A hugging device

Abstract

This application discloses a cable gripper, including an outer gripper, an inner gripper, and an adjustment assembly. The outer gripper has a groove on its surface, a first arc-shaped groove at one end, and a guide portion extending from the other end. The inner gripper is slidably disposed within the groove, and a second arc-shaped groove at one end. The second arc-shaped groove and the first arc-shaped groove cooperate to form a passage cavity. The adjustment assembly includes an elastic element, a plunger, and a guide rod. The elastic element is disposed within the guide portion. One end of the guide rod passes through the guide portion and extends into the groove to connect with the inner gripper; the other end is housed within the guide portion and abuts against one end of the elastic element. The plunger is inserted into the guide portion from the end furthest from the outer gripper and abuts against the other end of the elastic element. The elastic element cleverly provides pre-tension along the steel wire rope within the passage cavity, allowing adjustment of the opening and closing degrees of the first and second arc-shaped grooves. This allows the steel wire rope to detach from the passage cavity due to pulling force, thus protecting the inspection robot and the guide rail.

Description

Technical Field

[0001] This application relates to the field of cableway technology, and more particularly to a cable gripper. Background Technology

[0002] In the process of intelligent mining, wire rope traction inspection robots have become core equipment for replacing manual labor in equipment monitoring and environmental perception due to their adaptability to the dusty, humid, and confined underground environment. These robots form a rigid connection with the traction wire rope via a gripper, and achieve inspection operations along the guide rail through the reciprocating motion of the wire rope. Their operational reliability directly affects the mine's safety production efficiency and equipment maintenance costs.

[0003] Due to factors such as hardened dust accumulation on the guide rails, obstruction by gravel, and deformation caused by settlement in the mine tunnel environment, inspection robots are prone to jamming. When the inspection robot is unexpectedly blocked, the drive unit of the wire rope traction system continues to output traction force, which is directly transmitted to the robot body and guide rails through the gripper. Because existing grippers lack effective overload buffering or cut-off protection mechanisms, the pulling force can reach 3-5 times the normal traction force in a short period of time. On the one hand, excessive pulling force can cause structural damage such as bending of the robot's boom and cracking of the chassis, and may even cause the onboard monitoring sensors to malfunction. On the other hand, the guide rails are prone to misalignment and deformation under concentrated loads, and repairs require interrupting inspection operations for up to several hours, seriously affecting the continuity of intelligent monitoring in the mine. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides a cable gripper that can quickly cut off the overload pulling force under jamming conditions, thereby protecting the inspection robot and the guide rail.

[0005] This application provides a rigging device, comprising: The outer clamp has a groove extending in a first direction on its surface, and in the first direction, one end of the outer clamp has a first arc-shaped groove, and the other end has a guide portion extending in the first direction. The inner retainer is slidably disposed in the groove. The inner retainer has a second arc-shaped groove at the end away from the guide in the first direction. The second arc-shaped groove and the first arc-shaped groove cooperate to form a passage cavity for the steel wire rope to pass through. The adjusting assembly includes an elastic element, a plunger, and a guide rod. The elastic element is disposed within the guide portion. One end of the guide rod passes through the guide portion along the first direction and extends into the groove to connect with the inner retainer. The other end is housed within the guide portion and abuts against one end of the elastic element. The plunger is inserted into the guide portion from the end away from the outer retainer and abuts against the other end of the elastic element. The elastic element is used to provide a preload force to press the wire rope through the cavity along the first direction. In one embodiment, the plunger is at least partially exposed outside the guide portion, and the plunger is telescopically extended into the guide portion to control the length of the plunger extending into the guide portion, thereby adjusting the opening and closing degree of the first arcuate groove and the second arcuate groove.

[0006] In one embodiment, one end of the guide rod housed within the guide portion is provided with an abutment portion, the abutment portion being used to abut against the end of the elastic member away from the plunger. In one embodiment, the cable clamp further includes two pressure plates mounted on the surface of the outer clamp, the two pressure plates being disposed on both sides of the inner clamp in a second direction, the sliding groove being symmetrically provided with two protrusions extending along the first direction, at least a portion of the pressure plate being opposite to the protrusions to form a sliding cavity between the protrusions and the pressure plate, and the inner clamp being provided with slide strips on both sides of the second direction; wherein, the second direction is perpendicular to the first direction; When the inner clamp is inserted into the slide groove, the slide bar is located in the sliding cavity and abuts against the pressure plate. In one embodiment, the outer clamp has a first mounting hole on its surface for mounting the pressure plate, and the pressure plate has a second mounting hole that matches the first mounting hole.

[0007] In one embodiment, the outer clamp has a through hole at one end near the guide portion in the first direction. The through hole is connected to the interior of the guide portion, and a wear-resistant sleeve is embedded in the through hole. The guide rod passes through the wear-resistant sleeve from the guide portion and extends into the groove to connect with the inner clamp. In one embodiment, the inner retainer has a fixing hole at one end near the guide portion, and the end of the guide rod that extends into the groove extends into the fixing hole to achieve fixation. In one embodiment, the gripper further includes a connecting frame, one end of which is connected to one end of the outer gripper near the guide portion, and the other end is used to connect to the inspection robot. The connecting frame has a storage cavity extending along the first direction, the guide portion passes through the storage cavity along the first direction, and the plug is located outside the storage cavity. In one embodiment, the outer clamp has a snap-fit ​​groove at one end near the guide portion, and the connecting frame is snapped into the snap-fit ​​groove at one end near the outer clamp to achieve pre-fixation of the connecting frame and the outer clamp. In one embodiment, the cable holder further includes a locking assembly, which includes a first locking nut and a second locking nut. The first locking nut is sleeved on the portion of the guide that extends out of the receiving cavity, and the second locking nut is sleeved on the portion of the plunger that extends out of the guide. The technical solutions provided in this application have the following advantages compared with the prior art: By setting a guide portion extending along a first direction on the outer clamp and setting an elastic element inside the guide portion, one end of a guide rod extends into the guide portion and abuts against the elastic element, while the other end extends into the slide groove and connects to the inner clamp. This allows the elastic element to act on the guide rod, thereby driving the inner clamp to slide within the slide groove. This provides a preload force to press the steel wire rope in the passage cavity along the first direction. If the inspection robot is obstructed, the pulling force on the steel wire rope will be greater than the preload force, thereby driving the inner clamp to move along the first direction. This causes the first and second arc-shaped grooves to open, allowing the steel wire rope to disengage from the passage cavity due to the pulling force. This ensures that the overload pulling force can be quickly cut off in case of jamming, thus protecting the inspection robot and the guide rail. Attached Figure Description

[0008] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0009] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] In the attached image: Figure 1 This is a schematic diagram of the structure of an embodiment of a cable gripper according to this application; Figure 2 This is an exploded schematic diagram of a rope gripper according to this application; Figure 3 This is a schematic diagram of the structure of the outer clamp in a cable clamp according to this application; Figure 4 This is a schematic diagram of the structure of the inner clamp in a cable clamp according to this application; Figure 5 This is a schematic diagram of another embodiment of a cable gripper according to this application; Figure 6This is a schematic diagram of the connection frame in a cable gripper according to this application.

[0011] Icon labels: 10. Outer clamp; 10a. Slide groove; 10b. First arc groove; 10c. First mounting hole; 10d. Through hole; 10e. Snap-fit ​​groove; 11. Guide part; 20. Inner clamp; 20a. Slide bar; 20b. Second arc groove; 30. Adjustment component; 31. Guide rod; 31a. Abutment part; 32. Plug; 33. Elastic element; 40. Pressure plate; 50. Through cavity; 60. Wear-resistant sleeve; 70. Boss; 80. Connecting frame; 80a. Storage cavity; 90. Locking component; 91. First locking nut; 92. Second locking nut; X, First direction; Y, Second direction. Detailed Implementation

[0012] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0013] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0014] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0015] In this application, for ease of description, the gripper will be described using the terms "first direction," "second direction," and "third direction." In one embodiment, the first direction may be the X-axis direction (refer to...). Figure 1 The X-line segment in the diagram), the second direction can be the Y-axis direction (refer to...). Figure 1 (The Y-segment in the middle).

[0016] Please refer to Figure 1 and 2 This application provides a cable gripper, which includes an outer gripper 10 and an inner gripper 20. The outer gripper 10 has a groove 10a extending along a first direction X on its surface. The inner gripper 20 is slidably disposed within the groove 10a, allowing the inner gripper 20 to slide relative to the outer gripper 10 in the first direction X. Specifically, in the first direction X, one end of the outer gripper 10 has a first arc-shaped groove 10b, and the end of the inner gripper 20 away from the guide portion 11 has a second arc-shaped groove 20b. When the inner gripper 20 is placed in the groove 10a, the second arc-shaped groove 20b and the first arc-shaped groove 10b cooperate to form a passage cavity 50 for the wire rope to pass through.

[0017] In practical applications, the wire rope is passed through the first arc-shaped groove 10b in a predetermined direction, and then the inner clamp 20 is placed into the slide groove 10a. At this time, the wire rope is located between the first arc-shaped groove 10b and the second arc-shaped groove 20b (i.e., passing through the passage cavity 50). Then, the inner clamp 20 is adjusted to slide in the slide groove 10a according to the specifications of the wire rope, so as to achieve the clamping of the wire rope by the cooperation of the inner clamp 20 and the outer clamp 10.

[0018] In related technologies, if the inspection robot is unexpectedly obstructed, the drive unit of the wire rope traction system will continue to output traction force, causing the pulling force to be directly transmitted to the robot body and guide rail through the gripper, thus leading to damage to the inspection robot and guide rail. Therefore, please refer to... Figure 3In one embodiment, the cable clamp further includes an adjustment assembly 30, which includes an elastic element 33, a plunger 32, and a guide rod 31. The outer clamp 10 has a guide portion 11 at one end in the first direction X away from the first arc-shaped groove 10b, and the elastic element 33 is disposed in the guide portion 11. It is understood that the elastic element 33 may include, but is not limited to, disc springs, compression springs, etc. Specifically, in this embodiment, the elastic element 33 is preferably a disc spring. One end of the guide rod 31 passes through the guide portion 11 along the first direction X and extends into the slide groove 10a to connect with the inner clamp 20. The other end is housed in the guide portion 11 and abuts against one end of the elastic element 33. The plunger 32 is inserted into the guide portion 11 from the end of the guide portion 11 away from the outer clamp 10 and abuts against the other end of the elastic element 33. The elastic element 33 is used to provide a preload force to press the wire rope in the passage cavity 50 along the first direction X.

[0019] In other words, the cable gripper of this application has a guide portion 11 extending along the first direction X on the outer gripper 10, and an elastic element 33 is provided in the guide portion 11. Then, one end of the guide rod 31 extends into the guide portion 11 and abuts against the elastic element 33, and the other end extends into the slide groove 10a and connects with the inner gripper 20. This allows the elastic element 33 to act on the guide rod 31, thereby driving the inner gripper 20 to slide in the slide groove 10a, so as to provide a preload force to press the wire rope in the passage cavity 50 along the first direction X. If the inspection robot is blocked, the pulling force on the wire rope will be greater than the preload force, thereby driving the inner gripper 20 to move along the first direction X, so that the first arc groove 10b and the second arc groove 20b open, thereby allowing the wire rope to disengage from the passage cavity 50 due to the pulling force, ensuring that the overload pulling force can be quickly cut off in the jamming condition, and realizing the protection of the inspection robot and the guide rail.

[0020] In one embodiment, the plunger 32 is at least partially exposed outside the guide portion 11, and the plunger 32 is telescopically extended into the guide portion 11 to control the length of the plunger 32 extending into the guide portion 11, thereby adjusting the opening and closing degree of the first arc-shaped groove 10b and the second arc-shaped groove 20b. Thus, by extending the plunger 32 into the guide portion 11, a supporting force can be provided to the elastic member 33. Furthermore, by adjusting the length of the plunger 32 extending into the guide portion 11, the compressive force on the elastic member 33 can be adjusted. This allows for adjustment of the opening and closing degree of the first arc-shaped groove 10b and the second arc-shaped groove 20b according to different specifications of wire rope, thereby adapting to different specifications of wire rope.

[0021] In one embodiment, the guide rod 31, housed within the guide portion 11, has an abutment portion 31a at one end. This abutment portion 31a abuts against the end of the elastic member 33 furthest from the plug 32. Thus, by using the abutment portion 31a (such as a disc-shaped or boss-shaped structure) to directly abut against the guide rod 31, the contact area with the elastic member 33 is significantly increased compared to direct contact with the guide rod body. This ensures that the elastic member 33 is subjected to uniform force, extends its service life, and avoids the risk of loss of buffering function due to premature failure of the elastic member 33, which could lead to robot damage or guide rail deformation. Please refer to Figure 1 and Figure 4 In one embodiment, the cable clamp further includes two pressure plates 40 mounted on the surface of the outer clamp 10. The two pressure plates 40 are respectively disposed on both sides of the inner clamp 20 in the second direction Y. The slide groove 10a is symmetrically provided with two protrusions 70 extending along the first direction X. At least a portion of the pressure plate 40 is opposite to the protrusion 70 to form a sliding cavity between the protrusion 70 and the pressure plate 40. The inner clamp 20 is provided with slide strips 20a on both sides of the second direction Y. The second direction Y is perpendicular to the first direction X. When the inner clamp 20 is inserted into the slide groove 10a, the slide strips 20a are located in the sliding cavity and abut against the pressure plates 40.

[0022] In other words, by symmetrically setting two protrusions 70 in the slide groove 10a and using two pressure plates 40 installed on the surface of the outer clamp 10 to define the sliding cavity, after the inner clamp 20 is inserted into the slide groove 10a, the slide strips 20a on both sides of the inner clamp 20 will be placed in the sliding cavity, which will limit the inner clamp 20 and ensure that the inner clamp 20 slides in a predetermined direction while avoiding deviation, tilting or flipping. In one embodiment, the outer clamp 10 has a first mounting hole 10c on its surface for mounting the pressure plate 40, and the pressure plate 40 has a second mounting hole that matches the first mounting hole 10c. Thus, after the pressure plate 40 is placed on the surface of the outer clamp 10, the first mounting hole 10c and the second mounting hole are aligned. Then, by using fasteners to pass through the first mounting hole 10c and the second mounting hole in sequence, the pressure plate 40 can be detachably mounted on the surface of the outer clamp 10. This design is simple and easy to install and remove.

[0023] In one embodiment, the outer retainer 10 has a through hole 10d at one end near the guide portion 11 in the first direction X. The through hole 10d communicates with the interior of the guide portion 11, and a wear-resistant sleeve 60 is embedded in the through hole 10d. The guide rod 31 passes through the wear-resistant sleeve 60 from the guide portion 11 and extends into the groove 10a to connect with the inner retainer 20. In this way, by utilizing the through hole 10d of the outer retainer 10 to communicate with the interior of the guide portion 11, a through channel for the guide rod 31 can be formed. The embedded wear-resistant sleeve 60 fits tightly with the guide rod 31, forming a radial rigid constraint on the guide rod 31. This ensures that it only performs linear reciprocating motion along the first direction X, preventing the inner wall of the through hole 10d from wearing due to long-term sliding, which would cause radial swaying or deflection. This ensures that the deformation force of the elastic element 33 is always transmitted to the inner retainer 20 along the first direction X.

[0024] Among them, due to the good wear resistance of copper, copper sleeves can be selected for wear-resistant sleeves 60 in specific practical applications.

[0025] In one embodiment, the inner retainer 20 has a fixing hole at one end near the guide portion 11, and the guide rod 31 extends into the fixing hole at one end that is inserted into the slide groove 10a for fixing. In this way, the guide rod 31 can extend into the fixing hole and be fixedly connected to the inner retainer 20 by means of a threaded connection, which is simple in structure and easy to assemble and disassemble. Please refer to Figure 5 and Figure 6 In one embodiment, the gripper further includes a connecting frame 80. One end of the connecting frame 80 is connected to the end of the outer gripper 10 near the guide portion 11, and the other end is used to connect to the inspection robot to achieve a fixed connection between the gripper and the inspection robot, thereby being compatible with inspection robots of different brands and sizes. In addition, the connecting frame 80 has a storage cavity 80a extending along a first direction X. The guide portion 11 passes through the storage cavity 80a along the first direction X, and the plug 32 is located outside the storage cavity 80a, thereby making the connecting frame 80 fixedly connected to the outer gripper 10. The guide portion 11 can pass through the storage cavity 80a along the first direction X, avoiding the exposure of components such as the guide portion 11 and the elastic element 33, which would occupy additional space. In one embodiment, the outer clamp 10 has a snap-fit ​​groove 10e at one end near the guide portion 11, and the connecting frame 80 is snapped into the snap-fit ​​groove 10e at one end near the outer clamp 10 to achieve pre-fixation between the connecting frame 80 and the outer clamp 10. Please refer to Figure 5In one embodiment, the cable gripper further includes a locking assembly 90, which includes a first locking nut 91 and a second locking nut 92. The first locking nut 91 is fitted onto the portion of the guide portion 11 that extends out of the receiving cavity 80a, and the second locking nut 92 is fitted onto the portion of the plug 32 that extends out of the guide portion 11. That is, by using the first locking nut 91 fitted onto the portion of the guide portion 11 that extends out of the receiving cavity 80a, the relative position of the guide portion 11 and the connecting frame 80 can be fixed, preventing the guide portion 11 from axially shifting within the receiving cavity 80a, and ensuring the stability of the force reference of the guide rod 31 and the inner clamp 20. Furthermore, after adjusting the preload of the elastic element 33 through the plug 32, tightening the second locking nut 92 can rigidly lock the plug 32 within the guide portion 11, preventing it from retracting or shifting due to mine vibration or equipment operation impact, ensuring a constant compression of the elastic element 33, and guaranteeing the stable clamping and overload buffering effect of the passage cavity 50 on the wire rope.

[0026] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A rope gripper, characterized in that, include: The outer clamp has a groove extending in a first direction on its surface, and in the first direction, one end of the outer clamp has a first arc-shaped groove, and the other end has a guide portion extending in the first direction. The inner retainer is slidably disposed in the groove. The inner retainer has a second arc-shaped groove at the end away from the guide in the first direction. The second arc-shaped groove and the first arc-shaped groove cooperate to form a passage cavity for the steel wire rope to pass through. The adjusting assembly includes an elastic element, a plunger, and a guide rod. The elastic element is disposed within the guide portion. One end of the guide rod passes through the guide portion along the first direction and extends into the groove to connect with the inner retainer. The other end is housed within the guide portion and abuts against one end of the elastic element. The plunger is inserted into the guide portion from the end away from the outer retainer and abuts against the other end of the elastic element. The elastic element is used to provide a preload force to press the wire rope through the cavity along the first direction.

2. The cable gripper according to claim 1, characterized in that, The plunger is at least partially exposed outside the guide portion, and the plunger can extend telescopically into the guide portion to control the length of the plunger extending into the guide portion, thereby adjusting the opening and closing degree of the first arc-shaped groove and the second arc-shaped groove.

3. The cable gripper according to claim 1, characterized in that, The guide rod is housed within the guide portion at one end and has an abutment portion thereon, which is used to abut against the end of the elastic member away from the plunger.

4. The cable gripper according to claim 1, characterized in that, The cable clamp also includes two pressure plates mounted on the surface of the outer clamp, the two pressure plates being respectively disposed on both sides of the inner clamp in a second direction, the slide groove being symmetrically provided with two protrusions extending along the first direction, at least a portion of the pressure plate being opposite to the protrusions to form a sliding cavity between the protrusions and the pressure plate, and the inner clamp being provided with slide strips on both sides of the second direction; wherein, the second direction is perpendicular to the first direction; When the inner clamp is inserted into the slide groove, the slide bar is located in the sliding cavity and abuts against the pressure plate.

5. The cable gripper according to claim 4, characterized in that, The outer clamp has a first mounting hole on its surface for mounting the pressure plate, and the pressure plate has a second mounting hole that matches the first mounting hole.

6. The cable gripper according to claim 1, characterized in that, The outer clamp has a through hole at one end near the guide in the first direction. The through hole is connected to the interior of the guide and a wear-resistant sleeve is embedded in the through hole. The guide rod passes through the wear-resistant sleeve from the guide and extends into the groove to connect with the inner clamp.

7. The cable gripper according to claim 1, characterized in that, The inner retainer has a fixing hole at one end near the guide portion, and the end of the guide rod that extends into the groove extends into the fixing hole to achieve fixation.

8. The cable gripper according to any one of claims 1 to 7, characterized in that, The gripper also includes a connecting frame, one end of which is connected to the end of the outer gripper near the guide portion, and the other end is used to connect to the inspection robot. The connecting frame has a storage cavity that extends along the first direction, the guide portion passes through the storage cavity along the first direction, and the plug is located outside the storage cavity.

9. The cable gripper according to claim 8, characterized in that, The outer clamp has a snap-fit ​​groove at one end near the guide portion, and the connecting frame is snapped into the snap-fit ​​groove at one end near the outer clamp to achieve pre-fixation of the connecting frame and the outer clamp.

10. The cable gripper according to claim 9, characterized in that, The cable holder also includes a locking assembly, which includes a first locking nut and a second locking nut. The first locking nut is sleeved on the portion of the guide that extends out of the receiving cavity, and the second locking nut is sleeved on the portion of the plunger that extends out of the guide.

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