Self-adaptive flexible track of fully mechanized coal mining face robot

Abstract

The utility model discloses a self-adaptive flexible track for a fully mechanized coal mining face robot, which belongs to the field of inspection robots for fully mechanized coal mining faces and comprises a flexible composite track. The first rigid track is connected with the first end of the flexible composite track, and the second rigid track is connected with the second end of the flexible composite track. According to the utility model, the flexible composite track is inserted into the rigid track, so that the flexible composite track can be quickly mounted, dismounted and replaced on a working surface, and the construction and maintenance efficiency is greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of fully mechanized mining face inspection robots, specifically, it relates to an adaptive flexible track for a fully mechanized mining face robot. Background Technology

[0002] To address the challenges of numerous inspection devices, complex operating environments, significant safety hazards, high labor intensity, and low efficiency in face inspections, research on face inspection robots is of great significance. By installing an adaptive, dynamically changing flexible track on the side baffle of the cable trough of the front scraper conveyor, the inspection robot moves along the flexible track, replacing manual labor to achieve intelligent and machine-following inspections. This enables real-time inspection of the hydraulic supports, coal mining machine, scraper conveyor operation, and coal face condition, solving the problems of harsh working environments, confined spaces, and difficulties in equipment inspection, operation, and maintenance.

[0003] Currently, each section of the scraper conveyor is connected by hinge pins. During the process of the hydraulic support pushing the chute, the chute dynamically bends and expands. At the same time, due to the undulation of the roadway floor, the horizontal and vertical directions of the track installed on the cable trough cover plate of the scraper conveyor change dynamically.

[0004] Therefore, there is an urgent need for a flexible track that can adapt to such dynamic changes in the orbit. Utility Model Content

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An adaptive flexible track for a fully mechanized mining face robot includes:

[0007] Flexible composite track;

[0008] A first rigid track and a second rigid track, wherein the first rigid track is connected to a first end of the flexible composite track, and the second rigid track is connected to a second end of the flexible composite track.

[0009] Furthermore, the first rigid track includes a first stainless steel tube and a second stainless steel tube, wherein the first stainless steel tube is welded to the second stainless steel tube through an intermediate stiffener; and the first rigid track and the second rigid track have the same structure.

[0010] The flexible composite track is provided in two sections, which are respectively connected to the first stainless steel pipe and the second stainless steel pipe.

[0011] Furthermore, a rigid track transition sleeve is provided between the flexible composite track and the first stainless steel pipe and the second stainless steel pipe; the first end of the rigid track transition sleeve is welded to the first stainless steel pipe or the second stainless steel pipe, and the inner wall of the second end of the rigid track transition sleeve is clearance-fitted with the outer surface of the flexible composite track.

[0012] Furthermore, it also includes a first limiting screw and a second limiting screw for preventing the flexible composite track from dislodging from the inner wall of the rigid track transition sleeve during free expansion and contraction; the first limiting screw is disposed on the side of the first stainless steel tube close to the second stainless steel tube, and the second limiting screw is disposed on the side of the second stainless steel tube close to the first stainless steel tube.

[0013] Furthermore, the lower side of the rigid track transition sleeve is provided with a discharge trough for discharging coal dust and moisture brought in by the flexible composite track when it expands and contracts within the inner cavity of the rigid track transition sleeve.

[0014] Furthermore, the flexible composite track has a cylindrical structure;

[0015] The connection between the rigid track transition sleeve and the flexible composite track is an arc surface; the inner cavity wall of the rigid track transition sleeve is an inner mating cylindrical surface that matches the flexible composite track, and the inner mating cylindrical surface is clearance-fitted with the outer surface of the flexible composite track.

[0016] Furthermore, the flexible composite track includes an outer elastic shaft and an inner elastic shaft, with the outer elastic shaft wrapping around the inner elastic shaft.

[0017] The beneficial effects of this utility model are:

[0018] The installation method of inserting a flexible composite track into a rigid track, adopted in this utility model, enables the rapid installation, disassembly, and replacement of the flexible composite track on the working surface, greatly improving construction and maintenance efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the adaptive flexible track of a fully mechanized mining face robot according to the present invention;

[0020] Figure 2 This is a schematic diagram of the rigid track transition sleeve of this utility model;

[0021] Figure 3 This is a cross-sectional view of the present invention AA;

[0022] Figure 4 This is an enlarged view of the present invention, model II;

[0023] Figure 5This is a schematic diagram of the structure of the flexible composite track of this utility model;

[0024] In the figure: 1. Flexible composite track; 11. Outer elastic shaft; 12. Inner elastic shaft; 2. First stainless steel tube; 3. Rigid track transition sleeve; 31. Impurity discharge groove; 4. Second stainless steel tube; 5. Second limit screw; 6. First limit screw. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Example 1

[0027] refer to Figures 1-5 An adaptive flexible track for a fully mechanized mining face robot includes:

[0028] Flexible composite track 1;

[0029] A first rigid track and a second rigid track, wherein the first rigid track is connected to the first end of the flexible composite track 1, and the second rigid track is connected to the second end of the flexible composite track 1.

[0030] Preferably, the first rigid track includes a first stainless steel tube 2 and a second stainless steel tube 4, wherein the first stainless steel tube 2 is welded to the second stainless steel tube 4 through an intermediate stiffener; wherein the first rigid track and the second rigid track have the same structure.

[0031] Two flexible composite tracks 1 are provided, and the two flexible composite tracks 1 are respectively connected to the first stainless steel pipe 2 and the second stainless steel pipe 4.

[0032] Preferably, a rigid track transition sleeve 3 is provided between the flexible composite track 1 and the first stainless steel pipe 2 and the second stainless steel pipe 4; the first end of the rigid track transition sleeve 3 is welded to the first stainless steel pipe 2 or the second stainless steel pipe 4, and the inner wall of the second end of the rigid track transition sleeve 3 is clearance-fitted with the outer surface of the flexible composite track 1.

[0033] Preferably, it also includes a first limiting screw 6 and a second limiting screw 5 for preventing the flexible composite track 1 from dislodging from the inner wall of the rigid track transition sleeve 3 during free expansion and contraction; the first limiting screw 6 is disposed on the side of the first stainless steel tube 2 near the second stainless steel tube 4, and the second limiting screw 5 is disposed on the side of the second stainless steel tube 4 near the first stainless steel tube 2.

[0034] Preferably, the lower side of the rigid track transition sleeve 3 is provided with a discharge groove 31 for discharging coal powder and moisture brought in by the flexible composite track 1 when it expands and contracts within the inner cavity of the rigid track transition sleeve 3; the discharge groove 31 is provided to prevent jamming and jerking during expansion and contraction.

[0035] Preferably, the flexible composite track 1 has a cylindrical structure;

[0036] The connection between the rigid track transition sleeve 3 and the flexible composite track 1 is an arc surface; the inner cavity wall of the rigid track transition sleeve 3 is an inner mating cylindrical surface that matches the flexible composite track 1, and the inner mating cylindrical surface is clearance-fitted with the outer surface of the flexible composite track 1.

[0037] In this embodiment, the outer surface of the rigid track transition sleeve 3 on the side closest to the flexible composite track 1 is a conical surface, which is used to connect the arc surface.

[0038] Preferably, the flexible composite track includes an outer elastic shaft 11 and an inner elastic shaft 12, with the outer elastic shaft 11 wrapped around the inner elastic shaft 12.

[0039] In this embodiment, the outer elastic shaft 11 is made of a polyurethane spring with a Shore hardness of 90A. The polyurethane spring has high wear resistance, resilience, and strength, which can buffer the coal blocks falling between the hydraulic supports, effectively improving the service life of the flexible composite track. At the same time, it can also bend freely and support the robot to pass smoothly. The inner elastic shaft 12 is made of fiberglass rod, which has high resilience and strength and can also bend freely. This makes the flexible composite track 1 dustproof, waterproof, and rustproof, with high resilience and a certain degree of rigidity, so that it can support the weight of the robot without bending. It can also freely extend and retract within the rigid track transition sleeve 3 and the rigid track. Moreover, the flexible composite track is inexpensive and easy to replace and maintain.

[0040] In other embodiments, the flexible composite track can also be made of spring steel wire or flexible steel wire shaft.

[0041] Working principle: During installation, simply unscrew the first and second limit screws, insert one end of the flexible composite track into the rigid track transition sleeve, and then pull it out in the opposite direction to insert the other end of the flexible composite track into the rigid track transition sleeve on the other side. It saves time and effort, and is simple and convenient to operate and maintain.

[0042] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model are included within the protection scope of this utility model.

Claims

1. An adaptive flexible track for a fully mechanized mining face robot, characterized in that, include: Flexible composite track; A first rigid track and a second rigid track, wherein the first rigid track is connected to a first end of the flexible composite track, and the second rigid track is connected to a second end of the flexible composite track.

2. The adaptive flexible track for a fully mechanized mining face robot according to claim 1, characterized in that, The first rigid track includes a first stainless steel tube and a second stainless steel tube, wherein the first stainless steel tube is welded to the second stainless steel tube through an intermediate stiffener; wherein the first rigid track and the second rigid track have the same structure. The flexible composite track is provided in two sections, which are respectively connected to the first stainless steel pipe and the second stainless steel pipe.

3. The adaptive flexible track for a fully mechanized mining face robot according to claim 2, characterized in that, A rigid track transition sleeve is also provided between the flexible composite track and the first stainless steel pipe and the second stainless steel pipe; the first end of the rigid track transition sleeve is welded to the first stainless steel pipe or the second stainless steel pipe, and the inner wall of the second end of the rigid track transition sleeve is clearance-fitted with the outer surface of the flexible composite track.

4. The adaptive flexible track for a fully mechanized mining face robot according to claim 3, characterized in that, It also includes a first limiting screw and a second limiting screw to prevent the flexible composite track from dislodging from the inner wall of the rigid track transition sleeve during free expansion and contraction; the first limiting screw is located on the side of the first stainless steel tube closer to the second stainless steel tube, and the second limiting screw is located on the side of the second stainless steel tube closer to the first stainless steel tube.

5. The adaptive flexible track for a fully mechanized mining face robot according to claim 3, characterized in that, The lower side of the rigid track transition sleeve is provided with a discharge trough for discharging coal dust and moisture brought in by the flexible composite track when the inner wall of the rigid track transition sleeve expands and contracts.

6. The adaptive flexible track for a fully mechanized mining face robot according to claim 5, characterized in that, The flexible composite track has a cylindrical structure; The connection between the rigid track transition sleeve and the flexible composite track is an arc surface; the inner cavity wall of the rigid track transition sleeve is an inner mating cylindrical surface that matches the flexible composite track, and the inner mating cylindrical surface is clearance-fitted with the outer surface of the flexible composite track.

7. The adaptive flexible track for a fully mechanized mining face robot according to claim 1, characterized in that, The flexible composite track includes an outer elastic shaft and an inner elastic shaft, with the outer elastic shaft wrapping around the inner elastic shaft.

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