A reciprocating traction device with 2-degree-of-freedom elastic buffer for use in coal mines

Abstract

The present invention discloses a reciprocating traction device with a two-degree-of-freedom elastic buffer for use in coal mines. The device comprises a frame hoisted on a roadway; a drive unit comprising a drive assembly and a controller; the drive assembly mounted at one end of the frame; an inspection unit comprising an inspection robot and a two-degree-of-freedom elastic buffer mechanism; the inspection robot slidably connected to the frame and fixedly connected to a rope; the two-degree-of-freedom elastic buffer mechanism is provided with at least two buffer assemblies, at least two of which are vertically arranged; a tail follower unit mounted at one end of the frame away from the drive assembly and connected to the drive assembly via a rope; and a reversing unit for adjusting the running direction of the rope. The present invention is applicable to the reciprocating operation of inspection robots in coal mines, improving the operational stability during traction, enhancing the quality and efficiency of inspections, and having the characteristics of ease of use and high practicality.

Description

Technical Field

[0001] The present invention relates to the field of intelligent traction equipment, and in particular to a reciprocating traction device with 2-degree-of-freedom elastic buffering for use in coal mines. Background Art

[0002] With the continuous development of underground coal mine excavation technology, the depth and efficiency of underground excavation have continued to increase. The layout of tunnels and the distribution of fully mechanized mining equipment in modern coal mines are becoming increasingly complex. To ensure the proper operation of various types of fully mechanized mining equipment, dedicated inspection personnel are usually stationed underground to regularly monitor and control the operating status and parameters of each piece of equipment. With the rapid underground excavation and the widespread use of automated equipment, inspection robots have gradually replaced manual labor and become the primary method of underground coal mine inspection. Currently, there are two main methods for fault monitoring in coal mines: manual inspection, which increases labor intensity and human safety risks due to the complex underground conditions. Manual inspection is also affected by factors such as worker operating experience, mental state, and physical discomfort, which greatly increases measurement uncertainty and negatively affects the detection results. Sensor detection, however, due to the long inspection distances in underground coal mines, requires a large number of fixed-point monitoring systems, resulting in high costs and low detection efficiency. It also has certain limitations in belt conveyor inspection.

[0003] To improve detection accuracy, thereby reducing the failure rate of underground equipment, increasing production efficiency, and achieving efficient and accurate detection, the use of underground inspection robots for inspection is of great significance. The choice of the inspection robot's drive method has a significant impact on the inspection quality. However, in actual industrial production, especially in large-scale mining development, there has been a lack of breakthroughs in methods to achieve stable reciprocating motion for inspection robots, which has greatly increased industrial production costs.

[0004] Therefore, a reciprocating traction device for use in underground coal mines is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a reciprocating traction device with 2-degree-of-freedom elastic buffer for use in coal mines, aiming to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above-mentioned object, the present invention provides the following solution: The present invention provides a reciprocating traction device with two-degree-of-freedom elastic buffer for use in coal mines, comprising:

[0007] A frame, wherein the frame is hoisted on the roadway;

[0008] A driving unit, comprising a driving assembly and a controller; the driving assembly is mounted at one end of the frame and is used to drive the rope;

[0009] The inspection unit includes an inspection robot and a 2-DOF elastic buffer mechanism; the inspection robot is slidably connected to the frame, and one end of the inspection robot is fixedly connected to the rope via the 2-DOF elastic buffer mechanism; at least two buffer components are provided in the 2-DOF elastic buffer mechanism, and at least two of the buffer components are vertically arranged;

[0010] A tail follower unit is mounted on an end of the frame away from the drive assembly, and the tail follower unit is transmission-connected to the drive assembly via the rope;

[0011] Reversing unit, used to adjust the running direction of the rope;

[0012] Wherein, travel switches are installed at both ends of the frame, and the inspection robot is arranged opposite to the two travel switches; the driving component and the travel switches are both electrically connected to the controller.

[0013] According to the present invention, a reciprocating traction device with a two-degree-of-freedom elastic buffer for use in coal mines is provided. The two-degree-of-freedom elastic buffer mechanism includes a first connecting rod, one end of the first connecting rod is fixedly mounted on the rope via a connecting piece, and the other end is rotatably connected to the second connecting rod via an axle pin. The end of the second connecting rod away from the first connecting rod is rotatably connected to the third connecting rod via another axle pin, and the third connecting rod is fixedly connected to the outer wall of the inspection robot; the two axle pins are arranged vertically and are both arranged perpendicular to the running direction of the rope;

[0014] The buffer assembly is installed between the first connecting rod and the second connecting rod, and between the second connecting rod and the third connecting rod. The two buffer assemblies are arranged perpendicular to each other and are both arranged perpendicular to the running direction of the rope.

[0015] According to the present invention, a reciprocating traction device with two-degree-of-freedom elastic buffer for use in coal mines is provided, wherein the buffer assembly comprises:

[0016] Two connecting plates arranged opposite to each other; the two connecting plates of one group of the buffer assemblies are respectively fixed to the first connecting rod and the second connecting rod, and the two connecting plates of the other group of the buffer assemblies are respectively fixed to the second connecting rod and the third connecting rod;

[0017] Two springs are arranged between the two connecting plates and located at both ends of the connecting plates; the two ends of the spring are fixedly connected to the connecting plates through spring seats.

[0018] According to the present invention, a reciprocating traction device with two-degree-of-freedom elastic buffer for use in coal mines is provided. Guard plates are installed on the tops of the two opposite side walls of the inspection robot, and inspection wheels are rotatably connected to the opposite end faces of the two guard plates. The two inspection wheels are respectively slidably connected to the guide rails at both ends of the frame.

[0019] According to the present invention, a reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines, the drive assembly includes:

[0020] a first bracket, the first bracket being fixedly mounted on one end of the frame;

[0021] A motor, wherein the output shaft of the motor is equipped with a reducer, and the motor and the reducer are both mounted on a first bracket;

[0022] A drive shaft, the drive shaft being mounted on the output shaft of the reducer, and the drive shaft being mounted on the first bracket via a double-row bearing;

[0023] a driving wheel mounted on the driving shaft;

[0024] The rope is looped around the driving wheel, and the tail follower unit is connected to the driving wheel via the rope; the motor and the reducer are both electrically connected to the controller.

[0025] According to the present invention, a reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines, the tail follower unit includes:

[0026] a second bracket, the second bracket being fixedly mounted on an end of the frame away from the first bracket;

[0027] a driven shaft, the driven shaft being fixedly mounted on the second bracket;

[0028] The driven wheel is rotatably connected to the driven shaft; the rope is sleeved on the driven wheel, and the driven wheel is transmission-connected to the driving wheel via the rope.

[0029] According to the present invention, a reciprocating traction device with two-degree-of-freedom elastic buffer for use in coal mines is provided. Connecting wing plates are installed at both ends of the frame, and the two travel switches are respectively installed on the opposite end surfaces of the two connecting wing plates. An anti-collision pad is provided under the travel switch, and the anti-collision pad is fixedly mounted on the connecting wing plates.

[0030] According to the present invention, a reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines is provided, wherein the reversing unit is provided with at least one; the reversing unit comprises:

[0031] a first gantry, the first gantry being mounted on the frame; first end plates being mounted at both ends of the first gantry;

[0032] Two support rods, the two support rods are respectively fixed to the opposite end surfaces of the two first end plates, and the support rods are arranged perpendicular to the first end plates;

[0033] Two first steering wheels, the two first steering wheels are rotatably connected to the bottom of the first end plate respectively;

[0034] Two second steering wheels, the two second steering wheels are rotatably connected to the two support rods respectively;

[0035] Among them, the two first steering wheels and the two second steering wheels are arranged in a one-to-one correspondence; and the first steering wheel and the second steering wheel are arranged vertically; the bottom and side of the rope are respectively rotatably connected to the first steering wheel and the second steering wheel.

[0036] According to the present invention, a reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines is provided. The frame is equipped with a plurality of rope support assemblies, and the rope support assemblies include:

[0037] a second gantry, the second gantry being mounted on the frame; second end plates being mounted on both ends of the second gantry;

[0038] Two fixed pulleys are rotatably connected to the opposite end surfaces of the two second end plates, and the fixed pulleys are rotatably connected to the bottom of the rope.

[0039] According to the present invention, a reciprocating traction device with two-degree-of-freedom elastic buffer for use in coal mines is provided. The top of the frame is fixedly connected to a plurality of lifting ears arranged in a sequential order at intervals; the inner wall of the tunnel is fixedly connected to a plurality of hanging plates arranged in a sequential order at intervals; the plurality of hanging plates and the plurality of lifting ears are arranged in a one-to-one correspondence; and a lifting chain is fixedly connected between the lifting ears and the hanging plates.

[0040] The present invention discloses the following technical effects:

[0041] The present invention adopts a rope-transmitted power and intelligent controller control mode, and drives the inspection robot to slide along the frame through the rope to meet the requirements of the inspection robot's reciprocating inspection tasks. It has the characteristics of precise structure, high degree of automation, and good operational stability. The present invention is easy to use, highly practical, and very suitable for the reciprocating work of the inspection robot in coal mines.

[0042] The present invention uses at least two buffer components in a two-degree-of-freedom elastic buffer mechanism to buffer the connection between the inspection robot and the rope in two directions, eliminating the repulsive forces in the horizontal and vertical directions of the connection, ensuring that the rope transmits power to the inspection robot stably, and realizing the smooth operation of the inspection robot during the trip. Rope shaking and uneven speed of the inspection robot due to uneven power transmission will not be caused, thereby improving the inspection quality and efficiency of the inspection robot.

[0043] In order to solve the problems of low automation level of fault detection in underground wells, poor operation stability of inspection robots and low detection efficiency, the present invention adopts the independent design of "intelligent control" and "2-degree-of-freedom elastic buffer mechanism". After the inspection robot hits the travel switches at both ends of the frame, the electrical signal of the travel switch will be input into the controller, and the controller will control the reversal of the drive component to drive the rope to move in the opposite direction, thereby allowing the inspection robot to start the next inspection. As a result, the inspection robot can move back and forth, thereby realizing intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 It is the front view of the present invention;

[0046] Figure 2 A top view of the present invention

[0047] Figure 3 for Figure 2 Cross-sectional view of CC;

[0048] Figure 4 for Figure 2 Cross-sectional view of the middle DD;

[0049] Figure 5 Schematic diagram of the structure of the 2-DOF elastic buffer mechanism of the present invention;

[0050] Figure 6 Schematic diagram of the structure of the drive unit in the present invention;

[0051] Figure 7 Schematic diagram of the structure of the tail follower unit in the present invention;

[0052] Among them, 1. drive unit; 2. inspection unit; 3. rope support assembly; 4. tail follower unit; 5. tunnel; 6. rope; 7. reversing unit; 8. fixed pulley; 9. inspection robot; 10. buffer assembly; 11. second gantry; 12. lifting chain; 13. hanging plate; 14. inspection wheel; 15. isolation ring; 16. first protective plate; 17. hexagonal bolt; 18. axle nut; 19. rope stopper axle; 20. third connecting rod; 21. spring seat; 22. spring; 23. second connecting rod; 24. first connecting rod; 25. connecting plate; 26. frame; 27. first bracket; 28. round hole; 29. ​​axle pin; 30. driving wheel; 3 1. Drive shaft; 32. Second protective plate; 33. Third protective plate; 34. Double-row bearing; 35. Drive shaft lower end cover; 36. Drive shaft upper end cover; 37. Reducer; 38. Motor; 39. Connecting wing plate; 40. Travel switch; 41. Anti-collision pad; 42. Controller; 43. Driven wheel; 44. Fourth protective plate; 45. Driven wheel bushing; 46. Gasket; 47. Fifth protective plate; 48. Fixed plate; 49. Sixth protective plate; 50. Hexagonal nut; 51. Guard plate; 52. Second bracket; 53. First gantry; 54. First end plate; 55. Support rod; 56. First steering wheel; 57. Second steering wheel; 58. Second end plate. DETAILED DESCRIPTION

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] Reference Figure 1-7 The present invention provides a reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines, comprising:

[0056] Frame 26, frame 26 is hoisted on lane 5;

[0057] The drive unit 1 includes a drive assembly and a controller 42. The drive assembly is mounted at one end of the frame 26 and is used to drive the rope 6. In this embodiment, the controller 42 is a PLC to achieve electronic control. The rope 6 transmits power and the controller 42 intelligently controls the inspection robot 9, which is driven by the rope 6 to slide along the frame 26 to achieve the reciprocating inspection task of the inspection robot 9. The invention has the characteristics of precise structure, high degree of automation, and good operational stability. The invention is easy to use, highly practical, and is very suitable for the reciprocating operation of the inspection robot 9 in coal mines.

[0058] The inspection unit 2 includes an inspection robot 9 and a 2-degree-of-freedom elastic buffer mechanism; the inspection robot 9 is slidably connected to the frame 26, and one end of the inspection robot 9 is fixed to the rope 6 through the 2-degree-of-freedom elastic buffer mechanism; at least two buffer components 10 are provided in the 2-degree-of-freedom elastic buffer mechanism, and at least two buffer components 10 are vertically arranged; the connection between the inspection robot 9 and the rope 6 is buffered in two directions by the at least two buffer components 10 in the 2-degree-of-freedom elastic buffer mechanism, eliminating the repulsive force in the horizontal and vertical directions of the connection, ensuring that the rope transmits power to the inspection robot 9 stably, realizing the smooth operation of the inspection robot 9 during the stroke, and preventing the rope from shaking and the speed of the inspection robot 9 from being unevenly transmitted due to uneven power transmission, thereby improving the inspection quality and inspection efficiency of the inspection robot 9;

[0059] The tail follower unit 4 is mounted on the end of the frame 26 away from the drive assembly, and the tail follower unit 4 is connected to the drive assembly through a rope 6;

[0060] A reversing unit 7, used to adjust the running direction of the rope 6;

[0061] Among them, the two ends of the frame 26 are equipped with travel switches 40, and the inspection robot 9 is arranged opposite to the two travel switches 40; the drive assembly and the travel switches 40 are electrically connected to the controller 42;

[0062] With such a configuration, after the inspection robot 9 hits the limit switches 40 at both ends of the frame 26, the electrical signal of the limit switches 40 will be input into the controller 42, and the controller 42 will control the reversal of the drive component, driving the rope 6 to move in the opposite direction, thereby enabling the inspection robot 9 to start the next inspection. In this way, the inspection robot 9 can move back and forth, thereby realizing intelligent control.

[0063] A further optimized solution is provided, in which the 2-DOF elastic buffer mechanism includes a first connecting rod 24, one end of the first connecting rod 24 is fixedly mounted on the rope 6 through a connecting piece, and the other end is rotatably connected to the second connecting rod 23 through an axle pin 29, and the end of the second connecting rod 23 away from the first connecting rod 24 is rotatably connected to the third connecting rod 20 through another axle pin 29, and the third connecting rod 20 is fixedly connected to the outer wall of the inspection robot 9; the two axle pins 29 are arranged vertically and are both arranged perpendicular to the running direction of the rope 6; the connecting piece is a cylindrical structure with an opening, which is used to connect the first connecting rod 24 and the rope 6, and the opening is used for avoiding the rope 6 during the turning process;

[0064] A buffer assembly 10 is installed between the first connecting rod 24 and the second connecting rod 23, and between the second connecting rod 23 and the third connecting rod 20. The two buffer assemblies 10 are arranged perpendicular to each other and are arranged perpendicular to the running direction of the rope 6;

[0065] The buffer assembly 10 includes:

[0066] Two connecting plates 25 are arranged opposite to each other; the two connecting plates 25 of one set of buffer assemblies 10 are respectively fixed to the first connecting rod 24 and the second connecting rod 23, and the two connecting plates 25 of the other set of buffer assemblies 10 are respectively fixed to the second connecting rod 23 and the third connecting rod 20;

[0067] Two springs 22 are provided between the two connecting plates 25 and at both ends of the connecting plates 25; both ends of the springs 22 are fixed to the connecting plates 25 through spring seats 21;

[0068] In this way, by setting two axle pins 29, the first connecting rod 24 and the second connecting rod 23 can only rotate relative to each other in the horizontal direction, and the second connecting rod 23 and the third connecting rod 20 can only rotate relative to each other in the vertical direction. Then, the springs 22 in the two groups of buffer assemblies 10 are used to eliminate the repulsive forces in these two directions, thereby reducing the shaking amplitude of the inspection robot 9 during the stroke, and greatly improving the stability of the operation of the inspection robot 9.

[0069] To further optimize the solution, guard plates 51 are installed on the top of the two opposite side walls of the inspection robot 9, and inspection wheels 14 are rotatably connected on the opposite end faces of the two guard plates 51. An isolation ring 15 and a first guard plate 16 are provided between the inspection wheel 14 and the guard plate 51; the first guard plate 16 is installed on the guard plate 51 by a hexagonal head bolt 17; the two inspection wheels 14 are respectively slidably connected to the guide rails at both ends of the frame 26; in this embodiment, the frame 26 is an I-beam structure, and two guide rails compatible with the inspection wheels 14 are provided at both ends of the frame 26. The inspection robot 9 can achieve smooth sliding along both sides of the frame 26 through the two inspection wheels 14, so that the inspection robot 9 can maintain a vertical state when moving, thereby improving the operational stability.

[0070] To further optimize the solution, the drive components include:

[0071] A first bracket 27, the first bracket 27 is fixedly mounted on one end of the frame 26;

[0072] The motor 38 has a reducer 37 mounted on its output shaft. Both the motor 38 and the reducer 37 are mounted on the first bracket 27. In this embodiment, the motor 38 is a flange-type reduction motor.

[0073] The drive shaft 31 is mounted on the output shaft of the reducer 37 and is mounted on the first bracket 27 via a double-row bearing 34. A second protective plate 32 and a third protective plate 33 are provided on the outer cover of the drive shaft 31. The double-row bearing 34 is fixed in a semi-enclosed space formed by the third protective plate 33, the lower end cover 35, and the upper end cover 36 of the drive shaft. The double-row bearing 34 contacts the drive shaft 31, transmitting power from the drive shaft 31 to the drive wheel 30, thereby driving the rope 6 to rotate. The double-row bearing 34 can effectively offset the overturning moment and extend the service life of the equipment.

[0074] A driving wheel 30 is mounted on a driving shaft 31;

[0075] The rope 6 is sleeved on the driving wheel 30, and the tail follower unit 4 is connected to the driving wheel 30 through the rope 6; the motor 38 and the reducer 37 are both electrically connected to the controller 42;

[0076] With this arrangement, the controller 42 controls the forward and reverse rotation of the motor 38 , and the motor 38 and the reducer 37 cooperate to drive the driving wheel 30 to rotate, thereby driving the rope 6 to rotate, thereby driving the inspection robot 9 to move back and forth.

[0077] Further optimizing the solution, the tail follower unit 4 includes:

[0078] A second bracket 52, the second bracket 52 is fixedly mounted on an end of the frame 26 away from the first bracket 27;

[0079] The driven shaft is fixedly mounted on the second bracket 52 through the fixing plate 48 and the sixth protective plate 49. In this embodiment, the hexagonal nut 50 is used to assemble the driven shaft and the second bracket 52.

[0080] A driven wheel 43 is rotatably connected to the driven shaft via a second double-row bearing; a rope 6 is sleeved on the driven wheel 43, and the driven wheel 43 is transmission-connected to the driving wheel 30 via the rope 6;

[0081] Both ends of the driven wheel 43 are installed on the driven shaft through the fourth protective plate 44 and the fifth protective plate 47. A gasket 46 is installed at the bottom of the fourth protective plate 44. The gasket 46 can adjust the second double-row bearing to the center position. The driven wheel 43 contacts the shaft through the driven wheel sleeve 45 of the second double-row bearing and can rotate around the shaft to make the rope rotate normally; the structure of the second double-row bearing increases the contact area between the driven wheel 43 and the driven shaft to achieve more stable and smooth rotation of the driven wheel 43.

[0082] To further optimize the solution, the first bracket 27 and the second bracket 52 are both I-beam structures that are compatible with the frame 26. The first bracket 27 and the second bracket 52 are fixedly installed at both ends of the frame 26 by bolts, which are easy to splice; the first bracket 27, the second bracket 52, and the frame 26 together constitute the overall I-beam track structure of this device, which is suitable for use in long-distance tunnels 5.

[0083] To further optimize the solution, connecting wing plates 39 are installed at both ends of the frame 26, and two limit switches 40 are respectively installed on the opposite end faces of the two connecting wing plates 39. An anti-collision pad 41 is provided under the limit switch 40, and the anti-collision pad 41 is fixedly installed on the connecting wing plate 39; the anti-collision pad 41 allows the inspection robot 9 to collide with the limit switch 40 to a certain depth, which can ensure the collision distance of the inspection robot 9 and avoid damage to the inspection robot 9 and the limit switch 40 by collision.

[0084] In a further optimized solution, at least one reversing unit 7 is provided; the number of reversing units 7 can be set according to the specific use environment, and the reversing unit 7 includes:

[0085] A first gantry 53 is mounted on the frame 26; first end plates 54 are mounted on both ends of the first gantry 53;

[0086] Two support rods 55, the two support rods 55 are respectively fixed to the opposite end surfaces of the two first end plates 54, and the support rods 55 are perpendicular to the first end plates 54;

[0087] Two first steering wheels 56, the two first steering wheels 56 are rotatably connected to the bottom of the first end plate 54;

[0088] Two second steering wheels 57, the two second steering wheels 57 are respectively rotatably connected to the two support rods 55; the second steering wheels 57 are rotatably connected to the support rod 55 through the rope retaining wheel shaft 19, and the rope retaining wheel shaft 19 is installed on the support rod 55 through the rope retaining wheel shaft nut 18;

[0089] The two first steering wheels 56 and the two second steering wheels 57 are arranged in a one-to-one correspondence; the first steering wheels 56 and the second steering wheels 57 are arranged perpendicular to each other; the bottom and side portions of the rope 6 are rotatably connected to the first steering wheels 56 and the second steering wheels 57 respectively;

[0090] With such an arrangement, by placing the first steering wheel 56 and the second steering wheel 57 at the corner of the lane 5 at a suitable angle, the inspection robot 9 can be continuously and stably pulled at the corner, and the inspection robot 9 can be reversed, thereby improving the adaptability of the device to the lane 5 and improving practical performance.

[0091] Further optimizing the scheme, a plurality of rope support assemblies 3 are installed on the frame 26, and the rope support assemblies 3 include:

[0092] The second gantry 11 is mounted on the frame 26; second end plates 58 are mounted on both ends of the second gantry 11;

[0093] Two fixed pulleys 8, the two fixed pulleys 8 are rotatably connected to the opposite end surfaces of the two second end plates 58, and the fixed pulleys 8 are rotatably connected to the bottom of the rope 6;

[0094] With such an arrangement, the rope 6 is guided by the two fixed pulleys 8 , thereby improving the stability of the rope 6 during its operation.

[0095] To further optimize the solution, a number of lifting ears arranged in sequence at intervals are fixed to the top of the frame 26; a number of hanging plates 13 arranged in sequence at intervals are fixed to the inner wall of the tunnel 5; a number of hanging plates 13 and a number of lifting ears are arranged in a one-to-one correspondence; a lifting chain 12 is fixed between the lifting ears and the hanging plates 13; with this arrangement, the frame 26 is hoisted in the tunnel 5 by the hanging plates 13 and the lifting chains 12.

[0096] Directions:

[0097] When the device of the present invention is in operation, the drive unit 1 provides power, and it forms a closed-loop motion track with the tail follower unit 4 and the rope 6. The rope 6 moves under the traction of the drive unit 1, and the inspection unit 2 follows the rope 6. During operation, the connection between the rope 6 and the inspection robot 9 can be regarded as having repulsive forces in two directions, namely vertical and horizontal repulsive forces. The two-degree-of-freedom elastic buffer mechanism constrains the horizontal or vertical forces at the two reversing joints of the first connecting rod 24, the second connecting rod 23, and the third connecting rod 20 through a pair of springs 22, so as to ensure smooth operation of the inspection robot 9 when being pulled by the rope 6.

[0098] When the inspection robot 9 completes a stroke, it collides with the limit switch 40 at one end and transmits an electrical signal to the controller 42, which controls the motor 38 to reverse. There is also a limit switch 40 at the tail follower unit 4, which can also transmit an electrical signal to the controller 42. When the inspection robot 9 reaches the specified position, it can control the motor 38 to reverse, thereby realizing the reciprocating motion of the inspection robot 9.

[0099] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0100] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A reciprocating traction device with 2-DOF elastic buffer for use in coal mines, characterized in that: include: A frame (26), wherein the frame (26) is hoisted on the lane (5); A drive unit (1) includes a drive assembly and a controller (42); the drive assembly is mounted on one end of the frame (26) and is used to drive the rope (6); An inspection unit (2) comprises an inspection robot (9) and a 2-DOF elastic buffer mechanism; the inspection robot (9) is slidably connected to the frame (26), and one end of the inspection robot (9) is fixedly connected to the rope (6) via the 2-DOF elastic buffer mechanism; at least two buffer assemblies (10) are provided in the 2-DOF elastic buffer mechanism, and at least two of the buffer assemblies (10) are vertically arranged; A tail follower unit (4) is mounted on an end of the frame (26) away from the drive assembly, and the tail follower unit (4) is in transmission connection with the drive assembly via the rope (6); A reversing unit (7) for adjusting the running direction of the rope (6); Wherein, both ends of the frame (26) are equipped with travel switches (40), and the inspection robot (9) is arranged opposite to the two travel switches (40); the drive assembly and the travel switch (40) are electrically connected to the controller (42); the two-degree-of-freedom elastic buffer mechanism includes a first connecting rod (24), one end of the first connecting rod (24) is fixedly mounted on the rope (6) through a connecting piece, and the other end is rotatably connected to the second connecting rod (23) through an axle pin (29), and the end of the second connecting rod (23) away from the first connecting rod (24) is rotatably connected to the third connecting rod (20) through another axle pin (29), and the third connecting rod (20) is fixed to the outer wall of the inspection robot (9); the two axle pins (29) are arranged vertically and are both arranged vertically to the running direction of the rope (6); The buffer assembly (10) is installed between the first connecting rod (24) and the second connecting rod (23), and between the second connecting rod (23) and the third connecting rod (20). The two buffer assemblies (10) are arranged perpendicular to each other and are both arranged perpendicular to the running direction of the rope (6).

2. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: The buffer assembly (10) comprises: two connecting plates (25) arranged opposite to each other; the two connecting plates (25) of one group of the buffer assembly (10) are respectively fixed to the first connecting rod (24) and the second connecting rod (23), and the two connecting plates (25) of the other group of the buffer assembly (10) are respectively fixed to the second connecting rod (23) and the third connecting rod (20); Two springs (22), the two springs (22) are arranged between the two connecting plates (25), and are located at both ends of the connecting plates (25); Both ends of the spring (22) are fixed to the connecting plate (25) via a spring seat (21).

3. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: Guard plates (51) are installed on the tops of the two opposite side walls of the inspection robot (9), and inspection wheels (14) are rotatably connected to the opposite end faces of the two guard plates (51), and the two inspection wheels (14) are respectively slidably connected to the guide rails at both ends of the frame (26).

4. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: The driving assembly comprises: a first bracket (27), wherein the first bracket (27) is fixedly mounted on one end of the frame (26); a motor (38), wherein the output shaft of the motor (38) is equipped with a reducer (37), and the motor (38) and the reducer (37) are both mounted on a first bracket (27); A drive shaft (31), the drive shaft (31) being mounted on the output shaft of the reducer (37), and the drive shaft (31) being mounted on the first bracket (27) via a double-row bearing (34); a driving wheel (30), the driving wheel (30) being mounted on the driving shaft (31); The rope (6) is sleeved on the driving wheel (30), and the tail follower unit (4) is transmission-connected to the driving wheel (30) via the rope (6); and the motor (38) and the reducer (37) are both electrically connected to the controller (42).

5. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 4, characterized in that: The tail follower unit (4) comprises: a second bracket (52), the second bracket (52) being fixedly mounted on an end of the frame (26) away from the first bracket (27); a driven shaft, the driven shaft being fixedly mounted on the second bracket (52); A driven wheel (43) is rotatably connected to the driven shaft; the rope (6) is sleeved on the driven wheel (43), and the driven wheel (43) is transmission-connected to the driving wheel (30) via the rope (6).

6. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: Connecting wing plates (39) are installed at both ends of the frame (26), and the two travel switches (40) are respectively installed on the opposite end surfaces of the two connecting wing plates (39). An anti-collision pad (41) is provided below the travel switch (40), and the anti-collision pad (41) is fixedly installed on the connecting wing plates (39).

7. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: The reversing unit (7) is provided with at least one; the reversing unit (7) comprises: a first gantry (53), the first gantry (53) being mounted on the frame (26); first end plates (54) being mounted at both ends of the first gantry (53); Two support rods (55), the two support rods (55) are respectively fixed to the opposite end surfaces of the two first end plates (54), and the support rods (55) are arranged perpendicular to the first end plates (54); Two first steering wheels (56), the two first steering wheels (56) are rotatably connected to the bottom of the first end plate (54); Two second steering wheels (57), the two second steering wheels (57) are rotatably connected to the two support rods (55); The two first steering wheels (56) and the two second steering wheels (57) are arranged in a one-to-one correspondence; the first steering wheel (56) and the second steering wheel (57) are arranged vertically; the bottom and side of the rope (6) are respectively rotatably connected to the first steering wheel (56) and the second steering wheel (57).

8. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: A plurality of rope support assemblies (3) are mounted on the frame (26), and the rope support assemblies (3) include: a second gantry (11), the second gantry (11) being mounted on the frame (26); and second end plates (58) being mounted at both ends of the second gantry (11); Two fixed pulleys (8), the two fixed pulleys (8) are respectively rotatably connected to the opposite end surfaces of the two second end plates (58), and the fixed pulleys (8) are rotatably connected to the bottom of the rope (6).

9. The reciprocating traction device with two degrees of freedom elastic buffer for use in coal mines according to claim 1, characterized in that: The top of the frame (26) is fixedly connected with a plurality of lifting ears arranged in sequence at intervals; the inner wall of the tunnel (5) is fixedly connected with a plurality of hanging plates (13) arranged in sequence at intervals; the plurality of hanging plates (13) and the plurality of lifting ears are arranged in a one-to-one correspondence; and a lifting chain (12) is fixedly connected between the lifting ears and the hanging plates (13).

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