Double-circular-pipe track walking mechanism suitable for coal conveying pipe gallery robot

Abstract

The utility model discloses a double-circular-pipe track walking mechanism suitable for a coal conveying pipe gallery robot. The double-circular-pipe track walking mechanism comprises a frame body and an auxiliary wheel carrier detachably connected with the frame body. Four corners of the frame body are respectively provided with a first moving wheel; a driving mechanism is arranged on the frame body; a connecting rod is arranged at the lower end of the frame body, an arc-shaped cover is arranged at the lower end of the connecting rod, a round block slidably connected with the connecting rod is arranged at the upper end of the arc-shaped cover, and first arc-shaped parts are arranged on the side portions of the upper end and the lower end of the round block. A fixing ring located at the upper end of the circular block is arranged on the connecting rod; the arc-shaped cover is of a hollow structure, and the edge of the arc-shaped cover is provided with a second arc-shaped part used for being connected with the first arc-shaped part. A round hole is formed in the auxiliary wheel carrier; rail clamping mechanisms are respectively arranged on two sides of the lower end of the auxiliary wheel carrier; sliding abutting mechanisms are arranged on the two sides of the round hole respectively. Due to the detachable connection of the frame body and the auxiliary wheel carrier, the auxiliary wheel carrier can be conveniently installed on a track.

Description

TECHNICAL FIELD

[0001] The utility model relates to a double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot belongs to track walking technical field. BACKGROUND

[0002] In the modern energy industry, coal as an important basic energy, its transportation link is very important. As the key channel of coal transportation, coal conveying pipe gallery undertakes the heavy responsibility of guaranteeing efficient and safe coal transportation. In order to ensure the stable operation of coal conveying pipe gallery, potential safety hazards and equipment failures are found in time, and the daily inspection work of pipe gallery is essential. Usually, double circular pipe tracks are arranged on both sides of the top of the coal conveying pipe gallery track for the movement of the inspection robot, and the corresponding track moving mechanism is equipped on the inspection robot.

[0003] For example, the Chinese utility model patent with the authorization announcement number CN208631482U discloses a circular pipe track walking mechanism capable of preventing side deviation, and specifically discloses a rack, wheel sets with bearing wheels and auxiliary wheels are arranged on the left and right side walls of the rack, the wheel sets are provided with two rows of wheels; the rotating shafts of the bearing wheels and the auxiliary wheels are horizontally arranged; the bearing wheels and the auxiliary wheels in the two rows of wheel sets are arranged in correspondence with each other in an up-down manner, and the bearing wheels and the auxiliary wheels in each row are arranged in an interval; a side leaning wheel is fixed on the rack between the bearing wheels and the auxiliary wheels, the rotating shaft of the side leaning wheel is vertically arranged, the bearing wheels are circular grooves, which can increase the contact area, improve the carrying capacity and reduce the pressure on the track. When the walking mechanism is assembled on the track, the relative position of the wheel set and the track needs to be adjusted, and the auxiliary wheel or the bearing wheel needs to be separately installed, which is complicated and requires a lot of manpower and time. UTILITY MODEL CONTENTS

[0004] The utility model discloses a double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot belongs to track walking technical field.

[0005] The utility model discloses a technical scheme: a double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, including frame body and with the frame body dismounting connection's auxiliary wheel frame, four corners of frame body are equipped with first mobile wheel respectively, be equipped with drive mechanism on the frame body, and the output of drive mechanism is connected with first mobile wheel, frame body lower extreme is equipped with connecting rod, and the lower end of connecting rod is equipped with arc cover, and the upper end of arc cover is equipped with with the sliding connection of connecting rod round piece, and the upper and lower end lateral parts of round piece are equipped with first arc portion, be equipped with fixed ring of locating round piece upper end on connecting rod, arc cover is hollow structure and its brim is equipped with second arc portion for with first arc portion link, be equipped with round hole on auxiliary wheel frame, and round hole cooperates with arc cover, the both sides of round hole are equipped with slide and touch mechanism respectively, and the upper end surface of slide and touch mechanism is in contact with arc cover.

[0006] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, the slide and touch mechanism includes a plurality of slide rods arranged at the lower end of the auxiliary wheel frame, and the slide rods are fixedly connected with fixing blocks; the lower ends of the slide rods are slidably connected with a connecting seat located below the fixing blocks, and the outer side of the connecting seat is rotatably connected with second mobile wheels; the slide rods are surrounded by first springs located between the fixing blocks and the connecting seat.

[0007] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, the inner sides of the first mobile wheels and the second mobile wheels are each provided with an anti-falling ring.

[0008] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, the bottom end of the slide rod is provided with a limiting cap.

[0009] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, the slide and touch mechanism includes a plurality of slide grooves arranged on the both sides of the round hole, and a contact block is slidably connected in each slide groove; the contact block has a slope portion towards the outer upper end, and the slope portion gradually increases from the outside to the inside; a plurality of second springs are arranged in the inner ends of the slide grooves, and the outer ends of the second springs are fixedly connected with the contact blocks.

[0010] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, the drive mechanism includes two motors arranged on the frame body and a rotating shaft between the same side first mobile wheels, and a first gear is arranged on the rotating shaft; the output end of the motor is provided with a second gear, and the second gear is engaged with the first gear.

[0011] The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot, a third spring is arranged on the connecting rod between the arc cover and the round piece.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] 1. The utility model discloses a first mobile wheel is placed on the upper of double circular tube track, and makes the lower end of first mobile wheel respectively with double circular tube track, then the clamping rail mechanism under auxiliary wheel frame is aligned with the circular tube track of same side and is aligned with connecting rod, and the circular hole is removed, and the auxiliary wheel frame is removed upwards, and the lower end of sliding contact mechanism is contacted on the upper end of arc cover, and the installation of the utility model is completed on double circular tube track, when needing to take down, the auxiliary wheel frame is pressed upwards continuously, and the sliding contact mechanism is contacted with the circular block and moves, and until the circular block is contacted with fixed ring, and the sliding contact mechanism moves to the upper end of circular block along the first arc portion of downside, then the auxiliary wheel frame is removed downwards, and the sliding contact mechanism makes the circular block move to arc cover, and at this moment, the second arc portion is matched with the first arc portion, and with the continuous downward movement of auxiliary wheel frame, the sliding contact mechanism is inwards retracted along the second arc portion and the first arc portion, and the arc cover can be taken out from the circular hole, and the separation of auxiliary wheel frame and frame is realized.

[0014] 2. In the process of dismounting the auxiliary wheel frame, it is necessary to move upwards first and then downwards, and the second mobile wheel is always contacted below the circular tube track, and the movement of the connecting seat on the slide rod ensures that the second mobile wheel is not affected during the upward movement of the auxiliary wheel frame, and the utility model can adapt to the circular tube track within a certain pipe diameter range.

[0015] 3. In the utility model, when the auxiliary wheel frame is connected with the frame, the inclined portion of the contact block is in contact with the lower end surface of the arc cover, so that the contact block moves to the inside of the sliding groove, until the contact block moves to between the arc cover and the circular block, and under the action of the second spring, the contact block is extended, and the lower end surface of the contact block is in contact with the upper end surface of the arc cover, so that the connection and fixation of the auxiliary wheel frame and the frame are realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structural schematic diagram of the utility model;

[0017] Figure 2 It is the bottom structure schematic diagram of the utility model;

[0018] Figure 3 It is the bottom structure schematic diagram of the frame;

[0019] Figure 4 is a structural schematic view of the auxiliary wheel frame;

[0020] Figure 5 is a structural schematic view of the connecting rod;

[0021] Figure 6 is a sectional view of the connecting rod.

[0022] The marks in the drawings are: 1-frame body, 2-first moving wheel, 3-driving mechanism, 4-connecting rod, 5-arc cover, 6-round block, 7-first arc part, 8-fixed ring, 9-second arc part, 10-auxiliary wheel frame, 11-round hole, 12-rail clamping mechanism, 13-sliding contact mechanism, 14-third spring, 20-sliding rod, 21-fixed block, 22-connection seat, 23-second moving wheel, 24-first spring, 25-anti-drop ring, 26-limit cap, 30-sliding groove, 31-contact block, 32-inclined part, 33-second spring, 40-motor, 41-rotating shaft, 42-first gear, 43-second gear. DETAILED DESCRIPTION

[0023] The utility model will be further explained in connection with the drawings and examples, but not as the basis for the restriction of the utility model.

[0024] Example: a double circular tube track walking mechanism suitable for coal pipe corridor robot, constitutes as shown in Figures 1-6 The four corners of the frame body 1 are respectively provided with first moving wheels 2; the frame body 1 is provided with a driving mechanism 3, and the output end of the driving mechanism 3 is connected with the first moving wheels 2; the lower end of the frame body 1 is provided with a connecting rod 4, as shown in Figure 5 and 6As shown, the lower end of the connecting rod 4 is provided with an arc cover 5, the upper end of the arc cover 5 is provided with a circular block 6 which is slidingly connected with the connecting rod 4, the upper and lower end sides of the circular block 6 are provided with first arc-shaped parts 7; the connecting rod 4 is provided with a fixed ring 8 which is located at the upper end of the circular block 6; the arc cover 5 is a hollow structure and the edge thereof is provided with a second arc-shaped part 9 which is used for connecting with the first arc-shaped part 7; the auxiliary wheel frame 10 is provided with a circular hole 11 which is matched with the arc cover 5; the lower end of the auxiliary wheel frame 10 is provided with a rail clamping mechanism 12 on both sides thereof; the circular hole 11 is provided with a sliding contact mechanism 13 on both sides thereof, and the sliding contact mechanism 13 is in contact with the upper end surface of the arc cover 5. The frame body 1 is placed above the double circular pipe track, and the lower end of the first moving wheel 2 is in contact with the double circular pipe track, then the rail clamping mechanism 12 below the auxiliary wheel frame 10 is aligned with the same side of the circular pipe track, and the circular hole 11 is aligned with the connecting rod 4, the auxiliary wheel frame 10 is moved upward, so that the lower end of the sliding contact mechanism 13 is in contact with the upper end of the arc cover 5, and the installation of the utility model on the double circular pipe track is completed; when it is needed to be removed, the auxiliary wheel frame 10 is continuously pressed upward, so that the sliding contact mechanism 13 moves in contact with the circular block 6, until the circular block 6 is in contact with the fixed ring 8, then the sliding contact mechanism 13 moves along the first arc-shaped part 7 on the lower side to the upper end of the circular block 6, then the auxiliary wheel frame 10 is moved downward, and the sliding contact mechanism 13 moves the circular block 6 into the arc cover 5, at this time, the second arc-shaped part 9 is matched with the first arc-shaped part 7, along with the continuous downward movement of the auxiliary wheel frame 10, the sliding contact mechanism 13 is inwards retracted along the second arc-shaped part 9 and the first arc-shaped part 7, so that the arc cover 5 can be taken out from the circular hole 11, and the separation of the auxiliary wheel frame 10 and the frame body 1 is realized.

[0025] Preferably, as shown in Figure 2 and 4 The rail clamping mechanism 12 comprises a plurality of sliding rods 20 which are arranged at the lower end of the auxiliary wheel frame 10, and the sliding rods 20 are fixedly connected with fixed blocks 21; the lower ends of the sliding rods 20 are slidingly connected with a connecting seat 22 which is located below the fixed blocks 21, the outer side of the connecting seat 22 is rotationally connected with a second moving wheel 23; the sliding rods 20 are surrounded by first springs 24 which are located between the fixed blocks 21 and the connecting seat 22. The inner sides of the first moving wheel 2 and the second moving wheel 23 are provided with anti-falling rings 25, which prevent the first moving wheel 2 and the second moving wheel 23 from falling sideways on the circular pipe track. The bottom end of the sliding rod 20 is provided with a limiting cap 26 which is used for preventing the connecting seat 22 from sliding out from the bottom of the sliding rod 20. In the process of disassembling the auxiliary wheel frame 10, it is needed to move upward first and then downward, and the second moving wheel 23 is always in contact with the lower side of the circular pipe track, and the movement of the connecting seat 22 on the sliding rod 20 ensures that the second moving wheel 23 is not affected during the upward movement of the auxiliary wheel frame 10, and the utility model can adapt to the circular pipe track within a certain pipe diameter range.

[0026] Preferably, as shown in Figure 5 and6 As shown, the sliding abutment mechanism 13 includes sliding grooves 30 respectively disposed on both sides of the circular hole 11. An abutment block 31 is slidably connected in the sliding groove 30. The abutment block 31 has an inclined portion 32 at its upper outer side, and the inclined portion 32 is lower to higher from the outside to the inside. A plurality of second springs 33 are provided at the inner end of the sliding groove 30, and the outer ends of the second springs 33 are fixedly connected to the abutment block 31. When the auxiliary wheel frame 10 is connected to the frame 1, the inclined part 32 of the contact block 31 contacts the lower end face of the arc-shaped cover 5, causing the contact block 31 to move into the groove 30 until the contact block 31 moves between the arc-shaped cover 5 and the round block 6. Under the action of the second spring 33, the contact block 31 extends out and abuts against the upper end face of the arc-shaped cover 5, thus achieving the connection and fixation between the auxiliary wheel frame 10 and the frame 1. When separating the auxiliary wheel frame 10 from the frame 1, the bottom moves upward, causing the inclined part 32 of the contact block 31 to move upward along the first arc-shaped part 7 on the lower side of the round block 6 to the upper end of the round block 6. Then the auxiliary wheel frame 10 moves downward, causing the contact block 31 to completely retract into the groove 30 along the first arc-shaped part 7 and the second arc-shaped part 9. At this time, the arc-shaped cover 5 can be taken out from the round hole 11, thus achieving the separation of the auxiliary wheel frame 10 from the frame 1.

[0027] Preferably, such as Figure 3 As shown, the drive mechanism 3 includes two motors 40 mounted on the frame 1 and a rotating shaft 41 between the first moving wheels 2 on the same side. A first gear 42 is mounted on the rotating shaft 41. A second gear 43 is mounted at the output end of each motor 40, and the second gear 43 meshes with the first gear 42. The drive mechanism 3 causes the second gear 43 to rotate via the motors 40. The second gear 43, by meshing with the first gear 42, drives the rotating shaft 41, which is fixedly connected to the first gear 42, thereby causing the first moving wheels 2 on both sides of the rotating shaft 41 to rotate.

[0028] Preferably, such as Figure 6 The connecting rod 4 shown is equipped with a third spring 14 located between the arc-shaped cover 5 and the round block 6. After the auxiliary wheel frame 10 is removed, the third spring 14 causes the round block 6 to separate from the arc-shaped cover 5 through its elastic force.

[0029] Working principle:

[0030] Installation: Place the frame 1 above the double pipe rail, so that the first moving wheels 2 at the four corners of the frame 1 are in contact with the double pipe rail. Then, align the rail clamping mechanism 12 under the auxiliary wheel frame 10 with the same side of the pipe rail, and align the circular hole 11 on the auxiliary wheel frame 10 with the connecting rod 4 at the lower end of the frame 1. Then move the auxiliary wheel frame 10 upwards, so that the inclined part 32 of the abutting block 31 is in contact with the lower end surface of the arc-shaped cover 5, causing the abutting block 31 to move into the sliding groove 30, until the abutting block 31 moves between the arc-shaped cover 5 and the circular block 6, and extends under the action of the second spring 33, and is in contact with the upper end surface of the arc-shaped cover 5 through the lower end surface of the abutting block 31, realizing the connection and fixation of the auxiliary wheel frame 10 and the frame 1, and completing the installation of the walking mechanism on the double pipe rail.

[0031] Walking: The motor 40 of the driving mechanism 3 drives the second gear 43 to rotate, which drives the rotating shaft 41 to rotate through the meshing of the second gear 43 and the first gear 42 on the rotating shaft 41, and the first moving wheels 2 on both sides of the rotating shaft 41 rotate accordingly, so that the entire walking mechanism moves along the double pipe rail.

[0032] Disassembly: When the walking mechanism needs to be removed, continuously press the auxiliary wheel frame 10 upwards, and the abutting block 31 of the sliding abutting mechanism 13 moves along the circular block 6 until the circular block 6 abuts against the fixed ring 8, and continue to move the auxiliary wheel frame 10 upwards, so that the abutting block 31 moves along the first arc-shaped part 7 on the lower side of the circular block 6 to the upper end of the circular block 6, and then move the auxiliary wheel frame 10 downwards, so that the abutting block 31 moves the circular block 6 into the arc-shaped cover 5, and at this time the second arc-shaped part 9 on the upper end of the arc-shaped cover 5 is matched with the first arc-shaped part 7 of the circular block 6. With the continuous downward movement of the auxiliary wheel frame 10, the abutting block 31 contracts inward along the second arc-shaped part 9 and the first arc-shaped part 7, so that the arc-shaped cover 5 can be taken out of the circular hole 11 of the auxiliary wheel frame 10, realizing the separation of the auxiliary wheel frame 10 and the frame 1. The third spring 14 on the connecting rod 4 between the arc-shaped cover 5 and the circular block 6 will separate the arc-shaped cover 5 and the circular block 6 by elastic force after the auxiliary wheel frame 10 is taken out, facilitating the subsequent installation of the auxiliary wheel frame 10 again.

Claims

1. A double-circular-pipe track walking mechanism suitable for a coal pipe gallery robot, comprising a frame body (1) and an auxiliary wheel frame (10) detachably connected with the frame body (1); four corners of the frame body (1) are respectively provided with first moving wheels (2); the frame body (1) is provided with a driving mechanism (3), an output end of the driving mechanism (3) is connected with the first moving wheels (2); characterized in that: The lower end of the frame body (1) is provided with a connecting rod (4), the lower end of the connecting rod (4) is provided with an arc-shaped cover (5), the upper end of the arc-shaped cover (5) is provided with a circular block (6) in sliding connection with the connecting rod (4), the upper and lower end sides of the circular block (6) are both provided with a first arc-shaped part (7); the connecting rod (4) is provided with a fixed ring (8) located at the upper end of the circular block (6); the arc-shaped cover (5) is a hollow structure and the edge thereof is provided with a second arc-shaped part (9) for engaging with the first arc-shaped part (7); the auxiliary wheel frame (10) is provided with a circular hole (11) matched with the arc-shaped cover (5); the lower end of the auxiliary wheel frame (10) is provided with a rail clamping mechanism (12) on each side thereof; the circular hole (11) is provided with a sliding abutting mechanism (13) on each side thereof, and the sliding abutting mechanism (13) abuts against the upper end face of the arc-shaped cover (5).

2. The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot according to claim 1, characterized in that: The rail clamping mechanism (12) comprises a plurality of sliding rods (20) arranged at the lower end of the auxiliary wheel frame (10), and a fixed block (21) is fixedly connected to the sliding rod (20); the lower ends of the sliding rods (20) are slidingly connected with a connecting seat (22) located below the fixed block (21), and a second moving wheel (23) is rotatably connected to the outer side of the connecting seat (22); the sliding rod (20) is surrounded by a first spring (24) located between the fixed block (21) and the connecting seat (22).

3. The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot according to claim 2, characterized in that: The inner sides of the first moving wheel (2) and the second moving wheel (23) are both provided with an anti-falling ring (25).

4. The double circular pipe track walking mechanism suitable for coal conveying pipe gallery robot according to claim 2, characterized in that: The bottom end of the sliding rod (20) is provided with a limiting cap (26).

5. The double circular pipe rail walking mechanism suitable for coal conveying pipe gallery robot according to claim 1, characterized in that: The sliding abutting mechanism (13) comprises a sliding groove (30) arranged on each side of the circular hole (11), and an abutting block (31) is slidingly connected in the sliding groove (30), the abutting block (31) has a slope (32) towards the outer upper end, and the slope (32) gradually increases from the outside to the inside; a plurality of second springs (33) are arranged in the inner end of the sliding groove (30), and the outer end of the second spring (33) is fixedly connected with the abutting block (31).

6. The double circular pipe rail walking mechanism suitable for coal conveying pipe gallery robot according to claim 1, characterized in that: The driving mechanism (3) comprises two motors (40) arranged on the frame body (1) and a rotating shaft (41) between the same side first moving wheel (2), and the rotating shaft (41) is provided with a first gear (42); the output end of the motor (40) is provided with a second gear (43), and the second gear (43) is engaged with the first gear (42).

7. The double circular pipe rail walking mechanism suitable for coal conveying pipe gallery robot according to claim 1, characterized in that: The connecting rod (4) is provided with a third spring (14) located between the arc-shaped cover (5) and the circular block (6).

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