A coal mine fully mechanized mining face inspection auxiliary robot

Abstract

The present invention relates to the technical field of mining robots, and specifically to a coal mine comprehensive mining working face inspection auxiliary robot device. The present invention arranges corresponding multi-section straight tube tracks under multi-section comprehensive mining supports, and the multi-section straight tube tracks are connected and spliced ​​through elastic connectors to form a flexible track. When two adjacent sections of the comprehensive mining supports are misaligned, the two adjacent sections of the straight tube tracks are disconnected and spliced ​​to follow the misalignment of the comprehensive mining supports. When the two adjacent sections of the comprehensive mining supports are restored to the same straight line position, the two adjacent sections of the straight tube tracks are automatically spliced ​​into a straight line under the action of the elastic connector, so that the inspection robot suspended on the straight tube track through a power hanging mechanism can move smoothly along the flexible track and perform real-time monitoring and other functions under each section of the comprehensive mining supports.

Description

Technical Field

[0001] The invention relates to the technical field of mining robots, and in particular to a coal mine fully-mechanized mining working face inspection auxiliary robot device. Background Art

[0002] At present, the fully mechanized mining working face in coal mines is advanced in sections with staggered positions, that is, after one of the two adjacent fully mechanized mining supports is pushed forward, the other remains in place. Therefore, it is difficult to set a straight track under the existing fully mechanized mining working face supports for the inspection robot to move.

[0003] The prior art discloses a patrol robot track system (application number CN202210138106.2), which specifically discloses that multiple sections of tracks are connected by steel wire ropes, and the steel wire ropes are pulled by a winch to make the misaligned tracks merge into a straight line. However, each time the track reset operation is performed, the winch needs to be started to intervene and tighten the steel wire rope to reset the track. Each time the track is misaligned, the winch needs to be started to release the length of the steel wire rope so that the track can be misaligned, which inevitably increases the work process and time, and the winch mechanism obviously protrudes from the outer circumference of the track, affecting the smoothness of the movement of the patrol robot. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a coal mine fully mechanized mining working face inspection auxiliary robot device, comprising a multi-section fully mechanized mining support and a flexible track. The flexible track comprises a multi-section straight tube track arranged corresponding to the multi-section fully mechanized mining support, and two adjacent straight tube tracks are connected by an elastic connector. A lifting lug is arranged on the straight tube track, and the fully mechanized mining support is connected to the lifting lug by a flexible connector. When two adjacent fully mechanized mining supports are located in the same straight line, the two adjacent straight tube tracks are automatically spliced ​​into a straight line under the action of the elastic connector, and the inspection robot is hung on the straight tube track.

[0005] Preferably, the elastic connecting member is a tension spring, and both ends of the tension spring are coaxially arranged inside two adjacent straight tube tracks.

[0006] Preferably, the straight tube track is provided with an interface structure, which includes an inclined guide surface arranged at one end port of the straight tube track and extending from the inside to the outside to the outer circumferential surface of the straight tube track, the inclined guide surface is provided with a load-bearing mating surface, and the load-bearing mating surface is parallel to the axis of the straight tube track. The interface structure also includes a protruding guide surface arranged at the other end port of the straight tube track and mating with the inclined guide surface, the protruding guide surface is provided with a load-bearing protrusion mating with the load-bearing mating surface, and after the inclined guide surface is fitted with the protruding guide surface, one side of the load-bearing protrusion fits with the load-bearing mating surface.

[0007] Preferably, a plurality of lifting ears are provided on the straight tube track, and at least two lifting ears are respectively provided at two ends of the straight tube track.

[0008] Preferably, the inspection robot is suspended on a flexible track by a power mounting mechanism, which includes at least two driven wheels, a driving wheel and a bracket, wherein the two driven wheels are symmetrically arranged above both sides of the straight tube track, and the minimum interval between the two driven wheels is larger than the radial cross-sectional width of the lifting ear along the straight tube track, and the two driven wheels are rotatably connected to the bracket, the bracket is fixedly connected to the inspection robot, the driving wheel is arranged inside the inspection robot and protrudes from the upper surface of the inspection robot, and the two driven wheels and the driving wheel jointly clamp the straight tube track in the middle.

[0009] Preferably, the bracket is V-shaped.

[0010] Preferably, the flexible connecting member is a circular chain.

[0011] Preferably, the inspection robot is also provided with an infrared camera, a dust sensor, a methane sensor, an audible and visual alarm device, and a spray device.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) Set up multiple sections of straight tube tracks corresponding to the multiple sections of fully mechanized mining supports, and connect the multiple sections of straight tube tracks to form a flexible track through elastic connectors. When two adjacent sections of misaligned fully mechanized mining supports return to the same straight line, the two adjacent sections of disconnected straight tube tracks are reassembled into a straight line under the tension of the elastic connector;

[0014] (2) An inclined guide surface is provided at one end of the straight tube track, and a protruding guide surface matching the inclined guide surface is provided at the other end, so that when two adjacent straight tube tracks are spliced, one straight tube track can be inserted into the other straight tube track, thereby preventing the straight tube tracks in the spliced ​​state from being disconnected due to shaking or the like;

[0015] (3) The inclined guide surface is provided with a load-bearing mating surface, and the protruding guide surface is provided with a load-bearing protrusion used in conjunction with the load-bearing mating surface. When two adjacent straight tube tracks are spliced ​​together, one side of the load-bearing protrusion is in contact with the load-bearing mating surface, so as to increase the radial bearing capacity of the two adjacent straight tube tracks after splicing, thereby increasing the bearing capacity of the entire flexible track;

[0016] (4) A power hanging mechanism is set in accordance with the position of the lifting lug to hang the inspection robot on the straight tube track, so that the inspection robot is not blocked by the lifting lug when moving along the entire flexible track.

[0017] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a structural schematic diagram of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the inspection robot of the present invention;

[0020] Figure 3 It is a schematic diagram of the interface structure when two adjacent straight pipe tracks of the present invention are disconnected;

[0021] Figure 4 It is a schematic diagram of the interface structure when two adjacent straight tube tracks of the present invention are spliced ​​together;

[0022] Figure numerals: 1. straight tube track; 2. elastic connector; 3. lifting ear; 4. flexible connector; 5. inspection robot; 6. power mounting mechanism 601. driven wheel; 602. driving wheel; 603. connecting bracket; 7. interface structure; 701. inclined guide surface; 702. load-bearing matching surface; 703. protruding guide surface; 704. load-bearing protrusion. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-Figure 4 The present invention provides a coal mine fully mechanized mining face inspection auxiliary robot device, comprising a plurality of fully mechanized mining supports, under which a flexible track is suspended. The flexible track comprises a plurality of straight tube tracks 1, and each straight tube track 1 corresponds to a fully mechanized mining support. A lifting lug 3 is arranged on the straight tube track 1, and the fully mechanized mining support is connected to the lifting lug 3 through a flexible connector 4. In order to ensure that the flexible connector 4 has sufficient strength to connect the track and the fully mechanized mining support, the flexible connector 4 in this embodiment is a circular chain, specifically a three-ring chain structure, which is used to compensate for the flexibility and deflection of the straight tube track 1 in the up and down directions when the fully mechanized mining support moves.

[0025] Two adjacent sections of straight-tube rails 1 are connected by an elastic connector 2. When two adjacent sections of comprehensive mining supports are misaligned, the advanced comprehensive mining support pulls the corresponding straight-tube rail 1 below the advanced comprehensive mining support through the flexible connector 4 to break away from the straight-line splicing state with the adjacent straight-tube rail 1, and follows the advanced comprehensive mining support to advance together. At this time, the elastic connector 2 is pulled apart to generate tension. When the stopped comprehensive mining support advances to the same straight-line position as the advanced comprehensive mining support, the straight-tube rail 1 originally stopped at the original position advances to the same straight-line position as the advanced straight-tube rail 1 under the pull of the flexible connector 4. At this time, under the tension of the elastic connector 2, the two adjacent straight-tube rails 1 are pulled together to form a straight line. Specifically, the elastic connector 2 is a tension spring, and the two ends of the tension spring are respectively arranged inside the two adjacent straight-tube rails 1 by welding, screws, etc. The tension spring is coaxially arranged with the straight-tube rail 1 to ensure that the positions of the two adjacent straight-tube rails 1 are flush and straight when spliced. At the same time, in order to ensure that the two adjacent straight tube tracks 1 after splicing will not be misaligned due to shaking, the straight tube track 1 is also provided with an interface structure 7. The interface structure 7 includes an inclined guide surface 701 extending from the inside to the outside to the outer circumference of the straight tube track 1, which is arranged at one end of the straight tube track 1, and the interface structure 7 also includes a protruding guide surface 703 arranged at the other end of the straight tube track 1 to cooperate with the inclined guide surface 701. Under the pulling force of the elastic connector 2, the straight tube track 1 with the protruding guide surface 703 is inserted into the straight tube track 1 with the inclined guide surface 701 under the guidance of the inclined guide surface 701, so that the two adjacent straight tube tracks 1 after splicing will not be easily misaligned due to shaking without being pulled apart.

[0026] The straight tube track 1 is hung with an inspection robot 5. To increase the bearing capacity of the straight tube track 1, the inclined guide surface 701 is provided with a load-bearing mating surface 702. The load-bearing mating surface 702 is parallel to the axis of the straight tube track 1, and the protruding guide surface 703 is provided with a load-bearing protrusion 704 that cooperates with the load-bearing mating surface 702. When the inclined guide surface 701 is fitted with the protruding guide surface 703, one side of the load-bearing protrusion 704 is fitted with the load-bearing mating surface 702 to increase the radial bearing capacity of the straight tube track 1, and further increase the bearing capacity of the straight tube track 1 on the premise that the elastic connector 2 with different pulling forces can be replaced to increase the bearing capacity of the straight tube track 1.

[0027] According to actual needs, multiple lifting ears 3 can be set on the straight tube track 1. To ensure the stability of the connection between two adjacent straight tube tracks 1, at least two lifting ears 3 are respectively set at both ends of the straight tube track 1 to provide additional stability for the inspection robot 5 when passing through the connection between two adjacent straight tube tracks 1.

[0028] Based on the above-mentioned setting mode of the flexible track, the inspection robot 5 is suspended on the flexible track through the power mounting mechanism 6. The power mounting mechanism includes at least two driven wheels 601, a driving wheel 602 and a connecting bracket 603, and the two driven wheels 601 and one driving wheel 602 jointly clamp the flexible track in the middle. The two driven wheels 601 are symmetrically arranged above the two sides of the straight tube track 1, and are mainly used to bear the weight of the inspection robot 5. The minimum interval between the two driven wheels 601 is greater than the radial cross-sectional width of the ear 3 along the straight tube track 1, so that the inspection robot 5 can smoothly pass through the position of the ear 3 when moving along the flexible track without being blocked by the ear 3. The two driven wheels 601 are both rotatably connected to the connecting bracket 603, and the connecting bracket 603 is in a semi-enclosed form to bypass the straight tube track 1 and is fixedly connected to the inspection robot 5. In order to make the bearing capacity of the driven wheel 601 more uniform, the connecting bracket 603 also adopts a bilaterally symmetrical structure. In this embodiment, the connecting bracket 603 adopts a V-shaped structure.

[0029] The driving wheel 602 is arranged inside the inspection robot 5 and protrudes from the upper surface of the inspection robot 5. It is arranged inside the inspection robot 5 to facilitate connection with the driving motor inside the inspection robot 5, and protrudes from the upper surface to contact with the straight tube track 1 to drive the inspection robot 5 to move along the straight tube track 1.

[0030] The inspection robot 5 is also equipped with infrared cameras, dust sensors, methane sensors, sound and light alarm equipment, spray equipment and other functional equipment required for coal mining in mines.

[0031] Working principle: The present invention is arranged below the comprehensive mining support in the above-mentioned manner. When the comprehensive mining support moves forward due to the need for coal mining, the comprehensive mining support drives the corresponding straight tube track 1 out of its original position through the flexible connector 4. The advancing straight tube track 1 is pulled by the flexible connector 4 to disconnect and splice with the adjacent straight tube track 1 that has not moved. When the stationary comprehensive mining support moves forward to the same straight line position as the previously advanced comprehensive mining support in the subsequent coal mining work, the later moving comprehensive mining support drives the corresponding straight tube track 1 to move forward to the same straight line position as the previously moved straight tube track 1 through the flexible connector 4. At this time, the corresponding ports of the two adjacent straight tube tracks 1 are pulled closer under the pulling force of the elastic connector 2, and the straight tube track 1 with the protruding guide surface 703 is inserted into the straight tube track 1 with the inclined guide surface 701 through the guidance of the inclined guide surface 701, so that the two adjacent straight tube tracks 1 that were originally disconnected and spliced ​​are reassembled into a straight line for the inspection robot 5 to move through.

[0032] On the basis of the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in the present invention can be implemented in combination with existing electrical technology, information technology, software technology and general protocols. They are not within the scope of protection required by the present invention and will not be described in detail in this application.

[0033] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered as exemplary and non-restrictive in all respects.

Claims

1. A coal mine fully mechanized mining face inspection auxiliary robot device, comprising a multi-section fully mechanized mining support, characterized in that: It also includes a flexible track, the flexible track including a plurality of straight tube tracks (1) arranged corresponding to the plurality of fully mechanized mining supports, two adjacent straight tube tracks (1) being connected via an elastic connector (2), a lifting lug (3) being provided on the straight tube track (1), the fully mechanized mining supports being connected to the lifting lug (3) via a flexible connector (4), when the two adjacent fully mechanized mining supports are located in the same straight line, the two adjacent straight tube tracks (1) are automatically joined into a straight line under the action of the elastic connector (2), and an inspection robot (5) is suspended on the straight tube track (1); The elastic connecting member (2) is a tension spring, and the two ends of the tension spring are coaxially arranged inside two adjacent straight tube tracks (1); The straight tube track (1) is provided with an interface structure (7), the interface structure (7) comprising an inclined guide surface (701) provided at one end of the straight tube track (1) and extending from the inside to the outside to the outer circumferential surface of the straight tube track, the inclined guide surface (701) being provided with a load-bearing matching surface (702), the load-bearing matching surface (702) being parallel to the axis of the straight tube track (1), the interface structure (7) further comprising a protruding guide surface (703) provided at the other end of the straight tube track (1) and matching with the inclined guide surface (701), the protruding guide surface (703) being provided with a load-bearing protrusion (704) matching with the load-bearing matching surface (702), and after the inclined guide surface (701) and the protruding guide surface (703) are in contact with each other, one side of the load-bearing protrusion (704) is in contact with the load-bearing matching surface (702).

2. The coal mine fully mechanized mining working face inspection auxiliary robot device according to claim 1 is characterized in that: A plurality of lifting ears (3) are provided on the straight tube track, and at least two lifting ears (3) are respectively arranged at two ends of the straight tube track (1).

3. The coal mine fully mechanized mining working face inspection auxiliary robot device according to claim 1 is characterized in that: The inspection robot (5) is suspended on the straight tube track (1) via a power mounting mechanism (6). The power mounting mechanism comprises at least two driven wheels (601), a driving wheel (602) and a connecting bracket (603). The two driven wheels (601) are symmetrically arranged above both sides of the straight tube track (1). The minimum interval between the two driven wheels (601) is greater than the radial cross-sectional width of the lifting lug (3) along the straight tube track (1). The two driven wheels (601) are both rotatably connected to the connecting bracket (603). The connecting bracket (603) is fixedly connected to the inspection robot (5). The driving wheel (602) is arranged in the inspection robot (5) and protrudes from the upper surface of the inspection robot (5). The two driven wheels (601) and the driving wheel (602) together clamp the straight tube track (1) in the middle.

4. The coal mine fully mechanized mining face inspection auxiliary robot device according to claim 3 is characterized in that: The connecting bracket (603) is V-shaped.

5. The coal mine fully mechanized mining working face inspection auxiliary robot device according to claim 1 is characterized in that: The flexible connecting piece (4) is a circular chain.

6. The coal mine fully mechanized mining working face inspection auxiliary robot device according to claim 1, characterized in that: The inspection robot (5) is also provided with an infrared camera, a dust sensor, a methane sensor, an audible and visual alarm device, and a spray device.

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