Coal mine underground common rail multi-degree-of-freedom toothed rail clamping driving device

Abstract

The application discloses a multi-degree-of-freedom tooth rail clamping driving device for underground common rail of a coal mine and belongs to the technical field of underground transportation of the coal mine. The multi-degree-of-freedom tooth rail clamping driving device comprises a main frame and a first driving part. The first driving part comprises a first driving bearing frame. The first driving bearing frame comprises a first main body frame, a first pin gear power assembly, two sliding support blocks A and two sliding support blocks B. The two sliding support blocks A are arranged at two ends of the first main body frame along a driving walking direction. The two sliding support blocks B are arranged at two ends of the first main body frame along a first pin gear axis direction of the first pin gear power assembly. The sliding support blocks A are hinged to the first main body frame, the sliding support blocks B are fixed to the first main body frame, and a swing gap is reserved between the sliding support blocks B and a sliding groove of the first frame. Therefore, through the action of the first driving part, the first driving bearing frame can realize left-right swing to adapt to the positive and negative rail working conditions caused by the laying error of the common rail.

Description

Technical Field

[0001] This invention relates to a multi-degree-of-freedom geared rail drive device for ordinary rails in underground coal mines, belonging to the technical field of underground coal mine transportation. Background Technology

[0002] Currently, auxiliary transportation methods in coal mines are mainly divided into trackless transportation and rail transportation, with rail transportation accounting for a larger proportion of mines. Rail transportation mines mainly use ground rails and ordinary rails.

[0003] The rack rail locomotive runs on ground rails and is powered by a diesel engine or battery. It features high traction, strong climbing ability, low requirements for tunnel cross-section height, and full rail clamping, making it suitable for long-distance, steep-slope, heavy-load transportation.

[0004] Most of the rack and pinion locomotives used in underground coal mines are non-standard rail rack and pinion locomotives, which can only run on specially customized non-standard rails. This requires the removal of existing ordinary rails and replacement with non-standard rails, resulting in a large amount of construction work and high production and maintenance costs, which limits the widespread application of rack and pinion locomotives in underground coal mines.

[0005] Chinese Patent CN 119612072 A discloses a track conveying system for a conventional rail-mounted rack railcar. While it mentions that sliders are installed at four positions on the frame (front, back, left, and right), and that annular grooves are provided on the mounting bracket of the drive unit, allowing the sliders to slide within these grooves to adapt to track variations and improve smoother operation, the detailed description of how the sliders slide within the grooves to adapt to track changes is not provided. In underground coal mine transportation systems, given the complex working conditions, on the one hand, errors in laying the ground rails can easily lead to misaligned rails; on the other hand, ground rails often involve horizontal curves. Therefore, based on the track conveying system disclosed in Chinese Patent CN 119612072 A, further optimization of the fit between the sliders and the annular grooves is needed to adapt to track variations. Furthermore, the rail conveying system disclosed in Chinese Patent CN 119612072 A uses a traveling wheel flange for guidance and a fixed rail clamping assembly for rail clamping. Specifically, the rail clamping assembly is fixed to the traveling wheel frame, and then the rail clamping assembly cooperates with the guide plates on both sides of the rack rail to achieve rail clamping. Underground coal mine conditions are complex, deformation of ordinary rails is unavoidable, and the rail head of ordinary rails is narrow, resulting in limited clamping space. Therefore, using a fixed wheel clamping method presents significant technical challenges. Consequently, the fixed rail clamping assembly has weak adaptability to complex underground rail conditions; deformation of the ordinary rail or even slight changes in gauge can cause the rail clamping assembly to jam, affecting the safe operation of the rack rail clamping locomotive. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-degree-of-freedom rack rail clamping drive device for ordinary rails in underground coal mines, which aims to solve the problem of normal operation of existing rack rail clamping locomotives on ordinary ground rails, while improving the safety and stability of rack rail clamping locomotive operation and reducing the construction and maintenance costs of ordinary ground rails.

[0007] To achieve the above-mentioned technical objectives, the present invention will adopt the following technical solution:

[0008] A multi-degree-of-freedom toothed rail drive device for ordinary rails in coal mines includes a main frame and a first drive unit mounted on the main frame. The first drive unit includes a first drive support frame. The first drive support frame includes a first main frame, a first pin gear power assembly, and four first sliding support blocks. The first pin gear power assembly is mounted on the first main frame. Of the four first sliding support blocks, two are arranged at both ends of the first main frame along the driving direction, and the remaining two are arranged at both ends of the first main frame along the axis of the first pin gear of the first pin gear power assembly. The main frame is provided with a first frame slide groove arranged in a circular pattern.

[0009] The first drive unit is assembled in the first frame slide groove and is circumferentially slidably connected to the first frame slide groove through four first sliding support blocks;

[0010] Of the four first sliding support blocks, the two first sliding support blocks arranged along the driving direction are designated as sliding support blocks A and are respectively hinged to the two ends of the first main frame, while the remaining two first sliding support blocks are designated as sliding support blocks B and are respectively fixed to the two ends of the first main frame.

[0011] In the first drive unit, the rotation axis of the sliding support block A is arranged along the driving direction, while the sliding support block B has a swing gap reserved between it and the first frame slide groove.

[0012] Through the action of the first drive unit, the first drive support frame can swing left and right to adapt to the working conditions of the yin-yang rail caused by the laying error of the ground rail and ordinary rail.

[0013] Preferably, the main frame is provided with a second frame slide groove arranged in a circle; a second drive unit is assembled in the second frame slide groove;

[0014] The second drive unit includes a second drive support frame, which includes a second main frame, a second pin gear power assembly, and four second sliding support blocks. The second pin gear power assembly is mounted on the second main frame.

[0015] The four second sliding support blocks are all configured as sliding support blocks A and are respectively hinged to the second main frame. Meanwhile, two of the second sliding support blocks are arranged at both ends of the second main frame along the driving direction, while the remaining two second sliding support blocks are arranged at both ends of the second main frame along the pin gear axis of the second pin gear power assembly.

[0016] In the second drive unit, the rotation axes of the two second sliding support blocks arranged along the driving direction are arranged along the driving direction, while the rotation axes of the remaining two second sliding support blocks are arranged along the pin gear axis of the second pin gear power assembly.

[0017] Through the action of the second drive unit, the second drive support frame can achieve horizontal rotation to adapt to horizontal bending conditions.

[0018] Preferably, the outer surface of the sliding support block A has an arc surface that matches the bottom of the first or second frame slide groove, and the outer surface of the sliding support block A has a through groove in the middle region in the transverse direction, and a connecting pin hole is provided at the middle position of the through groove, so as to be hinged to the first or second main frame by the connecting pin; the axial direction of the connecting pin is parallel to the plane where the first or second frame slide groove is located.

[0019] Preferably, the sliding support block B is arranged in an L-shape and includes a horizontal connecting plate and a vertical guide plate; the horizontal connecting plate is connected to the first main frame by threaded fasteners, and the outer side of the vertical guide plate is provided with a strip-shaped arc-shaped guide part that is connected to the guide groove of the first frame.

[0020] Preferably, both the first and second drive units include a rail-mounted traveling unit that matches the ordinary guide rail of the ground rail;

[0021] The first and second main frames are each equipped with a rail-mounted traveling part at their two outer ends along the pinion gear axis. Each rail-mounted traveling part includes a swing traveling wheel frame, a traveling wheel assembly, and a floating rail clamp, wherein:

[0022] The swing-type walking wheel frame is hinged to the corresponding first or second main frame via a connecting shaft;

[0023] The walking wheel assembly includes two sets, symmetrically arranged on both sides of the connecting shaft and respectively connected to the swing walking wheel frame;

[0024] The floating rail clamps consist of two sets, symmetrically arranged on both sides of the connecting shaft and respectively connected to the swing wheel frame, with the two sets of wheel assemblies located between the two sets of floating rail clamps;

[0025] As the traveling wheel assembly moves along the ordinary guide rail, the floating rail catcher achieves floating rail catching with the ordinary guide rail on the same side.

[0026] Preferably, the floating rail catcher includes a catching wheel, a limiting bushing, and a sliding shaft; wherein:

[0027] The limiting bushing is fixedly connected to the swing travel wheel frame;

[0028] The axis of the sliding shaft is perpendicular to the length extension direction of the ordinary guide rail and is slidably mounted in the limiting sleeve along its own axis. At the same time, at least one side of the sliding shaft is equipped with a cam.

[0029] The wheel surface of the chuck is located on the lower side of the ordinary guide rail, and a floating gap is reserved between the wheel surface of the chuck and the outer side of the ordinary guide rail to ensure that the chuck can always effectively lock onto the ordinary guide rail when the sliding shaft slides in the limiting bushing.

[0030] Preferably, the sliding shaft is located on both sides of the limiting bushing, with a cam wheel installed on one side and a limiting wheel installed on the other side.

[0031] Preferably, the sliding shaft is a circular, square, or polygonal shaft.

[0032] Preferably, the swing gap reserved between the sliding support block B and the first frame slide groove is the gap between the upper and lower surfaces of the sliding support block B and the first frame slide groove.

[0033] Preferably, both the first and second pin gear power assemblies include a drive unit, a reducer, a pin gear assembly, a disc brake, and a centrifugal speed limiter. The pin gear assembly includes a pin gear carrier and a pin gear shaft mounted on the pin gear carrier. The pin gear shaft can mesh with the rack of the ground rail or ordinary rail.

[0034] The drive unit is mounted on the corresponding first or second drive support frame, and the power output end of the drive unit is connected to the input end of the reducer, and the output end of the reducer is fixedly connected to the pin gear frame;

[0035] The disc brake is fixed on the corresponding first or second drive support frame, and the brake shoe of the disc brake can make frictional contact with the brake disc arranged on both sides of the pin gear frame when braking.

[0036] The centrifugal speed limiter is equipped with a speed-taking wheel, which rolls in contact with the pin gear frame and is tensioned by a spring.

[0037] Based on the above-mentioned technical objectives, the present invention has the following advantages compared with the prior art:

[0038] 1. The multi-degree-of-freedom toothed rail clamping drive device of the present invention, through the two sliding support blocks A and two sliding support blocks B arranged in the first drive unit, enables the first drive support frame to swing around the axis of the sliding support block A (i.e. the point where the sliding support block A and the first drive support frame are hinged) perpendicular to the track direction, thereby enabling the multi-degree-of-freedom toothed rail clamping drive device of the present invention to adapt to the working conditions of the male and female rails caused by the laying error of the ground rail and ordinary rail.

[0039] 2. The multi-degree-of-freedom gear rail clamping drive device of the present invention, through the four sliding support blocks A arranged in the second drive unit, enables the second drive support frame to achieve horizontal rotation in the frame slide groove through each sliding support block A, thereby ensuring that the multi-degree-of-freedom gear rail clamping drive device of the present invention can adapt to the horizontal bending conditions of ground rail and ordinary rail.

[0040] 3. The multi-degree-of-freedom gear rail clamping drive device of the present invention, by arranging a floating rail clamp with a specific structural form (including a clamping wheel, a limiting bushing and a sliding shaft) below the first and second drive parts, enables the floating rail clamp of the present invention to achieve independent rail clamping and to float and clamp the rail as the gauge of the ground rail or ordinary rail changes, thereby maximizing the adaptation to the gauge changes of the ground rail or ordinary rail and avoiding the situation where conventional rail clamps jam with the rail. Attached Figure Description

[0041] Figure 1 This is a three-dimensional structural schematic diagram of the multi-degree-of-freedom toothed rail clamping drive device for ordinary rails in coal mines as described in this invention;

[0042] Figure 2 yes Figure 1 A three-dimensional structural diagram of the first drive unit mounted on a ground rail or ordinary rail.

[0043] Figure 3 yes Figure 1 A front view of the first drive unit mounted on a standard ground rail;

[0044] Figure 4 yes Figure 1 A front view of the first drive unit mounted on the ground rail and engaging with the rotating disk of the main frame;

[0045] Figure 5 yes Figure 1 A three-dimensional structural diagram of the second drive unit mounted on the ordinary ground rail in the first direction;

[0046] Figure 6 yes Figure 1 A three-dimensional structural diagram of the second drive unit mounted on the ordinary ground rail in the second direction;

[0047] Figure 7 yes Figure 1Front view of the second drive unit mounted on a standard ground rail;

[0048] Figure 8 yes Figure 1 Top view of the second drive unit;

[0049] Figure 9 This is a schematic diagram of the floating rail clamp in its first working condition (the spacing between ordinary guide rails is relatively narrow);

[0050] Figure 10 This is a schematic diagram of the floating rail clamp in the second working condition (the spacing between ordinary guide rails is relatively wide);

[0051] Figures 1 to 10 In the middle: Ⅰ-Main frame; Ⅱ-First drive unit; Ⅲ-Second drive unit;

[0052] 1-First drive support frame; 11-First main frame; 12-First frame slide rail;

[0053] 2-First pin gear powertrain; 21-Drive component; 22-Speed ​​measuring device; 23-Brake frame; 24-Centrifugal speed limiter; 25-Disc brake; 26-Pin gear assembly;

[0054] 3-Traction rail unit; 31-Swinging travel wheel frame; 32-Connecting shaft; 33-Traction wheel assembly; 34-Floating rail clamp; 341-Guard wheel; 342-Limit wheel; 343-Sliding shaft; 344-Limit bushing; 345-Locking nut;

[0055] 4-Ground rail (standard rail); 41-Standard guide rail; 42-Gear rail;

[0056] 5-First sliding support block; 51-Sliding support block A; 52-Sliding support block B;

[0057] 6-Second drive support frame; 7-Second pin gear powertrain; 8-Second sliding support block; 13-Second frame slide groove. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Unless otherwise specifically stated, the relative arrangement, expressions, and values ​​of components and steps set forth in these embodiments do not limit the scope of the present invention. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0059] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used here to describe the spatial positional relationship of a device or feature as shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figure. For example, if the device in the figure is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0060] like Figure 1 As shown, the multi-degree-of-freedom toothed rail drive device for ordinary underground rails in coal mines according to the present invention includes a main frame I and a first drive unit II and a second drive unit III respectively disposed on the main frame I. The main frame I is respectively provided with a first frame slide groove 12 and a second frame slide groove 13 arranged in a circular pattern. The first drive unit II and the second drive unit III are respectively fitted to the first frame slide groove 12 and the second frame slide groove 13, wherein:

[0061] The first drive unit II and the second drive unit III described in this invention, as follows: Figures 2 to 8As shown, each includes a drive support frame; each drive support frame includes a main frame, a pin gear power assembly, a rail travel unit, and four sliding support blocks. For ease of detailed explanation of the specific structure of the first drive unit II and the second drive unit III, the drive support frame of the first drive unit II will be referred to as the first drive support frame 1, and the main frame, pin gear power assembly, and four sliding support blocks included in the first drive support frame 1 will be referred to as the first main frame 11, the first pin gear power assembly 2, and the four first sliding support blocks 5, respectively. The drive support frame of the second drive unit III will be referred to as the second drive support frame 6, and the main frame, pin gear power assembly, and four sliding support blocks included in the second drive support frame 6 will be referred to as the second main frame, the second pin gear power assembly 7, and the four second sliding support blocks 8, respectively.

[0062] like Figures 2 to 4As shown, in the first drive unit II of the present invention, the first pin gear power assembly 2 is mounted on the first main frame 11; four first sliding support blocks 5, two of which are arranged at both ends of the first main frame 11 along the driving direction, and the remaining two are arranged at both ends of the first main frame 11 along the axis of the first pin gear of the first pin gear power assembly 2; the main frame I is provided with a first frame slide groove 12 arranged in a circle; the first drive unit II is assembled in the first frame slide groove 12 and is slidably connected to the first frame slide groove 12 circumferentially through the four first sliding support blocks 5; of the four first sliding support blocks 5, the two first sliding support blocks 5 arranged along the driving direction are set as sliding support blocks. A51 is hinged to both ends of the first main frame 11, while the remaining two first sliding support blocks 5 are set as sliding support blocks B52 and fixed to both ends of the first main frame 11 respectively. In the first drive unit II, the rotation axis of the sliding support block A51 is arranged along the driving direction, while the sliding support block B52 has a reserved swing gap with the first frame slide groove 12. Through the action of the first drive unit II, the first drive support frame 1 can swing left and right to adapt to the yin-yang rail working condition caused by the laying error of the ground rail ordinary rail 4 (the ground rail ordinary rail 4 includes ordinary guide rail 41 and toothed rail 42, the toothed rail 42 is arranged in the middle, and there are two ordinary guide rails 41, symmetrically arranged on both sides of the toothed rail 42). When the horizontal height difference between the left and right ordinary guide rails 41 is large (yin-yang rail working condition), if the degree of freedom is insufficient, the chuck 341 is prone to jamming the ordinary guide rail 41, resulting in greater driving resistance or damage to the ordinary guide rail 41, affecting safe operation. The second drive support frame 6 and the first frame slide groove 12 are kept in sliding contact. The first drive support frame 1 and the first frame slide groove 12 are provided with a swing freedom perpendicular to the track direction. When the ordinary guide rail 41 is in the case of yin-yang rail working condition, the first drive support frame 1 can swing with the height difference direction of the ordinary guide rail 41 while the second drive unit III and the main frame I remain stable. This prevents the walking wheel assembly 33 from being lifted off the ordinary guide rail 41 and causing the jacking wheel 341 to jam with the ordinary guide rail 41. It can adapt to the yin-yang rail working condition with a maximum height difference of 40mm.

[0063] like Figures 5 to 8As shown, in the second drive unit III of the present invention, the second pin gear power assembly 7 is mounted on the second main frame; the main frame I is provided with a second frame slide groove 13 arranged in a circle; the second drive unit III is assembled in the second frame slide groove 13 and is slidably connected to the second frame slide groove 13 circumferentially through four second sliding support blocks 8; the four second sliding support blocks 8 are all set as sliding support blocks A51 and are respectively hinged to the second main frame, while two of the second sliding support blocks 8 are arranged at both ends of the second main frame along the driving direction, and the remaining two second sliding support blocks 8 are arranged at both ends of the second main frame along the pin gear axis of the second pin gear power assembly 7; in the second drive unit III, the rotation axis of the two second sliding support blocks 8 arranged along the driving direction is arranged along the driving direction, while the rotation axis of the remaining two second sliding support blocks 8 is arranged along the pin gear axis of the second pin gear power assembly 7; through the action of the second drive unit III, the second drive support frame 6 can achieve horizontal rotation to adapt to horizontal cornering conditions.

[0064] When the locomotive passes through a horizontal curve, both the first drive unit II and the second drive unit III can rotate and slide in the first frame slide groove 12 and the second frame slide groove 13. The first drive unit II and the second drive unit III rotate along the central axis of their respective drive units to ensure effective meshing between the pin shaft and the rack 42. This can adapt to curve conditions with a minimum radius of 4 meters and meet the requirements of extreme underground road conditions.

[0065] In this invention, the outer surface of the sliding support block A51 has an arc surface that matches the bottom of the first frame slide groove 12 / second frame slide groove 13. To avoid interference during the horizontal rotation of the sliding support block A51 along the first frame slide groove 12 / second frame slide groove 13, a through groove is provided in the middle region of the outer surface of the sliding support block A51 in the transverse direction, thereby reducing the mating surface area between the outer surface of the sliding support block A51 and the first frame slide groove 12 / second frame slide groove 13. A connecting pin hole is provided in the middle of the through groove for hinged connection with the first / second main frame via a connecting pin; the axial direction of the connecting pin is parallel to the plane containing the first frame slide groove 12 / second frame slide groove 13. Therefore, the sliding support block A51 is the main load-bearing component of the multi-degree-of-freedom gear rail clamping drive device of this invention.

[0066] In this invention, the sliding support block B52 is arranged in an L-shape and includes a horizontal connecting plate and a vertical guide plate. The horizontal connecting plate is connected to the first main frame as a whole by threaded fasteners, while the outer surface of the vertical guide plate is provided with a strip-shaped arc-shaped guide portion that is guided and connected to the first frame slide groove 12. There is a swing gap between the upper and lower ends of the vertical guide plate and the first frame slide groove 12.

[0067] like Figure 9, Figure 10 The first drive unit II and the second drive unit III of the present invention each include a rail-clamping travel unit 3 that matches the ordinary guide rail of the ground rail 4; each of the two outer ends of the first and second main frames in the direction of the pin gear axis is equipped with a rail-clamping travel unit 3, and each rail-clamping travel unit 3 includes a swing travel wheel frame 31, a travel wheel assembly 33 and a floating rail clamp 34, wherein: the swing travel wheel frame 31 is hinged to the corresponding first or second main frame through a connecting shaft 32; the travel wheel assembly 33 includes two sets, symmetrically arranged on both sides of the connecting shaft 32 and respectively connected to the swing travel wheel frame 31; the floating rail clamp 34 includes two sets, symmetrically arranged on both sides of the connecting shaft 32 and respectively connected to the swing travel wheel frame 31, and the two sets of travel wheel assemblies 33 are located between the two sets of floating rail clamps 34; when the travel wheel assembly 33 travels along the ordinary guide rail, the floating rail clamp 34 achieves floating rail clamping with the ordinary guide rail on the same side. Coal mines often have complex geological conditions and high ground pressure, leading to frequent ground heave. Ordinary guide rails are frequently deformed due to this heave, making it difficult to guarantee the standard track gauge. When the actual track gauge deviates significantly from the standard track gauge, using a fixed track clamping method can easily cause the chuck 341 to seize up with the ordinary guide rail. This invention provides a floating track clamping device 34 with a specific structure (including a chuck 341, a limiting bushing 344, and a sliding shaft 343) below the first drive unit II and the second drive unit III. The chuck 341 can move synchronously with the track gauge changes of the ordinary guide rail, and can adapt to track gauge changes of up to ±40mm from the standard track gauge, meeting the safety track clamping requirements under extreme working conditions.

[0068] Specifically, the floating rail clamp 34 includes a clamping wheel 341, a limiting bushing 344, and a sliding shaft 343; wherein: the limiting bushing 344 is fixedly connected to the swing traveling wheel frame 31; the axial direction of the sliding shaft 343 is perpendicular to the length extension direction of the ordinary guide rail and is slidably mounted in the limiting bushing 344 along its own axial direction, and at least one side of the sliding shaft 343 is equipped with a clamping wheel 341 on both sides of the limiting bushing 344, and both ends of the sliding shaft 343 are equipped with locking nuts 345 to prevent the clamping wheel 341 / limiting wheel 342 from falling off; the wheel surface of the clamping wheel 341 is located on the lower side of the ordinary guide rail, and a floating gap is reserved between the wheel surface of the clamping wheel 341 and the outer side of the ordinary guide rail to ensure that when the sliding shaft 343 slides in the limiting bushing 344, the clamping wheel 341 can always effectively clamp with the ordinary guide rail. The swing-type traveling wheel frame 31 is hinged at both ends of the drive support frame to accommodate the up-and-down swing of the vertical curve section, ensuring that each set of traveling wheels is in contact with the rail surface. Two sets of traveling wheel assemblies 33 are respectively arranged on both sides of the swing-type traveling wheel frame 31, and the traveling wheel axles are fixed to the swing-type traveling wheel frame 31. The floating rail clamp 34 is clearance-fitted with the swing-type traveling wheel frame 31 through the sliding shaft 343 to ensure smooth sliding. The sliding shaft 343 can be a circular, square, or polygonal shaft.

[0069] The floating rail catcher 34 has various structural forms, and can be selected as follows: Figure 10 The structure shown includes an outer limiting wheel 342 and an inner retaining wheel 341, where the retaining wheel 341 is located on the inner side of the ordinary guide rail 41, and the limiting wheel 342 is located on the outer side. Alternatively, it can be an inner limiting wheel 342 + outer retaining wheel 341 structure, where the limiting wheel 342 is located on the inner side of the ordinary guide rail 41 and the retaining wheel 341 is located on the outer side. A double-sided retaining wheel structure is also possible, where retaining wheels 341 are arranged on both the inner and outer sides of the ordinary guide rail 41. The limiting wheel 342 and retaining wheel 341 are fixedly connected to the sliding shaft 343, and a gap is left between the limiting wheel 342, retaining wheel 341 and the side of the rail. When the distance between the left and right ordinary guide rails 41 changes, the floating rail clamp 34 can effectively clamp the rail while floating and clamping it with the rail.

[0070] Therefore, both the first drive unit II and the second drive unit III of this invention comprise three parts: a pin gear power assembly, a drive support frame, and a rail-mounted traveling unit 3. The pin gear power assembly and the rail-mounted traveling unit 3 of both units have the same structure; the difference lies only in the arrangement of different sliding support block structures to adapt to different working conditions of the ground rail and ordinary rail 4. Specifically, to adapt to the working conditions of the yin-yang rail caused by the laying error of the ground rail and ordinary rail 4, the first drive unit II has four first sliding support blocks, with two first sliding support blocks arranged along the driving direction as sliding support blocks A51, and the two first sliding support blocks arranged along the pin gear axis as sliding support blocks B52. To adapt to the horizontal bending conditions of the ground rail and ordinary rail 4, the second drive unit III arranges all four second sliding support blocks as sliding support blocks A51.

[0071] like Figure 4 , Figure 6 As shown, the first and second pin gear power assemblies have similar structures, both including a drive component 21, a reducer, a speed measuring device 22, a pin gear assembly 26, a disc brake 25, and a centrifugal speed limiting device 24. The pin gear assembly 26 includes a pin gear carrier and a pin gear shaft mounted on the pin gear carrier. The pin gear shaft can mesh with the toothed rail 42 of the ground rail ordinary rail 4. The drive component 21 is mounted on the corresponding first or second drive support frame 6, and the power output end of the drive component 21 is connected to the input end of the reducer. The output end of the reducer is fixedly connected to the pin gear carrier. The disc brake 25 is fixed to the corresponding first or second drive support frame 6 through a brake frame 23, and the brake shoe of the disc brake 25 can make frictional contact with the brake discs arranged on both sides of the pin gear carrier when braking. The centrifugal speed limiting device 24 is provided with a speed-taking wheel (i.e., the speed measuring device 22), which makes rolling contact with the pin gear carrier and is tensioned by a spring.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom geared rail drive device for ordinary rails in coal mines, comprising a main frame and a first drive unit mounted on the main frame, wherein the first drive unit includes a first drive support frame; the first drive support frame includes a first main frame, a first pin gear power assembly, and four first sliding support blocks, wherein the first pin gear power assembly is mounted on the first main frame; of the four first sliding support blocks, two are arranged at both ends of the first main frame along the driving direction, and the remaining two are arranged at both ends of the first main frame along the axis of the first pin gear of the first pin gear power assembly; characterized in that... The main frame is provided with a first frame slide groove arranged in a circle; The first drive unit is assembled in the first frame slide groove and is circumferentially slidably connected to the first frame slide groove through four first sliding support blocks; Of the four first sliding support blocks, the two first sliding support blocks arranged along the driving direction are designated as sliding support blocks A and are respectively hinged to the two ends of the first main frame, while the remaining two first sliding support blocks are designated as sliding support blocks B and are respectively fixed to the two ends of the first main frame. In the first drive unit, the rotation axis of the sliding support block A is arranged along the driving direction, while the sliding support block B has a swing gap reserved between it and the first frame slide groove; the first drive support frame and the first frame slide groove are provided with a swing degree of freedom perpendicular to the track direction; Through the action of the first drive unit, the first drive support frame can swing in the direction of the horizontal height difference of the ordinary guide rail to adapt to the working conditions of the male and female rails with horizontal height difference caused by the laying error of the ground rail and ordinary rail; the main frame is provided with a second frame slide groove arranged in a circle; the second drive unit is assembled in the second frame slide groove; The second drive unit includes a second drive support frame, which includes a second main frame, a second pin gear power assembly, and four second sliding support blocks. The second pin gear power assembly is mounted on the second main frame. The four second sliding support blocks are all configured as sliding support blocks A and are respectively hinged to the second main frame. Meanwhile, two of the second sliding support blocks are arranged at both ends of the second main frame along the driving direction, while the remaining two second sliding support blocks are arranged at both ends of the second main frame along the pin gear axis of the second pin gear power assembly. In the second drive unit, the rotation axes of the two second sliding support blocks arranged along the driving direction are arranged along the driving direction, while the rotation axes of the remaining two second sliding support blocks are arranged along the pin gear axis of the second pin gear power assembly. Through the action of the second drive unit, the second drive support frame can achieve horizontal rotation. The second drive support frame and the first frame slide groove maintain sliding contact to adapt to horizontal cornering conditions. Both the first and second drive units include a rail-mounted traveling unit that matches the ordinary guide rail of the ground rail; The first and second main frames are each equipped with a rail-mounted traveling part at their two outer ends along the pinion gear axis. Each rail-mounted traveling part includes a swing traveling wheel frame, a traveling wheel assembly, and a floating rail clamp, wherein: The swing-type walking wheel frame is hinged to the corresponding first or second main frame via a connecting shaft; The walking wheel assembly includes two sets, symmetrically arranged on both sides of the connecting shaft and respectively connected to the swing walking wheel frame; The floating rail clamps consist of two sets, symmetrically arranged on both sides of the connecting shaft and respectively connected to the swing wheel frame, with the two sets of wheel assemblies located between the two sets of floating rail clamps; As the traveling wheel assembly travels along the ordinary guide rail, the chuck moves synchronously with the change in the gauge of the ordinary guide rail, adapting to the change in the gauge of the ordinary guide rail. The floating rail chuck achieves floating rail chuck with the ordinary guide rail on the same side.

2. The multi-degree-of-freedom rack rail drive device for ordinary underground rails in coal mines according to claim 1, characterized in that, The outer surface of the sliding support block A has an arc surface that matches the bottom of the first or second frame slide groove, and the outer surface of the sliding support block A has a through groove in the middle region in the transverse direction, and a connecting pin hole is provided at the middle position of the through groove, so as to be hinged to the first or second main frame through the connecting pin; the axial direction of the connecting pin is parallel to the plane where the first or second frame slide groove is located.

3. The multi-degree-of-freedom geared rail drive device for ordinary underground rails in coal mines according to claim 1, characterized in that, The sliding support block B is arranged in an L-shape and includes a horizontal connecting plate and a vertical guide plate. The horizontal connecting plate is connected to the first main frame by threaded fasteners, while the outer side of the vertical guide plate is provided with a strip-shaped arc-shaped guide part that is connected to the guide groove of the first frame.

4. The multi-degree-of-freedom geared rail drive device for ordinary underground rails in coal mines according to claim 3, characterized in that, The floating rail clamp includes a locating wheel, a limiting bushing, and a sliding shaft; wherein: The limiting bushing is fixedly connected to the swing travel wheel frame; The axis of the sliding shaft is perpendicular to the length extension direction of the ordinary guide rail and is slidably mounted in the limiting sleeve along its own axis. At the same time, at least one side of the sliding shaft is equipped with a cam. The wheel surface of the chuck is located on the lower side of the ordinary guide rail, and a floating gap is reserved between the wheel surface of the chuck and the outer side of the ordinary guide rail to ensure that the chuck can always effectively lock onto the ordinary guide rail when the sliding shaft slides in the limiting bushing.

5. The multi-degree-of-freedom geared rail drive device for ordinary underground rails in coal mines according to claim 4, characterized in that, The sliding shaft is located on both sides of the limiting bushing, with a cam wheel installed on one side and a limiting wheel installed on the other side.

6. The multi-degree-of-freedom geared rail drive device for ordinary underground rails in coal mines according to claim 4, characterized in that, The sliding shaft can be circular, square, or polygonal.

7. The multi-degree-of-freedom rack rail drive device for ordinary underground rails in coal mines according to claim 1, characterized in that, The swing gap reserved between the sliding support block B and the first frame slide groove is the gap between the upper and lower surfaces of the sliding support block B and the first frame slide groove.

8. The multi-degree-of-freedom geared rail drive device for ordinary underground rails in coal mines according to claim 1, characterized in that, Both the first and second pin gear power assemblies include a drive unit, a reducer, a pin gear assembly, a disc brake, and a centrifugal speed limiter. The pin gear assembly includes a pin gear carrier and a pin gear shaft mounted on the pin gear carrier. The pin gear shaft can mesh with the rack of the ground rail or ordinary rail. The drive unit is mounted on the corresponding first or second drive support frame, and the power output end of the drive unit is connected to the input end of the reducer, and the output end of the reducer is fixedly connected to the pin gear frame; The disc brake is fixed on the corresponding first or second drive support frame, and the brake shoe of the disc brake can make frictional contact with the brake disc arranged on both sides of the pin gear frame when braking. The centrifugal speed limiter is equipped with a speed-taking wheel, which rolls in contact with the pin gear frame and is tensioned by a spring.

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