阅读说明：本技术 一种用于盘煤轨道机器人的高效轨道结构 (A high-efficient track structure for coal inventory track robot ) 是由 朱元彩 吴兆立 翟靖轩 刘天飞 刘燎原 杨东 张国圆 崔莹 冯辉 单士铎 张进 于 2020-07-21 设计创作，主要内容包括：本发明一种用于盘煤轨道机器人的高效轨道结构公开了一种能够根据需求灵活变化轨道结构,通过转向轨道的旋转调节配合横向轨道为盘煤机器人行走变化方位进行导向,减少盘煤行走时间的轨道结构,其特征在于两个固定轨道和两个U型轨道组合形成直圆形轨道,两个U型轨道分别位于直圆形轨道的两端,两个所述固定轨道相平行,所述U型轨道的两端分别和两个固定轨道的对应端相连接,所述固定轨道上多处断开形成多个缺槽,所述缺槽断面为弧形面,所述固定轨道上置有多个悬架,所述U型轨道上置有多个悬架,所述固定轨道上置有第一红外接收器,所述第一红外接收器靠近缺槽。(The invention discloses a high-efficiency track structure for a coal inventory track robot, which can flexibly change the track structure according to requirements, the track structure guides the walking change direction of the coal coiling robot by matching the rotation adjustment of the steering track with the transverse track, reduces the walking time of coal coiling, it is characterized in that two fixed rails and two U-shaped rails are combined to form a straight circular rail, the two U-shaped rails are respectively positioned at two ends of the straight circular rail, the two fixed rails are parallel, two ends of the U-shaped track are respectively connected with corresponding ends of the two fixed tracks, a plurality of notches are formed by breaking off a plurality of positions on the fixed tracks, the section of the notch is an arc-shaped surface, a plurality of suspensions are arranged on the fixed track, a plurality of suspensions are arranged on the U-shaped track, a first infrared receiver is arranged on the fixed track and is close to the notch.)

1. The utility model provides a high-efficient track structure for coal inventory track robot, characterized by: the device comprises a main body device, a steering device and a transfer device, wherein the main body device comprises suspensions, fixed rails, a first infrared receiver and U-shaped rails, the two fixed rails and the two U-shaped rails are combined to form a straight circular rail, the two U-shaped rails are respectively positioned at two ends of the straight circular rail, the two fixed rails are parallel, two ends of the U-shaped rails are respectively connected with corresponding ends of the two fixed rails, a plurality of notches are formed by disconnecting a plurality of positions on the fixed rails, a plurality of suspensions are arranged on the U-shaped rails, the first infrared receiver is arranged on the fixed rails, the first infrared receiver is close to the notches, the steering device comprises a fixed seat, a steering rail, a connecting seat, a steering shaft, a steering identifier, an infrared emitter, a driving gear, a driven gear, a controller and a steering motor, the plurality of turning tracks are correspondingly positioned in the plurality of notches one by one, the turning tracks on the two fixed tracks correspond to each other in pairs, the connecting seats are arranged on the turning tracks, one end of the turning shaft is vertically connected with the connecting seats, the other end of the turning shaft extends upwards, the fixing seat is arranged on the other end of the turning shaft, a bearing is arranged between the turning shaft and the fixing seat, the driving motor is arranged on the fixing seat, the driving gear is sleeved on a motor shaft of the driving motor, the driven gear is sleeved on the rotating shaft, the driving gear is meshed with the turning gear, the controller is arranged on the fixing seat, the infrared emitter is arranged on the turning tracks, a pair of turning identifiers are respectively arranged on two sides of the turning tracks, a pair of turning identifiers are respectively close to two ends of the turning tracks, the transfer device is composed of a transverse track, a second infrared receiver and a positioning, the second infrared receiver is arranged on the transverse rail, positioning identifiers are respectively arranged on two sides of the transverse rail, two pairs of positioning identifiers are respectively arranged on two sides of the transverse track, the two pairs of positioning identifiers are respectively close to two ends of the transverse track, the transverse track is turned to be an I-shaped track, the driving motor is a stepping motor, lock columns are arranged on two sides of the steering track, a data processor is arranged on the fixed seat, and are respectively connected with the first infrared receiver and the second infrared receiver through data transmission lines, the controller is in signal connection with the data processor through a data transmission line, the driving motor is in signal connection with the controller through a data transmission line, the infrared emitter is in signal connection with the controller through a data transmission line, and the fixed seat is provided with a wireless signal transceiver which is in signal connection with the data processor through a data transmission line.

2. The efficient track structure for the coal traying track robot as claimed in claim 1, wherein the data processor is capable of receiving signals transmitted by the first infrared receiver, the second infrared receiver, and the wireless signal transceiver, and the data processor stores therein a computer program which when executed implements the steps of:

receiving infrared signals of the first infrared receiver and the second infrared receiver, performing data processing to obtain the position of the current coal checking instrument, and comparing the position value of the coal checking instrument obtained through processing with a preset value in the data processor;

the controller and the data processor carry out information interaction, execute instructions sent by the data processor, and can control the start and stop of the driving motor and the infrared emitter.

3. The efficient track structure for the coal turning track robot as claimed in claim 1, wherein the section of the notch is an arc-shaped surface, the end surface of the turning track is attached to the end surface of the notch, and the two end surfaces of the transverse track are arc-shaped surfaces.

4. The efficient rail structure of claim 1, wherein the fixed rail and the turning rail are connected by a plug, the plug is retractable, the connection stability between the turning rail and the fixed rail is ensured when the turning rail does not need to be rotated, and the plug is retracted to turn when turning is required.

5. The efficient rail structure for the coal turning rail robot as claimed in claim 4, wherein the cleaning bristles are placed on the transverse rail.

6. The efficient track structure for the coal inventory track robot as claimed in claim 4, wherein the lock posts are arranged on both sides of the turning track, and when the coal inventory track robot moves onto the turning track, the lock posts are ejected out for limiting, so as to avoid the coal inventory track robot falling when the turning track is not rotated in place.

7. The efficient track structure of claim 1, wherein the fixed track and the turning track are designed to be adjustable in length according to the shape distribution of different coal yards.

8. The efficient track structure for the coal inventory track robot as claimed in claim 1, wherein the transverse guide rail and the turning guide rail are designed to cooperate with each other, so that the coal inventory track robot can be turned, and the track structure can be adjusted according to the actual stacking and reclaiming area of the bucket wheel machine, thereby greatly reducing coal inventory time and improving coal inventory efficiency.

9. The efficient track structure of claim 1, wherein the driving motor is operated to turn the track to rotate until the infrared signal is received by the second infrared receiver on the transverse track, so as to drive the coal-traking track robot thereon to rotate, thereby turning the track coal-traking track robot.

10. The efficient rail structure for coal turning rail robot as claimed in claim 1, wherein the turning rail, the fixing rail, the transverse rail and the U-shaped rail are all made of I-shaped steel.

Technical Field

The invention discloses a high-efficiency track structure for a coal inventory track robot, relates to a guide rail structure for guiding the coal inventory track robot, and belongs to the field of coal mine equipment. In particular to a track structure which can flexibly change a track structure according to requirements, guides the walking change direction of a coal-turning robot by rotating and adjusting a steering track and matching a transverse track, and reduces the walking time of coal turning.

Background

Along with the expansion of thermal power plant unit and the improvement of coal price, coal inventory increasingly becomes an indispensable link of power generation enterprise, and the mode of coal inventory also evolves from original artifical tape measure coal inventory to high-tech laser automatic coal inventory, and laser automatic coal inventory appearance main principle does: the method comprises the steps of collecting the surface of a stock ground by using a high-precision laser scanner, processing contour data of a stock pile by using a computer, reconstructing a 3D graph of the stock ground, calculating information such as the volume of the stock pile and the like, and combining set density to obtain the weight of the stock pile, wherein the moving mode of the laser coal-jigger in a coal yard is mainly to use a straight circular groove type I-shaped steel rail erected at high altitude for moving and scanning, but the single-rail one-way moving rail causes the laser scanner to move a whole circle along the rail to effectively obtain the information of the coal pile on two sides of two long-side rails of the rail when scanning coal, but in practice, when only half or less coal piles pass through a bucket wheel machine to take materials and are distributed on two long sides of the rail, the scanner can scan the coal pile on the long-side rail on the other side only by walking a whole circle or a long arc section again after scanning the coal pile on one long-side, the unnecessary walking time and the unnecessary scanning work are greatly increased, the coal inventory efficiency is low, and the production operation efficiency is influenced.

Notice No. CN210013065U discloses a laser dish coal appearance track, laser dish coal appearance track is including setting up in the coal pile top and being the first track that meanders to extend the form and at least part is located in the first track and can follow first orbital movement's moving mechanism, dish coal appearance is used for installing moving mechanism is last in order to follow moving mechanism removes, and this dish coal appearance track is fixed, and dish coal is inefficient, can't change track structure according to the demand is nimble, saves the dish coal time.

Disclosure of Invention

In order to improve the situation, the invention provides the efficient track structure for the coal inventory track robot, which can flexibly change the track structure according to the requirement, guide the walking change direction of the coal inventory robot by matching the rotation adjustment of the steering track with the transverse track, and reduce the walking time of coal inventory.

The invention discloses a high-efficiency track structure for a coal inventory track robot, which is realized by the following steps: the invention relates to a high-efficiency track structure for a coal turning track robot, which consists of a main body device, a steering device and a transfer device, wherein the main body device consists of suspensions, fixed tracks, a first infrared receiver and U-shaped tracks, the two fixed tracks and the two U-shaped tracks are combined to form a straight circular track, the two U-shaped tracks are respectively positioned at two ends of the straight circular track, the two fixed tracks are parallel, two ends of the U-shaped tracks are respectively connected with corresponding ends of the two fixed tracks, a plurality of notches are formed by disconnecting a plurality of positions on the fixed tracks, the cross sections of the notches are arc-shaped surfaces, a plurality of suspensions are arranged on the fixed tracks, a plurality of suspensions are arranged on the U-shaped tracks, the first infrared receiver is arranged on the fixed tracks, the first infrared receiver is close to the notches, and the steering device consists of a fixed seat, a steering track, a connecting seat, a steering shaft and a transfer device, The steering device comprises a steering identifier, an infrared emitter, a driving gear, a driven gear, a controller and a steering motor, wherein a plurality of steering tracks are correspondingly positioned in a plurality of notches one by one, the steering tracks on two fixed tracks correspond to each other in pairs, the end surfaces of the steering tracks are arc-shaped surfaces, the end surfaces of the steering tracks are attached to the end surfaces of the notches, a connecting seat is arranged on the steering tracks, one end of a steering shaft is vertically connected with the connecting seat, the other end of the steering shaft extends upwards, a fixed seat is arranged on the other end of the steering shaft, a bearing is arranged between the steering shaft and the fixed seat, the driving motor is arranged on the fixed seat, the driving gear is sleeved on a motor shaft of the driving motor, the driven gear is sleeved on a rotating shaft, the driving gear is meshed with the steering gear, the controller is arranged on the fixed seat, the infrared emitter is, the pair of steering identifiers are respectively close to two ends of the steering track, the fixed track, the transverse track and the U-shaped track are all made of I-shaped steel, the transfer device is composed of a transverse track, a second infrared receiver and positioning identifiers, the transverse track is located between the two corresponding steering tracks, the second infrared receiver is arranged on the transverse track, the positioning identifiers are respectively arranged on two sides of the transverse track, two end faces of the transverse track are arc-shaped faces, two pairs of positioning identifiers are respectively arranged on two sides of the transverse track, the two pairs of positioning identifiers are respectively close to two ends of the transverse track, the steering transverse track is an I-shaped track, the driving motor is a stepping motor, reinforcing ribs are arranged on the suspension, the fixed track and the steering track are in plug-in connection, the plug connectors are telescopic, and cleaning bristles are arranged on the transverse track, the steering track is characterized in that lock columns are arranged on two sides of the steering track, a data processor is arranged on the fixed seat and is respectively in signal connection with the first infrared receiver and the second infrared receiver through data transmission lines, the controller is in signal connection with the data processor through the data transmission lines, the driving motor is in signal connection with the controller through the data transmission lines, the infrared transmitter is in signal connection with the controller through the data transmission lines, and a wireless signal transceiver is arranged on the fixed seat and is in signal connection with the data processor through the data transmission lines;

the data processor can receive signals transmitted by the first infrared receiver, the second infrared receiver and the wireless signal transceiver, a computer program is stored in the data processor, and when the program is executed, the following steps are realized:

receiving infrared signals of the first infrared receiver and the second infrared receiver, performing data processing to obtain the position of the current coal checking instrument, and comparing the position value of the coal checking instrument obtained through processing with a preset value in the data processor;

the controller and the data processor carry out information interaction, execute instructions sent by the data processor, and can control the start and stop of the driving motor and the infrared emitter.

Has the beneficial effects.

Firstly, can be according to the regional track structure of adjusting of material is got to actual heap of bucket wheel machine to this significantly reduced dish coal time improves dish coal efficiency.

And secondly, the coal can be distributed according to the shape tracks of different coal yards, and a plurality of groups of coal coiling tracks are arranged to flexibly coil the coal.

Drawings

Fig. 1 is a perspective view showing a high-efficiency track structure of a coal inventory track robot according to the present invention.

Fig. 2 is a schematic structural diagram of an efficient track structure for a coal inventory track robot of the present invention.

Fig. 3 is a perspective view of a high-efficiency track structure transverse track for a coal inventory track robot of the present invention.

In the attached drawings

Wherein the method comprises the following steps: suspension (1), fixing base (2), turn to track (3), fixed track (4), connecting seat (5), horizontal track (6), steering spindle (7), turn to identifier (8), first infrared receiver (9), infra-red transmitter (10), second infrared receiver (11), U type track (12), drive gear (13), driven gear (14), controller (15), turn to motor (16), location identifier (17).

The specific implementation mode is as follows:

the invention discloses a high-efficiency track structure for a coal inventory track robot, which is realized by the following steps: the invention relates to a high-efficiency track structure for a coal inventory track robot, which consists of a main body device, a steering device and a transfer device, wherein the main body device consists of suspensions (1), fixed tracks (4), a first infrared receiver (9) and U-shaped tracks (12), the two fixed tracks (4) and the two U-shaped tracks (12) are combined to form a straight circular track, the two U-shaped tracks (12) are respectively positioned at two ends of the straight circular track, the two fixed tracks (4) are parallel, two ends of the U-shaped tracks (12) are respectively connected with corresponding ends of the two fixed tracks (4), a plurality of notches are formed by disconnecting a plurality of positions on the fixed tracks (4), the cross sections of the notches are arc-shaped surfaces, a plurality of suspensions (1) are arranged on the fixed tracks (4), a plurality of suspensions (1) are arranged on the U-shaped tracks (12), the first infrared receiver (9) is arranged on the fixed tracks (4), the first infrared receiver (9) is close to the notches, the steering device is composed of a fixed seat (2), steering tracks (3), a connecting seat (5), a steering shaft (7), steering identifiers (8), an infrared emitter (10), a driving gear (13), a driven gear (14), a controller (15) and a steering motor (16), the steering tracks (3) are correspondingly positioned in the notches one by one, the steering tracks (3) on the two fixed tracks (4) correspond to each other in pairs, the end face of each steering track (3) is an arc face, the end faces of the steering tracks (3) are attached to the end faces of the notches, the connecting seat (5) is arranged on the steering tracks (3), one end of each steering shaft (7) is vertically connected with the connecting seat (5), the other end of each steering shaft (7) extends upwards, the fixed seat (2) is arranged at the other end of each steering shaft (7), a bearing is arranged between the steering shaft (7) and the fixed seat (2), the driving motor is arranged on the fixed seat (2), the driving gear (13) is sleeved on a motor shaft of the driving motor, the driven gear (14) is sleeved on a rotating shaft, the driving gear (13) is meshed with the steering gear, the controller (15) is arranged on the fixed seat (2), the infrared emitter (10) is arranged on the steering track (3), a pair of steering identifiers (8) are respectively arranged on two sides of the steering track (3), the pair of steering identifiers are respectively close to two ends of the steering track (3), the fixed track (4), the transverse track (6) and the U-shaped track (12) are made of I-shaped steel, the transfer device is composed of the transverse track (6), the second infrared receiver (11) and the positioning identifier (17), the transverse track (6) is positioned between the two corresponding steering tracks (3), the second infrared receiver (11) is arranged on the transverse track (6), positioning identifiers (17) are respectively arranged on two sides of the transverse track (6), two end faces of the transverse track (6) are arc-shaped faces, two pairs of positioning identifiers are respectively arranged on two sides of the transverse track (6), the two pairs of positioning identifiers are respectively close to two ends of the transverse track (6), the transverse track is turned to be an I-shaped track, the driving motor is a stepping motor, reinforcing ribs are arranged on the suspension (1), the fixed track (4) and the turning track (3) are in plug connection, the plug connectors are telescopic, cleaning bristles are arranged on the transverse track (6), lock columns are arranged on two sides of the turning track (3), a data processor is arranged on the fixing seat (2) and are in signal connection with the first infrared receiver (9) and the second infrared receiver (11) through data transmission lines respectively, the controller (15) is in signal connection with the data processor through a data transmission line, the driving motor is in signal connection with the controller (15) through a data transmission line, the infrared emitter (10) is in signal connection with the controller (15) through a data transmission line, and the fixed seat (2) is provided with a wireless signal transceiver and is in signal connection with the data processor through a data transmission line;

the data processor can receive signals transmitted by the first infrared receiver (9), the second infrared receiver (11) and the wireless signal transceiver, and a computer program is stored in the data processor and is used for realizing the following steps when being executed:

receiving infrared signals of a first infrared receiver (9) and a second infrared receiver (11), processing data to obtain the position of the current coal detector, and comparing the processed position value of the coal detector with a preset value in a data processor;

the controller (15) and the data processor carry out information interaction, execute instructions sent by the data processor, and can control the start and stop of the driving motor and the infrared emitter (10);

when the device is used, firstly, a person fixedly installs the straight circular track at a high altitude through the suspension (1), installs the steering track (3) at the high altitude through the fixing seat (2), fixedly installs the transverse track (6) at the high altitude through the suspension (1), and is in the same plane with the straight circular track, places the coal inventory track robot on the track, rotates the coal inventory track robot around the long circular track to work, and when the coal inventory track robot passes through the paired steering identifiers (8) on the steering track (3), the photoelectric sensors on the coal inventory track robot sense and transmit signals to the operating room, so that the person observes the position of the coal inventory track robot through the display screen in the operating room;

when coal piles on one side or two sides of the track are taken by the bucket wheel machine, the coal inventory track robot moves along the long circular track, when the coal inventory track robot passes through the steering track (3), the photoelectric sensor on the coal inventory track robot sequentially senses paired steering identifiers (8) on the side surface of the steering track (3) so as to position the coal inventory track robot completely on the steering track (3), at the moment, the infrared emitter (10) on the steering track (3) emits infrared signals, an operator in an operating room judges whether the coal inventory track robot needs to steer according to the position of the coal inventory track robot, when the coal inventory robot is not positioned right above the coal piles, the operator sends steering signals, the data processor receives the steering signals through the wireless signal transceiver and processes and judges, and the controller (15) controls the driving motor to work, and the motor shaft rotates to drive the driving gear to rotate, the driving gear rotates to drive the driving gear (13) to rotate, the driving gear (13) rotates to drive the steering shaft (7) to rotate, the steering shaft (7) rotates to drive the steering track (3) to rotate, meanwhile, the coal traying track robot on the steering shaft rotates, when the infrared emitter (10) of the steering track (3) corresponds to the second infrared receiver (11) of the transverse track (6), the second infrared receiver (11) senses signals, it is determined that the steering track (3) is communicated with the transverse track (6) at the moment, the coal traying track robot continues to move to enter the transverse track (6) at the moment, the photoelectric sensor of the coal traying track robot sequentially senses the paired positioning identifier (17) at one end of the transverse track (6), the coal traying track robot completely breaks away from the steering track (3) to enter the transverse track (6), and the steering track (3) rotates to reset at the moment, the infrared emitter (10) of the turning track (3) corresponds to the first infrared receiver (9) of the fixed track (4), the turning track (3) at the opposite position rotates, the infrared emitter (10) on the turning track corresponds to the second infrared receiver (11) of the transverse track (6), the turning track (3) is determined to be communicated with the transverse track (6) at the moment, the coal inventory track robot continues to move reversely through a positioning identifier (17) at the other end of the transverse track (6) and enters the opposite turning track (3) after crossing the transverse track (6), a photoelectric sensor on the coal inventory track robot sequentially senses a pair of turning identifiers (8) on the side surface of the turning track (3), and a person controls the turning track (3) to rotate, so that the coal inventory track robot reaches the long side at the other side of the track and continues to move along the long side to perform coal inventory work, the coal pile of the long-side track on the other side can be scanned without walking through a whole circle or a long arc section again after the coal pile at the long-side track is scanned, the track structure is flexibly changed according to requirements, the coal coiling time is saved, and the coal coiling and production operation efficiency is improved;

personnel can increase the number of the steering tracks (3) to adapt to coal piles of different sizes for coal inventory, and the use is flexible;

the section of the notch is an arc-shaped surface, the end surface of the steering track (3) is an arc-shaped surface, and the two end surfaces of the transverse track (6) are designed to be arc-shaped surfaces, so that the steering track (3) can rotate conveniently, and the transverse track (6) and the fixed track (4) can be attached to each other;

the design of the reinforcing ribs is arranged on the suspension (1), so that the connection stability of the suspension (1) is enhanced, and the overall support of the track is more stable;

the fixed track (4) and the turning track (3) are in plug connection, the plug connectors are in telescopic design, when the turning track (3) does not need to rotate, the connection stability of the turning track (3) and the fixed track (4) is ensured, and when turning is needed, the plug connectors retract so as to turn;

the horizontal rail (6) is provided with a cleaning brush hair design, and a coal turning rail robot moves onto the horizontal rail (6) to clean the roller on the horizontal rail;

the locking columns are arranged on two sides of the steering track (3), and when the coal turning track robot moves onto the steering track (3), the locking columns are ejected out for limiting, so that the coal turning track robot is prevented from falling when the steering track (3) is not rotated to a certain position;

the fixed track (4) and the steering track (3) are matched, so that the length can be adjusted according to the shape distribution of different coal yards, and the coal can be coiled flexibly;

the design that the transverse guide rail is matched with the steering guide rail can steer the coal inventory track robot, and the track structure is adjusted according to the actual stacking and taking area of the bucket wheel machine, so that the coal inventory time is greatly reduced, and the coal inventory efficiency is improved;

the driving motor works, the steering track (3) rotates until the second infrared receiver (11) on the transverse track (6) receives the design of the infrared signal, the coal inventory track robot on the steering track can be driven to rotate, the steering of the track coal inventory track robot is realized, the track structure is flexibly changed according to the requirement, the coal inventory time is saved, and the efficiency of coal inventory and production operation is improved;

the goal of flexibly changing the track structure according to the requirement, guiding the coal inventory robot to walk in a changed direction by matching the rotation adjustment of the steering track (3) with the transverse track (6) and reducing the coal inventory walking time is achieved.

The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

It should be noted that, for simplicity, the embodiment of the present invention describes the data processing procedure of the data processor as a series of actions and combinations, but those skilled in the art should understand that the present invention is not limited by the described actions, because some steps can be performed sequentially or simultaneously according to the present invention, and those skilled in the art should understand that the actions described and referred to in the specification are not necessarily required by the present invention, and the contents are only preferred embodiments of the present invention and should not be considered as limiting the scope of the present invention, and those skilled in the art should not be understood as limiting the present invention in any way according to the idea of the present invention.