An automatic following system and method for a mine anchor rod transfer machine

Abstract

The present application relates to a kind of mine anchor rod transfer machine automatic following system and method, belong to transfer machine technical field.The lifting of material receiving assembly is controlled by front anchor rod piece, so that material receiving assembly is convenient for the collection of stripping ore in mine, through rear anchor rod piece, it is convenient for the lifting of material receiving assembly to control the lifting of material receiving assembly, it is convenient for ore to be transported through conveying assembly, through drive chassis module, when drive sprocket meshing with track chain, track chain is limited pressure by pressure limiting sprocket again, to increase the stability of drive sprocket with track chain movement, while improving the stability of transfer machine movement, through the anti-drop piece installed in track chain, it is convenient for anti-drop piece to limit track chain, to prevent track chain from falling off, while following controller shoots environmental video through top camera and side camera, so that it is convenient for following controller to control front anchor rod piece, rear anchor rod piece and drive chassis module, it is convenient for transfer machine main body to follow the excavation movement of ore.

Description

Technical Field

[0001] This invention relates to an automatic following system and method for a mining anchor bolt transfer machine, belonging to the technical field of transfer machines. Background Technology

[0002] A transfer conveyor is a bridge-type scraper conveyor installed in the sectional transport roadway at the lower exit of the mine working face. During operation, one end connects to the conveyor at the working face, and the other end connects to the tail of the belt conveyor. Its role in the three-machine system of large-scale fully mechanized mining is to transfer coal transported by the scraper conveyor at the mining face, raised from the roadway floor, and then onto the belt conveyor. Both the receiving and conveying components of the transfer conveyor are raised and lowered via anchor bolts.

[0003] Traditional transfer machines are difficult to use as they follow the tunnel excavation to transport ore, requiring workers to operate them inside the mine, making them inconvenient to use. In addition, the drive chassis module of the transfer machine is not stable enough, which can easily cause the track chain to fall off, making it difficult for the transfer machine to move. Summary of the Invention

[0004] The purpose of this invention is to overcome the technical defects of the existing technology, solve the above-mentioned technical problems, and propose an automatic following system and method for a mining anchor bolt transfer machine.

[0005] The present invention specifically adopts the following technical solution: an automatic following system for a mining anchor bolt transfer machine, comprising a transfer machine body, a drive chassis module installed at the bottom of the transfer machine body for driving, a material receiving component disposed on the front side of the transfer machine body for receiving materials, and a conveying component disposed on the rear side of the transfer machine body for lifting and transferring materials. A front anchor bolt is installed between the transfer machine body and the material receiving component, and the front anchor bolt is used to lift and adjust the material receiving component. A rear anchor bolt is installed between the transfer machine body and the conveying component, and the rear anchor bolt is used to lift and adjust the material receiving component. A following controller is installed on the upper surface of the transfer machine body. A top camera is installed on the upper surface of the transfer machine body via a support vertical rod. A side camera is installed on the side surface of the transfer machine body.

[0006] The drive chassis module includes a drive sprocket located at the bottom output shaft end of the transfer machine body, and a pressure limiting sprocket rotatably mounted at the bottom of the transfer machine body. The drive sprocket is externally engaged with a track chain, and the track chain is limited above by the pressure limiting sprocket. An anti-detachment component is installed in the middle of the track chain.

[0007] In a preferred embodiment, the follower controller includes a camera recognition module electrically connected to the top and side cameras. This camera recognition module converts the video footage captured by the top and side cameras into digital signals. The follower controller also includes a signal processing module for receiving signals uploaded by the camera recognition module. This signal processing module is electrically connected to a positioning module, a path recognition module, a correction module, and a follower module. The signal processing module uses the positioning module to locate the position of the transfer machine body, the path recognition module to analyze the path of the transfer machine body, the correction module to issue commands to the front and rear anchor bolt drive controllers, and the follower module to issue commands to the follower module controller. Simultaneously, the front anchor bolt drive controller controls the movement of the front anchor bolt component via the front anchor bolt cylinder, the rear anchor bolt drive controller controls the movement of the rear anchor bolt component via the rear anchor bolt cylinder, and the follower module controls the drive chassis module to perform actions via the follower module controller.

[0008] In a preferred embodiment, the lifting of the receiving assembly is controlled by the front anchor bolt between the main body of the transfer machine and the receiving assembly, allowing the receiving assembly to collect the ore stripped from the mine. The lifting of the conveying assembly by the receiving assembly is controlled by the rear anchor bolt between the main body of the transfer machine and the conveying assembly, facilitating the transport of ore through the conveying assembly. A drive chassis module, composed of a track chain, drive sprocket, pressure-limiting sprocket, and anti-detachment device, increases the stability of the track chain movement by increasing the pressure-limiting sprocket when the drive sprocket engages with it, thus improving the stability of the transfer machine's movement. An anti-detachment device installed in the middle of the track chain limits its movement, preventing it from falling off. A follower controller and a top camera are mounted on the upper surface of the transfer machine main body, and a side camera is mounted on the side surface of the main body. The follower controller captures environmental video through the top and side cameras, facilitating its control of the front anchor bolt, rear anchor bolt, and drive chassis module.

[0009] In a preferred embodiment, the track chain includes an outer track disposed on the inner side, an inner track disposed on the outer side, and a connecting link connecting the outer track and the inner track.

[0010] In a preferred embodiment, the anti-detachment component includes a connecting rod disposed at the bottom of the main body of the transfer machine, support rollers rotatably mounted at both ends of the connecting rod, and limiting rings fixed at both ends of the support rollers, with the two limiting rings fitting against both sides of the outer track.

[0011] In a preferred embodiment, seven anti-detachment components are provided at equal intervals.

[0012] In a preferred embodiment, two drive sprockets and two pressure limiting sprockets are symmetrically arranged.

[0013] This invention proposes an automatic following method for a mine anchor bolt transfer machine, comprising the following steps:

[0014] Step SS1: Plan the path of the mine tunnel so that the main body of the transfer machine moves along the planned path;

[0015] Step SS2: Position the main body of the transfer machine using the positioning module to prevent it from tilting during its movement;

[0016] Step SS3: The top and side cameras capture video of the main body of the transfer machine's driving environment. The captured images are converted into digital signals by the image recognition module and transmitted to the signal processing module.

[0017] Step SS4: The signal processing module determines the location of the ore discharge and the travel route of the main body of the transfer machine by receiving signals from the camera recognition module and the path recognition module;

[0018] Step SS5: The signal processing module controls the front anchor bolt drive controller and the rear anchor bolt drive controller through the position correction module, so that the front anchor bolt cylinder controls the front anchor bolt component and the rear anchor bolt cylinder controls the rear anchor bolt component, thereby adjusting the position of the receiving component and the conveying component. At the same time, the signal processing module controls the follower module controller through the follower module to control the drive chassis module, controlling the movement of the transfer machine body, so that the receiving component can collect the falling ore.

[0019] In a preferred embodiment, the top camera is used to photograph the material being fed.

[0020] In a preferred embodiment, two side cameras are provided, and the two side cameras are located on both sides of the main body of the transfer machine. The side cameras are used to capture images of the mine tunnels on both sides of the main body of the transfer machine.

[0021] The beneficial effects achieved by this invention are as follows: This invention addresses the problems of traditional transfer machines, which are difficult to operate while following the tunnel's excavation, requiring manual operation within the mine, making them inconvenient to use, and the insufficient stability of the drive chassis module, which can easily cause the track chain to detach and hinder movement. The invention utilizes a front anchor bolt between the transfer machine body and the receiving assembly to control the lifting of the receiving assembly, facilitating the collection of ore stripped from the mine. Similarly, a rear anchor bolt between the transfer machine body and the conveying assembly facilitates the lifting of the conveying assembly by the receiving assembly, enabling the ore to be transported via the conveying assembly. The invention also addresses the issue of the track chain... The drive chassis module, composed of a drive sprocket, a pressure-limiting sprocket, and an anti-detachment component, facilitates the movement of the track chain by the drive sprocket when it engages with the track chain. The pressure-limiting sprocket further limits the pressure on the track chain, increasing the stability of the drive sprocket and the transfer machine. The anti-detachment component installed in the middle of the track chain helps to limit its movement and prevent it from falling off. Additionally, a follow controller and a top camera on the upper surface of the transfer machine, along with a side camera on the side surface, allow the follow controller to capture environmental video. This enables the follow controller to control the front and rear anchor bolts and the drive chassis module, facilitating the transfer machine's movement as it follows the ore excavation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the automatic following system for a mining anchor bolt transfer machine according to the present invention;

[0023] Figure 2 This is a schematic diagram of the drive chassis module structure in this invention;

[0024] Figure 3 This is a three-dimensional structural diagram of the anti-detachment component in this invention;

[0025] Figure 4 This is a system topology diagram of the follower controller in this invention.

[0026] In the diagram: 1-Transfer machine body; 2-Drive chassis module; 21-Crawler chain; 211-Outer track; 212-Inner track; 213-Connecting link; 22-Drive sprocket; 23-Pressure limiting sprocket; 24-Anti-detachment component; 241-Connecting rod; 242-Support roller; 243-Limiting stop ring; 3-Collecting assembly; 4-Front anchor bolt; 5-Conveying assembly; 6-Rear anchor bolt; 7-Follower controller; 8-Top camera; 9-Side camera; 10-Supporting vertical rod. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0028] Example 1

[0029] See Figure 1-4 As shown, this embodiment of the invention provides an automatic following system for a mining anchor bolt transfer machine, including a transfer machine body 1, a drive chassis module 2 installed at the bottom of the transfer machine body 1 for driving, a material receiving assembly 3 located at the front of the transfer machine body 1 for receiving materials, and a conveying assembly 5 located at the rear of the transfer machine body 1 for lifting and transferring materials. A front anchor bolt 4 is installed between the transfer machine body 1 and the material receiving assembly 3, and the front anchor bolt 4 is used to lift and adjust the material receiving assembly 3. A rear anchor bolt is installed between the transfer machine body 1 and the conveying assembly 5. The rod 6, and the rear anchor rod 6 are used to lift and adjust the receiving assembly 3. A follower controller 7 is installed on the upper surface of the transfer machine body 1. A top camera 8 is installed on the upper surface of the transfer machine body 1 via a support vertical rod 10. A side camera 9 is installed on the side surface of the transfer machine body 1. The drive chassis module 2 includes a drive sprocket 22 fixed to the bottom output shaft end of the transfer machine body 1, and a pressure limiting sprocket 23 rotatably installed at the bottom of the transfer machine body 1. The drive sprocket 22 is externally engaged with a track chain 21, and the track chain 21 is located above... The track chain 21 is limited by a pressure-limiting sprocket 23, and an anti-detachment component 24 is installed in the middle of the track chain 21. The follower controller 7 is equipped with a camera recognition module that is electrically connected to the top camera 8 and the side camera 9. The camera recognition module is used to convert the video images captured by the top camera 8 and the side camera 9 into digital signals, and a signal processing module is used to receive the signals uploaded by the camera recognition module. The signal processing module is also electrically connected to a positioning module, a path recognition module, a correction module and a follower module. The signal processing module locates the position of the transfer machine body 1 through the positioning module, analyzes the path of the transfer machine body 1 through the path recognition module, issues commands to the front anchor bolt drive controller and the rear anchor bolt drive controller through the correction module, and issues commands to the follower module controller through the follower module. At the same time, the front anchor bolt drive controller controls the front anchor bolt 4 through the front anchor bolt cylinder, the rear anchor bolt drive controller controls the rear anchor bolt 6 through the rear anchor bolt cylinder, and the follower module controller controls the drive chassis module 2.

[0030] In this embodiment, the front anchor bolt 4 between the transfer machine body 1 and the receiving assembly 3 facilitates the lifting control of the receiving assembly 3, thereby facilitating the collection of ore stripped from the mine by the receiving assembly 3. The rear anchor bolt 6 between the transfer machine body 1 and the conveying assembly 5 facilitates the lifting control of the conveying assembly 5 by the receiving assembly 3, facilitating the transport of ore through the conveying assembly 5. The drive chassis module 2, composed of a track chain 21, a drive sprocket 22, a pressure-limiting sprocket 23, and an anti-detachment component 24, facilitates the external engagement of the drive sprocket 22 with the track chain 21, and the track chain 21 then passes through the pressure-limiting chain... The pressure limiting wheel 23 increases the stability of the drive sprocket 22 moving with the track chain 21, and also improves the stability of the transfer machine's movement. The anti-detachment component 24 installed in the middle of the track chain 21 can limit the track chain 21, thereby preventing the track chain 21 from falling off. At the same time, the follow controller 7 and the top camera 8 installed on the upper surface of the transfer machine body 1, and the side camera 9 installed on the side surface of the transfer machine body 1, can facilitate the follow controller 7 to capture environmental video through the top camera 8 and the side camera 9, thereby facilitating the follow controller 7 to control the front anchor bolt 4, the rear anchor bolt 6 and the drive chassis module 2.

[0031] Specifically, the track chain 21 includes an outer track 211 disposed on the inner side, an inner track 212 disposed on the outer side, and a connecting link 213 connecting the outer track 211 and the inner track 212.

[0032] Specifically, the anti-detachment component 24 includes a connecting rod 241 fixed to the bottom of the transfer machine body 1, a support roller 242 rotatably mounted on both ends of the connecting rod 241, and a limiting ring 243 welded to both ends of the support roller 242, with the two limiting rings 243 fitting against both sides of the outer track 211.

[0033] Specifically, there are seven anti-detachment components 24 spaced at equal intervals.

[0034] Specifically, there are two symmetrically arranged drive sprockets 22 and pressure limiting sprockets 23.

[0035] Example 2

[0036] This invention also proposes an automatic following method for a mine anchor bolt transfer machine, comprising the following steps: Step 1, planning the mine roadway path so that the transfer machine body 1 moves along the planned path; Step 2, positioning the transfer machine body 1 using a positioning module to prevent deviation during movement; Step 3, capturing video of the transfer machine body 1's operating environment using a top camera 8 and a side camera 9, converting the captured images into digital signals via a camera recognition module and transmitting them to a signal processing module; Step 4, the signal processing module receives the video... The signals from the identification module and the path identification module determine the location of the ore discharge and the travel route of the transfer machine body 1. In step five, the signal processing module controls the front anchor bolt drive controller and the rear anchor bolt drive controller through the position correction module, so that the front anchor bolt cylinder controls the front anchor bolt component 4 and the rear anchor bolt cylinder controls the rear anchor bolt component 6, thereby adjusting the position of the receiving component 3 and the conveying component 5. At the same time, the signal processing module controls the following module controller through the following module to control the drive chassis module 2, so as to facilitate the movement of the transfer machine body 1 and facilitate the receiving component 3 to collect the falling ore.

[0037] Specifically, the top camera 8 is used to photograph the materials being fed.

[0038] Specifically, there are two side cameras 9, which are located on both sides of the main body 1 of the transfer machine, and are used to capture images of the mine tunnels on both sides of the main body 1 of the transfer machine.

[0039] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims

1. An automatic following system for a mining anchor bolt transfer machine, characterized in that, The system includes a transfer machine body (1), a drive chassis module (2) installed at the bottom of the transfer machine body (1) for driving, a receiving component (3) set on the front side of the transfer machine body (1) for receiving materials, and a conveying component (5) set on the rear side of the transfer machine body (1) for lifting and transferring materials. A front anchor rod (4) is installed between the transfer machine body (1) and the receiving component (3), and the front anchor rod (4) is used to lift and adjust the receiving component (3). A rear anchor rod (6) is installed between the transfer machine body (1) and the conveying component (5), and the rear anchor rod (6) is used to lift and adjust the receiving component (3). A follower controller (7) is installed on the upper surface of the transfer machine body (1). A top camera (8) is installed on the upper surface of the transfer machine body (1) through a support vertical rod (10). A side camera (9) is installed on the side surface of the transfer machine body (1). The drive chassis module (2) includes a drive sprocket (22) disposed at the bottom output shaft end of the transfer machine body (1), and a pressure limiting sprocket (23) rotatably mounted at the bottom of the transfer machine body (1). The drive sprocket (22) is externally engaged with a track chain (21), and the track chain (21) is limited above by the pressure limiting sprocket (23). An anti-detachment component (24) is installed in the middle of the track chain (21). The lifting of the receiving assembly (3) is controlled by the front anchor (4) between the main body (1) of the transfer machine and the receiving assembly (3), so that the receiving assembly (3) collects the stripped ore in the mine. The lifting of the receiving assembly (5) by the receiving assembly (3) is controlled by the rear anchor (6) between the main body (1) of the transfer machine and the conveying assembly (5), so that the ore can be transported through the conveying assembly (5). The driving chassis module (2) composed of the track chain (21), the drive sprocket (22), the pressure limiting sprocket (23), and the anti-detachment component (24) is used to control the lifting of the conveying assembly (5), so that the ore can be transported through the conveying assembly (5). When the drive sprocket (22) externally engages the track chain (21), the track chain (21) then passes through the pressure limiting sprocket. (23) Pressure limiting, thereby increasing the stability of the drive sprocket (22) moving with the track chain (21), and improving the stability of the transfer machine's movement; the anti-detachment component (24) installed in the middle of the track chain (21) limits the track chain (21) to prevent the track chain (21) from falling off; at the same time, the follower controller (7) and the top camera (8) and the side camera (9) installed on the side surface of the transfer machine body (1) are provided on the upper surface of the transfer machine body (1). The follower controller (7) captures environmental video through the top camera (8) and the side camera (9), which facilitates the follower controller (7) to control the front anchor (4), the rear anchor (6) and the drive chassis module (2).

2. The automatic following system for a mining anchor bolt transfer machine according to claim 1, characterized in that, The follower controller (7) is equipped with a camera recognition module electrically connected to the top camera (8) and the side camera (9). The camera recognition module is used to convert the video images captured by the top camera (8) and the side camera (9) into digital signals. The follower controller (7) is equipped with a signal processing module for receiving signals uploaded by the camera recognition module. The signal processing module is also electrically connected to a positioning module, a path recognition module, a correction module, and a follower module. The signal processing module locates the position of the transfer machine body (1) through the positioning module. The signal processing module analyzes the path of the transfer machine body (1) through the path recognition module. The signal processing module issues commands to the front anchor bolt drive controller and the rear anchor bolt drive controller through the correction module. The signal processing module issues commands to the follower module controller through the follower module. At the same time, the front anchor bolt drive controller controls the movement of the front anchor bolt (4) through the front anchor bolt cylinder. The rear anchor bolt drive controller controls the movement of the rear anchor bolt (6) through the rear anchor bolt cylinder. The follower module controls the drive chassis module (2) to perform actions through the follower module controller.

3. The automatic following system for a mining anchor bolt transfer machine according to claim 1, characterized in that, The track chain (21) includes an outer track (211) disposed on the inner side, an inner track (212) disposed on the outer side, and a connecting link (213) connecting the outer track (211) and the inner track (212).

4. The automatic following system for a mining anchor bolt transfer machine according to claim 3, characterized in that, The anti-detachment component (24) includes a connecting rod (241) disposed at the bottom of the transfer machine body (1), a support roller (242) rotatably mounted at both ends of the connecting rod (241), and a limiting ring (243) fixed at both ends of the support roller (242), and the two limiting rings (243) are attached to both sides of the outer track (211).

5. The automatic following system for a mining anchor bolt transfer machine according to claim 1, characterized in that, The anti-detachment component (24) is provided in seven equally spaced parts.

6. The automatic following system for a mining anchor bolt transfer machine according to claim 1, characterized in that, There are two of each of the drive sprocket (22) and the pressure limiting sprocket (23).

7. An automatic following method for a mining anchor bolt transfer machine, employing the automatic following system for a mining anchor bolt transfer machine as described in claim 1, characterized in that, Includes the following steps: Step SS1: Plan the path of the mine tunnel so that the main body of the transfer machine (1) moves along the planned path; Step SS2: Position the main body (1) of the transfer machine using the positioning module to prevent the main body (1) of the transfer machine from tilting during its movement; Step SS3: The top camera (8) and the side camera (9) are used to capture video of the driving environment of the transfer machine body (1). The captured images are converted into digital signals by the image recognition module and transmitted to the signal processing module. Step SS4: The signal processing module receives signals from the camera recognition module and the path recognition module to determine the location of the ore feeding and the travel route of the transfer machine body (1); Step SS5: The signal processing module controls the front anchor bolt drive controller and the rear anchor bolt drive controller through the position correction module, so that the front anchor bolt cylinder controls the front anchor bolt component (4) and the rear anchor bolt cylinder controls the rear anchor bolt component (6), thereby adjusting the position of the receiving component (3) and the conveying component (5). At the same time, the signal processing module controls the following module controller through the following module to control the drive chassis module (2), controlling the transfer machine body (1) to move, so that the receiving component (3) can collect the falling ore.

8. The automatic following method for a mining anchor bolt transfer machine according to claim 7, characterized in that, The top camera (8) is used to photograph the material being fed.

9. The automatic following method for a mining anchor bolt transfer machine according to claim 8, characterized in that, There are two side cameras (9), and the two side cameras (9) are located on both sides of the main body (1) of the transfer machine. The side cameras (9) are used to take pictures of the mine tunnels on both sides of the main body (1) of the transfer machine.

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