Coal mine belt supporting frame and coal mine belt carrier roller replacing robot

Abstract

The invention relates to the technical field of coal mine transportation equipment maintenance, in particular to a coal mine belt supporting frame and a coal mine belt carrier roller replacing robot. A coal mine belt supporting frame comprises a supporting frame body and a belt carrier roller. The belt carrier roller replacing robot comprises a self-walking robot body, a roller withdrawing part, a material receiving box and a roller replacing part are sequentially arranged on the upper portion of the robot body, and when the robot body works, the roller withdrawing part is located on the rear side of a to-be-replaced belt carrier roller and used for wrapping the to-be-replaced belt carrier roller with a plastic film; the material receiving box and the roller replacing part are arranged on the front side of the belt carrier roller, the belt carrier roller to be replaced retreats into the material receiving box, the roller replacing part pushes a new belt carrier roller into the installation guide rail, and replacement is completed. The roller withdrawing function, the material receiving function and the new replacing function are integrated, and dismounting of damaged carrier rollers and mounting of new carrier rollers can be automatically completed.

Description

Technical Field

[0001] This invention relates to the field of coal mine transportation equipment maintenance technology, specifically to a coal mine belt support frame and a coal mine belt idler replacement robot. Background Technology

[0002] In coal mine production, belt conveyors are the core equipment for material transportation, and their operational stability directly affects production efficiency and safety. As key components supporting and guiding the conveyor belt, belt idlers operate under harsh environments of heavy loads, high dust levels, and humidity for extended periods, making them highly susceptible to wear, jamming, or damage. Once idlers fail, it not only increases belt running resistance and accelerates belt wear, but in severe cases, it can also lead to belt misalignment, tearing, and even production shutdowns.

[0003] Currently, the replacement of conveyor belt idlers in underground coal mines mainly relies on manual operation. This process typically requires several workers to work together, using tools such as pry bars to remove the damaged idler from the support frame and then install the new idler. This method has many drawbacks: First, it is inefficient, as replacing an idler is time-consuming and affects production continuity; second, it is labor-intensive and unsafe, as workers performing heavy physical labor in confined spaces face risks such as idler falling and tool injuries; third, it requires highly skilled operators, and improper operation may damage the support frame or the new idler. Furthermore, manual replacement makes it difficult to ensure precise alignment of the idler during installation, potentially creating hidden dangers for subsequent operation.

[0004] Therefore, developing a device that enables rapid, automatic, and safe replacement of belt idlers is of great significance for improving the maintenance efficiency of coal mine transportation systems, reducing labor risks for workers, and ensuring production safety. Summary of the Invention

[0005] To address the above problems, this invention provides a coal mine belt support frame and a coal mine belt idler replacement robot.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a coal mine belt support frame, including a support frame body and belt idlers, wherein the top of the support frame body is provided with several sets of guide parts, each set of guide parts includes two parallel and oppositely arranged mounting guide rails, and the belt idlers are connected between the two mounting guide rails; The mounting guide rail has an open front end and a closed rear end. A guide rack is laid on the bottom surface of the mounting guide rail. A connecting shaft is rotatably mounted on the axis of the belt roller. Drive gears are configured at both ends of the connecting shaft. The drive gears are meshed with the guide rack.

[0007] As an optimization, the guide section has no less than two sets, the rear bottom of the mounting rail is sunken to form an arc-shaped positioning end, and a detection sensor is configured in the middle of the mounting rail. The detection sensor is used to move the object mounted on the rail.

[0008] As an optimization, several limiting ratchet teeth are evenly distributed on the outer periphery of the connecting shaft, with the tips of the limiting ratchet teeth inclined toward the direction of movement of the conveyor belt. A limiting rod is rotatably connected to the circular inner wall of the belt idler. When the outer end of the limiting rod contacts the vertical surface of the limiting ratchet teeth, the limiting rod and the limiting ratchet teeth are pressed together, and the connecting shaft and the belt idler are locked.

[0009] A coal mine conveyor belt idler replacement robot includes a self-propelled robot body. The upper part of the robot body is sequentially provided with a roller retraction section, a receiving box, and a roller replacement section. When the robot body is in operation, the roller retraction section is located behind the conveyor belt idler to be replaced. It is used to cover the conveyor belt idler to be replaced with a plastic film and push the conveyor belt idler to be replaced forward along the mounting guide roller. The receiving box and the roller replacement section are located in front of the conveyor belt idler. The conveyor belt idler to be replaced retracts into the receiving box, and the roller replacement section pushes the new conveyor belt idler into the mounting guide rail to complete the replacement. The roll unwinding section includes an arc-shaped guide frame, a roll unwinding platform, a film-coated roll unwinding assembly, and a film-coating assembly. The film-coating assembly is located between the roll unwinding platform and the film-coated roll unwinding assembly. The roll unwinding platform can move along the guide frame. The roll unwinding platform is equipped with a first electric push rod, which is used to push the film-coated roll unwinding assembly to move towards the belt idler to be replaced. The film-coated roll unwinding assembly includes a push roller and two film-coating rollers. The two film-coating rollers are symmetrically arranged on both sides of the push roller. The film-coating rollers are located on the front side of the film-coating assembly and are used to pull the belt to move towards the belt idler to be replaced.

[0010] As an optimization, the coating roller is equipped with a suction pump. Several adsorption holes are evenly distributed on the outer periphery of the coating roller. The suction pump is used to provide negative pressure to the adsorption holes. The coating roller includes a long diameter and a short diameter. The short diameter is smaller than the diameter of the push roller, and the long diameter is larger than the diameter of the push roller. The two sides of the long diameter of the coating roller are a connecting surface and a cutting surface, respectively. The connecting surface is used to adsorb the front end of the tape. A cutting blade is arranged on the lower part of the side of the cutting surface away from the belt roller to be replaced. The cutting blade can cut the tape by moving along the cutting surface. In the initial state, the connecting surface of the coating roller faces upward, and the front end of the tape is attracted to the connecting surface. When the coating roller rotates, the connecting surface drives the tape to contact the belt idler to be replaced. The adhesive surface of the tape contacts and adheres to the belt idler. When the belt idler rotates, it drives the tape to wrap around the surface of the belt idler. The coating roller rotates synchronously, causing the cutting blade to rotate to the upper part of the side adjacent to the belt idler to be replaced, and the tape is cut by the cutting blade. The cut tape is wound by the belt idler, reducing the friction between the belt idler and the conveyor belt. The coating roller continues to rotate to the initial state, and the first electric push rod continues to extend, pushing the belt idler into the receiving box.

[0011] As an optimization, the roller changing part includes an adjusting telescopic rod, an adjusting frame, a connecting seat, and a mechanical claw. The adjusting telescopic rod is vertically arranged and used to adjust the height of the adjusting frame. The extended end of the adjusting telescopic rod is fixedly arranged with the adjusting frame. The adjusting frame has an adjusting track, which is arranged along the length direction of the mounting guide rail. An adjusting screw is arranged inside the adjusting track. An adjusting motor is configured at one end of the adjusting screw. The connecting seat is threadedly connected to the adjusting screw. The connecting seat is equipped with a rotary motor and a second electric push rod. The output shaft of the rotary motor is connected to the fixed end of the second electric push rod. The axis of the rotary motor is parallel to the length direction of the guide rail. The rotary motor is used to drive the mechanical claw to swing. The extended end of the second electric push rod is fixedly connected to the mechanical claw. The mechanical claw has an opening on the side opposite to the belt idler to be replaced. The two ends of the opening are provided with docking guide rails. The new belt idler is placed in the docking guide rail. A gripping electromagnet is provided on the front side of the opening. The gripping electromagnet is used to magnetically connect the new belt idler. When the docking guide rail is opposite to the mounting guide rail, the new belt idler can move along the docking guide rail and the mounting guide rail to the positioning end.

[0012] As an optimization, the robot body is equipped with traveling wheels, and three telescopic components are sequentially rotatably arranged on the upper part of the robot body. The three telescopic components are used to connect and support the unwinding roller section, the receiving box and the roller changing section respectively. The telescopic assembly includes a telescopic arm and an electric telescopic rod arranged in parallel. The telescopic arm includes a fixed section and a movable section. A storage motor is configured between the fixed section and the robot body. The electric telescopic rod is used to drive the telescopic arm to extend and retract.

[0013] As an optimization, the lower part of the cutting surface of the coating roller is recessed to form a cutting groove, and the cutting blade is slidably disposed in the cutting groove. Both ends of the cutting groove are equipped with driving electromagnets, which are used to drive the cutting blade to move along the cutting groove to achieve the cutting of the tape.

[0014] As an optimization, the three telescopic components are respectively a first telescopic component, a second telescopic component, and a third telescopic component. The extended end of the first telescopic component is equipped with a support telescopic rod, the upper end of which is fixedly connected to the guide frame. The extended end of the second telescopic component is fixedly connected to the receiving box. The extended end of the third telescopic component is connected to the roller changing part.

[0015] As an optimization, the guide frame has an arc-shaped guide groove inside, and a rack is distributed on the arc surface of the guide groove. The bottom of the roll retraction platform is provided with a connecting ear, which is slidably disposed in the guide groove. The connecting ear is provided with a drive motor, and the output shaft of the drive motor is provided with a guide gear, which meshes with the rack.

[0016] The beneficial effects of this plan are as follows: The replacement robot of this application integrates the functions of roller removal, material receiving, and replacement. It can autonomously disassemble damaged rollers and install new rollers, completely replacing the traditional inefficient and dangerous manual operation mode, and greatly improving the efficiency and safety of replacement operations. The mounting rail on the top of the support frame adopts a structure with an open front end and a closed rear end, and has a built-in guide rack that meshes with the drive gear on the roller connecting shaft. This design provides the robot with a clear guidance and drive interface, enabling the roller to be precisely pushed in and out along the rail, achieving standardized and repeatable docking between the robot and the support frame; The roll removal section uniquely integrates a coating function. Before pushing the old idler roller out, the coating roller automatically wraps the tape around the surface of the idler roller. This step effectively adheres to coal dust impurities on the surface of the idler roller and forms a lubricating isolation layer between the idler roller and the conveyor belt, greatly reducing frictional resistance during the roll removal process, making the roll removal smoother, and preventing coal dust from being stirred up during roll removal. The robot's main body is connected to the roll retraction section, the receiving box, and the roll changing section via three independent telescopic components. This modular design allows each part of the robot to be independently adjusted in position and posture to adapt to the complex underground tunnel space and support frames in different locations, improving the overall adaptability and operating range of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the robot's axonal side of the present invention.

[0018] Figure 2 This is a schematic diagram of the belt support frame of the present invention from the axial side.

[0019] Figure 3 This is a schematic diagram of the belt support frame with the belt idler removed according to the present invention.

[0020] Figure 4This is a schematic diagram of the back axial side of the belt support frame of the present invention.

[0021] Figure 5 This is a schematic diagram of the axial side of the retracting roller section of the present invention.

[0022] Figure 6 This is a schematic diagram of the bottom axial side of the retracting roller section of the present invention.

[0023] Figure 7 This is a schematic diagram of the lower axial side of the retracting roller section of the present invention.

[0024] Figure 8 This is a schematic front view of the retracting roller section of the present invention.

[0025] Figure 9 This is a schematic diagram showing the usage state of the roller changing section of the present invention.

[0026] Figure 10 This is a schematic diagram of the back shaft side of the roller changing section of the present invention.

[0027] Figure 11 This is a schematic diagram of the axial side of the belt idler roller of the present invention.

[0028] Figure 12 This is a schematic front view of the belt idler roller of the present invention.

[0029] Figure 13 For the present invention Figure 12 A schematic diagram of the AA cross-section structure.

[0030] Figure 14 This is a schematic diagram of the state in use of the present invention.

[0031] Figure 15 This is a top view of the present invention in use.

[0032] The components include: 1. Support frame body; 2. Belt roller; 3. Mounting guide rail; 4. Guide rack; 5. Connecting shaft; 6. Drive gear; 7. Detection sensor; 8. Limiting ratchet; 9. Limiting rod; 10. Robot body; 11. Receiving box; 12. Guide frame; 13. Roller retraction platform; 14. First electric push rod; 15. Push roller; 16. Coating roller; 17. Coating assembly; 18. Adsorption hole; 19. Connecting surface; 20. Cutting surface. 1. Adhesive tape; 22. Cutting blade; 23. Adjustable telescopic rod; 24. Adjusting frame; 25. Connecting seat; 26. Mechanical gripper; 27. Adjusting motor; 28. Rotary motor; 29. ​​Second electric push rod; 30. Support telescopic rod; 31. Docking guide rail; 32. Gripping electromagnet; 33. Traveling wheel; 34. Telescopic arm; 35. Electric telescopic rod; 36. Cutting groove; 37. Drive electromagnet; 38. Drive motor; 39. Positioning electromagnet. Detailed Implementation

[0033] like Figures 1-15 As shown, a coal mine conveyor belt support frame includes a support frame body 1 and a conveyor belt idler 2. The top of the support frame body 1 is provided with several sets of guide parts, each set of guide parts including two parallel and opposite mounting guide rails 3, and the conveyor belt idler 2 is connected between the two mounting guide rails 3. The mounting guide rail 3 has an open front end and a closed rear end. The bottom surface of the mounting guide rail 3 is covered with a guide rack 4. The belt roller 2 is rotatably connected to a connecting shaft 5. Both ends of the connecting shaft 5 are equipped with drive gears 6, which mesh with the guide rack 4.

[0034] Support feet are provided at the lower end of the support frame body 1 to ensure its stability. The width of the support frame body 1 is adapted to the width of the conveyor belt. The mounting guide rail 3 is used to support the belt idler 2, so that the belt idler 2 provides stable support for the conveyor belt. The support frame body 1 and the mounting guide rail 3 are usually welded from high-strength alloy steel (such as Q345B) and rust-proofed to withstand the humid and high-load environment underground.

[0035] The mounting guide rail 3 is open on one side, which facilitates the disassembly and replacement of the belt roller 2 for use with the robot of this application.

[0036] like Figures 1-3 As shown, there are no fewer than two sets of guide parts. The bottom of the rear end of the mounting rail 3 is sunken to form an arc-shaped positioning end. A detection sensor 7 is configured in the middle of the mounting rail 3. The detection sensor 7 is used to move the object mounted on the mounting rail 3.

[0037] like Figure 2 As shown, there are three belt idlers 2, and the guide section is set in three sets accordingly, so that the conveyor belt forms a conveying structure with a concave bottom and high sides to prevent coal from falling. The three belt idlers 2 are independent of each other and do not affect each other.

[0038] like Figure 13 As shown, a number of limiting ratchet teeth 8 are evenly distributed on the outer periphery of the connecting shaft 5. The tips of the limiting ratchet teeth 8 are inclined towards the moving direction of the conveyor belt. The circular inner wall of the belt idler roller 2 is rotatably connected to a limiting rod 9. When the outer end of the limiting rod 9 contacts the vertical surface of the limiting ratchet teeth 8, the limiting rod 9 and the limiting ratchet teeth 8 are pressed together, and the connecting shaft 5 and the belt idler roller 2 are locked.

[0039] The limiting ratchet 8 and the limiting rod 9 are used to prevent the belt idler 2 from reversing, so that the belt idler 2 can only rotate forward following the conveyor belt.

[0040] The limiting rod 9 can only rotate at a limited angle, forming an acute angle with the inner wall of the belt idler 2. That is, it can only limit the movement of the limiting ratchet 8 and cannot rotate excessively. When it is necessary to disassemble the belt idler 2, when the belt idler 2 is rotated in the direction of the conveyor belt movement, the belt idler 2 is locked with the connecting shaft 5, causing the drive gear 6 to move along the guide rack 4.

[0041] like Figures 1-15 As shown, a coal mine conveyor belt idler replacement robot includes a self-propelled robot body 10. The upper part of the robot body 10 is sequentially provided with a roller retraction section, a receiving box 11, and a roller replacement section. When the robot body 10 is in operation, the roller retraction section is located behind the conveyor belt idler 2 to be replaced. It is used to cover the conveyor belt idler 2 to be replaced with a plastic film and push the conveyor belt idler 2 to be replaced forward along the mounting guide roller. The receiving box 11 and the roller replacement section are located in front of the conveyor belt idler 2. The conveyor belt idler 2 to be replaced is pushed into the receiving box 11, and the roller replacement section pushes the new conveyor belt idler 2 into the mounting guide rail 3 to complete the replacement. The roll unwinding section includes an arc-shaped guide frame 12, a roll unwinding platform 13, a film-coated roll unwinding assembly, and a film-coated assembly 17. The film-coated assembly 17 is located between the roll unwinding platform 13 and the film-coated roll unwinding assembly. The roll unwinding platform 13 can move along the guide frame 12. The roll unwinding platform 13 is equipped with a first electric push rod 14, which is used to push the film-coated roll unwinding assembly to move towards the belt idler 2 to be replaced. The film-coated roll unwinding assembly includes a push roller 15 and two film-coated rollers 16. The two film-coated rollers 16 are symmetrically arranged on both sides of the push roller 15. The film-coated rollers 16 are arranged in front of the film-coated assembly 17 and are used to pull the belt 21 to move towards the belt idler 2 to be replaced.

[0042] The film coating assembly 17 can be directly fixed to the roll uncoating platform 13. The film coating roll uncoating assembly is connected to the bracket at the movable end of the first electric push rod. Both the film coating roller 16 and the push roller 15 are powered rollers and are controlled separately.

[0043] The robot body 10 is a mobile platform capable of walking. Its upper part is connected to the roll retraction section, the receiving box 11, and the roll changing section via three independent telescopic components. The height of the roll retraction section, the receiving box 11, and the roll changing section is lower than the bottom of the conveyor belt, so the roll changing operation does not affect the operation of the conveyor belt. Furthermore, the height of the receiving box 11 is lower than the height of the roll retraction section, so it does not affect the angle adjustment of the roll retraction section.

[0044] According to the installation angle of the belt idler 2, adjust the angle of the uncoating platform 13 along the guide frame 12 so that the angle of the guide frame 12 is the same as that of the belt idler 2 to be replaced, such as inclined, horizontal or vertical. The film-coated uncoating assembly is used to wrap tape 21 around both ends of the belt idler 2, while the push roller 15 is located between the two film-coated rollers 16. The belt idler 2 opposite to the push roller 15 is not covered with film, and the push roller 15 pushes the belt idler 2 to move.

[0045] Meanwhile, the shafts of the coating roller 16 and the push roller 15 are connected, and the rotation of the push roller 15 drives the belt roller 2 to rotate in the opposite direction.

[0046] The coating assembly 17 includes a mounting frame arranged parallel to the axis of the coating roller 16, and the tape 21 is sleeved on the mounting frame.

[0047] like Figures 5-8 The coating roller 16 is equipped with a suction pump. A plurality of suction holes 18 are evenly distributed on the outer periphery of the coating roller 16. The suction pump is used to provide negative pressure to the suction holes 18. The coating roller 16 includes a long diameter and a short diameter. The short diameter is smaller than the diameter of the push roller 15, and the long diameter is larger than the diameter of the push roller 15. The two sides of the long diameter of the coating roller 16 are a connecting surface 19 and a cutting surface 20, respectively. The connecting surface 19 is used to adsorb the front end of the tape 21. A cutting blade 22 is arranged on the lower part of the side of the cutting surface 20 away from the belt idler roller 2 to be replaced. The cutting blade 22 can be moved along the cutting surface 20 to cut the tape 21. In the initial state, the connecting surface 19 of the coating roller 16 faces upward, and the front end of the tape 21 is adsorbed onto the connecting surface 19. When the coating roller 16 rotates, the connecting surface 19 drives the tape 21 to contact the belt idler 2 to be replaced. The adhesive surface of the tape 21 contacts and adheres to the belt idler 2. When the belt idler 2 rotates, it drives the tape 21 to wrap around the surface of the belt idler 2. The coating roller 16 rotates synchronously, causing the cutting blade 22 to rotate to the upper part of the side adjacent to the belt idler 2 to be replaced, and the tape 21 is cut by the cutting blade 22. The cut tape 21 is wound by the belt idler 2, reducing the friction between the belt idler 2 and the conveyor belt. The coating roller 16 continues to rotate to the initial state, and the first electric push rod 14 continues to extend, pushing the belt idler 2 into the receiving box 11.

[0048] The coating roller 16 has an internal cavity that connects to a suction pump and is in communication with the adsorption holes 18. To achieve the adsorption function, connecting structures such as hoses and air supply slip rings can also be provided.

[0049] The coating roller 16 has an irregular "elongated oval" cross-section with a long diameter and a short diameter. One side of the long diameter is the connecting surface 19 (relatively flat), and the other side is the cutting surface 20. The lower part has a cutting groove 36 and a cutting blade 22 controlled by a drive electromagnet 37.

[0050] Initially, the robot moves to the workstation, and the first telescopic component adjusts the angle of the guide frame 12, aligning the roll-unwinding platform 13 with the belt idler roller 2. The first electric push rod 14 extends, pushing the film-coating roll-unwinding assembly closer to both ends of the belt idler roller 2. With the connecting surface 19 of the film-coating roller 16 facing upwards, the suction pump starts, adsorbing and fixing the front end of the tape 21 through the suction hole 18. The film-coating roller 16 rotates, bringing the tape 21 to contact the surface of the belt idler roller 2 (the adhesive surface is against the belt idler roller 2). The belt idler is driven to rotate in the opposite direction (through friction driven by the push roller 15 or other mechanisms of the robot), wrapping the tape 21 around its own surface. This process forms a temporary lubricating layer between the belt idler roller 2 and the belt.

[0051] like Figure 8 As shown, the connecting surface 19 of the coating roller 16 and the cutting surface 20 are arranged opposite each other vertically. The left end of the connecting surface 19 is almost centrally symmetrical to the position of the cutting blade 22. In this way, even if the coating roller 16 is rotating, the end of the cut tape 21 can still be positioned at the left end of the connecting surface 19, which is convenient for the next winding.

[0052] After winding a predetermined number of turns, the coating roller 16 continues to rotate, causing the cutting blade 22 on the cutting surface 20 to rotate to the oblique front of the coating roller 16 (in this application, the direction of transport of the conveyor belt is considered as forward and the direction of transport as backward). The driving electromagnet 37 is activated, pushing the cutting blade 22 to slide along the cutting groove 36 and cut the tape 21.

[0053] The coating roller 16 is reset, and the first electric push rod 14 continues to extend forcefully. The old belt idler roller 2, which has been wrapped by the tape 21, is pushed forward along the mounting guide rail 3 by the push roller 15. At the same time, the push roller 15 drives the belt idler roller 2 to rotate, so that it rotates along the guide rack and finally falls into the receiving box 11 in front.

[0054] like Figure 9 and Figure 10 As shown, the roller changing part includes an adjusting telescopic rod 23, an adjusting frame 24, a connecting seat 25, and a mechanical claw 26. The adjusting telescopic rod 23 is vertically arranged and used to adjust the height of the adjusting frame 24. The extended end of the adjusting telescopic rod 23 is fixedly arranged with the adjusting frame 24. The adjusting frame 24 has an adjusting track, which is arranged along the length direction of the mounting guide rail 3. An adjusting screw is arranged inside the adjusting track. An adjusting motor 27 is arranged at one end of the adjusting screw. The connecting seat 25 is threadedly connected to the adjusting screw. The connecting seat 25 is equipped with a rotary motor 28 and a second electric push rod 29. The output shaft of the rotary motor 28 is connected to the fixed end of the second electric push rod 29. The axis of the rotary motor 28 is parallel to the length direction of the mounting guide rail 3. The rotary motor 28 is used to drive the mechanical claw 26 to swing. The extended end of the second electric push rod 29 is fixedly connected to the mechanical claw 26. The mechanical claw 26 has an opening on the side opposite to the belt idler 2 to be replaced. The two ends of the opening are provided with docking guide rails 31. The new belt idler 2 is placed in the docking guide rail 31. A gripping electromagnet 32 ​​is provided on the front side of the opening. The gripping electromagnet 32 ​​is used to magnetically connect the new belt idler 2. When the docking guide rail 31 is opposite to the mounting guide rail 3, the new belt idler 2 can move along the docking guide rail 31 and the mounting guide rail 3 to the positioning end.

[0055] The roller changing section is responsible for grabbing the new belt idler roller 2 and installing it precisely into place.

[0056] The telescopic rod 23 (which can be an electric cylinder or a hydraulic cylinder) is responsible for the overall lifting. The adjusting screw and adjusting motor 27 in the adjusting frame 24 can drive the connecting seat 25 and the entire end effector to move precisely along the axial direction of the mounting guide rail 3 (i.e., the length direction of the belt roller 2) to align the position.

[0057] Attitude adjustment mechanism: The rotary motor 28 on the connecting seat 25 can drive the second electric push rod 29 and the mechanical claw 26 to swing in the vertical plane, and the second electric push rod 29 can realize the extension and retraction of the mechanical claw 26.

[0058] Mechanical gripper 26: This is the core gripping mechanism. It accommodates the docking guide rails 31 within the opening, whose shape and spacing are identical to the mounting guide rails 3 on the support frame. Gripping electromagnet 32 ​​is used to hold the new belt roller 2 (which is made of ferromagnetic material) during gripping and handling, preventing it from falling.

[0059] The robot moves to the replacement station, and the third telescopic component delivers the roller changing section to the front of the support frame. First, it moves along the adjusting frame 24, extending the mechanical gripper 26 backward so that the adjusting frame 24 does not interfere with the swing of the mechanical gripper 26. Through the coordinated action of the telescopic rod 23, the adjusting motor 27, the rotary motor 28, and the second electric push rod 29, the position and orientation of the mechanical gripper 26 are precisely adjusted, ensuring that the docking guide rail 31 is precisely aligned and collinear with the mounting guide rail 3 on the support frame.

[0060] The second electric push rod 29 slowly extends, pushing the new belt idler roller 2 along the docking guide rail 31 and the mounting guide rail 3 into the support frame. Since the drive gear 6 of the new belt idler roller 2 meshes with the guide rack 4, this process can also be regarded as "screwing in". When the rear end of the belt idler roller 2 reaches the arc positioning end of the mounting guide rail 3, it is installed in place. The gripping electromagnet 32 ​​is de-energized, and the mechanical gripper 26 retracts.

[0061] like Figure 15 As shown, the robot body 10 is equipped with traveling wheels 33, and three telescopic components are rotatably arranged on the upper part of the robot body 10. The three telescopic components are used to connect and support the unroller section, the receiving box 11 and the roller changing section respectively. The telescopic assembly includes a telescopic arm 34 and an electric telescopic rod 35 arranged in parallel. The telescopic arm 34 includes a fixed section and a movable section. A storage motor is arranged between the fixed section and the robot body 10. The electric telescopic rod 35 is used to drive the telescopic arm 34 to extend and retract.

[0062] The traveling wheels 33 can be driven by explosion-proof motors with rubber tires or tracked chassis to adapt to uneven underground surfaces.

[0063] like Figures 5-8 As shown, the lower part of the cutting surface 20 of the coating roller 16 is recessed to form a cutting groove 36. The cutting blade 22 is slidably disposed in the cutting groove 36. The two ends of the cutting groove 36 are provided with driving electromagnets 37. The driving electromagnets 37 are used to drive the cutting blade 22 to move along the cutting groove 36 to cut the tape 21.

[0064] Initially, the cutting blade 22 is located at one end of the cutting groove 36, and the cutting blade 22 does not affect the wrapping of the tape 21. During cutting, the cutting blade 22 is moved along the cutting groove 36 by the magnetic force of the driving electromagnet 37. When not in use, the cutting blade 22 is magnetically limited by the driving electromagnet 37.

[0065] like Figure 1 , Figure 14 and Figure 15 As shown, the three telescopic components are a first telescopic component, a second telescopic component, and a third telescopic component. The extended end of the first telescopic component is equipped with a support telescopic rod, the upper end of which is fixedly connected to the guide frame 12. The extended end of the second telescopic component is fixedly connected to the receiving box 11. The extended end of the third telescopic component is connected to the roller changing part.

[0066] Each telescopic component consists of a telescopic arm 34 and an electric telescopic rod 35, driven by an independent storage motor. They provide the three modules of roll retraction, material receiving, and roll changing with independent degrees of freedom of movement, enabling them to adapt to support frames of different heights and angles, and to be folded and stored away to reduce volume when not in use.

[0067] The guide frame 12 has an arc-shaped guide groove inside, and a rack is distributed on the arc surface of the guide groove. The bottom of the roll retraction platform 13 is provided with a connecting ear, which is slidably disposed in the guide groove. The connecting ear is provided with a drive motor 38, and the output shaft of the drive motor 38 is provided with a guide gear, which meshes with the rack.

[0068] like Figure 7 As shown, three positioning electromagnets 39 are evenly distributed at the bottom of the guide frame 12 to mark the position of the connecting ear. When the connecting ear reaches this position, it is positioned and stopped by the positioning electromagnet. At this time, the roll retraction platform 13 is facing the belt idler 2 to be replaced.

[0069] How to use: The robot departs from the charging / maintenance station and inspects along a predetermined route. The control system receives instructions or autonomously identifies damaged belt idlers 2 that need to be replaced through vision / sensors.

[0070] Positioning and placement: The robot travels to the target belt idler roller 2 station for precise positioning. The three telescopic components move in sequence, adjusting the roller removal part to the rear of the old belt idler roller 2 (perpendicular to the axis of the belt idler roller 2), adjusting the receiving box 11 to the front and lower part of the old belt idler roller 2, and moving the roller changing part to the front of the receiving box 11.

[0071] Disassembly of old belt idler roller 2: The roll retraction section is activated, and the roll retraction platform 13 is moved by the drive motor 38, so that the roll retraction platform 13 is at the same tilt angle as the belt idler 2 to be replaced, as described in this application. Figure 2 As shown, it includes belt rollers 2 that are tilted to the left, tilted to the right, and horizontally arranged.

[0072] By extending the support telescopic rod, the coating roller 16 is made to be at the same height as the belt idler roller 2. At this time, the coating roller 16 adsorbs one end of the tape 21. Through the extension of the first electric push rod 14, the coating roller 16 pulls the tape 21 to unfold, and the connecting surface 19 rotates towards the belt idler roller 2 until the connecting surface 19 contacts the belt idler roller 2. During the rotation, the belt idler roller 2 adheres to the tape 21 and drives the tape 21 to rotate synchronously, thereby achieving the winding of the belt idler roller 2, reducing the friction between the belt idler roller 2 and the conveyor belt, and achieving the deceleration of the belt idler roller 2. After the tape 21 is wound, the laminating roller 16 rotates synchronously, causing the cutting surface 20 to rotate to the top. The tape 21 is then cut by the cutting blade 22. The laminating roller 16 continues to rotate to the initial position. At this time, the relative position of the tape 21 and the laminating roller 16 is the same as in the initial state, which also facilitates the next operation of the laminating roller 16 without secondary adjustment. This allows the laminating roller 16 to maintain a negative pressure state, preventing the tape 21 from falling off. At the same time, the power of the suction pump is adjustable, and the suction force of the suction hole 18 can be adjusted according to the position and state of the tape 21, making it convenient to adjust the position of the tape 21.

[0073] Then the first electric push rod 14 pushes out forcefully, pushing the old belt idler roller 2 away from the support frame along the mounting guide rail 3. At the same time, the push roller 15 is a powered roller, which drives the belt idler roller 2 to rotate synchronously, so that the drive gear 6 of the belt idler roller 2 rotates along the guide rack 4 until it falls into the receiving box 11.

[0074] Installation of new belt idler 2: The roller changing unit picks up a new belt idler roller 2 from the side of the machine body or from the carried roller storage rack. At the same time, the telescopic rod 23 is extended so that the height of the mechanical claw 26 is aligned with the mounting guide rail 3 at the position to be replaced.

[0075] By adjusting the motor 27, the connecting seat 25 is moved along the adjusting frame 24, so that the mechanical claw 26 is close to the installation position. By rotating the motor 28, the mechanical claw 26 is swung so that the angle between the mechanical claw 26 and the installation guide rail 3 is the same. By adjusting the motor 27, the operation continues until the docking guide rail 31 of the mechanical claw 26 is precisely aligned with the installation guide rail 3 of the support frame.

[0076] When the electromagnet 32 ​​is de-energized, the second electric push rod 29 extends, smoothly pushing the new belt roller 2 into the installation guide rail 3 until it reaches the rear positioning end, thus completing the installation.

[0077] Reset and Departure: All actuators (roller retraction and roller changing sections) are completely removed from the support frame body 1 and reset to their storage position. The receiving box 11 holds the old belt idler roller 2. After confirming the replacement is complete, the robot departs from the current workstation and proceeds to the next work point or returns to the base.

[0078] Data processing and maintenance: The robot uploads information such as the time, location, and success or failure of the operation to the central control system. After returning to the base, the staff emptys the old belt rollers 2 from the receiving box 11 and replenishes the robot with consumables such as tape 21 and new belt rollers 2, and performs necessary maintenance.

[0079] The above-described specific embodiments are merely specific examples of the present invention. The patent protection scope of the present invention includes, but is not limited to, the product form and style of the above-described specific embodiments. Any coal mine belt support frame and coal mine belt idler replacement robot that conforms to the claims of the present invention, and any appropriate changes or modifications made thereto by those skilled in the art, shall fall within the patent protection scope of the present invention.

Claims

1. A coal mine conveyor belt support frame, comprising a support frame body (1) and conveyor belt idlers (2), characterized in that: The top of the support frame body (1) is provided with several sets of guide parts, each set of guide parts including two parallel and opposite mounting rails (3), and belt rollers (2) are connected between the two mounting rails (3); The front end of the mounting guide rail (3) is open and the rear end is closed. The bottom surface of the mounting rail is covered with a guide rack (4). The shaft of the belt roller (2) is rotatably provided with a connecting shaft (5). Both ends of the connecting shaft (5) are equipped with drive gears (6). The drive gears (6) mesh with the guide rack (4).

2. The coal mine conveyor belt support frame according to claim 1, characterized in that: The guide section has no less than two sets. The bottom of the rear end of the mounting rail (3) is sunken to form an arc-shaped positioning end. A detection sensor (7) is configured in the middle of the mounting rail (3). The detection sensor (7) is used for the movement of the object mounted on the rail (3).

3. A coal mine conveyor belt support frame according to claim 1, characterized in that: The outer circumference of the connecting shaft (5) is evenly distributed with several limiting ratchet teeth (8). The tips of the limiting ratchet teeth (8) are inclined towards the moving direction of the conveyor belt. The circular inner wall of the belt roller (2) is rotatably connected to a limiting rod (9). When the outer end of the limiting rod (9) contacts the vertical surface of the limiting ratchet teeth (8), the limiting rod (9) and the limiting ratchet teeth (8) are pressed together, and the connecting shaft (5) and the belt roller (2) are locked together.

4. A coal mine conveyor belt idler replacement robot, used for replacing conveyor belt idlers (2) on the coal mine conveyor belt support frame according to any one of claims 1-3, characterized in that: The robot body (10) includes a self-propelled robot body. The upper part of the robot body (10) is provided with a roller retraction section, a receiving box (11) and a roller changing section. When the robot body (10) is working, the roller retraction section is located behind the belt roller (2) to be replaced. It is used to cover the belt roller (2) to be replaced with a plastic film and push the belt roller (2) to be replaced to move forward along the mounting guide roller. The receiving box (11) and the roller changing section are located in front of the belt roller (2). The belt roller (2) to be replaced retracts into the receiving box (11). The roller changing section pushes the new belt roller (2) into the mounting guide rail (3) to complete the replacement. The roll unwinding section includes an arc-shaped guide frame (12), a roll unwinding platform (13), a film-coated roll unwinding assembly, and a film-coated assembly (17). The film-coated assembly (17) is located between the roll unwinding platform and the film-coated roll unwinding assembly. The roll unwinding platform (13) can move along the guide frame (12). The roll unwinding platform (13) is equipped with a first electric push rod (14). The first electric push rod (14) is used to push the film-coated roll unwinding assembly to move towards the belt idler (2) to be replaced. The film-coated roll unwinding assembly includes a push roller (15) and two film-coated rollers (16). The two film-coated rollers (16) are symmetrically arranged on both sides of the push roller (15). The film-coated rollers (16) are arranged on the front side of the film-coated assembly (17) and are used to pull the belt (21) to move towards the belt idler (2) to be replaced.

5. A coal mine conveyor belt idler (2) replacement robot according to claim 4, characterized in that: The coating roller (16) is equipped with a suction pump. Several adsorption holes (18) are evenly distributed on the outer periphery of the coating roller (16). The suction pump is used to provide negative pressure to the adsorption holes (18). The coating roller (16) includes a long diameter and a short diameter. The short diameter is smaller than the diameter of the push roller (15), and the long diameter is larger than the diameter of the push roller (15). The two sides of the long diameter of the coating roller (16) are a connecting surface (19) and a cutting surface (20), respectively. The connecting surface (19) is used to adsorb the front end of the tape (21). The cutting surface (20) is equipped with a cutting blade (22) on the lower part of the side away from the belt idler (2) to be replaced. The cutting blade (22) moves along the cutting surface (20) to cut the tape (21). Initially, the connecting surface (19) of the coating roller (16) faces upward, and the front end of the tape (21) is adsorbed onto the connecting surface (19). When the coating roller (16) rotates, the connecting surface (19) drives the tape (21) to contact the belt idler (2) to be replaced. The adhesive surface of the tape (21) contacts and adheres to the belt idler (2). When the belt idler (2) rotates, it drives the tape (21) to wrap around the surface of the belt idler (2). The coating roller (16) and the tape (21) rotate together. The step rotates, causing the cutting blade (22) to rotate to the upper part of the side adjacent to the belt idler (2) to be replaced, and the cutting blade (22) cuts the tape (21). The cut tape (21) is wound by the belt idler (2), reducing the friction between the belt idler (2) and the conveyor belt. The coating roller (16) continues to rotate to the initial state, and the first electric push rod (14) continues to extend, pushing the belt idler (2) into the receiving box (11).

6. A coal mine conveyor belt idler replacement robot according to claim 4, characterized in that: The roller changing part includes an adjusting telescopic rod (23), an adjusting frame (24), a connecting seat (25), and a mechanical claw (26). The adjusting telescopic rod (23) is vertically arranged and used to adjust the height of the adjusting frame (24). The extended end of the adjusting telescopic rod (23) is fixedly arranged with the adjusting frame (24). The adjusting frame (24) has an adjusting track, which is arranged along the length direction of the mounting guide rail (3). An adjusting screw is arranged inside the adjusting track. An adjusting motor (27) is arranged at one end of the adjusting screw. The connecting seat (25) is threadedly connected to the adjusting screw. The connecting seat (25) is equipped with a rotary motor (28) and a second electric push rod (29). The output shaft of the rotary motor (28) is connected to the fixed end of the second electric push rod (29). The axis of the rotary motor (28) is parallel to the length direction of the mounting guide rail (3). The rotary motor (28) is used to drive the mechanical gripper (26) to swing. The extended end of the second electric push rod (29) is fixedly connected to the mechanical gripper (26). The mechanical gripper (26) is connected to the belt idler (2) to be replaced. An opening is provided on the opposite side, and docking guide rails (31) are provided at both ends of the opening. The new belt roller (2) is placed in the docking guide rail (31). A gripping electromagnet (32) is provided on the front side of the opening. The gripping electromagnet (32) is used to magnetically connect the new belt roller (2). When the docking guide rail (31) is opposite to the mounting guide rail (3), the new belt roller (2) can move along the docking guide rail (31) and the mounting guide rail (3) to the positioning end.

7. A coal mine conveyor belt idler replacement robot according to claim 4, characterized in that: The robot body (10) is equipped with traveling wheels (33), and three telescopic components are rotatably arranged on the upper part of the robot body (10). The three telescopic components are used to connect and support the roll retraction section, the receiving box (11) and the roll changing section respectively. The telescopic assembly includes a telescopic arm (34) and an electric telescopic rod (35) arranged in parallel. The telescopic arm (34) includes a fixed section and a movable section. A storage motor is arranged between the fixed section and the robot body (10). The electric telescopic rod (35) is used to drive the telescopic arm (34) to extend and retract.

8. A coal mine conveyor belt idler replacement robot according to claim 5, characterized in that: The lower part of the cutting surface (20) of the coating roller (16) is recessed to form a cutting groove (36). The cutting blade (22) is slidably disposed in the cutting groove (36). The two ends of the cutting groove (36) are provided with driving electromagnets (37). The driving electromagnets (37) are used to drive the cutting blade (22) to move along the cutting groove (36) to cut the tape (21).

9. A coal mine conveyor belt idler replacement robot according to claim 7, characterized in that: The three telescopic components are a first telescopic component, a second telescopic component, and a third telescopic component. The extended end of the first telescopic component is equipped with a support telescopic rod (30), the upper end of which is fixedly connected to the guide frame (12). The extended end of the second telescopic component is fixedly connected to the receiving box (11), and the extended end of the third telescopic component is connected to the roller changing part.

10. A coal mine conveyor belt idler replacement robot according to claim 4, characterized in that: The guide frame (12) has an arc-shaped guide groove inside, and a rack is distributed on the arc surface of the guide groove. The bottom of the roll retraction platform (13) is provided with a connecting ear, which is slidably disposed in the guide groove. The connecting ear is provided with a drive motor (38), and the output shaft of the drive motor (38) is provided with a guide gear, which meshes with the rack.

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