CN109494931A - Underground coal mine autonomous mobile apparatus automatic charge device - Google Patents
Underground coal mine autonomous mobile apparatus automatic charge device Download PDFInfo
- Publication number
- CN109494931A CN109494931A CN201811601579.1A CN201811601579A CN109494931A CN 109494931 A CN109494931 A CN 109494931A CN 201811601579 A CN201811601579 A CN 201811601579A CN 109494931 A CN109494931 A CN 109494931A
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- CN
- China
- Prior art keywords
- coal mine
- mobile apparatus
- autonomous mobile
- motor
- walking track
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Toys (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of underground coal mine autonomous mobile apparatus automatic charge device, including be mounted in coal mine down-hole tunnel walking track, be mounted on walking track and along the autonomous mobile apparatus component that walking track moves back and forth and the charging station component below walking track for charging to autonomous mobile apparatus component can be set.Autonomous mobile apparatus component of the present invention transmits energy by rotating mechanical energy with charging station component, it is not electrically connected between the two, any electric spark will not be generated, the safe and reliable charging under underground coal mine explosion environment can be achieved, and it is connected between alternator shaft and motor rotary shaft using plum blossom pyramidal structure, structure is simple, and connection is reliable.
Description
Technical field
The present invention relates to coal mine equipment field, in particular to a kind of underground coal mine autonomous mobile apparatus automatic charge device.
Background technique
Mining autonomous mobile apparatus can substitute manually in fields such as inspection, prospecting, detection, search and rescue, reduce Labor Risk, mention
High labor efficiency is of great significance to promotion mine region unmanned operation.
Mining autonomous mobile apparatus generallys use battery-powered, and battery capacity is larger, when battery electric quantity deficiency,
It needs fast and safely to charge automatically.Automatic charging mode common at present mainly has the charging of flame proof electrical interface and two kinds of wireless charging.
Wherein flame proof electrical interface charging modes protect electrical charging interface fast and safely to charge to realize using flameproof enclosure, autonomous
Electrical charging interface should all be protected equipment by flameproof enclosure in conjunction with fixed charging unit, when separating, and property reaches to ensure safety
GB3836 standard requirements, therefore charging interface need to design accurate explosion-insulation surface, complicated mechanical caging and electric blocking mechanism,
Product safety consistency hardly results in guarantee；Requirement in actual application to control precision and the protection of explosion-proof face is high, is easy
It causes explosion suppresion surface to damage or can not effectively combine, increase security risk and influences normal use.And for wireless charging mode,
" GB3836.1-2010 explosive atmosphere first part: Device-General requirement " has clear stipulaties: " for class Ⅰ equipment (for coal
The equipment of mine gas body environment) radio frequency is that 6W " is not to be exceeded in the threshold power of continuous transmitting radio frequency source of (9kHz~60GHz),
Therefore class Ⅰ equipment wireless charging mode can only realize the safe transmission of small-power energy, be unable to satisfy the big energy of autonomous mobile apparatus
The application demand fast and safely to charge.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of underground coal mine autonomous mobile apparatus automatic charge device, from
Main mobile apparatus assembly and charging station component are not electrically connected between the two, will not be produced by rotating mechanical energy transmitting energy
Raw any electric spark is, it can be achieved that safe and reliable charging under underground coal mine explosion environment, and alternator shaft and motor rotary shaft
Between connected using plum blossom pyramidal structure, structure is simple, and connection is reliable.
Underground coal mine autonomous mobile apparatus automatic charge device of the invention, including the row being mounted in coal mine down-hole tunnel
Track is walked, is mounted on walking track and can walked along the autonomous mobile apparatus component and setting that walking track moves back and forth
Charging station component below track for charging to autonomous mobile apparatus component；
The autonomous mobile apparatus component includes the automatically walk frame being mounted on walking track, is arranged in automatically walk frame
Interior battery group and setting for providing power for automatically walk frame is used for and charging station component in automatically walk frame bottom
Transmission connection converts electric energy for mechanical energy and electric energy is stored into the generator in battery group；
The charging station component includes that the pedestal being mounted in coal mine down-hole tunnel and setting are used for and power generation on the base
The motor of machine transmission connection, the motor output end are coaxially arranged with motor rotary shaft, and the motor rotary shaft end is set
There is plum blossom bellmouth, the alternator shaft end of the generator is equipped with the plum blossom tapered pole cooperated with plum blossom bellmouth, described
It is provided with electric motor shaft on pedestal to pass through and to the support base that motor rotary shaft is supported, the support base is backwards to electronic
The side of machine is provided with the Buffer Unit for being oriented to and being buffered to alternator shaft.
Further, it is provided with the antenna I being electrically connected with battery group on the automatically walk frame, is provided on the pedestal
For controlling the controller and the antenna being electrically connected with the controller II of electric motor operation, the antenna I is wirelessly communicated with antenna II
Connection.
Further, the support base is provided with travel switch, the travel switch and controller backwards to the side of motor
Electrical connection, the Buffer Unit include buffer board, the connecting rod being set between buffer board and support base and are sheathed on connection
Buffer spring outside bar is provided with the protrusion with travel switch cooperation on the buffer board, and one end of the connecting rod is fixed on
On buffer board, the other end is arranged in support base along axially slidable, the buffer spring both ends be individually fixed in buffer board and
On support base.
Further, the axis perpendicular of the buffer board and motor rotary shaft, the axis and motor of the connecting rod turn
The axis of axis is parallel.
Further, the motor rotary shaft is connect by flexible connector with motor output end.
Further, the RFID label tag for detecting automatically walk rack position is provided on the walking track, it is described automatic
It is provided on walker for the RFID reader with RFID label tag wireless communication connection.
Further, the walking track parallel beneath is provided with for making automatically walk frame to base for automatically walk frame guiding
Seat mobile guide groove is provided with the directive wheel with the cooperation of automatically walk frame in the guide groove.
Further, the bell-mouth structure of air that the guide groove is gradually increased for one end width that automatic walker drives into.
Further, the pedestal and walking track have tilt angle, and base between coal mine down-hole tunnel horizontal plane
The inclination between tilt angle and walking track and coal mine down-hole tunnel horizontal plane between seat and coal mine down-hole tunnel horizontal plane
Angle is identical.
Further, the generator is flame proof generator, and the motor is flameproof motor.
Beneficial effects of the present invention: underground coal mine autonomous mobile apparatus automatic charge device of the invention, in use, automatically
Walker is moved back and forth along walking track, when detecting that automatically walk frame is to motor direction when needing for battery charging
It is mobile, it docks alternator shaft under the guiding and buffer function of Buffer Unit with motor rotary shaft, passes through motor at this time
Work drives motor rotary shaft to rotate, and generator receives rotating mechanical energy by alternator shaft and generates electricity, to realize
To battery charging.As it can be seen that autonomous mobile apparatus component of the present invention and charging station component transmit energy by rotating mechanical energy,
It is not electrically connected between the two, any electric spark will not be generated, it can be achieved that securely and reliably filling under underground coal mine explosion environment
Electricity, and connected between alternator shaft and motor rotary shaft using plum blossom pyramidal structure, structure is simple, and connection is reliable.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
The underground coal mine autonomous mobile apparatus automatic charge device of the present embodiment as shown in Figure 1:, including it is mounted on coal mine
Walking track 1 in lower tunnel is mounted on walking track 1 and can be along the autonomous mobile apparatus group that walking track 1 moves back and forth
Part and it is arranged in below walking track 1 for the charging station component that charges to autonomous mobile apparatus component；
The autonomous mobile apparatus component includes the automatically walk frame 2 being mounted on walking track 1, is arranged in automatically walk
Battery group and setting in frame 2 for providing power for automatically walk frame 2 are used for and charging station in 2 bottom of automatically walk frame
Component transmission connection converts electric energy for mechanical energy and electric energy is stored into the generator 3 in battery group；
The charging station component include the pedestal 4 being mounted in coal mine down-hole tunnel and be arranged on pedestal 4 be used for and hair
The motor 5 that motor 3 is sequentially connected, 5 output end of motor are coaxially arranged with motor rotary shaft 6, the motor rotary shaft 6
End is equipped with plum blossom bellmouth, and 7 end of alternator shaft of the generator 3 is equipped with the plum blossom taper cooperated with plum blossom bellmouth
Column is provided with electric motor shaft 6 on the pedestal 4 and passes through and to the support base 8 that motor rotary shaft 6 is supported, the branch
Support seat 8 is provided with the Buffer Unit for alternator shaft 7 to be oriented to and buffered backwards to the side of motor 5；In use,
Automatically walk frame is moved back and forth along walking track, when detecting that automatically walk frame is to motor when needing for battery charging
Direction is mobile, docks alternator shaft under the guiding and buffer function of Buffer Unit with motor rotary shaft, passes through electricity at this time
Motivation work drives motor rotary shaft to rotate, and generator receives rotating mechanical energy by alternator shaft and generates electricity, with
It realizes to battery charging；Autonomous mobile apparatus component and charging station component by rotating mechanical energy transmitting energy, the two it
Between be not electrically connected, any electric spark will not be generated, it can be achieved that safe and reliable charging under underground coal mine explosion environment；And
The reliable docking that both can ensure that of plum blossom pyramidal structure of alternator shaft, motor rotary shaft, and pyramidal structure allow to have it is certain
Bias, plum blossom structure can the automatic adaptation tooth matching angles of drive shaft rotation.
In the present embodiment, the antenna I 13 being electrically connected with battery group, the pedestal are provided on the automatically walk frame 2
The antenna II 14 for being provided with the controller for controlling the work of motor 5 on 4 and being electrically connected with the controller, the antenna I 13
It wirelessly communicates and connects with antenna II 14, data interaction is realized by wireless transmission, is easy to use.
In the present embodiment, the support base 8 is provided with travel switch 15, the travel switch backwards to the side of motor 5
15 are electrically connected with controller 16, and the Buffer Unit includes buffer board 9, the connecting rod that is set between buffer board 9 and support base 8
10 and the buffer spring 11 that is sheathed on outside connecting rod 10, the protrusion cooperated with travel switch 15 is provided on the buffer board 9
17, one end of the connecting rod 10 is fixed on buffer board 9, and the other end is arranged in support base 8 along axially slidable, described slow
11 both ends of spring are rushed to be individually fixed on buffer board 9 and support base 8, when alternator shaft is docked with motor rotary shaft, buffering
Protrusion 17 on plate triggers travel switch 15, and travel switch 15 transmits a signal to controller 16, and controller 16 controls motor
Power transmitting is realized in rotation.The buffer board 9 of the present embodiment is circle, and connecting rod 10 is four, and four connecting rods 10 are along buffer board
9 are circumferentially uniformly arranged.
In the present embodiment, the axis perpendicular of the buffer board 9 and motor rotary shaft 6, the axis of the connecting rod 10 with
The axis of motor rotary shaft 6 is parallel, to guarantee guiding and cushion performance.
In the present embodiment, the motor rotary shaft 6 is connect by flexible connector 12 with 5 output end of motor, to guarantee
Connection reliability.
In the present embodiment, the RFID label tag 18 for detecting 2 position of automatically walk frame is provided on the walking track 1,
It is provided on the automatically walk frame 2 for the RFID reader with the wireless communication connection of RFID label tag 18, realizes oneself of position
It is dynamic to obtain, to realize automatic operation.
In the present embodiment, 1 parallel beneath of walking track is provided with for making automatically walk for the guiding of automatically walk frame 2
The guide groove 19 mobile to pedestal 4 of frame 2 is provided with the directive wheel cooperated with automatically walk frame 2 in the guide groove 19, to guarantee
The reliability of docking, and convenient for docking.
In the present embodiment, horn mouth knot that the guide groove 19 is gradually increased for one end width that automatic walker 2 drives into
Structure improves guide effect.
In the present embodiment, the pedestal 4 and walking track 1 have inclination angle between coal mine down-hole tunnel horizontal plane
Degree, and tilt angle between pedestal 4 and coal mine down-hole tunnel horizontal plane and walking track 1 and coal mine down-hole tunnel horizontal plane it
Between tilt angle it is identical, using incline structure, the axial thrust that high speed machine rotation generates can be offset by gravity, be avoided
Alternator shaft is separated with motor rotary shaft.
In the present embodiment, the generator 3 is flame proof generator, and the motor 5 is flameproof motor, meets coal
Operational security requirement under mine.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. a kind of underground coal mine autonomous mobile apparatus automatic charge device, it is characterised in that: including being mounted on coal mine down-hole tunnel
Interior walking track is mounted on walking track and can be along the autonomous mobile apparatus component and setting that walking track moves back and forth
Charging station component below walking track for charging to autonomous mobile apparatus component；
The autonomous mobile apparatus component includes the automatically walk frame being mounted on walking track, is arranged and uses in automatically walk frame
It is used to be driven with charging station component in automatically walk frame bottom in the battery group and setting for providing power for automatically walk frame
Connection converts electric energy for mechanical energy and electric energy is stored into the generator in battery group；
The charging station component includes the pedestal being mounted in coal mine down-hole tunnel and setting on the base for passing with generator
The motor of dynamic connection, the motor output end are coaxially arranged with motor rotary shaft, and the motor rotary shaft end is equipped with plum
Flower bellmouth, the alternator shaft end of the generator are equipped with the plum blossom tapered pole cooperated with plum blossom bellmouth, the pedestal
On be provided with electric motor shaft and pass through and to the support base that motor rotary shaft is supported, the support base is backwards to motor
Side is provided with the Buffer Unit for being oriented to and being buffered to alternator shaft.
2. underground coal mine autonomous mobile apparatus automatic charge device according to claim 1, it is characterised in that: described automatic
It is provided with the antenna I being electrically connected with battery group on walker, the control for controlling electric motor operation is provided on the pedestal
Device processed and the antenna II being electrically connected with the controller, the antenna I are connected with the wireless communication of antenna II.
3. underground coal mine autonomous mobile apparatus automatic charge device according to claim 2, it is characterised in that: the support
Seat is provided with travel switch backwards to the side of motor, and the travel switch is electrically connected with the controller, and the Buffer Unit includes
Buffer board, the connecting rod being set between buffer board and support base and the buffer spring being sheathed on outside connecting rod, the buffering
The protrusion with travel switch cooperation is provided on plate, one end of the connecting rod is fixed on buffer board, and other end edge is axial can
Sliding is arranged in support base, and the buffer spring both ends are individually fixed on buffer board and support base.
4. underground coal mine autonomous mobile apparatus automatic charge device according to claim 3, it is characterised in that: the buffering
The axis perpendicular of plate and motor rotary shaft, the axis of the connecting rod and the axis of motor rotary shaft are parallel.
5. underground coal mine autonomous mobile apparatus automatic charge device according to claim 4, it is characterised in that: described electronic
Machine shaft is connect by flexible connector with motor output end.
6. underground coal mine autonomous mobile apparatus automatic charge device according to claim 1, it is characterised in that: the walking
It is provided with the RFID label tag for detecting automatically walk rack position on track, is provided with and is used for and RFID on the automatically walk frame
The RFID reader of label wireless communication connection.
7. underground coal mine autonomous mobile apparatus automatic charge device according to claim 1, it is characterised in that: the walking
Track parallel beneath is provided with the guide groove for keeping automatically walk frame mobile to pedestal for automatically walk frame guiding, the guiding
The directive wheel with the cooperation of automatically walk frame is provided in slot.
8. underground coal mine autonomous mobile apparatus automatic charge device according to claim 7, it is characterised in that: the guiding
The bell-mouth structure of air that slot is gradually increased for one end width that automatic walker drives into.
9. underground coal mine autonomous mobile apparatus automatic charge device according to claim 8, it is characterised in that: the pedestal
And walking track has a tilt angle between coal mine down-hole tunnel horizontal plane, and pedestal and coal mine down-hole tunnel horizontal plane it
Between tilt angle and walking track it is identical as the tilt angle between coal mine down-hole tunnel horizontal plane.
10. underground coal mine autonomous mobile apparatus automatic charge device according to claim 1, it is characterised in that: the hair
Motor is flame proof generator, and the motor is flameproof motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811601579.1A CN109494931B (en) | 2018-12-26 | 2018-12-26 | Automatic charging device for underground autonomous mobile equipment of coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811601579.1A CN109494931B (en) | 2018-12-26 | 2018-12-26 | Automatic charging device for underground autonomous mobile equipment of coal mine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109494931A true CN109494931A (en) | 2019-03-19 |
| CN109494931B CN109494931B (en) | 2020-05-29 |
Family
ID=65712278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811601579.1A Active CN109494931B (en) | 2018-12-26 | 2018-12-26 | Automatic charging device for underground autonomous mobile equipment of coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109494931B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110994730A (en) * | 2019-12-20 | 2020-04-10 | 中信重工开诚智能装备有限公司 | Colliery is autonomic mobile device charging device and control system in pit |
| CN111049244A (en) * | 2020-01-09 | 2020-04-21 | 中煤科工集团重庆研究院有限公司 | Hydraulic charging device of underground inspection robot for coal mine |
| CN111745687A (en) * | 2020-07-03 | 2020-10-09 | 中煤科工集团重庆研究院有限公司 | Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear |
| CN113422242A (en) * | 2021-06-22 | 2021-09-21 | 苏州赛福德自动化科技有限公司 | Explosion-proof automatic charging connector |
| CN113691076A (en) * | 2021-07-30 | 2021-11-23 | 西安量子智能科技有限公司 | Rail-mounted robot system for charging flammable and explosive areas and charging method thereof |
| CN113691075A (en) * | 2021-07-30 | 2021-11-23 | 西安量子智能科技有限公司 | Robot charging system and charging method for inflammable and explosive areas |
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| JPH04145839A (en) * | 1990-10-03 | 1992-05-19 | Yaskawa Electric Corp | Charger for motor-driven carrier |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN207842685U (en) * | 2017-10-26 | 2018-09-11 | 陈红卫 | Automatic charging system battery |
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2018
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Patent Citations (3)
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|---|---|---|---|---|
| JPH04145839A (en) * | 1990-10-03 | 1992-05-19 | Yaskawa Electric Corp | Charger for motor-driven carrier |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN207842685U (en) * | 2017-10-26 | 2018-09-11 | 陈红卫 | Automatic charging system battery |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110994730A (en) * | 2019-12-20 | 2020-04-10 | 中信重工开诚智能装备有限公司 | Colliery is autonomic mobile device charging device and control system in pit |
| CN110994730B (en) * | 2019-12-20 | 2024-01-26 | 中信重工开诚智能装备有限公司 | Colliery is autonomous mobile equipment charging device in pit |
| CN111049244A (en) * | 2020-01-09 | 2020-04-21 | 中煤科工集团重庆研究院有限公司 | Hydraulic charging device of underground inspection robot for coal mine |
| CN111745687A (en) * | 2020-07-03 | 2020-10-09 | 中煤科工集团重庆研究院有限公司 | Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear |
| CN111745687B (en) * | 2020-07-03 | 2023-03-14 | 中煤科工集团重庆研究院有限公司 | Charging and butting mechanism and method for mining inspection robot based on drum-shaped gear |
| CN113422242A (en) * | 2021-06-22 | 2021-09-21 | 苏州赛福德自动化科技有限公司 | Explosion-proof automatic charging connector |
| CN113422242B (en) * | 2021-06-22 | 2023-01-10 | 苏州赛福德自动化科技有限公司 | Explosion-proof automatic charging connector |
| CN113691076A (en) * | 2021-07-30 | 2021-11-23 | 西安量子智能科技有限公司 | Rail-mounted robot system for charging flammable and explosive areas and charging method thereof |
| CN113691075A (en) * | 2021-07-30 | 2021-11-23 | 西安量子智能科技有限公司 | Robot charging system and charging method for inflammable and explosive areas |
| CN113691075B (en) * | 2021-07-30 | 2022-12-30 | 西安量子智能科技有限公司 | Robot charging system and charging method for inflammable and explosive areas |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109494931B (en) | 2020-05-29 |
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