Unmanned mining truck combining two-way unloading and four-wheel steering

Abstract

An unmanned mining truck combining two-way unloading and four-wheel steering comprises a truck frame, a truck hopper, a front duplex unloading hydraulic cylinder, a rear duplex unloading hydraulic cylinder, hydraulic drive type independent steering front wheels, hydraulic drive type independent steering rear wheels, a control room and an automatic driving system. The frame, the front duplex unloading hydraulic cylinder, the car hopper and the rear duplex unloading hydraulic cylinder are matched to form a four-bar mechanism; and environment sensing modules are arranged around the frame. Bidirectional unloading of the truck head and the truck tail is supported, the truck does not need to turn around before entering an unloading station, the truck can directly enter the unloading station, ore raw material unloading can be completed from the direction of the truck tail or the truck head, and the whole unloading process is time-saving and energy-saving; four-wheel steering of front wheels and rear wheels is supported, the turning radius can be effectively reduced, and the steering flexibility under complex road conditions is improved; unmanned driving is supported, unloading operation and steering operation are both completed through an automatic driving system, and the problems of serious fatigue feeling and health of truck drivers caused by manned driving are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining machinery, and in particular relates to an unmanned mining truck which combines two-way unloading with four-wheel steering. Background Art

[0002] The current mode of transportation for ore raw materials mined from mines is mainly truck transportation. However, traditional mining dump trucks still have some shortcomings. For example: ①. Traditional mining dump trucks generally have a one-way unloading structure at the rear of the vehicle. Therefore, before the truck enters the unloading station, it is usually necessary to turn around first, and then adjust the direction and position of the truck. Only after it accurately enters the unloading station can the truck bed be raised to unload the ore raw materials from the rear of the vehicle, making the entire unloading process time-consuming and energy-consuming. ②. Traditional mining dump trucks generally have a front-wheel steering structure, which has the problem of a large turning radius and poor steering flexibility in complex road conditions. ③. Traditional mining dump trucks are generally manned. Both unloading and steering operations rely on the truck driver to complete. Long-term high-intensity work will cause serious fatigue and health problems for truck drivers. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides an unmanned mining truck that combines two-way unloading with four-wheel steering, which supports two-way unloading at the front and rear of the vehicle. The truck does not need to turn around before entering the unloading station and can directly drive into the unloading station. The ore raw materials can be unloaded from the rear of the vehicle as well as from the front of the vehicle, making the entire unloading process both time-saving and energy-saving; it supports four-wheel steering of the front and rear wheels, which can effectively reduce the turning radius and improve the steering flexibility in complex road conditions; it supports unmanned driving, and the unloading operations and steering operations are all completed by the automatic driving system, which solves the serious fatigue and health problems caused by manned driving to truck drivers.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an unmanned mining truck combining two-way unloading and four-wheel steering, comprising a frame, a truck bed, a front double unloading hydraulic cylinder, a rear double unloading hydraulic cylinder, a hydraulically driven independent steering front wheel, a hydraulically driven independent steering rear wheel, a control room and an automatic driving system; the hydraulically driven independent steering front wheel is arranged at the front end of the frame, and the hydraulically driven independent steering rear wheel is arranged at the rear end of the frame; the truck bed is arranged above the frame; the front double unloading hydraulic cylinder is located in the middle front part of the frame, and the front double unloading hydraulic cylinder is located in the middle front part of the frame. The bottom end of the cylinder barrel of the pressure cylinder is hinged to the vehicle frame, and the top end of the piston rod of the front double unloading hydraulic cylinder is hinged to the vehicle bed; the rear double unloading hydraulic cylinder is located at the middle and rear part of the vehicle frame, the bottom end of the cylinder barrel of the rear double unloading hydraulic cylinder is hinged to the vehicle frame, and the top end of the piston rod of the rear double unloading hydraulic cylinder is hinged to the vehicle bed; the control room is arranged at the front end of the vehicle frame, and the automatic driving system is arranged in the control room; the controllers of the front double unloading hydraulic cylinder, the rear double unloading hydraulic cylinder, the hydraulically driven independent steering front wheel and the hydraulically driven independent steering rear wheel are all communicated with the automatic driving system.

[0005] The vehicle frame, the front double unloading hydraulic cylinder, the vehicle bucket and the rear double unloading hydraulic cylinder cooperate to form a four-link mechanism.

[0006] A front guide limit slot is provided at the front center of the frame, and the front double unloading hydraulic cylinder passes through the front guide limit slot; a rear guide limit slot is provided at the rear center of the frame, and the rear double unloading hydraulic cylinder passes through the rear guide limit slot.

[0007] When the truck bed is in an initial horizontal state, the front double unloading hydraulic cylinder is in a forward tilted state, and the cylinder barrel of the front double unloading hydraulic cylinder is in contact with the front edge of the front guide limit groove; the rear double unloading hydraulic cylinder is in a backward tilted state, and the cylinder barrel of the rear double unloading hydraulic cylinder is in contact with the rear edge of the rear guide limit groove.

[0008] When the truck bed is in the unloading state towards the rear of the vehicle, the front double unloading hydraulic cylinder is in a vertical state, and the piston rod of the front double unloading hydraulic cylinder is in a maximum extension state; the rear double unloading hydraulic cylinder is in a backward tilted state, the cylinder barrel of the rear double unloading hydraulic cylinder is in contact with the rear edge of the rear guide limit groove, and the piston rod of the rear double unloading hydraulic cylinder is in an under-extended state.

[0009] When the truck bed is in the unloading state in the front direction of the truck, the front double unloading hydraulic cylinder is in a forward tilted state, the cylinder barrel of the front double unloading hydraulic cylinder is in contact with the front edge of the front guide limit groove, and the piston rod of the front double unloading hydraulic cylinder is in an under-extended state; the rear double unloading hydraulic cylinder is in a vertical state, and the piston rod of the rear double unloading hydraulic cylinder is in a maximum extension state.

[0010] When the unmanned mining truck is in a turning state, the hydraulically driven independently steered front wheels and the hydraulically driven independently steered rear wheels deflect in the same direction or in opposite directions to reduce the turning radius of the unmanned mining truck.

[0011] An inclination sensor is provided at the bottom of the truck bed and is communicatively connected to the automatic driving system.

[0012] An environmental perception module consisting of a laser radar, a millimeter-wave radar and a visual camera is arranged on all four sides of the frame, and the environmental perception module is communicated with the automatic driving system.

[0013] Beneficial effects of the present invention: The unmanned mining truck of the present invention combines two-way unloading with four-wheel steering, supports two-way unloading at the front and rear of the vehicle, and does not need to turn around before the truck enters the unloading station, but can directly enter the unloading station. The ore raw materials can be unloaded from the rear of the vehicle as well as from the front of the vehicle, making the entire unloading process both time-saving and energy-saving; supports four-wheel steering of the front and rear wheels, which can effectively reduce the turning radius and improve the steering flexibility in complex road conditions; supports unmanned driving, and the unloading operations and steering operations are all completed by the automatic driving system, which solves the serious fatigue and health problems caused by manned driving to truck drivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is an axonometric view of an unmanned mining truck (with the truck bed in an initial horizontal state) that combines bidirectional unloading with four-wheel steering according to the present invention; Figure 2 This is an axonometric view of an unmanned mining truck (the truck bed is in the unloading state toward the rear of the vehicle) that combines bidirectional unloading with four-wheel steering according to the present invention; Figure 3 A bottom view of an unmanned mining truck combining bidirectional unloading with four-wheel steering (when the front and rear wheels are deflected in the same direction for steering) according to the present invention; Figure 4 A bottom view of an unmanned mining truck combining bidirectional unloading with four-wheel steering (when the front and rear wheels are deflected in opposite directions for steering) according to the present invention; In the figure, 1 is the vehicle frame, 2 is the vehicle bed, 3 is the front double unloading hydraulic cylinder, 4 is the rear double unloading hydraulic cylinder, 5 is the hydraulically driven independent steering front wheel, 6 is the hydraulically driven independent steering rear wheel, 7 is the control room, 8 is the front guide limit groove, and 9 is the rear guide limit groove. DETAILED DESCRIPTION

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figures 1 to 4As shown, an unmanned mining truck combining two-way unloading and four-wheel steering comprises a frame 1, a truck bed 2, a front double unloading hydraulic cylinder 3, a rear double unloading hydraulic cylinder 4, a hydraulically driven independently steered front wheel 5, a hydraulically driven independently steered rear wheel 6, a control room 7 and an automatic driving system; the hydraulically driven independently steered front wheel 5 is arranged at the front end of the frame 1, and the hydraulically driven independently steered rear wheel 6 is arranged at the rear end of the frame 1; the truck bed 2 is arranged above the frame 1; the front double unloading hydraulic cylinder 3 is located in the middle front part of the frame 1, and the bottom end of the cylinder barrel of the front double unloading hydraulic cylinder 3 is hinged On the vehicle frame 1, the top end of the piston rod of the front double unloading hydraulic cylinder 3 is hinged on the vehicle box 2; the rear double unloading hydraulic cylinder 4 is located at the middle and rear part of the vehicle frame 1, the bottom end of the cylinder barrel of the rear double unloading hydraulic cylinder 4 is hinged on the vehicle frame 1, and the top end of the piston rod of the rear double unloading hydraulic cylinder 4 is hinged on the vehicle box 2; the control room 7 is arranged at the front end of the vehicle frame 1, and the automatic driving system is arranged in the control room; the controllers of the front double unloading hydraulic cylinder 3, the rear double unloading hydraulic cylinder 4, the hydraulically driven independent steering front wheel 5 and the hydraulically driven independent steering rear wheel 6 are all communicated with the automatic driving system.

[0017] The vehicle frame 1, the front double unloading hydraulic cylinder 3, the vehicle bucket 2 and the rear double unloading hydraulic cylinder 4 cooperate to form a four-bar linkage.

[0018] A front guide limit groove 8 is provided in the middle front part of the frame 1, and the front double unloading hydraulic cylinder 3 passes through the front guide limit groove 8; a rear guide limit groove 9 is provided in the middle rear part of the frame 1, and the rear double unloading hydraulic cylinder 4 passes through the rear guide limit groove 9.

[0019] When the truck bed 2 is in an initial horizontal state, the front double unloading hydraulic cylinder 3 is in a forward tilted state, and the cylinder barrel of the front double unloading hydraulic cylinder 3 is in contact with the front edge of the front guide limit groove 8; the rear double unloading hydraulic cylinder 4 is in a backward tilted state, and the cylinder barrel of the rear double unloading hydraulic cylinder 4 is in contact with the rear edge of the rear guide limit groove 9.

[0020] When the truck bed 2 is in the unloading state toward the rear of the vehicle, the front double unloading hydraulic cylinder 3 is in a vertical state, and the piston rod of the front double unloading hydraulic cylinder 3 is in a maximum extension state; the rear double unloading hydraulic cylinder 4 is in a rearward tilted state, and the cylinder barrel of the rear double unloading hydraulic cylinder 4 is in contact with the rear edge of the rear guide limit groove 9, and the piston rod of the rear double unloading hydraulic cylinder 4 is in an under-extended state.

[0021] When the truck bed 2 is in the unloading state in the front direction of the truck, the front double unloading hydraulic cylinder 3 is in a forward tilted state, the cylinder barrel of the front double unloading hydraulic cylinder 3 is in contact with the front edge of the front guide limit groove 8, and the piston rod of the front double unloading hydraulic cylinder 3 is in an under-extended state; the rear double unloading hydraulic cylinder 4 is in a vertical state, and the piston rod of the rear double unloading hydraulic cylinder 4 is in a maximum extension state.

[0022] When the unmanned mining truck is in a turning state, the hydraulically driven independently steered front wheels 5 and the hydraulically driven independently steered rear wheels 6 are deflected in the same direction or in opposite directions to reduce the turning radius of the unmanned mining truck.

[0023] A tilt sensor is provided at the bottom of the bucket 2 and is communicatively connected to the automatic driving system.

[0024] An environmental perception module consisting of a laser radar, a millimeter-wave radar, and a visual camera is provided on all four sides of the vehicle frame 1 , and the environmental perception module is communicatively connected with the automatic driving system.

[0025] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings: When the unmanned mining truck is in the loading and transporting state, and the truck bed 2 is in the initial horizontal state, the environmental perception modules around the frame 1 are in real-time working state to obtain road width, slope, obstacle distribution and unloading area boundary information. The automatic driving system automatically generates navigation information based on the digital map and mining area terrain data to realize unmanned driving.

[0026] When the unmanned mining truck detects that the road width is narrow and needs to turn during transportation, the automatic driving system can control the hydraulically driven independent steering front wheels 5 and the hydraulically driven independent steering rear wheels 6 to deflect in the opposite direction to reduce the turning radius and improve the steering maneuverability of the unmanned mining truck in a small space.

[0027] When the unmanned mining truck encounters a downhill road, a slippery road surface or an obstacle ahead during transportation, the automatic driving system can control the hydraulically driven independent steering front wheel 5 and the hydraulically driven independent steering rear wheel 6 to deflect in the same direction, so as to reduce the turning radius, reduce the deflection angle of the unmanned mining truck and the driving direction, reduce the rotation and sideslip of the unmanned mining truck when turning, and improve the driving stability of the unmanned mining truck.

[0028] When the unmanned mining truck is about to enter the unloading area, the environmental perception modules around the frame 1 identify the direction of the unloading area, and the automatic driving system automatically plans the shortest route to the unloading area. Then the front or rear of the unmanned mining truck faces the unloading area and enters the unloading area according to the planned route.

[0029] During the steering process of the unmanned mining truck, if the controller of the hydraulically driven independently steered front wheel 5 fails, the steering authority will be taken over by the controller of the hydraulically driven independently steered rear wheel 6 independently; conversely, if the controller of the hydraulically driven independently steered rear wheel 6 fails, the steering authority will be immediately taken over by the controller of the hydraulically driven independently steered front wheel 5; thereby avoiding the complete failure of the steering function due to the failure of a single controller and improving the reliability of the steering of the unmanned mining truck.

[0030] When the unmanned mining truck enters the unloading area, if the unloading is done towards the rear of the vehicle, the piston rod of the front double unloading hydraulic cylinder 3 is first controlled to extend to half of the maximum extension, and then the piston rod of the rear double unloading hydraulic cylinder 4 is controlled to extend to one ninth of the maximum extension, and finally the piston rod of the front double unloading hydraulic cylinder 3 is controlled to extend to the maximum extension, so that the truck bed 2 gradually changes from the initial horizontal state to a state tilted 40° backward. In this process, the unloading of the ore raw materials in the truck bed 2 is completed, and after the unloading is completed, the truck bed 2 returns to its initial horizontal state.

[0031] When the unmanned mining truck enters the unloading area, if the unloading is done in the front direction, the piston rod of the rear double unloading hydraulic cylinder 4 is first controlled to extend to half of the maximum extension, and then the piston rod of the front double unloading hydraulic cylinder 3 is controlled to extend to one ninth of the maximum extension, and finally the piston rod of the rear double unloading hydraulic cylinder 4 is controlled to extend to the maximum extension, so that the truck bed 2 gradually changes from the initial horizontal state to a state tilted forward 40°. In this process, the unloading of the ore raw materials in the truck bed 2 is completed. After the unloading is completed, the truck bed 2 returns to its initial horizontal state.

[0032] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the scope of protection of the present invention are included in the scope of protection of the present invention.

Claims

1. An unmanned mining truck combining two-way unloading and four-wheel steering, characterized by: The truck comprises a vehicle frame, a vehicle bed, a front double unloading hydraulic cylinder, a rear double unloading hydraulic cylinder, a hydraulically driven independently steered front wheel, a hydraulically driven independently steered rear wheel, a control room and an automatic driving system; the hydraulically driven independently steered front wheel is arranged at the front end of the vehicle frame, and the hydraulically driven independently steered rear wheel is arranged at the rear end of the frame; the vehicle bed is arranged above the vehicle frame; the front double unloading hydraulic cylinder is located at the middle front part of the vehicle frame, the bottom end of the cylinder barrel of the front double unloading hydraulic cylinder is hinged to the vehicle frame, and the top end of the piston rod of the front double unloading hydraulic cylinder is hinged to the vehicle bed; the rear double unloading hydraulic cylinder is located at the middle rear part of the vehicle frame, the bottom end of the cylinder barrel of the rear double unloading hydraulic cylinder is hinged to the vehicle frame, and the top end of the piston rod of the rear double unloading hydraulic cylinder is hinged to the vehicle bed; the control room is arranged at the front end of the frame, and the automatic driving system is arranged in the control room; the controllers of the front double unloading hydraulic cylinder, the rear double unloading hydraulic cylinder, the hydraulically driven independently steered front wheel and the hydraulically driven independently steered rear wheel are all communicatively connected to the automatic driving system.

2. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 1, characterized in that: The vehicle frame, the front double unloading hydraulic cylinder, the vehicle bucket and the rear double unloading hydraulic cylinder cooperate to form a four-link mechanism.

3. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 1 is characterized in that: A front guide limit slot is provided at the front center of the frame, and the front double unloading hydraulic cylinder passes through the front guide limit slot; a rear guide limit slot is provided at the rear center of the frame, and the rear double unloading hydraulic cylinder passes through the rear guide limit slot.

4. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 3 is characterized by: When the truck bed is in an initial horizontal state, the front double unloading hydraulic cylinder is in a forward tilted state, and the cylinder barrel of the front double unloading hydraulic cylinder is in contact with the front edge of the front guide limit groove; the rear double unloading hydraulic cylinder is in a backward tilted state, and the cylinder barrel of the rear double unloading hydraulic cylinder is in contact with the rear edge of the rear guide limit groove.

5. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 3 is characterized in that: When the truck bed is in the unloading state towards the rear of the vehicle, the front double unloading hydraulic cylinder is in a vertical state, and the piston rod of the front double unloading hydraulic cylinder is in a maximum extension state; the rear double unloading hydraulic cylinder is in a backward tilted state, the cylinder barrel of the rear double unloading hydraulic cylinder is in contact with the rear edge of the rear guide limit groove, and the piston rod of the rear double unloading hydraulic cylinder is in an under-extended state.

6. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 3 is characterized by: When the truck bed is in the unloading state in the front direction of the truck, the front double unloading hydraulic cylinder is in a forward tilted state, the cylinder barrel of the front double unloading hydraulic cylinder is in contact with the front edge of the front guide limit groove, and the piston rod of the front double unloading hydraulic cylinder is in an under-extended state; the rear double unloading hydraulic cylinder is in a vertical state, and the piston rod of the rear double unloading hydraulic cylinder is in a maximum extension state.

7. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 1 is characterized in that: When the unmanned mining truck is in a turning state, the hydraulically driven independently steered front wheels and the hydraulically driven independently steered rear wheels deflect in the same direction or in opposite directions to reduce the turning radius of the unmanned mining truck.

8. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 1 is characterized in that: An inclination sensor is provided at the bottom of the truck bed and is communicatively connected to the automatic driving system.

9. The unmanned mining truck with two-way unloading and four-wheel steering according to claim 1, characterized in that: An environmental perception module consisting of a laser radar, a millimeter-wave radar and a visual camera is arranged on all four sides of the frame, and the environmental perception module is communicated with the automatic driving system.

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