CN106515899A - Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway - Google Patents
Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway Download PDFInfo
- Publication number
- CN106515899A CN106515899A CN201611041835.7A CN201611041835A CN106515899A CN 106515899 A CN106515899 A CN 106515899A CN 201611041835 A CN201611041835 A CN 201611041835A CN 106515899 A CN106515899 A CN 106515899A
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- Prior art keywords
- rubber
- tired cart
- anaerobic
- monitoring
- intrinsic safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an intrinsic safety type unmanned transportation rubber-tyred vehicle for an underground oxygen-free excavation roadway and belongs to the technical field of mining equipment. The rubber-tyred vehicle comprises a wireless controlling system, a video information system, an environment monitoring system, an automatic loading and unloading system, a power system, an anti-explosion system and another subsidiary facilities. The rubber-tyred vehicle has the advantages that under the unmanned driving condition, materials can be transported to a named place efficiently and accurately, and corresponding actions can be finished according to a controlling instruction.
Description
Technical field
The present invention relates to technical field of mining equipment, particularly relate to a kind of intrinsic safety type for down-hole anaerobic digging laneway without
People transports rubber-tired cart.
Background technology
The coal mining accident for taking place frequently causes the concern of social each side, also brings irremediable damage to the country and people
Lose.Gas Disaster occupies very big proportion in mine safety accidents, at utmost can be avoided watt by the way of anaerobic driving
This blast, however, the transported material under oxygen-free environment efficiently, safe then becomes a difficult problem urgently to be resolved hurrily.
With the progress of science and technology, remote controlled manner is widely adopted in mining.Site machinery or equipment can
By operator or programme-control, personal security is also can guarantee that while work efficiency is improved.In addition, for existing rubber tire
Transport vehicle, driver often drive vehicle in the car, and the handling operation of material is also required to workman and completes, and oxygen-free environment is to people
Member's safety constitutes greatly threat.
To realize efficient, the safe transported material in oxygen-free environment, a kind of unmanned transport rubber-tired cart of intrinsic safety type is invented, should
Rubber-tired cart by material high-efficiency, accurately can transport appointed place to, and complete phase according to manipulation instruction in the case of unmanned
Answer action.This is of great significance for the work efficiency and safety tool that improve anaerobic pick lane material transportation.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of unmanned transport of intrinsic safety type for down-hole anaerobic digging laneway
Rubber-tired cart, for realize in oxygen-free environment efficiently, transport material safely.
The rubber-tired cart includes wireless operated system, Video Information System, environmental monitoring system, automatic assembling and disassembling system, power
System and explosion protection system and other affiliated facilities, wherein, wireless operated system includes manipulation end, transmitter and receiver, transmission ends
And operation end, manipulation end be located at anaerobic digging laneway entrance, operating side include manual drive operation module, video monitoring module,
Information monitoring module and wireless operated adjusting module, transmitter and receiver are arranged on operating side and rubber-tired cart, transmission ends by with it is high,
Equidistantly, transmitter structure with different recognition coding of the symmetrical placement in anaerobic digging laneway wall both sides away from base plate equal height
Into operation end is arranged on rubber-tired cart, and when wireless signal is received, rubber-tired cart completes the work operations specified as requested；
Video Information System includes monitoring probe and video monitoring display, and environmental monitoring system includes environmental aspect monitor and environment
Monitoring shows table, and automatic assembling and disassembling system is docked with down-hole other equipment according to the instruction of wireless operated system, realizes automatic loading and unloading
Material, dynamical system are independently arranged, and electromotor is placed in rubber-tired cart front end, provide power by accumulator, and explosion protection system is to rubber-tired cart
Safety ensured；Environmental aspect monitor is installed on extremities of body, and monitoring probe is installed on vehicle body surrounding, extremities of body
Lighting headlight is installed.
Manual drive operation module includes steering wheel, activate switch, direct of travel gear lever and brake, activate switch control
The operation of system and closing；Operator are by steering wheel, direct of travel gear lever and brake control rubber-tired cart operation.
Video monitoring module includes four video monitoring display, and video monitoring display is made up of high-definition display screen.
Information monitoring module includes environmental monitoring display table, rubber-tired cart status panel disk, rubber-tired cart auxiliary equipment instrumental panel
With wireless signal transmission receptor, environmental monitoring display table can show CO concentration, CH in tunnel in real time4Concentration, humiture, dust
Concentration etc.；Rubber-tired cart status panel disk, rubber-tired cart auxiliary equipment instrumental panel show rubber tire vehicle speed and its auxiliary equipment operation shape
State；Wireless signal transmission receptor is used for firing order and receives feedback signal.
Wireless operated adjusting module includes model selection and program setting area and radio operation platform signaling interface, staff
Automatic control mode, MANUAL CONTROL mode and material handling work pattern are selected by model selection and the setting of program setting area,
And set corresponding program parameter；Radio operation platform signaling interface is connected with external equipment, system is entered row information import, update,
Check etc..
The monitoring result of environmental aspect monitor is displayed in environmental monitoring display table.
Monitoring probe can be rotated freely, and for shooting rubber-tired cart surrounding situation, video pictures are shown by video monitoring
Device shows.
Transmitter is high together, equidistant, be symmetrically arranged on anaerobic digging laneway both sides, and for signal relay, transmitter has not
Same recognition coding, after receiving information, recognition coding, information can be received the time and the information for being received by transmitter automatically
Together outwards transmit.Program can receive the time according to recognition coding and information, calculate rubber tire vehicle speed and position coordinateses etc.
Data.During automatic driving mode, program can also receive the time according to recognition coding and information, judge whether front tunnel turns round
And the surface conditions such as climb and fall, so as to control rubber-tired cart steering, speed change etc..
The above-mentioned technical proposal of the present invention has the beneficial effect that：
Rubber-tired cart simple structure of the present invention, it is easy to use, can be in the case of unmanned, by material high-efficiency, accurately
Transport appointed place to, and complete corresponding actions according to manipulation instruction.
Description of the drawings
Fig. 1 is the unmanned transport rubber-tired cart operating side structural representation of the intrinsic safety type for down-hole anaerobic digging laneway of the present invention
Figure；
Fig. 2 is that the unmanned transport rubber-tired cart side structure of the intrinsic safety type for down-hole anaerobic digging laneway of the present invention is illustrated
Figure；
Fig. 3 is that the unmanned transport rubber-tired cart Facad structure of the intrinsic safety type for down-hole anaerobic digging laneway of the present invention is illustrated
Figure；
Fig. 4 is that the unmanned transport rubber-tired cart transmitter of the intrinsic safety type for down-hole anaerobic digging laneway of the present invention lays signal
Figure.
Wherein：1- steering wheels；2- activate switches；3- direct of travel gear levers；4- brakes；5- video monitoring display；6-
Environmental monitoring shows table；7- rubber-tired cart status panel disks；8- rubber-tired cart auxiliary equipment instrumental panels；9- wireless signal transmissions are received
Device；10- radio operation platform signaling interfaces；11- model selections and program setting area；12- manual drive operation modules；13- videos
Monitoring module；14- information monitoring modules；15- wireless operated adjusting modules；16- environmental aspect monitors；17- monitoring probes；
18- lighting headlights；19- electromotors；20- transmitters.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of intrinsic safety type for down-hole anaerobic digging laneway unmanned transport rubber-tired cart.
The rubber-tired cart includes wireless operated system, Video Information System, environmental monitoring system, automatic assembling and disassembling system, power
System and explosion protection system and other affiliated facilities, wherein, wireless operated system includes manipulation end, transmitter and receiver, transmission ends
And operation end, manipulation end is located at anaerobic digging laneway entrance, as shown in figure 1, operating side includes manual drive operation module 12, regards
Frequency monitoring module 13, information monitoring module 14 and wireless operated adjusting module 15, transmitter and receiver are arranged on operating side and rubber tire
Che Shang, as shown in figure 4, transmission ends by with high, equidistant, symmetrical placement in anaerobic digging laneway wall both sides away from base plate equal height
Transmitter 20 with different recognition codings is constituted, and operation end is arranged on rubber-tired cart；Video Information System includes that monitoring is visited
17 and video monitoring display 5, environmental monitoring system includes environmental aspect monitor 16 and environmental monitoring display table 6, automatically
Handling system is docked with down-hole other equipment according to the instruction of wireless operated system, realizes automatic loading and unloading material, dynamical system unification and independence
Erecting and putting, electromotor 19 is placed in rubber-tired cart front end, power is provided by accumulator, safety of the explosion protection system to rubber-tired cart is protected
Barrier；As shown in Figures 2 and 3, environmental aspect monitor 16 is installed on extremities of body, and monitoring probe 17 is installed on vehicle body surrounding, car
Body two ends are provided with lighting headlight 18.
Wherein, as shown in figure 1, manual drive operation module 12 includes steering wheel 1, activate switch 2, direct of travel gear lever
3 and brake 4, the operation of 2 control system of activate switch with close；Operator pass through steering wheel 1,3 and of direct of travel gear lever
Brake 4 controls rubber-tired cart operation；
Video monitoring module 13 includes four video monitoring display 5, and video monitoring display 5 is by high-definition display screen structure
Into；
Information monitoring module 14 includes environmental monitoring display table 6, rubber-tired cart status panel disk 7, rubber-tired cart auxiliary equipment instrument
Dial plate 8 and wireless signal transmission receptor 9；
Wireless operated adjusting module 15 includes model selection and program setting area 11 and radio operation platform signaling interface 10, work
Making personnel selects automatic control mode, MANUAL CONTROL mode and material handling to make by model selection and the setting of program setting area 11
Industry pattern, and set corresponding program parameter；Radio operation platform signaling interface 10 is connected with external equipment.
The monitoring result of environmental aspect monitor 16 is displayed in environmental monitoring display table 6.
Monitoring probe can be rotated freely, and for shooting rubber-tired cart surrounding situation, video pictures are shown by video monitoring
Device 5 shows.
The main operating procedure of the rubber-tired cart is as follows：
1) rubber-tired cart traveling：Operator passes through 2 open system of activate switch.After the completion for the treatment of System self-test, in model selection
And program setting area 11 selects MANUAL CONTROL mode or automatic control mode control rubber-tired cart traveling.Operate under two kinds of control models
Member can show table 6, rubber-tired cart status panel disk 7 and rubber-tired cart auxiliary equipment instrument by video monitoring display 5, environmental monitoring
Dial plate 8, observation rubber-tired cart ambient conditionss, environmental monitoring situation, rubber-tired cart running state parameter and the operation of rubber-tired cart auxiliary equipment
State.
It is described as follows：
1. MANUAL CONTROL mode：Under this pattern, operator can change rubber-tired cart traffic direction by steering wheel 1；By advancing
Direction gear lever 3 controls rubber tire vehicle speed；Brake 4 is pressed during emergency makes rubber-tired cart slow down.
2. automatic control mode：Under this pattern, rubber-tired cart is travelled by programme-control.Control instruction is by positioned at wireless operated platform
On wireless signal transmission receptor 9 send, a series of transmitters of Jing 20 are transmitted, and are finally received by rubber-tired cart wireless signal transmission
Device 9 is received, and rubber-tired cart completes the actions such as speed change, steering according to programmed instruction.Wherein, automatic control mode relevant parameter can be
Model selection and program setting area 11 set.During automatic control mode, if operator presses brake 4, rubber-tired cart slows down immediately, together
When system be automatically converted to MANUAL CONTROL mode.
2) material handling operation：In the present invention, rubber-tired cart is provided with automatic assembling and disassembling system.Rubber-tired cart is travelled to appointed place,
Operator passes through radio operation platform signaling interface 10 and model selection and program setting area 11, selects " material handling operation " mould
Formula, imports desired data, sets the relevant parameter of cargo handling process, makes rubber-tired cart complete material handling operation.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of intrinsic safety type for down-hole anaerobic digging laneway is unmanned transports rubber-tired cart, it is characterised in that：Including wireless operated
System, Video Information System, environmental monitoring system, automatic assembling and disassembling system, dynamical system and explosion protection system, wherein, wireless operated
System includes manipulation end, transmitter and receiver, transmission ends and operation end, and manipulation end is located at anaerobic digging laneway entrance, operating side bag
Include manual drive operation module (12), video monitoring module (13), information monitoring module (14) and wireless operated adjusting module
(15), transmitter and receiver is arranged on operating side and rubber-tired cart, and transmission ends tunnel lane in anaerobic by with high, equidistant, symmetrical placement
Transmitter with different recognition coding (20) of the Dao Bi both sides away from base plate equal height is constituted, and operation end is arranged on rubber-tired cart
On；Video Information System includes monitoring probe (17) and video monitoring display (5), and environmental monitoring system includes that environmental aspect is supervised
Survey device (16) and environmental monitoring shows table (6), instruction and down-hole other equipment of the automatic assembling and disassembling system according to wireless operated system
Docking, realizes automatic loading and unloading material, and dynamical system is independently arranged, and electromotor (19) is placed in rubber-tired cart front end, is provided by accumulator
Power, safety of the explosion protection system to rubber-tired cart are ensured；Environmental aspect monitor (16) is installed on extremities of body, and monitoring is visited
Head (17) is installed on vehicle body surrounding, and extremities of body is provided with lighting headlight (18).
2. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：The manual drive operation module (12) includes steering wheel (1), activate switch (2), direct of travel gear lever (3) and brake
(4), the operation of activate switch (2) control system and closing；Operator by steering wheel (1), direct of travel gear lever (3) and
Brake (4) control rubber-tired cart operation.
3. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：The video monitoring module (13) includes four video monitoring display (5), and video monitoring display (5) is shown by high definition
Screen is constituted.
4. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：Described information monitoring module (14) shows table (6), rubber-tired cart status panel disk (7), the attached dress of rubber-tired cart including environmental monitoring
Put instrumental panel (8) and wireless signal transmission receptor (9).
5. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：The wireless operated adjusting module (15) includes model selection and program setting area (11) and radio operation platform signaling interface
(10), staff pass through model selection and program setting area (11) setting select automatic control mode, MANUAL CONTROL mode and
Material handling work pattern, and set corresponding program parameter；Radio operation platform signaling interface (10) is connected with external equipment.
6. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：The monitoring result of the environmental aspect monitor (16) is displayed in environmental monitoring display table (6).
7. the intrinsic safety type for down-hole anaerobic digging laneway according to claim 1 is unmanned transports rubber-tired cart, and its feature exists
In：The monitoring probe can be rotated freely, and for shooting rubber-tired cart surrounding situation, video pictures pass through video monitoring display
(5) show.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041835.7A CN106515899A (en) | 2016-11-24 | 2016-11-24 | Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041835.7A CN106515899A (en) | 2016-11-24 | 2016-11-24 | Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515899A true CN106515899A (en) | 2017-03-22 |
Family
ID=58356409
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611041835.7A Pending CN106515899A (en) | 2016-11-24 | 2016-11-24 | Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway |
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| Country | Link |
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| CN (1) | CN106515899A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112255644A (en) * | 2020-10-15 | 2021-01-22 | 河南护航实业股份有限公司 | Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof |
| CN112327772A (en) * | 2020-11-03 | 2021-02-05 | 山西银锋科技有限公司 | Coal mine underground car taking system based on trackless rubber-tyred vehicle transportation |
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| WO2015129012A1 (en) * | 2014-02-27 | 2015-09-03 | 株式会社小松製作所 | Dump truck |
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| CN105892397A (en) * | 2016-06-12 | 2016-08-24 | 河北钢铁集团矿业有限公司 | Unmanned transportation system of underground electric locomotive |
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2016
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202939461U (en) * | 2012-10-22 | 2013-05-15 | 天地（常州）自动化股份有限公司 | Mine rubber-tyred vehicle operation condition monitoring system |
| CN103009991A (en) * | 2012-12-25 | 2013-04-03 | 中国矿业大学 | Driving system for mining hybrid power trackless rubber-tyred vehicle |
| WO2015129012A1 (en) * | 2014-02-27 | 2015-09-03 | 株式会社小松製作所 | Dump truck |
| CN103901862A (en) * | 2014-04-11 | 2014-07-02 | 北京速力科技有限公司 | Ground remote control system for downhole electric locomotives |
| CN104199430A (en) * | 2014-09-20 | 2014-12-10 | 无锡北斗星通信息科技有限公司 | Wireless underground locomotive status monitoring system |
| CN105629967A (en) * | 2014-10-30 | 2016-06-01 | 丹东东方测控技术股份有限公司 | Underground locomotive unmanned driving system based on high-precision positioning navigation terminal |
| CN105892397A (en) * | 2016-06-12 | 2016-08-24 | 河北钢铁集团矿业有限公司 | Unmanned transportation system of underground electric locomotive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112255644A (en) * | 2020-10-15 | 2021-01-22 | 河南护航实业股份有限公司 | Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof |
| CN112327772A (en) * | 2020-11-03 | 2021-02-05 | 山西银锋科技有限公司 | Coal mine underground car taking system based on trackless rubber-tyred vehicle transportation |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170322 |