Mine mining working face cable take-up and pay-off robot and control system thereof

Abstract

The invention discloses a mine mining working face cable winding and unwinding robot and a control system thereof, the robot comprises a cable winding and unwinding mechanism and a supporting mechanism, and the cable winding and unwinding mechanism is arranged on the supporting mechanism; the control system comprises a controller and a remote controller; through cooperative use of the cable winding and unwinding mechanism and the supporting mechanism, the cable winding and unwinding mechanism can be suitable for automatic winding and winding or laying and extending operation of a root power cable arranged in a normal and common fully mechanized coal mining face transportation gate road or a top coal caving face, and the application range of the cable winding and unwinding mechanism can be widened; meanwhile, uniform winding of the cable can be guaranteed, and the cable recycling effect is improved; through cooperative use of the walking mechanism, the conveying mechanism, the cable take-up and pay-off mechanism, the controller and the remote controller, stepping self-moving of the cable take-up and pay-off robot for the mine excavation working face can be achieved, manual operation is not needed, automatic operation is achieved, the working efficiency is improved, and manual safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of mine excavation, and in particular to a mine excavation working face cable retracting and releasing robot and a control system thereof. Background Art

[0002] A mine is a general term for the shafts, tunnels, chambers, equipment, ground buildings and structures that form an underground coal mine production system.

[0003] Power cables should be arranged in the transport chute (or excavation working face) of the mine's comprehensive mining working face. As the working face advances and the chute shortens, the cables should be recovered.

[0004] The existing patent document with announcement number CN211419180U discloses an underground cable retracting and releasing device for coal mines. The device is easy to operate during use, has significant practical effects, is easy to access, and is easy to put in order for repeated use. Since such problems exist in all mines, the results of this technological innovation can be vigorously promoted in the same industry and can be applied to a wider range of work areas, such as cable warehouses, communication companies, recycling of field communication cables, etc., to create more value. In addition, the device has a simple structure and is easy to implement, which greatly reduces manual labor and saves labor costs. It has broad development space and high promotion value.

[0005] Although the above-mentioned underground cable retracting and releasing device for coal mines can solve the corresponding technical problems, when it is used, it is necessary to manually push the vehicle body to perform the cable retracting and releasing operation, and the manual participation is high. Not only is the work efficiency low, but the workers are prone to approach high-voltage dangerous areas, and there are certain safety hazards. For this reason, a mine excavation working face cable retracting and releasing robot and its control system are proposed. Summary of the invention

[0006] The technical task of the present invention is to address the above deficiencies and provide a mine excavation working face cable retracting robot and a control system thereof to solve the above-mentioned problems.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A cable retracting robot for a mining working face in a mine, comprising a cable retracting mechanism and a supporting mechanism, wherein the cable retracting mechanism is arranged on the supporting mechanism, and a conveying mechanism is also arranged on the supporting mechanism, and the conveying mechanism is located below the cable retracting mechanism, and a walking mechanism is arranged at the bottom of the supporting mechanism, and the walking mechanism is arranged on a mine track;

[0009] The cable retracting and releasing mechanism is used to recover and store cables from the mining working face of a mine;

[0010] The support mechanism is used to provide an installation foundation for the cable retracting and releasing mechanism and the conveying mechanism;

[0011] The conveying mechanism is used to realize the conveying of materials;

[0012] The walking mechanism is used to realize the stepping movement of the cable retracting and releasing robot on the mining working face of the mine.

[0013] Preferably, the cable retracting and releasing mechanism comprises a cable drum, at least seven of which are evenly distributed on the supporting mechanism, a clamping assembly is provided between the cable drum and the supporting mechanism, a stepping motor A is provided on the supporting mechanism, and a guide mechanism is provided on one side of each of the cable drums;

[0014] Wherein, the top and bottom of the cable drum are fixedly connected with a limit frame used in conjunction with the clamping assembly;

[0015] The clamping assembly includes a limit block clamped in the inner cavity of the limit frame, the bottom of the limit block located at the bottom is fixedly connected to a rotating column A, the bottom end of the rotating column A is movably connected to a supporting mechanism, and the top of the limit block located at the top is provided with a hydraulic cylinder A, the output end of the hydraulic cylinder A is rotatably connected to the top of the limit block located at the top through a bearing;

[0016] The output shaft of the stepper motor A is fixedly connected to a rotating column B, the bottom end of the rotating column B is movably connected to a supporting mechanism, the rotating column B is connected to an adjacent rotating column A through a belt and a pulley transmission, and two adjacent rotating columns A are connected to each other through a belt and a pulley transmission;

[0017] The guide mechanism includes a reciprocating screw rod arranged on one side of the cable drum and parallel to the axis thereof, the reciprocating screw rod is movably arranged on the support mechanism, a movable sleeve is sleeved on the surface of the reciprocating screw rod for use therewith, a guide rod movably penetrates the movable sleeve and is parallel to the reciprocating screw rod, the guide rod is fixedly arranged on the support mechanism, a through hole is opened on the movable sleeve for the cable to pass through, the reciprocating screw rod away from the stepping motor A and the adjacent rotating column A are connected by a belt and a pulley transmission, and two adjacent reciprocating screw rods are connected by a belt and a pulley transmission;

[0018] The support mechanism includes a base frame, both ends of the top of the base frame are fixedly connected to side frames, a lower support plate and an upper support plate are fixedly connected between the two side frames from bottom to top, the bottom ends of the rotating column B, the rotating column A and the reciprocating screw rod are rotatably connected to the top of the lower support plate through bearings, the top end of the reciprocating screw rod is rotatably connected to the bottom of the upper support plate through bearings, the tail end of the hydraulic cylinder A is fixedly connected to the bottom of the upper support plate, and the guide rod is fixedly connected between the lower support plate and the upper support plate;

[0019] The conveying mechanism includes a roller movably connected to the base frame, and one of the rollers is rotatably connected to each other at both ends of the base frame, and the two rollers are connected through a conveyor belt transmission. A stepper motor B is installed on the base frame, and the output end of the stepper motor B is fixedly connected to one of the rollers. The base frame is also movably connected to a supporting roller capable of contacting the bottom of the outer surface of the conveyor belt. The top of the base frame is equidistantly distributed with a plurality of roller groups along its length direction, and the roller groups can contact the top of the inner wall of the conveyor belt.

[0020] The walking mechanism includes a supporting assembly located at the bottom of the chassis, a hydraulic cylinder B for realizing up and down movement is provided at the bottom of the supporting assembly, a jack for realizing forward and backward movement is provided at the bottom of the supporting assembly, and a correction assembly for realizing left and right movement is provided on the hydraulic cylinder B.

[0021] Preferably, an auxiliary frame is provided on the base frame, the auxiliary frame is located between the two side frames, and the top of the auxiliary frame is fixedly connected to the bottom of the lower support plate.

[0022] Preferably, at least two auxiliary frames are symmetrically fixedly connected to the top of the base frame, at least two support rollers are rotatably connected to the base frame through bearings, and the auxiliary frames and support rollers are arranged in a one-to-one correspondence, and the height of the auxiliary frames is lower than the height of the side frames.

[0023] Preferably, the roller group includes a bracket fixedly connected to the base frame and arranged along the direction of the support roller axis, the middle part of the top of the bracket is rotatably connected to the roller A, and the top of the bracket is also rotatably connected to two rollers B, and the two rollers B are symmetrically arranged about the center of roller A.

[0024] Preferably, the supporting assembly comprises a plurality of cross bars A and cross bars B, and the plurality of cross bars A and cross bars B are equidistantly staggered, and a group of hydraulic cylinders B are provided at the bottom of each cross bar A and cross bar B, and the jack is movably arranged between the cross bars A and cross bars B near the middle, and one of the correction assemblies is provided on each group of hydraulic cylinders B, and the top of the cross bar A is fixedly connected to two symmetrically arranged connecting seats A, and a longitudinal bar A is commonly fixedly connected between the plurality of connecting seats A arranged along the front-to-back direction, and the top of the cross bar B is fixedly connected to two symmetrically arranged connecting seats B, and a longitudinal bar B is commonly fixedly connected between the plurality of connecting seats B arranged along the front-to-back direction, and the longitudinal bar B is located between the two longitudinal bars A, and the bottom of the longitudinal bar B is higher than the top of the cross bar A, and the top of the longitudinal bar A is fixedly connected to the bottom of the base frame.

[0025] Preferably, each group of hydraulic cylinders B is symmetrically arranged with two, the bottom of the cross bar A is fixedly connected to the output end of the corresponding hydraulic cylinder B, the bottom of the cross bar B is fixedly connected to the output end of the corresponding hydraulic cylinder B, the tail end of the hydraulic cylinder B is fixedly connected to a support block in contact with the mine track, and the correction assembly is arranged between the two support blocks of each group.

[0026] Preferably, the tail end of the jack is rotationally connected to one side of the adjacent cross bar B via a rotating shaft, and the output end of the jack is rotationally connected to one side of the adjacent cross bar A via a rotating shaft, and the rotational connection between the jack and the cross bars A and B is achieved through the rotating shaft.

[0027] Preferably, the correction assembly includes a support plate fixedly connected between each group of two support blocks, a convex plate fixedly connected to the center of the bottom of the support plate, a hydraulic cylinder C fixedly connected to both sides of the convex plate, a roller frame fixedly connected to the output end of the hydraulic cylinder C, the top of the roller frame is slidably connected to the bottom of the support plate, and a roller is rotatably connected to the roller frame.

[0028] The present invention also provides a control system for the cable retracting robot for the above-mentioned mine excavation working face, including a controller and a remote control. The controller is electrically connected to the clamping assembly, stepper motor A, stepper motor B, hydraulic cylinder B, jack and hydraulic cylinder C, and is used to adjust the working state or parameters of the clamping assembly, stepper motor A, stepper motor B, hydraulic cylinder B, jack and hydraulic cylinder C. A wireless communication connection is used between the remote control and the controller to realize remote control.

[0029] Compared with the prior art, the advantages and positive effects of the present invention are:

[0030] 1. The present invention, through the coordinated use of the cable retracting and releasing mechanism and the supporting mechanism, can be applied to the automatic coiling and recovery or laying and extending operation of the power cables to be arranged in the transport chute of the normal fully mechanized working face or the power cables to be arranged in the top coal caving working face, which helps to improve the application scope of the cable retracting and releasing mechanism; at the same time, it can ensure the uniform reeling of the cable and improve the cable recovery effect;

[0031] 2. The present invention can realize the transportation of coal or other materials through the coordinated use of the supporting mechanism and the conveying mechanism, so that the cable retracting and releasing robot for the mining working face of the mine has the advantage of multi-function;

[0032] 3. The present invention, through the coordinated use of the walking mechanism, the conveying mechanism, the cable retracting mechanism, the controller and the remote control, can realize the self-movement of the cable retracting robot on the mining working face of the mine, without the need for human intervention in the operation, and realize automatic operation, which not only improves the work efficiency, but also ensures the safety of human workers, and perfectly solves the problem of disorderly placement and difficult recovery of cables on the comprehensive mining working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 creative work.

[0034] Figure 1 This is a schematic structural diagram of a cable retracting and releasing robot for a mining face in a mine according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure explosion of a cable retracting and releasing robot for a mining face in a mine according to an embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of the partial structure explosion of the cable retracting and releasing robot for a mining working face in a mine according to an embodiment of the present invention;

[0037] Figure 4 It is a structural schematic diagram of the cable retracting mechanism and the lower support plate of the cable retracting robot for a mine excavation working face according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic structural diagram of a cable drum and a rotating column A of a cable retracting and releasing robot for a mine excavation working face according to an embodiment of the present invention;

[0039] Figure 6 It is a schematic diagram of the structure explosion of the conveying mechanism and the walking mechanism of the cable retracting and releasing robot for the mining working face in a mine according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of the walking mechanism of the cable retracting and releasing robot for a mine excavation working face according to an embodiment of the present invention;

[0041] Figure 8 It is a schematic diagram of the partial structure of the walking mechanism of the cable retracting and releasing robot for a mine excavation working face according to an embodiment of the present invention.

[0042] In the figure: 100, cable retracting and releasing mechanism; 110, cable drum; 111, limit frame; 120, clamping assembly; 121, limit block; 122, rotating column A; 123, hydraulic cylinder A; 130, stepping motor A; 131, rotating column B; 140, guide mechanism; 141, reciprocating screw rod; 142, movable sleeve; 143, guide rod; 144, through hole;

[0043] 200, support mechanism; 210, bottom frame; 220, side frame; 230, auxiliary frame; 240, lower support plate; 250, upper support plate;

[0044] 300, conveying mechanism; 310, roller; 320, stepping motor B; 330, supporting roller; 340, roller group; 341, bracket; 342, roller A; 343, roller B;

[0045] 400, walking mechanism; 410, supporting assembly; 411, cross bar A; 412, cross bar B; 413, connecting seat A; 414, longitudinal bar A; 415, connecting seat B; 416, longitudinal bar B; 420, hydraulic cylinder B; 421, support block; 430, jack; 440, correction assembly; 441, support plate; 442, convex plate; 443, hydraulic cylinder C; 444, roller frame; 445, roller. DETAILED DESCRIPTION

[0046] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] Example 1

[0049] like Figure 1-Figure 8 As shown, the cable retracting robot for mining working face in a mine according to an embodiment of the present invention comprises a cable retracting mechanism 100 and a supporting mechanism 200. The cable retracting mechanism 100 is arranged on the supporting mechanism 200. The supporting mechanism 200 is also provided with a conveying mechanism 300. The conveying mechanism 300 is located below the cable retracting mechanism 100. A walking mechanism 400 is arranged at the bottom of the supporting mechanism 200. The walking mechanism 400 is arranged on the mine track.

[0050] The cable retracting and releasing mechanism 100 is used for recovering and storing cables at the mining working face of a mine;

[0051] The support mechanism 200 is used to provide an installation foundation for the cable retracting mechanism 100 and the conveying mechanism 300;

[0052] The conveying mechanism 300 is used to realize the conveying of materials;

[0053] The walking mechanism 400 is used to realize the stepping movement of the cable retracting and releasing robot at the mining working face of the mine.

[0054] Example 2

[0055] like Figure 1-Figure 8 As shown, the cable retracting robot for mining working face provided in this embodiment is different from that in embodiment 1 in that:

[0056] The cable retracting and releasing mechanism 100 includes a cable drum 110, and at least 7 cable drums 110 are evenly distributed on the supporting mechanism 200. The cable drums 110 can be used to recover and store 5 power cables arranged in the transport chute of a normal comprehensive mining working face, and can also be used to recover and store 7 power cables arranged in a top coal caving working face, thereby improving the application scope of the cable retracting and releasing mechanism 100. A clamping assembly 120 is provided between the cable drum 110 and the supporting mechanism 200, and a stepping motor A130 is provided on the supporting mechanism 200. A guide mechanism 140 is provided on one side of each cable drum 110; the top and bottom of the cable drum 110 are fixedly connected with a limit frame 111 used in conjunction with the clamping assembly 120; the clamping assembly 120 includes a clamping assembly 120; A limit block 121 is arranged in the inner cavity of the limit frame 111. The bottom of the limit block 121 located at the bottom is vertically fixedly connected with a rotating column A122. The bottom end of the rotating column A122 is movably connected to the support mechanism 200. The top of the limit block 121 located at the top is vertically provided with a hydraulic cylinder A123. The output end of the hydraulic cylinder A123 is rotatably connected to the top of the limit block 121 located at the top through a bearing. By starting the hydraulic cylinder A123, the limit block 121 located at the top can be driven to move upward or downward, thereby unlocking or locking the cable drum 110, so as to disassemble and assemble the cable drum 110. The output shaft of the stepper motor A130 is fixedly connected with a rotating column B131. The bottom end of the rotating column B131 is movably connected to the support mechanism 200. The supporting mechanism 200 is movably connected, the rotating column B131 and the adjacent rotating column A122 are connected by belt and pulley transmission, and the two adjacent rotating columns A122 are connected by belt and pulley transmission. By starting the stepping motor A130, the multiple cable drums 110 can be driven to rotate synchronously by the belt and pulley, so as to realize the synchronous winding or unwinding operation of multiple cables; the guiding mechanism 140 includes a reciprocating screw rod 141 which is arranged on one side of the cable drum 110 and is parallel to the axis thereof, the reciprocating screw rod 141 is movably arranged on the supporting mechanism 200, and the surface of the reciprocating screw rod 141 is provided with a movable sleeve 142 used therewith, and the movable sleeve 142 is movably penetrated with a reciprocating screw rod 141 which is parallel to the reciprocating screw rod 141 A guide rod 143 is arranged, and the guide rod 143 is fixed on the support mechanism 200. A through hole 144 for the cable to pass through is opened on the movable sleeve 142. The reciprocating screw rod 141 far away from the stepping motor A130 is connected to the rotating column A122 adjacent to it through a belt and a pulley transmission. The two adjacent reciprocating screw rods 141 are connected to each other through a belt and a pulley transmission. When the cable drum 110 rotates, the multiple reciprocating screw rods 141 can be driven to rotate synchronously through the belt and the pulley, so that the multiple movable sleeves 142 can reciprocate along the axial direction of the reciprocating screw rod 141, so that each cable can be evenly wound or unwound, and the phenomenon that the cables are easily loosened due to the accumulation of the cables at a certain place on the surface of the cable drum 110 causing a circular protrusion is avoided;When the movable sleeve 142 moves on the surface of the reciprocating screw rod 141, the movable sleeve 142 can play a guiding role through the guide rod 143, so that the movable sleeve 142 can stably move along the axial direction of the reciprocating screw rod 141. ;

[0057] The support mechanism 200 includes a horizontally arranged bottom frame 210, both ends of the top of the bottom frame 210 are fixedly connected to the side frames 220 arranged vertically, and the lower support plate 240 and the upper support plate 250 are horizontally fixedly connected between the two side frames 220 from bottom to top, and the bottom ends of the rotating column B131, the rotating column A122 and the reciprocating screw rod 141 are respectively rotatably connected to the top of the lower support plate 240 through bearings, and the top end of the reciprocating screw rod 141 is rotatably connected to the bottom of the upper support plate 250 through a bearing. The rear end of the hydraulic cylinder A123 is fixedly connected to the bottom of the upper support plate 250, and the guide rod 143 is fixedly connected between the lower support plate 240 and the upper support plate 250; an auxiliary frame 230 is provided on the base frame 210, and the auxiliary frame 230 is located between the two side frames 220, and the top of the auxiliary frame 230 is fixedly connected to the bottom of the lower support plate 240. The auxiliary frame 230 can provide auxiliary support for the lower support plate 240, which helps to improve the support stability of the lower support plate 240.

[0058] The conveying mechanism 300 includes a roller 310 movably connected to the base frame 210. The roller 310 is rotatably connected to one of the two ends of the base frame 210 through a bearing. The two rollers 310 are connected through a conveyor belt transmission. A stepper motor B320 is installed on the base frame 210. The output end of the stepper motor B320 is fixedly connected to one of the rollers 310. The base frame 210 is also movably connected with a support roller 330 that can contact the bottom of the outer surface of the conveyor belt. The top of the base frame 210 is evenly distributed with a plurality of roller groups 340 along its length. The roller group 340 can contact the top of the inner wall of the conveyor belt. The support roller 330 can play an auxiliary supporting role for the conveyor belt to prevent the middle part of the conveyor belt from falling downward due to its own gravity, so as to ensure the conveying effect of the conveyor belt. The roller group 340 can prevent the material on the conveyor belt from being easily scattered; the auxiliary frame 230 At least two supporting rollers 330 are symmetrically fixedly connected on the top of the base frame 210, and at least two supporting rollers 330 are rotatably connected on the base frame 210 through bearings, and the auxiliary frame 230 and the supporting rollers 330 are arranged in a one-to-one correspondence, and the height of the auxiliary frame 230 is lower than the height of the side frame 220; the roller group 340 includes a bracket 341 fixedly connected to the base frame 210 and arranged along the axis direction of the supporting roller 330, and a horizontally arranged roller A342 is rotatably connected to the middle of the top of the bracket 341 through a bearing, and two inclined rollers B343 are also rotatably connected to the top of the bracket 341 through bearings. The two rollers B343 are symmetrically arranged about the center of the roller A342, so that when the conveyor belt passes through the roller group 340, its two sides can be tilted upward to form a concave structure, so that the material on the conveyor belt is not easy to fall from both sides, which helps to improve the material conveying effect of the conveyor belt.

[0059] The walking mechanism 400 includes a supporting assembly 410 located at the bottom of the base frame 210, a hydraulic cylinder B420 for realizing up and down movement is provided at the bottom of the supporting assembly 410, a jack 430 for realizing forward and backward movement is provided at the bottom of the supporting assembly 410, and a correction assembly 440 for realizing left and right movement is provided on the hydraulic cylinder B420; the supporting assembly 410 includes a plurality of cross bars A411 and cross bars B412, and the plurality of cross bars A411 and cross bars B412 are arranged in an equidistant and staggered manner, and a group of hydraulic cylinders B420 are provided at the bottom of each cross bar A411 and cross bar B412, and the jack 430 is movably arranged between the cross bars A411 and cross bars B412 near the middle, and the correction assembly 440 is provided. The component 440 is provided with one on each group of hydraulic cylinders B420. The top of the crossbar A411 is fixedly connected to two symmetrically arranged connecting seats A413. A longitudinal bar A414 is fixedly connected between the multiple connecting seats A413 arranged along the front-back direction. The top of the crossbar B412 is fixedly connected to two symmetrically arranged connecting seats B415. A longitudinal bar B416 is fixedly connected between the multiple connecting seats B415 arranged along the front-back direction. The longitudinal bar B416 is located between the two longitudinal bars A414. The bottom of the longitudinal bar B416 is higher than the top of the crossbar A411, which can provide a contraction space for the crossbar A411, the connecting seats A413 and the longitudinal bar A414, and the longitudinal bar A414 The top of the longitudinal rod A414 is fixedly connected to the bottom of the base frame 210 and is arranged parallel to the longitudinal rod B416. The supporting assembly 410 can provide a mounting base for the supporting mechanism 200, and can be used in conjunction with the hydraulic cylinder B420, the jack 430 and the correction assembly 440 to achieve step movement. Each group of hydraulic cylinders B420 has two symmetrically arranged, the bottom of the cross bar A411 is fixedly connected to the output end of the corresponding hydraulic cylinder B420, the bottom of the cross bar B412 is fixedly connected to the output end of the corresponding hydraulic cylinder B420, the tail end of the hydraulic cylinder B420 is fixedly connected to a support block 421 in contact with the mine track, and the correction assembly 440 is arranged on the two support blocks of each group. 421, when moving, start the hydraulic cylinder B420 on the crossbar A411, so that the hydraulic cylinder B420 is in a retracted state, and the hydraulic cylinder B420 and the correction component 440 are both separated from the mine track. At the same time, the crossbar A411, the connecting seat A413 and the longitudinal rod A414 are also retracted, and the jack 430 is started to push the retracted crossbar A411, the connecting seat A413, the longitudinal rod A414 and the hydraulic cylinder B420 forward. After reaching the predetermined position, start the hydraulic cylinder B420 on the crossbar A411 again, so that the hydraulic cylinder B420 is in an extended state, and the hydraulic cylinder B420 and the correction component 440 are both in contact with the mine track, and a forward movement operation can be completed;Then, the hydraulic cylinder B420 on the crossbar B412 is started, so that the hydraulic cylinder B420 on the crossbar B412 and the crossbar A411 work in an alternating cycle, and the supporting assembly 410 can be continuously moved forward. The supporting assembly 410 drives the supporting mechanism 200, the conveying mechanism 300 and the cable retracting mechanism 100 to move synchronously, so that the cable can be retracted and released as the working surface advances and the chute shortens; the tail end of the jack 430 is connected to one side of the crossbar B412 adjacent to it through the rotating shaft. The output end of the jack 430 is rotatably connected to one side of the adjacent cross bar A411 through a rotating shaft, and the jack 430 is rotatably connected to the cross bar A411 and the cross bar B412 through the rotating shaft, so that the jack 430 can be tilted when the cross bar A411 and the cross bar B412 are contracted or extended to ensure the normal operation of the jack 430; the correction component 440 includes a support plate 441 fixedly connected between each group of two support blocks 421, and the support plate 4 A convex plate 442 is fixedly connected at the center of the bottom of the support plate 41, and hydraulic cylinders C443 are fixedly connected to both sides of the convex plate 442 in a horizontal manner. A roller frame 444 is fixedly connected to the output end of the hydraulic cylinder C443. The top of the roller frame 444 is slidably connected to the bottom of the support plate 441, and a roller 445 is rotatably connected to the roller frame 444 through a bearing. When the supporting assembly 410 deviates to the left or right, the hydraulic cylinder C443 on the left is started, so that the hydraulic cylinder C443 drives the corresponding After the roller frame 444 and roller 445 move to the left and hit the track, the output end of the hydraulic cylinder C443 on the left side continues to extend, which can drive the convex plate 442, the support plate 441, the hydraulic cylinder B420 and the supporting assembly 410 to deviate to the right; on the contrary, starting the hydraulic cylinder C443 on the left side can drive the supporting assembly 410 to deviate to the left, so that the support block 421 can always walk on the mine track, thereby ensuring the normal operation of the cable retracting and releasing robot on the mining working face of the mine. ;

[0060] Example 3

[0061] The control system provided in this embodiment is used for the above-mentioned cable retracting robot for the mining working face in a mine, and includes a controller and a remote controller. The controller is electrically connected to the clamping assembly 120, the stepping motor A130, the stepping motor B320, the hydraulic cylinder B420, the jack 430 and the hydraulic cylinder C443, and is used to adjust the working state or parameters of the clamping assembly 120, the stepping motor A130, the stepping motor B320, the hydraulic cylinder B420, the jack 430 and the hydraulic cylinder C443. A wireless communication connection is used between the remote controller and the controller to realize remote control.

[0062] Working principle:

[0063] The operation of the cable retracting and releasing mechanism 100, the conveying mechanism 300 and the walking mechanism 400 can be remotely controlled by using the remote controller and the controller. By controlling the rotation speed of the stepping motor A130, the cable retracting and releasing speed can be controlled to prevent the cable from being pulled off the cable hook and the cable connecting device due to the excessive retracting and releasing speed, thereby causing potential accidents.

[0064] When the cable retracting and releasing mechanism 100 is retracted and released, the end of a single cable is first passed through the corresponding through hole 144 in sequence, and then the cable is wound and fixed on the surface of the corresponding cable drum 110 to prevent the cable from falling off; the stepper motor A130 is started, and the stepper motor A130 drives the rotating column B131 to rotate, and the rotating column B131 drives multiple rotating columns A122 to rotate synchronously through the belt and the pulley, and the rotating column A122 drives the limit block 121, the limit frame 111 and the cable drum 110 to rotate synchronously, thereby realizing the cable drum. At the same time, the rotating column A122 away from the stepping motor A130 drives the adjacent reciprocating screw 141 to rotate through the belt and the pulley, and the reciprocating screw 141 drives the other reciprocating screws 141 to rotate synchronously through the belt and the pulley, and the reciprocating screw 141 drives the movable sleeve 142 on its surface to reciprocate up and down along its axial direction, and the movable sleeve 142 slides on the surface of the guide rod 143, and the movable sleeve 142 drives the through hole 144 to move synchronously, so that the cable can be evenly wound on the surface of the cable drum 110;

[0065] When the cable drum 110 needs to be removed, the hydraulic cylinder A123 is started, and the output end of the hydraulic cylinder A123 drives the upper limit block 121 to move upward, and the upper limit block 121 is separated from the inner cavity of the upper limit frame 111, and the cable drum 110 can be unlocked. At this time, the cable drum 110 can be moved upward, so that the cable drum 110 drives the limit frame 111 thereon to move synchronously, so that the lower limit frame 111 is separated from the lower limit block 121, and the cable drum 110 can be disassembled.

[0066] When the conveying mechanism 300 is feeding, the stepper motor B320 is started, and the stepper motor B320 drives one of the rollers 310 to rotate, and the roller 310 drives another stepper motor B320, the supporting roller 330, the roller A342 and the roller B343 to rotate synchronously through the conveyor belt, thereby making the conveyor belt run, and coal or other materials can be transported;

[0067] When the traveling mechanism 400 is moving, the hydraulic cylinder B420 on the crossbar A411 is first started, so that the hydraulic cylinder B420 on the crossbar A411 is in a retracted state, and the hydraulic cylinder B420 on the crossbar A411 and the correction assembly 440 are both separated from the mine track. At the same time, the crossbar A411, the connecting seat A413 and the longitudinal rod A414 are also retracted; then the jack 430 is started to retract the retracted crossbar A411, the connecting seat A413, the longitudinal rod A414 and the crossbar A411. The hydraulic cylinder B420 on the crossbar A411 is pushed forward to reach the predetermined position; the hydraulic cylinder B420 on the crossbar A411 is started again to make the hydraulic cylinder B420 on the crossbar A411 in the extended state, and the hydraulic cylinder B420 on the crossbar A411 and the correction component 440 are in contact with the mine track, and a forward movement operation is completed; then the hydraulic cylinder B420 on the crossbar B412 is started to make the hydraulic cylinder B420 on the crossbar B412 in the retracted state, and the hydraulic cylinder B420 on the crossbar B412 is in the retracted state. The cylinder B420 and the correction assembly 440 are both separated from the mine track. At the same time, the cross bar B412, the connecting seat B415 and the longitudinal bar B416 also retract. Then, the jack 430 is started to push the retracted cross bar B412, the connecting seat B415 and the longitudinal bar B416 and the hydraulic cylinder B420 on the cross bar B412 forward to the predetermined position. Then, the hydraulic cylinder B420 on the cross bar B412 is started again to make the hydraulic cylinder B420 on the cross bar B412 in the predetermined position. In the extended state, the hydraulic cylinder B420 on the crossbar B412 and the correction assembly 440 are in contact with the mine track, and the secondary forward movement operation can be completed. By starting the crossbar A411 and the hydraulic cylinder B420 on the crossbar B412 to perform staggered cyclic operations, the support assembly 410 can be continuously moved forward. The support assembly 410 drives the support mechanism 200, the conveying mechanism 300 and the cable retracting mechanism 100 to move synchronously, and the cable retracting operation can be realized as the working face advances and the chute shortens;

[0068] Similarly, the cable retracting and releasing robot for mine excavation working faces can also be used for mine excavation working faces. The cable is converted from a recovered coil to an extended and laid cable in the opposite direction with the same principle.

[0069] Through the above specific implementations, those skilled in the art can easily implement the present invention. However, it should be understood that the present invention is not limited to the above specific implementations. On the basis of the disclosed implementations, those skilled in the art can arbitrarily combine different technical features to achieve different technical solutions.

Claims

1. A cable retracting robot for mining working face in a mine, characterized in that: include: A cable retractable mechanism (100) and a support mechanism (200), wherein the cable retractable mechanism (100) is arranged on the support mechanism (200), and the support mechanism (200) is also provided with a conveying mechanism (300), and the conveying mechanism (300) is located below the cable retractable mechanism (100), and a walking mechanism (400) is provided at the bottom of the support mechanism (200), and the walking mechanism (400) is arranged on a mine track, wherein: The cable retracting and releasing mechanism (100) is used for recovering and storing cables at a mining working face in a mine; The support mechanism (200) is used to provide an installation foundation for the cable retracting and releasing mechanism (100) and the conveying mechanism (300); The conveying mechanism (300) is used to realize the conveying of materials; The walking mechanism (400) is used to realize the stepping movement of the cable retracting and releasing robot on the mining working face of a mine.

2. The cable retracting robot for mining working face in a mine according to claim 1, characterized in that: The cable retracting and releasing mechanism (100) comprises a cable reel (110), wherein at least seven cable reels (110) are evenly distributed on a support mechanism (200), a clamping assembly (120) is provided between the cable reel (110) and the support mechanism (200), a stepping motor A (130) is provided on the support mechanism (200), and a guide mechanism (140) is provided on one side of each cable reel (110); The top and bottom of the cable drum (110) are both fixedly connected with a limit frame (111) used in conjunction with the clamping assembly (120); The clamping assembly (120) comprises a limit block (121) clamped in the inner cavity of the limit frame (111); the bottom of the limit block (121) located at the bottom is fixedly connected to a rotating column A (122); the bottom end of the rotating column A (122) is movably connected to the supporting mechanism (200); the top of the limit block (121) located at the top is provided with a hydraulic cylinder A (123); the output end of the hydraulic cylinder A (123) is rotatably connected to the top of the limit block (121) located at the top through a bearing; The output shaft of the stepper motor A (130) is fixedly connected to a rotating column B (131), the bottom end of the rotating column B (131) is movably connected to the support mechanism (200), the rotating column B (131) and its adjacent rotating column A (122) are connected via a belt and a pulley transmission, and two adjacent rotating columns A (122) are connected via a belt and a pulley transmission; The guide mechanism (140) comprises a reciprocating screw rod (141) which is arranged on one side of the cable drum (110) and is arranged parallel to the axis thereof, the reciprocating screw rod (141) is movably arranged on the support mechanism (200), a movable sleeve (142) for use with the reciprocating screw rod (141) is sleeved on the surface of the reciprocating screw rod (141), a guide rod (143) which is arranged parallel to the reciprocating screw rod (141) is movably penetrated through the movable sleeve (142), the guide rod (143) is fixedly arranged on the support mechanism (200), a through hole (144) for the cable to pass through is opened on the movable sleeve (142), the reciprocating screw rod (141) away from the stepping motor A (130) and its adjacent rotating column A (122) are connected by belt and pulley transmission, and two adjacent reciprocating screw rods (141) are connected by belt and pulley transmission; The support mechanism (200) comprises a base frame (210), both ends of the top of the base frame (210) are fixedly connected to side frames (220), a lower support plate (240) and an upper support plate (250) are fixedly connected between the two side frames (220) from bottom to top, the bottom ends of the rotating column B (131), the rotating column A (122) and the reciprocating screw rod (141) are rotatably connected to the top of the lower support plate (240) through bearings, the top end of the reciprocating screw rod (141) is rotatably connected to the bottom of the upper support plate (250) through a bearing, the tail end of the hydraulic cylinder A (123) is fixedly connected to the bottom of the upper support plate (250), and the guide rod (143) is fixedly connected between the lower support plate (240) and the upper support plate (250); The conveying mechanism (300) comprises a roller (310) movably connected to a base frame (210), one of the rollers (310) being rotatably connected to each other at both ends of the base frame (210), the two rollers (310) being connected to each other through a conveyor belt transmission, a stepper motor B (320) being installed on the base frame (210), the output end of the stepper motor B (320) being fixedly connected to one of the rollers (310), the base frame (210) being further movably connected to a supporting roller (330) capable of contacting the bottom of the outer surface of the conveyor belt, a plurality of roller groups (340) being equidistantly distributed on the top of the base frame (210) along its length direction, the roller groups (340) being capable of contacting the top of the inner wall of the conveyor belt; The walking mechanism (400) comprises a supporting assembly (410) located at the bottom of the base frame (210), a hydraulic cylinder B (420) for realizing up and down movement is provided at the bottom of the supporting assembly (410), a jack (430) for realizing forward and backward movement is provided at the bottom of the supporting assembly (410), and a correction assembly (440) for realizing left and right movement is provided on the hydraulic cylinder B (420).

3. The cable retracting robot for mining working face according to claim 2 is characterized in that: An auxiliary frame (230) is provided on the bottom frame (210), the auxiliary frame (230) is located between the two side frames (220), and the top of the auxiliary frame (230) is fixedly connected to the bottom of the lower support plate (240).

4. The cable retracting robot for mining working face in a mine according to claim 3, characterized in that: At least two auxiliary frames (230) are symmetrically fixedly connected to the top of the base frame (210), at least two support rollers (330) are rotatably connected to the base frame (210) via bearings, and the auxiliary frames (230) and the support rollers (330) are arranged in a one-to-one correspondence, and the height of the auxiliary frames (230) is lower than the height of the side frames (220).

5. The cable retracting robot for mining working face in a mine according to claim 4, characterized in that: The roller group (340) comprises a bracket (341) fixedly connected to the base frame (210) and arranged along the axial direction of the supporting roller (330); a roller A (342) is rotatably connected to the middle of the top of the bracket (341); two rollers B (343) are also rotatably connected to the top of the bracket (341); the two rollers B (343) are symmetrically arranged about the center of the roller A (342).

6. The cable retracting robot for mining working face in a mine according to claim 2, characterized in that: The supporting assembly (410) includes a plurality of cross bars A (411) and cross bars B (412), the plurality of cross bars A (411) and cross bars B (412) are arranged in an equidistant and staggered manner, and a group of hydraulic cylinders B (420) are provided at the bottom of each cross bar A (411) and cross bar B (412), the jack (430) is movably arranged between the cross bars A (411) and cross bars B (412) near the middle, the correction assembly (440) is provided on each group of hydraulic cylinders B (420), and the top of the cross bar A (411) is fixedly connected to two symmetrically arranged connecting jacks. A seat A (413), a plurality of the connecting seats A (413) arranged in the front-to-back direction are commonly fixedly connected with a longitudinal rod A (414), the top of the cross bar B (412) is fixedly connected with two symmetrically arranged connecting seats B (415), a plurality of the connecting seats B (415) arranged in the front-to-back direction are commonly fixedly connected with a longitudinal rod B (416), the longitudinal rod B (416) is located between the two longitudinal rods A (414), the bottom of the longitudinal rod B (416) is higher than the top of the cross bar A (411), and the top of the longitudinal rod A (414) is fixedly connected to the bottom of the base frame (210).

7. The cable retracting robot for mining working face according to claim 6, characterized in that: Each group of hydraulic cylinders B (420) is provided with two hydraulic cylinders B (420) in a bilaterally symmetrical manner, the bottom of the cross bar A (411) is fixedly connected to the output end of the corresponding hydraulic cylinder B (420), the bottom of the cross bar B (412) is fixedly connected to the output end of the corresponding hydraulic cylinder B (420), the tail end of the hydraulic cylinder B (420) is fixedly connected to a support block (421) in contact with the mine track, and the correction assembly (440) is arranged between the two support blocks (421) of each group.

8. The cable retracting and releasing robot for mining working face in a mine according to claim 6, characterized in that: The tail end of the jack (430) is rotationally connected to one side of the adjacent cross bar B (412) via a rotating shaft, and the output end of the jack (430) is rotationally connected to one side of the adjacent cross bar A (411) via a rotating shaft, and the rotational connection between the jack (430) and the cross bar A (411) and the cross bar B (412) is achieved via the rotating shaft.

9. The cable retracting robot for mining working face according to claim 7, characterized in that: The correction component (440) comprises a support plate (441) fixedly connected between each group of two support blocks (421); a convex plate (442) is fixedly connected at the center of the bottom of the support plate (441); hydraulic cylinders C (443) are fixedly connected on both sides of the convex plate (442); a roller frame (444) is fixedly connected to the output end of the hydraulic cylinder C (443); the top of the roller frame (444) is slidably connected to the bottom of the support plate (441); and a roller (445) is rotatably connected to the roller frame (444).

10. A control system for a cable retracting robot for a mining face according to any one of claims 1 to 9, characterized in that: The invention comprises a controller and a remote controller, wherein the controller is electrically connected to a clamping assembly (120), a stepping motor A (130), a stepping motor B (320), a hydraulic cylinder B (420), a jack (430) and a hydraulic cylinder C (443), and is used to adjust the working state or parameters of the clamping assembly (120), the stepping motor A (130), the stepping motor B (320), the hydraulic cylinder B (420), the jack (430) and the hydraulic cylinder C (443), and the remote controller and the controller are connected by wireless communication to realize remote control.

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