Connecting rod mechanism of carrier roller robot and carrier roller robot

Abstract

The utility model relates to the technical field of belt conveyor carrier roller replacement, in particular to a connecting rod mechanism of a carrier roller robot and the carrier roller robot, the connecting rod mechanism comprises a supporting piece, a connecting rod mechanism and a connecting rod driving unit, the supporting piece is movably connected with a fixing part through the connecting rod mechanism; the fixed end of the connecting rod driving unit is movably connected to the fixed part, and the movable end of the connecting rod driving unit is movably connected with the connecting rod mechanism. After the structure is adopted, the roller replacing device has the beneficial effects that the stability in the roller replacing working process is good; and through the design of the connecting rod mechanism, the supporting piece is more convenient to adjust, and the stability of the whole supporting piece is higher.

Description

Technical Field

[0001] The utility model belongs to the technical field of belt conveyor roller replacement, in particular to a connecting rod mechanism of a roller robot and the roller robot. Background Art

[0002] As the main equipment for coal transportation, the belt conveyor's operation stability and reliability directly determine the efficiency and economy of coal material transportation. Rollers are the key structure supporting the belt conveyor and the core component of the belt conveyor. There are a large number of rollers, especially in long-distance belt conveyors. Rollers are the load-bearing mechanical components of the belt conveyor. They bear the oblique force of the material on the rollers. The force is relatively complex and they are fragile parts. Once a failure occurs, it is very easy to cause the conveyor belt to deviate, wear more, or even catch fire, which seriously affects the reliability of coal material transportation. At present, most coal mines adopt the mode of manual roller replacement, but due to the large number of rollers, manual roller replacement is time-consuming and labor-intensive, which is not only extremely inefficient but also dangerous. In addition, it is impossible to replace rollers without stopping the belt conveyor, which will cause certain economic losses.

[0003] At present, Liaoning University of Engineering and Technology has developed a roller replacement robot (publication number CN114473425A), which consists of a walking mechanism, an adjustment platform, a support belt platform, a front manipulator, a rear manipulator, a hydraulic control system, and an electrical control system. The robot walks on the walking track set on the side of the conveyor truss, and the support belt platform is formed by three hydraulic cylinders, and the roller replacement is completed by the manipulator; however, the mechanical arm assembly of the roller replacement assembly of this roller replacement robot cannot adjust the verticality of the jacking leg in time, and the supporting balance of the entire mechanical arm is poor, so it is necessary to improve it. Utility Model Content

[0004] In order to solve the above problems in the prior art, the utility model provides a connecting rod mechanism of a roller robot and a roller robot, which are easy to operate, occupy less space and have strong practicality.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] As one aspect of the utility model, a connecting rod mechanism of a roller robot is proposed, which includes: a support member, a connecting rod mechanism and a connecting rod driving unit, wherein the support member is movably connected to a fixed part through the connecting rod mechanism; the fixed end of the connecting rod driving unit is movably connected to the fixed part through a support seat, and the movable end of the connecting rod driving unit is movably connected to the connecting rod mechanism.

[0007] Optionally, the support member includes a support body, the bottom of the support body is provided with a connecting groove that matches with the frame of the belt conveyor, the top of the support body is provided with a first connecting hole, and the support body is provided with a second connecting hole near the first connecting hole.

[0008] Optionally, the connecting rod mechanism includes a first connecting rod assembly and a second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member, a second connecting rod member, a third connecting rod member, a fourth connecting rod member, a fifth connecting rod member and a sixth connecting rod member,

[0009] The first connecting rod is provided with a third connecting hole, a fourth connecting hole, a fifth connecting hole and a sixth connecting hole at intervals, the third connecting hole, the fourth connecting hole and the fifth connecting hole are on the same straight line, and the sixth connecting hole is located above the fifth connecting hole;

[0010] The fourth connecting rod is provided with a seventh connecting hole, an eighth connecting hole and a ninth connecting hole, and the centers of the seventh connecting hole, the eighth connecting hole and the ninth connecting hole are sequentially connected to form a triangle;

[0011] The third connecting hole of the first connecting rod is rotatably connected to one end of the second connecting rod through a first rotating shaft, and the first rotating shaft is rotatably connected to the fixing portion; the first connecting rod is located outside the second connecting rod; the other end of the first connecting rod is rotatably connected to the seventh connecting hole through a second rotating shaft;

[0012] One end of the third connecting rod is rotatably connected to the fourth connecting hole via a third rotating shaft, and the other end of the third connecting rod is rotatably connected to the ninth connecting hole via a fourth rotating shaft;

[0013] One end of the fifth connecting rod is rotatably connected to the eighth connecting hole via the fifth rotating shaft; the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod via the sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole; the other end of the sixth connecting rod is rotatably connected to the fifth connecting hole via the seventh rotating shaft.

[0014] Optionally, the connecting rod driving unit includes a first driving cylinder, a second driving cylinder, a third driving cylinder and a fourth driving cylinder, the fixed end of the first driving cylinder is rotatably connected to the support seat or the fixed part, the movable end of the first driving cylinder is rotatably connected to the sixth connecting hole of the first connecting rod assembly, the fixed end of the second driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the second driving cylinder is rotatably connected to the sixth connecting hole of the second connecting rod assembly; the fixed end of the third driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the third driving cylinder is rotatably connected to the first connecting hole; the fixed end of the fourth driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the fourth driving cylinder is rotatably connected to the two fourth rotating shafts.

[0015] Optionally, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod cooperate to form a parallelogram structure.

[0016] As another aspect of the present invention, a roller robot is provided, which includes the connecting rod mechanism of the roller robot as described above.

[0017] The beneficial effects of the connecting rod mechanism of the roller robot and the roller robot of the utility model are specifically embodied in: improving the stability during the roller changing process; through the design of the connecting rod mechanism, the support member is more convenient to adjust and the stability of the entire support member is also higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0019] Figure 1 This is a schematic diagram of the use state of the connecting rod mechanism of the roller robot of the utility model;

[0020] Figure 2 This is a structural stereogram of the support member of the utility model;

[0021] Figure 3 It is a structural stereogram of the connecting rod mechanism of the roller robot of the utility model;

[0022] Figure 4 It is a structural stereogram of the first connecting rod of the utility model;

[0023] Figure 5 It is a structural stereogram of the fourth connecting rod of the utility model;

[0024] Figure 6 It is a structural stereogram of the connecting rod driving unit of the utility model. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in combination with the specific embodiments of the utility model and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0026] A connecting rod mechanism of a roller robot according to an embodiment of the present application is as follows: Figure 1-Figure 6 As shown, it includes a support member 61, a connecting rod mechanism 62 and a connecting rod driving unit 63, wherein the support member 61 is movably connected to the fixed part through the connecting rod mechanism 62; the fixed end of the connecting rod driving unit 63 is movably connected to the fixed part through a support seat 64, and the movable end of the connecting rod driving unit 63 is movably connected to the connecting rod mechanism 62. Through the cooperation of the connecting rod driving unit 63 and the connecting rod mechanism 62, the support member 61 is matched with the frame of the belt conveyor. In the final state, the support member 61 is perpendicular to the frame of the belt conveyor, so that the stability of the support unit 6 is the highest, which can ensure the stability of the roller changing manipulator on the fixed part during operation; at the same time, in the working state, the support member 61 is perpendicular to the frame of the belt conveyor, and the support member 61 in this state can offset the lateral force generated by the conveying process of the belt conveyor to ensure the stability of the roller changing manipulator.

[0027] Furthermore, since the support member 61 cannot be moved in one step to be perpendicular to the frame of the belt conveyor, such as due to factors such as insufficient width of the support member 61, it is necessary to use a connecting rod mechanism 62 and a connecting rod driving unit 63 for adjustment to achieve the support member 61 being perpendicular to the frame of the belt conveyor; the support member 61 includes a support body 611, a connecting groove 612 matching the frame of the belt conveyor is provided at the bottom of the support body 611, a first connecting hole 613 is provided at the top of the support body 611, and a second connecting hole 614 is provided on the support body 611 near the first connecting hole 613;

[0028] The connecting rod mechanism 62 includes a first connecting rod assembly and a second connecting rod assembly, and the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member 61; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member 6211, a second connecting rod member 6212, a third connecting rod member 6213, a fourth connecting rod member 6214, a fifth connecting rod member 6215 and a sixth connecting rod member 6216,

[0029] The first connecting rod 6211 is provided with a third connecting hole 62111, a fourth connecting hole 62112, a fifth connecting hole 62113 and a sixth connecting hole 62114 at intervals, the third connecting hole 62111, the fourth connecting hole 62112 and the fifth connecting hole 62113 are on the same straight line, and the sixth connecting hole 62114 is located above the fifth connecting hole 62113;

[0030] The fourth connecting rod 6214 is provided with a seventh connecting hole 62141, an eighth connecting hole 62142 and a ninth connecting hole 62143, and the centers of the seventh connecting hole 62141, the eighth connecting hole 62142 and the ninth connecting hole 62143 are sequentially connected to form a triangle;

[0031] The third connecting hole 62111 of the first connecting rod 6211 is rotatably connected to one end of the second connecting rod 6212 via a first rotating shaft, and the first rotating shaft is rotatably connected to the support seat 64 or the fixing portion; the first connecting rod 6211 is located outside the second connecting rod 6212; the other end of the first connecting rod 6211 is rotatably connected to the seventh connecting hole 62141 via a second rotating shaft;

[0032] One end of the third connecting rod 6213 is rotatably connected to the fourth connecting hole 62112 via a third rotating shaft, and the other end of the third connecting rod 6213 is rotatably connected to the ninth connecting hole 62143 via a fourth rotating shaft;

[0033] One end of the fifth connecting rod 6215 is rotatably connected to the eighth connecting hole 62142 via a fifth rotating shaft; the other end of the fifth connecting rod 6215 is rotatably connected to one end of the sixth connecting rod 6216 via a sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole 614. It should be noted that for the convenience of processing and installation, the sixth rotating shaft is used as a common component of the first connecting rod assembly 621 and the second connecting rod assembly 622; the other end of the sixth connecting rod 6216 is rotatably connected to the fifth connecting hole 62113 via a seventh rotating shaft;

[0034] The connecting rod driving unit 63 includes a first driving cylinder 631, a second driving cylinder 632, a third driving cylinder 633 and a fourth driving cylinder 634. The fixed end of the first driving cylinder 631 is rotatably connected to the support seat 64 or the fixed part, the movable end of the first driving cylinder 631 is rotatably connected to the sixth connecting hole 62114 of the first connecting rod assembly 621, the fixed end of the second driving cylinder 632 is rotatably connected to the support seat 64 or the fixed part, and the movable end of the second driving cylinder 632 is rotatably connected to the sixth connecting hole 62114 of the second connecting rod assembly 622; the fixed end of the third driving cylinder 633 is rotatably connected to the support seat 64 or the fixed part, and the movable end of the third driving cylinder 633 is rotatably connected to the first connecting hole 613; the fixed end of the fourth driving cylinder 634 is rotatably connected to the support seat 64 or the fixed part, and the movable end of the fourth driving cylinder 634 is rotatably connected to two fourth rotating shafts. It should be noted that the two fourth rotating shafts can be replaced by one shaft;

[0035] The first driving cylinder 631 and the second driving cylinder 632 are used for lifting and lowering the support member 61; the third driving cylinder 633 is used for adjusting the vertical state of the support member 61 and the frame, and the fourth driving cylinder 634 is used for adjusting the opening angle of the support member 61 so that it can match the frame; because the support member 61 cannot be adjusted into place at once or there is an angle problem with the frame, timely adjustment is required through the third driving cylinder 633 and the fourth driving cylinder 634.

[0036] In this embodiment, the first link member 6211, the second link member 6212, the third link member 6213 and the fourth link member 6214 work together to form a parallelogram structure, such as Figure 1 As shown at B in the middle; with this structure, the support member 61 can be adjusted in the left and right directions and the vertical direction.

[0037] In this embodiment, by adopting the support member 61, the lateral force generated by the belt conveyor can be effectively offset; and the first driving cylinder 631, the second driving cylinder 632, the third driving cylinder 633 and the fourth driving cylinder 634 only generate axial force, and there is no need to resist the lateral force, so the service life of the lifting cylinder is long.

[0038] A roller robot according to another embodiment of the present application includes the connecting rod mechanism of the roller robot as described above.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0041] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A connecting rod mechanism of a roller robot, characterized in that: It includes: A support member, a connecting rod mechanism and a connecting rod driving unit, wherein the support member is movably connected to a fixed part through the connecting rod mechanism; the fixed end of the connecting rod driving unit is movably connected to the fixed part, and the movable end of the connecting rod driving unit is movably connected to the connecting rod mechanism.

2. The connecting rod mechanism of the roller robot according to claim 1, characterized in that: The fixed end of the connecting rod driving unit is movably connected to the fixing part.

3. The connecting rod mechanism of the roller robot according to claim 1, characterized in that: The support member comprises a support body, a connection groove matched with a frame of a belt conveyor is provided at the bottom of the support body, a first connection hole is provided at the top of the support body, and a second connection hole is provided on the support body close to the first connection hole.

4. The connecting rod mechanism of the roller robot according to claim 3, characterized in that: The connecting rod mechanism includes a first connecting rod assembly and a second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are respectively located on both sides of the support member; the structure of the second connecting rod assembly is symmetrical to the structure of the first connecting rod assembly; the first connecting rod assembly includes a first connecting rod member, a second connecting rod member, a third connecting rod member, a fourth connecting rod member, a fifth connecting rod member and a sixth connecting rod member, The first connecting rod is provided with a third connecting hole, a fourth connecting hole, a fifth connecting hole and a sixth connecting hole at intervals, the third connecting hole, the fourth connecting hole and the fifth connecting hole are on the same straight line, and the sixth connecting hole is located above the fifth connecting hole; The fourth connecting rod is provided with a seventh connecting hole, an eighth connecting hole and a ninth connecting hole, and the centers of the seventh connecting hole, the eighth connecting hole and the ninth connecting hole are sequentially connected to form a triangle; The third connecting hole of the first connecting rod is rotatably connected to one end of the second connecting rod through a first rotating shaft, and the first rotating shaft is rotatably connected to the fixing portion; the first connecting rod is located outside the second connecting rod; the other end of the first connecting rod is rotatably connected to the seventh connecting hole through a second rotating shaft; One end of the third connecting rod is rotatably connected to the fourth connecting hole via a third rotating shaft, and the other end of the third connecting rod is rotatably connected to the ninth connecting hole via a fourth rotating shaft; One end of the fifth connecting rod is rotatably connected to the eighth connecting hole via the fifth rotating shaft; the other end of the fifth connecting rod is rotatably connected to one end of the sixth connecting rod via the sixth rotating shaft, and the sixth rotating shaft is rotatably connected to the second connecting hole; the other end of the sixth connecting rod is rotatably connected to the fifth connecting hole via the seventh rotating shaft.

5. The connecting rod mechanism of the roller robot according to claim 4, characterized in that: The connecting rod driving unit includes a first driving cylinder, a second driving cylinder, a third driving cylinder and a fourth driving cylinder, the fixed end of the first driving cylinder is rotatably connected to a support seat or a fixed part, the movable end of the first driving cylinder is rotatably connected to the sixth connecting hole of the first connecting rod assembly, the fixed end of the second driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the second driving cylinder is rotatably connected to the sixth connecting hole of the second connecting rod assembly; the fixed end of the third driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the third driving cylinder is rotatably connected to the first connecting hole; the fixed end of the fourth driving cylinder is rotatably connected to the support seat or the fixed part, and the movable end of the fourth driving cylinder is rotatably connected to two fourth rotating shafts.

6. The connecting rod mechanism of the roller robot according to claim 4, characterized in that: The first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod cooperate to form a parallelogram structure.

7. A roller robot, characterized in that: It comprises the connecting rod mechanism of the roller robot as described in any one of claims 1-6.

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