CN115693578B - Laying and tensioning mechanism for power supply towing cable of intelligent inspection device - Google Patents
Laying and tensioning mechanism for power supply towing cable of intelligent inspection device Download PDFInfo
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- CN115693578B CN115693578B CN202310002243.8A CN202310002243A CN115693578B CN 115693578 B CN115693578 B CN 115693578B CN 202310002243 A CN202310002243 A CN 202310002243A CN 115693578 B CN115693578 B CN 115693578B
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Abstract
The invention discloses a distributing and tensioning mechanism for a power supply towing cable of an intelligent inspection device, which solves the problem of how to economically and reasonably distribute the power supply towing cable of the intelligent inspection device; the intelligent inspection device comprises an inspection track (3), a U-shaped wire slot (5) is fixedly arranged on the inner side of the inspection track (3), a power supply towing cable tensioning trolley (6) is movably arranged in the U-shaped wire slot (5), a power supply towing cable access column (7) is arranged at the midpoint of an inspection roadway (1), the length of the power supply towing cable (29) is half of the total length of the inspection track (3), the fixed end of the power supply towing cable (29) is connected to the power supply towing cable access column (7), and the movable end of the power supply towing cable is connected to the intelligent inspection device (4) after bypassing a towing cable steering fixed pulley (28); the retracting and releasing following mechanism (10) of the hauling rope leads the power supply towing rope which bypasses the towing rope steering fixed pulley to be always kept in a tensioning state by the traction of the hauling rope (13) to the power supply towing rope tensioning trolley.
Description
Technical Field
The invention relates to an intelligent inspection device, in particular to a laying and tensioning mechanism of a power supply towing cable of the intelligent inspection device and a laying and following method of the power supply towing cable of the intelligent inspection device in inspection.
Background
With the rapid development of the internet of things and big data technology, an intelligent management system in the field of industrial production is mature day by day; the intelligent inspection device (also called intelligent inspection robot) is a product combining artificial intelligence technology and mechanical intelligence technology, and is widely applied to the production practice process; the intelligent inspection device is adopted for field inspection, the traditional manual inspection work of a production field is gradually replaced, and particularly, the intelligent inspection device plays more and more important roles in the production field with severe environment and high risk; the current intelligent inspection device is generally through taking the battery certainly, for intelligent inspection device provides the power, but under some special production environment, for example: in operation areas with explosion risks, such as high gas mines, coking industries, petroleum industries and the like, the charging and discharging management of a battery used by the intelligent inspection device is strictly limited, so that the problem of power supply configuration of the intelligent inspection device is solved.
In the underground production of a coal mine, the mined coal is generally conveyed to a well through a belt conveyor, and an intelligent inspection device is generally used for periodically inspecting a coal conveying device and the surrounding environment, acquiring relevant information and protecting the driving and navigating for the underground safe production; when the intelligent inspection device inspects the ground, the intelligent inspection device generally walks on a fixed inspection track; as the underground is provided with perfect power supply equipment, the explosion-proof cable technology is mature, and if the intelligent inspection device is powered by the power supply towrope, the intelligent inspection device is a good choice; however, the general underground inspection route is longer, and if the intelligent inspection device is provided with the towing cable according to the length of the inspection route, the equipment investment cost of the towing cable can be increased, the length of the towing cable can be reduced, and the towing cable can be scientifically and reasonably arranged, so that the problem to be solved on site is solved; in addition, because the intelligent inspection device does reciprocating motion on the inspection track, in the walking process of the intelligent inspection device, how to realize that the towing cable is prevented from being pulled off by force or being folded and bent in the walking process of the intelligent inspection device, the towing cable is freely and safely folded and released, and the intelligent inspection device becomes another difficult problem to be solved in the walking process of the intelligent inspection device.
Because the intelligent inspection device generally works in a severe environment, the power supply of the intelligent inspection device is an important component of the equipment, if the intelligent inspection device is powered by adopting a towrope form, the reliable connection of the towrope and the connection part of the intelligent inspection device is the premise of normal work of the intelligent inspection device; when the intelligent inspection device is started or stopped, impact force is formed on the joint of the towing cable, and how to overcome the impact force ensures the reliability of the connection of the power supply towing cable and the intelligent inspection device is a difficult problem to overcome.
Disclosure of Invention
The invention provides a laying and tensioning mechanism of a power supply towing cable of an intelligent inspection device, which solves the technical problems of how to economically and reasonably lay the power supply towing cable of the intelligent inspection device and how to realize safe and free folding and unfolding of the power supply towing cable when the intelligent inspection device walks.
The general concept of the invention is: arranging U-shaped wire grooves in parallel along with a track on one side of a walking track of the intelligent inspection device, arranging a power supply towing cable of the intelligent inspection device in the U-shaped wire grooves, movably arranging a cuboid-shaped cable dragging walking trolley in the U-shaped wire grooves, and arranging a fixed pulley on the cable dragging walking trolley along the vertical direction; arranging an access point of a power supply cable of the intelligent inspection device in the middle of a walking track of the intelligent inspection device, taking half of the length of the walking track of the intelligent inspection device (namely 1/2 of the length of an inspection route of the intelligent inspection device) as the length of a power supply towing cable of the intelligent inspection device, connecting one end of the power supply towing cable to the access point of the power supply cable arranged in the middle of the walking track of the intelligent inspection device, guiding the power supply towing cable into a U-shaped wire slot at the access point, and then drawing the other end of the power supply towing cable around a fixed pulley arranged on a cable dragging and walking trolley, and then drawing the power supply towing cable back along the U-shaped wire slot and connecting the power supply cable to the connection point of the power supply cable of the intelligent inspection device; a tensioning mechanism of a power supply towing rope is arranged at the starting point of a walking track of the intelligent inspection device, a motor-controlled tensioning line roller is arranged on the towing rope tensioning mechanism, a traction line rope is wound on the tensioning line roller, and the end of the traction line rope is connected to the right end of a cable dragging and walking trolley; the power supply cable which bypasses the fixed pulley is arranged on the outer side of the left end of the cable dragging and walking trolley, a reverse opposite pulling mode that the traction cord is right and the power supply towing cable is left is formed on the cable dragging and walking trolley, so that the traction cord can tension the power supply cable which bypasses the fixed pulley through the cable dragging and walking trolley; when the intelligent inspection device walks leftwards, the tensioning wire roller leads the cable to drag the walking trolley to walk leftwards along with the intelligent inspection device by paying off; when the intelligent inspection device walks rightwards, the tensioning wire roller enables the cable to drag the walking trolley to walk rightwards along with the intelligent inspection device by taking up wires; the intelligent inspection device is pulled by the traction rope in the whole reciprocating motion, so that the power supply towrope is always in a tensioning state, and the power supply cable of the intelligent inspection device is free to receive and release and reliably supplies power in the inspection process; aiming at the impact on the joint of the power supply towing rope when the intelligent inspection device is started and stopped, the U-shaped buffer area of the towing rope is arranged on the tensioning mechanism, and the sliding table buffer mechanism is arranged at the joint of the power supply towing rope and the intelligent inspection device so as to buffer and overcome the impact on the joint of the towing rope when the intelligent inspection device is started or stopped, thereby ensuring the reliable connection of the power supply towing rope and the intelligent inspection device.
A power supply towing cable laying and tensioning mechanism of an intelligent inspection device comprises an inspection roadway, the intelligent inspection device and a power supply towing cable of the intelligent inspection device, wherein a cantilever support is arranged on a wall in the inspection roadway, an inspection track of the intelligent inspection device is arranged on the cantilever support, and the intelligent inspection device is arranged on the inspection track; the inner side of the inspection track is fixedly provided with a U-shaped wire slot, and the U-shaped wire slot and the inspection track are arranged in parallel; a power supply towing cable tensioning trolley is movably arranged in the U-shaped wire groove, and a towing cable steering fixed pulley is arranged on the power supply towing cable tensioning trolley; the middle point of the inspection roadway is provided with a power supply towrope access column, the length of the power supply towrope is half of the total length of the inspection track, the power supply towrope is arranged in a U-shaped wire groove, the fixed end of the power supply towrope is connected to the power supply towrope access column, and the movable end of the power supply towrope is connected to an intelligent inspection device after bypassing a towrope steering fixed pulley; a retractable following mechanism of a traction rope is fixedly arranged on the right side of the starting end of the inspection track, the retractable following mechanism of the traction rope is provided with the retractable traction rope, and the end head of the traction rope is connected to the right end of the power supply towrope tensioning trolley; the retracting and releasing following mechanism of the hauling rope pulls the tensioning trolley of the power supply towing rope through the hauling rope, so that the power supply towing rope which bypasses the towing rope steering fixed pulley is always kept in a tensioning state.
The intelligent inspection device is used for carrying out reciprocating inspection operation between the starting end of the inspection track and the terminal end of the inspection track.
A first fixed pulley, a second fixed pulley, a third fixed pulley and a fourth fixed pulley are respectively arranged on a top end beam of a T-shaped traction rope support of a traction rope winding and unwinding following mechanism along the direction from left to right, and a winding roller, a winding roller driving motor and a rope guider of the traction rope are respectively arranged on a base plate of the T-shaped traction rope support; the traction rope connected to the right end of the power supply towrope tensioning trolley is wound on a winding roller of the traction rope after sequentially passing through the first fixed pulley, the second fixed pulley, the third fixed pulley, the fourth fixed pulley and the rope guider along the left-to-right direction; a movable pulley in a U-shaped buffer area of the traction rope is suspended on the traction rope between the second fixed pulley and the third fixed pulley, a balance weight support is suspended on a wheel shaft of the movable pulley in the U-shaped buffer area of the traction rope, and a balance weight block is suspended on the balance weight support; a first fixed pulley rotating direction identification sensor is arranged on a cross beam at the top end of the T-shaped traction rope support on one side of the first fixed pulley, and a counterweight lifting stroke identification sensor is arranged on an upright post of the T-shaped traction rope support.
The intelligent inspection device is fixedly connected with a zigzag support, a horizontal slide rail mounting platform is connected to the upper end of the zigzag support, a slide rail is fixedly arranged on the horizontal slide rail mounting platform along the walking direction of the intelligent inspection device, a slide block is movably arranged on the slide rail, a towing cable is fixedly connected with a cantilever block on the slide block, and the movable end of a power supply towing cable is fixedly connected with the towing cable fixedly connected with the cantilever block; the power supply access line of the intelligent inspection device is electrically connected with the movable end of the power supply towing cable through the towing cable fixed connection cantilever block.
On horizontal slide rail mounting platform, be provided with swing arm round pin axle installation riser, on swing arm round pin axle installation riser, be provided with left L shape swing arm round pin axle and right L shape swing arm round pin axle respectively, it has left L shape swing arm to articulate at left L shape swing arm round pin epaxial, left L shape swing arm sets up the outside at the left facade of slider, it has right L shape swing arm to articulate at right L shape swing arm round pin epaxial, right L shape swing arm sets up the outside at the right facade of slider, between the top of left L shape swing arm and the top of right L shape swing arm, be provided with the extension spring, on horizontal slide rail mounting platform's lower bottom surface, be provided with swing arm pressure sensor, the sheer pole of left L shape swing arm and the sheer pole of right L shape swing arm, all set up in swing arm pressure sensor's below.
The power supply towing cable tensioning trolley is characterized in that a trolley body frame of the power supply towing cable tensioning trolley is a cuboid frame body, four traveling wheels are respectively arranged at the bottom end of the trolley body frame, a left guide limiting wheel is arranged at the left end of the trolley body frame, a right guide limiting wheel is arranged at the right end of the trolley body frame, a towing cable steering fixed pulley is arranged between the left guide limiting wheel and the right guide limiting wheel, the towing cable steering fixed pulley is vertically arranged along the vertical direction, and the power supply towing cable is wound on the towing cable steering fixed pulley from the upper end of the towing cable steering fixed pulley and is led out leftwards from the lower end of the towing cable steering fixed pulley; the vehicle body frame is movably arranged on the bottom surface in the U-shaped wire groove through four walking wheels, and the left guiding limiting wheel and the right guiding limiting wheel are movably arranged between the front side surface and the rear side surface in the U-shaped wire groove.
The inspection track on the left side of the power supply towing cable access column is a U-shaped inspection track, vertical rollers are arranged in pairs at intervals at the turning position of the U-shaped inspection track along the turning direction, and the power supply towing cables are arranged between the pairs of vertical rollers.
A power supply towing cable arrangement and following method of an intelligent inspection device in inspection comprises an inspection roadway, the intelligent inspection device, a power supply towing cable of the intelligent inspection device and a retraction following mechanism of a traction rope, wherein a cantilever support is arranged on a wall in the inspection roadway, an inspection track of the intelligent inspection device is arranged on the cantilever support, the intelligent inspection device is arranged on the inspection track, a U-shaped wire slot is fixedly arranged on the inner side of the inspection track, and the U-shaped wire slot and the inspection track are arranged in parallel; the method is characterized by comprising the following steps:
firstly, movably arranging a power supply towing cable tensioning trolley in a U-shaped wire slot at the initial end of an inspection track, and arranging a towing cable steering fixed pulley on the power supply towing cable tensioning trolley; fixedly arranging a retractable following mechanism of the traction rope outside the starting end of the routing inspection track, and arranging the retractable traction rope on the retractable following mechanism of the traction rope; a power supply towing cable access column is arranged at the midpoint of the inspection roadway, and a power supply access point is arranged on the power supply towing cable access column;
secondly, taking half of the total length of the inspection track as the total length of the power supply towing cable, and manufacturing the power supply towing cable; arranging the intelligent inspection device at the initial end of the inspection track;
thirdly, the starting end of the power supply towing cable is fixedly connected to a power supply access point on a power supply towing cable access column, and then the power supply towing cable is arranged in a U-shaped slot, so that the terminal end of the power supply towing cable bypasses a towing cable steering fixed pulley arranged on a power supply towing cable tensioning trolley, returns along the U-shaped slot and is connected to the power supply access point of the intelligent inspection device;
fourthly, fixedly connecting the end part of the retractable hauling rope with the right end of the power supply towing rope tensioning trolley, and enabling the retractable hauling rope connected to the power supply towing rope tensioning trolley and the power supply towing rope wound around the towing rope steering fixed pulley to be in a straight-line-shaped reverse arrangement state;
fifthly, starting the intelligent inspection device, wherein the intelligent inspection device starts to travel from the starting point of the inspection roadway to the midpoint of the inspection roadway, and the intelligent inspection device enables the power supply towing cable tensioning trolley to follow the intelligent inspection device through the action of the power supply towing cable on the towing cable steering fixed pulley, and also moves towards the midpoint of the inspection roadway in the U-shaped wire slot; the retracting and releasing following mechanism of the hauling rope synchronously releases the hauling rope, in the process, the length from a power supply access point on a power supply towing rope access column to the power supply towing rope at the towing rope steering fixed pulley is gradually reduced, the length from the towing rope steering fixed pulley to the power supply towing rope of the intelligent inspection device is gradually increased, and the power supply towing rope which is connected among the power supply access point on the power supply towing rope access column, the towing rope steering fixed pulley and the power supply access point of the intelligent inspection device in a reciprocating mode is always in a tensioning state;
sixthly, after the intelligent inspection device walks through a power supply access point on the power supply towrope access column, the length from the power supply access point on the power supply towrope access column to the power supply towrope at the towrope steering fixed pulley is smaller than the length from the towrope steering fixed pulley to the power supply towrope of the intelligent inspection device, the retracting and following mechanism of the haulage rope continuously releases the haulage rope, and the power supply towrope which is connected among the power supply access point on the power supply towrope access column, the towrope steering fixed pulley and the power supply access point of the intelligent inspection device in a reciprocating mode is always in a tensioning state; the intelligent inspection device stops until the intelligent inspection device inspects the end point of the inspection track, and at the moment, the power supply towing cable tensioning trolley travels to the power supply towing cable access column;
and seventhly, when the intelligent inspection device inspects from the end point to the starting point, the retracting and releasing following mechanism of the traction rope synchronously starts to retract the traction rope, and in the process, the power supply towing rope which is in reciprocating connection with a power supply towing rope access point on the power supply towing rope access column, the power supply towing rope between the towing rope steering fixed pulley and the power supply access point of the intelligent inspection device is always in a tensioning state.
A first fixed pulley, a second fixed pulley, a third fixed pulley and a fourth fixed pulley are respectively arranged on a top end beam of a T-shaped traction rope support of a traction rope winding and unwinding following mechanism along the direction from left to right, and a winding roller, a winding roller driving motor and a rope guider of the traction rope are respectively arranged on a base plate of the T-shaped traction rope support; the traction rope connected to the power supply towing rope tensioning trolley is wound on a winding roller of the traction rope after sequentially passing through the first fixed pulley, the second fixed pulley, the third fixed pulley, the fourth fixed pulley and the rope guider along the left-to-right direction; a U-shaped buffer area movable pulley of the traction rope is suspended on the traction rope between the second fixed pulley and the third fixed pulley, a counterweight support is suspended on a wheel shaft of the U-shaped buffer area movable pulley of the traction rope, a counterweight block is suspended on the counterweight support, the traction rope is pulled downwards by the counterweight block, and a U-shaped buffer bend of the traction rope is formed between the second fixed pulley and the third fixed pulley;
when the intelligent inspection device stops, the balancing weight passes through the movable pulley of the U-shaped buffer area of the traction rope, so that the traction rope passes through the power supply towing cable tensioning trolley to play a tensioning role on the power supply towing cable;
when the intelligent inspection device starts, the intelligent inspection device that starts suddenly pulls power supply towrope tensioning dolly through the power supply towrope, and power supply towrope tensioning dolly pulls the tip of haulage rope, and at this moment, the haulage rope makes the U-shaped buffering of haulage rope turn down through promoting haulage rope U-shaped buffer area movable pulley and the balancing weight above that to reduce to play buffering intelligent inspection device and start suddenly the impact force to the power supply towrope, guarantee power supply towrope and intelligent inspection device's reliable connection.
The intelligent inspection device is fixedly connected with a zigzag support, a horizontal slide rail mounting platform is connected to the upper end of the zigzag support, a slide rail is fixedly arranged on the horizontal slide rail mounting platform along the walking direction of the intelligent inspection device, a slide block is movably arranged on the slide rail, a towing cable fixedly connected with a cantilever block is fixedly arranged on the slide block, and the movable end of a power supply towing cable is fixedly connected to the towing cable fixedly connected with the cantilever block; a power supply access line of the intelligent inspection device is electrically connected with the movable end of the power supply towing cable through the towing cable fixed connection cantilever block;
when the intelligent inspection device suddenly starts or stops, the sudden start or stop of the intelligent inspection device is buffered through the movement of the sliding block relative to the sliding rail, and the impact on the power supply towing cable makes the joint of the power supply towing cable and the intelligent inspection device not easy to damage.
The invention realizes that the inspection device does not need a battery, and directly supplies power to the inspection device in a towing cable mode, thereby avoiding the problems that the battery charging and discharging management of the intelligent inspection device lacks relevant safety technical requirements and detection methods, and the like, and the inspection device cannot be applied and popularized; the U-shaped wire grooves are arranged in parallel on the inner side of the inspection track, the tensioning traction trolley of the power supply towing cable is arranged in the U-shaped wire grooves, and one end of the power supply cable is connected with the other end of the power supply cable in a traction rope connection mode, so that the power supply cable does not need to pass through other complex control mechanisms, the power supply cable is guaranteed to be reliably connected with the inspection device in the whole inspection process, and the function separation and performance fusion of the power supply cable and the traction rope are realized; through setting up overspeed device tensioner, take-up and pay-off device, when inspection device traffic direction and functioning speed and the direction of receiving and releasing line and the speed of receiving and releasing line change, direct embodiment is on overspeed device tensioner's direction determine module and position determine module to feedback signal receives and releases line device the control unit, thereby form circulation feedback, realized inspection device and receive and release line device motion balance.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the layout of the power streamer 29 of the present invention;
FIG. 3 is a schematic diagram of the layout structure of the hauling cable 13 of the invention;
FIG. 4 is a schematic structural view of the electrically powered streamer tensioning trolley 6 of the present invention;
FIG. 5 is a schematic diagram of the configuration of the powered streamer access of the smart inspection device 4 of the present invention;
fig. 6 is a schematic structural view of a slide table on the zigzag bracket 44 of the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
a power supply towing cable laying and tensioning mechanism of an intelligent inspection device comprises an inspection roadway 1, an intelligent inspection device 4 and a power supply towing cable 29 of the intelligent inspection device, wherein a cantilever support 2 is arranged on a wall in the inspection roadway 1, an inspection track 3 of the intelligent inspection device is arranged on the cantilever support 2, and the intelligent inspection device 4 is arranged on the inspection track 3; a U-shaped wire slot 5 is fixedly arranged on the inner side of the inspection track 3, the U-shaped wire slot 5 is used as a power supply towing cable to follow the running track of the intelligent inspection device, and the U-shaped wire slot 5 and the inspection track 3 are arranged in parallel; a power supply towing cable tensioning trolley 6 is movably arranged in the U-shaped wire slot 5, a towing cable steering fixed pulley 28 is arranged on the power supply towing cable tensioning trolley 6, and the power supply towing cable tensioning trolley 6 has no power and runs in the U-shaped wire slot 5 by the traction of the power supply towing cable or the traction of a traction rope 13; the mid-point of the inspection roadway 1 is provided with a power supply towrope access column 7, the length of the power supply towrope 29 is half of the total length of the inspection track 3, the power supply towrope of the intelligent inspection device 4 is arranged in the middle of the inspection track 3, the towrope with half of the total length of the inspection track can be used, and the whole-course inspection of the whole inspection track can be realized; the power supply towrope 29 is arranged in the U-shaped slot 5, the fixed end of the power supply towrope 29 is connected to the power supply towrope access column 7, the movable end of the power supply towrope 29 bypasses the towrope steering fixed pulley 28 and then is connected to the intelligent patrol device 4, so that one end of the power supply towrope 29 is fixed to the power supply towrope access column 7, the other end of the power supply towrope 29 is fixed to the intelligent patrol device 4, and the middle part of the whole power supply towrope 29 is supported on the towrope steering fixed pulley 28 on the power supply towrope tensioning trolley 6 to form a reciprocating rewinding state; a retractable following mechanism 10 of a traction rope is fixedly arranged on the right side of the starting end 8 of the inspection track 3, a retractable traction rope 13 is arranged on the retractable following mechanism 10 of the traction rope, and the end of the traction rope 13 is connected to the right end of the power supply towing rope tensioning trolley 6; the retracting and releasing following mechanism 10 of the hauling rope pulls the power supply towrope tensioning trolley 6 through the hauling rope 13, so that the power supply towrope 29 which bypasses the towrope steering fixed pulley 28 is always kept in a tensioning state; when the intelligent inspection device 4 walks a long distance L to the left, the power supply towing cable tensions the general long distance of L that the trolley 6 walks to the left.
The intelligent inspection device 4 performs reciprocating inspection operation between the starting end 8 of the inspection track 3 and the terminal end 9 of the inspection track 3; when the intelligent inspection device 4 reaches the terminal end 9 of the inspection track 3, the power supply towrope tensioning trolley 6 reaches the power supply towrope access column 7, and the length of the released haulage rope 13 is half of the length of the inspection track 3; when the intelligent inspection device 4 returns to the starting end 8 of the inspection track 3, the electric towrope tensioning trolley 6 returns to the starting end 8 of the inspection track 3, and at the moment, all the towropes 13 are withdrawn.
A first fixed pulley 15, a second fixed pulley 16, a third fixed pulley 17 and a fourth fixed pulley 18 are respectively arranged on a top end beam of a T-shaped traction rope support 14 of the traction rope reeling and unreeling following mechanism 10 along the left-to-right direction, and a winding wire roller 11, a winding wire roller driving motor 12 and a rope guider 19 of the traction rope are respectively arranged on a base plate of the T-shaped traction rope support 14; a hauling rope 13 connected to the right end of the power supply towing rope tensioning trolley 6 sequentially passes through a first fixed pulley 15, a second fixed pulley 16, a third fixed pulley 17, a fourth fixed pulley 18 and a rope guider 19 from left to right, and then is wound on a winding wire roller 11 of the hauling rope; a U-shaped buffer area movable pulley 20 of the traction rope is hung on the traction rope 13 between the second fixed pulley 16 and the third fixed pulley 17, a counterweight support 21 is hung on a wheel shaft of the U-shaped buffer area movable pulley 20 of the traction rope, and a counterweight 22 is hung on the counterweight support 21; a first fixed pulley rotating direction recognition sensor 23 is arranged on a top end beam of the T-shaped traction rope support 14 on one side of the first fixed pulley 15, when the first fixed pulley rotating direction recognition sensor 23 recognizes that the first fixed pulley 15 rotates, a signal is sent to the winding wire roller driving motor 12, and the winding wire roller driving motor 12 drives the winding wire roller 11 of the traction rope to rotate, so that the traction rope 13 is collected or released; a counterweight lifting travel recognition sensor 24 is arranged on the upright column of the T-shaped traction rope support 14; when the lifting travel recognition sensor 24 recognizes that the lifting travel exceeds the lifting range value, the power supply towrope is stuck or loosened excessively, and a parking signal is sent to the intelligent inspection device 4 to prevent the towrope from being pulled off or bent and damaged.
The intelligent inspection device 4 is fixedly connected with a zigzag support 44, the upper end of the zigzag support 44 is connected with a horizontal slide rail mounting platform 31, a slide rail 32 is fixedly arranged on the horizontal slide rail mounting platform 31 along the walking direction of the intelligent inspection device 4, a slide block 33 is movably arranged on the slide rail 32, a towing cable fixed connection cantilever block 34 is fixedly arranged on the slide block 33, and the movable end of the power supply towing cable 29 is fixedly connected to the towing cable fixed connection cantilever block 34; the power supply incoming line 45 of the intelligent inspection device 4 is electrically connected with the movable end of the power supply towrope 29 through the towrope fixed connection cantilever block 34.
A swing arm pin shaft installation vertical plate 35 is arranged on the horizontal slide rail installation platform 31, a left L-shaped swing arm pin shaft 36 and a right L-shaped swing arm pin shaft 37 are respectively arranged on the swing arm pin shaft installation vertical plate 35, a left L-shaped swing arm 38 is hinged on the left L-shaped swing arm pin shaft 36, the left L-shaped swing arm 38 is arranged on the outer side of the left vertical face of the sliding block 33, a right L-shaped swing arm 39 is hinged on the right L-shaped swing arm pin shaft 37, the right L-shaped swing arm 39 is arranged on the outer side of the right vertical face of the sliding block 33, a tension spring 40 is arranged between the top end of the left L-shaped swing arm 38 and the top end of the right L-shaped swing arm 39, a swing arm pressure sensor 41 is arranged on the lower bottom face of the horizontal slide rail installation platform 31, and a lower transverse rod of the left L-shaped swing arm 38 and a lower transverse rod of the right L-shaped swing arm 39 are both arranged below the swing arm pressure sensor 41; when the pressure value obtained by monitoring the swing arm pressure sensor 41 exceeds the range, the power supply towing cable is abnormal in work, and the intelligent inspection device 4 is required to stop walking as soon as possible to avoid damaging the towing cable.
The vehicle body frame 25 of the power supply towrope tensioning trolley 6 is a cuboid frame body, four traveling wheels 30 are respectively arranged at the bottom end of the vehicle body frame 25, a left guide limiting wheel 26 is arranged at the left end of the vehicle body frame 25, a right guide limiting wheel 27 is arranged at the right end of the vehicle body frame 25, a towrope steering fixed pulley 28 is arranged between the left guide limiting wheel 26 and the right guide limiting wheel 27, the towrope steering fixed pulley 28 is vertically arranged along the vertical direction, and a power supply towrope 29 is wound on the towrope steering fixed pulley 28 from the upper end of the towrope steering fixed pulley 28 and is led out leftwards from the lower end of the towrope steering fixed pulley 28; the vehicle body frame 25 is movably arranged on the bottom surface in the U-shaped wire casing 5 through four traveling wheels 30, and the left guide limiting wheel 26 and the right guide limiting wheel 27 are movably arranged between the front side surface and the rear side surface in the U-shaped wire casing 5.
The inspection track 3 on the left side of the power supply towrope access column 7 is a U-shaped inspection track 42, vertical rollers 43 are arranged at the turning position of the U-shaped inspection track 42 at intervals in pairs along the turning direction, and the power supply towrope 29 is arranged between the pairs of vertical rollers 43; in order to avoid the towline to be worn at the turn, the friction force is reduced through the rolling connection of the towline and the two limiting rollers, so that the power supply towline smoothly passes through the turn.
A power supply towing cable laying and following method of an intelligent inspection device in inspection comprises an inspection roadway 1, an intelligent inspection device 4, a power supply towing cable 29 of the intelligent inspection device and a retraction following mechanism 10 of a traction rope, wherein a cantilever support 2 is arranged on a wall in the inspection roadway 1, an inspection track 3 of the intelligent inspection device is arranged on the cantilever support 2, the intelligent inspection device 4 is arranged on the inspection track 3, a U-shaped wire slot 5 is fixedly arranged on the inner side of the inspection track 3, and the U-shaped wire slot 5 and the inspection track 3 are arranged in parallel; the method is characterized by comprising the following steps:
firstly, movably arranging a power supply towing rope tensioning trolley 6 in a U-shaped wire groove 5 at the starting end 8 of the inspection track 3, and arranging a towing rope steering fixed pulley 28 on the power supply towing rope tensioning trolley 6; fixedly arranging a drawing rope retracting and releasing following mechanism 10 at the outer side of a starting end 8 of the inspection track 3, and arranging a retractable drawing rope 13 on the drawing rope retracting and releasing following mechanism 10; a power supply towrope access column 7 is arranged at the midpoint of the inspection roadway 1, and a power supply access point is arranged on the power supply towrope access column 7;
secondly, taking half of the total length of the inspection track 3 as the total length of the power supply towrope 29 to manufacture the power supply towrope 29; arranging the intelligent inspection device 4 at the starting end 8 of the inspection track 3;
thirdly, the starting end of the power supply towing cable 29 is fixedly connected to a power supply access point on a power supply towing cable access column 7, and then the power supply towing cable 29 is arranged in the U-shaped slot 5, so that the terminal end of the power supply towing cable 29 bypasses a towing cable steering fixed pulley 28 arranged on a power supply towing cable tensioning trolley 6, returns along the U-shaped slot 5 and is connected to the power supply access point of the intelligent inspection device;
fourthly, fixedly connecting the end part of a retractable hauling rope 13 with the right end of the power supply towing rope tensioning trolley 6, and enabling the retractable hauling rope 13 connected on the power supply towing rope tensioning trolley 6 and the power supply towing rope 29 bypassing the towing rope steering fixed pulley 28 to be in a straight-line-shaped reverse arrangement state;
fifthly, starting the intelligent inspection device 4, enabling the intelligent inspection device 4 to start walking from the starting point of the inspection roadway 1 to the midpoint of the inspection roadway 1, enabling the power supply towing cable tensioning trolley 6 to move towards the midpoint of the inspection roadway 1 in the U-shaped wire slot 5 along with the intelligent inspection device 4 under the action of the power supply towing cable 29 on the towing cable steering fixed pulley 28 by the intelligent inspection device 4; meanwhile, the retracting and releasing following mechanism 10 of the hauling rope synchronously releases the hauling rope 13, in the process, the length from a power supply access point on the power supply towing rope access column 7 to a power supply towing rope 29 at the towing rope steering fixed pulley 28 is gradually reduced, the length from the towing rope steering fixed pulley 28 to the power supply towing rope 29 of the intelligent routing inspection device 4 is gradually increased, and the power supply towing rope 29 which is connected among the power supply access point on the power supply towing rope access column 7, the towing rope steering fixed pulley 28 and the power supply access point of the intelligent routing inspection device in a reciprocating mode is always in a tensioning state;
sixthly, after the intelligent inspection device 4 travels through a power supply access point on the power supply streamer access column 7, the length from the power supply access point on the power supply streamer access column 7 to the power supply streamer 29 at the streamer steering fixed pulley 28 is smaller than the length from the streamer steering fixed pulley 28 to the power supply streamer 29 of the intelligent inspection device 4, the retracting and following mechanism 10 of the traction rope continuously and synchronously releases the traction rope 13, and the power supply streamer 29 which is connected among the power supply access point on the power supply streamer access column 7, the streamer steering fixed pulley 28 and the power supply access point of the intelligent inspection device in a reciprocating mode is always in a tensioning state; the intelligent inspection device 4 stops until the intelligent inspection device 4 inspects the end point end 9 of the inspection track 3, and at the moment, the power supply towrope tensioning trolley 6 travels to the power supply towrope access column 7;
seventhly, when the intelligent inspection device 4 inspects from the end point to the starting point, the retracting and releasing following mechanism 10 of the traction rope synchronously starts to retract the traction rope 13, and in the process, the power supply towing rope 29 which is connected to and fro between the power supply access point on the power supply towing rope access column 7, the towing rope steering fixed pulley 28 and the power supply access point of the intelligent inspection device is always in a tensioning state.
A first fixed pulley 15, a second fixed pulley 16, a third fixed pulley 17 and a fourth fixed pulley 18 are respectively arranged on a top end beam of a T-shaped traction rope support 14 of the traction rope reeling and unreeling following mechanism 10 along the left-to-right direction, and a winding wire roller 11, a winding wire roller driving motor 12 and a rope guider 19 of the traction rope are respectively arranged on a base plate of the T-shaped traction rope support 14; a traction rope 13 connected to the power supply towing rope tensioning trolley 6 is wound on a winding wire roller 11 of the traction rope after passing through a first fixed pulley 15, a second fixed pulley 16, a third fixed pulley 17, a fourth fixed pulley 18 and a rope guider 19 in sequence along the left-to-right direction; a U-shaped buffer area movable pulley 20 of the traction rope is hung on the traction rope 13 between the second fixed pulley 16 and the third fixed pulley 17, a counterweight support 21 is hung on a wheel shaft of the U-shaped buffer area movable pulley 20 of the traction rope, a counterweight block 22 is hung on the counterweight support 21, the traction rope 13 is pulled downwards by the counterweight block 22, and a U-shaped buffer bend of the traction rope 13 is formed between the second fixed pulley 16 and the third fixed pulley 17;
when the intelligent inspection device 4 stops, the balancing weight 22 passes through the movable pulley 20 of the U-shaped buffer area of the hauling rope, so that the hauling rope 13 passes through the power supply towing rope tensioning trolley 6 to play a tensioning role on the power supply towing rope 29;
when intelligent inspection device 4 starts, the intelligent inspection device 4 that starts suddenly pulls power supply towrope tensioning trolley 6 through power supply towrope 29, and power supply towrope tensioning trolley 6 draws the tip of dragging rope 13, and at this moment, the dragging rope 13 makes the U-shaped buffering of dragging rope 13 curved the reduction through promoting towrope U-shaped buffer area movable pulley 20 and balancing weight 22 above that to cushion the impact force of intelligent inspection device 4 sudden start to power supply towrope 29, guarantees power supply towrope 29 and intelligent inspection device 4's reliable connection.
The intelligent inspection device 4 is fixedly connected with a zigzag support 44, the upper end of the zigzag support 44 is connected with a horizontal slide rail mounting platform 31, a slide rail 32 is fixedly arranged on the horizontal slide rail mounting platform 31 along the walking direction of the intelligent inspection device 4, a slide block 33 is movably arranged on the slide rail 32, a towing cable fixedly connected with a cantilever block 34 is fixedly arranged on the slide block 33, and the movable end of the power supply towing cable 29 is fixedly connected with the towing cable fixedly connected with the cantilever block 34; the power supply access line 45 of the intelligent inspection device 4 is electrically connected with the movable end of the power supply towrope 29 through the towrope fixed connection cantilever block 34;
when the intelligent inspection device 4 is suddenly started or stopped, the sudden starting or stopping of the intelligent inspection device 4 is buffered through the movement of the sliding block 33 relative to the sliding rail 32, and the impact on the power supply towrope 29 is avoided, so that the connection part of the power supply towrope 29 and the intelligent inspection device 4 is not easy to damage.
Claims (5)
1. A power supply towing cable laying and tensioning mechanism of an intelligent inspection device comprises an inspection roadway (1), the intelligent inspection device (4) and a power supply towing cable (29) of the intelligent inspection device, wherein a cantilever support (2) is arranged on a wall in the inspection roadway (1), an inspection track (3) of the intelligent inspection device is arranged on the cantilever support (2), and the intelligent inspection device (4) is arranged on the inspection track (3); the inspection device is characterized in that a U-shaped wire slot (5) is fixedly arranged on the inner side of the inspection track (3), and the U-shaped wire slot (5) and the inspection track (3) are arranged in parallel; a power supply towing rope tensioning trolley (6) is movably arranged in the U-shaped wire groove (5), and a towing rope steering fixed pulley (28) is arranged on the power supply towing rope tensioning trolley (6); a power supply towrope access column (7) is arranged at the midpoint of the inspection roadway (1), the length of the power supply towrope (29) is half of the total length of the inspection track (3), the power supply towrope (29) is arranged in the U-shaped wire groove (5), the fixed end of the power supply towrope (29) is connected to the power supply towrope access column (7), and the movable end of the power supply towrope (29) bypasses a towrope steering fixed pulley (28) and is connected to the intelligent inspection device (4); a retractable following mechanism (10) of a traction rope is fixedly arranged on the right side of a starting end (8) of the inspection track (3), a retractable traction rope (13) is arranged on the retractable following mechanism (10) of the traction rope, and the end of the traction rope (13) is connected to the right end of the power supply towrope tensioning trolley (6); the retracting and releasing following mechanism (10) of the hauling rope pulls the power supply towrope tensioning trolley (6) through the hauling rope (13), so that the power supply towrope (29) which bypasses the towrope steering fixed pulley (28) is always kept in a tensioning state; the intelligent inspection device (4) performs reciprocating inspection operation between the starting end (8) of the inspection track (3) and the terminal end (9) of the inspection track (3); a first fixed pulley (15), a second fixed pulley (16), a third fixed pulley (17) and a fourth fixed pulley (18) are respectively arranged on a top end beam of a T-shaped traction rope support (14) of a traction rope winding and unwinding following mechanism (10) along the left-to-right direction, and a winding wire roller (11), a winding wire roller driving motor (12) and a rope guider (19) of a traction rope are respectively arranged on a base plate of the T-shaped traction rope support (14); a traction rope (13) connected to the right end of the power supply towrope tensioning trolley (6) sequentially passes through a first fixed pulley (15), a second fixed pulley (16), a third fixed pulley (17), a fourth fixed pulley (18) and a rope guider (19) from left to right, and then is wound on a winding wire roller (11) of the traction rope; a U-shaped buffer area movable pulley (20) of the traction rope is suspended on the traction rope (13) between the second fixed pulley (16) and the third fixed pulley (17), a counterweight support (21) is suspended on a wheel shaft of the U-shaped buffer area movable pulley (20) of the traction rope, and a counterweight (22) is suspended on the counterweight support (21); a top end beam of the T-shaped hauling rope support (14) on one side of the first fixed pulley (15) is provided with a first fixed pulley rotating direction identification sensor (23), and a vertical column of the T-shaped hauling rope support (14) is provided with a balancing weight lifting stroke identification sensor (24).
2. The intelligent inspection device power supply towing cable laying and tensioning mechanism according to claim 1, wherein a zigzag support (44) is fixedly connected to the intelligent inspection device (4), a horizontal sliding rail mounting platform (31) is connected to the upper end of the zigzag support (44), a sliding rail (32) is fixedly arranged on the horizontal sliding rail mounting platform (31) along the walking direction of the intelligent inspection device (4), a sliding block (33) is movably arranged on the sliding rail (32), a towing cable fixed connection cantilever block (34) is fixedly arranged on the sliding block (33), and the movable end of the power supply towing cable (29) is fixedly connected to the towing cable fixed connection cantilever block (34); the power supply access line (45) of the intelligent inspection device (4) is electrically connected with the movable end of the power supply towline (29) through the towline fixed connection cantilever block (34).
3. The arrangement and tensioning mechanism of the power supply towing cable of the intelligent inspection device according to claim 2, wherein a swing arm pin shaft installation vertical plate (35) is arranged on the horizontal sliding rail installation platform (31), a left L-shaped swing arm pin shaft (36) and a right L-shaped swing arm pin shaft (37) are respectively arranged on the swing arm pin shaft installation vertical plate (35), a left L-shaped swing arm (38) is hinged on the left L-shaped swing arm pin shaft (36), the left L-shaped swing arm (38) is arranged on the outer side of the left vertical surface of the sliding block (33), a right L-shaped swing arm (39) is hinged on the right L-shaped swing arm pin shaft (37), the right L-shaped swing arm (39) is arranged on the outer side of the right vertical surface of the sliding block (33), a tension spring (40) is arranged between the top end of the left L-shaped swing arm (38) and the top end of the right L-shaped swing arm (39), a swing arm pressure sensor (41) is arranged on the bottom surface of the horizontal sliding rail installation platform (31), and a bottom cross bar of the left L-shaped swing arm (38) and a bottom bar of the right L-shaped swing arm (39) are arranged below the swing arm pressure sensor (41).
4. The arrangement and tensioning mechanism of the power supply towrope of the intelligent inspection device according to claim 1, wherein a vehicle body frame (25) of the power supply towrope tensioning trolley (6) is a cuboid frame body, four traveling wheels (30) are respectively arranged at the bottom end of the vehicle body frame (25), a left guide limiting wheel (26) is arranged at the left end of the vehicle body frame (25), a right guide limiting wheel (27) is arranged at the right end of the vehicle body frame (25), a towrope steering fixed pulley (28) is arranged between the left guide limiting wheel (26) and the right guide limiting wheel (27), the towrope steering fixed pulley (28) is vertically arranged along the up-down direction, the power supply towrope (29) is wound on the towrope steering fixed pulley (28) from the upper end of the towrope steering fixed pulley (28), and is led out to the left from the lower end of the towrope steering fixed pulley (28); the vehicle body frame (25) is movably arranged on the bottom surface in the U-shaped wire groove (5) through four walking wheels (30), and the left guide limiting wheel (26) and the right guide limiting wheel (27) are movably arranged between the front side surface and the rear side surface in the U-shaped wire groove (5).
5. The intelligent inspection device power supply towing cable laying and tensioning mechanism according to claim 4, wherein the inspection rail (3) on the left side of the power supply towing cable access column (7) is a U-shaped inspection rail (42), vertical rollers (43) are arranged in pairs at intervals along the turning direction at the turning position of the U-shaped inspection rail (42), and the power supply towing cables (29) are arranged between the pairs of vertical rollers (43).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002243.8A CN115693578B (en) | 2023-01-03 | 2023-01-03 | Laying and tensioning mechanism for power supply towing cable of intelligent inspection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002243.8A CN115693578B (en) | 2023-01-03 | 2023-01-03 | Laying and tensioning mechanism for power supply towing cable of intelligent inspection device |
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| CN115693578A CN115693578A (en) | 2023-02-03 |
| CN115693578B true CN115693578B (en) | 2023-03-31 |
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| CN202310002243.8A Active CN115693578B (en) | 2023-01-03 | 2023-01-03 | Laying and tensioning mechanism for power supply towing cable of intelligent inspection device |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB119398A (en) * | 1918-03-13 | 1918-10-03 | Canadian American Machinery Co | Improvements in or relating to Web Feeding and Controlling Devices for Slitting and Rewinding Machines. |
| CN208377752U (en) * | 2018-07-04 | 2019-01-15 | 江西亚东水泥有限公司 | Conveying equipment |
| CN208827811U (en) * | 2018-10-08 | 2019-05-07 | 中信重工开诚智能装备有限公司 | A kind of steel wire rope pull rail polling robot |
| CN112009956A (en) * | 2019-05-30 | 2020-12-01 | 中煤科工集团上海有限公司 | Track device for roadway inspection equipment and roadway inspection system |
| CN212927950U (en) * | 2020-07-10 | 2021-04-09 | 天津华宁电子有限公司 | Towing cable inspection device for fully mechanized coal mining face |
| CN111980750B (en) * | 2020-07-27 | 2022-08-12 | 西安科技大学 | Flexible track and straddle type inspection robot for fully mechanized mining face |
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- 2023-01-03 CN CN202310002243.8A patent/CN115693578B/en active Active
Non-Patent Citations (1)
| Title |
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| 杨航 ; .电牵引采煤机电缆拖拽装置应用研究.山东煤炭科技.2020,(第01期),第144-146页. * |
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Address after: 030006 Room 8818, 8813, 8811, Floor 8, No. 32, Gaoxin Street, Taiyuan Xuefu Park, Shanxi Comprehensive Reform Demonstration Zone, Taiyuan City, Shanxi Province Patentee after: Shanxi Dade Measurement and Control Technology Co.,Ltd. Address before: 030006 Room 8818, 8813, 8811, Floor 8, No. 32, Gaoxin Street, Taiyuan Xuefu Park, Shanxi Comprehensive Reform Demonstration Zone, Taiyuan City, Shanxi Province Patentee before: SHANXI DEDICATED MEASUREMENT CONTROL Co.,Ltd. |
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Effective date of registration: 20231023 Address after: 017209 north of Shangwan Jinlong Road, Ulan Mulun Town, Yijinholo banner, Ordos City, Inner Mongolia Autonomous Region Patentee after: Guoneng Shendong Coal Group Co.,Ltd. Patentee after: Shanxi Dade Measurement and Control Technology Co.,Ltd. Address before: 030006 Room 8818, 8813, 8811, Floor 8, No. 32, Gaoxin Street, Taiyuan Xuefu Park, Shanxi Comprehensive Reform Demonstration Zone, Taiyuan City, Shanxi Province Patentee before: Shanxi Dade Measurement and Control Technology Co.,Ltd. |