阅读说明：本技术 一种轨道式挖煤机器人 (Rail mounted coal mining robot ) 是由 侯周余 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种轨道式挖煤机器人,其结构包括机器人、轨道、移动轮,机器人与移动轮的上端相连接,移动轮与轨道的上表面活动卡合,通过移动轮上的轮体能够带动机器人沿着轨道向前移动,再通过掉落在轨道上的煤矿对受挤板产生的挤压,能够使受挤板沿着固定杆向内收缩更大距离,从而使轮体能够始终平稳的在轨道进行滚动,不会被轨道上掉落的煤矿顶起,通过轮体的转动,能够使在转动至轮体下方时对的内壁产生撞击振动,从而使撞击球能够沿着板体的内部向斜上方滚动再快速复位,故而使撞击球能够对板体的内壁产生撞击,故而使承接板内侧的潮湿煤矿粉末能够被振落。(The invention discloses a rail-type coal digging robot, which structurally comprises a robot, a rail and a movable wheel, wherein the robot is connected with the upper end of the movable wheel, the movable wheel is movably clamped with the upper surface of the rail, the wheel body on the movable wheel can drive the robot to move forwards along the track, and then the extruded plate can be contracted inwards for a larger distance along the fixed rod by the extrusion of the coal mine falling on the track, thereby leading the wheel body to roll on the track stably all the time and not to be jacked up by the coal mine falling from the track, through the rotation of the wheel body, the impact vibration can be generated on the inner wall when the wheel body rotates to the lower part of the wheel body, thereby make the impact ball can roll to the top that inclines along the inside of plate body and reset fast again, so make the impact ball can produce the striking to the inner wall of plate body, so make and accept inboard moist colliery powder of board and can be shaken and fall.)

1. The utility model provides a rail mounted coal robot that digs, its structure includes robot (1), track (2), removes wheel (3), robot (1) is connected its characterized in that with the upper end that removes wheel (3): the moving wheel (3) is movably clamped with the upper surface of the track (2);

the movable wheel (3) comprises connecting rods (31), connecting plates (32) and a wheel body (33), the connecting rods (31) are fixed to the middle of the connecting plates (32), and the center of the wheel body (33) is movably clamped with the connecting plates (32).

2. The orbital coal mining robot of claim 1, wherein: the wheel body (33) comprises an elastic strip (a1), a squeezed plate (a2), a middle fixing block (a3), a fixing rod (a4) and a contact wheel (a5), wherein the elastic strip (a1) is installed between the inner side of the squeezed plate (a2) and the fixing rod (a4), the inner side of the squeezed plate (a2) is movably clamped with the outer side of the fixing rod (a4), the middle fixing block (a3) is fixed at the middle position of the contact wheel (a5), and the fixing rod (a4) is embedded and fixed at the outer surface position of the middle fixing block (a 3).

3. The orbital coal mining robot of claim 2, wherein: the extruded plate (a2) comprises a connecting frame (a21), a grabbing force block (a22), an elastic ring (a23) and a plate surface (a24), the bottom of the connecting frame (a21) is attached to the upper surface of the plate surface (a24), the upper surface of the grabbing force block (a22) is fixedly embedded with the bottom of the plate surface (a24), and the elastic ring (a23) and the grabbing force block (a22) are of an integrated structure.

4. The orbital coal mining robot of claim 3, wherein: the plate surface (a24) comprises a return spring piece (b1), an outer frame (b2) and an impact plate (b3), wherein the return spring piece (b1) is fixed between the upper end of the impact plate (b3) and the upper end of the inner wall of the outer frame (b2), and the impact plate (b3) is installed at the inner position of the outer frame (b 2).

5. The orbital coal mining robot of claim 2, wherein: the contact wheel (a5) comprises an external plate (c1), a middle block (c2) and a bearing plate (c3), the inner side of the external plate (c1) is attached to the outer side of the bearing plate (c3), and the middle block (c2) is fixed to the middle position of the outer side of the external plate (c 1).

6. The orbital coal mining robot of claim 5, wherein: the bearing plate (c3) comprises a vibrating block (c31), a plate block (c32) and a rebound piece (c33), the vibrating block (c31) is in sliding fit with the inside of the plate block (c32), and the rebound piece (c33) is embedded and fixed on the inner wall of the plate block (c 32).

7. The orbital coal mining robot of claim 6, wherein: the vibrating mass (c31) comprises a plate body (d1), a striking ball (d2) and an elastic sheet (d3), wherein the striking ball (d2) is mounted at the inner position of the plate body (d1), and the elastic sheet (d3) is embedded in the inner left position of the plate body (d 1).

8. The orbital coal mining robot of claim 7, wherein: the plate body (d1) comprises a boosting sheet (d11), a contact plate (d12) and a rear plate (d13), the boosting sheet (d11) is installed between the left side of the contact plate (d12) and the inner wall of the rear plate (d13), and the contact plate (d12) is movably clamped with the right side of the rear plate (d 13).

Technical Field

The invention relates to the field of robots, in particular to a rail type coal digging robot.

Background

The rail-mounted coal mining robot is mainly used for carrying out coal mining work, and the coal car bucket is arranged at the upper end of the rail-mounted coal mining robot, so that the rail-mounted coal mining robot can automatically convey mined coal outwards, and is an important link of intelligent coal mining, and the inventor finds that the existing rail-mounted coal mining robot mainly has the following defects based on the description, for example:

because the rail-mounted coal mining robot moves on the designated rail, if the coal mine on the coal car hopper is over-filled to cause part of the coal mine to fall on the rail, the moving wheel of the rail-mounted coal mining robot can be jacked upwards and then fall down when passing through the rail where the coal mine falls, and therefore vibration caused by the movement can cause more coal mines to fall off.

Disclosure of Invention

In order to solve the problems, the invention provides a track type coal mining robot.

In order to achieve the purpose, the invention is realized by the following technical scheme: a rail type coal mining robot structurally comprises a robot, a rail and a movable wheel, wherein the robot is connected with the upper end of the movable wheel, and the movable wheel is movably clamped with the upper surface of the rail; the movable wheel comprises a connecting rod, a connecting plate and a wheel body, the connecting rod is fixed at the middle position of the connecting plate, and the center of the wheel body is movably clamped with the connecting plate.

As a further optimization of the invention, the wheel body comprises an elastic strip, a squeezed plate, six middle fixing blocks, a fixing rod and a contact wheel, the elastic strip is installed between the inner side of the squeezed plate and the fixing rod, the inner side of the squeezed plate is movably clamped with the outer side of the fixing rod, the middle fixing blocks are fixed at the middle position of the contact wheel, the fixing rods are embedded and fixed at the outer surface position of the middle fixing blocks, and the squeezed plates are uniformly distributed in a circular shape outside the middle fixing blocks.

As a further optimization of the invention, the extruded plate comprises a connecting frame, a gripping block, an elastic ring and a plate surface, wherein the bottom of the connecting frame is attached to the upper surface of the plate surface, the upper surface of the gripping block is fixedly embedded and connected with the bottom of the plate surface, the elastic ring and the gripping block are of an integrated structure, and the elastic ring is of an oval structure made of spring steel with strong elasticity.

As a further optimization of the invention, the plate surface comprises a rebound sheet, an outer frame and an impact plate, the rebound sheet is fixed between the upper end of the impact plate and the upper end of the inner wall of the outer frame, the impact plate is mounted at the inner position of the outer frame, and the impact plate can generate impact vibration on the inner wall of the outer frame by generating throwing force through the rotation of the mechanism.

As a further optimization of the invention, the contact wheel comprises an external plate, a neutral block and a bearing plate, wherein the inner side of the external plate is attached to the outer side of the bearing plate, the neutral block is fixed at the middle position of the outer side of the external plate, and the bearing plate is in a trapezoidal structure.

As a further optimization of the invention, the bearing plate comprises a vibrating block, a plate block and a rebound sheet, the vibrating block is in sliding fit with the inside of the plate block, the rebound sheet is embedded and fixed on the inner wall of the plate block, and the whole vibrating block is made of alloy steel with higher density.

As a further optimization of the invention, the vibrating block comprises a plate body, three striking balls and three spring plates, wherein the striking balls are arranged at the inner position of the plate body, the spring plates are embedded in the plate body at the left side position, and the three striking balls are uniformly distributed in parallel in the plate body.

In a further preferred embodiment of the present invention, the plate body includes a push-assisting sheet, a contact plate, and a rear plate, the push-assisting sheet is mounted between a left side of the contact plate and an inner wall of the rear plate, the contact plate is movably engaged with a right side of the rear plate, and the push-assisting sheet generates a continuous pushing force to the contact plate in the rightward direction, so that the contact plate can slide rightward along the rear plate.

The invention has the following beneficial effects:

1. the wheel body on the wheel can drive the robot and move along the track, the rethread drops the extrusion that the colliery on the track produced to receiving the extruded sheet, can make and receive the extruded sheet along the inside shrink of dead lever great distance to make the wheel body can be steady all the time roll at the track, can not by the colliery jack-up that drops on the track, effectively avoid the wheel can be dropped colliery jack-up whereabouts again on the track, thereby the vibration that leads to producing can make the colliery more that drop.

2. Through the rotation of wheel body, can make the inner wall to produce the striking vibration when rotating to the wheel body below to make the impact ball roll to the top to one side along the inside of plate body and reset fast again, so make the impact ball can produce the striking to the inner wall of plate body, so make and accept inboard moist colliery powder of board and can be shaken off, effectually avoided dropping the colliery on the track crowd into two contact between the wheel after, adhere the condition of partial colliery powder in the inboard position of contact wheel easily.

Drawings

Fig. 1 is a schematic structural diagram of a track type coal mining robot according to the present invention.

FIG. 2 is a side view of the moving wheel of the present invention.

Fig. 3 is a side perspective structural schematic view of the wheel body of the present invention.

FIG. 4 is a side view of a half-section of a extruded plate according to the present invention.

FIG. 5 is a schematic structural diagram of a side view of a half-section of the panel according to the present invention.

Fig. 6 is a front view of the contact wheel of the present invention.

FIG. 7 is a front half-sectional view of the receiving plate of the present invention.

FIG. 8 is a front half-section schematic view of the vibrating mass of the present invention.

Fig. 9 is a front half-section structural schematic view of the plate body according to the present invention.

In the figure: the robot comprises a robot-1, a track-2, a moving wheel-3, a connecting rod-31, a connecting plate-32, a wheel body-33, an elastic strip-a 1, a squeezed plate-a 2, a middle fixed block-a 3, a fixed rod-a 4, a contact wheel-a 5, a connecting frame-a 21, a gripping block-a 22, an elastic ring-a 23, a plate surface-a 24, a rebound sheet-b 1, an outer frame-b 2, an impact plate-b 3, an external plate-c 1, a middle block-c 2, a bearing plate-c 3, a vibrating block-c 31, a plate-c 32, a rebound sheet-c 33, a plate body-d 1, an impact ball-d 2, an elastic sheet-d 3, a boosting sheet-d 11, a contact plate-d 12 and a rear contact plate-d 13.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1-5:

the invention provides a rail-mounted coal mining robot, which structurally comprises a robot 1, a rail 2 and a moving wheel 3, wherein the robot 1 is connected with the upper end of the moving wheel 3, and the moving wheel 3 is movably clamped with the upper surface of the rail 2; the movable wheel 3 comprises a connecting rod 31, a connecting plate 32 and a wheel body 33, the connecting rod 31 is fixed at the middle position of the connecting plate 32, and the center of the wheel body 33 is movably clamped with the connecting plate 32.

The wheel body 33 comprises an elastic strip a1, a squeezed plate a2, a middle fixing block a3, a fixing rod a4 and a contact wheel a5, the elastic strip a1 is installed between the inner side of the squeezed plate a2 and the fixing rod a4, the inner side of the squeezed plate a2 is movably clamped with the outer side of the fixing rod a4, the middle fixing block a3 is fixed at the middle position of the contact wheel a5, the fixing rod a4 is embedded at the outer surface position of the middle fixing block a3, six squeezed plates a2 are arranged, the squeezed uniformly and circularly outside the middle fixing block a3, and the distance for sliding and shrinking of the squeezed plate a2 along the fixing rod a4 is larger through squeezing of the squeezed plate a2 on a rail, so that the contact wheel a5 cannot be jacked up by a coal mine.

The extruded plate a2 comprises a connecting frame a21, a grabbing force block a22, an elastic ring a23 and a plate surface a24, the bottom of the connecting frame a21 is attached to the upper surface of the plate surface a24, the upper surface of the grabbing force block a22 is fixedly embedded in the bottom of the plate surface a24, the elastic ring a23 and the grabbing force block a22 are of an integrated structure, the elastic ring a23 is of an oval structure made of spring steel with strong elasticity, the bottom of the grabbing force block a22 can be continuously pushed to be closely attached to the surface of an object through the elastic ring a23, and therefore the grabbing force on the surface of the grabbing force block a22 can be enhanced.

The plate surface a24 comprises a return spring sheet b1, an outer frame b2 and an impact plate b3, the return spring sheet b1 is fixed between the upper end of the impact plate b3 and the upper end of the inner wall of an outer frame b2, the impact plate b3 is mounted at the inner position of the outer frame b2, a throwing force is generated by rotation of a mechanism, the impact plate b3 can generate impact vibration on the inner wall of the outer frame b2, and therefore the outer frame b2 can transmit the vibration to an object connected with the outer frame b2, and therefore coal mine debris squeezed into an object gap can be vibrated down.

The detailed use method and action of the embodiment are as follows:

in the invention, the wheel body 33 on the moving wheel 3 can drive the robot 1 to move forwards along the track 2, then the extruded plate a2 is extruded by the coal mine falling on the track 2, the extruded plate a2 can be contracted inwards for a larger distance along the fixed rod a4, so that the wheel body 33 can roll on the track 2 stably all the time and can not be jacked up by the coal mine falling on the track 2, the bottom of the gripping block a22 can be tightly attached to the upper surface of the track 2 through the continuous external supporting force generated by the elastic ring a23 on the gripping block a22, so that the wheel body 33 can move on the track 2 more stably, the impact plate b3 can generate impact vibration on the inner wall of the external frame b2 through the throwing force generated by the rotation of the wheel body 33, the external frame b2 can transmit the vibration to the elastic ring a23, and the coal mine extruded into the gap of the elastic ring a23 can be vibrated and fallen, through the process, the wheel body 33 can be effectively prevented from falling down again after being jacked up on the track 2, and therefore vibration caused by the falling wheel body can cause more falling coal mines.

Example 2

As shown in fig. 6-9:

the contact wheel a5 comprises an external plate c1, a middle position block c2 and a bearing plate c3, the inner side of the external plate c1 is attached to the outer side of the bearing plate c3, the middle position block c2 is fixed to the middle position of the outer side of the external plate c1, the bearing plate c3 is of a trapezoidal structure, and can be quickly clamped into an object through the two bearing plates c3 and can roll along the object.

The bearing plate c3 comprises a vibrating block c31, a plate c32 and a rebound piece c33, the vibrating block c31 is in sliding fit with the plate c32, the rebound piece c33 is embedded in the inner wall of the plate c32, the vibrating block c31 is made of alloy steel with high density, and the vibrating block c31 can slide downwards quickly when rotating to the position below the plate c32 through rotation of the mechanism, so that the rebound piece c33 can generate large impact vibration on the inner wall of the plate c 32.

Wherein, vibrating mass c31 includes plate body d1, striking ball d2, shell fragment d3, striking ball d2 installs in the inside position of plate body d1, shell fragment d3 inlays the inside of plate body d1 and leans on left side position, striking ball d2 is equipped with three, and even inside at plate body d1 is parallel distribution, and the mechanism slides down to extremely to the vibration that produces with the object striking, can make striking ball d2 upwards roll along plate body d1 and reset again, so make striking ball d2 can produce the striking to the inner wall of plate body d 1.

The plate body d1 includes a push-assisting sheet d11, a contact plate d12 and a rear plate d13, the push-assisting sheet d11 is installed between the left side of the contact plate d12 and the inner wall of the rear plate d13, the contact plate d12 is movably engaged with the right side of the rear plate d13, the push-assisting sheet d11 generates a continuous pushing force to the contact plate d12 in the rightward direction, so that the contact plate d12 can slide to the right along the rear plate d13, the right side of the contact plate d12 can be tightly attached to the inner wall of an object, and the contact plate d12 can transmit the vibration received by itself to the object attached to the contact plate d 12.

The detailed use method and action of the embodiment are as follows:

in the invention, part of coal mine in the underground depth is wet after mining, so that coal mine falling on the track 2 is squeezed between the two contact wheels a5, part of coal mine powder is easy to adhere to the inner side position of the contact wheel a5, the a31 can generate impact vibration on the inner wall of the a32 when rotating to the lower part of the wheel body 33 through the rotation of the wheel body 33, so that the impact ball d2 can roll obliquely upwards along the inner part of the plate body d1 and then quickly reset, the impact ball d2 can impact the contact plate on the inner wall of the plate body d1, the a31 can transmit the received impact to the plate c32, the wet coal mine powder on the inner side of the bearing plate c3 can be vibrated, the continuous thrust generated by the aid sheet d11 on the contact plate d12 can enable the outer side of the d12 to be tightly attached to the inner wall of the plate c32, and the vibration block c31 can more quickly and completely transmit the vibration to the plate c32, the situation that part of coal mine powder is easily adhered to the inner side position of the contact wheel a5 after the coal mine falling on the rail 2 is squeezed between the two contact wheels a5 is effectively avoided.

The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention to achieve the above technical effects.