CN107178103B - A kind of large-sized mining dredger intellectualized technology verification platform - Google Patents
A kind of large-sized mining dredger intellectualized technology verification platform Download PDFInfo
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- CN107178103B CN107178103B CN201710555336.8A CN201710555336A CN107178103B CN 107178103 B CN107178103 B CN 107178103B CN 201710555336 A CN201710555336 A CN 201710555336A CN 107178103 B CN107178103 B CN 107178103B
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- 238000005065 mining Methods 0.000 title claims abstract description 38
- 238000005516 engineering process Methods 0.000 title claims abstract description 26
- 238000012795 verification Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000011897 real-time detection Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000000452 restraining effect Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005693 optoelectronics Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000002131 composite material Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000003825 pressing Methods 0.000 abstract 1
- 238000009412 basement excavation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/401—Buckets or forks comprising, for example, shock absorbers, supports or load striking scrapers to prevent overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
Abstract
The invention discloses a kind of large-sized mining dredger intellectualized technology verification platform, including excavator and intelligence control system, the excavator includes running gear, slewing equipment, lifting device, pressing device, revolving platform and scraper bowl.The intelligence control system includes electric control unit, pose detection unit, power detecting unit, landforms scanning element, system testing unit, fault detection unit, anticollision detection unit.Large-sized mining dredger intellectualized technology verification platform of the invention is not only simple in structure, is easy to process, manufacturing cost is low, and package size is small, and quality is low, and security and stability is high.Intelligence control system has real time scan surface profile to be excavated, itself pose real-time detection, excavates power real-time detection, intelligent excavating track optimizing, excavates the intelligent functions such as autonomous control, with excavating, low energy consumption, it is high-efficient, it prevents from excavating the advantages that colliding and prolonging the service life.
Description
Technical field
The invention belongs to the excavators of machinery field to test mechanism technical field, and in particular to a kind of large-sized mining dredger
Intellectualized technology verification platform.
Background technique
Although scale is rapidly increasing currently, the quantity of opencut is gradually decreasing.It is modern large-scale outdoor at these
The medium-and-large-sized mine excavator of the mining industry of mine is instead of a large amount of manual labor, so that production efficiency greatly improves, playing can not
The effect of substitution.But that there is also digging efficiencies is low, energy consumption is high, safety is poor for manual operation large-sized mining dredger operation at present
The problems such as.With the fast development of artificial intelligence, control technology, information technology, electronic technology and sensing technology, intelligence control
System will become one of the important directions of large-scale mine excavating equipment development.But large-scale mine excavating equipment is huge and expensive, it is right
Large-sized mining dredger be transformed and carry out practical intelligence computer experiment it is time-consuming and laborious and lack safety.Therefore this is special
Benefit proposes a kind of large-sized mining dredger intellectualized technology verification platform, which is not only simple in structure,
It is easy to process, manufacturing cost is low, and package size is small, and quality is low, and security and stability is high.Intellectualized technology verification platform dress
Standby intelligent control system, including real time scan surface profile to be excavated, itself pose real-time detection, excavation power are examined in real time
Survey, intelligent excavating track optimizing excavate anticollision detection, excavate the intelligent functions modules such as autonomous control, can carry out intelligence
Excavate related experiment.
Summary of the invention
It is an object of the invention to overcome disadvantages mentioned above, propose a kind of to can be realized intelligent control, high efficiency, high stable
The large-sized mining dredger intellectualized technology verification platform of property.
Technical solution of the present invention:
A kind of large-sized mining dredger intellectualized technology verification platform, including excavator and intelligence control system；
The excavator includes chassis 3, wheel to 4, revolving platform 1, swing mechanism, hoisting mechanism, dipper crowding gear and shovel
Bucket 2；
The chassis 3 includes pivoting support mounting plate, wheel to mounting plate and turning motor mounting plate, pivoting support installation
Plate is the rectangular slab of intermediate hollow out, and bottom surface both side welds mounting plate by reinforcing rib and wheel, and there are gaps between the two；Wheel
It is strip plate to mounting plate, wheel is mounted on wheel on mounting plate to 4；Wheel slides on rail to 4, and guarantee does not depart from iron when sliding
Rail；Turning motor mounting plate is U-board, and U-board vertical welding is on pivoting support mounting plate, and Open Side Down for U-board；Described
Wheel includes wheel, wheel shaft and wheel to bracket to 4；Wheel is stepped cylindrical structure, and there is through-hole in centre, has keyway in through-hole；Wheel shaft
For multi-diameter shaft, there is keyway at wheel shaft both ends；Wheel is mounted on wheel shaft both ends by key, and wheel is mounted on wheel shaft two by bearing to bracket
End, the outside of wheel；There is a threaded hole in wheel shaft both ends end face, screw be threaded into hole can axial restraint wheel to bracket；Wheel is to bracket
Chassis wheel is mounted on to 4 jiaos below mounting plate by bolt respectively；
The revolving platform 1 is cube frame structure, and the forward and backward face of frame structure is respectively welded crane arm mounting plate
With electrical control cabinet mounting plate；The upper surface of frame structure, which is welded with, promotes motor mounting plate and two A cabinet frame mounting plates, promotes electricity
Machine mounting plate is located between two A cabinet frame mounting plates；The bottom surface of frame structure is fixed on the inner ring of pivoting support 7；
The swing mechanism is located at turn around between platform and chassis, including turning motor 5, rotary drive mechanism 6 and return
Turn bearing 7；
The turning motor 5 is fixed on turning motor mounting plate, and the output shaft of turning motor 5 passes through U-board；
The pivoting support 7 divides for outer ring and with the inner ring of gear, and 7 outer ring of pivoting support is bolted on revolution
It supports on mounting plate；
The rotary drive mechanism 6 includes transmission gear and transmission shaft, and transmission gear connects transmission shaft, and transmission shaft passes through
Bearing is mounted between turning motor mounting plate and pivoting support mounting plate；
The output shaft connection gear of turning motor 5, gear are engaged with the transmission gear of rotary drive mechanism 6, driving revolution
7 band tooth inner ring of bearing, and then realize 1 rotary motion of revolving platform；
The hoisting mechanism includes A cabinet frame 8, crane arm 9, promotes motor 10, guy wire 11 and lifting wirerope 12；
The A cabinet frame 8 includes left A cabinet frame 8 and right A cabinet frame 8, and the two is identical and is arranged symmetrically；A cabinet frame 8 is by hinged block
It is formed with connecting rod；Hinged block is fixed on A cabinet frame mounting plate, and one end of two root long connecting rods is connect with hinged block respectively, the other end
It is hinged with short connecting rod by axis；
The crane arm 9 includes main body, fixed pulley and link block；Main body is the body structure that steel plate is welded, and is led to
It crosses link block to be fixed on crane arm mounting plate, body top installs fixed pulley；The guy wire 11 is four, at symmetrical point
Cloth, one end are connected to the top two sides of main body, and the other end is connected to the two sides of short connecting rod；
The promotion motor 10, which is fixed on, to be promoted on motor mounting plate, is promoted and is fixed with volume on the output shaft of motor 10
Cylinder；12 one ends wound of wirerope is lifted on the reel for promoting motor 10, the other end connects around the lifting beam of fixed pulley and scraper bowl
It connects；It promotes motor 10 and controls spool turns, reel drives wire rope pulling scraper bowl；
The dipper crowding gear includes pushing motor 13, pushing transmission mechanism 14, push rod shaft 26, dipper 15 and dipper constraint
Plate 16；
The pushing transmission mechanism 14 includes that chain conveyer and rack-and-pinion rotate；
The push rod shaft 26 is fixed on 9 both side plate of crane arm by bearing, is separately installed with sprocket wheel in push rod shaft 26
And gear, two gears are located at the both ends of push rod shaft 26, outside 9 side plate of crane arm, sprocket wheel is located among push rod shaft 26, gear and
Sprocket wheel is fixed with push rod shaft 26 by key circumference, and sleeve axial restraint is passed through；
The section of the dipper 15 is H-type, is divided into upper groove and lower groove, and lower groove is provided with rack gear, rack gear and bucket
Bar 15 is bolted；Gear engagement on rack gear and push rod shaft on dipper 15；15 bottom both ends of dipper are equipped with limit
Block is disengaged from for limiting gear rack gear；
The section of the dipper restraining plate 16 is L-type, and the short slab lower surface of dipper restraining plate 16 is equipped with multiple rollings
Bearing, rolling bearing roll in the upper groove of dipper 15；The long slab of dipper restraining plate 16 is fixed on push rod shaft two by bearing
End, gear outside；Dipper restraining plate 16 prevents the tilting of dipper 15, rack-and-pinion to be disengaged from for constraining dipper 15；
The pushing motor 13 is located at crane arm mounting plate by pushing before motor mounting plate stationary frame structure
Top；The output shaft of the pushing motor 13 connects sprocket wheel, and sprocket wheel controls push rod shaft by chain conveyer and rotates, push rod shaft both ends
Gear pass through rack-driving control dipper 15 move；
The scraper bowl 2 includes scraper bowl main body, lifting beam, sluice gate and Kai Dou mechanism；
Scraper bowl main body is welded by link block, front and back strickle and side strickle；Link block is inserted into 15 upper grooves of dipper,
It connect and fixes with dipper 15 by bolt；The side strickle for lifting beam and scraper bowl 2 is hinged, and opposite scraper bowl side strickle hinged place turns
It is dynamic；Sluice gate and strickle after scraper bowl 2 are hinged, rotate around hinged place；Kai Dou mechanism be mounted on sluice gate in the following, include open bucket lever 29,
Sluice gate bolt 31, sluice gate bolt sliding slot 30 and front strickle jack；It opens bucket lever 29 and sluice gate is hinged, and rotated around hinged place；Sluice gate
Bolt sliding slot 30 is welded on sluice gate, and sluice gate bolt 31 slides in sliding slot and front strickle jack, sluice gate bolt 31 and open bucket lever 29 between
It is slide hinged.
The intelligence control system includes electric control unit, pose detection unit, power detecting unit, landforms scanning
Unit and anticollision detection unit；
The electric control unit respectively with pose detection unit, power detecting unit, landforms scanning element, anticollision
Detection unit is connected；
The electric control unit includes electrical control cabinet, frequency converter, single-chip microcontroller and industrial personal computer.
Industrial personal computer and single-chip microcontroller are for receiving pose detection unit, power detecting unit, landforms scanning element, anticollision inspection
The signal of unit measurement is surveyed, and according to algorithm process input signal, issues instructions to frequency converter, and then control motor start and stop and turn
Speed；
The pose detection unit includes obliquity sensor 18 and multi-turn absolute value optoelectronic encoding device 19；Obliquity sensor
18 are separately mounted to 16 side of 9 side of crane arm and dipper restraining plate, for measuring the level of crane arm and dipper restraining plate
Angle；Absolute value encoder is separately mounted to the push rod shaft of dipper crowding gear and the transmission shaft of swing mechanism by positive coupling
On, for detecting the corner and revolving speed of push rod shaft and transmission shaft.Obliquity sensor 18 and multi-turn absolute value optoelectronic encoding device 19 are used
In the position of real-time detection scraper bowl and the working condition of excavator, examine whether each executing agency digs according to optimal mining track
Pick.
The power detecting unit includes tension sensor 20, and tension sensor 20 is connected on lifting wirerope 12,
Lineoutofservice signal pull is lifted for measuring；
The landforms scanning element includes three-dimensional laser landforms scanner 17, and three-dimensional laser landforms scanner 17 includes used
Property/satellite positioning navigation composite module, inertia/combinations of satellites positioning navigation module is to platform progress precise positioning；Two three-dimensionals
Laser scanner is separately mounted to 1 top of revolving platform, the right and left, close to crane arm side, excavates environment for scanning；Two
Three-dimensional laser scanner carries out autonomous real time scan to surface topography to be excavated, and the point cloud data that scanning obtains is transferred to electricity
Gas control unit；Electric control unit integrates scan data according to the position and posture of two scanners, and according to phase
The optimization algorithm processing integral data answered, obtains an optimal mining track；After obtaining optimal mining track, electric control unit
Swing mechanism, walking mechanism, hoisting mechanism and dipper crowding gear are controlled, excavates it according to optimal mining track；
The anticollision detection unit includes proximity sensor 21 and limit switch 22；Revolving platform 1 and chassis 3 are distinguished
2 proximity sensors 21 are fixed with, when dipper 15 or scraper bowl 2 and revolving platform 1 or 3 distance of chassis reach setting value, are approached
Sensor 21 sends instructions to electric control unit, and electric control unit sends instruction and stops motor rotation；Limit switch 22 is pacified
In 15 upper grooves of dipper, when dipper 15 moves to extreme position, 16 short slab of dipper restraining plate touches limit switch 22,
Electric control unit sends instruction and stops motor rotation, and gear and rack gear is prevented to be disengaged from.
Beneficial effects of the present invention:
1. large-sized mining dredger intellectualized technology verification platform structure is simple, easy to process, manufacturing cost is low, complete machine ruler
It is very little it is small, quality is low, inertia is low for revolution, security and stability is high.
2. large-sized mining dredger intellectualized technology verification platform has landforms scanning element, can be carried out to landforms are excavated
In real time from main scanning, processing scan data can get optimal mining track, realize that high efficiency low energy consumption is excavated.
3. large-sized mining dredger intellectualized technology verification platform has pose detection system and preventing collision protection system, can
With real-time detection excavator self-position and posture, realizes and excavate preventing collision protection, prolong the service life.
It, being capable of real-time detection excavation function 4. large-sized mining dredger intellectualized technology verification platform has power detecting unit
Rate, and then guarantee stable excavation bucket fill degree, improve digging efficiency.
5. large-sized mining dredger intellectualized technology verification platform can effectively reduce the fault of manual operation bring, mitigate
Influence of the human factor to digging efficiency guarantees long-term efficiently excavation.
6. large-sized mining dredger intellectualized technology verification platform can shorten the operating time of excavation and loading in turn
It reduces and stagnates power consumption, reduce energy consumption.
Detailed description of the invention
Fig. 1 is intelligent excavating power shovel experiment porch overall structure diagram.
Fig. 2 is swing mechanism schematic diagram.
Fig. 3 is hoisting mechanism schematic diagram.
Fig. 4 (a) is dipper crowding gear overall schematic.
Fig. 4 (b) is dipper crowding gear detailed schematic.
Fig. 5 is out bucket structural scheme of mechanism.
In figure: 1 revolving platform；2 scraper bowls；3 chassis；4 wheels pair；5 turning motors；6 rotary drive mechanisms；7 pivoting supports；8A
Cabinet frame；9 crane arms；10 promote motor；11 guy wires；12 lifting wirerope；13 push motor；14 push transmission mechanism；15 dippers；
16 dipper restraining plates；17 three-dimensional laser landforms scanners；18 obliquity sensors；19 multi-turn absolute value optoelectronic encoding devices；20 pulling force
Sensor；21 proximity sensors；22 limit switches；23 deep groove ball bearings；24 rack gears；25 gears；26 push rod shafts；27 double strand chains
Wheel；28 shaft couplings；29 open bucket lever；30 sluice gate bolt sliding slots；31 sluice gate bolts；32 front strickle jacks.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 shows a kind of large-sized mining dredger intellectualized technology verification platform of the invention, including excavator and intelligence
It can control system.The intelligence control system includes that electric control unit, pose detection unit, power detecting unit, landforms are swept
Retouch unit, system testing unit, fault detection unit, anticollision detection unit.The electric control unit is examined with pose respectively
Survey unit, power detecting unit, landforms scanning element, system testing unit, fault detection unit, anticollision detection unit phase
Even.
In the present embodiment, excavator includes revolving platform, walking mechanism, swing mechanism, hoisting mechanism, dipper crowding gear, returns
Turn platform and scraper bowl.Excavator can carry out actual excavation operation, such as turn round operation, digging operation, handling operation and above-mentioned work
Industry composition operation etc..
In the present embodiment, the walking mechanism of excavator includes chassis and wheel pair.Can by motor direct-drive wheel to return
Turn, realizes walking movement.
In the present embodiment, the swing mechanism of excavator includes turning motor, rotary drive mechanism and pivoting support.Revolution
Motor is mounted on chassis, and pivoting support outer ring is fixed on chassis, and band tooth inner ring is connect with revolving platform, and turning motor passes through
Gear drive drives the ring gear of pivoting support, realizes the rotary motion of revolving platform.
In the present embodiment, hoisting mechanism includes A cabinet frame, crane arm, promotes motor, guy wire and lifting wirerope.Crane arm
Hinged with revolving platform, A cabinet frame and revolving platform are connected, and guy wire connects A cabinet frame and crane arm, and guy wire is for fixing crane arm.
The lifting wirerope that motor 10 exports that promoted on revolving platform lifts scraper bowl around the fixed pulley on crane arm top, realizes scraper bowl
Lifting motion.Be between crane arm and revolving platform it is hinged, when excavating resistance overload when, crane arm can around articulated shaft turn
It is dynamic, play the role of overload protection.
In the present embodiment, dipper crowding gear includes pushing motor, pushing transmission mechanism, dipper and dipper restraining plate.It pushes
Motor 13 is fixed on revolving platform, controls rack linear movement by chain conveyer and rack pinion.Dipper 15 and rack gear
It is fixed together by bolt, dipper restraining plate constraint dipper makes it and cannot relatively rotate with dipper restraining plate, i.e., in fact
Now push the linear motion of dipper.
In the present embodiment, landforms scanning element includes two three-dimensional laser scanners, and three-dimensional laser landforms scanner includes
Inertia/combinations of satellites location navigation functional module is capable of position and the posture of real-time detection scanner.Two 3 D laser scannings
Instrument is equivalent to two eyes of people, carries out autonomous real time scan, and the point cloud data that scanning is obtained to surface topography to be excavated
It is transferred to electric control unit.Electric control unit integrates scan data according to the position and posture of two scanners,
And integral data is handled according to corresponding optimization algorithm, obtain an optimal mining track.After obtaining optimal mining track, electrically
Control unit controls swing mechanism, walking mechanism, hoisting mechanism and dipper crowding gear, digs it according to optimal mining track
Pick.
In the present embodiment, obliquity sensor and multi-turn absolute value optoelectronic encoding device for real-time detection scraper bowl pose and
The working condition of excavator, examines whether each executing agency excavates according to optimal mining track.Tension sensor is dug for detecting
Whether pick scraper bowl completely shovels.
Three-dimensional laser scanner, obliquity sensor, multi-turn absolute value optoelectronic encoding device and tension sensor constitute entire
The variable detection unit of control system.
In the present embodiment, the intelligence control system of large-sized mining dredger intellectualized technology verification platform can complete itself
Pose real-time detection, real time scan surface profile to be excavated, intelligent excavating track optimizing excavate anticollision detection, excavate power
Real-time detection excavates the intelligent operations such as autonomous control.Specific workflow is as shown in Figure 2.
In the present embodiment, large-sized mining dredger intellectualized technology verification platform is made using metal material, reference
True mine excavator design, contour structures, electrical control, excavation principle are identical as large-sized mining dredger principle.Shape
Size are as follows: long 3100 ╳ wide, 1800 ╳ high 2200mm, overall mass: 2000Kg.Other technologies parameter is dipper capacity
0.064m3, the long 1.2m of dipper, lifting brachium 2m, maximum hoist capacity 10KN.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, all in protection model of the invention
Interior made any modification, equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of large-sized mining dredger intellectualized technology verification platform, which is characterized in that the large-sized mining dredger intelligence
It includes excavator and intelligence control system that technique verification platform, which can be changed,；
The excavator include chassis (3), wheel to (4), revolving platform (1), swing mechanism, hoisting mechanism, dipper crowding gear and
Scraper bowl (2)；
The chassis (3) includes pivoting support mounting plate, wheel to mounting plate and turning motor mounting plate, pivoting support mounting plate
For the rectangular slab of intermediate hollow out, bottom surface both side welds mounting plate by reinforcing rib and wheel, and there are gaps between the two；Wheel pair
Mounting plate is strip plate, and wheel is mounted on wheel on mounting plate to (4)；Wheel slides (4) on rail, and guarantee does not depart from when sliding
Rail；Turning motor mounting plate is U-board, and U-board vertical welding is on pivoting support mounting plate, and Open Side Down for U-board；
The revolving platform (1) be cube frame structure, the forward and backward face of frame structure be respectively welded crane arm mounting plate and
Electrical control cabinet mounting plate；The upper surface of frame structure, which is welded with, promotes motor mounting plate and two A cabinet frame mounting plates, promotes motor
Mounting plate is located between two A cabinet frame mounting plates；The bottom surface of frame structure is fixed on the inner ring of pivoting support (7)；
The swing mechanism is located at turn around between platform and chassis, including turning motor (5), rotary drive mechanism (6) and return
Turn bearing (7)；
The turning motor (5) is fixed on turning motor mounting plate, and the output shaft of turning motor (5) passes through U-board；
The pivoting support (7) is divided into outer ring and the inner ring with gear, and pivoting support (7) outer ring is bolted on revolution
It supports on mounting plate；
The rotary drive mechanism (6) includes transmission gear and transmission shaft, and transmission gear connects transmission shaft, and transmission shaft passes through axis
It holds and is mounted between turning motor mounting plate and pivoting support mounting plate；
The output shaft connection gear of turning motor (5), gear are engaged with the transmission gear of rotary drive mechanism (6), driving revolution
(7) band tooth inner ring is supported, and then realizes revolving platform (1) rotary motion；
The hoisting mechanism includes A cabinet frame (8), crane arm (9), promotes motor (10), guy wire (11) and lifting wirerope
(12)；
The A cabinet frame (8) includes left A cabinet frame and right A cabinet frame, and the two is identical and is arranged symmetrically；A cabinet frame (8) by hinged block and
Connecting rod composition；Hinged block is fixed on A cabinet frame mounting plate, and one end of two root long connecting rods is connect with hinged block respectively, and the other end is logical
It is hinged with short connecting rod to cross axis；
The crane arm (9) includes main body, fixed pulley and link block；Main body is the body structure that steel plate is welded, and is passed through
Link block is fixed on crane arm mounting plate, and body top installs fixed pulley；The guy wire (11) is four, at symmetrical point
Cloth, one end are connected to the top two sides of main body, and the other end is connected to the two sides of short connecting rod；
The promotion motor (10), which is fixed on, to be promoted on motor mounting plate, is promoted and is fixed with volume on the output shaft of motor (10)
Cylinder；Wirerope (12) one ends wound is lifted on the reel for promoting motor (10), the other end bypasses the lifting of fixed pulley and scraper bowl
Beam connection；It promotes motor (10) and controls spool turns, reel drives wire rope pulling scraper bowl；
The dipper crowding gear includes pushing motor (13), pushing transmission mechanism (14), push rod shaft (26), dipper (15) and dipper
Restraining plate (16)；
The pushing transmission mechanism (14) includes chain conveyer and rack-and-pinion rotation；
The push rod shaft is fixed on crane arm (9) both side plate by bearing, and sprocket wheel and gear are separately installed in push rod shaft,
Two gears are located at the both ends of push rod shaft, outside crane arm (9) side plate, and sprocket wheel is located among push rod shaft, gear and sprocket wheel with
Push rod shaft is fixed by key circumference, passes through sleeve axial restraint；
The section of the dipper (15) is H-type, is divided into upper groove and lower groove, lower groove is provided with rack gear, rack gear and dipper
(15) it is bolted；Gear engagement on rack gear and push rod shaft on dipper (15)；Dipper (15) bottom both ends are equipped with
Limited block is disengaged from for limiting gear rack gear；
The section of the dipper restraining plate (16) is L-type, and the short slab lower surface of dipper restraining plate (16) is equipped with multiple rollings
Bearing, rolling bearing roll in the upper groove of dipper (15)；The long slab of dipper restraining plate (16) is fixed on push rod by bearing
Axis both ends, gear outside；Dipper restraining plate (16) prevents dipper (15) from tilting, rack-and-pinion is detached from for constraining dipper (15)
Engagement；
The pushing motor (13) is located on crane arm mounting plate by pushing before motor mounting plate stationary frame structure
Side；The output shaft of the pushing motor (13) connects sprocket wheel, and sprocket wheel controls push rod shaft by chain conveyer and rotates, push rod shaft both ends
Gear pass through rack-driving control dipper (15) movement；
The scraper bowl (2) includes scraper bowl main body, lifting beam, sluice gate and Kai Dou mechanism；
The intelligence control system includes electric control unit, pose detection unit, power detecting unit, landforms scanning element
With anticollision detection unit；
The electric control unit is detected with pose detection unit, power detecting unit, landforms scanning element, anticollision respectively
Unit is connected；
The electric control unit includes electrical control cabinet, frequency converter, single-chip microcontroller and industrial personal computer；
Industrial personal computer and single-chip microcontroller are for receiving pose detection unit, power detecting unit, landforms scanning element, anticollision detection list
The signal of member measurement, and according to algorithm process input signal, frequency converter is issued instructions to, and then control turning motor, promote electricity
Machine and start and stop and the revolving speed for pushing motor；
The pose detection unit includes obliquity sensor (18) and multi-turn absolute value optoelectronic encoding device (19)；Obliquity sensor
(18) it is separately mounted to crane arm (9) side and dipper restraining plate (16) side, for measuring crane arm and dipper restraining plate
Level angle；Multi-turn absolute value optoelectronic encoding device (19) by positive coupling be separately mounted to the push rod shaft of dipper crowding gear with
And on the transmission shaft of swing mechanism, for detecting the corner and revolving speed of push rod shaft and transmission shaft；Obliquity sensor (18) and multi-turn
Absolute value optoelectronic encoding device (19) examines each executing agency for the position of real-time detection scraper bowl and the working condition of excavator
Whether excavated according to optimal mining track；
The power detecting unit includes tension sensor (20), and tension sensor (20) is connected to lifting wirerope (12)
On, for measuring lifting lineoutofservice signal pull；
The landforms scanning element includes three-dimensional laser landforms scanner (17), and three-dimensional laser landforms scanner (17) includes used
Property/satellite positioning navigation composite module, inertia/combinations of satellites positioning navigation module is to platform progress precise positioning；Two three-dimensionals
Laser scanner is separately mounted to revolving platform (1) top, the right and left, close to crane arm side, excavates environment for scanning；Two
A three-dimensional laser scanner carries out autonomous real time scan to surface topography to be excavated, and the point cloud data that scanning obtains is transferred to
Electric control unit；Electric control unit integrates scan data according to the position and posture of two scanners, and according to
Corresponding optimization algorithm handles integral data, obtains an optimal mining track；After obtaining optimal mining track, electrical control list
Member control swing mechanism, walking mechanism, hoisting mechanism and dipper crowding gear, excavate it according to optimal mining track；
The anticollision detection unit includes proximity sensor (21) and limit switch (22)；Revolving platform (1) and chassis (3)
2 proximity sensors (21) are respectively fixed with, when dipper (15) or scraper bowl (2) reach with revolving platform (1) or chassis (3) distance
When setting value, proximity sensor (21) sends instructions to electric control unit, and electric control unit sends instruction and stops revolution electricity
Machine promotes motor and pushes the rotation of motor；Limit switch (22) is mounted in dipper (15) upper grooves, when dipper (15) are transported
When moving to extreme position, dipper restraining plate (16) short slab touches limit switch (22), and electric control unit, which sends instruction, to be stopped back
Rotating motor promotes motor and pushes the rotation of motor, and gear and rack gear is prevented to be disengaged from.
2. large-sized mining dredger intellectualized technology verification platform according to claim 1, which is characterized in that the wheel
It include wheel, wheel shaft and wheel to bracket to (4)；Wheel is stepped cylindrical structure, and there is through-hole in centre, has keyway in through-hole；Wheel shaft
For multi-diameter shaft, there is keyway at wheel shaft both ends；Wheel is mounted on wheel shaft both ends by key, and wheel is mounted on wheel shaft two by bearing to bracket
End, the outside of wheel；There is threaded hole in wheel shaft both ends end face, and screw is threaded into hole, can axial restraint wheel to bracket；Wheel is to bracket
Chassis wheel is mounted on to 4 jiaos below mounting plate by bolt respectively.
3. large-sized mining dredger intellectualized technology verification platform according to claim 1 or 2, which is characterized in that described
The main body of scraper bowl (2) be welded by link block, front strickle, rear strickle and side strickle；Link block is inserted into dipper (15) top
Groove is connect and is fixed with dipper (15) by bolt；The side strickle for lifting beam and scraper bowl (2) is hinged, opposite scraper bowl side strickle
Hinged place rotation；Strickle is hinged afterwards with scraper bowl (2) for sluice gate, rotates around hinged place；Kai Dou mechanism is mounted on sluice gate in the following, including opening
Bucket lever (29), sluice gate bolt (31), sluice gate bolt sliding slot (30) and front strickle jack；It opens bucket lever (29) and sluice gate is hinged, and
It is rotated around hinged place；Sluice gate bolt sliding slot (30) is welded on sluice gate, and sluice gate bolt (31) slides in sliding slot and front strickle jack, bucket
Keeper (31) and open bucket lever (29) between be slide hinged.
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| CN201710555336.8A CN107178103B (en) | 2017-07-10 | 2017-07-10 | A kind of large-sized mining dredger intellectualized technology verification platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107389251A (en) * | 2017-09-20 | 2017-11-24 | 吉林大学 | Mechanical digging machine model machine digging force is test bed |
| CN109183871B (en) * | 2018-09-25 | 2020-08-21 | 太原重型机械集团工程技术研发有限公司 | Control method of mining excavator bucket |
| CN110965598B (en) * | 2019-12-31 | 2023-05-26 | 金堆城钼业股份有限公司 | Electric shovel crane arm connecting structure |
| CN111395440A (en) * | 2020-04-13 | 2020-07-10 | 内蒙古霍林河露天煤业股份有限公司 | Pushing limiting system and method for WK-10B electric shovel and electric shovel |
| CN111622295A (en) * | 2020-04-22 | 2020-09-04 | 浙江大学 | Excavator running safety system and method |
| CN112227444B (en) * | 2020-10-22 | 2022-01-28 | 重庆北永建设工程有限公司 | Ditch excavating equipment |
| CN114482162A (en) * | 2021-12-30 | 2022-05-13 | 太原重工股份有限公司 | Mining excavator |
| CN114624122B (en) * | 2022-05-13 | 2022-07-22 | 江苏宣胜金属科技有限公司 | Excavator bucket tooth strength testing device |
| CN115538509A (en) * | 2022-09-28 | 2022-12-30 | 太原重工股份有限公司 | Small-sized electric excavator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2003231957A1 (en) * | 2002-06-03 | 2003-12-19 | Esco Corporation | Chain with opposite plane links |
| US8718845B2 (en) * | 2010-10-06 | 2014-05-06 | Caterpillar Global Mining Llc | Energy management system for heavy equipment |
| US8504255B2 (en) * | 2011-04-29 | 2013-08-06 | Harnischfeger Technologies, Inc. | Controlling a digging operation of an industrial machine |
| US8768583B2 (en) * | 2012-03-29 | 2014-07-01 | Harnischfeger Technologies, Inc. | Collision detection and mitigation systems and methods for a shovel |
| CN104328811A (en) * | 2014-11-26 | 2015-02-04 | 北方重工集团有限公司 | Mining type compact bucket wheel excavator |
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