Follow-up energy supply system of probe-clearance integrated specialized robot

Abstract

The utility model discloses a follow-up energy supply system of a specialized robot integrating detecting and cleaning, and relates to the technical field of automatic control of coal bunker detecting and cleaning equipment. The hydraulic system solves the problems that the length of a pipeline of an existing hydraulic system is fixed, movement of a clearance actuator at any position is hindered, and inconvenience is brought to follow-up of the clearance actuator. A motor is installed on an oil storage tank, the output end of the motor is connected with a hydraulic oil gear pump installed on the oil storage tank, one end of an oil outlet hydraulic pipeline of the hydraulic oil gear pump is connected with the hydraulic oil gear pump, and the other end of the oil outlet hydraulic pipeline of the hydraulic oil gear pump is connected with one end of a mining oil inlet hydraulic oil pipe through a valve assembly. The other end of the mining oil inlet hydraulic oil pipe is connected with the oil inlet telescopic assembly, the pipeline guider is installed on the oil inlet telescopic assembly, one end of the mining oil return hydraulic oil pipe is connected with the valve assembly, and the other end of the mining oil return hydraulic oil pipe is connected with the oil return telescopic assembly. The servo oil supply device is used for servo oil supply of the specialized robot.

Description

Technical Field

[0001] This utility model relates to the technical field of coal bunker exploration and cleaning equipment, specifically to a follow-up power supply system for an integrated exploration and cleaning special robot, used for automatic cleaning of coal caking areas in coal bunkers. Background Technology

[0002] With the continuous development of the coal industry, coal bunkers, as important facilities for coal storage and transportation, play a vital role in coal production and the supply chain. Traditional coal bunker cleaning operations typically rely on manual labor or simple mechanical equipment, facing the following main problems:

[0003] 1. Safety hazards exist: During manual cleaning operations, workers need to enter the coal bunker, which poses safety risks such as suffocation and falls. These hazards are particularly prominent in environments with high coal dust concentrations or poor ventilation.

[0004] 2. High labor intensity for workers: Manual warehouse cleaning is a high-intensity and labor-intensive task. Workers who engage in this work for a long time are prone to occupational injuries, which affects production efficiency.

[0005] 3. Low cleaning efficiency: Most existing cleaning equipment is static machinery, which cannot flexibly adapt to the structure of different coal bunkers and the properties of coal, resulting in low cleaning efficiency and failing to meet the needs of modern production.

[0006] 4. Insufficient level of automation: Although there are some automated coal cleaning equipment on the market, most of them cannot autonomously sense changes in the internal environment of the coal bunker, lack intelligent operation, and cannot achieve efficient and accurate coal cleaning.

[0007] 5. Environmental impact: The dust generated during the cleaning process affects the environment and the health of workers. Existing cleaning methods have failed to effectively control and reduce dust pollution.

[0008] To address the aforementioned issues, a special robot integrating exploration and cleaning functions was developed, specifically its cleaning actuator. This actuator can move freely within a coal bunker to clean the areas requiring cleaning. Driven by a rope drive system, it effectively avoids cables within the bunker, preventing damage and improving cleaning efficiency. However, while the actuator moves freely under rope drive, it still requires hydraulic support to move the entire unit. The fixed length of existing hydraulic lines hinders the actuator's movement and complicates its tracking.

[0009] In summary, the fixed pipeline length of the existing hydraulic system hinders the movement of the cleaning actuator to any position, causing inconvenience to the follow-up movement of the cleaning actuator. Utility Model Content

[0010] The purpose of this invention is to solve the problem that the fixed pipeline length of the existing hydraulic system hinders the movement of the cleaning actuator to any position and causes inconvenience to the follow-up of the cleaning actuator, and thus provides a follow-up power supply system for an integrated exploration-cleaning special robot.

[0011] The technical solution of this utility model is:

[0012] A follow-up power supply system for an integrated exploration and clearing special robot includes an oil tank, a motor, a hydraulic gear pump, a hydraulic gear pump outlet hydraulic line, a valve assembly, a mining hydraulic pipe, a hydraulic rotary joint, a mining return hydraulic pipe, an inlet telescopic assembly, a return telescopic assembly, and a pipe guide. The motor is mounted on the oil tank, and its output end is connected to the hydraulic gear pump mounted on the oil tank. One end of the hydraulic gear pump outlet hydraulic line is connected to the hydraulic gear pump, and the other end of the hydraulic gear pump outlet hydraulic line is connected to the valve assembly. One end of the mining inlet hydraulic oil pipe is connected to the inlet expansion joint, and the other end of the mining inlet hydraulic oil pipe is connected to the oil pipe coiled on the inlet expansion joint via a hydraulic rotary joint. A pipeline guide is installed on the inlet expansion joint. The return expansion joint and the inlet expansion joint are arranged symmetrically on the left and right sides of the oil reservoir. One end of the mining return hydraulic oil pipe is connected to the valve assembly, and the other end is connected to the return expansion joint. The oil pipe expands and contracts with the rotation of the inlet and return expansion joints.

[0013] Preferably, the motor is a mining explosion-proof motor.

[0014] Furthermore, it also includes a coupling that connects the motor to the hydraulic gear pump.

[0015] Furthermore, the valve assembly includes a hydraulic solenoid relief valve, a hydraulic solenoid directional valve, and an integrated oil circuit. The hydraulic solenoid relief valve and the hydraulic solenoid directional valve are connected to the integrated oil circuit, which is connected to the mining hydraulic oil pipe and the mining return hydraulic oil pipe.

[0016] Furthermore, the inlet and return oil telescopic assemblies have the same structure. The inlet telescopic assembly includes a mounting frame, a hose reel drum, a central shaft, and a telescopic drive component.

[0017] The central shaft is rotatably mounted on the mounting frame, the hose reel is rotatably mounted on the central shaft, and the telescopic drive is mounted on the mounting frame or between the hose reel and the central shaft, driving the hose reel to rotate clockwise or counterclockwise, thereby realizing the extension and retraction of the oil pipe.

[0018] Preferably, the telescopic drive component is a helical strip metal torsion spring, which is installed between the reel drum and the central shaft, and a preload is applied to the helical strip metal torsion spring during installation.

[0019] Preferably, the telescopic drive component is a motor or a hydraulic pump, which is mounted on the mounting frame.

[0020] Furthermore, the pipeline guide includes two cantilever arms, two limiting side plates, and two limiting rods. One end of each cantilever arm is connected to the left and right ends of the mounting frame, and the other end of each cantilever arm is connected to a limiting side plate. The two limiting rods are arranged in parallel and installed on the two limiting side plates.

[0021] Preferably, the distance between the two limiting side plates is the same as the axial distance of the tube roll.

[0022] Furthermore, it also includes a fixing block, which is installed at the front end of the two limit rods.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. This utility model is developed to meet the spatial movement operation of the cleaning actuator of the integrated exploration-cleaning special robot. It is a hydraulic pipeline that can move with the cleaning actuator according to the movement position of the cleaning actuator of the integrated exploration-cleaning special robot, and the hydraulic pipeline can automatically extend or retract according to the spatial position of the cleaning actuator.

[0025] In this invention, "follow-up" means that the oil supply line can automatically extend or retract according to the spatial position of the cleaning actuator, so as to provide hydraulic power oil in real time without affecting the operation of the cleaning actuator at any position in space.

[0026] 2. This utility model provides real-time hydraulic power to the cleaning actuator of the integrated exploration-cleaning special robot during spatial movement operations. The automatic extension and retraction of the pipeline avoids interference and entanglement with the cleaning actuator during movement. When the integrated exploration-cleaning special robot is not in operation, the hydraulic oil pipe automatically retracts, preventing prolonged wear from foreign objects and protecting the oil pipe. The follow-up oil supply system automatically adjusts the oil pressure and flow rate according to the actual load, ensuring the equipment operates in optimal condition, thereby improving overall work efficiency. The follow-up oil supply system responds promptly to changes, reducing equipment wear and tear, thus reducing the frequency of maintenance and lowering maintenance costs. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 3 This is a structural diagram of the clearing actuator. The present invention relates to the rotary drive component 21 on the clearing actuator. The rotary drive component 21 is a hydraulic motor, which also supplies oil to the clearing drive component 22.

[0030] The components include: 1. Motor, 2. Coupling, 3. Hydraulic gear pump, 4. Hydraulic gear pump outlet hydraulic pipeline, 5. Hydraulic solenoid relief valve, 6. Hydraulic solenoid directional valve, 7. Integrated oil circuit, 8. Mining hydraulic oil pipe, 9. Hydraulic rotary joint, 10. Spiral strip metal torsion spring, 11. Pipe reel drum, 12. Pipeline guide, 13. Fixing block, 14. Oil tank, 15. Mining return hydraulic oil pipe, 16. Mounting frame, 17. Cantilever, 19. Limiting side plate, 20. Limiting rod, 21. Rotary drive component, 22. Cleaning drive component. Detailed Implementation

[0031] Specific implementation method one: Combining Figures 1 to 2 This embodiment describes an oil storage tank 14, which also includes a motor 1, a hydraulic gear pump 3, a hydraulic gear pump outlet hydraulic line 4, a valve assembly, a mining hydraulic oil pipe 8, a hydraulic rotary joint 9, a mining return hydraulic oil pipe 15, an inlet telescopic assembly, a return telescopic assembly, and a pipe guide 12. The motor 1 is mounted on the oil storage tank 14, and its output end is connected to the hydraulic gear pump 3 mounted on the oil storage tank 14. One end of the hydraulic gear pump outlet hydraulic line 4 is connected to the hydraulic gear pump 3, and the other end of the hydraulic gear pump outlet hydraulic line 4 is connected to the hydraulic gear pump 3 via the valve assembly. One end of the mining inlet hydraulic oil pipe 8 is connected to the oil inlet telescopic assembly, and the other end of the mining inlet hydraulic oil pipe 8 is connected to the oil pipe coiled on the oil inlet telescopic assembly through the hydraulic rotary joint 9. The pipeline guide 12 is installed on the oil inlet telescopic assembly. The return oil telescopic assembly and the oil inlet telescopic assembly are arranged symmetrically on the left and right with the oil storage tank 14 as the center. One end of the mining return hydraulic oil pipe 15 is connected to the valve assembly, and the other end of the mining return hydraulic oil pipe 15 is connected to the return oil telescopic assembly. The oil pipe expands and contracts under the rotation of the oil inlet telescopic assembly and the return oil telescopic assembly.

[0032] In this embodiment, the oil pipe is wound around the oil inlet telescopic assembly and the oil return telescopic assembly. Since the cleaning actuator can move to any position when it is working, while the oil supply system of this utility model is placed in a fixed position inside the coal bunker, the oil inlet telescopic assembly and the oil return telescopic assembly have a certain preload. When it is necessary to retract, the oil circuit is retracted during the release of potential energy by the oil inlet telescopic assembly and the oil return telescopic assembly, realizing automatic extension and retraction, and providing comfortable working conditions for the cleaning actuator.

[0033] Specific Implementation Method Two: Combining Figure 1 This embodiment describes a mining explosion-proof motor 1.

[0034] This design ensures that the present invention can operate stably for a long time in potentially explosive environments. Other components and connections are the same as in Specific Embodiment 1.

[0035] Specific implementation method three: Combining Figure 1 This embodiment also includes a coupling 2, through which the motor 1 and the hydraulic oil gear pump 3 are connected.

[0036] This configuration facilitates the transmission of the output power from the mine explosion-proof motor to the hydraulic gear pump 3, providing a stable driving force for the operation of the hydraulic gear pump 3. Other components and connections are the same as in specific embodiments one or two.

[0037] Specific implementation method four: Combination Figure 1 This embodiment describes a valve assembly that includes a hydraulic solenoid relief valve 5, a hydraulic solenoid directional valve 6, and an integrated oil circuit 7. The hydraulic solenoid relief valve 5 and the hydraulic solenoid directional valve 6 are connected to the integrated oil circuit 7, which is connected to the mining hydraulic oil pipe 8 and the mining return hydraulic oil pipe 15.

[0038] This configuration allows for real-time adjustment of the cleaning speed and torque of the cleaning actuator during cleaning operations, based on actual needs. Other components and connections are the same as in any of the specific implementation methods one through three.

[0039] Specific Implementation Method Five: Combining Figures 1 to 2 This embodiment describes an oil inlet telescopic assembly and an oil return telescopic assembly with identical structures. The oil inlet telescopic assembly includes a mounting frame 16, a hose reel drum 11, a central shaft, and a telescopic drive component.

[0040] The central shaft is rotatably mounted on the mounting frame 16, and the hose reel 11 is rotatably mounted on the central shaft. The telescopic drive is mounted on the mounting frame 16 or between the hose reel 11 and the central shaft, driving the hose reel 11 to rotate clockwise or counterclockwise, thereby realizing the extension and retraction of the oil pipe.

[0041] This configuration provides the extension and retraction power for oil inlet and outlet. Other components and connections are the same as in any of the specific embodiments one through four.

[0042] The mounting frame 16 of this embodiment includes a base plate and two side supports. The base plate has mounting holes for fixing the present invention on the ground of the coal bunker. The two side supports are respectively installed on the left and right sides of the base plate. The central shaft is rotatably mounted on the two side supports through bearings. The tube drum 11 is fitted on the central shaft and rotates under the action of the telescopic drive.

[0043] In this embodiment, the longitudinal cross-sectional shape of the hose reel 11 is "I". The two outer edges play a limiting role in the expansion and contraction of the oil circuit, preventing it from getting tangled on the outside and ensuring the long-term stable operation of the oil supply system.

[0044] Specific Implementation Method Six: Combination Figure 2 In this embodiment, the telescopic drive component is a helical strip metal torsion spring 10. The helical strip metal torsion spring 10 is installed between the winding tube drum 11 and the central shaft, and a preload is applied to the helical strip metal torsion spring 10 during installation. With this configuration, the structure can be directly installed on the central shaft and the winding tube drum 11 in actual use, saving space. Furthermore, it possesses its own potential energy, eliminating the need for an external controller. Other components and connections are the same as in any of the specific embodiments one through five.

[0045] Specific implementation method seven: Combining Figure 2 In this embodiment, the telescopic drive component is a motor or a hydraulic pump, which is mounted on the mounting frame 16.

[0046] With this configuration, sufficient power is provided. By controlling the forward and reverse rotation of the motor or hydraulic pump, the winding drum 11 is driven to rotate, which in turn drives the oil circuit to extend and retract. Other components and connections are the same as in any of the specific embodiments one to six.

[0047] Specific implementation method eight: Combination Figures 1 to 2 This embodiment describes a pipeline guide 12 comprising two cantilever arms 17, two limiting side plates 19, and two limiting rods 20. One end of each cantilever arm 17 is connected to the left and right ends of the mounting frame 16, and the other end of each cantilever arm 17 is connected to a limiting side plate 19. The two limiting rods 20 are arranged in parallel and mounted on the two limiting side plates 19.

[0048] This design helps to prevent the oil circuit from wrapping around the hose reel 11 during retraction and causing it to overlap. Other components and connections are the same as in any of the specific embodiments one to seven.

[0049] In this embodiment, the two limiting side plates 19 are used to limit the distance the oil circuit moves in the horizontal direction, so that it does not exceed the length on the axis of the winding tube drum 11, thus preventing the problem of falling off during the winding process.

[0050] In this embodiment, the distance between the two limiting rods 20 is preferably slightly larger than the outer diameter of the oil pipe, so that the oil pipe can be easily scaled up and down.

[0051] Preferably, the two limiting rods 20 are cylindrical to avoid oil leakage caused by long-term friction between other shapes and the oil pipe.

[0052] Specific Implementation Method Nine: Combining Figures 1 to 2 In this embodiment, the distance between the two limiting side plates 19 is the same as the axial distance of the winding tube drum 11.

[0053] This design prevents the oil pipe from detaching from the hose reel 11. Other components and connections are the same as in any of the specific embodiments one through eight.

[0054] Specific Implementation Method Ten: Combining Figures 1 to 2 This embodiment also includes a fixing block 13, which is installed at the front end of the two limiting rods 20.

[0055] With this configuration, the fixing block 13 has a circular hole in the middle, which facilitates the passage of the oil pipe through the hole. When the oil pipe located outside the present invention rotates or needs to be knotted, the fixing block can help to straighten it, thereby ensuring that the oil passage wound on the coil spool 11 is unwinding. Other components and connections are the same as any one of the specific embodiments one to nine.

[0056] according to Figures 1 to 3 Explanation of the working principle of this utility model:

[0057] The explosion-proof mining motor 1 of this utility model is fixedly installed above the oil storage tank 14. The explosion-proof mining motor 1 is connected to the hydraulic oil gear pump 3 through the coupling 2 and transmits torque. The oil inlet of the hydraulic oil gear pump 3 is connected to the oil storage tank 14 through a hydraulic pipeline. The oil outlet of the hydraulic oil gear pump 3 is connected to the oil inlet of the integrated oil circuit through the hydraulic pipeline 4. The integrated oil circuit 4 is equipped with a hydraulic electromagnetic relief valve 5 and a hydraulic electromagnetic reversing valve 6. The hydraulic electromagnetic relief valve 5 integrates a hydraulic pressure regulating valve, and the hydraulic electromagnetic reversing valve 6 integrates a hydraulic throttle valve. The oil outlet of the integrated oil circuit 7 is connected to a hydraulic rotary joint 9 through a mining hydraulic oil pipe 8. The hydraulic rotary joint 9 is installed at the central axis of the hose reel drum 11. The hose reel drum 11 is equipped with a spiral strip metal torsion spring 10 that can rotate around the central axis. The front section of the hose reel drum 11 is equipped with a pipeline guide 12. The hose reel drum 11 is wound with hydraulic pipelines, and one end of the wound hydraulic pipelines is equipped with a fixing block 13.

[0058] According to Embodiment 1, the rotating coil of the hose reel 11 can be replaced by a motor instead of the spiral metal torsion spring 10. The rotation of the motor drives the hose reel 11 to rotate, thereby extending or retracting the hydraulic hose.

[0059] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model 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. Such 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 this utility model.

Claims

1. A servo energy supply system of a special robot of exploration and cleaning integration, comprising an oil storage tank (14), characterized in that: It also includes motor (1), hydraulic oil gear pump (3), hydraulic oil gear pump oil hydraulic pipeline (4), valve assembly, mine hydraulic oil pipe (8), hydraulic rotary joint (9), mine back oil hydraulic oil pipe (15), oil inlet telescopic assembly, back oil telescopic assembly and pipeline guide (12), The motor (1) is installed on the oil tank (14), and the output end of the motor (1) is connected with the hydraulic oil gear pump (3) installed on the oil tank (14). One end of the hydraulic oil gear pump oil hydraulic pipeline (4) is connected with the hydraulic oil gear pump (3), and the other end of the hydraulic oil gear pipeline (4) is connected with one end of the mine hydraulic oil pipe (8) through the valve assembly. The other end of the mine hydraulic oil pipe (8) is connected with the oil inlet telescopic assembly, and the other end of the mine hydraulic oil pipe (8) is communicated with the oil pipe on the oil inlet telescopic assembly through the hydraulic rotary joint (9). The pipeline guide (12) is installed on the oil inlet telescopic assembly. The back oil telescopic assembly and the oil inlet telescopic assembly are arranged symmetrically around the oil tank (14). One end of the mine back oil hydraulic oil pipe (15) is connected with the valve assembly, and the other end of the mine back oil hydraulic oil pipe (15) is connected with the back oil telescopic assembly. Wherein, the oil pipe realizes telescopic under the rotation of the oil inlet telescopic assembly and the back oil telescopic assembly.

2. The follow-up power supply system of the integrated special robot for exploration and cleaning warehouse according to claim 1, characterized in that: The motor (1) is a mine explosion-proof motor.

3. The follow-up power supply system of the integrated special robot for exploration and cleaning warehouse according to claim 2, characterized in that: It also includes a shaft coupling (2), and the motor (1) is connected with the hydraulic oil gear pump (3) through the shaft coupling (2).

4. The follow-up power supply system of the integrated special robot for exploration and cleaning warehouse according to claim 3, characterized in that: The valve assembly includes a hydraulic electromagnetic overflow valve (5), a hydraulic electromagnetic reversing valve (6) and an integrated oil circuit (7). The hydraulic electromagnetic overflow valve (5) and the hydraulic electromagnetic reversing valve (6) are connected with the integrated oil circuit (7). The integrated oil circuit (7) is connected with the mine hydraulic oil pipe (8) and the mine back oil hydraulic oil pipe (15).

5. The servo energy supply system of the integrated explorer-cleaner warehouse special robot according to claim 4, characterized in that: The oil inlet telescopic assembly and the back oil telescopic assembly have the same structure. The oil inlet telescopic assembly includes a mounting frame body (16), a pipe winding drum (11), a center shaft and a telescopic driving member, The center shaft is rotatably installed on the mounting frame body (16), the pipe winding drum (11) is rotatably sleeved on the center shaft, and the telescopic driving member is installed on the mounting frame body (16) or between the pipe winding drum (11) and the center shaft. The pipe winding drum (11) is driven to rotate clockwise or counterclockwise, and then the telescopic of the oil pipe is realized.

6. The servo energy supply system of the integrated explorer-cleaner warehouse special robot according to claim 5, characterized in that: The telescopic driving member is a spiral belt-shaped metal torsion spring (10), which is installed between the pipe winding drum (11) and the center shaft, and a pre-tightening force is applied to the spiral belt-shaped metal torsion spring (10) during installation.

7. The servo energy supply system of the integrated explorer-cleaner warehouse robot according to claim 5, characterized in that: The telescopic driving member is a motor or a hydraulic pump, which is installed on the mounting frame body (16).

8. The follow-up power supply system of the integrated special robot for exploration and cleaning warehouse according to claim 4, 5, 6 or 7, characterized in that: The pipeline guide (12) includes two cantilevers (17), two limiting side plates (19) and two limiting rods (20). One end of the two cantilevers (17) is connected with the left and right ends of the mounting frame body (16), the other end of the two cantilevers (17) is connected with one limiting side plate (19) respectively, and the two limiting rods (20) are arranged in parallel and installed on the two limiting side plates (19).

9. The servo energy supply system of the integrated explorer-cleaner warehouse special robot according to claim 8, characterized in that: The distance between the two limiting side plates (19) is the same as the axial distance of the pipe winding drum (11).

10. The servo energy supply system of the integrated explorer-cleaner warehouse robot according to claim 9, characterized in that: It also comprises a fixing block (13) mounted at the front end of the two limiting rods (20).

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