CN-121990005-A - Round-link chain traveling device of inspection robot of scraper conveyor

Abstract

The invention discloses a round-link chain traveling device of a scraper conveyor inspection robot, which comprises a frame component, a driving wheel component and an auxiliary wheel component, wherein a motor output shaft of the driving wheel component is connected with a flange, the flange is connected with traveling wheels through positioning bolts, a motor and a motor fixing plate are arranged at the left side and the right side of the bottom of a frame, gear teeth which are arranged at left and right intervals are arranged on the traveling wheels to realize the engagement with a chain, the two traveling wheels are driven by the motor and can stably travel on the chain of the scraper conveyor by virtue of a special tooth-shaped structure, an auxiliary wheel connecting rod of the auxiliary wheel component is fixed at the bottom of the frame component and is connected with the left and right auxiliary wheels through bearings, and a blocking block is arranged at the front and rear of the left and right auxiliary wheels to clear coal cinder, and can not offset the driving wheel component to two sides. The walking device can be provided with monitoring equipment for inspection, so that safety risk is reduced.

Inventors

• WANG HAIYAN
• REN JIE
• HU CHENGJUN
• LIU JIANLIN
• SUN KAI
• GE JIANGPING
• WANG SHENGZHI
• TIAN LIYONG
• LI MINGHAO

Assignees

• 中煤华晋集团有限公司
• 中煤(天津)地下工程智能研究院有限公司
• 辽宁工程技术大学

Dates

Publication Date

20260508

Application Date

20260310

Claims (1)

1. 1. The utility model provides a robot round-link chain running gear is patrolled and examined to scraper conveyor, includes frame subassembly (1), drive wheel subassembly (2), auxiliary wheel subassembly (3), its characterized in that: The frame component (1) comprises a chassis, a positioning bolt (15) fixed on the front side or the rear side of the chassis, a positioning rod (11) fixed on the front side or the rear side of the chassis, a placing handle (13) and a mud guard (12) which are arranged on the left side and the right side, and a motor fixing plate (14) assembled on the chassis; The driving wheel assembly (2) comprises a pair of motors (23) assembled on the left side and the right side of the bottom of the frame assembly (1) through motor fixing plates (14) and motor protection sleeves (231), a motor shaft (232) arranged at the output end of the motors (23), a flange plate (233) fixed on the motor shaft (232), and a pair of hubs (21) which are assembled on the motor shaft (232) through the flange plate (233) in a limiting mode and are provided with gear teeth (22) at intervals along the circumferential directions of rims on the two sides; The auxiliary wheel assembly (3) comprises a connecting sleeve (33) matched with the positioning rod (11), a bracket connecting column (341) assembled on the positioning bolt (15), a connecting rod (34) matched with the connecting sleeve (33), auxiliary wheels (31) assembled at two ends of the connecting rod (34) through bearings, and baffle blocks (32) matched with the outer sides of the auxiliary wheels (31); The chassis is provided with a circuit control box (4) for controlling the rotation direction and the rotation speed of the motor (23), thereby controlling the advancing direction and the advancing speed of the device.

Description

Round-link chain traveling device of inspection robot of scraper conveyor Technical Field The invention relates to a patrol robot, in particular to a round-link chain walking device of a scraper conveyor patrol robot. Background At present, the traditional inspection robot mainly comprises a crawler-type travelling mechanism, a wheel-type travelling mechanism and a foot-type travelling mechanism, and the travelling mechanism is difficult to walk on the scraper conveyor and difficult to cross the scraper obstacle due to the fact that scrapers and chains for connecting the scrapers are distributed on the scraper conveyor at intervals, so that the phenomena of slow walking, unstable running and the like are caused, the traditional inspection robot is difficult to realize inspection, the traditional manual inspection is mainly used, time and labor are wasted, the working efficiency is low, and potential safety hazards exist. Disclosure of Invention The invention aims to provide the annular chain running gear of the inspection robot of the scraper conveyor, which fundamentally solves the problems, has the advantages of high running speed, stable and reliable running, simple structure and the like, and can be used for a tooth-shaped running mechanism running on a chain of the scraper conveyor. In order to achieve the purpose, the invention provides the following technical scheme that the round-link chain walking device of the inspection robot of the scraper conveyor comprises a frame component, a driving wheel component and an auxiliary wheel component, and the technical key points are as follows: The frame component comprises a chassis, positioning bolts fixed on the front side or the rear side, positioning rods fixed on the front side or the rear side of the chassis, a placement handle and a mud guard arranged on the left side and the right side, and a motor fixing plate assembled on the chassis; The driving wheel assembly comprises a pair of motors assembled on the left side and the right side of the bottom of the frame assembly through motor fixing plates and motor protection sleeves, a motor shaft arranged at the output end of the motor, a flange plate fixed on the motor shaft, and a pair of hubs which are assembled on the motor shaft through flange plate in a limiting manner and are provided with gear teeth at intervals along the circumferential directions of rims on the two sides; The auxiliary wheel assembly comprises a connecting sleeve matched with the positioning rod, a bracket connecting column assembled on the positioning bolt, a connecting rod matched with the connecting sleeve, auxiliary wheels assembled at two ends of the connecting rod through bearings, and a baffle block matched with the outer side of the auxiliary wheels; The chassis is provided with a circuit control box for controlling the rotation direction and the rotation speed of the motor, and further controlling the advancing direction and the advancing speed of the device. The invention has the beneficial effects that on the whole technical scheme, the free running on the scraper conveyor can be realized through the matching of the driving wheel assembly and the auxiliary wheel assembly, the detection of important parts such as a hydraulic support and the like is realized, the working quality is ensured, the efficiency of monitoring machine faults is effectively improved, the manual intervention degree in the underground dangerous environment and the inspection of flammable and explosive places is reduced, and the safety risk is effectively reduced. Specifically, the toothed wheel of the driving wheel assembly is matched with a chain of the scraper conveyor, so that the scraper conveyor can walk on and cross the scraper obstacle. The obstacle removing block arranged on the advancing direction of the auxiliary wheel assembly is used for removing the obstacle, so that the running stability is effectively improved, and the inspection efficiency of the inspection robot is greatly improved. Drawings Fig. 1 is a reference diagram of the usage state of the present invention. Fig. 2 is a schematic diagram of the motor shaft connection structure of the present invention. Fig. 3 is a schematic structural diagram of the electric control device of the present invention. Fig. 4 is a schematic diagram of the walking process of the present invention. The reference numerals indicate that 1, a frame component, 11, a locating rod, 12, a mud guard, 13, a mounting handle, 14, a motor fixing plate, 15, a locating bolt, 2, a driving wheel component, 21, a hub, 22, gear teeth, 23, a motor, 231, a motor protection sleeve, 232, a motor shaft, 233, a flange plate, 3, an auxiliary wheel component, 31, an auxiliary wheel, 32, a blocking block, 33, a connecting sleeve, 34, a connecting rod, 341, a bracket connecting column, 35, a connecting plate, 36, a fixing sleeve, 37, a spring, 4, a circuit control box, 5 and a chain. Detailed Description The following describ