CN108643962A - Intelligent Cao Che robots and behaviour's vehicle method - Google Patents
Intelligent Cao Che robots and behaviour's vehicle method Download PDFInfo
- Publication number
- CN108643962A CN108643962A CN201810381865.5A CN201810381865A CN108643962A CN 108643962 A CN108643962 A CN 108643962A CN 201810381865 A CN201810381865 A CN 201810381865A CN 108643962 A CN108643962 A CN 108643962A
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- Prior art keywords
- vehicle
- cao
- push
- vehicle frame
- pull
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
Abstract
The invention discloses a kind of intelligence Cao Che robots, including vehicle frame, protective cover, hydraulic station, parking device, traverse displacement unit, behaviour's vehicle driving device, control device, accumulator group and push-pull device at fixed；Push-pull device at fixed is symmetrically mounted on the outside at the both ends of vehicle frame, and parking device is symmetrically mounted on the inside at vehicle frame both ends；Traverse displacement unit is mounted on the downside of vehicle frame, and behaviour's vehicle driving device is mounted on the centre of vehicle frame；Control device and accumulator group are mounted on the upside of vehicle frame, and hydraulic station is mounted on vehicle frame, and protective cover is fixed on frame outside.Above-mentioned Cao Che robots can meet robot directly shunt into tank push-and-pull vehicle, bend push-and-pull vehicle, parking lot, the functions such as anticollision pedestrian.The vehicle pushing-pulling machine device people is low to parking lot length requirement, need not additionally do car puller basis, can be used on bend.The vehicle pushing-pulling machine device people can be transferred to another level after a horizon mining and be continuing with.The vehicle pushing-pulling machine device people need not often replace accessory, reduce maintenance cost.
Description
Technical field
The present invention relates to mine down-hole technical field of transportation, and in particular to a kind of intelligence Cao Che robots and behaviour's vehicle method.
Background technology
Coal mine auxiliary shaft is responsible for the promotion of the personnel, mine car and material of full mine, is an important link of coal production,
Well head, well safe and production efficiency are to influence a key factor of coal production.
The cage car puller that China's coal-mine uses at present mainly has pneumatic, electric wire rope, electronic round-link chain, electronic top
The types such as car puller, car puller with linear motor, mostly there is structure sizes greatly, installation is complicated, cart efficiency is low, impact is big,
The shortcomings of fragile, especially cart stroke is limited, pawls and cannot directly enter cage, necessary under operating mode of the well head without mine car
By the artificial mine car released in cage, labor intensity is big and constitutes a serious threat to the personal safety of worker；In addition its power
Source complexity is various, has electronic, pneumatic, is not easy centralized control.For pneumatic, the reasons such as air feed pressure transient of air compressor
Drastically influence the efficiency of entrucking.Gear trolley machine is a kind of novel car puller promoted the use of in recent years, it and hold tank arrangement,
Car arrester, safety door, hydraulic power unit form a set of board-like into tank holding tramcar system together, and cage can be directly entered by, which theoretically pawling, pushes away
Go out mine car in tank, have great innovation than the prior art, is a kind of more satisfactory behaviour's vehicle device.Hydraulic pressure pin tooth is into tank car handling equipment
In December, 1993, single machine was identified by ministerial level, and December nineteen ninety-five, pin tooth behaviour vehicle complete set of equipments-mechanical-electrical-hydraulic integration holding tramcar system was logical
Cross ministerial level identification.
But the system is not very ripe, and when being used especially in shaft bottom behaviour's vehicle, there are still many shortcomings：Due to promoting steel
The flexible deformation of cord and the influence for stopping tank error can cause the variation of cage position, pawl excessive into impact force when tank, pawl
Intensity is low, fragile, and service life is short, is can not achieve substantially into tank cart when applying at the scene.Big in the presence of impact, noise is big,
Vulnerable part is more, and installation needs parking lot and the concrete foundation grown very much, is even more invested especially for multi level hoisting huge.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of intelligence Cao Che robots and
Grasp vehicle method, can meet robot directly shunt into tank push-and-pull vehicle, bend push-and-pull vehicle, parking lot, the functions such as anticollision pedestrian.It should
Vehicle pushing-pulling machine device people is low to parking lot length requirement, need not additionally do car puller basis, can be used on bend.The push-and-pull vehicle
Robot can be transferred to another level after a horizon mining and be continuing with.The vehicle pushing-pulling machine device people is not
Accessory is needed to be replaced frequently, maintenance cost is reduced.
In order to achieve the above objectives, the technical solution adopted by the present invention is：Intelligent Cao Che robots, including vehicle frame, protective cover,
Hydraulic station, parking device, traverse displacement unit, behaviour's vehicle driving device, control device, accumulator group and push-pull device at fixed；The push-and-pull dress
The outside at the both ends for being symmetrically mounted on vehicle frame is set, parking device is symmetrically mounted on the inside at vehicle frame both ends；Traverse displacement unit is mounted on
The downside of vehicle frame, behaviour's vehicle driving device are mounted on the centre of vehicle frame；Control device and accumulator group are mounted on the upside of vehicle frame, hydraulic pressure
It stands on vehicle frame, protective cover is fixed on frame outside.
The parking device includes parking oil cylinder and park pawl, and parking oil cylinder is mounted on vehicle frame, and park pawl is mounted on and stays
The lower end of vehicle oil cylinder；The angle of the parking oil cylinder and horizontal plane is 125 °~135 °.
The traverse displacement unit includes that traversing driver, support cylinder, traversing wheel and traversing holder, the support cylinder are fixed
On vehicle frame, traversing holder is fixed in the cylinder rod of support cylinder, and traversing wheel and traversing driver are also secured to traversing holder
On, traversing driver can directly drive traversing wheel rotation.
Behaviour's vehicle driving device includes moving forward and backward driver, transmission component, support wheel group and equalizer, on equalizer
End is connected on vehicle frame, and support wheel group is connected on equalizer；It moves forward and backward driver to be lifted on vehicle frame, transmission component installation
In support wheel group and move forward and backward between driver.
The push-pull device at fixed includes push-and-pull framework, conversion driver, driving arm and transaxle, the driving arm installation
On vehicle frame, conversion driver is mounted on driving arm, and transaxle is connected on conversion driver, and push-and-pull framework, which is mounted on, to be turned
It changes on axis.
The push-and-pull framework includes side plate, connecting plate and the rotary sleeve mounted on side plate lower end；Connecting plate is fixed on side plate
Between；The upper end of the side plate is equipped with hook of getting a lift.
The hook of getting a lift is L-shaped, is highly not less than 15cm；Get a lift hook top be low early and high after cambered surface, the cambered surface
Height difference is not less than 5mm.
Vehicle method is grasped by intelligent Cao Che robots, includes the following steps：
A, pull a cart pattern, cart pattern, lateral pattern or park mode are selected；
B, pattern of pulling a cart, parking device is such as selected to pack up, push-pull device at fixed is kept flat in place；Then behaviour's vehicle driving device starts, and grasps vehicle
Robot makes the front end of push-pull device at fixed stretch into bottom of frame slowly close to mine car, and guarantee is got a lift to hook and is stuck on the axle of mine car,
Mine car is pulled to advance；
C, cart pattern, parking device is such as selected to pack up, push-pull device at fixed is packed up and keeps vertical state；Then vehicle driving device is grasped
Start, Cao Che robots make push-pull device at fixed directly be contacted with mine car slowly close to mine car, and mine car is pulled to advance；
D, lateral pattern, parking device is such as selected to pack up, push-pull device at fixed is packed up and keeps vertical state；Then traverse displacement unit opens
Dynamic, the support wheel group that Cao Che robots are up to grasped vehicle driving device by platform de-orbits, and traversing wheel is rotated Cao Che robots band
From orbital region；Traverse displacement unit resets, and the support wheel group of behaviour's vehicle driving device is contacted with ground, can start behaviour's vehicle driving device and drive
Dong Cao vehicles robot moves forward or back；
E, park mode, parking device is such as selected to start, park pawl props up ground and provides a parking power for Cao Che robots, protects
Card is parked firm.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：
By the direct radio operation of signalman, robot can be met directly into tank push-and-pull vehicle, bend push-and-pull vehicle, parking lot tune
The functions such as vehicle, anticollision pedestrian.The vehicle pushing-pulling machine device people is low to parking lot length requirement, need not additionally do car puller basis, energy
It is enough to be used on bend.The vehicle pushing-pulling machine device people can be transferred to after a horizon mining another it is horizontal after
It is continuous to use.The vehicle pushing-pulling machine device people need not often replace accessory, reduce maintenance cost.
It is suitable for present low gas, high methane, has the mine that Gas Outburst is dangerous, has coal dust explosion hazard；The device has been
Rowization are transformed for old mine, and new mine design is selected.
Description of the drawings
Technical scheme of the present invention is further explained below in conjunction with the accompanying drawings：
Fig. 1 is operating status schematic diagram of the present invention；
Fig. 2 is positive structure diagram of the present invention；
Fig. 3 is top view structural schematic diagram of the present invention；
Fig. 4 is push-pull device at fixed positive structure diagram of the present invention；
Fig. 5 is push-pull device at fixed top view structural schematic diagram of the present invention；
Fig. 6 is parking device structural schematic diagram of the present invention.
In figure：1, protective cover；2, accumulator group；3, hydraulic station；4, control device；5, vehicle frame；6, traverse displacement unit；7, it supports
Wheel group；8, driver is moved forward and backward；9, equalizer；10, parking device；11, push-pull device at fixed；12, conversion driver；13, it drives
Holder；14, framework is pushed and pulled；15, it gets a lift hook；16, support cylinder；17, traversing holder；18, support wheel group；19, transmission component；
20, wheel shaft；21, traversing driver；22, traversing wheel；23, rotary sleeve；24, transaxle；25, parking oil cylinder；26, park pawl；27、
Side plate；28, connecting plate；A, Cao Che robots；B, mine car.
Specific implementation mode
With reference to specific embodiment, the present invention is described in further detail.
A kind of intelligence Cao Che robots as shown in Figures 1 to 6, including vehicle frame 5, protective cover 1, hydraulic station 3, parking device
10, traverse displacement unit 6, behaviour's vehicle driving device, control device 4, accumulator group 2 and push-pull device at fixed 11；Push-pull device at fixed 11 is symmetrically installed
Outside at the both ends of vehicle frame 5, parking device 10 are symmetrically mounted on the inside at 5 both ends of vehicle frame；Traverse displacement unit 6 is mounted on vehicle frame 5
Downside, behaviour vehicle driving device be mounted on vehicle frame 5 centre；Control device 4 and accumulator group 2 are mounted on 5 upside of vehicle frame, hydraulic pressure
3 are stood on vehicle frame 5, protective cover 1 is fixed on 5 outside of vehicle frame.
The control device 4 of Cao Che robots A can perceive its position and be perceived to object near behaviour's bus or train route line,
Need to be automatically stopped traveling as someone in Cao Che robots A perception travelling routes to ensure the safety of people.By to grasping vehicle device
Device people A settings infrared temperature sensor, laser range sensor and various monitoring sensors etc., to realize Cao Che robots A certainly
Dynamic control and anti-collision people's purpose.
Behaviour vehicle intelligent robot A, the finger that wireless handheld controller is sent can be directly controlled using wireless handheld controller
It enables after the processing of control device 4, control device 4 sends control instruction, each driver to the respective actuator of Cao Che robots A
It is operated accordingly after receiving control instruction.
Parking device 10 includes parking oil cylinder 25 and park pawl 26, and parking oil cylinder 25 is mounted on vehicle frame 5, and park pawl 26 is pacified
Mounted in the lower end of parking oil cylinder 25；Parking oil cylinder 25 and the angle of horizontal plane are 125 °~135 °, preferably 130 °.
Traverse displacement unit 6 includes traversing driver 21, support cylinder 16, traversing wheel 22 and traversing holder 17, support cylinder 16
It is fixed on vehicle frame 5, traversing holder 17 is fixed in the cylinder rod of support cylinder 16, and traversing wheel 22 and traversing driver 21 are solid simultaneously
It is scheduled on traversing holder 17, traversing driver 21 can directly drive 22 rotation of traversing wheel.
Behaviour's vehicle driving device includes moving forward and backward driver 8, transmission component 19, support wheel group 18 and equalizer 9, equalizer
9 upper ends are connected on vehicle frame 5, and support wheel group 18 is connected on equalizer 9；It moves forward and backward driver 8 to be lifted on vehicle frame 5, pass
Dynamic component 19 is mounted on support wheel group 18 and moves forward and backward between driver 8.
The transmission of Cao Che robots A uses hydraulic transmission mode, i.e., is given by the accumulator group 2 built in Cao Che robots A
Motor is powered, and motor-driven hydraulic pumps realize the output with press liquid.Band press liquid passes through hydraulic continuously variable transmission band motor car wheel
Rotation.It is compared using hydraulic drive and is had the following advantages that using motor direct-drive wheel：Speed is stepless adjustable, by controlling liquid
The output flow of press pump can realize stepless speed regulation to Cao Che robots A；Adjustable thrust, the output pressure by controlling hydraulic pump can
Realize that Cao Che robots A thrusts dynamic adjusts.
The effect of equalizer 9 is：It can be by balanced beam action sharing of load when increasing there are one the load of wheel
A part is gone on to another wheel, is overloaded to avoid a wheel, a wheel underload.
Push-pull device at fixed includes push-and-pull framework 14, conversion driver 12, driving arm 13 and transaxle 24, and driving arm 13 is pacified
On vehicle frame 5, conversion driver 12 is mounted on driving arm 13, and transaxle 24 is connected on conversion driver 12, push-and-pull
Framework 14 is mounted on transaxle 24.
It includes side plate 27, connecting plate 28 and the rotary sleeve 23 mounted on 27 lower end of side plate to push and pull framework 14；Connecting plate 28 is solid
It is scheduled between side plate 27；The upper end of side plate 27 is equipped with hook 15 of getting a lift.
Rotary sleeve 23 is fixed on side plate 27.
Hook 15 of getting a lift is L-shaped, is highly not less than 15cm；Get a lift hook 15 top be low early and high after cambered surface, the cambered surface
Height difference is not less than 5mm.
Vehicle method is grasped by intelligent Cao Che robots, includes the following steps：
A, pull a cart pattern, cart pattern, lateral pattern or park mode are selected；
B, pattern of pulling a cart, parking device 10 is such as selected to pack up, push-pull device at fixed 11 is kept flat in place；Then behaviour's vehicle driving device starts,
Vehicle device device A people is grasped slowly close to mine car B, and the front end of push-pull device at fixed 11 is made to stretch into 5 bottom of vehicle frame, guarantee hook 15 of getting a lift is stuck in mine
On the axle of vehicle B, mine car B is pulled to advance；
C, cart pattern, parking device 10 is such as selected to pack up, push-pull device at fixed 22 is packed up and keeps vertical state；Then behaviour's vehicle driving
Device starts, and Cao Che robots A makes push-pull device at fixed directly be contacted with mine car B slowly close to mine car B, and mine car B is pulled to advance；
D, lateral pattern, parking device 10 is such as selected to pack up, push-pull device at fixed 11 is packed up and keeps vertical state；Then traverse displacement unit
6 start, and the support wheel group 18 that Cao Che robots A is up to grasped vehicle driving device by platform de-orbits, and 22 rotation of traversing wheel will grasp vehicle
Robot A takes away orbital region；Traverse displacement unit 6 resets, and the support wheel group 18 of behaviour's vehicle driving device is contacted with ground, can start behaviour
Vehicle driving device drives Cao Che robot A to move forward or back.
, such as select park mode, parking device 10 starts, and park pawl 26 props up ground and provides one for Cao Che robots A
Parking power, guarantee are parked firm.
The specific application example that the above is only the present invention, is not limited in any way protection scope of the present invention.All uses
Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.
Claims (8)
1. intelligence Cao Che robots, including vehicle frame, protective cover and hydraulic station, it is characterised in that：Further include parking device, traversing dress
It sets, grasp vehicle driving device, control device, accumulator group and push-pull device at fixed；The push-pull device at fixed is symmetrically mounted on the both ends of vehicle frame
Outside, parking device is symmetrically mounted on the inside at vehicle frame both ends；Traverse displacement unit is mounted on the downside of vehicle frame, grasps vehicle driving device
Mounted on the centre of vehicle frame；Control device and accumulator group are mounted on the upside of vehicle frame, and hydraulic station is mounted on vehicle frame, and protective cover is solid
It is scheduled on frame outside.
2. intelligence Cao Che robots according to claim 1, it is characterised in that：The parking device includes parking oil cylinder and stays
Vehicle pawl, parking oil cylinder are mounted on vehicle frame, and park pawl is mounted on the lower end of parking oil cylinder；The folder of the parking oil cylinder and horizontal plane
Angle is 125 °~135 °.
3. intelligence Cao Che robots according to claim 1, it is characterised in that：The traverse displacement unit include traversing driver,
Support cylinder, traversing wheel and traversing holder, the support cylinder are fixed on vehicle frame, and traversing holder is fixed on the cylinder of support cylinder
On bar, traversing wheel and traversing driver are also secured on traversing holder, and traversing driver can directly drive traversing wheel rotation.
4. intelligence Cao Che robots according to claim 1, it is characterised in that：Behaviour's vehicle driving device includes moving forward and backward
Driver, transmission component, support wheel group and equalizer, equalizer upper end are connected on vehicle frame, and support wheel group is connected to equalizer
On；It moves forward and backward driver to be lifted on vehicle frame, transmission component is mounted on support wheel group and moves forward and backward between driver.
5. intelligence Cao Che robots according to claim 1, it is characterised in that：The push-pull device at fixed includes push-and-pull framework, turns
Driver, driving arm and transaxle are changed, the driving arm is mounted on vehicle frame, and conversion driver is mounted on driving arm
On, transaxle is connected on conversion driver, and push-and-pull framework is mounted on transaxle.
6. intelligence Cao Che robots according to claim 5, it is characterised in that：The push-and-pull framework includes side plate, connecting plate
With the rotary sleeve mounted on side plate lower end；Connecting plate is fixed between the side plates；The upper end of the side plate is equipped with hook of getting a lift.
7. intelligence Cao Che robots according to claim 6, it is characterised in that：The hook of getting a lift is L-shaped, is highly not less than
15cm；The get a lift top of hook is low early and high after cambered surface, and the height difference of the cambered surface is not less than 5mm.
8. grasping vehicle method according to intelligence Cao Che robots described in claim 1-7, which is characterized in that include the following steps：
A, pull a cart pattern, cart pattern, lateral pattern or park mode are selected；
B, pattern of pulling a cart, parking device is such as selected to pack up, push-pull device at fixed is kept flat in place；Then behaviour's vehicle driving device starts, and grasps vehicle
Robot makes the front end of push-pull device at fixed stretch into bottom of frame slowly close to mine car, and guarantee is got a lift to hook and is stuck on the axle of mine car,
Mine car is pulled to advance；
C, cart pattern, parking device is such as selected to pack up, push-pull device at fixed is packed up and keeps vertical state；Then vehicle driving device is grasped
Start, Cao Che robots make push-pull device at fixed directly be contacted with mine car slowly close to mine car, and mine car is pulled to advance；
D, lateral pattern, parking device is such as selected to pack up, push-pull device at fixed is packed up and keeps vertical state；Then traverse displacement unit opens
Dynamic, the support wheel group that Cao Che robots are up to grasped vehicle driving device by platform de-orbits, and traversing wheel is rotated Cao Che robots band
From orbital region；Traverse displacement unit resets, and the support wheel group of behaviour's vehicle driving device is contacted with ground, can start behaviour's vehicle driving device and drive
Dong Cao vehicles robot moves forward or back；
E, park mode, parking device is such as selected to start, park pawl props up ground and provides a parking power for Cao Che robots, protects
Card is parked firm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381865.5A CN108643962A (en) | 2018-04-26 | 2018-04-26 | Intelligent Cao Che robots and behaviour's vehicle method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810381865.5A CN108643962A (en) | 2018-04-26 | 2018-04-26 | Intelligent Cao Che robots and behaviour's vehicle method |
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| Publication Number | Publication Date |
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| CN108643962A true CN108643962A (en) | 2018-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810381865.5A Pending CN108643962A (en) | 2018-04-26 | 2018-04-26 | Intelligent Cao Che robots and behaviour's vehicle method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923889A (en) * | 2020-08-24 | 2020-11-13 | 山西银锋科技有限公司 | Emergency stop locking system device for inclined roadway mine car |
| CN112938724A (en) * | 2021-02-04 | 2021-06-11 | 辽宁工程技术大学 | Push-pull device for mine car to enter and exit cage and push-pull method thereof |
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| TW578733U (en) * | 2003-04-15 | 2004-03-01 | Wan-Cheng Jau | Transversely moving mechanism for vehicle |
| TW201331072A (en) * | 2012-01-17 | 2013-08-01 | Univ Chienkuo Technology | Vehicle lateral parking device |
| CN204845952U (en) * | 2015-06-10 | 2015-12-09 | 徐州博信矿山设备制造有限公司 | Plug -type car pusher of mining remote controlled electric and control system thereof |
| CN208122890U (en) * | 2018-04-26 | 2018-11-20 | 平顶山天安煤业股份有限公司 | Intelligent Cao Che robot |
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2018
- 2018-04-26 CN CN201810381865.5A patent/CN108643962A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW578733U (en) * | 2003-04-15 | 2004-03-01 | Wan-Cheng Jau | Transversely moving mechanism for vehicle |
| TW201331072A (en) * | 2012-01-17 | 2013-08-01 | Univ Chienkuo Technology | Vehicle lateral parking device |
| CN204845952U (en) * | 2015-06-10 | 2015-12-09 | 徐州博信矿山设备制造有限公司 | Plug -type car pusher of mining remote controlled electric and control system thereof |
| CN208122890U (en) * | 2018-04-26 | 2018-11-20 | 平顶山天安煤业股份有限公司 | Intelligent Cao Che robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923889A (en) * | 2020-08-24 | 2020-11-13 | 山西银锋科技有限公司 | Emergency stop locking system device for inclined roadway mine car |
| CN112938724A (en) * | 2021-02-04 | 2021-06-11 | 辽宁工程技术大学 | Push-pull device for mine car to enter and exit cage and push-pull method thereof |
| CN112938724B (en) * | 2021-02-04 | 2022-07-22 | 辽宁工程技术大学 | Push-pull device and push-pull method for mine car to enter and exit cage |
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