and debris will gradually accumulate. If they are not cleaned in time, it will cause problems in the meshing of the gear and rack, resulting in tooth slippage and drive failure, posing a major safety hazard. Secondly, when the rack structure with the tooth surface facing upward turns, the teeth will have an inclination angle at the turn, while the teeth on the gear are parallel. At this time, the meshing of the gear and rack will become stuck, increasing the wear rate of the gear and rack. In severe cases, it will cause the gear and rack to get stuck, reducing the service life of the walking mechanism, affecting the stability of the walking mechanism, and thus affecting the stability of the push-pull robot.

[0003] To this end, we proposed a heavy-load anti-stuck walking mechanism for a push-pull robot to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a heavy-load anti-stuck walking mechanism for a push-pull robot.

[0005] The present invention solves its technical problem by the following technical solution: comprising a support base, a slide rail support block is fixed on the top of the support base, a slide rail is fixed to the top of the slide rail support block by bolts, a moving assembly is slidably connected to the inner wall of the slide rail, the moving assembly comprises a roller, the roller is rotatably connected to the inner wall of the slide rail, one side of the roller is rotatably connected to a moving trolley by an axle pin, a connecting seat is fixed to the side wall of the moving trolley, a connecting axle pin is provided on the inner wall of the connecting seat, and a driving assembly is provided inside the moving trolley;

[0006] The driving assembly includes a motor mounting seat, which is fixed to the inner wall of the mobile trolley by bolts, and a reduction motor is fixed to the top of the motor mounting seat by bolts, and a driving shaft is provided at the output end of the reduction motor, and a driving gear is fixed to the outer side of the driving shaft, and a rack is provided on the outer side of the driving gear, and the rack is fixedly connected to the support base, and a two-way push-pull mechanism is provided on the inner wall of the mobile trolley near the driving assembly, and a power supply mechanism is provided on the inner wall of the mobile trolley relative to the two-way push-pull mechanism, and a control mechanism is provided on the inner wall of the mobile trolley near the power supply mechanism.

[0007] As a further solution of the present invention: a protective cover is fixed to the top of the movable trolley by bolts.

[0008] As a further solution of the present invention: the two-way push-pull mechanism includes a rotating bracket, which is fixed to the inner wall of the mobile trolley by bolts, the top of the rotating bracket is rotatably connected to the pushing head frame, and a stop block is fixed to one side of the pushing head frame. The mobile trolley is fixed with a rotating base near the inner wall of the rotating bracket, and the inner wall of the rotating base is rotatably connected to a rotating block. A hydraulic rod is fixed to the outside of the rotating block, and a driving seat is fixed to one end of the hydraulic rod. The inner wall of the driving seat is rotatably connected to an installation shaft, and the installation shaft is fixedly connected to the pushing head frame.

[0009] As a further solution of the present invention: a limiting bracket is fixed on the inner wall of one side of the moving trolley, a support seat is provided on one side of the blocking block, and the support seat is fixedly connected to the moving trolley.

[0010] As a further solution of the present invention: the power supply mechanism includes a battery mounting seat, which is fixed to the inner wall of the mobile cart by bolts, a battery is fixed to the top of the battery mounting seat, a wireless charging receiver is fixed to the bottom of the battery, a wireless charging transmitter is provided at the bottom of the wireless charging receiver, a support frame is fixed to the bottom of the wireless charging transmitter, and the support frame is fixed to the support base.

[0011] As a further solution of the present invention: a fan bracket is fixed to the inner wall of the battery mounting seat by bolts, and the inner wall of the fan bracket is fixed to a plurality of cooling fans by bolts.

[0012] As a further solution of the present invention: the control mechanism includes a PLC controller, the PLC controller is fixed to the inner wall of the mobile cart by bolts, a wiring terminal is provided on one side of the PLC controller, and a motor controller is fixed to the inner wall of the mobile cart close to the PLC controller by bolts.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0014] 1. A moving assembly and a driving assembly are provided. When the push-pull robot is in operation, the driving assembly drives the push-pull robot. The rack has a vertical tooth surface structure, which can prevent a large amount of coal dust and debris from accumulating on the rack and avoid the occurrence of tooth slip between the driving gear and the rack, thereby ensuring the driving effect of the drive assembly on the push-pull robot and improving the safety of the drive assembly when in use.

[0015] 2. When the vertical tooth surface structure is bent, the teeth will not have an inclination angle at the turning point, which can maintain the parallel structure of the teeth. This can prevent the driving gear and rack from getting stuck when they are meshing and rotating, thereby preventing the driving gear and rack from getting stuck, thereby increasing the service life of the walking mechanism, ensuring the stability of the walking mechanism, and thus improving the stability of the push-pull robot;

[0016] 3. A two-way push-pull mechanism is provided, and two groups of the two-way push-pull mechanism are arranged in a staggered manner. When the trolley is in operation, the two-way push-pull mechanism of the corresponding group is activated according to the pushing direction of the mine car. The mine car is positioned and clamped by the push head frame and the stop block, and the mobile trolley is driven to move by the drive assembly to realize the two-way pushing operation of the mine car. When reversing the operation, there is no need to configure an additional reverse drive mechanism or manually adjust the push head direction, which reduces the size of the equipment and improves the deployment flexibility.

[0017] 4. By setting a limiting bracket to limit the rotation of the push head frame, it can provide positioning support when the push head frame rotates to the highest point, and support the blocking block in the storage state through the support seat to ensure the accuracy of the cart operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the overall structure of a push-pull robot according to an embodiment of the present invention is shown;

[0019] Figure 2 A schematic structural diagram of a mobile component provided in an embodiment of the present invention is shown;

[0020] Figure 3 It shows a schematic diagram of a local structure of a mobile component provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a partial cross-sectional structure of a moving assembly provided according to an embodiment of the present invention is shown;

[0022] Figure 5 The embodiment of the present invention provides Figure 4 A schematic diagram of the enlarged structure of the middle part A;

[0023] Figure 6It shows a schematic diagram of the overall structure of the slide rail provided in an embodiment of the present invention;

[0024] Figure 7 The embodiment of the present invention provides Figure 6 A schematic diagram of the enlarged structure of part B in the middle;

[0025] Figure 8 It shows a schematic structural diagram of a bidirectional pusher head assembly according to an embodiment of the present invention;

[0026] Figure 9 A schematic cross-sectional view of a bidirectional pusher head assembly according to an embodiment of the present invention is shown;

[0027] Figure 10 It shows a schematic diagram of the main structure of a driving component provided in an embodiment of the present invention;

[0028] Figure 11 A schematic diagram of the bottom structure of a driving assembly provided in an embodiment of the present invention is shown;

[0029] Figure 12 It shows a schematic diagram of the main structure of the power supply assembly provided in an embodiment of the present invention;

[0030] Figure 13 A bottom-view structural diagram of a power supply assembly provided according to an embodiment of the present invention is shown.

[0031] Legend:

[0032] 100 support base, 110 slide rail support block, 120 slide rail, 210 roller, 220 mobile trolley, 221 protective cover, 230 connecting seat, 240 connecting shaft pin, 310 motor mounting seat, 320 reduction motor, 321 drive shaft, 330 drive gear, 340 rack, 410 rotating bracket, 420 push head frame, 421 limit bracket, 430 block, 431 support seat, 440 rotating base, 441 rotating block, 450 hydraulic rod, 451 drive seat, 460 mounting shaft, 510 battery mounting seat, 520 battery, 530 wireless charging receiver, 540 wireless charging transmitter, 550 support frame, 560 fan bracket, 570 cooling fan, 610 PLC controller, 620 terminal block, 630 motor controller. DETAILED DESCRIPTION

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0034] In the description of the present invention, “plurality” means two or more, unless otherwise clearly defined.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] See also Figure 1-13 The present invention provides a technical solution: comprising a support base 100, a slide rail support block 110 being fixed to the top of the support base 100, a slide rail 120 being fixed to the top of the slide rail support block 110 by bolts, a moving assembly being slidably connected to the inner wall of the slide rail 120, the moving assembly comprising a roller 210, a moving trolley 220 and a connecting seat 230, a connecting shaft pin 240 being provided on the inner wall of the connecting seat 230, and a driving assembly being provided inside the moving trolley 220;

[0037] The driving assembly includes a motor mounting seat 310, a reduction motor 320 and a driving shaft 321. A driving gear 330 is fixed to the outside of the driving shaft 321. A rack 340 is provided on the outside of the driving gear 330. The rack 340 is fixedly connected to the support base 100. The inner wall of the mobile trolley 220 near the driving assembly is provided with a two-way push-pull mechanism. The mobile trolley 220 is provided with a power supply mechanism relative to the inner wall of the two-way push-pull mechanism. The inner wall of the mobile trolley 220 near the power supply mechanism is provided with a control mechanism. A moving assembly and a driving assembly are provided. When the push-pull robot is in operation, the push-pull robot is driven by the driving assembly, wherein the rack 340 The vertical tooth surface structure can prevent a large amount of coal ash and debris from accumulating on the rack 340, and avoid the occurrence of tooth slippage between the driving gear 330 and the rack 340, thereby ensuring the driving effect of the driving component on the push-pull robot and improving the safety of the driving component during use. Secondly, when the vertical tooth surface structure is bent, the teeth will not have an inclination angle at the turning point, and the parallel structure of the teeth can be maintained, which can prevent the driving gear 330 and the rack 340 from getting stuck when they are engaged and rotating, thereby preventing the driving gear 330 and the rack 340 from getting stuck, thereby improving the service life of the walking mechanism, ensuring the stability of the walking mechanism, and thus improving the stability of the push-pull robot.

[0038] Specifically, a protective cover plate 221 is fixed to the top of the mobile trolley 220 by bolts; the protective cover plate 221 is provided to seal and protect the mobile trolley 220, thereby ensuring the stability of the operation of various components inside the mobile trolley 220.

[0039] Specifically, the bidirectional push-pull mechanism includes a rotating bracket 410, which is fixed to the inner wall of the mobile trolley 220 by bolts, and the top of the rotating bracket 410 is rotatably connected to the push head frame 420, and a stop block 430 is fixed to one side of the push head frame 420. The mobile trolley 220 is fixed with a rotating base 440 near the inner wall of the rotating bracket 410, and the inner wall of the rotating base 440 is rotatably connected to a rotating block 441. A hydraulic rod 450 is fixed to the outside of the rotating block 441, and one end of the hydraulic rod 450 is fixed to a drive seat 451. The inner wall of the drive seat 451 is fixed to the inner wall of the drive seat 451. The rotatable connection is provided with an installation shaft 460, and the installation shaft 460 is fixedly connected to the push head frame 420; a two-way push-pull mechanism is provided, and two groups of two-way push-pull mechanisms are provided, and the two groups of two-way push-pull mechanisms are staggered. When the trolley is operated, the two-way push-pull mechanism of the corresponding group is started according to the pushing direction of the mine car, and the mine car is positioned and clamped by the push head frame 420 and the stop block 430, and the mobile trolley 220 is driven to move by the driving component to realize the two-way pushing operation of the mine car. When the direction is changed, there is no need to additionally configure a reverse drive mechanism or manually adjust the push head direction, which reduces the volume of the equipment and improves the flexibility of deployment.

[0040] Specifically, a limiting bracket 421 is fixed on the inner wall of one side of the mobile trolley 220, and a support seat 431 is provided on one side of the resisting block 430, and the support seat 431 is fixedly connected to the mobile trolley 220; by providing the limiting bracket 421, the rotation of the push head frame 420 is limited and resisted, and the push head frame 420 can be positioned and supported when it rotates to the highest point, and the resisting block 430 in the storage state is supported by the support seat 431, thereby ensuring the accuracy of the trolley operation.

[0041] Specifically, the power supply mechanism includes a battery mounting base 510, which is fixed to the inner wall of the mobile cart 220 by bolts, and a battery 520 is fixed to the top of the battery mounting base 510, and a wireless charging receiver 530 is fixed to the bottom of the battery 520, and a wireless charging transmitter 540 is provided at the bottom of the wireless charging receiver 530, and a support frame 550 is fixed to the bottom of the wireless charging transmitter 540, and the support frame 550 is fixed to the support base 100; by providing a power supply mechanism, the operation of the push-pull robot is powered by the battery 520. When the battery 520 needs to be charged, the battery 520 is wirelessly charged by the cooperation of the wireless charging receiver 530 and the wireless charging transmitter 540, so that the battery 520 can be quickly and automatically charged, thereby ensuring the continuity of the operation of the push-pull robot.

[0042] Specifically, a fan bracket 560 is fixed to the inner wall of the battery mounting base 510 by bolts, and the inner wall of the fan bracket 560 is fixed to multiple cooling fans 570 by bolts; by providing the cooling fans 570 to dissipate heat for the battery 520, the heat generated when the battery 520 is running or charging can be quickly discharged, thereby ensuring the safety of the battery 520 during operation and increasing the service life of the battery 520.

[0043] Specifically, the control mechanism includes a PLC controller 610, which is fixed to the inner wall of the mobile cart 220 by bolts. A wiring terminal 620 is provided on one side of the PLC controller 610, and a motor controller 630 is fixed to the inner wall of the mobile cart 220 near the PLC controller 610 by bolts; by providing a control mechanism, the operation of the push-pull robot is controlled by the PLC controller 610, and the operation of the drive component is controlled by the motor controller 630.

[0044] Working principle: When in use, a control mechanism is provided, the operation of the push-pull robot is controlled by the PLC controller 610, the operation of the drive component is controlled by the motor controller 630, and the operation of the push-pull robot is powered by the battery 520. When the battery 520 needs to be charged, the power supply mechanism is moved to the position of the wireless charging transmitter 540 through the cooperation of the moving component and the drive component, and the wireless charging receiver 530 is docked with the wireless charging transmitter 540. The battery 520 is wirelessly charged through the cooperation of the wireless charging receiver 530 and the wireless charging transmitter 540, which can quickly and automatically charge the battery 520. When the push-pull robot is running, the drive shaft 321 is driven to rotate by the reduction motor 320, and the rotation of the drive shaft 321 drives the drive gear 330 to rotate, and the drive gear 330 cooperates with the rack 340 to drive one of the mobile carts 220 to move. The movable trolley 220 is rolled and supported by multiple rollers 210, and the multiple movable trolleys 220 are rotatably connected by connecting seats 230 and connecting shaft pins 240. The driving assembly drives multiple groups of movable components to move on the slide rail 120 to realize the driving operation of the push-pull robot. There are two groups of two-way push-pull mechanisms, and the two groups of two-way push-pull mechanisms are staggered. When the trolley is operated, the two-way push-pull mechanism of the corresponding group is started according to the pushing direction of the mine car, and the hydraulic rod 450 is started and extended, and the driving seat 451 is driven to move by the hydraulic rod 450. The driving seat 451 drives the push head frame 420 to rotate on the rotating bracket 410 through the installation shaft 460, and rotates the stop block 430 to the highest point, so that it is in a vertical state. The mine car is positioned and clamped by the cooperation of the push head frame 420 and the stop block 430, and the driving assembly drives the movable trolley 220 to move, thereby realizing the two-way push operation of the mine car.

[0045] The motor involved in the embodiment, its supporting control system, electromagnetic switch and pipeline route can also be provided by the manufacturer. In addition, the power supply module, circuit and electronic components and control module involved in the present invention are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to the internal structure and method.

[0046] Although the present invention discloses embodiments and drawings, those skilled in the art will understand that various replacements, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A heavy-load anti-stuck walking mechanism for a push-pull robot, characterized in that: The invention comprises a support base (100), a slide rail support block (110) is fixed on the top of the support base (100), a slide rail (120) is fixed on the top of the slide rail support block (110) by bolts, a moving assembly is slidably connected to the inner wall of the slide rail (120), the moving assembly comprises a roller (210), the roller (210) is rollingly connected to the inner wall of the slide rail (120), one side of the roller (210) is rotatably connected to a moving trolley (220) through an axle pin, a connecting seat (230) is fixed to the side wall of the moving trolley (220), a connecting axle pin (240) is provided on the inner wall of the connecting seat (230), and a driving assembly is provided inside the moving trolley (220); The driving assembly comprises a motor mounting seat (310), wherein the motor mounting seat (310) is fixed to the inner wall of the moving trolley (220) by means of bolts, a reduction motor (320) is fixed to the top of the motor mounting seat (310) by means of bolts, a driving shaft (321) is provided at the output end of the reduction motor (320), a driving gear (330) is fixed to the outer side of the driving shaft (321), a rack (340) is provided on the outer side of the driving gear (330), and the rack (340) is fixedly connected to the supporting base (100), a bidirectional push-pull mechanism is provided on the inner wall of the moving trolley (220) close to the driving assembly, a power supply mechanism is provided on the inner wall of the moving trolley (220) relative to the bidirectional push-pull mechanism, and a control mechanism is provided on the inner wall of the moving trolley (220) close to the power supply mechanism.

2. The heavy-load anti-stuck walking mechanism of a push-pull robot according to claim 1, characterized in that: A protective cover plate (221) is fixed to the top of the mobile trolley (220) by means of bolts.

3. The heavy-load anti-jamming walking mechanism of a push-pull robot according to claim 1, characterized in that: The bidirectional push-pull mechanism includes a rotating bracket (410), which is fixed to the inner wall of the moving trolley (220) by bolts, and the top of the rotating bracket (410) is rotatably connected to the push head frame (420), and a stop block (430) is fixed to one side of the push head frame (420). The moving trolley (220) is fixed with a rotating base (440) near the inner wall of the rotating bracket (410), and the inner wall of the rotating base (440) is rotatably connected to a rotating block (441), and a hydraulic rod (450) is fixed to the outer side of the rotating block (441), and one end of the hydraulic rod (450) is fixed to a driving seat (451), and the inner wall of the driving seat (451) is rotatably connected to a mounting shaft (460), and the mounting shaft (460) is fixedly connected to the pushing head frame (420).

4. The heavy-load anti-jamming walking mechanism of a push-pull robot according to claim 3, characterized in that: A limiting bracket (421) is fixed to the inner wall of one side of the moving trolley (220), and a support seat (431) is provided on one side of the blocking block (430), and the support seat (431) is fixedly connected to the moving trolley (220).

5. The heavy-load anti-jamming walking mechanism of a push-pull robot according to claim 1, characterized in that: The power supply mechanism comprises a battery mounting seat (510), wherein the battery mounting seat (510) is fixed to the inner wall of the mobile trolley (220) by means of bolts, a battery (520) is fixed to the top of the battery mounting seat (510), a wireless charging receiver (530) is fixed to the bottom of the battery (520), a wireless charging transmitter (540) is provided at the bottom of the wireless charging receiver (530), a support frame (550) is fixed to the bottom of the wireless charging transmitter (540), and the support frame (550) is fixedly connected to the support base (100).

6. The heavy-load anti-jamming walking mechanism of a push-pull robot according to claim 5, characterized in that: A fan bracket (560) is fixed to the inner wall of the battery mounting seat (510) by means of bolts, and the inner wall of the fan bracket (560) is fixed to a plurality of cooling fans (570) by means of bolts.

7. The heavy-load anti-jamming walking mechanism of a push-pull robot according to claim 1, characterized in that: The control mechanism includes a PLC controller (610), which is fixed to the inner wall of a mobile trolley (220) by means of bolts. A connection terminal (620) is provided on one side of the PLC controller (610), and a motor controller (630) is fixed to the inner wall of the mobile trolley (220) near the PLC controller (610) by means of bolts.

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