CN116498311A - Mine stone cutting machine and driving method thereof - Google Patents

Abstract

The invention discloses a mine stone cutting machine and a driving method thereof, wherein the mine stone cutting machine comprises: a cutting tool device for cutting mine stone; the triangular crawler wheel chassis is used for enabling the mine stone cutting machine to walk; the leveling device comprises four telescopic pieces, a platform, an inclination sensor and a controller, wherein the four telescopic pieces are arranged on the four directions of the left front part, the right front part, the left rear part and the right rear part of the platform, the top of each telescopic piece is connected with the platform through a first universal joint, the bottom of each telescopic piece is connected with the walking chassis through a second universal joint, the platform is arranged on the walking chassis through a third universal joint, the inclination sensor is arranged on the platform and used for detecting inclination degree information of the platform relative to a horizontal plane, and the controller is used for controlling the telescopic pieces to stretch and retract according to the inclination degree information so that the platform keeps horizontal. The platform is always in a horizontal state, and the cutting tool device cannot incline.

Description

Mine stone cutting machine and driving method thereof

Technical Field

The invention relates to the field of mining machinery, in particular to a mine stone cutting machine and a driving method thereof.

Background

Mining stone materials often employ a combination of a circular saw and a beaded saw, wherein the circular saw cuts in a vertical plane in the ore body, requiring that the cutting tool remain vertically cut and not be deflected. Because the working condition of the mine ground is complex, in order to meet the cutting requirement, the running guide rail of the machine is paved on the ground at present, so that the situation that a saw blade is askew and blocked in the cutting process is prevented, on one hand, the time and labor cost for paving the guide rail are very high, and the operation of the machine in rail replacement is troublesome; on the other hand, during the running cutting process, the equipment may tilt or shake due to the displacement of the guide rail.

Chinese patent CN216305900U discloses a high-efficiency trackless mine stone cutter, which comprises a stone cutter body and a travelling mechanism for carrying the stone cutter body to move on a mine for cutting stone; the stone cutter body is provided with a cutting tool and a tool driving motor for driving the cutting tool to rotationally cut, and the cutting tool is provided with a rotating main shaft connected with the tool driving motor; the travelling mechanism is provided with a bottom plate, four supporting seats movably positioned above four end corners of the bottom plate, two travelling tracks positioned on two sides of the bottom plate and four balance oil cylinders arranged corresponding to the four supporting seats; the stone cutter body is fixed on the bottom plate, and the rotating main shaft is arranged in parallel with the bottom plate; the two rotating shafts of the same walking crawler belt are pivoted on the supporting seat on the same side of the bottom plate, the oil cylinder seat of the balance oil cylinder is fixed on the supporting seat, the end part of the piston rod of the balance oil cylinder is fixed on the bottom plate, and the bottom plate and the supporting seat are connected together through the balance oil cylinder; the balance oil cylinder drives the piston rod to extend or retract to drive the corresponding end angle of the bottom plate to descend or ascend so as to adjust the bottom plate to be in a horizontal state all the time.

The walking crawler belt walks on the mine surface, so that the time for paving the track can be saved, and the track paving cost can be saved; when the position of the walking crawler belt at the end angle of the bottom plate is displaced due to uneven mine surface, the balance oil cylinder on the end angle of the bottom plate can be driven, the piston rod of the balance oil cylinder stretches out or retracts to adjust the position of the end angle of the bottom plate to descend or ascend, and the four end angles of the bottom plate are kept on the same horizontal plane.

The above patent has the following drawbacks: the four leveling oil cylinders are adopted to adjust equipment balance, the oil cylinder piston rods are connected with the equipment bottom plate through universal joints, the structure enables the bottom plate to be hung under the action of tensile force and only have four-point support, the structure is unstable, the universal joints are easily damaged by the tensile force, only one end of each universal joint is connected in a universal mode, the degree of freedom during leveling cannot meet the requirements, and the leveling oil cylinders are blocked and easily cannot stretch out and draw back normally.

Disclosure of Invention

Therefore, the mine stone cutting machine and the driving method thereof are needed to be provided, and the problems that in the prior art, four leveling oil cylinders are adopted to adjust equipment balance, and the oil cylinder piston rods are connected with the equipment bottom plate through universal joints are solved, so that the bottom plate is suspended and pulled, and the bottom plate is only supported at four points and is unstable in structure are solved.

To achieve the above object, this embodiment provides a mine stonecutter including:

a cutting tool device for cutting mine stone;

the triangular crawler wheel chassis is used for enabling the mine stone cutting machine to walk;

the leveling device comprises four telescopic pieces, a platform, an inclination angle sensor and a controller, wherein the four telescopic pieces are arranged on the four positions of the left front part, the right front part, the left rear part and the right rear part of the platform, the top of each telescopic piece is connected with the platform through a first universal joint, the bottom of each telescopic piece is connected with a triangular crawler wheel chassis through a second universal joint, the platform is arranged on the triangular crawler wheel chassis through a third universal joint, the third universal joint is positioned in a quadrangle formed by the four telescopic pieces, the inclination angle sensor is arranged on the platform and used for detecting inclination degree information of the platform relative to a horizontal plane and sending the inclination degree information to the controller, and the controller is electrically connected with the inclination angle sensor and used for controlling the telescopic pieces to stretch according to the inclination degree information so as to keep the platform horizontal.

Further, the triangular crawler wheel chassis comprises four triangular crawler wheels, four walking motors and a chassis, the four triangular crawler wheels are arranged in four directions of the front left, the front right, the rear left and the rear right of the chassis, each triangular crawler wheel is in transmission connection with one walking motor, and the chassis supports the cutting tool device.

Further, the triangular crawler wheel chassis further comprises four speed reducers, and each triangular crawler wheel is in transmission connection with one walking motor through one speed reducer.

Further, the four telescopic members are arranged in a rectangular shape, and the third universal joint is located at the center of the rectangle formed by the four telescopic members.

Further, the hydraulic station is further included, the telescopic piece is a hydraulic cylinder, and the hydraulic station is arranged on the platform and used for providing power for the hydraulic cylinder.

Further, the platform is plate-shaped, a support is arranged in four directions of the platform, and the bottom of each support is arranged on the top of one telescopic piece through a first universal joint.

Further, the cutting tool device is a circular saw.

Further, the automatic cutting machine further comprises an electric control system, wherein the triangular crawler wheel chassis and the cutting tool device are electrically connected with the electric control system, and the electric control system is used for controlling the triangular crawler wheel chassis and the cutting tool device to operate.

To achieve the above object, this embodiment provides a driving method of a mine stone cutter, which is applied to the mine stone cutter according to any one of the above embodiments, including the following steps:

the inclination angle sensor detects inclination degree information of the platform relative to the horizontal plane;

the controller judges whether the platform of the mine stone cutting machine is inclined according to the inclination degree information;

and if the platform is inclined, the controller controls the telescopic piece to stretch and retract to adjust the platform so as to keep the platform horizontal.

Further, before the inclination degree information of the platform relative to the horizontal plane is detected by the inclination sensor, the method further comprises the following steps:

the electric control system controls the operation of the triangular crawler wheel chassis so as to move the mine stone cutting machine;

when the controller judges whether the platform of the mine stone cutting machine is inclined according to the inclination degree information, the method further comprises the following steps:

and if the platform is not inclined, the electric control system controls the cutting tool device to cut the mine stone. In the above technical scheme, the inclination degree of the platform is adjusted through the four telescopic members, the third universal joint at the center is used as a fulcrum, the inclination displacement of the platform is compensated through one rise and one fall of the telescopic members, the platform is kept balanced, the platform is always in a horizontal state, the cutting tool device cannot incline or shake, and the cutting is stable, high in cutting quality and high in cutting efficiency.

Drawings

Fig. 1 is a schematic view of the structure of a mountain stonecutter in this embodiment;

FIG. 2 is an exploded view of the mountain stonecutter in the present embodiment;

fig. 3 is a schematic structural view of a triangle crawler wheel chassis in the present embodiment;

FIG. 4 is a schematic view showing the structure of the platform, the telescopic member, the tilt sensor and the bracket according to the present embodiment;

FIG. 5 is a schematic cross-sectional view of the leveling device and the crawler belt wheel chassis in the present embodiment;

FIG. 6 is a schematic cross-sectional view showing the telescopic members of the present embodiment being telescopic to maintain the platform horizontal;

fig. 7 is a schematic view showing the structures of the telescopic member and the hydraulic station in the present embodiment;

fig. 8 is a schematic structural diagram of the electrical control system in the present embodiment.

Reference numerals illustrate:

1. a triangle crawler wheel chassis;

11. triangle crawler wheel; 12. a chassis; 121. a rectangular frame; 122. a cross bar; 123. a longitudinal bar;

13. a walking motor; 14. a speed reducer;

2. leveling means;

21. a platform;

22. a telescoping member;

221. a first telescopic member; 222. a second telescopic member;

223. a third telescopic member; 224. a fourth expansion piece;

23. an inclination sensor; 24. a bracket;

25. a first universal joint; 26. a second universal joint;

27. a third universal joint;

3. a cutting tool assembly;

4. an electrical control system;

5. and a hydraulic station.

Detailed Description

In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples and are not intended to limit the scope of protection of the present application.

Referring to fig. 1 to 8, the present embodiment of a mine stone cutting machine includes:

a cutting tool device 3 for cutting mine stones;

the triangular crawler wheel chassis 1 is used for enabling a mine stone cutting machine to walk;

the leveling device 2 comprises four telescopic pieces 22, a platform 21, an inclination sensor 23 and a controller, wherein the four telescopic pieces 22 are arranged on the left front, the right front, the left rear and the right rear of the platform 21, the top of each telescopic piece 22 is connected with the platform 21 through a first universal joint 25, the bottom of each telescopic piece is connected with the triangular crawler wheel chassis 1 through a second universal joint 26, the platform 21 is arranged on the triangular crawler wheel chassis 1 through a third universal joint 27, the inclination sensor 23 is arranged on the platform 21 and used for detecting inclination degree information of the platform 21 relative to the horizontal plane and sending the inclination degree information to the controller, and the controller is electrically connected with the inclination sensor 23 and used for controlling the telescopic pieces to stretch according to the inclination degree information so as to keep the platform 21 horizontal.

Referring to fig. 4, 5 and 6, the four telescopic members are preferably arranged in a quadrilateral shape, the quadrilateral shape is an axisymmetric pattern, and the third universal joint is located at the midpoint of the diagonal line. Such as: the four telescopic members are arranged in a rectangular shape, and the third universal joint 27 is positioned at the center of the rectangle formed by the four telescopic members, and the center of the rectangle formed by the four telescopic members is the midpoint of the diagonal line of the rectangle. In some cases, the four telescopic members are arranged in an isosceles trapezoid, and the third universal joint 27 is located at the center of the isosceles trapezoid formed by the four telescopic members, where the center of the isosceles trapezoid is the midpoint of the diagonal line of the isosceles trapezoid.

Referring to fig. 4, 5 and 6, the telescopic member can be extended and retracted, and the telescopic member can be extended to jack up the platform 21; the telescopic members are contracted to pull down the platform 21, so that the four telescopic members compensate inclined displacement from four directions of the platform 21, namely, the left front, the right front, the left rear and the right rear, so that the platform 21 finally achieves the purpose of being horizontal, and the four telescopic members are positioned in the same horizontal plane direction. The inclination sensor 23 may detect the inclination of the platform 21 with respect to the horizontal plane and feed it back to the controller. The inclination degree information includes inclination of the platform 21 or non-inclination of the platform 21. When the platform 21 tilts, the controller calculates the elongation required by the telescopic members through an algorithm, controls a certain telescopic member to execute the stretching action according to the calculated elongation, and the diagonal telescopic member executes the shrinking action along with the stretching action, wherein the elongation is equal to the shrinking amount, one telescopic member stretches, the other telescopic member shrinks, the central third universal joint 27 is taken as a fulcrum, and the tilting displacement of the platform 21 is compensated through one rise and one fall of the telescopic member, so that the platform 21 finally achieves the aim of being horizontal. When the platform 21 is not tilted, the controller does not control the telescopic members to be telescopic, so that the platform 21 continues to be maintained parallel to the horizontal direction.

Referring to fig. 4 and 7, the four telescopic members are respectively named as a first telescopic member 221, a second telescopic member 222, a third telescopic member 223 and a fourth telescopic member 224, wherein the first telescopic member 221 is located at the left front position of the platform 21, the second telescopic member 222 is located at the right front position of the platform 21, the third telescopic member 223 is located at the left rear position of the platform 21, and the fourth telescopic member 224 is located at the right rear position of the platform 21.

If the tilt sensor 23 detects that the left front position of the platform 21 is at a lower level (centered on the middle of the platform 21, the left front position of the platform 21 is below the horizontal plane), the controller controls the telescopic element (i.e., the first telescopic element 221) located at the left front position of the platform 21 to perform the stretching action, the first telescopic element 221 jacks up the left front position of the platform 21, and the controller controls the telescopic element (i.e., the fourth telescopic element 224) located diagonally (the right rear position of the platform 21 is above the horizontal plane) to perform the shrinking action until the left front position and the right rear position of the platform 21 are in the same horizontal direction; if the tilt sensor 23 detects that the right front position of the platform 21 is at a lower height, the controller controls the telescopic member (i.e., the second telescopic member 222) located at the right front position of the platform 21 to perform the stretching operation, the second telescopic member 222 jacks up the right front position of the platform 21, and the controller controls the diagonal telescopic member (i.e., the third telescopic member 223) to perform the shrinking operation until the right front position and the left rear position of the platform 21 are in the same horizontal direction.

The first universal joint 25, the second universal joint 26 and the third universal joint 27 all belong to universal joints. The universal joint can be of a single-joint type or a double-joint type, so that two objects connected with the universal joint can flexibly rotate. The third universal joint 27 is rotatably connected with the platform 21, and under the action of the third universal joint, the platform 21 can rotate on the third universal joint 27, and the third universal joint 27 can be fixedly connected with the chassis 12 or can be rotatably connected with the chassis 12.

In the above technical scheme, the inclination degree of the platform is adjusted through the four telescopic members, the third universal joint at the center is used as a fulcrum, the inclination displacement of the platform is compensated through one rise and one fall of the telescopic members, the platform is kept balanced, the platform is always in a horizontal state, the cutting tool device cannot incline or shake, and the cutting is stable, high in cutting quality and high in cutting efficiency.

Preferably, the third universal joint is a central spherical hinge. The first universal joint 25, the second universal joint 26 and the third universal joint 27 form better supporting force, and the structure is more stable, so that the degree of freedom in leveling can be met, and the telescopic piece is not easy to lock. The third universal joint and other four telescopic pieces form a 5-point support, so that the support force is better, and the structure is more stable; in addition, the third universal joint is arranged at the middle point, and the central ball winch is adopted, so that the controller only needs to control one of the diagonal telescopic members when controlling the hydraulic cylinder, and when the controller actively adjusts and controls one telescopic member to lift or retract each time, the other opposite telescopic member is unlocked and follows, the central ball winch is correspondingly pressed down or pulled up by taking the central ball winch as a fulcrum, and if the central ball winch is not adopted, the controller needs to respectively control all the oil cylinders, so that the algorithm is more complex, and the later maintenance is inconvenient.

According to an embodiment of the application, the inclination sensor 23 can feed back not only the inclination information relative to the horizontal plane, but also the deflection angle in the advancing aspect of the mine stone cutter, and the electrical control system 4 can identify the azimuth angle of the advancing direction of the mine stone cutter according to the inclination sensor 23, so that the triangular crawler wheel 11 is controlled to keep straight line walking, and the cutting tool device 3 is also guaranteed to cut straight line.

Referring to fig. 1 to 3, according to an embodiment of the present application, a crawler belt wheel chassis 1 includes four crawler belt wheels 11, four traveling motors 13 and a chassis 12, the four crawler belt wheels 11 are disposed in four directions of front left, front right, rear left and rear right of the chassis 12, each crawler belt wheel 11 is in transmission connection with one traveling motor 13, and the chassis 12 supports a cutter device 3. One walking motor 13 is in transmission connection with one triangular crawler wheel 11 through a speed reducer 14, and each triangular crawler wheel 11 is driven by a single walking motor 13. Five universal joints are arranged between the chassis 12 and the platform 21, four universal joints (second universal joint 26) are connected with the chassis 12 and the telescopic piece, and the remaining one universal joint (third universal joint 27) is connected with the chassis 12 and the platform 21.

Referring to fig. 3, according to an embodiment of the present application, the crawler belt wheel chassis 1 further includes four speed reducers 14, and each crawler belt wheel 11 is in transmission connection with one walking motor 13 through one speed reducer 14. The speed reducer 14 serves to match the rotation speed and transfer torque between the running motor 13 and the crawler belt wheel 11, and reduces the rotation speed of the running motor 13 so that the crawler belt wheel 11 can operate at an appropriate rotation speed.

Referring to fig. 3, according to an embodiment of the present application, four crawler triangle wheels 11 are arranged in a rectangular shape, the four crawler triangle wheels 11 are divided into two rows, each row has two crawler triangle wheels 11, and the four crawler triangle wheels 11 are located at four corners of a virtual rectangle in a top view of the mine stone cutting machine. In some embodiments, the four triangular tracks are arranged in an isosceles trapezoid, and the four triangular track wheels 11 are located at four corners of one virtual isosceles trapezoid in a top view of the mine stonecutter.

Referring to fig. 3, according to an embodiment of the present application, the crawler belt wheels 11 are rubber crawler belts or metal crawler belts. The rubber track has light weight, does not damage the road surface and is convenient to assemble and disassemble. The trafficability and climbing ability of the metal crawler belt are super strong.

According to an embodiment of the present application, the walking motor 13 and the speed reducer 14 may be provided on the crawler belt wheel 11, or the chassis 12 may support the walking motor 13 and the speed reducer 14, depending on actual requirements.

Referring to fig. 3, according to one embodiment of the present application, the chassis 12 includes a rectangular frame 121 at the middle and two support frames. Two support frames are fixed on the front and rear sides of the rectangular frame 121, i.e., the rear side of one support frame is fixed on the front side of the rectangular frame 121 and the front side of the other support frame is fixed on the rear side of the rectangular frame 121. The left and right sides of each support frame are respectively provided with a triangular crawler wheel 11. The walking motor 13 can be erected on the support frame through a first mounting seat, and the speed reducer 14 can be erected on the support frame through a second mounting seat. The walking motor 13 and the speed reducer 14 are both positioned between the two triangular crawler wheels 11. Such a layout is rational, improves the utilization of space, freeing up space near the chassis 12 for the leveling device 2.

Referring to fig. 3, according to one embodiment of the present application, the support frame includes a plurality of cross bars 122 and longitudinal bars 123 connected to each other. A plurality of longitudinal bars 123 are fixed on the front side or the rear side of the rectangular frame 121, a plurality of cross bars 122 are fixed on the longitudinal bars 123, the cross bars 122 are transversely oriented, the longitudinal bars 123 are longitudinally oriented, and a vertical space is provided between the cross bars 122 and the longitudinal bars 123. The cross bar 122 or the longitudinal bar 123 is provided with a first mounting seat and a second mounting seat. The cross bars 122 and the longitudinal bars 123 are fixed to form a cross shape, so that the cross bar has better supporting strength, the weight is not too heavy, and the parts can be supported.

Referring to fig. 4-7, according to one embodiment of the present application, the telescoping members include, but are not limited to, hydraulic cylinders, air cylinders, electric telescoping rods, and the like. The hydraulic cylinder is a hydraulic actuating element which converts hydraulic energy into mechanical energy and makes linear reciprocating motion. The cylinder is a pneumatic actuator that converts pneumatic energy into mechanical energy. The electric telescopic rod is a transmission actuating mechanism which is beneficial to the rotation of a motor, drives a bearing through cooperation among gears and pushes a trapezoidal thread screw rod to realize telescopic movement in a short distance.

Preferably, the telescopic part is a hydraulic cylinder, and the hydraulic cylinder has the advantages of simple structure, large output force, stable and reliable performance and convenient use and maintenance. The hydraulic cylinder comprises a cylinder body and a piston rod, a piston capable of reciprocating is arranged in the cylinder body, the piston rod is arranged on the piston, the piston rod penetrates out of the cylinder body, and the piston rod can be controlled to linearly reciprocate on the cylinder body under the action of hydraulic oil. Placing the hydraulic cylinder along the vertical direction, wherein when the top of the hydraulic cylinder is a piston rod and the bottom of the hydraulic cylinder is a cylinder body; when the top of the hydraulic cylinder is a cylinder body, the bottom is a piston rod.

Referring to fig. 7, according to one embodiment of the present application, the mine stonecutter further comprises a hydraulic station 5, the hydraulic station 5 being arranged on the platform 21 for powering the hydraulic cylinders. The hydraulic station 5 is a hydraulic source device including a hydraulic pump, a driving motor, a tank, a directional valve, a throttle valve, a relief valve, and the like, or a hydraulic device including a control valve. The hydraulic station 5 is connected to four hydraulic cylinder oil pipes, and the four hydraulic cylinders can realize various prescribed actions.

Referring to fig. 4 to 7, according to an embodiment of the present application, the platform 21 is plate-shaped, each of four directions of the platform 21 is provided with a bracket 24, the bracket 24 protrudes from the top of the platform 21, and the bottom of each bracket 24 is disposed on the top of a telescopic member through a first universal joint 25. Specifically, the bracket 24 is Z-shaped, the bottom of the bracket 24 is disposed on the top of the platform 21, the top of the telescopic member protrudes out of the top of the platform 21, and the bottom is leveled with the platform 21 and is disposed on the chassis of the crawler track chassis 1 through the second universal joint 26.

Referring to fig. 1, 2, 7 and 8, according to one embodiment of the present application, the cutting tool device 3 comprises a circular saw and/or a bead saw, each of which is used for mine stone extraction, cutting mine stone. The circular sawing machine is used for cutting a vertical plane of a mineral body, and the cutting tool is required to be always cut vertically and not to deflect, and the structure can be seen in patent documents with application numbers of CN212919931U and CN 212577679U. The structure of the bead sawing machine can be seen in patent document with application number of CN209408963U and the multi-rope sawing machine.

Referring to fig. 1 and 2, according to an embodiment of the present application, the mine stone cutter further includes an electrical control system 4, where the triangular crawler wheel chassis 1 and the cutting tool device 3 are electrically connected to the electrical control system 4, the electrical control system 4 is used to control the triangular crawler wheel chassis 1 and the cutting tool device 3 to operate, specifically, the electrical control system 4 can control the triangular crawler wheel chassis 1 to drive the mine stone cutter to advance, retreat, turn left and turn right on a road surface, and the electrical control system 4 can control the cutting tool device 3 to perform mine stone exploitation operation. Further, the electrical control system 4 and the hydraulic station 5 are electrically connected, and the operation of the hydraulic station 5 can be controlled by the electrical control system 4.

Referring to fig. 1 to 8, the present embodiment further provides a driving method of a mine stone cutter, which is applied to the mine stone cutter according to any one of the above embodiments, and includes the following steps:

the inclination angle sensor detects inclination degree information of the platform relative to the horizontal plane;

the controller judges whether the platform of the mine stone cutting machine is inclined or not according to the inclination degree information;

if the platform is inclined, the controller controls the telescopic piece to stretch and retract to adjust the platform so as to keep the platform horizontal;

if the platform is inclined and not inclined, the controller does not control the telescopic piece to stretch and retract, so that the platform continues to maintain a state parallel to the horizontal direction.

Referring to fig. 4, 5 and 6, the four telescopic members are preferably arranged in a quadrilateral shape, the quadrilateral shape is an axisymmetric pattern, and the third universal joint is located at the midpoint of the diagonal line. Such as: the four telescopic members are arranged in a rectangular shape, and the third universal joint 27 is positioned at the center of the rectangle formed by the four telescopic members, and the center of the rectangle formed by the four telescopic members is the midpoint of the diagonal line of the rectangle. In some cases, the four telescopic members are arranged in an isosceles trapezoid, and the third universal joint 27 is located at the center of the isosceles trapezoid formed by the four telescopic members, where the center of the isosceles trapezoid is the midpoint of the diagonal line of the isosceles trapezoid. The first universal joint 25, the second universal joint 26 and the third universal joint 27 all belong to universal joints.

Preferably, the universal joint may be of a single-joint type or a double-joint type, so that two objects connected with the universal joint can flexibly rotate. The third universal joint 27 is rotatably connected with the platform 21, and under the action of the third universal joint, the platform 21 can rotate on the third universal joint 27, and the third universal joint 27 can be fixedly connected with the chassis 12 or can be rotatably connected with the chassis 12.

Referring to fig. 4, 5 and 6, the principle of the controller controlling the telescopic members to extend and retract to adjust the platform so as to keep the platform horizontal is as follows, the telescopic members can extend and retract, and the telescopic members can extend to jack up the platform 21; the telescopic members are contracted to pull down the platform 21, so that the four telescopic members compensate inclined displacement from four directions of the platform 21, namely, the left front, the right front, the left rear and the right rear, so that the platform 21 finally achieves the purpose of being horizontal, and the four telescopic members are positioned in the same horizontal plane direction. The inclination sensor 23 may detect the inclination of the platform 21 with respect to the horizontal plane and feed it back to the controller. The inclination degree information includes inclination of the platform 21 or non-inclination of the platform 21. When the platform 21 tilts, the controller calculates the elongation required by the telescopic members through an algorithm, controls a certain telescopic member to execute the stretching action according to the calculated elongation, and the diagonal telescopic member executes the shrinking action along with the stretching action, wherein the elongation is equal to the shrinking amount, one telescopic member stretches, the other telescopic member shrinks, the central third universal joint 27 is taken as a fulcrum, and the tilting displacement of the platform 21 is compensated through one rise and one fall of the telescopic member, so that the platform 21 finally achieves the aim of being horizontal. When the platform 21 is not tilted, the controller does not control the telescopic members to be telescopic, so that the platform 21 continues to maintain a state parallel to the horizontal direction.

Referring to fig. 4 and 7, the four telescopic members are respectively named as a first telescopic member 221, a second telescopic member 222, a third telescopic member 223 and a fourth telescopic member 224, wherein the first telescopic member 221 is located at the left front position of the platform 21, the second telescopic member 222 is located at the right front position of the platform 21, the third telescopic member 223 is located at the left rear position of the platform 21, and the fourth telescopic member 224 is located at the right rear position of the platform 21.

If the tilt sensor 23 detects that the left front position of the platform 21 is at a lower level (centered on the middle of the platform 21, the left front position of the platform 21 is below the horizontal plane), the controller controls the telescopic element (i.e., the first telescopic element 221) located at the left front position of the platform 21 to perform the stretching action, the first telescopic element 221 jacks up the left front position of the platform 21, and the controller controls the telescopic element (i.e., the fourth telescopic element 224) located diagonally (the right rear position of the platform 21 is above the horizontal plane) to perform the shrinking action until the left front position and the right rear position of the platform 21 are in the same horizontal direction; if the tilt sensor 23 detects that the right front position of the platform 21 is at a lower height, the controller controls the telescopic member (i.e., the second telescopic member 222) located at the right front position of the platform 21 to perform the stretching operation, the second telescopic member 222 jacks up the right front position of the platform 21, and the controller controls the diagonal telescopic member (i.e., the third telescopic member 223) to perform the shrinking operation until the right front position and the left rear position of the platform 21 are in the same horizontal direction.

In the above technical scheme, the inclination degree of the platform is adjusted through the four telescopic members, the third universal joint at the center is used as a fulcrum, the inclination displacement of the platform is compensated through one rise and one fall of the telescopic members, the platform is kept balanced, the platform is always in a horizontal state, the cutting tool device cannot incline or shake, and the cutting is stable, high in cutting quality and high in cutting efficiency.

According to one embodiment of the present application, before detecting the inclination degree information of the platform with respect to the horizontal plane by the inclination sensor, the method further comprises the steps of:

the electric control system controls the triangular crawler wheel chassis to operate so as to move the mine stone cutting machine, the mine stone cutting machine walks on the mine ground, can walk in a straight line, and has flexible steering and self-adaptive balance to the complex ground;

when the controller judges whether the platform of the mine stone cutting machine is inclined according to the inclination degree information, the method further comprises the following steps:

if the platform is not inclined, the left front, right front, left rear and right rear positions of the platform are at the same height and are parallel to the horizontal direction, the electric control system controls the cutting tool device to cut mine stones, the mine cutting machine walks while cutting the mine stones, the platform is always in a horizontal state, the cutting tool device cannot incline or shake, and the cutting tool device is stable in cutting, high in cutting quality and high in cutting efficiency.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in the embodiments may be combined in any manner to form a corresponding implementable technical solution.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the description of specific embodiments only and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that there may be three relationships, e.g., a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.

In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.

Without further limitation, the use of the terms "comprising," "including," "having," or other like terms in this application is intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.

As in the understanding of the "examination guideline," the expressions "greater than", "less than", "exceeding", and the like are understood to exclude the present number in this application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of groups", "a plurality of" and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as terms of orientation or positional relationship based on the specific embodiments or figures, and are merely for convenience of description of the specific embodiments of the present application or ease of understanding of the reader, and do not indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation, and therefore are not to be construed as limiting of the embodiments of the present application.

Unless specifically stated or limited otherwise, in the description of the embodiments of the present application, the terms "mounted," "connected," "affixed," "disposed," and the like are to be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to the specific circumstances.

It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.

Claims (10)

1. A mine stonecutter, comprising:

a cutting tool device for cutting mine stone;

the triangular crawler wheel chassis is used for enabling the mine stone cutting machine to walk;

the leveling device comprises four telescopic pieces, a platform, an inclination angle sensor and a controller, wherein the four telescopic pieces are arranged on the four positions of the left front part, the right front part, the left rear part and the right rear part of the platform, the top of each telescopic piece is connected with the platform through a first universal joint, the bottom of each telescopic piece is connected with a triangular crawler wheel chassis through a second universal joint, the platform is arranged on the triangular crawler wheel chassis through a third universal joint, the third universal joint is positioned in a quadrangle formed by the four telescopic pieces, the inclination angle sensor is arranged on the platform and used for detecting inclination degree information of the platform relative to a horizontal plane and sending the inclination degree information to the controller, and the controller is electrically connected with the inclination angle sensor and used for controlling the telescopic pieces to stretch according to the inclination degree information so as to keep the platform horizontal.

2. A stone cutter for mines according to claim 1, wherein said cam track wheel chassis comprises four cam track wheels, four traveling motors and a chassis, four said cam track wheels being disposed in four orientations of the front left, front right, rear left and rear right of said chassis, each said cam track wheel being in driving connection with one said traveling motor, said chassis supporting said cutter device.

3. A mining stone cutter according to claim 2, wherein the triangular crawler wheel chassis further comprises four speed reducers, each of the triangular crawler wheels being in driving connection with one of the travelling motors through one of the speed reducers.

4. A rock cutting machine according to claim 1, wherein four said telescopic members are arranged in a rectangular pattern, and said third universal joint is located at the centre of the rectangle formed by the four telescopic members.

5. A rock cutting machine according to claim 1, further comprising a hydraulic station, the telescopic member being a hydraulic cylinder, the hydraulic station being provided on the platform for powering the hydraulic cylinder.

6. A rock cutting machine according to claim 1, wherein the platform is plate-like, and wherein the platform is provided with a support in each of its four orientations, the bottom of each support being arranged on top of one of the telescopic members by means of a first universal joint.

7. A mine stone cutter according to claim 1, wherein the cutting tool device is a circular saw.

8. The stone cutting machine of claim 1, further comprising an electrical control system, wherein the track wheel spider and the cutting tool assembly are each electrically connected to the electrical control system, and wherein the electrical control system is configured to control operation of the track wheel spider and the cutting tool assembly.

9. A mine stonecutter driving method, characterized by being applied to a mine stonecutter as claimed in any one of claims 1 to 8, comprising the steps of:

the inclination angle sensor detects inclination degree information of the platform relative to the horizontal plane;

the controller judges whether the platform of the mine stone cutting machine is inclined according to the inclination degree information;

and if the platform is inclined, the controller controls the telescopic piece to stretch and retract to adjust the platform so as to keep the platform horizontal.

10. The method of driving a rock cutting machine for mine according to claim 9, further comprising the steps of, before detecting the inclination degree information of the table with respect to the horizontal plane by the inclination sensor:

the electric control system controls the operation of the triangular crawler wheel chassis so as to move the mine stone cutting machine;

when the controller judges whether the platform of the mine stone cutting machine is inclined according to the inclination degree information, the method further comprises the following steps:

and if the platform is not inclined, the electric control system controls the cutting tool device to cut the mine stone.