CN216376275U

CN216376275U - Walking track of chain traction robot for fully mechanized coal mining face of coal mine

Info

Publication number: CN216376275U
Application number: CN202122573587.3U
Authority: CN
Inventors: 杨士军; 任伟; 刘清; 马红军
Original assignee: Beijing Meike Tianma Automation Technology Co Ltd; Beijing Tianma Intelligent Control Technology Co Ltd
Current assignee: Beijing Meike Tianma Automation Technology Co Ltd; Beijing Tianma Intelligent Control Technology Co Ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-04-26
Anticipated expiration: 2031-10-25

Abstract

The utility model discloses a chain traction robot walking track of a fully mechanized coal mining face, which comprises a plurality of track units, wherein each track unit comprises a first track and a second track which are symmetrically arranged, the first track and the second track are fixedly connected through a middle plate, an adjusting pin is arranged at the same end of the first track and the second track, accommodating grooves are formed in the first track and the second track in a matched mode with the adjusting pins, adjacent track units are arranged in a spliced mode through the adjusting pins and the accommodating grooves, a buffering self-balancing mechanism is arranged below the first track and the second track, and a traction chain is arranged inside the first track and the second track. The utility model provides a track device which can still ensure the stable operation of a robot train set under the conditions that the bottom plate of a fully mechanized mining face is uneven and the front, the back, the upper and the lower parts of a track can generate wrong stubbles due to bending or displacement generated in the process of pushing through an adjusting pin and a buffering self-balancing mechanism.

Description

Walking track of chain traction robot for fully mechanized coal mining face of coal mine

Technical Field

The utility model relates to the technical field of coal mine fully mechanized mining equipment, in particular to a walking track of a chain traction robot on a coal mine fully mechanized mining working surface.

Background

The mechanized fully mechanized coal mining face of the coal mine mainly comprises a coal mining machine, a scraper conveyor and a hydraulic support. With the development of the technology, the comprehensive mechanized coal mining is developed in the directions of automation, unmanned, informatization and intellectualization, and the robot replaces manual inspection or performs simple operation, so that the development trend in the future is certainly reached. However, due to the special geological conditions and environment of the coal mining working face of the coal mine, the conventional independently-walking wheel type robot and the conventional independently-walking covered belt robot cannot realize the technologies of obstacle identification, obstacle avoidance and obstacle crossing on the fully mechanized coal mining working face. The track self-propelled robot can only carry out routing inspection on a nearly horizontal working surface due to poor battery safety, small cruising ability, weak climbing ability and the like, and cannot carry out simple operation with a manipulator.

Therefore, the patent technology is the subject of designing and researching for the requirement that a working robot capable of carrying a manipulator or a robot for inspection on an inclined working surface can freely walk and position by being dragged by external force and by means of a rail

The walking track of the robot on the fully mechanized coal mining face of the coal mine is generally arranged on a cable trough on the outer side of a conveyor, and due to the limitation of a coal mining process and geological conditions, a 1-3-degree moving space is reserved between each section of middle trough and the middle trough of the conveyor to adapt to the uneven bottom plate of the working face caused by natural conditions and the deformation of about 30mm in extension or compression generated during pushing and sliding.

As a track for the robot to walk, the robot must be ensured to run stably under special conditions and processes of a fully mechanized mining face, so that the accuracy of monitoring data and the service life of a monitoring instrument can be ensured. In addition, the robot arm and the actuator are required to bear all directional forces.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

In order to achieve the purpose, the utility model provides a chain traction robot walking track for a fully mechanized coal mining face, which comprises a plurality of track units, wherein each track unit comprises a first track and a second track which are symmetrically arranged, the first track and the second track are fixedly connected through a middle plate, an adjusting pin is arranged at the same end of the first track and the second track, accommodating grooves are formed in the first track and the second track in a matched mode with the adjusting pins, adjacent track units are arranged in an inserted mode through the adjusting pins and the accommodating grooves, a buffering self-balancing mechanism is arranged below the first track and the second track, and a traction chain is arranged inside the first track and the second track.

The utility model provides a track device which can still ensure the stable operation of a robot train set under the conditions that the bottom plate of a fully mechanized mining face is uneven and the front, the back, the upper and the lower parts of a track can generate wrong stubbles due to bending or displacement generated in the process of pushing through an adjusting pin and a buffering self-balancing mechanism.

Optionally, the first rail and the second rail in the same rail unit are arranged in a left-right staggered manner to form a staggered stubble interface.

Further, buffering self-balancing mechanism is including setting up in the fixed block of track unit below, it is provided with the mounting bracket to deviate from track unit direction on the fixed block, be provided with double-screw bolt nut subassembly on the support frame, the double-screw bolt runs through the mounting bracket with fixed block threaded connection, and lie in on the double-screw bolt part cover is equipped with the leveling spring between mounting bracket and the nut.

Furthermore, the stud nut assembly further comprises a retaining ring arranged at one end, connected with the nut, of the stud, and the leveling spring is arranged towards one end of the nut and is abutted to the retaining ring.

Further, the buffering self-balancing mechanism is provided with a plurality of groups.

Furthermore, a coal leakage hole is formed in the middle plate.

Furthermore, one end of the adjusting pin is fixedly connected to the middle position of the end of the first track or the middle position of the end of the second track, and a bevel of 1-3 degrees is formed in the other end of the adjusting pin in an up-down left-right mode.

Furthermore, the first track and the second track are both provided with a guide mechanism and a limiting mechanism in a matching mode with a traction chain.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a top view of an overall structure according to the present invention;

FIG. 2 is a side view of the overall structure according to the present invention;

fig. 3 is an elevation view of the overall structure according to the present invention.

Description of reference numerals:

1. an adjustment pin; 2. a track unit; 3. a mounting frame; 4. a coal leakage hole; 5. a middle plate; 6. a fixed block; 7. a leveling spring; 8. a stud and nut assembly; 9. and (6) accommodating the tank.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

The utility model provides a walking track of a chain traction robot of a fully mechanized mining face of a coal mine, which is explained in detail with reference to fig. 1 to 3.

A chain traction robot walking track for a fully mechanized coal mining face comprises a plurality of track units 2, the track units 2 comprise a first track and a second track which are symmetrically arranged, the first track and the second track are fixedly connected through a middle plate 5, the first track and the second track are made of ledge steel for coal mines in the embodiment, an adjusting pin 1 is arranged at the same end of the first track and the second track, and the first track and the second track are both provided with accommodating grooves 9 in a matching way with the adjusting pins 1, so that the cross sections of the first track and the second track are both in an M shape, adjacent track units 2 are inserted and arranged with the accommodating grooves 9 through the adjusting pins 1, a buffer self-balancing mechanism is arranged below the first track and the second track, a traction chain is arranged in the first track and the second track, and a guide mechanism and a limiting mechanism are arranged in the first track and the second track in a manner of being matched with the traction chain.

The upper parts of the first track and the second track are used for walking of the robot trolley, the internal traction chain can drive the robot to walk on the first track and the second track under the action of the guide mechanism and the limiting mechanism, and considering that if adjacent track units 2 are arranged at joint positions in a flush manner, the robot trolley can move to the joint positions of the track units 2, the four wheels at the lower part simultaneously have two wheels passing through the cross section between the two groups of track units 2, so that the robot trolley can receive large vibration and bump in the moving process, and because the influence on the adjacent track units 2 caused by track deformation is reduced, a certain gap is generally reserved at the joint positions of the adjacent track units 2, and the situation that the robot trolley cannot move due to the fact that the wheels are clamped in the gap when the robot trolley passes through the gap due to the flush arrangement mode of the joint positions is caused, therefore, in order to avoid the above problems, in the present embodiment, the left-right alternate arrangement between the first rail and the second rail in the same rail unit 2 enables the end of the single rail unit 2 to form the alternate joint, and a certain gap is left between the adjacent rail units 2 to adapt to the reduction of the gap caused by the bending of the rails when pushing and sliding, prevent extrusion, and ensure that three of the four wheels below the robot trolley travel on the solid rail to reduce vibration during operation, and the middle plate 5 is configured to be a parallelogram or a rhombus in shape to match the alternate arrangement of the first rail and the second rail.

The adjusting pin 1 is made of steel through cutting, one end of the adjusting pin 1 is fixedly connected to the middle position of the end of the first track or the middle position of the end of the second track, the positions and the directions of the adjusting pin 1 on the first track and the second track are the same, grooves with 1-3 degrees are formed in the upper portion, the lower portion, the left portion and the right portion of the other end of the adjusting pin, grooves with 1-3 degrees are formed in the upper portion and the lower portion of the other end of the adjusting pin 1 along the direction towards one side of the track unit 2, and the accommodating groove 9 is in a fit state with the cross section of the adjusting pin 1. When the adjusting pin is installed, a worker inserts one end of the track unit 2 with the adjusting pin 1 into the accommodating groove 9 of the adjacent track unit 2 without the adjusting pin 1 so as to adjust the deformation of the conveyor caused by the uneven bottom plate and the pushing-sliding.

Referring to fig. 2 and 3, further to achieve smooth transitions between the rails and to reduce vibration of the robotic car as it moves over the rails, a buffer self-balancing mechanism is fixedly arranged below each track unit 2, the buffer self-balancing mechanism comprises a fixing block 6 arranged below the track unit 2, namely the fixing blocks 6 are arranged below the first track and the second track, and every fixed block 6 and first track, second track weld respectively and set up, it is provided with mounting bracket 3 to deviate from 2 directions of track unit on the fixed block 6, be provided with double-screw bolt nut subassembly 8 on the support frame, fixed block 6 cooperates double-screw bolt nut subassembly 8 to be provided with the screw, it is provided with the regulation hole to cooperate the double-screw bolt on the mounting bracket 3, the double-screw bolt runs through the regulation hole on the mounting bracket 3 and is connected with fixed block 6 threaded connection, and it is equipped with leveling spring 7 to lie in partly cover between mounting bracket 3 and the nut on the double-screw bolt. Further, in order to enable the leveling spring 7 to be installed more stably, the stud nut assembly 8 further comprises a retaining ring arranged at one end, connected with the nut, of the stud, and the leveling spring 7 is arranged in a manner that the end, facing the nut, of the stud is abutted to the retaining ring. A plurality of groups of buffer self-balancing mechanisms are arranged below each track unit 2, in the embodiment, two groups of buffer self-balancing mechanisms are arranged below each track unit 2, and the two groups of buffer self-balancing mechanisms are respectively arranged close to two ends of each track unit 2.

Referring to fig. 1, in the moving process of the robot trolley, water, coal blocks or other impurities may fall on the track unit 2, and in order to timely remove the water, the coal blocks or the other impurities from the track and avoid affecting the operation of a traction chain for driving the robot trolley to move inside the track unit 2, a plurality of coal leaking holes 4 are formed in the middle plate 5, and in this embodiment, 2 coal leaking holes 4 are formed in the middle plate 5 on a single track unit 2.

According to the working principle of the embodiment, when the robot trolley moves on a moving track consisting of a plurality of track units 2, the leveling spring 7 in the buffering self-balancing mechanism can play a role of buffering, when the robot trolley passes through the position of the interface of the track units 2, at least three wheels of the robot trolley can constantly keep a contact state with the track units 2, so that the trolley can stably pass through the joint position of the track units 2, when the track bends due to the pushing and sliding of the robot trolley, the adjusting pin 1 and the accommodating groove 9 can relatively move, so that a gap reserved between the adjacent track units 2 is enlarged or reduced, and the deformation of the moving track in the moving direction of the track is compensated, the track in the buffering self-balancing mechanism presses the fixing block 6 and the stud, and the mounting frame 3 is a component fixedly connected to an external wall or other components, the fixing block 6 and the stud pressed by the leveling spring 7 are lowered or raised to supplement the deformation of the rail unit 2 in the direction perpendicular to the surface of the middle plate 5. That is, the deformation of the whole track is corrected, compensated and buffered by the cooperation of the adjusting pin 1 and the buffer self-balancing mechanism, so that the robot trolley is more stable when moving on the track.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a colliery is combined and is adopted working face chain traction robot walking track, a serial communication port, including a plurality of track units, track unit is including first track and the second track that the symmetry set up, first track with pass through medium plate fixed connection between the second track, first track with the same end of second track is provided with the adjustment round pin, just first track with all cooperate on the second track the adjustment round pin is provided with the holding tank, pegs graft through adjustment round pin and holding tank between the adjacent track unit and sets up, just first track with second track below is provided with buffering self-balancing mechanism, first track with the inside traction chain that is provided with of second track.

2. The coal mine fully mechanized mining face chain traction robot walking track of claim 1, wherein the first track and the second track in the same track unit are staggered left and right to form a staggered joint.

3. The coal mine fully mechanized mining face chain traction robot walking track of claim 1, characterized in that, buffering self-balancing mechanism is including setting up the fixed block below the track unit, it is provided with the mounting bracket to deviate from the track unit direction on the fixed block, be provided with stud nut subassembly on the mounting bracket, the stud runs through the mounting bracket with fixed block threaded connection, and lie in on the stud partly cover is equipped with leveling spring between mounting bracket and the nut.

4. The coal mine fully mechanized mining face chain traction robot walking track of claim 3, wherein the stud nut assembly further comprises a stop ring disposed at one end where the stud is connected with the nut, and the leveling spring is disposed in abutment with the stop ring toward one end of the nut.

5. The coal mine fully mechanized mining face chain traction robot walking track of claim 4, characterized in that: the buffering self-balancing mechanism is provided with a plurality of groups.

6. The coal mine fully mechanized mining face chain traction robot walking track of claim 1, wherein the middle plate is provided with coal leaking holes.

7. The coal mine fully mechanized mining face chain traction robot walking track according to claim 1, wherein one end of the adjusting pin is fixedly connected to the middle position of the end of the first track or the middle position of the end of the second track, and a bevel of 1-3 degrees is formed in the other end of the adjusting pin in the vertical direction and the left-right direction.

8. The coal mine fully mechanized mining face chain traction robot walking track according to claim 1, wherein a guide mechanism and a limiting mechanism are arranged inside the first track and the second track in a matched mode with a traction chain.