Lifting and steering system for underground coal mine equipment

Abstract

The invention relates to the technical field of mining, and discloses a hoisting and steering system for underground coal mine equipment. The steering system comprises a rail mechanism and a connecting mechanism. The track mechanism comprises a track body; the track body is installed on a top plate of a roadway. The track body is provided with a steering path, the orthographic projection of the steering path on the top plate is arc-shaped, and the two ends of the steering path are located on the two sides of the top plate in the width direction of the top plate correspondingly. The connecting mechanism comprises a walking module and a lifting module; the walking module is installed on the track body and used for moving along the steering path. The lifting module is installed on the walking module and used for being connected with to-be-steered equipment so as to drive the to-be-steered equipment to move in the vertical direction. According to the invention, by arranging the track body and the connecting mechanism, automatic steering of the to-be-steered equipment is realized, the operation is simple and convenient, multi-person cooperation is not needed, the efficiency and safety of steering operation are improved, and the problems of low efficiency, high cost, high safety risk, influence on production continuity and the like in an existing steering method are solved.

Description

Technical Field

[0001] This invention relates to the field of mining technology, and in particular to a hoisting and steering system for underground equipment in coal mines. Background Technology

[0002] In underground coal mine operations, the transportation and installation of large equipment (such as coal mining machines, hydraulic supports, transfer conveyor troughs, and large transformers) face significant bottlenecks. On the one hand, with equipment becoming increasingly larger, some pieces are over 8 meters long and weigh over 20 tons, while the turning radius of underground roadways is generally only 6 to 9 meters. Coupled with the limited width of intersecting roadways, adjusting the equipment's direction in the horizontal plane is extremely difficult. On the other hand, traditional steering methods have significant shortcomings—multi-hoist traction steering requires multiple roof lifting points, relies on multiple people working together, and is prone to equipment swaying or rotational loss of control due to asynchronous operation, averaging 2 to 4 hours; partial roadway widening is a large-scale and costly project, costing approximately 2,000 yuan per cubic meter, affecting at least 8 hours of normal production, and may also damage the support structure, posing safety hazards; while pre-assembly on the surface followed by disassembly and transportation can alleviate transportation difficulties, it increases disassembly and assembly time by 12 to 24 hours and may affect equipment accuracy and sealing performance. Therefore, improving the steering efficiency of underground equipment has become an urgent problem to be solved in the industry.

[0003] In summary, existing steering methods suffer from problems such as low efficiency, high cost, significant safety risks, and disruption to production continuity. Summary of the Invention

[0004] This invention provides a hoisting and turning system for underground equipment in coal mines, which solves the problems of low efficiency, high cost, high safety risks and impact on production continuity of existing turning methods.

[0005] This invention provides a hoisting and steering system for underground equipment in coal mines, comprising the following steps.

[0006] A track mechanism includes a track body; the track body is installed on the roof of the tunnel; a turning path is provided on the track body, the orthographic projection of the turning path on the roof is arc-shaped, and the two ends of the turning path are respectively located on both sides of the roof along its own width direction. The connecting mechanism includes a walking module and a lifting module; the walking module is installed on the track body and is used to move along the turning path; the lifting module is installed on the walking module and is used to connect with the device to be turned so as to drive the device to be turned to move in the up and down direction.

[0007] According to the hoisting and turning system for underground equipment in coal mines provided by the present invention, the track body includes: Two linear track units are arranged at intervals along the width of the top plate; An arc-shaped track unit, the two ends of which are respectively connected to two straight track units to splice together to form the track body.

[0008] According to the hoisting and turning system for underground equipment in coal mines provided by the present invention, both ends of the arc-shaped track unit are provided with connecting flanges, and both ends of each straight track unit are also provided with connecting flanges; adjacent connecting flanges are respectively provided with mutually cooperating positioning pins and positioning holes.

[0009] According to the hoisting and turning system for underground equipment in coal mines provided by the present invention, the track mechanism further includes: A support member, one end of which is connected to the top plate and the other end of which is connected to the track unit.

[0010] According to the hoisting and turning system for underground equipment in coal mines provided by the present invention, a turning guide groove is provided on the track body along the turning path, and a guide wheel is provided on the side of the walking module facing the turning guide groove, and the guide wheel rolls in cooperation with the bottom of the turning guide groove.

[0011] According to the hoisting and steering system for underground equipment in coal mines provided by the present invention, the traveling module is further provided with at least two sets of horizontal anti-tilt wheels on the side facing the steering guide groove, and the two sets of horizontal anti-tilt wheels respectively roll in contact with the two opposite inner sidewalls of the steering guide groove.

[0012] According to the lifting and turning system for underground equipment in coal mines provided by the present invention, the lifting module has at least two hooks at the end away from the track body, and the hooks are used to connect with the lifting lugs on the equipment to be turned.

[0013] According to the hoisting and turning system for underground equipment in coal mines provided by the present invention, the walking module includes a drive motor and a drive gear connected to the drive motor; a rack is provided on the track body along the turning path, and the rack is meshed with the drive gear.

[0014] The hoisting and turning system for underground equipment in a coal mine according to the present invention further includes; A wireless remote control device is connected to the walking module and the lifting module to control the operation of the walking module and the lifting module.

[0015] According to the hoisting and steering system for underground equipment in coal mines provided by the present invention, the traveling module is equipped with a normally closed electromagnetic brake, which automatically locks when the traveling module stops working.

[0016] The hoisting and turning system for underground equipment in coal mines provided by this invention fully utilizes the space above the roadway by installing the track body on the roof, avoiding the occupation of roadway surface space. This not only frees up more surface space and enhances the traffic capacity of underground coal mine roadways, but also allows equipment to move more flexibly in narrow environments, improving space utilization efficiency. It also solves the problem of equipment movement being hindered by uneven ground or obstacles. By setting an arc-shaped turning path on the track body, the system can accurately guide the equipment to turn without widening the roadway, thus saving construction costs, shortening operation time, and ensuring the stability and safety of the surrounding rock. By setting a connecting structure to integrate the lifting and translation functions of the equipment to be turned, integrated control of the spatial posture of large equipment can be achieved.

[0017] When the equipment to be turned needs to be turned, the lifting module is connected to the equipment. The lifting module lifts the equipment, separating it from the roadway surface and eliminating frictional resistance between the equipment and the ground. This makes the movement of heavy equipment easier and smoother, while preventing potential damage to the equipment or the ground during dragging. Then, the traveling module drives the lifting module and the equipment to be turned along the turning path on the track body until the traveling module moves from one end of the turning path to the other. At this point, the lifting module lowers the equipment, successfully turning the equipment. The entire turning process is automatic along the predetermined track (i.e., the turning path). Compared to traditional track systems, it is simpler to operate, requires no multiple people to coordinate, improves the efficiency and safety of turning operations, and solves the problems of low efficiency, high cost, high safety risks, and disruption to production continuity associated with existing turning methods. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the lifting and turning system for underground equipment in coal mines provided by the present invention.

[0020] Figure 2 yes Figure 1 One of the bottom views of the track body for a hoisting and steering system used for underground equipment in coal mines.

[0021] Figure 3 yes Figure 1The second schematic diagram shows a bottom view of the track body used for lifting and turning equipment in underground coal mines.

[0022] Figure 4 yes Figure 1 The diagram shows a front view of the track body for a hoisting and steering system used in underground coal mine equipment.

[0023] Figure 5 yes Figure 1 The diagram shows a structural schematic of a support component for a lifting and steering system used in underground coal mine equipment.

[0024] Figure 6 yes Figure 1 The diagram shows the assembly structure of the steering guide groove and the traveling module of the hoisting and steering system for underground coal mine equipment.

[0025] Figure 7 yes Figure 1 The diagram shows the structure of the traveling module of the hoisting and steering system for underground coal mine equipment.

[0026] Figure label: 100. Track body; 110. Straight track unit; 120. Arc track unit; 130. Connecting flange; 140. Steering guide groove; 111. Straight guide groove; 112. Arc guide groove; 200. Support component; 210. Outer sleeve; 220. Inner connecting rod; 300. Walking module; 310. Guide wheel; 320. Horizontal anti-roll wheel; 330. Drive gear; 340. Rack; 400. Enhancement Module; 10. Top plate; 20. Equipment to be turned. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] In the description of this specification, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing this specification. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this specification. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this specification, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention based on the specific circumstances.

[0030] In this specification, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0032] In the embodiments of this specification, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0033] like Figure 1 and Figure 2 As shown, a specific embodiment of the present invention provides a hoisting and steering system for underground equipment in coal mines. The steering system includes a track mechanism and a connecting mechanism.

[0034] The track mechanism includes a track body 100; the track body 100 is installed on the roof 10 of the tunnel; a turning path is provided on the track body 100, the orthographic projection of the turning path on the roof 10 is arc-shaped, and the two ends of the turning path are located on both sides of the roof 10 along its own width direction. The connecting mechanism includes a traveling module 300 and a lifting module 400; the traveling module 300 is installed on the track body 100 and is used to move along the turning path; the lifting module 400 is installed on the traveling module 300 and is used to connect with the device 20 to be turned, so as to drive the device 20 to be turned to move in the vertical direction.

[0035] In this embodiment, by installing the track body 100 onto the roof 10, the space above the roadway is fully utilized, avoiding the occupation of the roadway's surface space. This not only frees up more surface space and enhances the passage capacity of underground coal mine roadways, but also allows equipment to move more flexibly in narrow environments, improving space utilization efficiency. Simultaneously, it solves the problem of equipment movement being affected by uneven ground or obstacles. By setting an arc-shaped turning path on the track body 100, the turning equipment 20 can be accurately guided to complete the turn without requiring roadway widening operations, thus saving construction costs, shortening operation time, and ensuring the stability and safety of the surrounding rock in the roadway. By setting a connecting structure to integrate the lifting and translation functions of the turning equipment 20, integrated control of the spatial posture of large equipment can be achieved.

[0036] When the device 20 to be turned needs to turn, the lifting module 400 is connected to the device 20. The lifting module 400 lifts the device 20, separating it from the roadway surface and eliminating frictional resistance between it and the ground. This makes the movement of the device 20 easier and smoother, while also preventing potential damage during dragging. Then, the traveling module 300 drives the lifting module 400 and the device 20 to move along the turning path on the track body 100 until the traveling module 300 moves from one end of the turning path to the other. Finally, the lifting module 400 lowers the device 20, successfully completing the turn. The entire turning process is carried out automatically along the predetermined track (i.e., the turning path). Compared with traditional multi-hoist traction methods, it is easier to operate and reduces the need for manual operation. By reducing human intervention, it reduces the risk of safety accidents caused by high-altitude operations, equipment handling, or improper operation, improves the safety of underground operations, and improves the efficiency and safety of turning operations. It solves the problems of low efficiency, high cost, high safety risks, and impact on production continuity of existing turning methods.

[0037] In some embodiments, the end of the lifting module 400 away from the track body 100 has at least two hooks, which are used to connect with lifting lugs on the device to be turned 20. In other words, the lower end of the lifting module 400 has at least two hooks, which are used to connect with lifting lugs on the device to be turned 20. The connection method between the hooks and lifting lugs facilitates the connection and disconnection of the lifting module 400 and the device to be turned 20.

[0038] Specifically, the device to be turned 20 is equipped with four lifting lugs, and the lower end of the lifting module 400 has four hooks, with each hook corresponding to one of the four lifting lugs. This improves the stability of lifting the device to be turned 20.

[0039] Optionally, the lifting module 400 is an electric hoist.

[0040] like Figure 2 As shown, in some embodiments of the present invention, the track body 100 has an arc-shaped structure, and an arc-shaped turning path is provided on the track body 100. Specifically, a turning guide groove 140 is formed on the track body 100, and the orthographic projection of the turning guide groove 140 on the top plate 10 is arc-shaped, serving as the turning path.

[0041] like Figure 3As shown, in some other embodiments of the present invention, the track body 100 includes an arc-shaped track unit 120 and a straight track unit 110. This modular design, composed of units of different shapes, enhances the flexibility and adaptability of the system. Because it allows for the flexible combination of straight track units 110 of different lengths and arc-shaped track units 120 of different curvatures according to the actual needs of the turning radius and spatial layout of the underground roadway, it reduces dependence on specific roadway conditions and improves the versatility and economy of the device. Simultaneously, decomposing the track body 100 into multiple independent track units also reduces the difficulty of transporting and installing the equipment in the confined space underground.

[0042] Two straight track units 110 are arranged at intervals along the width direction of the top plate 10; each straight track unit 110 has a straight path, and each curved track unit 120 has a curved path; both ends of the curved track unit 120 are connected to the two straight track units 110 respectively to form the track body 100. This splicing method ensures the continuity and smoothness of the path. At this time, the curved path and the two straight paths are spliced ​​to form a turning path, where the straight path provides a buffer and adjustment distance for the equipment 20 to enter and leave the turning area, ensuring the smooth operation of the equipment before and after the turn, while the curved path accurately guides the equipment 20 to complete the turning action.

[0043] like Figure 3 As shown, optionally, the straight track unit 110 has a straight guide groove 111, and the arc track unit 120 has an arc guide groove 112. By pre-setting guide grooves on the track units, accurate physical guidance and constraints are provided for the traveling module 300, thereby ensuring the accuracy and stability of its running trajectory. This mechanical guidance method is simpler in structure and more reliable than electronic induction and other methods, and can adapt to the harsh working environment of high dust and high humidity in coal mines. When the two ends of the arc track unit 120 are spliced ​​with the straight track unit 110, the two ends of the arc guide groove 112 are directly connected to the two straight guide grooves 111 respectively, thus forming a turning guide groove 140, which serves as the turning path. This seamless connection design ensures the continuity and smoothness of the guide grooves at the splicing point, allowing the traveling module 300 to smoothly transition from the straight path to the arc path, effectively avoiding impact, vibration, or jamming caused by the step or gap at the track joint, and further improving the smoothness and safety of the equipment turning process. The steering guide groove 140 serves as a steering path, reducing the risk of the walking module 300 deviating from the predetermined trajectory and making the entire steering operation safer and more reliable.

[0044] like Figure 3 and Figure 4As shown, optionally, both ends of the curved track unit 120 are provided with connecting flanges 130, and both ends of each straight track unit 110 are also provided with connecting flanges 130. Using flange connections improves the connection strength and structural rigidity between track units, providing a reliable guarantee for the safe and stable operation of the entire steering system. Adjacent connecting flanges 130 are respectively provided with mutually cooperating locating pins and locating holes. The cooperation between the locating holes and locating pins enables rapid positioning during installation, ensuring a smooth transition and accurate docking of the paths after different track units are spliced ​​together. This reduces the risk of impact or jamming at the joints of the traveling module 300, ensuring the smoothness and safety of the equipment's steering process.

[0045] Specifically, the connecting flange 130 of the arc-shaped track unit 120 and the connecting flange 130 of the straight track unit 110 are connected to each other through positioning holes and positioning pins.

[0046] like Figure 1 As shown, in some embodiments of the present invention, the track mechanism further includes a support member 200; one end of the support member 200 is connected to the roof 10, and the other end of the support member 200 is connected to the track unit. This connection method provides a stable and robust fixation for the entire track system, effectively transferring the enormous load of heavy equipment to the structurally stable roadway roof 10, thereby ensuring that the system has sufficient load-bearing capacity and operational safety. Simultaneously, using independent support members 200 for connection allows for flexible adjustment of the number and spacing of support points according to the actual geological conditions and load-bearing requirements of the roof 10, thereby enhancing the system's adaptability to complex downhole environments and simplifying installation and maintenance.

[0047] Specifically, the straight track unit 110 is connected to the roof plate 10 via the support member 200, and the curved track unit 120 is also connected to the roof plate 10 via the support member 200. In other words, the track body 100 is suspended from the top of the tunnel via the support member 200.

[0048] Optionally, the support member 200 can be an anchor rod.

[0049] like Figure 5As shown, optionally, the support member 200 may also include an outer sleeve 210 and an inner connecting rod 220. The upper end of the outer sleeve 210 is installed on the top plate 10, and the outer sleeve 210 has a threaded hole along the vertical direction (i.e., its own axial direction). The inner connecting rod 220 is threaded into the threaded hole; the lower end of the inner connecting rod 220 is used to connect with the track unit. In this way, the installation height of the track unit can be adjusted through this threaded adjustment method, and the self-locking characteristic of the thread ensures that the adjusted height remains stable under heavy load and vibration environments, and will not slip, thereby improving the installation accuracy and operational reliability of the system. The lower end of the inner connecting rod 220 is used to connect with the track unit. This connection method directly applies the height adjustment function to the track system, thereby effectively dealing with the complex working conditions of uneven roadway top plate 10, ensuring that the entire track body 100 can be easily installed at the same horizontal height, laying the foundation for the stable operation of the traveling module 300.

[0050] It should be noted that the materials of the outer tube 210 and the inner connecting rod 220 can be selected according to the load-bearing capacity. For example, the outer tube 210 and the inner connecting rod 220 can be made of steel, and parameters such as the thread depth of the threaded hole can be designed according to the actual load-bearing capacity.

[0051] like Figure 6 As shown, in some embodiments of the present invention, a steering guide groove 140 is provided on the track body 100 along the steering path, and a guide wheel 310 is provided on the side of the walking module 300 facing the steering guide groove 140. The guide wheel 310 rolls with the bottom of the steering guide groove 140. Specifically, the walking module 300 includes a walking body, a drive motor, and a guide wheel 310; the guide wheel 310 is rotatably mounted on the side of the walking body facing the steering guide groove 140, and the drive motor drives the guide wheel 310 to rotate. By providing the steering guide groove 140, a fixed and unique physical trajectory can be provided for the walking module 300, reducing the risk of the walking module 300 deviating from the path or derailing during movement, and improving the safety and reliability of heavy-load steering operations. The rolling engagement between the guide wheel 310 and the steering guide groove 140 replaces sliding friction with low-friction rolling friction, making the operation of the walking module 300 more stable, smooth, and energy-saving, reducing wear between the guide wheel 310 and the track body 100, and extending the service life of the entire system. The tight fit between the guide wheel 310 and the guide groove ensures that the walking module 300 can move along the preset arc path, providing a reliable guarantee for the smooth turning of large equipment.

[0052] Optionally, a steering guide rail (such as a T-rail or I-beam rail) can be raised along the turning path on the track body 100. This design also provides a rigid physical guide path, constraining the movement trajectory of the traveling module 300 and ensuring that it does not deviate laterally. Furthermore, the raised structure is less prone to accumulating dust and debris compared to a groove, facilitating cleaning and maintenance in the underground coal mine environment. In this case, a guide wheel 310 with a groove is correspondingly provided on the traveling module 300. The groove of the guide wheel 310 engages with the top and sides of the steering guide rail for rolling contact. This engagement method provides stable support in both the lateral and longitudinal directions, preventing the traveling module 300 from overturning or derailing during turns. The rolling contact also achieves low-resistance, smooth, and stable operation, thus ensuring the safe completion of spatial turning operations for the device 20 to be turned in another reliable manner.

[0053] like Figure 6 As shown, optionally, the walking module 300 is also provided with at least two sets of horizontal anti-roll wheels 320 on the side facing the steering guide groove 140. The two sets of horizontal anti-roll wheels 320 respectively roll in contact with the two opposite inner sidewalls of the steering guide groove 140. Specifically, the walking body is provided with two horizontal anti-roll wheels 320 on the side facing the inner sidewall of the steering guide groove 140; the number of horizontal anti-roll wheels 320 is two; the two horizontal anti-roll wheels 320 correspond one-to-one with the opposite two sides of the steering guide groove 140. The design of two sets of horizontal anti-roll wheels can provide horizontal support and constraint for the walking module 300, which can resist the lateral swing torque generated by the center of gravity shift or centrifugal force when the device 20 to be turned moves in suspension (especially when turning on an arc path), improve the running stability of the walking module 300 under heavy load, and prevent it from tilting or jamming. The design of two sets of horizontal anti-roll wheels 320 making rolling contact with the two opposite inner sidewalls of the steering guide groove 140 makes the lateral constraint on the traveling module 300 within the steering guide groove 140 more reliable and balanced. It also transforms potential sidewall sliding friction into low-resistance rolling friction, ensuring that the traveling module 300 can travel smoothly and steadily along the track even under lateral forces, while preventing abnormal wear on the anti-roll wheels or the sidewalls of the steering guide groove 140, thus extending the service life of the equipment. Furthermore, a clamping element is provided on the side of the horizontal anti-roll wheel 320 away from the inner wall of the steering guide groove 140. The clamping element is used to press the horizontal anti-roll wheel 320 against the inner wall of the guide groove. By providing the clamping element, the gap that inevitably exists between the horizontal anti-roll wheel 320 and the inner wall of the steering guide groove 140 due to machining and assembly tolerances can be avoided. This prevents the walking module 300 from shaking and impacting due to the gap during start-up, stopping, or turning, ensuring the smooth operation of the heavy-duty suspension equipment. The clamping element is used to press the horizontal anti-roll wheel 320 against the inner wall of the steering guide groove 140. By applying continuous pressure, it ensures that the anti-roll wheel and the inner wall of the track maintain a tight rolling contact at all times. This not only allows any lateral force to be absorbed instantly and smoothly without delay or impact, but also easily compensates for wheel and rail wear caused by long-term use. When wear occurs, the original tight fit can be restored by adjusting the clamping element, extending the service life of the system and maintaining its high-precision guiding performance.

[0054] Optionally, the clamping element can be a compression spring. The pressure of the compression spring against the horizontal anti-roll wheel 320 can be adjusted by adjusting the deformation of the compression spring, ensuring that the horizontal anti-roll wheel 320 is always in contact with the inner wall of the steering guide groove 140.

[0055] like Figure 7 As shown, in some embodiments of the present invention, the walking module 300 includes a drive motor and a drive gear 330 connected to the drive motor, which provides an active and controllable power source for the movement of the walking module 300. A rack 340 is provided on the track body 100 along the turning path, and the rack 340 meshes with the drive gear 330. This rack and pinion meshing transmission method is a rigid forced transmission, which, compared to the slippage or freewheeling that may occur with traditional friction wheel drives, ensures reliable transmission of driving force, especially when driving heavy equipment, and enables accurate control of the position and speed of the walking module 300. Furthermore, the rack and pinion transmission has the advantages of a constant transmission ratio and high load-bearing capacity, which allows the walking module 300 to maintain a stable operating state throughout the entire turning path (including straight and curved sections), avoiding equipment shaking caused by speed fluctuations and improving stability and safety during heavy-load turning.

[0056] For example, a rack 340 is provided at the bottom of the steering guide groove 140, and a drive gear 330 is rotatably engaged with the lifting module 400 and meshes with the rack 340. When the drive motor drives the drive gear 330 to rotate, the drive gear 330 drives the lifting module 400 to move along the rack 340.

[0057] In some embodiments of the present invention, the hoisting and steering system for underground coal mine equipment also includes a wireless remote control device. The wireless remote control method achieves human-machine separation between the operator and the operating equipment, allowing the operator to control the equipment from a safe location away from the operating area. This improves operational safety in complex and hazardous underground environments. It also eliminates the limitations of wired control handle cable length, giving the operator the ability to move freely on the work site, select the optimal observation point, and thus obtain a wider and clearer field of view, facilitating real-time monitoring of equipment status, accurate positioning, and avoidance of potential obstacles. The wireless remote control device is connected to the walking module 300 and the hoisting module 400 to control their operation.

[0058] For example, the wired remote control device is connected to the drive motor and the lifting module 400 to control the operation of the drive motor and the lifting module 400.

[0059] In some embodiments of the present invention, the walking module 300 is equipped with a normally closed electromagnetic brake, which automatically engages when the walking module 300 stops working. By setting a normally closed electromagnetic controller, in the event of a sudden power outage or active stop, the brake can engage instantly and automatically without external command, reliably locking the position of the walking module 300. This prevents the suspended turning equipment 20 from accidentally slipping due to inertia or gravity, thus improving the safety and stability of the system during intermittent operation or emergency situations, and providing a solid and reliable safety guarantee for downhole workers and expensive equipment.

[0060] In some embodiments of the present invention, the hoisting and turning system for underground coal mine equipment further includes limit switches; the limit switches are installed at preset positions on the track body 100. By introducing limit switches, the traveling module 300 can be forced to stop when it reaches the end point (preset position) of the track, thereby preventing the "overstroke" phenomenon caused by control errors or operational delays, avoiding the risk of the traveling module 300 derailing or colliding, and improving the operational safety of the system. Specifically, limit switches are installed at both the start and end points of the track body 100. By arranging limit switches at these key positions, the travel range of the traveling module 300 can be limited, ensuring that the start and end positions of each turning operation are accurate, thereby guaranteeing the positioning accuracy and repeatability of the turning action and simplifying the logic of automated control.

[0061] Optionally, the track body 100 is made of wear-resistant alloy material and high-strength steel structure, which reduces the need for frequent maintenance, lowers long-term maintenance costs, reduces downtime caused by equipment failure or system failure, and improves the production efficiency of underground coal mines.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hoisting and turning system for underground equipment in coal mines, characterized in that, include: The track mechanism includes a track body (100); the track body (100) is installed on the roof plate (10) of the roadway; a turning path is provided on the track body (100), the orthographic projection of the turning path on the roof plate (10) is arc-shaped, and the two ends of the turning path are respectively located on both sides of the roof plate (10) along its own width direction; The connecting mechanism includes a walking module (300) and a lifting module (400); the walking module (300) is installed on the track body (100) and is used to move along the turning path; the lifting module (400) is installed on the walking module (300) and is used to connect with the device to be turned (20) to drive the device to be turned (20) to move in the up and down direction.

2. The hoisting and turning system for underground equipment in coal mines according to claim 1, characterized in that, The track body (100) includes: Two linear track units (110) are arranged at intervals along the width direction of the top plate (10); An arc-shaped track unit (120) is connected at both ends to two straight track units (110) to form the track body (100).

3. The hoisting and turning system for underground equipment in coal mines according to claim 2, characterized in that, Each of the two ends of the arc-shaped track unit (120) is provided with a connecting flange (130), and each of the two ends of the straight track unit (110) is also provided with a connecting flange (130); each of the two adjacent connecting flanges (130) is provided with a locating pin and a locating hole that cooperate with each other.

4. The hoisting and turning system for underground equipment in coal mines according to claim 2, characterized in that, The track mechanism also includes: Support member (200), one end of which is connected to the top plate (10) and the other end of which is connected to the track unit.

5. The hoisting and turning system for underground equipment in coal mines according to claim 1, characterized in that, The track body (100) has a steering guide groove (140) along the steering path. The walking module (300) has a guide wheel (310) on the side facing the steering guide groove (140). The guide wheel (310) rolls with the bottom of the steering guide groove (140).

6. The hoisting and turning system for underground equipment in coal mines according to claim 5, characterized in that, The walking module (300) is also provided with at least two sets of horizontal anti-roll wheels (320) on the side facing the steering guide groove (140), and the two sets of horizontal anti-roll wheels (320) respectively roll in contact with the two inner sidewalls opposite to the steering guide groove (140).

7. The hoisting and turning system for underground equipment in coal mines according to claim 1, characterized in that, The lifting module (400) has at least two hooks at one end away from the track body (100), which are used to connect to the lugs on the device to be turned (20).

8. The hoisting and turning system for underground equipment in coal mines according to claim 1, characterized in that, The walking module (300) includes a drive motor and a drive gear (330) connected to the drive motor; the track body (100) is provided with a rack (340) along the turning path, and the rack (340) is meshed with the drive gear (330).

9. The hoisting and turning system for underground equipment in coal mines according to any one of claims 1 to 8, characterized in that, Also includes; A wireless remote control device is connected to the walking module (300) and the lifting module (400) for controlling the operation of the walking module (300) and the lifting module (400).

10. The hoisting and turning system for underground equipment in coal mines according to any one of claims 1 to 8, characterized in that, The walking module (300) is equipped with a normally closed electromagnetic brake, which automatically locks when the walking module (300) stops working.

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