A tape replacement vehicle capable of continuously and synchronously retracting and releasing tape

Abstract

The present invention discloses a belt replacement vehicle capable of continuously and synchronously retracting and releasing a belt, comprising an upper crawler part, a middle crawler part, a lower crawler part and a centralized electric control part; the upper crawler frame and the lower crawler frame are respectively connected to the middle crawler frame through a lifting guide connection mechanism, a clamping control component I is provided between the upper crawler frame and the middle crawler frame, a clamping control component II is provided between the lower crawler frame and the middle crawler frame, and a plurality of telescopic legs are also provided on the lower crawler frame; the crawlers of the upper crawler, the middle crawler and the lower crawler are all structures formed by hingedly connecting a plurality of corrugated chain plates in sequence, and when the corrugated chain plates are in a linear motion state, two adjacent corrugated chain plates together form a continuous corrugated structure. The present invention can realize convenient transportation and flexible positioning and installation under the premise of ensuring synchronous matching of the unwinding speed of the new conveyor belt and the rewinding speed of the old conveyor belt, and is particularly suitable for replacing the belt of an ultra-long-distance belt conveyor.

Description

Technical Field

[0001] The invention relates to a belt replacing device, in particular to a belt replacing vehicle suitable for replacing the belt of a belt conveyor, belonging to the technical field of belt conveyor maintenance equipment. Background Art

[0002] Belt conveyor, also known as rubber belt conveyor or belt conveyor, is a kind of machinery that transports materials in a continuous manner by friction drive. It mainly includes a frame, conveyor belt, rollers, drums, tensioning devices, transmission devices, etc. It can form a material conveying process from the initial feeding point to the final unloading point on a certain conveyor line. It is widely used in metallurgy, mining, electric power, chemical industry and other industries.

[0003] Belt conveyors play an irreplaceable role in coal mine production because of their advantages such as large conveying capacity, simple structure, low cost and strong versatility. They are the main equipment for transporting coal from underground coal mining faces to the ground. The belt with a steel wire core is used as a carrier for carrying and transporting coal. During long-term use, the friction between the belt surface and the material and the friction between the belt and the roller will cause scratches on the belt surface, and even accidents such as belt breakage and slipping. Therefore, in order to ensure the safe and stable operation of the belt, the belt should be replaced regularly. However, as coal mining gradually develops deeper, ultra-long-distance belt conveyors with a conveying distance of more than one kilometer caused by deep mine mining are gradually popularized. Ultra-long-distance belt conveyors usually have high power and large transport capacity. Their belts usually use a structure in which multiple belt segments are connected as one through belt joints. Not only are they large in size and weight, but the underground working environment of coal mines is complex and it is difficult to change the belt. As a result, the work of replacing the belt not only requires a lot of manpower and material resources, but also the belt replacement process is risky.

[0004] The existing method of replacing the belt is usually to transport the belt replacement device to the mine and then fix it under the head drive roller of the belt conveyor whose belt is to be replaced. Then the old belt is broken, and one end of the old belt is connected to the new belt delivered by the belt replacement device that delivers the new belt. The other end of the old belt is pulled back and recycled by the belt replacement device that recycles the old belt. The new belt is laid by pulling the old belt to achieve the belt replacement. The existing belt replacement device for clamping the conveyor belt has the following defects:

[0005] 1. In order to achieve stable traction, it is necessary to set up an additional location for the belt replacement device in the mine. However, the working environment in the coal mine is complex, especially for mines over 1,000 meters long, the transportation and positioning installation of the belt replacement device are relatively difficult.

[0006] 2. For ultra-long-distance belt conveyors, if the power of the belt replacement device is not matched, it often causes insufficient clamping force of the clamping belt or insufficient traction force of the pulling belt, which in turn causes the belt to slip or be unable to be pulled. Therefore, a belt replacement device with sufficient power is required, which invisibly increases the size and weight of the belt replacement device, making transportation and positioning installation more difficult;

[0007] 3. In order to facilitate transportation and positioning installation, the belt replacement device for conveying new belts and the belt replacement device for recycling old belts are usually set up and positioned separately. This may easily lead to a mismatch between the speed of unwinding the new belt and the speed of taking up the old belt, which may easily lead to poor laying quality of the new conveyor belt or increased belt changing time. Summary of the invention

[0008] In view of the problems existing in the above-mentioned prior art, the present invention provides a belt changing vehicle that can continuously and synchronously retract and unwind the belt. It can achieve convenient transportation and flexible positioning and installation under the premise of ensuring that the unwinding speed of the new conveyor belt is synchronously matched with the rewinding speed of the old conveyor belt, and can match the power according to specific working conditions. It is particularly suitable for belt replacement of ultra-long distance belt conveyors.

[0009] In order to achieve the above-mentioned purpose, the tape replacement vehicle capable of continuously and synchronously retracting and releasing the tape comprises an upper crawler part, a middle crawler part, a lower crawler part and a centralized electric control part;

[0010] The upper crawler part includes an upper crawler frame and an upper crawler, and two sets of upper crawlers are symmetrically arranged on the upper crawler frame of the frame structure; the middle crawler part includes a middle crawler frame and a middle crawler, and two sets of middle crawlers are symmetrically arranged on the left and right corresponding to the upper crawler; the lower crawler part includes a lower crawler frame and a lower crawler, and two sets of lower crawlers are symmetrically arranged on the left and right corresponding to the middle crawler; each set of upper crawlers, middle crawlers and lower crawlers includes a crawler connected in an annular shape from head to tail and a crawler drive sprocket and a crawler support structure arranged inside the crawler annular structure, and the crawler drive sprockets arranged to roll forward and backward include crawler drive components;

[0011] The upper crawler frame and the lower crawler frame are respectively connected to the middle crawler frame through the lifting guide connection mechanism, and a clamping control component I is provided between the upper crawler frame and the middle crawler frame, which can control the lifting of the upper crawler frame relative to the middle crawler frame, and a clamping control component II is provided between the lower crawler frame and the middle crawler frame, which can control the lifting of the lower crawler frame relative to the middle crawler frame, and the lower crawler frame is also provided with a plurality of telescopic legs that are vertically telescopically downward, and the telescopic legs include a leg telescopic control component;

[0012] The crawlers of the upper crawler, the middle crawler and the lower crawler are all structures formed by hingedly connecting a plurality of corrugated chain plates in sequence, and the outer surface of each corrugated chain plate includes an arcuate convex surface and an arcuate concave surface. When the corrugated chain plate is in a linear motion state, the arcuate convex surfaces and the arcuate concave surfaces of two adjacent corrugated chain plates together form a continuous corrugated structure;

[0013] The centralized electric control part includes a central controller, an upper crawler frame lifting control circuit, an upper crawler control circuit, a middle crawler control circuit, a lower crawler frame lifting control circuit, a lower crawler control circuit and a leg extension and retraction control circuit. The central controller is electrically connected to the clamping control component I, the clamping control component II, the leg extension and retraction control component of the telescopic leg, the track drive component of the upper crawler, the track drive component of the middle crawler and the track drive component of the lower crawler respectively.

[0014] As a further improvement of the present invention, the tape changing vehicle that can continuously and synchronously retract and release the tape also includes an anti-deviation part, which includes anti-deviation components that are symmetrically arranged on the left and right sides corresponding to the side positions of the tape. The anti-deviation components are positioned on the left and right side surfaces of the middle crawler frame, or the anti-deviation components are arranged on the left and right side surfaces of the upper crawler frame and the lower crawler frame.

[0015] As an embodiment of the anti-deviation component of the present invention, the anti-deviation component is a vertically arranged anti-deviation roller, and a plurality of anti-deviation rollers are evenly distributed in the front-to-back direction and can rotate freely, and the spacing between the left and right rows of anti-deviation rollers matches the width of the belt.

[0016] As another embodiment of the anti-deviation component of the present invention, the anti-deviation component is a belt edge distance sensor corresponding to the side position of the belt, and the belt edge distance sensors are evenly distributed in the front and rear directions. The centralized electronic control part also includes an automatic deviation correction control circuit, and the central controller is electrically connected to the multiple belt edge distance sensors respectively.

[0017] As a further improvement of the present invention, at least the old belt input end of the middle crawler frame is provided with a belt brake which can prevent the belt from reversing when the belt is reversing.

[0018] As a further improvement of the present invention, rotation angle sensors are respectively provided on the track drive sprockets of the upper track, the middle track and the lower track; the centralized electronic control part also includes an automatic correction control circuit, and the central controller is electrically connected to the rotation angle sensors of the upper track, the middle track and the lower track respectively.

[0019] As a further improvement of the present invention, the lifting and guiding connection mechanism between the upper crawler frame and the middle crawler frame, and the lifting and guiding connection mechanism between the lower crawler frame and the middle crawler frame are both coordinated guide column and guide sleeve structures, and the clamping control component I and the clamping control component II are arranged in the guide sleeve structure.

[0020] As a further improvement of the present invention, the new tape output end and / or the new tape input end of the upper crawler frame are horizontally provided with tape guide rollers, and the old tape input end and / or the old tape output end of the lower crawler frame are also horizontally provided with tape guide rollers.

[0021] As a further improvement of the present invention, a spacing adjustment mechanism capable of adjusting the spacing relative to the symmetrical center plane is provided between the two sets of upper crawlers symmetrically on the upper crawler part, between the two sets of middle crawlers symmetrically on the middle crawler part, and between the two sets of lower crawlers symmetrically on the lower crawler part; the centralized electric control part also includes a crawler spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism respectively;

[0022] Alternatively, the left upper track of the upper track portion, the left middle track of the middle track portion and the left lower track of the lower track portion are connected via a left connecting frame, the right upper track of the upper track portion, the right middle track of the middle track portion and the right lower track of the lower track portion are connected via a right connecting frame, a spacing adjustment mechanism which can synchronously adjust the spacing relative to the symmetrical center plane is provided between the left connecting frame and the right connecting frame, the centralized electric control portion also includes a track spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism.

[0023] As a further improvement of the present invention, at least the track ring structure of the middle track is provided with a track tensioning mechanism which is telescopically arranged in the front-rear direction; the centralized electric control part also includes a track tensioning adjustment circuit, and the central controller is electrically connected to the track tensioning mechanism.

[0024] Compared with the prior art, the present invention can continuously and synchronously retract and release the adhesive tape. After the telescopic legs are fully retracted and the lower crawler frame is controlled to drive the lower crawler to move downward so that the bottom plane of the lower crawler is in contact with the ground, the rotation of the left-right symmetrical lower crawler can be controlled to realize the self-propelled forward and backward movement and steering of the whole vehicle. The vehicle is flexible and maneuverable, and can flexibly adjust the working position according to the specific working conditions of the construction site, and is also convenient for transportation. For the replacement of the adhesive tape of the ultra-long-distance belt conveyor, in order to ensure sufficient matching power, multiple low-power adhesive tape replacement vehicles can be used in series, so that the relatively small size and weight of the adhesive tape replacement vehicle can be achieved. , which can further increase its maneuverability and flexibility; the belt changing vehicle that can continuously and synchronously retract and release the belt adopts the method of synchronously clamping the new belt and the old belt by the upper track, the middle track and the lower track, which can not only achieve the complete matching of the new belt release speed and the old belt rewinding speed, and realize the automatic balance of the tension of the recovered belt and the resistance of releasing the new belt during the belt replacement process, but also has higher synchronization, stability and safety. Moreover, the upper track, the middle track and the lower track, which are all hinged by multiple corrugated chain plates in sequence, adopt the method of clamping the belt with the concave and convex snap-fitting of the continuous corrugated track surface, which will not damage the belt and can ensure stable clamping, and is particularly suitable for belt replacement of ultra-long distance belt conveyors. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the upper crawler part of the present invention;

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the middle crawler part of the present invention;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the lower crawler part of the present invention;

[0029] Figure 5 It is a schematic structural diagram of the present invention when replacing the adhesive tape;

[0030] Figure 6 It is a schematic diagram of the structure of the corrugated chain plate of the present invention when clamping the tape.

[0031] In the figure: 1, upper crawler part, 11, upper crawler frame, 12, upper crawler, 2, middle crawler part, 21, middle crawler frame, 22, middle crawler, 3, lower crawler part, 31, lower crawler frame, 32, lower crawler, 33, telescopic legs. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings (hereinafter referred to as Figure 5The left side direction is described as the front).

[0033] like Figure 1 As shown, the tape changing vehicle capable of continuously and synchronously retracting and releasing the tape comprises an upper crawler part 1, a middle crawler part 2, a lower crawler part 3 and a centralized electric control part.

[0034] like Figure 2 As shown, the upper crawler part 1 includes an upper crawler frame 11 and an upper crawler 12. Two sets of upper crawlers 12 are symmetrically arranged on the upper crawler frame 11 of the frame structure. Each set of upper crawlers 12 includes a crawler connected in an annular shape head to tail and a crawler drive sprocket and a crawler support structure arranged inside the crawler annular structure. The crawler drive sprocket is symmetrically arranged in two pieces front and back, and the crawler support structure is arranged between the two crawler drive sprockets. The crawler support structure can be a crawler support roller wheel evenly arranged in multiple pieces along the front and back directions, or a crawler support roller shaft evenly arranged in multiple pieces along the front and back directions. The crawler drive sprocket arranged to roll forward and backward includes a crawler drive component, and the crawler drive component can be a hydraulic motor structure or an electric motor structure, and the hydraulic motor structure is preferred.

[0035] like Figure 3 , Figure 4 As shown, the structures of the middle crawler part 2 and the lower crawler part 3 are similar to those of the upper crawler part 1. The middle crawler part 2 includes a middle crawler frame 21 and a middle crawler 22. The middle crawlers 22 are symmetrically arranged in two sets on the left and right, corresponding to the upper crawler 12. The lower crawler part 3 includes a lower crawler frame 31 and a lower crawler 32. The lower crawlers 32 are symmetrically arranged in two sets on the left and right, corresponding to the middle crawler 22. Each set of the middle crawler 22 and the lower crawler 32 includes a crawler connected in an annular shape at the head and tail, and a crawler drive sprocket and a crawler support structure arranged inside the crawler annular structure. The crawler drive sprockets arranged to roll forward and backward include a crawler drive component.

[0036] like Figure 1 As shown, the upper crawler frame 11 and the lower crawler frame 31 are respectively installed and connected with the middle crawler frame 21 through the lifting guide connection mechanism arranged in the vertical direction, and a clamping control component I is provided between the upper crawler frame 11 and the middle crawler frame 21, which can control the lifting and lowering of the upper crawler frame 11 relative to the middle crawler frame 21, and a clamping control component II is provided between the lower crawler frame 31 and the middle crawler frame 21, which can control the lifting and lowering of the lower crawler frame 31 relative to the middle crawler frame 21, and the lifting guide connection mechanism can be a guide sleeve and a guide column structure arranged in cooperation, or can be a guide protrusion and a guide groove structure arranged in cooperation, and other structures, and the clamping control component I and the clamping control component II can be a hydraulic cylinder structure, or can be other telescopic control structures such as an electric cylinder structure, preferably a hydraulic cylinder structure, such as Figure 4As shown, the lower crawler frame 31 is also provided with a plurality of telescopic legs 33 which are telescopically arranged downward. The telescopic legs 33 include a leg telescopic control component. The leg telescopic control component may be a hydraulic cylinder structure, an electric cylinder structure or other telescopic control structures, and a hydraulic cylinder structure is preferred.

[0037] like Figure 6 As shown, the tracks of the upper track 12, the middle track 22 and the lower track 32 are all structures formed by a plurality of corrugated chain plates hinged in sequence, and the outer surface of each corrugated chain plate includes an arcuate convex surface and an arcuate concave surface. When the corrugated chain plate is in a linear motion state, the arcuate convex surfaces and arcuate concave surfaces of two adjacent corrugated chain plates together form a continuous wavy structure.

[0038] The centralized electric control part includes a central controller, an upper crawler frame lifting control circuit, an upper crawler control circuit, a middle crawler control circuit, a lower crawler frame lifting control circuit, a lower crawler control circuit and a leg extension and retraction control circuit. The central controller is electrically connected to the clamping control component I, the clamping control component II, the leg extension and retraction control component of the telescopic leg 33, the track drive component of the upper crawler 12, the track drive component of the middle crawler 22, and the track drive component of the lower crawler 32.

[0039] When the tape changing vehicle that can continuously and synchronously retract and release the tape is in the transport transfer state, the central controller can control the clamping control component II through the lower crawler frame lifting control circuit to make the lower crawler frame 31 drive the lower crawler 32 to move down to a set distance, and then the central controller controls the telescopic legs 33 to be fully retracted through the leg extension and retraction control circuit, and the tape changing vehicle that can continuously and synchronously retract and release the tape moves downward as a whole so that the bottom plane of the lower crawler 32 fits on the ground. The central controller controls the track driving component of the lower crawler 32 through the lower crawler control circuit, and can control the forward and backward movement of the whole vehicle through the synchronous same-direction rotation of the left-right symmetrical lower crawler 32, and control the steering of the whole vehicle through the synchronous opposite-direction rotation of the left-right symmetrical lower crawler 32, which is maneuverable and flexible.

[0040] When using this belt changing vehicle that can continuously and synchronously retract and release the belt to replace the belt conveyor, such as Figure 5As shown, after the belt changing vehicle capable of continuously and synchronously retracting and releasing the belt is controlled to stop at the set position of the head driving roller of the belt conveyor corresponding to the belt to be replaced, the central controller controls the telescopic legs 33 to be fully extended and firmly supported on the ground through the leg extension and retraction control circuit, and the lower crawler 32 is in a suspended state separated from the middle crawler 22. Then, the central controller controls the clamping control component I through the upper crawler frame lifting control circuit to move the upper crawler frame 11 to drive the upper crawler 12 to move up to the set distance, and the upper crawler 12 is in a suspended state separated from the middle crawler 22. The crawler 22 is in a suspended state after being separated, and then the central controller controls the upper crawler 12 and the lower crawler 32 respectively through the upper crawler control circuit and the lower crawler control circuit to make fine adjustments, so that the continuous wavy crawler surface at the bottom of the upper crawler 12 can be engaged with the continuous wavy crawler surface at the top of the middle crawler 22, and the continuous wavy crawler surface at the top of the lower crawler 32 can be engaged with the continuous wavy crawler surface at the bottom of the middle crawler 22; the head end of the new rubber belt is passed from back to front between the upper crawler 12 and the middle crawler 22 The central controller then controls the clamping control component I through the upper crawler frame lifting control circuit to make the upper crawler frame 11 drive the upper crawler 12 to move down to the set distance, and the new belt is firmly clamped by the continuous wavy track surface of the upper crawler 12 and the middle crawler 22; the belt tensioning device of the belt conveyor whose belt is to be replaced is released to break the old belt, and the end of the upper old belt is firmly connected with the head end of the new belt through the buckle, and the end of the descending old belt is inserted from front to back between the lower crawler 32 and the middle crawler 22. The central controller then controls the clamping control component II through the lower crawler frame lifting control circuit to move the tape changing vehicle that can continuously and synchronously retract and release the tape downward to the set distance as a whole, and the old tape is firmly clamped by the continuous wavy track surface of the lower crawler 32 and the middle crawler 22; the central controller controls the track driving components of the upper crawler 12, the middle crawler 22, and the lower crawler 32 to rotate synchronously through the upper crawler control circuit, the middle crawler control circuit, and the lower crawler control circuit. Figure 5 As shown, the track driving components of the upper track 12 and the lower track 32 rotate synchronously clockwise, while the track driving components of the middle track 22 rotate synchronously counterclockwise, that is, the old tape is firmly clamped and conveyed by the lower track 32 and the middle track 22 while the new tape is firmly clamped and conveyed by the upper track 12 and the middle track 22, thereby achieving matching of the unwinding speed of the new tape with the winding speed of the old tape. After the old tape is recovered and the old tape connected to the head end of the new tape is removed, the head end of the new tape is firmly connected to the tail end of the new tape through a buckle, and the belt tensioning device of the belt conveyor is started to tension the new tape.

[0041] For the replacement of the belt of an ultra-long-distance belt conveyor, in order to ensure sufficient matching power, multiple belt replacement vehicles that can continuously and synchronously retract and release the belt can be used in series.

[0042] In order to prevent the deviation of the new tape during the input process and the old tape during the output process, thereby affecting the input of the new tape and the output of the old tape, as a further improvement of the present invention, the tape replacement vehicle that can continuously and synchronously retract and release the tape also includes an anti-deviation part, which includes anti-deviation components that are symmetrically arranged at the left and right sides corresponding to the side positions of the tape, and the anti-deviation components are positioned on the left and right sides of the middle crawler frame 21, or the anti-deviation components are arranged on the left and right sides of the upper crawler frame 11 and the lower crawler frame 31. The anti-deviation component can adopt a mechanical control structure, that is, the anti-deviation component is an anti-deviation vertical roller arranged vertically in the axial direction, and a plurality of anti-deviation vertical rollers are evenly arranged in the front-to-back direction and can rotate freely. The spacing between the left and right rows of anti-deviation vertical rollers is matched with the width of the tape. If the tape deviates during the conveying process, the anti-deviation vertical roller can block the tape. The anti-deviation component can also adopt an electrical control structure, that is, the anti-deviation component is a belt edge distance sensor corresponding to the side position of the belt, and the belt edge distance sensors are evenly distributed in the front and rear directions. The centralized electrical control part also includes an automatic correction control circuit, and the central controller is electrically connected to the multiple belt edge distance sensors respectively; during the belt conveying process, the multiple belt edge distance sensors feed back the distance between the belt edge of the new tape and the old tape to the central controller in real time. If the belt deviates to the left and exceeds the set distance range, the central controller starts the automatic correction control circuit, and the central controller issues a command to control the clamping control component I or the clamping control component II on the right side to operate, so that the upper crawler 12 or the lower crawler 32 on the right side is in a non-engaged relaxed clamping state, and the belt gradually moves to the right under the pulling action of the upper crawler 12 or the lower crawler 32 in the engaged clamping state on the left. When the belt edge distance sensor feeds back the distance between the belt edge of the belt and the belt edge distance sensor When the distance between the upper crawler 12 and the lower crawler 32 is within the set distance range, the central controller controls the clamping control component I or the clamping control component II on the right side to operate, so that the upper crawler 12 or the lower crawler 32 on the right side is restored to the engaged clamping state; if the belt deviates to the right and exceeds the set distance range, the central controller starts the automatic correction control loop, and the central controller issues an instruction to control the clamping control component I or the clamping control component II on the left side to operate, so that the upper crawler 12 or the lower crawler 32 on the left side is in a non-engaged relaxed clamping state, and the belt gradually moves to the left side under the pulling action of the upper crawler 12 or the lower crawler 32 in the engaged clamping state on the right side. When the belt edge distance sensor feedbacks that the distance between the belt edge and the belt edge distance sensor of the belt is within the set distance range, the central controller controls the clamping control component I or the clamping control component II on the left side to operate, so that the upper crawler 12 or the lower crawler 32 on the left side is restored to the engaged clamping state, thereby realizing automatic deviation correction.

[0043] After the replacement of the tape is completed, when the old tape connected to the head end of the new tape is removed, in order to prevent the tape from slipping, as a further improvement of the present invention, at least the input end of the old tape of the middle crawler frame 21 is provided with a tape brake that can prevent the tape from reversing when the tape is reversing; the centralized electric control part also includes a tape brake circuit, and the central controller is electrically connected to the tape brake. The tape brake can be a cam structure pressed on the tape when the tape slips, or a locking pressure plate structure pressed on the tape when the tape slips, and other structures. The tape brake can be hydraulically controlled or directly electrically controlled.

[0044] In order to realize automatic correction of the wavy track surface of the upper track 12 and the lower track 32 with the middle track 22, as a further improvement scheme of the present invention, rotation angle sensors are respectively provided on the track driving sprockets of the upper track 12, the middle track 22 and the lower track 32; the centralized electronic control part also includes an automatic correction control loop, and the central controller is electrically connected to the rotation angle sensors of the upper track 12, the middle track 22 and the lower track 32, respectively. Before the central controller controls the upper track 12 and the lower track 32 for micro-adjustment respectively through the upper track control circuit and the lower track control circuit, the central controller first calculates the angles by which the track drive sprockets of the upper track 12 and the lower track 32 should rotate relative to the track drive sprocket of the middle track 22 based on the feedback from the rotation angle sensor of the middle track 22 and the feedback from the rotation angle sensors of the upper track 12 and the lower track 32, and then controls the movement of the track drive components of the upper track 12 and the lower track 32 for micro-adjustment.

[0045] In order to ensure the stability of the conveyor belt, as a further improvement of the present invention, when replacing the belt of the belt conveyor to be replaced, the telescopic legs 33 are fully extended and fixedly connected to the head frame of the belt conveyor to be replaced through the auxiliary beam.

[0046] In order to facilitate the guiding of the conveyed tape, as a further improvement of the present invention, tape guide rollers are horizontally installed at the new tape output end and / or the new tape input end of the upper track frame 11, and tape guide rollers are also horizontally installed at the old tape input end and / or the old tape output end of the lower track frame 31.

[0047] In order to achieve universality for tapes with different widths, as a further improvement of the present invention, a spacing adjustment mechanism capable of synchronously adjusting the spacing relative to the symmetrical center plane is provided between the two sets of upper crawlers 12 symmetrically on the left and right sides of the upper crawler part 1, between the two sets of middle crawlers 22 symmetrically on the left and right sides of the middle crawler part 2, and between the two sets of lower crawlers 32 symmetrically on the left and right sides of the lower crawler part 3. The centralized electric control part also includes a crawler spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism respectively; or the left side of the upper crawler part 1 The upper crawler 12, the left middle crawler 22 of the middle crawler part 2 and the left lower crawler 32 of the lower crawler part 3 are connected through a left connecting frame, the right upper crawler 12 of the upper crawler part 1, the right middle crawler 22 of the middle crawler part 2 and the right lower crawler 32 of the lower crawler part 3 are connected through a right connecting frame, and a spacing adjustment mechanism that can synchronously adjust the spacing relative to the symmetrical center plane is provided between the left connecting frame and the right connecting frame, and the centralized electric control part also includes a crawler spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism. The spacing adjustment mechanism can be a bidirectional telescopic hydraulic cylinder structure, or a matching screw nut structure or other bidirectional spacing adjustment structures, or the spacing adjustment mechanism can also be two unidirectional telescopic hydraulic cylinder structures or electric cylinder structures that are symmetrically arranged on the left and right. Other unidirectional spacing adjustment structures. After the central controller controls the telescopic legs 33 to be fully extended and firmly supported on the ground through the leg extension and retraction control circuit, the central controller controls the spacing adjustment mechanism through the track spacing adjustment circuit to coordinate and adjust the spacing between the two symmetrical sets of upper crawlers 12 of the upper crawler part 1, the spacing between the two symmetrical sets of middle crawlers 22 of the middle crawler part 2, and the spacing between the two symmetrical sets of lower crawlers 32 of the lower crawler part 3, according to the belt width of the belt conveyor whose belt is to be replaced.

[0048] Since the continuous wavy track surfaces at the top and bottom of the middle track 22 are respectively matched with the bottom continuous wavy track surface of the upper track 12 and the top continuous wavy track surface of the lower track 32, in order to prevent the continuous wavy track surface from being misaligned when the concave and convex are engaged due to the looseness of the middle track 22 and to facilitate the installation of the wavy chain plate, as a further improvement scheme of the present invention, at least the track annular structure of the middle track 22 is provided with a track tensioning mechanism that is telescopically arranged in the front-to-back direction. The track tensioning mechanism can be a hydraulic cylinder structure or other linear telescopic structures such as an electric cylinder structure. A hydraulic cylinder structure is preferred. The centralized electronic control part also includes a track tensioning adjustment circuit. The central controller is electrically connected to the track tensioning mechanism. The central controller controls the movement of the track tensioning mechanism through the track tensioning adjustment circuit to tension the track.

[0049] To facilitate remote control operation, as a further improvement of the present invention, the centralized electric control part also includes a remote controller, and the remote controller is wirelessly connected to the central controller.

[0050] In order to make the overall structure more concise, as a further improvement of the present invention, the lifting and guiding connection mechanism between the upper crawler frame 11 and the middle crawler frame 21, and the lifting and guiding connection mechanism between the lower crawler frame 31 and the middle crawler frame 21 are both guide posts and guide sleeve structures that are arranged in coordination, and the clamping control component I and the clamping control component II are arranged in the guide sleeve structure. That is, the lifting and guiding connection mechanism between the upper crawler frame 11 and the middle crawler frame 21 can be a guide sleeve structure fixedly arranged on the middle crawler frame 21 and a guide post structure fixedly arranged on the upper crawler frame 11, and the clamping control component I is arranged in the guide sleeve structure; the lifting and guiding connection mechanism between the lower crawler frame 31 and the middle crawler frame 21 can be a guide sleeve structure fixedly arranged on the middle crawler frame 21 and a guide post structure fixedly arranged on the lower crawler frame 31, the clamping control component II is arranged in the guide sleeve structure, and the telescopic support leg 33 is arranged on the guide post. Alternatively, the lifting and guiding connection mechanism between the upper crawler frame 11 and the middle crawler frame 21 can be a guide column structure fixedly arranged on the middle crawler frame 21 and a guide sleeve structure fixedly arranged on the upper crawler frame 11, and the clamping control component I is arranged in the guide sleeve structure, and the lifting and guiding connection mechanism between the lower crawler frame 31 and the middle crawler frame 21 can be a guide column structure fixedly arranged on the middle crawler frame 21 and a guide sleeve structure fixedly arranged on the lower crawler frame 31, the clamping control component II is arranged in the guide sleeve structure, and the telescopic support leg 33 is also arranged in the guide sleeve.

[0051] As a preferred embodiment of the present invention, the track driving components of the upper track 12, the middle track 22 and the lower track 32 are all hydraulic motor structures, and the clamping control component I, the clamping control component II and the leg extension and retraction control component are all hydraulic cylinder structures; the tape changing vehicle that can continuously and synchronously retract and extend the tape also includes an on-board hydraulic system, the on-board hydraulic system includes a hydraulic pump station and a control valve group, and the central controller of the centralized electronic control part is electrically connected to the hydraulic pump station and the control valve group respectively; the central controller controls the action of the tape changing vehicle that can continuously and synchronously retract and extend the tape through hydraulic control.

[0052] In order to increase the friction force, as a further improvement of the present invention, a coating made of rubber or PVC high-strength material is provided on the outer surface of the corrugated chain plate.

[0053] The tape changing vehicle which can continuously and synchronously retract and release the tape can realize self-propelled movement and steering of the whole vehicle forward and backward, and is maneuverable and flexible. It can not only flexibly adjust the working position according to the specific working conditions of the construction site, but also is easy to transport; it can achieve a relatively small volume and weight, and can be used in series; it can achieve a complete match between the speed of releasing the new tape and the speed of taking up the old tape, and realize automatic balance between the pulling force of the recycled tape and the resistance of releasing the new tape during the tape replacement process, with higher synchronization, stability and safety; it adopts a method of clamping the tape with a continuous wavy track surface with concave and convex snap-fitting, which neither damages the tape nor ensures stable clamping, and is particularly suitable for replacing the tape of ultra-long-distance belt conveyors.

Claims

1. A tape changing vehicle capable of continuously and synchronously retracting and releasing tape, characterized in that: It comprises an upper crawler part (1), a middle crawler part (2), a lower crawler part (3) and a centralized electric control part; The upper crawler part (1) comprises an upper crawler frame (11) and an upper crawler (12), and two sets of upper crawlers (12) are symmetrically arranged on the upper crawler frame (11) of the frame structure; the middle crawler part (2) comprises a middle crawler frame (21) and a middle crawler (22), and two sets of middle crawlers (22) are symmetrically arranged on the left and right and are arranged corresponding to the upper crawler (12); the lower crawler part (3) comprises a lower crawler frame (31) and a lower crawler (32), and two sets of lower crawlers (32) are symmetrically arranged on the left and right and are arranged corresponding to the middle crawler (22); each set of upper crawlers (12), middle crawlers (22) and lower crawlers (32) comprises a crawler connected end to end in an annular shape, and a crawler drive sprocket and a crawler support structure arranged inside the crawler annular structure, and the crawler drive sprockets arranged to roll forward and backward all comprise a crawler drive component; The upper crawler frame (11) and the lower crawler frame (31) are respectively connected to the middle crawler frame (21) through a lifting guide connection mechanism. A clamping control component I is provided between the upper crawler frame (11) and the middle crawler frame (21) for controlling the lifting of the upper crawler frame (11) relative to the middle crawler frame (21). A clamping control component II is provided between the lower crawler frame (31) and the middle crawler frame (21) for controlling the lifting of the lower crawler frame (31) relative to the middle crawler frame (21). The lower crawler frame (31) is also provided with a plurality of telescopic legs (33) which are telescopically arranged to be telescopic downward. The telescopic legs (33) include a leg telescopic control component. The upper crawler (12), the middle crawler (22) and the lower crawler (32) are all structures formed by sequentially hingedly connecting a plurality of corrugated chain plates, the outer surface of each corrugated chain plate comprises an arcuate convex surface and an arcuate concave surface, and when the corrugated chain plate is in a linear motion state, the arcuate convex surfaces and the arcuate concave surfaces of two adjacent corrugated chain plates together form a continuous corrugated structure; The centralized electric control part includes a central controller, an upper crawler frame lifting control circuit, an upper crawler control circuit, a middle crawler control circuit, a lower crawler frame lifting control circuit, a lower crawler control circuit and a leg extension and retraction control circuit. The central controller is electrically connected to the clamping control component I, the clamping control component II, the leg extension and retraction control component of the telescopic leg (33), the crawler drive component of the upper crawler (12), the crawler drive component of the middle crawler (22), and the crawler drive component of the lower crawler (32).

2. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to claim 1, characterized in that: The tape replacement vehicle capable of continuously and synchronously retracting and releasing the tape also includes an anti-deviation part, which includes anti-deviation components that are symmetrically arranged at the left and right sides corresponding to the side positions of the tape, and the anti-deviation components are positioned on the left and right side surfaces of the middle crawler frame (21), or the anti-deviation components are arranged on the left and right side surfaces of the upper crawler frame (11) and the lower crawler frame (31).

3. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to claim 2, characterized in that: The anti-deviation component is a vertically arranged anti-deviation roller. A plurality of anti-deviation rollers are evenly arranged in the front-to-back direction and can rotate freely. The spacing between the left and right rows of anti-deviation rollers matches the width of the belt.

4. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to claim 2, characterized in that: The anti-deviation component is a belt edge distance sensor corresponding to the side position of the belt. The belt edge distance sensors are evenly distributed in the front and rear directions. The centralized electronic control part also includes an automatic deviation correction control circuit. The central controller is electrically connected to multiple belt edge distance sensors respectively.

5. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to claim 1, characterized in that: At least the old tape input end of the middle crawler frame (21) is provided with a tape brake which can prevent the tape from running backwards when the tape runs backwards.

6. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to any one of claims 1 to 5, characterized in that: The track drive sprockets of the upper track (12), the middle track (22) and the lower track (32) are respectively provided with rotation angle sensors; the centralized electric control part also includes an automatic correction control circuit, and the central controller is electrically connected to the rotation angle sensors of the upper track (12), the middle track (22) and the lower track (32).

7. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to any one of claims 1 to 5, characterized in that: The lifting guide connection mechanism between the upper crawler frame (11) and the middle crawler frame (21), and the lifting guide connection mechanism between the lower crawler frame (31) and the middle crawler frame (21) are both guide column and guide sleeve structures that are arranged in coordination, and the clamping control component I and the clamping control component II are arranged in the guide sleeve structure.

8. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to any one of claims 1 to 5, characterized in that: The new tape output end and / or the new tape input end of the upper crawler frame (11) are horizontally provided with tape guide rollers, and the old tape input end and / or the old tape output end of the lower crawler frame (31) are also horizontally provided with tape guide rollers.

9. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to any one of claims 1 to 5, characterized in that: A spacing adjustment mechanism capable of synchronously adjusting the spacing relative to the symmetrical center plane is provided between the two sets of upper crawlers (12) symmetrically on the upper crawler part (1), between the two sets of middle crawlers (22) symmetrically on the middle crawler part (2), and between the two sets of lower crawlers (32) symmetrically on the lower crawler part (3); the centralized electric control part also includes a crawler spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism respectively; Alternatively, the left upper crawler (12) of the upper crawler part (1), the left middle crawler (22) of the middle crawler part (2) and the left lower crawler (32) of the lower crawler part (3) are connected via a left connecting frame, the right upper crawler (12) of the upper crawler part (1), the right middle crawler (22) of the middle crawler part (2) and the right lower crawler (32) of the lower crawler part (3) are connected via a right connecting frame, a spacing adjustment mechanism which can synchronously adjust the spacing relative to the symmetrical center plane is provided between the left connecting frame and the right connecting frame, the centralized electric control part also includes a crawler spacing adjustment circuit, and the central controller is electrically connected to the spacing adjustment mechanism.

10. The tape changing vehicle capable of continuously and synchronously retracting and releasing the tape according to any one of claims 1 to 5, characterized in that: At least a crawler ring structure of the middle crawler (22) is provided with a crawler tensioning mechanism telescopically arranged in the front-rear direction; the centralized electric control part also includes a crawler tensioning adjustment circuit, and the central controller is electrically connected to the crawler tensioning mechanism.

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