Intelligent track laying robot and working method thereof

Abstract

The invention is applicable to the technical field of intelligent laying of coal mine tracks, and relates to an intelligent track laying robot and a working method thereof, the intelligent track laying robot comprises a frame system, a mechanical arm system, a tail end clamping system, a track transfer storage system, a transportation driving system and a frame movement system; the mechanical arm system is movably arranged on the frame system, and a tail end clamping system is further arranged on the mechanical arm system; the track transfer storage system is movably arranged in the frame system, the transportation driving system is installed below the frame system, and the frame movement system is connected with the frame system and arranged above the frame movement system. The intelligent track laying robot can achieve intelligent track laying, has the multi-module collaborative operation capacity, is convenient to maintain, can adapt to the complex environment of an underground coal mine, and is high in operation efficiency and track laying quality.

Description

Technical Field

[0001] This invention belongs to the field of intelligent track laying technology in coal mines, and particularly relates to an intelligent track laying robot and its working method. Background Technology

[0002] Currently, the laying of underground rails in coal mines mainly relies on manual labor or semi-mechanized equipment, which suffers from high labor intensity, low laying accuracy, and long operation cycles. Although some rail-laying machinery has emerged in existing technologies, such as gantry-type rail-laying devices, these devices are generally only suitable for laying straight tracks and are difficult to adapt to the complex curved conditions underground. In addition, existing rail-laying equipment generally suffers from defects such as fixed structure, single function, and poor flexibility. It cannot achieve automatic track storage, multi-segment transportation, and continuous curved laying, resulting in a large amount of manual intervention still required during curved track laying, which is not only inefficient but also poses certain safety hazards.

[0003] On the other hand, existing track-laying equipment also has significant shortcomings in modular design and system maintenance. The equipment structure is complex, and the functional units are highly coupled, making repairs difficult and severely impacting construction progress once a malfunction occurs. Furthermore, the lack of an intelligent track identification, positioning, and control system further limits the level of automation and laying accuracy of track-laying operations.

[0004] Therefore, there is an urgent need for a track-laying robot that can achieve intelligent curved track laying, has multi-module collaborative operation capabilities, is easy to maintain, and is adaptable to the complex environment of underground coal mines, in order to overcome the aforementioned pain points in existing technologies. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an intelligent track-laying robot to solve the problems of low operational efficiency and track-laying quality of existing track-laying robots; in addition, this invention also provides a working method for the intelligent track-laying robot.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an intelligent track-laying robot, comprising:

[0008] Chassis system, robotic arm system, end effector system, rail transfer and storage system, transport drive system, and chassis motion system;

[0009] The robotic arm system is movably mounted on the frame system, and the robotic arm system is also equipped with the end effector clamping system; the track transfer and storage system is movably mounted inside the frame system; the transport drive system is installed below the frame system; the frame motion system is connected to the frame system and positioned above the frame motion system.

[0010] Furthermore, the chassis system includes a chassis, a first guide rail, and a second guide rail. The first guide rail is disposed above the chassis, and the second guide rail is disposed below the chassis. The robotic arm system is movably disposed on the first guide rail, and the track-based transfer and storage system is movably disposed on the second guide rail.

[0011] Furthermore, the end effector system includes a clamping plate and a connector. The connector is installed on one side of the plate and connected to the end of the robotic arm. The other side of the plate has several clamping parts, each clamping part including a drive unit, a first clamping rod, a second clamping rod, a third clamping rod, a fourth clamping rod, a fifth clamping rod, and a gripper. The drive unit is connected to the first clamping rod. Each end of the first clamping rod is connected to a second clamping rod. Each second clamping rod is connected to a third clamping rod. Each third clamping rod is connected to a fourth clamping rod. Each fourth clamping rod is connected to a gripper. The gripper is also connected to the drive unit via the fifth clamping rod.

[0012] Furthermore, the rail transfer and storage system includes the guide rail transport frame, the horizontal moving mechanism, and the lifting mechanism. The guide rail transport frame is mounted on the second guide rail, the horizontal moving mechanism is mounted on the guide rail transport frame, and the lifting mechanism is mounted on the horizontal moving mechanism.

[0013] Furthermore, the horizontal moving mechanism includes a first horizontal moving screw seat, a second horizontal moving screw seat, and a horizontal moving screw. The first horizontal moving screw seat and the second horizontal moving screw seat are disposed opposite to each other on the guide rail transport frame and are connected by the horizontal moving screw.

[0014] Furthermore, the lifting mechanism includes a lifting movable screw seat, a lifting movable cabin, a lifting screw nut, a lifting platform, a lifting screw, a first lifting mechanism sprocket, a lifting mechanism screw seat, a second lifting mechanism sprocket, a lifting mechanism motor, a lifting mechanism guide rail, and a lifting mechanism slider. The lifting mechanism screw seat is mounted on the horizontal moving mechanism, the lifting movable cabin is mounted on the lifting mechanism screw seat, the lifting screw is mounted inside the lifting movable cabin, the lifting screw nut is mounted on the lifting screw and connected to the lifting platform, the lifting mechanism screw seat is located at the top of the lifting movable cabin, the first lifting mechanism sprocket is mounted on the lifting mechanism screw seat and sleeved on the lifting screw, the second lifting mechanism sprocket is mounted on the lifting mechanism motor, the lifting mechanism motor is mounted on one side of the top of the lifting movable cabin, the lifting mechanism guide rail is mounted on the other side of the lifting movable cabin opposite the lifting mechanism motor, the lifting platform is mounted on the lifting mechanism guide rail, and the lifting mechanism slider is also mounted on the lifting mechanism guide rail.

[0015] Furthermore, the transportation drive system includes a drive fixing plate, on which two drive mechanisms are arranged opposite each other. Each drive mechanism includes a first bearing housing, a second bearing housing, a third bearing housing, a long shaft, a first cable drive disc, a second cable drive disc, a first sprocket, a second sprocket, and a motor. The first bearing housing contains a first bearing, the second bearing housing contains a second bearing, and the third bearing housing contains a third bearing. The long shaft is sleeved within the first, second, and third bearings. The first cable drive disc is disposed between the first and second bearing housings, and the second cable drive disc is disposed between the second and third bearing housings. A first sprocket is also disposed between the first and second bearing housings. The motor is disposed on the drive fixing plate on one side of the long shaft, and a second sprocket is disposed on the motor.

[0016] Furthermore, hydraulic push cylinders are respectively provided on both sides of the guide rail transport frame, and hydraulic push rods are provided between the hydraulic push cylinders.

[0017] Furthermore, the frame system also includes a limiting block, which is disposed on the first guide rail.

[0018] Secondly, the present invention also provides a working method for an intelligent track-laying robot, comprising the following steps:

[0019] S10. The intelligent track-laying robot is initially located on the laid track. Its pressure sensor first determines whether there is a stored track in the track transfer and storage system. The intelligent track-laying robot obtains the location information of the track storage point through the communication module and moves along the track to the designated storage point through the frame motion system.

[0020] S20. Upon arrival at the storage point, the transport drive system drags the track transfer storage system to a suitable position for the robotic arm system to operate via a cable. The image recognition module of the robotic arm system identifies and positions the track in preparation for grasping.

[0021] S30, the end clamping system picks up the rail and precisely places it onto the lifting platform of the rail transfer and storage system. The lifting platform sends the rail into the designated position inside the rail transfer and storage system and uses hydraulic cylinders and hydraulic push rods to complete the track gauge and horizontal positioning of the rail.

[0022] S40. To lower the center of gravity during transportation, the track transfer and storage system will be retracted from the working position to the transportation position, and the transportation drive system will drive the intelligent track laying robot to move towards the target laying point on the laid track.

[0023] S50. Upon arrival at the target laying point, the track transfer and storage system is activated, extending forward through the transport drive system and simultaneously using positioning sensors for precise positioning, ensuring that the track to be laid precisely aligns with the end of the already laid track.

[0024] S60, the robotic arm system moves to the designated position of the track transfer and storage system, the drive unit of the end gripping system drives the gripper to clamp the track to be laid, and the robotic arm system transports the track and places it on the sleepers of the track to be laid.

[0025] S70. After the end clamping system is released, the screw fixing mechanism at the end of the robotic arm system is activated to tighten the fixing studs at both ends of the track, so that the track is initially fixed on the sleepers.

[0026] S80: The robotic arm system applies different forces to different positions of the pre-fixed track according to the preset curvature radius of the curved track, so that the track meets the curvature radius of the pre-laid path, and then fixes the track and sleepers.

[0027] Compared with existing technologies, the intelligent track-laying robot and its working method provided by this invention have at least the following advantages:

[0028] In existing technologies, the laying of underground mine tracks mainly relies on manual labor or semi-mechanized equipment, which suffers from problems such as high labor intensity, low laying accuracy, and long operation cycles. This invention achieves intelligent laying of curved tracks. A robotic arm system applies controllable lateral forces of varying positions and magnitudes to the track, causing the track to undergo the desired elastic deformation. This allows for precise laying of curved tracks with a predetermined radius of curvature, effectively solving the technical problem that most existing track-laying equipment can only lay straight tracks. This greatly expands the application scenarios of robots and meets the laying requirements for curved mine tunnels. This invention integrates the entire process of track grabbing, storage, transportation, and laying. Through sensor modules and an image recognition system, it performs autonomous decision-making and positioning, achieving fully automated operation and reducing the safety risks of manual track laying. The track transfer and storage system can store multiple tracks at once, reducing the frequency of back-and-forth handling, thereby significantly improving overall laying efficiency and quality. Attached Figure Description

[0029] To more clearly illustrate the solution of the present invention, a brief introduction will be given to the drawings used in the description of the embodiments below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 A perspective view of an intelligent track-laying robot provided in an embodiment of the present invention;

[0031] Figure 2This is a side view of the chassis system of an intelligent track-laying robot provided in an embodiment of the present invention;

[0032] Figure 3 A side view of an end-effector gripping system for an intelligent track-laying robot provided in an embodiment of the present invention;

[0033] Figure 4 A side view of a track transfer and storage system for an intelligent track-laying robot provided in an embodiment of the present invention;

[0034] Figure 5 This is a top view of a track transfer and storage system for an intelligent track-laying robot provided in an embodiment of the present invention;

[0035] Figure 6 A bottom view of a transport drive system for an intelligent track-laying robot provided in an embodiment of the present invention;

[0036] Figure 7 A partial cross-sectional view of a transportation drive system for an intelligent track-laying robot provided in an embodiment of the present invention;

[0037] Figure 8 A flowchart illustrating the working method of an intelligent track-laying robot provided in an embodiment of the present invention;

[0038] Reference numerals: 10-Chassis system; 101-Chassis; 102-First guide rail; 103-Second guide rail; 104-Limit block; 20-Mechanical arm system; 30-End clamping system; 301-Clamping fixing plate; 302-Connector; 303-Driver; 304-First clamping rod; 305-Second clamping rod; 306-Third clamping rod; 307-Fourth clamping rod; 308-Fifth clamping rod; 309-Gripper; 40-Railway transfer and storage system; 401-Guide rail transport frame; 402-First horizontal moving screw seat; 403-Second horizontal moving screw seat; 404-Horizontal moving screw; 405-Lifting moving screw seat; 406-Lifting moving cabin; 407-Lifting screw nut; 408-Lifting... 409 - Lifting Screw; 410 - First Lifting Mechanism Sprocket; 411 - Lifting Mechanism Screw Seat; 412 - Second Lifting Mechanism Sprocket; 413 - Lifting Mechanism Motor; 414 - Lifting Mechanism Guide Rail; 415 - Lifting Mechanism Slider; 416 - Hydraulic Push Cylinder; 417 - Hydraulic Push Rod; 50 - Transport Drive System; 501 - Drive Fixing Plate; 502 - First Bearing Seat; 503 - Second Bearing Seat; 504 - Third Bearing Seat; 505 - Long Shaft; 506 - First Cable Drive Disc; 507 - Second Cable Drive Disc; 508 - First Sprocket; 509 - Second Sprocket; 510 - Motor; 511 - First Bearing; 512 - Second Bearing; 513 - Third Bearing; 60 - Frame Movement System. Detailed Implementation

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution. The terms “comprising” and “having,” and any variations thereof, in the specification, claims, and accompanying drawings of this invention, are intended to cover non-exclusive inclusion. The terms “first,” “second,” etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects and not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as “fixed to,” “mounted to,” “set on,” or “connected to” another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as “connected to” another element, it may be directly or indirectly connected to that other element. Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0040] This invention provides an intelligent track-laying robot, applied in the process of laying tracks in coal mine production. The intelligent track-laying robot includes:

[0041] The system comprises a frame system, a robotic arm system, an end effector gripping system, a track transfer and storage system, a transport drive system, and a frame motion system. The robotic arm system is movably mounted on the frame system, and the end effector gripping system is also mounted on the robotic arm system. The track transfer and storage system is movably mounted inside the frame system. The transport drive system is installed below the frame system. The frame motion system is connected to the frame system and is positioned above the frame motion system.

[0042] The intelligent track-laying robot provided by this invention can realize intelligent track laying with curves, has the ability to work collaboratively with multiple modules, is easy to maintain, and can adapt to the complex environment of underground coal mines, with high work efficiency and track-laying quality.

[0043] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0044] This invention provides an intelligent track-laying robot applied to the track-laying process in coal mine production. This robot integrates multiple functions such as robotic arm operation, track storage and transfer, automatic positioning and laying, and can adapt to complex underground environments, achieving high-precision and high-efficiency laying of straight and curved tracks. Figures 1 to 7 In this embodiment, the intelligent track-laying robot includes:

[0045] The chassis system 10, robotic arm system 20, end effector system 30, track transfer and storage system 40, transport drive system 50, and chassis motion system 60 work together through electronic control, hydraulic or mechanical transmission to form a complete track laying operation system. Specifically, the robotic arm system 20 is movably mounted on the chassis system 10, has multi-degree-of-freedom motion capability, and can cover a large working range. The robotic arm system 20 is also equipped with an end effector system 30. The track transfer and storage system 40 is movably mounted inside the chassis system 10. The transport drive system 50 is installed below the chassis system 10. The chassis motion system 60 is connected to the chassis system 10 and is positioned above it, responsible for the movement of the entire track laying robot on the track. It has good traction and climbing ability and can adapt to changes in the slope of the underground track.

[0046] Specifically, in this embodiment, the frame system 10 serves as the main support structure of the track-laying robot, possessing good rigidity and stability, and capable of supporting heavy components such as the robotic arm system 20 and the track transfer and storage system 40. Figure 2 As shown, the frame system 10 includes a frame 101, a first guide rail 102 and a second guide rail 103. The first guide rail 102 is located above the frame 101 and is used for the horizontal movement of the robotic arm system 20. The second guide rail 103 is located below the frame 101 and is used for the forward and backward movement of the track transfer and storage system 40. The robotic arm system 20 is movably mounted on the first guide rail 102 and the track transfer and storage system 40 is movably mounted on the second guide rail 103.

[0047] Furthermore, in this embodiment, the frame system 10 also includes a limiting block 104, which is disposed on both sides of the first guide rail 102 to effectively prevent the robotic arm system 20 from exceeding the safe range during movement, thereby improving the stability and safety of the equipment operation.

[0048] Specifically, in this embodiment, as Figure 3As shown, the end effector system 30 includes a clamping plate 301 and a connector 302. The connector 302 is mounted on one side of the plate and connected to the end effector of the robotic arm. The other side of the plate has several clamping parts, each a multi-link clamping mechanism. Each clamping part includes a drive member 303, a first clamping rod 304, a second clamping rod 305, a third clamping rod 306, a fourth clamping rod 307, a fifth clamping rod 308, and a gripper 309. The drive member 303 is connected to the first clamping rod 304, and each of the two ends of the first clamping rod 304 is connected to a second clamping rod 305. Each second clamping rod 305 is connected to a third clamping rod 306, each third clamping rod 306 is connected to a fourth clamping rod 307, and each fourth clamping rod 307 is connected to a gripper 309. The gripper 309 and the driving component 303 are also connected through a fifth clamping rod 308. The driving component 303 drives the first clamping rod 304 to the fifth clamping rod 308 in linkage, so that the gripper 309 can stably grasp and release the track. This structure has good self-adaptability and can adapt to tracks of different sizes and shapes, and does not damage the track surface during the grasping process.

[0049] In this embodiment, the connector 302 is a rotary joint.

[0050] In this embodiment, the driving component 303 is a hydraulic push cylinder; in other embodiments, the driving component 303 may also be a cylinder, a motor, etc.

[0051] In this embodiment, there are 6 grippers 309; in other embodiments, the number of grippers 309 can be flexibly set according to the actual situation on site.

[0052] Specifically, in this embodiment, combined with Figure 4 and Figure 5 The track transfer and storage system 40 is one of the core functional modules of the track laying robot. It is used for temporary storage and precise positioning of the track to be laid. It includes a guide rail transport frame 401, a horizontal moving mechanism and a lifting mechanism. The guide rail transport frame 401 is set on the second guide rail 103, the horizontal moving mechanism is installed on the guide rail transport frame 401, and the lifting mechanism is set on the horizontal moving mechanism.

[0053] Specifically, in this embodiment, the horizontal moving mechanism includes a first horizontal moving screw seat 402, a second horizontal moving screw seat 403, and a horizontal moving screw 404. The first horizontal moving screw seat 402 and the second horizontal moving screw seat 403 are disposed opposite to each other on the guide rail transport frame 401 and are connected by the horizontal moving screw 404.

[0054] Specifically, the lifting mechanism includes a lifting movable screw seat 405, a lifting movable cabin 406, a lifting screw nut 407, a lifting platform 408, a lifting screw 409, a first lifting mechanism sprocket 410, a lifting mechanism screw seat 411, a second lifting mechanism sprocket 412, a lifting mechanism motor 413, a lifting mechanism guide rail 414, and a lifting mechanism slider 415. The lifting mechanism screw seat 411 is mounted on the horizontal moving mechanism, and the lifting movable cabin 406 is mounted on the lifting mechanism screw seat 411. The lifting screw 409 is located inside the lifting movable cabin 406. The lifting screw nut 407 is mounted on the lifting screw 409 and connected to the lifting platform 408. The lifting mechanism screw seat 411 is located at the top of the lifting movable cabin 406. The first lifting mechanism sprocket 410 is mounted on the lifting mechanism screw seat 411 and sleeved on the lifting screw 409. The second lifting mechanism sprocket 412 is mounted on the lifting mechanism motor 413. The motor 413 is installed on one side of the top of the lifting and moving cabin 406. The lifting mechanism guide rail 414 is installed on the other side of the lifting and moving cabin 406 opposite to the lifting mechanism motor 413. The lifting platform 408 is set on the lifting mechanism guide rail 414. The lifting mechanism guide rail 414 is also equipped with a lifting mechanism slider 415. Hydraulic push cylinders 416 are respectively provided on both sides of the guide rail transport frame 401. Hydraulic push rods 417 are provided between the hydraulic push cylinders 416. The horizontal moving mechanism drives the entire storage platform to move along the second guide rail 103 through the horizontal moving screw 404 to realize the extension and retraction of the track. The lifting mechanism drives the lifting screw 409 to rotate through the lifting mechanism motor 413, which drives the lifting platform 408 to move up and down along the lifting mechanism guide rail 414 to realize the vertical positioning of the track. The hydraulic push cylinders 416 and hydraulic push rods 417 are used to accurately position the track gauge and horizontal direction during the storage process to ensure that the track does not deviate during transportation and laying.

[0055] Specifically, in this embodiment, as Figure 6 and Figure 7As shown, the transport drive system 50 adopts a dual drive mechanism, including a drive fixing plate 501. Two drive mechanisms are arranged opposite each other on the drive fixing plate 501, providing high traction and strong driving force. Each drive mechanism includes a first bearing housing 502, a second bearing housing 503, a third bearing housing 504, a long shaft 505, a first cable drive disc 506, a second cable drive disc 507, a first sprocket 508, a second sprocket 509, and a motor 510. The first bearing housing 502 houses a first bearing 511, the second bearing housing 503 houses a second bearing 512, and the third bearing housing 504 houses a third bearing 513. The long shaft 505 is fitted within the first bearing 511, the second bearing 512, and the third bearing 513. The arrangement of these three bearings ensures the transmission capacity of the long shaft 505. To ensure stability, the first cable drive disc 506 is positioned between the first bearing seat 502 and the second bearing seat 503, and the second cable drive disc 507 is positioned between the second bearing seat 503 and the third bearing seat 504. A first sprocket 508 is also provided between the first bearing seat 502 and the second bearing seat 503. The motor 510 is mounted on the drive fixing plate 501 on one side of the long shaft 505, and a second sprocket 509 is provided on the motor 510. The motor 510 drives the long shaft 505 to rotate, driving the first cable drive disc 506 and the second cable drive disc 507 to retract and extend the cable, thereby traction the track transfer and storage system 40 to move. The transport drive system 50 has the characteristics of smooth transmission, large traction force, and fast response speed, and can adapt to uneven track conditions underground.

[0056] This invention also provides a working method for the intelligent track-laying robot described in the above embodiments, including multiple stages such as track grasping, storage, transportation, positioning, laying, and track bending forming. In this embodiment, if combined with... Figures 1 to 8 The working method includes the following steps:

[0057] S10. The intelligent track-laying robot is initially located on the laid track. Its pressure sensor first determines whether there is a stored track in the track transfer and storage system 40. The intelligent track-laying robot obtains the location information of the track storage point through the communication module and moves along the track to the designated storage point through the frame motion system 60.

[0058] S20. After arriving at the storage point, the transport drive system 50 drags the track transfer storage system 40 to a position suitable for the operation of the robotic arm system 20 via a cable. The image recognition module on the robotic arm system 20 identifies and positions the track to prepare for grasping.

[0059] S30, the end clamping system 30 picks up the rail and accurately places it on the lifting platform 408 of the rail transfer and storage system 40. The lifting platform 408 sends the rail into the designated position inside the rail transfer and storage system 40, and uses the hydraulic push cylinder 416 and hydraulic push rod 417 to complete the track gauge and horizontal positioning of the rail.

[0060] S40. To lower the center of gravity during transportation, the track transfer and storage system 40 will be retracted from the working position to the transportation position. The self-locking of the motor will "lock" the transportation drive system 50. The transportation drive system 50 will drive the intelligent track laying robot to move towards the target laying point on the laid track, ensuring safety and stability during transportation.

[0061] S50. After arriving at the target laying point, in order to improve the efficiency of track laying and ensure construction accuracy, the track transfer and storage system 40 is started and extended forward through the transport drive system 50. The drive mechanism drives it to extend forward smoothly. At the same time, the positioning sensor accurately positions and monitors the track position in real time. During the unfolding process, the system automatically adjusts the track posture so that the track to be laid is precisely connected with the end of the already laid track.

[0062] S60, the robotic arm system 20 moves to the designated position of the track transfer and storage system 40, the drive unit 303 of the end clamping system 30 drives the gripper to clamp the track to be laid, and the track is picked up. The robotic arm system 20 transports the track and places it on the sleeper of the track to be laid.

[0063] S70. After the end clamping system 30 is released, the screw fixing mechanism at the end of the robotic arm system 20 is activated to tighten the fixing studs at the beginning and end of the track, so that the track is initially fixed on the sleepers.

[0064] S80 and the robotic arm system 20 apply different forces to different positions of the initially fixed track according to the preset curvature radius of the curved track, so as to change the curvature radius of the track until the track meets the curvature radius of the pre-laid path, and then fix the track and sleepers.

[0065] Compared with existing technologies, the intelligent track-laying robot and its working method described in the above embodiments address the challenges of laying underground tracks in coal mines, which primarily relies on manual labor or semi-mechanized equipment, resulting in high labor intensity, low laying accuracy, and long operation cycles. This invention achieves intelligent laying of curved tracks. By applying controllable lateral forces of varying positions and magnitudes to the track through a robotic arm system, the track undergoes the desired elastic deformation, thereby accurately laying curved tracks with a predetermined radius of curvature. This effectively solves the technical problem that most existing track-laying equipment can only lay straight tracks, greatly expanding the robot's application scenarios and meeting the laying requirements for curved mine tunnels. This invention integrates the entire process of track grabbing, storage, transportation, and laying. Through sensor modules and an image recognition system, it performs autonomous decision-making and positioning, achieving fully automated operation and reducing the safety risks of manual track laying. The track transfer and storage system can store multiple tracks at once, reducing the frequency of back-and-forth handling, thus significantly improving overall laying efficiency and quality.

[0066] Obviously, the embodiments described above are merely preferred embodiments of the present invention, and not all embodiments. The accompanying drawings illustrate preferred embodiments of the present invention, but do not limit the scope of the patent. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this invention.

Claims

1. An intelligent track-laying robot, characterized in that, include: Chassis system, robotic arm system, end effector system, rail transfer and storage system, transport drive system, and chassis motion system; The robotic arm system is movably mounted on the frame system, and the robotic arm system is also equipped with the end effector clamping system; the track transfer and storage system is movably mounted inside the frame system; the transport drive system is installed below the frame system; the frame motion system is connected to the frame system and positioned above the frame motion system.

2. The intelligent track-laying robot according to claim 1, characterized in that, The chassis system includes a chassis, a first guide rail, and a second guide rail. The first guide rail is located above the chassis, and the second guide rail is located below the chassis. The robotic arm system is movably mounted on the first guide rail, and the rail transfer and storage system is movably mounted on the second guide rail.

3. The intelligent track-laying robot according to claim 1, characterized in that, The end effector system includes a clamping plate and a connector. The connector is installed on one side of the plate and connected to the end of the robotic arm. The other side of the plate has several clamping parts. Each clamping part includes a drive unit, a first clamping rod, a second clamping rod, a third clamping rod, a fourth clamping rod, a fifth clamping rod, and a gripper. The drive unit is connected to the first clamping rod. Each end of the first clamping rod is connected to a second clamping rod. Each second clamping rod is connected to a third clamping rod. Each third clamping rod is connected to a fourth clamping rod. Each fourth clamping rod is connected to a gripper. The gripper is also connected to the drive unit via the fifth clamping rod.

4. The intelligent track-laying robot according to claim 2, characterized in that, The rail transfer and storage system includes the guide rail transport frame, the horizontal moving mechanism, and the lifting mechanism. The guide rail transport frame is mounted on the second guide rail, the horizontal moving mechanism is mounted on the guide rail transport frame, and the lifting mechanism is mounted on the horizontal moving mechanism.

5. The intelligent track-laying robot according to claim 4, characterized in that, The horizontal moving mechanism includes a first horizontal moving screw seat, a second horizontal moving screw seat, and a horizontal moving screw. The first horizontal moving screw seat and the second horizontal moving screw seat are disposed opposite to each other on the guide rail transport frame and are connected by the horizontal moving screw.

6. The intelligent track-laying robot according to claim 5, characterized in that, The lifting mechanism includes a lifting movable screw seat, a lifting movable cabin, a lifting screw nut, a lifting platform, a lifting screw, a first lifting mechanism sprocket, a lifting mechanism screw seat, a second lifting mechanism sprocket, a lifting mechanism motor, a lifting mechanism guide rail, and a lifting mechanism slider. The lifting mechanism screw seat is mounted on the horizontal moving mechanism. The lifting movable cabin is mounted on the lifting mechanism screw seat. The lifting screw is housed within the lifting movable cabin. The lifting screw nut is installed on the lifting screw and connected to the lifting platform. The lifting mechanism screw seat is located at the top of the lifting movable cabin. The first lifting mechanism sprocket is mounted on the lifting mechanism screw seat and sleeved on the lifting screw. The second lifting mechanism sprocket is mounted on the lifting mechanism motor. The lifting mechanism motor is mounted on one side of the top of the lifting movable cabin. The lifting mechanism guide rail is mounted on the other side of the lifting movable cabin opposite the lifting mechanism motor. The lifting platform is mounted on the lifting mechanism guide rail, and the lifting mechanism slider is also mounted on the lifting mechanism guide rail.

7. The intelligent track-laying robot according to claim 1, characterized in that, The transport drive system includes a drive mounting plate with two drive mechanisms arranged opposite each other on the drive mounting plate. Each drive mechanism includes a first bearing housing, a second bearing housing, a third bearing housing, a long shaft, a first cable drive disc, a second cable drive disc, a first sprocket, a second sprocket, and a motor. The first bearing housing contains a first bearing, the second bearing housing contains a second bearing, and the third bearing housing contains a third bearing. The long shaft is sleeved within the first, second, and third bearings. The first cable drive disc is disposed between the first and second bearing housings, and the second cable drive disc is disposed between the second and third bearing housings. A first sprocket is also disposed between the first and second bearing housings. The motor is mounted on the drive mounting plate on one side of the long shaft, and a second sprocket is mounted on the motor.

8. The intelligent track-laying robot according to claim 4, characterized in that, Hydraulic push cylinders are provided on both sides of the guide rail transport frame, and hydraulic push rods are provided between the hydraulic push cylinders.

9. The intelligent track-laying robot according to claim 2, characterized in that, The chassis system also includes a limiting block, which is disposed on the first guide rail.

10. A method for operating an intelligent track-laying robot as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S10. The intelligent track-laying robot is initially located on the laid track. Its pressure sensor first determines whether there is a stored track in the track transfer and storage system. The intelligent track-laying robot obtains the location information of the track storage point through the communication module and moves along the track to the designated storage point through the frame motion system. S20. Upon arrival at the storage point, the transport drive system drags the track transfer storage system to a suitable position for the robotic arm system to operate via a cable. The image recognition module of the robotic arm system identifies and positions the track in preparation for grasping. S30, the end clamping system picks up the rail and precisely places it onto the lifting platform of the rail transfer and storage system. The lifting platform sends the rail into the designated position inside the rail transfer and storage system and uses hydraulic cylinders and hydraulic push rods to complete the track gauge and horizontal positioning of the rail. S40. To lower the center of gravity during transportation, the track transfer and storage system will be retracted from the working position to the transportation position, and the transportation drive system will drive the intelligent track laying robot to move towards the target laying point on the laid track. S50. Upon arrival at the target laying point, the track transfer and storage system is activated, extending forward through the transport drive system and simultaneously using positioning sensors for precise positioning, ensuring that the track to be laid precisely aligns with the end of the already laid track. S60, the robotic arm system moves to the designated position of the track transfer and storage system, the drive unit of the end gripping system drives the gripper to clamp the track to be laid, and the robotic arm system transports the track and places it on the sleepers of the track to be laid. S70. After the end clamping system is released, the screw fixing mechanism at the end of the robotic arm system is activated to tighten the fixing studs at both ends of the track, so that the track is initially fixed on the sleepers. S80: The robotic arm system applies different forces to different positions of the pre-fixed track according to the preset curvature radius of the curved track, so that the track meets the curvature radius of the pre-laid path, and then fixes the track and sleepers.

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