Tensioning device for a traction mechanism of an underground coal mine inspection robot

Abstract

This utility model discloses a tensioning device for the traction mechanism of an underground coal mine inspection robot, relating to the field of tensioning devices for traction mechanisms. The inspection robot is mounted on a walking track, with a traction turntable and a rotary turntable respectively located at the starting and ending ends of the walking track. A circular steel wire rope is installed between the two, and the inspection robot is pulled along the walking track by the steel wire rope to inspect the working face underground in the coal mine. A tension detection mechanism detects the tension on the steel wire rope, and a telescopic mechanism is installed on the walking track to enable the traction turntable and / or the rotary turntable to move along the extension direction of the walking track. The telescopic mechanism and the tension detection mechanism are electrically connected to a controller. The tension detection mechanism transmits the tension data to the controller, and the controller controls the telescopic mechanism to adjust the tension on the steel wire rope, keeping the steel wire rope in a taut state to prevent the steel wire rope from spinning freely when the traction turntable pulls the inspection robot, thus ensuring the normal inspection work of the inspection robot.

Description

Technical Field

[0001] This utility model relates to the field of tensioning devices for traction mechanisms, and in particular to a tensioning device for a traction mechanism of a coal mine underground inspection robot. Background Technology

[0002] The drive module of the coal mine underground inspection robot is the main component for the robot to perform inspection work. Due to the flammable and explosive nature of the working face and the confined space, the robot needs to perform real-time inspections, which places high demands on the drive module and energy power of the inspection robot. While achieving a large load on the robot body, it will lead to an increase in the driving force of the drive device, and also an increase in energy consumption.

[0003] Inspection robots driven by wire ropes utilize the flexible and winding structure of wire ropes to adapt to long-distance underground roadways and winding chamber paths. The wire ropes also exhibit high rigidity and low relative slippage; by applying appropriate tension, backlash can be significantly reduced, achieving high-precision transmission. However, during long-term use, the wire ropes inevitably deform, reducing tension. This increases the probability of backlash when the robot is driven by the wire rope during inspections. Therefore, it is necessary to periodically check the tension of the wire rope and re-apply pre-tension after a decrease in tension. This process is cumbersome, and operators cannot accurately monitor the tension changes until a backlash occurs, at which point they can determine if tension has decreased and adjust the tension to continue inspections in the coal mine. This results in low inspection efficiency and negatively impacts subsequent mining operations. Utility Model Content

[0004] The purpose of this utility model is to provide a tensioning device for the traction mechanism of an underground inspection robot in a coal mine, so as to solve the problems existing in the prior art. It can detect the tension on the wire rope in real time and adjust itself according to the detected tension data, so that the tension on the wire rope is always kept at a normal value, ensuring the normal operation of the inspection robot.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a tensioning device for the traction mechanism of a coal mine underground inspection robot, including a walking track, a traction turntable and a rotary turntable respectively provided at the starting end and the ending end of the walking track, and a telescopic mechanism provided on the walking track to make the traction turntable and / or the rotary turntable move along the extension direction of the walking track.

[0006] A circular steel wire rope for traction inspection robot is set between the traction turntable and the rotary turntable, and the steel wire rope is driven to rotate by the traction turntable.

[0007] A tension detection mechanism for detecting the tension of the wire rope is installed on the traveling track. The wire rope passes through the tension detection mechanism, and both the tension detection mechanism and the telescopic mechanism are electrically connected to the controller.

[0008] In one embodiment, the telescopic mechanism is an electrically operated telescopic rod.

[0009] In one embodiment, the traction turntable and the rotary turntable are provided with spiral-shaped limiting grooves, and the wire rope is wound around the traction turntable and the rotary turntable along the spiral direction of the limiting grooves.

[0010] In one embodiment, a traction device is provided at the starting end of the walking track. The traction device includes a support frame, a reduction motor, and a reducer. The support frame includes two opposing support plates and no less than four support rods. The support rods are disposed between the two support plates. A traction turntable is disposed between the two support plates. The rotating shaft of the traction turntable is rotatably connected to the two support plates. The reduction motor and the reducer are disposed on either side of the two support plates. The output end of the reducer is connected to the traction turntable.

[0011] In one embodiment, two support plates are respectively connected to the starting end of the travel track via electric telescopic rods, and the number of electric telescopic rods on the two support plates is equal.

[0012] In one embodiment, a rotary device is provided at the end of the walking track. The rotary device includes two connecting lugs, which are disposed on both sides of the rotary turntable and are rotatably connected to the rotating shaft of the rotary turntable.

[0013] In one embodiment, the two connecting lugs are respectively connected to the end of the travel track via electric telescopic rods, and the number of electric telescopic rods on the two connecting lugs is equal.

[0014] In one embodiment, a guide device for the wire rope is provided on the walking track.

[0015] The present invention achieves the following technical advantages over the prior art:

[0016] The inspection robot is mounted on a walking track. A traction turntable and a rotary turntable are located at the beginning and end of the track, respectively, connected by a circular steel wire rope. The inspection robot is pulled along the track by the steel wire rope to inspect the working face underground in the coal mine. A tension detection mechanism on the track monitors the tension on the steel wire rope. A telescopic mechanism on the track allows the traction turntable and / or rotary turntable to move along the track's extension direction. The telescopic mechanism and the tension detection mechanism are electrically connected to a controller. The tension detection mechanism uploads the detected tension data to the controller, which analyzes the data. When the tension on the steel wire rope decreases, the telescopic mechanism controls the traction turntable and / or rotary turntable to move along the track's extension direction, increasing the distance between the two turntables and increasing the tension on the steel wire rope. This keeps the steel wire rope taut, maintaining friction between the steel wire rope and the traction and rotary turntables, preventing the steel wire rope from spinning freely when the traction turntable pulls the inspection robot, and ensuring the normal inspection operation of the robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the starting end of the walking track in an embodiment of this utility model;

[0019] Figure 2 This is an enlarged view of a portion of the structure at the end of the walking track in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure at the end of the walking track in an embodiment of this utility model;

[0021] The components include: 1. Traveling track; 2. Traction turntable; 3. Traction device; 4. Support plate; 5. Support rod; 6. Reducer; 7. Gear motor; 8. Guide device; 9. Electric telescopic rod; 10. Rotary turntable; 11. Connecting ear plate; 12. Fixed bracket. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The purpose of this utility model is to provide a tensioning device for the traction mechanism of an underground inspection robot in a coal mine, so as to solve the problems existing in the prior art, achieve the purpose of tension self-adjustment, keep the tension on the wire rope at a normal value at all times, and ensure the normal operation of the inspection robot.

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Please refer to Figures 1 to 3This embodiment discloses a tensioning device for the traction mechanism of an underground coal mine inspection robot. The inspection robot is slidably mounted on a walking track 1. A traction turntable 2 and a rotary turntable 10 are respectively provided at the starting and ending ends of the walking track 1. A ring-shaped steel wire rope is provided between the traction turntable 2 and the rotary turntable 10. The ring-shaped steel wire rope is wound around the traction turntable 2 and the rotary turntable 10. During installation, a certain pre-tension force is applied to the wound steel wire rope to ensure the friction between the steel wire rope and the traction turntable 2 and the rotary turntable 10, and to avoid slippage between the steel wire rope and the traction turntable 2 and the rotary turntable 10 when the traction turntable 2 rotates. When the steel wire rope pulls the inspection robot to perform inspection work along the walking track 1, the steel wire rope will inevitably be stretched and lengthened with the increase of usage time, thereby reducing the friction between the steel wire rope and the traction turntable 2 and the rotary turntable 10. When the traction turntable 2 drives the inspection robot to move through the steel wire rope, the steel wire rope and the traction turntable 2 and the rotary turntable 10 will be stretched and lengthened. If slippage occurs between the turntables 10, the inspection robot cannot complete the normal inspection work. Therefore, a telescopic mechanism and a tension detection mechanism are set on the walking track 1 to enable the traction turntable 2 and / or the rotary turntable 10 to move along the extension direction of the walking track 1. The steel wire rope passes through the tension detection mechanism, which detects the tension on the steel wire rope in real time and uploads the detected tension value to the controller. The controller compares the real-time tension value on the steel wire rope with the preset value. After the tension value on the steel wire rope decreases, the telescopic mechanism controls the traction turntable 2 and / or the rotary turntable 10 to move along the extension direction of the walking track 1, increasing the distance between the traction turntable 2 and the rotary turntable 10, thereby increasing the tension on the steel wire rope and increasing the friction between the steel wire rope and the traction turntable 2 and the rotary turntable 10. This prevents slippage between the steel wire rope and the traction turntable 2 and the rotary turntable 10 at all times, ensuring that the inspection robot can perform the inspection work normally.

[0026] Preferably, the walking track 1 is fixed to the side wall of the underground roadway of the coal mine by a fixed bracket 12.

[0027] The telescopic mechanism includes, but is not limited to, electric telescopic rod 9, pneumatic cylinder, and other mechanisms that can drive the traction turntable 2 and the rotary turntable 10 to move along the extension direction of the travel track 1. In this embodiment, the telescopic mechanism is selected as electric telescopic rod 9.

[0028] To increase the friction between the wire rope and the traction turntable 2 and the rotary turntable 10, the wire rope needs to be wound multiple times on the traction turntable 2 and the rotary turntable 10. To prevent the wire rope wound on the traction turntable 2 and the rotary turntable 10 from interfering with each other during rotation, i.e., the wire ropes wound on the traction turntable 2 and the rotary turntable 10 overlap, causing the wire rope to be unable to transmit smoothly, a spiral limiting groove is provided on the traction turntable 2 and the rotary turntable 10. The wire rope is wound on the traction turntable 2 and the rotary turntable 10 along the spiral limiting groove. The limiting groove restricts the relative position of the wire rope wound on the traction turntable 2 and the rotary turntable 10, ensuring that the wire rope can smoothly pull the inspection robot to move along the walking track 1.

[0029] In this embodiment, the traction turntable 2 is set at the starting end of the traveling track 1. The starting end of the traveling track 1 is also equipped with a traction device 3. The traction device 3 includes a support frame, a reduction motor 7, and a reducer 6. The support frame includes two opposing support plates 4 and no less than four support rods 5. The support rods 5 are set between the two support plates 4, forming an installation space between the two support plates 4. The traction turntable 2 is set between the two support plates 4. The rotating shaft of the traction turntable 2 is rotatably connected to the two support plates 4, so that the traction turntable 2 can rotate between the two support plates 4. The reduction motor 7 and the reducer 6 are set on either side of the two support plates 4. The reduction motor 7 is connected to the traction turntable 2 through the reducer 6, and the reduction motor 7 drives the traction turntable 2 to rotate.

[0030] Two support plates 4 on the support frame are connected to the starting end of the walking track 1 via electric telescopic rods 9. The distance between the traction device 3 and the walking track 1 is adjusted by the electric telescopic rods 9, thereby adjusting the tension value on the wire rope. To ensure the stability of the drive device during the extension and retraction of the electric telescopic rods 9, the number of electric telescopic rods 9 on the two support plates 4 is equal, so that the force on both sides of the drive device is balanced.

[0031] A rotary device is provided at the end of the walking track 1. The rotary device includes connecting lugs 11. Since the rotary device is passively driven, two connecting lugs 11 are provided to ensure the stability of the rotary device. The two connecting lugs 11 are located on both sides of the rotary turntable 10, and the two connecting lugs 11 are rotatably connected to the rotating shaft of the rotary turntable 10. The connecting lugs 11 on both sides provide stable support for the rotary turntable 10, so that the rotary turntable 10 can rotate in the area between the two connecting lugs 11.

[0032] Two connecting lugs 11 are connected to the end of the travel track 1 via electric telescopic rods 9, and the number of electric telescopic rods 9 on the two connecting lugs 11 is equal, so that when the electric telescopic rods 9 adjust the position of the rotary table 10, the two sides of the rotary table 10 are balanced, and the rotary table 10 is prevented from tilting.

[0033] A guide device 8 is also provided on the walking track 1 to guide the movement direction of the wire rope. The guide device 8 includes a base plate and a guide wheel. The base plate is provided with fixing holes and screws are provided in the fixing holes. The base plate is fixed to the guide device 8 by screws. The base plate is also provided with two vertical plates for fixing the guide wheel. The two vertical plates are provided and spaced apart on the base plate. The guide wheel is located in the gap between the vertical plates, and the rotating shaft of the guide wheel is rotatably connected to the vertical plates on both sides. The guide wheel is provided with a groove for guiding the movement direction of the wire rope. The wire rope is located in the groove. The friction between the wire rope and the groove makes the guide wheel rotate with the rotation of the wire rope.

[0034] In this embodiment, three guide devices 8 are set at the starting end of the walking track 1. Two of them are set opposite each other at the ending end near the traction device 3. At this time, the base plate is set perpendicular to the surface of the walking track 1. To facilitate the fixed connection between the guide device 8 and the walking track 1, a connecting plate is set between the walking track 1 and the base plate. The connecting plate is fixed to the surface of the walking track 1, and the base plate is fixed to the surface of the connecting plate in a form perpendicular to the surface of the walking track 1. The fixing method includes, but is not limited to, bonding, welding and other fixing methods. The other guide device 8 is set at the starting end away from the traction device 3. The fixing device is fixed to the surface of the walking track 1 through the base plate, which limits the steel wire rope in three directions: the left and right sides and the bottom, to prevent the steel wire rope from deviating from its direction of movement during the movement of the inspection robot, thereby causing the steel wire rope to cross and entangle on the traction turntable 2.

[0035] In another embodiment, at least four guiding devices 8 are provided on the travel track 1. Two guiding devices 8 are respectively provided on the upper and lower sides of the travel track 1 near the starting and ending ends, to guide the wire rope entering and exiting the traction turntable 2 or the rotary turntable 10, maintain the direction of the wire rope during the winding and release process, and avoid the wire rope from crossing and interfering with the traction turntable 2 and the rotary turntable 10. Preferably, in addition to the at least four guiding devices 8 provided on the upper and lower sides near the starting and ending ends of the travel track 1, the guiding devices 8 can also be provided at equal intervals on the travel track 1 to guide the direction of the wire rope.

[0036] Any adaptive changes made according to actual needs are within the protection scope of this utility model.

[0037] It should be noted that, for those skilled in the art, it is obvious that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A tensioning device for the traction mechanism of a coal mine underground inspection robot, characterized in that, Includes a walking track (1), with a traction turntable (2) and a rotary turntable (10) respectively provided at the starting end and the ending end of the walking track (1), and a telescopic mechanism provided on the walking track (1) to make the traction turntable (2) and / or the rotary turntable (10) move along the extension direction of the walking track (1). A ring-shaped steel wire rope for traction of the inspection robot is provided between the traction turntable (2) and the rotary turntable (10), and the steel wire rope is driven to rotate by the traction turntable (2). The walking track (1) is equipped with a tension detection mechanism for detecting the tension of the wire rope. The wire rope passes through the tension detection mechanism. Both the tension detection mechanism and the telescopic mechanism are electrically connected to the controller.

2. The tensioning device of the traction mechanism for the underground inspection robot in coal mines according to claim 1, characterized in that, The telescopic mechanism is an electric telescopic rod (9).

3. The tensioning device of the traction mechanism for the underground inspection robot in coal mines according to claim 2, characterized in that, The traction turntable (2) and the rotary turntable (10) are provided with spiral limiting grooves, and the wire rope is wound around the traction turntable (2) and the rotary turntable (10) along the spiral direction of the limiting grooves.

4. The tensioning device of the traction mechanism for the underground inspection robot in coal mines according to claim 3, characterized in that, The starting end of the walking track (1) is provided with a traction device (3). The traction device (3) includes a support frame, a reduction motor (7) and a reducer (6). The support frame includes two opposing support plates (4) and no less than four support rods (5). The support rods (5) are arranged between the two support plates (4). The traction turntable (2) is arranged between the two support plates (4). The rotating shaft of the traction turntable (2) is rotatably connected to the two support plates (4). The reduction motor (7) and the reducer (6) are arranged on either side of the two support plates (4). The output end of the reducer (6) is connected to the traction turntable (2).

5. The tensioning device of the traction mechanism for the underground inspection robot in a coal mine according to claim 4, characterized in that, The two support plates (4) are respectively connected to the starting end of the walking track (1) through the electric telescopic rods (9), and the number of electric telescopic rods (9) on the two support plates (4) is equal.

6. The tensioning device of the traction mechanism of the underground inspection robot in coal mines according to claim 3, characterized in that, The end of the walking track (1) is provided with a rotary device, which includes two connecting lugs (11). The two connecting lugs (11) are located on both sides of the rotary turntable (10), and the two connecting lugs (11) are rotatably connected to the rotating shaft of the rotary turntable (10).

7. The tensioning device of the traction mechanism for the underground inspection robot in a coal mine according to claim 6, characterized in that, The two connecting ear plates (11) are respectively connected to the end of the walking track (1) via electric telescopic rods (9), and the number of electric telescopic rods (9) on the two connecting ear plates (11) is equal.

8. The tensioning device of the traction mechanism of the underground inspection robot in coal mines according to claim 1, characterized in that, The walking track (1) is equipped with a guide device (8) for the steel wire rope.

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