阅读说明：本技术 一种复杂地质条件煤矿单轨吊运输机器人 (Single-rail hoisting conveying robot for coal mine under complex geological conditions ) 是由 闫宣宣 靳华伟 寇子明 张立祥 王鼎 左瑞龄 王国荣 徐记顺 许欢 张亮 于 2021-07-16 设计创作，主要内容包括：本公开公开的属于单轨吊车技术领域,具体为一种复杂地质条件煤矿单轨吊运输机器人,包括吊轨,所述吊轨底部的左侧和右侧分别活动连接有第一驱动单元和第二驱动单元,通过第一驱动单元和第二驱动单元的使用,可以使单轨吊车进行双驱动作业,增加了行进的动力,通过制动机构的使用,可以通过摩擦盘在控制下移动并与吊轨摩擦制动,同时在减震缓冲机构的配合使用中,减震板在与障碍物碰触时,压力接收到信号后,将信息反馈并与制动机构联动,同时通过电机输送端的转动,可以控制单轨吊车在制动时的速度,不会发生制动速度过快和过慢的现象发生,增强了单轨吊车在行进过程中的安全性和自动化程度。(The utility model belongs to the technical field of monorail cranes, in particular to a coal mine monorail hoisting and conveying robot with complex geological conditions, which comprises a hoisting rail, the left side and the right side of the bottom of the hanger rail are respectively movably connected with a first driving unit and a second driving unit, can enable the monorail crane to carry out double-drive operation, increases the advancing power, can move under the control of the friction disc and carry out friction braking with the hanging rail through the use of the braking mechanism, meanwhile, when the damping buffer mechanism is matched for use, when the damping plate touches an obstacle, the pressure receives a signal, the information is fed back and linked with the brake mechanism, meanwhile, the speed of the monorail crane during braking can be controlled through rotation of the motor conveying end, the phenomena of too high and too low braking speed can not occur, and the safety and the automation degree of the monorail crane in the advancing process are enhanced.)

1. A coal mine single-rail hoisting and conveying robot with complex geological conditions comprises a hoisting rail (1), wherein the bottoms of two ends of the hoisting rail (1) are respectively and movably connected with a first driving unit (2) and a second driving unit (3), and the coal mine single-rail hoisting and conveying robot is characterized in that the two sides of the tops of the first driving unit (2) and the second driving unit (3) are respectively provided with a driving wheel (4) in rolling connection with the hoisting rail (1), the top of the first driving unit (2) is provided with a braking mechanism (5) in movable connection with the hoisting rail (1), two lifting appliances (6) are arranged between the opposite sides of the first driving unit (2) and the second driving unit (3), and the bottom of each lifting appliance (6) is movably connected with a load box (7);

the bottom of the first driving unit (2) is provided with a damping and buffering mechanism (8), the damping and buffering mechanism (8) extends out of the front side of the first driving unit (2), the rear side of the left side of the first driving unit (2) is fixedly connected with an illuminating lamp (9), and the front side of the first driving unit (2) is fixedly connected with a camera (10);

the camera (10) is used for carrying out image acquisition on the barrier and carrying out linkage braking with the braking mechanism (5) through a microcomputer control end;

when the damping buffer mechanism (8) touches an obstacle, the microcomputer control end controls the brake mechanism (5) to brake.

2. The complex geological condition coal mine single-rail lifting and conveying robot is characterized in that the braking mechanism (5) comprises a fixed shell (501), a motor (502), a first gear (503), a second gear (504), a threaded rod (505), a bearing (506), a threaded sleeve (507), a connecting rod (508), a connecting block (509) and a friction disc (510), the bottom of the fixed shell (501) is fixedly connected with the top of the first driving unit (2), one end of the lifting rail (1) penetrates through and extends to the other side of the fixed shell (501), the bottom of the motor (502) is fixedly connected with the bottom of the inner wall of the fixed shell (501), the output end of the motor (502) is fixedly connected with the first gear (503), the surface of the first gear (503) is meshed with the surface of the second gear (504), the second gear (504) is fixed at the center of the surface of the threaded rod (505), the both ends of threaded rod (505) all with the inner circle fixed connection of bearing (506), the outer lane of bearing (506) and the inner wall fixed connection of set casing (501), the quantity of thread bush (507) is two, and two thread bushes (507) overlap respectively and locate the both sides on threaded rod (505) surface, the top and connecting rod (508) fixed connection of thread bush (507), the other end and connecting block (509) fixed connection of connecting rod (508), the quantity of friction disk (510) is two, and two opposite one sides of friction disk (510) all with connecting block (509) fixed connection.

3. The complex geological condition coal mine single-rail lifting and conveying robot as claimed in claim 2, wherein threads in opposite directions are formed on the inner walls of the two threaded sleeves (507), and the threaded sleeves (507) are in meshing transmission with the surfaces of the threaded rods (505) through the threads.

4. The complex geological condition coal mine single-rail hoisting robot as claimed in claim 2, wherein the front side and the rear side of the fixed shell (501) are provided with first through holes (11) matched with the connecting block (509) for use, and the bottom of the front side and the bottom of the rear side of the fixed shell (501) are provided with second through holes (12) matched with the connecting rod (508) for use.

5. The complex geological condition coal mine single-rail lifting and conveying robot is characterized in that the damping and buffering mechanism (8) comprises a damping plate (801), a damping rod (802), a moving plate (803), a first damping spring (804), a sleeve (805), an end plate (806), a pressure sensor (807) and an arc-shaped metal pipe (808), the top of the arc-shaped metal pipe (808) is communicated with the bottom of the first driving unit (2), the left side of the arc-shaped metal pipe (808) is communicated with the right side of the sleeve (805), the damping rod (802) is located inside the sleeve (805), the left side of the damping rod (802) penetrates through and extends to the left side of the sleeve (805), the right side of the damping plate (801) is fixedly connected with the left side of the damping rod (802), the damping rod (802) is sleeved with the left side of the surface of the damping rod (803), the left side and the right side of the first damping spring (804) are respectively fixedly connected with the moving plate (803) and the end plate (806), the surface of the end plate (806) is fixedly connected with the inner wall of the sleeve (805), the left side of the pressure sensor (807) penetrates through the left side of the end plate (806) and is located on the right side of the shock absorption rod (802), and the right side of the pressure sensor (807) is electrically connected with the control terminal of the first driving unit (2) through a connecting wire.

6. The complex geological condition coal mine single-rail lifting and conveying robot is characterized in that one sides, close to each other, of the first driving unit (2), the second driving unit (3) and the lifting appliance (6) are movably connected with a transmission rod (17) through a connecting clamping ring.

7. The complex geological condition coal mine single-rail lifting conveying robot is characterized in that a pressure touch assembly (13) is arranged on the right side inside the shock absorption rod (802).

8. The complex geological condition coal mine single-rail hoisting robot is characterized in that the pressure touch assembly (13) comprises a mounting hole groove (1301), a second damping spring (1302) and a touch plate (1303), the mounting hole groove (1301) is formed in the right side of the damping rod (802), and the left side and the right side of the second damping spring (1302) are fixedly connected with the left side of the inner wall of the mounting hole groove (1301) and the left side of the touch plate (1303) respectively.

9. The complex geological condition coal mine single-rail hoisting and conveying robot as claimed in claim 8, wherein the top and the bottom of the touch plate (1303) are both fixedly connected with sliding blocks (14), and the top and the bottom of the inner wall of the mounting hole groove (1301) are both provided with sliding grooves (15) matched with the sliding blocks (14) for use.

10. The device according to claim 2, characterized in that a maintenance top plate (16) is arranged on the top of the fixed shell (501), and the maintenance top plate (16) is detachably connected with the fixed shell (501).

Technical Field

The utility model belongs to the technical field of the monorail hoist, concretely relates to complicated geological conditions colliery monorail handling defeated robot.

Background

The coal mine is an area where people mine coal resources in a coal-rich mining area, and is generally divided into a mineworker coal mine and an opencast coal mine.

The auxiliary transportation of the coal mine is an important link of a mine production system, and is divided into rail transportation (a monorail crane, an electric locomotive, a rope tractor, a rail clamping vehicle and the like) and trackless transportation (a trackless rubber-tyred vehicle, a bracket carrier and the like). Aiming at a mining area with an abnormally complex geological structure, the section of a roadway is 10-15 square meters, the advancing length of a coal face is short, generally 400-600 m, a mining area is moved to the face for 3-4 times every year, and the auxiliary transportation line is frequently extended or moved along with the working place; most of roadway surrounding rocks are composite soft rocks, the phenomena of broken falling of a roadway top plate and bulging of a bottom plate are serious, the gradient of the roadway is large, the slope is changed, and turning is more, the number of transfer links of an auxiliary transportation system is more, the number of posts is more, trackless transportation conditions are not provided, and track transportation equipment is adopted more.

Multi-purpose monorail crane in the rail transport, monorail crane transports the handling to ore or equipment, the staff can realize simple swift butt joint in carrying, the development of the work of being convenient for, but current electric traction intelligence monorail crane is at the in-process that uses, many only possess the simplest and most simple transportation function, under the condition that the tunnel shape changes such as the ore pit takes place the earth and rock to sink, when having broken away from manual control, can not intelligent brake, the easy condition of bumping and derailing, very big increase the later stage and carry out the cost of maintaining to monorail crane.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide the coal mine monorail hoisting and conveying robot with complex geological conditions, which can control the speed of the monorail hoist during braking, avoid the phenomena of too high and too low braking speed and enhance the safety and automation degree of the monorail hoist during the advancing process.

The purpose of the disclosure can be realized by the following technical scheme:

a coal mine single-rail hoisting and conveying robot with complex geological conditions comprises a hoisting rail, wherein the bottoms of two ends of the hoisting rail are respectively and movably connected with a first driving unit and a second driving unit, driving wheels in rolling connection with the hoisting rail are arranged on two sides of the top of each of the first driving unit and the second driving unit, a braking mechanism in movable connection with the hoisting rail is arranged on the top of each of the first driving units, two lifting appliances are arranged between one sides of the first driving unit and the second driving unit, which are opposite to each other, and the bottom of each lifting appliance is movably connected with a load box;

the bottom of the first driving unit is provided with a damping and buffering mechanism, the damping and buffering mechanism extends out of the front side of the first driving unit, the rear side of the left side of the first driving unit is fixedly connected with an illuminating lamp, and the front side of the first driving unit is fixedly connected with a camera;

the camera is used for carrying out image acquisition on the barrier and carrying out linkage braking with the braking mechanism through the microcomputer control end;

when the damping buffer mechanism touches an obstacle, the microcomputer control end controls the brake mechanism to brake.

The beneficial effect of this disclosure:

the camera is arranged and the damping and buffering mechanism is combined to control the speed of the monorail crane during braking, so that the phenomena of too high and too low braking speed can be avoided, and the safety and the automation degree of the monorail crane in the advancing process are enhanced.

Drawings

FIG. 1 is a schematic overall structure of the present disclosure;

fig. 2 is a perspective view of a first drive unit of the present disclosure;

fig. 3 is a perspective view of a spreader of the present disclosure;

FIG. 4 is a left side cross-sectional view of the braking mechanism of the present disclosure;

FIG. 5 is a front cross-sectional view of the shock absorbing cushioning mechanism of the present disclosure;

FIG. 6 is a partial front cross-sectional view of a sleeve of the present disclosure;

fig. 7 is a partial enlarged view at a in fig. 3 of the present disclosure.

Detailed Description

As shown in figures 1-7, the coal mine single-rail lifting and conveying robot with complex geological conditions comprises a lifting rail 1, wherein the bottoms of two ends of the lifting rail 1 are respectively and movably connected with a first driving unit 2 and a second driving unit 3,

the first driving unit 2 and the second driving unit 3 are driving members of a monorail crane in the prior art and are driven in a track of the overhead rail 1 by an electric hoist, a microcomputer control end is mounted in the first driving unit 2 and is used for receiving and processing data of the pressure sensor 807 and the camera 10;

two sides of the tops of the first driving unit 2 and the second driving unit 3 are respectively provided with a driving wheel 4 which is in rolling connection with the hanger rail 1, the top of the first driving unit 2 is provided with a braking mechanism 5 which is movably connected with the hanger rail 1, two lifting appliances 6 are arranged between one sides of the first driving unit 2 and the second driving unit 3 which are opposite, and the bottom of each lifting appliance 6 is movably connected with a load box 7;

the bottom of the first driving unit 2 is provided with a damping buffer mechanism 8, the rear side of the left side of the first driving unit 2 is fixedly connected with an illuminating lamp 9, the front side of the left side of the first driving unit 2 is fixedly connected with a camera 10, and the camera 10 is used for carrying out image acquisition on an obstacle and is linked with the braking mechanism 5 through a microcomputer control end so as to achieve the purpose of braking;

the brake mechanism 5 comprises a fixed shell 501, a motor 502, a first gear 503, a second gear 504, a threaded rod 505, a bearing 506, a threaded sleeve 507, a connecting rod 508, a connecting block 509 and a friction disc 510, wherein the bottom of the fixed shell 501 is fixedly connected with the top of the first driving unit 2, one end of the hanger rail 1 penetrates through and extends to the other side of the fixed shell 501, the bottom of the motor 502 is fixedly connected with the bottom of the inner wall of the fixed shell 501, the output end of the motor 502 is fixedly connected with the first gear 503, the surface of the first gear 503 is meshed with the surface of the second gear 504, the second gear 504 is fixed at the center of the surface of the threaded rod 505, two ends of the threaded rod 505 are fixedly connected with the inner ring of the bearing 506, the outer ring of the bearing 506 is fixedly connected with the inner wall of the fixed shell 501, the number of the threaded sleeves 507 is two, the two threaded sleeves 507 are respectively sleeved on two sides of the surface of the threaded rod 505, and the top of the threaded sleeves 507 is fixedly connected with the connecting rod 508, the other end of the connecting rod 508 is fixedly connected with the connecting block 509, the number of the friction disks 510 is two, and the opposite sides of the two friction disks 510 are fixedly connected with the connecting block 509;

the shock absorption and buffering mechanism 8 comprises a shock absorption plate 801, a shock absorption rod 802, a moving plate 803, a first shock absorption spring 804, a sleeve 805, an end plate 806, a pressure sensor 807 and an arc-shaped metal pipe 808, wherein the model of the pressure sensor 807 is as follows: LU-THG, manufactured by ANTHONE, and having an accuracy of 0.075 level, the top of the arc-shaped metal tube 808 communicates with the bottom of the first driving unit 2, the left side of the arc-shaped metal tube 808 communicates with the right side of the sleeve 805, the damper rod 802 is located inside the sleeve 805, the left side of the damper rod 802 penetrates and extends to the left side of the sleeve 805, the right side of the damper plate 801 is fixedly connected with the left side of the damper rod 802, the movable plate 803 is sleeved on the left side of the surface of the damper rod 802, the left side and the right side of the first damper spring 804 are fixedly connected with the movable plate 803 and the end plate 806, respectively, the surface of the end plate 806 is fixedly connected with the inner wall of the sleeve 805, the left side of the pressure sensor 807 penetrates the left side of the end plate 806 and is located on the right side of the damper rod 802, and the right side of the pressure sensor 807 is electrically connected with the control terminal of the first driving unit 2 through a connection line.

In this example, the side that first drive unit 2, second drive unit 3 and hoist 6 are close to each other all has transfer line 17 through connecting snap ring swing joint, through transfer line 17's use, can make first drive unit 2 and second drive unit 3 effectively carry out the transmission to hoist 6 and load case 7 and advance, and it is strong to advance power, simultaneously through the use of connecting the snap ring, has improved the smooth degree when crossing the turn.

In this example, the front side and the rear side of set casing 501 have all been seted up with the first perforation 11 that connecting block 509 cooperatees and use, and the bottom of set casing 501 front side and rear side has all been seted up with the second perforation 12 that connecting rod 508 cooperatees and use, through the use of first perforation 11 and second perforation 12, can make connecting block 509 and connecting rod 508 pass through first perforation 11 and second perforation 12 and remove, has avoided connecting block 509 and connecting rod 508 and set casing 501 to take place the dead phenomenon of card.

In this example, the pressure touch component 13 is disposed on the right side inside the shock absorption rod 802, the surface of the moving plate 803 and the inside of the sleeve 805 are both polished smoothly, the pressure sensor 807 cannot be damaged due to hard collision by using the pressure touch component 13, the structure is stable and effective, and meanwhile, noise generated in the shock absorption process is reduced by smoothly moving the moving plate 803 inside the sleeve 805.

In this example, the pressure touch component 13 includes an installation hole slot 1301, a second damping spring 1302 and a touch pad 1303, the installation hole slot 1301 is opened on the right side of the damping rod 802, the left side and the right side of the second damping spring 1302 are respectively fixedly connected with the left side of the inner wall of the installation hole slot 1301 and the left side of the touch pad 1303, and the touch pad 1303 is subjected to damping processing through the second damping spring 1302, so that the touch pad 1303 can be in contact with the pressure sensor 807 without causing deformation and damage to the pressure sensor 807.

In this example, the top and the bottom of touch panel 1303 are both fixedly connected with sliding block 14, and the top and the bottom of the inner wall of mounting hole groove 1301 are both provided with sliding groove 15 used in cooperation with sliding block 14, so that touch panel 1303 can be stably moved in the moving process through the use of sliding block 14 and sliding groove 15, and the phenomenon of locking cannot occur.

In this example, the inner walls of the two threaded sleeves 507 are provided with threads in opposite directions, the threaded sleeves 507 are in meshed transmission with the surface of the threaded rod 505 through the threads, and the two threaded sleeves 507 can move in opposite directions on the surface of the threaded rod 505 through the use of the two threads in opposite directions, so that the friction disc 510 can effectively brake the monorail crane.

In this example, the top of set casing 501 is provided with maintenance roof 16, and the four corners at maintenance roof 16 top all passes through bolt and set casing 501 fixed connection, through the use of maintenance roof 16, can make things convenient for the user to maintain the replacement to the internal component of set casing 501, has improved the efficiency when maintenance is maintained.

It should be noted that, the present disclosure is a coal mine single-rail lifting and conveying robot with complex geological conditions, first, a lifting appliance 6 and a load box 7 are driven to move by a first driving unit 2 and a second driving unit 3, in the moving process, after a camera 10 recognizes an obstacle, a control motor 502 drives a first gear 503 to rotate, the first gear 503 drives a second gear 504 to rotate, the second gear 504 drives a threaded rod 505 to rotate, the threaded rod 505 drives a threaded sleeve 507 to move to an opposite side on the surface of the threaded rod 505, the threaded sleeve 507 drives a connecting rod 508 to move, the connecting rod 508 drives a connecting block to move, the connecting block 509 drives a friction disc 510 to contact with a lifting rail 1 and to perform friction braking, at this time, the motor 502 has a slow rotating speed, so that the lifting appliance 6 and the box 7 are stopped slowly and stably, when an obstacle suddenly appears in the moving direction, or due to light, in the case where the camera 10 cannot recognize an obstacle, the shock-absorbing plate 801 is first brought into contact with the obstacle, and drives the damping rod 802 to move, the damping rod 802 drives the moving plate 803 to move, the moving plate 803 drives the first damping spring 804 to generate elastic deformation, the pressure sensor 807 is in contact with the touch plate 1303, the touch plate 1303 drives the sliding block 14 to move in the inner cavity of the sliding slot 15, meanwhile, the touch panel 1303 drives the second damping spring 1302 to move, the pressure sensor 807 feeds information back to the first driving unit 2, the microcomputer control end processes data and controls the motor 502 to rotate, so that the friction disc 510 moves to rub against the hanger rail 1 for braking, in this case, emergency braking, the rotation speed of the motor 502 is increased, the braking time is calculated by the formula V-S/t, through the steps, the intelligent braking function of the monorail crane can be effectively improved, and potential safety hazards are reduced.