Automatic deviation rectifying device for mine monorail crane track

Abstract

The utility model relates to the technical field of monorail cranes, and provides a mine monorail crane track automatic deviation rectifying device which comprises a detection module, an execution module and a control module, the detection module comprises a plurality of horizontal displacement sensors and vertical displacement sensors, and the execution module comprises a supporting frame, a walking mechanism, a deviation rectifying mechanism and an electric cabinet. The detection module and the execution module are electrically connected with the control module. The detection module can collect deviation data of the monorail crane track in real time and transmit the collected deviation data to the control module, the control module can analyze the deviation data to judge the deviation level, and meanwhile the execution module is controlled to move to the position where the monorail crane track deviates. And the control module controls the execution module to perform deviation correction operation according to the judged deviation level, the detection module continuously feeds back deviation data, and the control module controls the execution module to adjust the deviation correction operation according to the deviation data until the monorail crane track is reset, so that closed-loop control is formed.

Description

Technical Field

[0001] This utility model relates to the field of monorail technology, specifically an automatic track correction device for a mine monorail. Background Technology

[0002] Monorail transport uses a specially designed I-beam suspended above the tunnel as a track, with various functional suspended vehicles connected together and pulled along the track by traction equipment. This mode of transport is flexible, easy to load and unload, has strong climbing ability, and makes high utilization of tunnel cross-sectional space. It can operate on various vertical, horizontal, and complex curves. Currently, monorail network transport in mines is gradually replacing conventional winch transport. The monorail track is a crucial component of this network, playing a vital role in ensuring the stable operation of the monorail system.

[0003] Monorails are fixed in a suspended manner, and the heavy load of the monorail crane during operation can easily cause the crane body to sway, resulting in frequent and large-scale impacts on the track. This can easily lead to defects such as misalignment of the rail joints and deformation of the track, significantly reducing the safety and reliability of the monorail. Currently, monorail track maintenance mostly relies on manual inspection and manual correction. This method has many shortcomings; it is difficult to detect subtle deviations in real time, and the correction accuracy is low and the efficiency is poor.

[0004] Therefore, this utility model proposes an automatic track correction device for mine monorail cranes to solve the above-mentioned problems. Utility Model Content

[0005] This invention proposes an automatic track correction device for a mine monorail. Through a closed-loop control strategy of "detection-analysis-correction", it can accurately detect, intelligently analyze and correct track deviations of the monorail, improve correction efficiency and accuracy, and ensure the safe and stable operation of the monorail.

[0006] An automatic track correction device for a mine monorail includes a detection module, an execution module, and a control module. The detection module includes multiple horizontal displacement sensors and vertical displacement sensors. The multiple horizontal displacement sensors are arranged on both sides of the monorail track, and the multiple vertical displacement sensors are arranged at the connection points of the monorail track.

[0007] The execution module includes a support frame, on which a traveling mechanism, a correction mechanism and an electrical control box are fixedly connected. The traveling mechanism is slidably mounted on the monorail track.

[0008] The control module includes a data processing unit, a data storage unit, and a communication unit. The detection module and the execution module are both electrically connected to the control module.

[0009] By adopting the above-described structure, this utility model allows the detection module to collect real-time offset data of the monorail track and transmit the collected offset data to the control module. The control module analyzes the offset data to determine the offset level and simultaneously controls the execution module to move to the position where the monorail track has deviated. Based on the determined offset level, the control module controls the execution module to perform a correction operation. The detection module continuously feeds back offset data, and the control module controls the execution module to adjust the correction operation accordingly until the monorail track is reset, forming a closed-loop control.

[0010] Preferably, the walking mechanism includes a walking motor fixedly mounted on the support frame, the output end of the walking motor is fixedly connected to a drive shaft, the drive shaft is connected to a walking wheel set via gear transmission, the walking wheel set is rotatably mounted on the top of one end of the support frame, and a driven wheel set is rotatably mounted on the top of the end of the support frame away from the walking wheel set.

[0011] Preferably, the correction mechanism includes a correction robotic arm, the bottom end of which is fixedly mounted on the support frame, and a reset mechanism is provided at the end of the correction robotic arm away from the support frame.

[0012] Preferably, the correction robot arm includes a robot arm base fixed on a support frame, the robot arm base is hinged to a connecting arm one via a drive motor one, the connecting arm one is hinged to a connecting arm two via a drive motor two, and the connecting arm two is hinged to a connecting arm three via a drive motor three.

[0013] Preferably, the reset mechanism includes a reset bracket fixedly connected to the connecting arm three. An electro-hydraulic push rod is fixedly mounted on the reset bracket. A transmission rod is fixedly connected to the output end of the electro-hydraulic push rod. A transmission rack is fixedly connected to the end of the transmission rod away from the electro-hydraulic push rod. A reset gear is rotatably mounted on both sides of the transmission rack on the reset bracket. A connecting rod one is fixedly connected to the side of each of the two reset gears away from the transmission rack. A gripper is hinged to the end of each of the two connecting rods away from the reset gear. The side of each gripper close to the reset gear is bent away from the reset gear. A connecting rod two is hinged to the bent part of each of the two grippers. The end of each connecting rod away from the gripper is hinged to the reset bracket.

[0014] Preferably, the support frame includes two support plates, which are fixed together by multiple support rods. The two ends of some of the support rods are fixedly connected to the bottom of one end of each of the two support plates, and the two ends of the remaining support rods are fixedly connected to the bottom of the other end of each of the two support plates.

[0015] After adopting the above technical solution, the beneficial effects of this utility model are:

[0016] 1. This utility model includes a detection module, an execution module, and a control module. The detection module can display and collect real-time offset data of the monorail track and transmit the collected offset data to the control module. The control module analyzes the offset data to determine the offset level and simultaneously controls the execution module to move to the position where the monorail track has deviated. Based on the determined offset level, the control module controls the execution module to perform a correction operation. During the correction operation of the execution module, the detection module continuously feeds back offset data, and the control module controls the execution module to adjust the correction operation accordingly until the monorail track is reset, forming a closed-loop control.

[0017] 2. The execution module of this utility model is equipped with a walking mechanism and a correction mechanism. The walking mechanism allows the execution module to move to the position where the monorail track has deviated, and the correction mechanism allows the execution module to perform correction operation on the deviated monorail track, making the automatic correction device for mine monorail track provided by this utility model more flexible in use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the execution module in this utility model;

[0019] Figure 2 This is a structural schematic diagram of the support frame and the walking mechanism in this utility model;

[0020] Figure 3 This is a schematic diagram of the correction mechanism in this utility model;

[0021] Figure 4 This is a schematic diagram of the reset mechanism in this utility model;

[0022] Figure 5 This is a schematic diagram of the internal structure of the reset mechanism in this utility model;

[0023] Wherein: 1-Support frame; 11-Support plate; 12-Support rod; 2-Walking mechanism; 21-Walking motor; 22-Drive shaft; 23-Walking wheel set; 24-Driven wheel set; 3-Electrical control box; 4-Correction mechanism; 41-Machine arm base; 42-Drive motor one; 43-Connecting arm one; 44-Drive motor two; 45-Connecting arm two; 46-Drive motor three; 47-Connecting arm three; 48-Reset mechanism; 481-Reset bracket; 482-Electro-hydraulic push rod; 483-Transmission rod; 484-Transmission rack; 485-Reset gear; 486-Gripper; 487-Connecting rod two. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] The orientations mentioned in this specification are based on the orientation of the automatic track correction device for a mine monorail crane under normal operation. They do not limit the orientation during storage and transportation, and only represent relative positional relationships, not absolute positional relationships.

[0026] like Figure 1-5 As shown, an automatic track correction device for a mine monorail includes a detection module, an execution module, and a control module. The detection module includes multiple horizontal displacement sensors and vertical displacement sensors. The multiple horizontal displacement sensors are set on both sides of the monorail to monitor the horizontal offset of the monorail, and the multiple vertical displacement sensors are set at the connection points of the monorail to monitor the vertical offset of the monorail.

[0027] The execution module includes a support frame 1, on which a traveling mechanism 2, a correction mechanism 4, and an electrical control box 3 are fixedly connected. The traveling mechanism 2 is slidably mounted on the monorail. The control module includes a data processing unit, a data storage unit, and a communication unit. The detection module and the execution module are both electrically connected to the control module.

[0028] The detection module collects the offset data of the monorail in real time and transmits the collected offset data to the control module. The control module analyzes the offset data to determine the offset level and simultaneously controls the execution module to move to the position where the monorail has deviated. Based on the determined offset level, the control module controls the execution module to perform a correction operation. The detection module continuously feeds back offset data, and the control module controls the execution module to adjust the correction operation according to this data until the monorail is reset, forming a closed-loop control.

[0029] The support frame 1 includes two support plates 11, which are fixed together by multiple support rods 12. The ends of some of the support rods 12 are fixedly connected to the bottom of one end of each of the two support plates 11, while the ends of the remaining support rods 12 are fixedly connected to the bottom of the other end of each of the two support plates 11. Both support plates 11 are made of high-strength alloy steel, and the multiple support rods 12 are also made of high-strength alloy steel, making the entire support frame 1 more robust.

[0030] The traveling mechanism 2 includes a traveling motor 21 fixedly mounted on a support frame 1. The traveling motor 21 is fixed to one side of one of the support plates 11, and an electrical control box 3 is also fixedly mounted on the side of the support plate 11. A correction mechanism 4 is provided on the side of the other support plate 11. The electrical control box 3 is electrically connected to the traveling motor 21. A drive shaft 22 is fixedly connected to the output end of the traveling motor 21. The drive shaft 22 is connected to a traveling wheel set 23 via gear transmission. The traveling wheel set 23 is rotatably mounted on the top of one end of the support frame 1. A driven wheel set 24 is rotatably mounted on the top of the end of the support frame 1 away from the traveling wheel set 23. The output end of the traveling motor 21 drives the drive shaft 22 to rotate, which in turn drives the gears on the drive shaft 22 to rotate. The gears on the drive shaft 22 drive the gears fixedly connected to the traveling wheel set 23 to rotate, thereby driving the traveling wheel set to rotate. This causes the traveling wheel set to travel on the monorail track, which in turn drives the driven wheel set 24 to travel on the monorail track, allowing the entire execution module to travel on the monorail track.

[0031] The correction mechanism 4 includes a correction robotic arm, which is electrically connected to the electrical control box 3. The bottom end of the correction robotic arm is fixedly mounted on the support frame 1, and a reset mechanism 48 is provided at the end of the correction robotic arm away from the support frame 1. The correction robotic arm can more flexibly and quickly send the reset mechanism 48 to the position where the monorail track has deviated.

[0032] The alignment correction robotic arm includes a robotic arm base 41 fixed on a support frame 1. The robotic arm base is hinged to a connecting arm 43 via a drive motor 42. Connecting arm 43 is hinged to a connecting arm 45 via a drive motor 44. Connecting arm 45 is hinged to a connecting arm 47 via a drive motor 46. The multi-axis configuration of the alignment correction robotic arm allows the reset mechanism 48 to perform alignment correction operations on the monorail track from multiple angles.

[0033] The reset mechanism 48 includes a reset bracket 481 fixedly connected to the connecting arm 3 47. An electro-hydraulic push rod 482 is fixedly mounted on the reset bracket 481. The electro-hydraulic push rod 482 is electrically connected to the control box 3. A transmission rod 483 is fixedly connected to the output end of the electro-hydraulic push rod 482. A transmission rack 484 is fixedly connected to the end of the transmission rod 483 away from the electro-hydraulic push rod 482. A reset gear 485 is rotatably mounted on both sides of the transmission rack 484 on the reset bracket 481. A connecting rod 1 is fixedly connected to the side of the two reset gears 485 away from the transmission rack 484. A gripper 486 is hinged to the end of the two connecting rods away from the reset gears 485. The side of the two grippers 486 near the reset gears 485 is bent away from the reset gears 485. A connecting rod 2 487 is hinged to the bent part of the two grippers 486. The end of the two connecting rods away from the grippers 486 is hinged to the reset bracket 481.

[0034] The electric hydraulic push rod 482 extends, causing the transmission rod 483 to extend, which in turn causes the transmission rack 484 to extend. The transmission rack 484 drives the two reset gears 485 to rotate, and the two grippers 486 open. The correction robot arm is adjusted so that the two grippers 486 extend to the point where the monorail is off track. The electric hydraulic push rod 482 retracts, causing the transmission rod 483 to retract, which in turn causes the transmission rack 484 to retract. The transmission rack 484 drives the two reset gears 485 to rotate, and the two grippers 486 tighten, clamping the point where the monorail is off track and causing the monorail to move slightly in the direction of reset, avoiding excessive movement of the monorail that could cause deformation or other positional deviations. The electric hydraulic push rod 482 extends, causing the transmission rod 483 to extend, which in turn causes the transmission rack 484 to extend. The transmission rack 484 drives the two reset gears 485 to rotate, and the two grippers 486 open, releasing the monorail. The above operation is repeated until the monorail is reset.

[0035] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. An automatic track correction device for a mine monorail crane, comprising a detection module, an execution module, and a control module, characterized in that, The detection module includes multiple horizontal displacement sensors and multiple vertical displacement sensors. The multiple horizontal displacement sensors are arranged on both sides of the monorail track, and the multiple vertical displacement sensors are arranged at the connection of the monorail track. The execution module includes a support frame (1), on which a walking mechanism (2), a correction mechanism (4) and an electrical control box (3) are fixedly connected. The walking mechanism is slidably mounted on the monorail track. The control module includes a data processing unit, a data storage unit, and a communication unit. The detection module and the execution module are both electrically connected to the control module.

2. The automatic track correction device for a mine monorail crane according to claim 1, characterized in that, The walking mechanism includes a walking motor (21) fixedly mounted on the support frame. The output end of the walking motor is fixedly connected to a drive shaft (22). The drive shaft is connected to a walking wheel set (23) via gear transmission. The walking wheel set is rotatably mounted on the top of one end of the support frame. A driven wheel set (24) is rotatably mounted on the top of the end of the support frame away from the walking wheel set.

3. The automatic track correction device for a mine monorail crane according to claim 1, characterized in that, The correction mechanism includes a correction robotic arm, the bottom end of which is fixedly mounted on the support frame, and a reset mechanism (48) is provided at the end of the correction robotic arm away from the support frame.

4. The automatic track correction device for a mine monorail crane according to claim 3, characterized in that, The correction robot arm includes a robot arm base (41) fixed on a support frame. The robot arm base is hinged to a connecting arm (43) via a drive motor (42). The connecting arm (43) is hinged to a connecting arm (45) via a drive motor (44). The connecting arm (45) is hinged to a connecting arm (47) via a drive motor (46).

5. The automatic track correction device for a mine monorail crane according to claim 4, characterized in that, The reset mechanism includes a reset bracket (481) fixedly connected to the connecting arm three. An electric hydraulic push rod (482) is fixedly mounted on the reset bracket. A transmission rod (483) is fixedly connected to the output end of the electric hydraulic push rod. A transmission rack (484) is fixedly connected to the end of the transmission rod away from the electric hydraulic push rod. A reset gear (485) is rotatably mounted on both sides of the transmission rack on the reset bracket. A connecting rod one is fixedly connected to the side of each of the two reset gears away from the transmission rack. A gripper (486) is hinged to the end of each of the two connecting rods away from the reset gear. The side of each gripper close to the reset gear is bent away from the reset gear. A connecting rod two (487) is hinged to the bend of each of the two grippers. The end of each connecting rod away from the gripper is hinged to the reset bracket.

6. The automatic track correction device for a mine monorail crane according to claim 1, characterized in that, The support frame includes two support plates, which are fixed together by multiple support rods. The two ends of some of the support rods are fixedly connected to the bottom of one end of each of the two support plates, while the two ends of the remaining support rods are fixedly connected to the bottom of the other end of each of the two support plates.

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