An integrated autonomous relocating system

Abstract

The whole autonomous moving system comprises a vertical lifting system, an inclined sliding system and a horizontal transverse and longitudinal moving system; the vertical lifting system comprises a main support beam, a pile leg and a lifting unit, the main support beam is installed on the pile leg through the lifting unit, and a hinge support is installed on the main support beam; the inclined sliding system comprises a sliding support body, a hinge shaft and a connecting piece, the sliding support body is connected with the hinge support through the hinge shaft, the connecting piece is slidingly installed on the sliding support body, and the connecting piece is connected with an end slope conveying system; the horizontal transverse and longitudinal moving system comprises a connecting support body, a transverse and longitudinal moving sliding block, a horizontal moving unit, a vertical moving unit and a jacking unit, the connecting support body is connected with the pile leg, the transverse and longitudinal moving sliding block is installed at the bottom of the connecting support body through a guide rail hook, two ends of the horizontal moving unit are connected with the transverse and longitudinal moving sliding block and the connecting support body respectively, two ends of the vertical moving unit are connected with the transverse and longitudinal moving sliding block and the guide rail hook respectively, and the jacking unit is connected with the transverse and longitudinal moving sliding block. The design is good in adaptability and simple in operation.

Description

Technical Field

[0001] This invention relates to the field of mining machinery technology, and in particular to an integrated autonomous relocation system. Background Technology

[0002] Currently, most open-pit mines employ a single-bucket truck + semi-fixed crushing station production process. Trucks need to transport minerals from the bottom of the mine to the top crushing station, resulting in very long uphill transport distances and significant fuel consumption, emissions, and vehicle wear and tear. With the national dual-carbon goals and the demand for green mine construction, there is a growing need for new mining equipment that can achieve energy conservation, emission reduction, cost reduction, and efficiency improvement in the production process. Currently under development is an end-side mine car transport system that directly lifts the mine car from the bottom of the mine to the top crushing station, significantly reducing the uphill distance. Because the working interface in open-pit mines continuously changes as mining progresses, the end-side morphology constantly changes. This requires mining equipment to change working positions accordingly. However, existing mining equipment lacks the ability to quickly and conveniently change working positions, resulting in poor adaptability. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects and problems of poor adaptability in the prior art and to provide an overall autonomous relocation system with good adaptability.

[0004] To achieve the above objectives, the technical solution of the present invention is: an overall autonomous relocation system, comprising a vertical lifting system, an inclined sliding system, and a horizontal lateral and longitudinal sliding system;

[0005] The vertical lifting system includes a main support beam, pile legs, and a lifting unit. The main support beam is installed on the pile legs via the lifting unit. The main support beam can move vertically along the pile legs under the drive of the lifting unit. Multiple hinge supports are installed on the main support beam.

[0006] The tilting sliding system includes a sliding support body, a hinge shaft, and a connector. The lower part of the sliding support body is provided with a hinge shaft, which is connected to a hinge support. The upper end face of the sliding support body is slidably mounted with a connector, which is connected to an end-side conveying system.

[0007] The horizontal and vertical movement system includes a connecting support, horizontal and vertical movement sliders, a horizontal movement unit, a vertical movement unit, and a lifting unit. The top of the connecting support is connected to the bottom of the pile leg, and a guide rail hook is provided at the bottom of the connecting support. The horizontal and vertical movement sliders are installed at the bottom of the connecting support via the guide rail hooks and can move horizontally and vertically along the connecting support. One end of the horizontal movement unit is connected to the horizontal and vertical movement sliders, and the other end of the horizontal movement unit is connected to the connecting support. One end of the vertical movement unit is installed on the horizontal and vertical movement sliders, and the other end of the vertical movement unit is installed on the guide rail hooks. One end of the lifting unit is in contact with the ground, and the other end of the lifting unit is connected to the horizontal and vertical movement sliders.

[0008] The main support beam includes a support crossbeam, a support longitudinal beam, and an installation compartment. Both ends of the support crossbeam are vertically connected to the support longitudinal beam, and both ends of the support longitudinal beam are connected to the installation compartment. Multiple hinge supports are installed on the top of the support crossbeam. The lifting unit is installed inside the installation compartment. The pile leg passes through the interior of the installation compartment and is connected to the top of the connecting support body.

[0009] The lifting unit includes a rack and a gear. A rack is provided on both sides of the pile leg. A gear is provided in the installation compartment on both sides of the pile leg. The gear meshes with the rack and is connected to the output end of the motor.

[0010] The sliding support body has sliding support surfaces on both sides of its top. The two sides of the connector are slidably mounted on the sliding support surfaces. The bottom of the connector has a second rack, which meshes with a second gear located below it. The second gear is connected to the output end of the second motor.

[0011] The connecting support body has an inverted U-shaped structure. Guide rail hooks are provided on both sides of the top surface of the connecting support body. A horizontal and vertical sliding slider is installed between the top surface of the connecting support body and the guide rail hooks.

[0012] The transverse unit includes a first hydraulic cylinder, which is installed on the inner side of the connecting support body, and the output end of the first hydraulic cylinder is connected to the transverse and longitudinal sliding block.

[0013] The longitudinal movement unit includes a second hydraulic cylinder and a third hydraulic cylinder arranged symmetrically. The second hydraulic cylinder is mounted on a guide rail hook, and its output end is connected to one side of a fixed block. The fixed block is mounted on the bottom of the transverse and longitudinal movement slider. The third hydraulic cylinder is mounted on another guide rail hook, and its output end is connected to the other side of the fixed block.

[0014] The lifting unit includes a fourth hydraulic cylinder and a base. The fourth hydraulic cylinder is installed at the bottom of the horizontal and vertical sliding block, and the output end of the fourth hydraulic cylinder is connected to the base.

[0015] The overall autonomous relocation system also includes an integrated control system, which includes a data acquisition module, a comprehensive calculation module, and a closed-loop control module.

[0016] The data acquisition module is used to collect displacement data and load data of the vertical lifting system, the tilting sliding system, and the horizontal lateral and longitudinal sliding system;

[0017] The integrated calculation module is used to calculate the displacement control parameters and load control parameters of the vertical lifting system, the tilting sliding system, and the horizontal lateral and longitudinal sliding system based on the displacement data and load data collected by the data acquisition module and the ground data.

[0018] The closed-loop control module is used to iteratively optimize the displacement control parameters and load control parameters based on the principles of displacement synchronization and load limiting, and then transmit the optimized displacement control parameters and load control parameters to the vertical lifting system, the tilting sliding system, and the horizontal lateral and longitudinal movement system.

[0019] The ground data includes ground slope data, which is acquired by a horizontal angle sensor. The integrated calculation module first performs error analysis on the displacement data and load data acquired by the data acquisition module with the preset displacement curve and load curve, respectively. Then, combined with the ground slope data, it calculates the displacement control parameters and load control parameters based on the principle of minimum error, and then transmits the displacement control parameters and load control parameters to the closed-loop control module.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. In an overall autonomous relocation system of the present invention, the vertical lifting system includes a main support beam, pile legs, and a lifting unit. The main support beam is mounted on the pile legs via the lifting unit and can move vertically along the pile legs under the drive of the lifting unit. Multiple hinge supports are installed on the main support beam. The inclined sliding system includes a sliding support body, a hinge shaft, and a connector. A hinge shaft is provided at the lower part of the sliding support body and is connected to the hinge supports. A connector is slidably installed on the upper end face of the sliding support body and is connected to the end-side conveying system. The horizontal transverse and longitudinal sliding system includes a connecting support body, transverse and longitudinal sliding blocks, a transverse unit, a longitudinal unit, and a lifting unit. The top of the connecting support body is connected to the bottom of the pile legs. A guide rail hook is provided at the bottom of the connecting support body, and the transverse and longitudinal sliding blocks are connected via guide rails. The hook is installed at the bottom of the connecting support. The horizontal and vertical sliding blocks can move laterally and longitudinally along the connecting support. One end of the horizontal sliding unit is connected to the horizontal and vertical sliding blocks, and the other end of the horizontal sliding unit is connected to the connecting support. One end of the vertical sliding unit is installed on the horizontal and vertical sliding blocks, and the other end of the vertical sliding unit is installed on the guide rail hook. One end of the lifting unit contacts the ground, and the other end of the lifting unit is connected to the horizontal and vertical sliding blocks. The above-described overall autonomous relocation system completes the overall translation operation with the cooperation of the vertical lifting system and the horizontal horizontal and vertical sliding system, and completes the attitude adjustment with the cooperation of the vertical lifting system, the tilting sliding system, and the horizontal horizontal and vertical sliding system. It can effectively solve the relocation problem of the end-side mine car transportation system, so that its working position and working attitude can adapt to the changes of the end side. Therefore, the present invention has good adaptability.

[0022] 2. In the integrated autonomous relocation system of the present invention, the main support beam includes a support crossbeam, a support longitudinal beam, and an installation compartment. Both ends of the support crossbeam are vertically connected to the support longitudinal beam, and both ends of the support longitudinal beam are connected to the installation compartment. Multiple hinged supports are installed on the top of the support crossbeam. The lifting unit is installed inside the installation compartment. The pile legs pass through the interior of the installation compartment and connect to the top of the connecting support body. This design results in high structural strength and good stability of the vertical lifting system. The lifting unit includes a first rack and a first gear. A first rack is provided on both sides of the pile leg, and a first gear is provided on both sides of the pile leg inside the installation compartment. The first gear meshes with the first rack and is connected to the output end of a first motor. The lifting unit designed above has good transmission stability and high reliability. Therefore, the present invention has good transmission stability and high reliability.

[0023] 3. In the integrated autonomous relocation system of the present invention, sliding support surfaces are provided on both sides of the top of the sliding support body. The two sides of the connector are slidably mounted on the sliding support surfaces. A second rack is provided at the bottom of the connector, which meshes with a second gear located below it. The second gear is connected to the output end of a second motor. The above design makes the tilting sliding system highly reliable and has good transmission stability. Therefore, the present invention has high reliability and good transmission stability.

[0024] 4. In the integrated autonomous relocation system of the present invention, the connecting support body has an inverted U-shaped structure. Guide rail hooks are provided on both sides of the top surface of the connecting support body. A horizontal and vertical sliding block is installed between the top surface of the connecting support body and the guide rail hooks. This design not only makes the horizontal and vertical relocation system structurally strong but also occupies little space. The horizontal relocation unit includes a first hydraulic cylinder, which is installed on the inner side of the connecting support body. The output end of the first hydraulic cylinder is connected to the horizontal and vertical sliding block. The vertical relocation unit includes two symmetrically arranged second and third hydraulic cylinders. The second hydraulic cylinder is installed on one guide rail hook, and its output end is connected to one side of a fixed block. The fixed block is installed at the bottom of the horizontal and vertical sliding block. The third hydraulic cylinder is installed on another guide rail hook, and its output end is connected to the other side of the fixed block. The lifting unit includes a fourth hydraulic cylinder and a base. The fourth hydraulic cylinder is installed at the bottom of the horizontal and vertical sliding block, and its output end is connected to the base. The above-described horizontal relocation unit, vertical relocation unit, and lifting unit not only have good transmission stability but also high operational reliability. Therefore, the present invention has high reliability, good transmission stability, and small footprint.

[0025] 5. In the overall autonomous relocation system of the present invention, the integrated control system includes a data acquisition module, a comprehensive calculation module, and a closed-loop control module. The comprehensive calculation module is used to calculate the displacement control parameters and load control parameters of the vertical lifting system, the tilting sliding system, and the horizontal lateral and longitudinal movement system based on the displacement data, load data, and ground data acquired by the data acquisition module. The closed-loop control module is used to iteratively optimize the displacement control parameters and load control parameters based on the principles of displacement synchronization and load limiting, and then transmit the optimized displacement control parameters and load control parameters to the vertical lifting system, the tilting sliding system, and the horizontal lateral and longitudinal movement system. The above design not only realizes intelligent control of the system, making operation simple, but also improves the reliability of control. Therefore, the present invention is simple to operate and highly reliable. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the vertical lifting system in this invention.

[0028] Figure 3 This is a top view of the installation compartment in this invention.

[0029] Figure 4 This is a schematic diagram of the lifting unit in this invention.

[0030] Figure 5 This is a schematic diagram of the tilting sliding system in this invention.

[0031] Figure 6This is a three-dimensional sectional view of the tilting sliding system in this invention.

[0032] Figure 7 This is a horizontal cross-sectional view of the tilting sliding system in this invention.

[0033] Figure 8 This is a schematic diagram of the horizontal and vertical displacement system in this invention.

[0034] Figure 9 This is a structural block diagram of the integrated control system in this invention.

[0035] Figure 10 This is the control logic block diagram of the present invention.

[0036] In the diagram: Vertical lifting system 1, main support beam 11, support crossbeam 111, support longitudinal beam 112, installation compartment 113, pile leg 12, lifting unit 13, rack 131, gear 132, hinge support 14, tilting sliding system 2, sliding support body 21, hinge shaft 22, connector 23, sliding support surface 24, rack 25, gear 26, motor 27, horizontal transverse and longitudinal movement system 3, connecting support body 31, transverse and longitudinal movement slider 32, guide rail hook 33, hydraulic cylinder 1 34, hydraulic cylinder 2 35, hydraulic cylinder 3 36, fixing block 37, hydraulic cylinder 4 38, base 39, end side conveying system 4, data acquisition module 5, comprehensive calculation module 6, closed loop control module 7. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] See Figures 1 to 10 An integrated autonomous relocation system includes a vertical lifting system 1, an inclined sliding system 2, and a horizontal lateral and longitudinal sliding system 3;

[0039] The vertical lifting system 1 includes a main support beam 11, a pile leg 12 and a lifting unit 13. The main support beam 11 is installed on the pile leg 12 through the lifting unit 13. The main support beam 11 can move vertically along the pile leg 12 under the drive of the lifting unit 13. Multiple hinge supports 14 are installed on the main support beam 11.

[0040] The tilting sliding system 2 includes a sliding support body 21, a hinge shaft 22 and a connector 23. The lower part of the sliding support body 21 is provided with the hinge shaft 22, which is connected to the hinge support 14. The upper end face of the sliding support body 21 is slidably mounted with the connector 23, which is connected to the end-side conveying system 4.

[0041] The horizontal and vertical movement system 3 includes a connecting support 31, a horizontal and vertical movement slider 32, a horizontal movement unit, a vertical movement unit, and a lifting unit. The top of the connecting support 31 is connected to the bottom of the pile leg 12. A guide rail hook 33 is provided at the bottom of the connecting support 31. The horizontal and vertical movement slider 32 is installed at the bottom of the connecting support 31 through the guide rail hook 33. The horizontal and vertical movement slider 32 can move horizontally and vertically along the connecting support 31. One end of the horizontal movement unit is connected to the horizontal and vertical movement slider 32, and the other end of the horizontal movement unit is connected to the connecting support 31. One end of the vertical movement unit is installed on the horizontal and vertical movement slider 32, and the other end of the vertical movement unit is installed on the guide rail hook 33. One end of the lifting unit is in contact with the ground, and the other end of the lifting unit is connected to the horizontal and vertical movement slider 32.

[0042] The main support beam 11 includes a support crossbeam 111, a support longitudinal beam 112, and an installation compartment 113. The support longitudinal beam 112 is vertically connected to both ends of the support crossbeam 111, and the installation compartment 113 is connected to both ends of the support longitudinal beam 112. Multiple hinge supports 14 are installed on the top of the support crossbeam 111. The lifting unit 13 is installed inside the installation compartment 113. The pile leg 12 passes through the interior of the installation compartment 113 and is connected to the top of the connecting support body 31.

[0043] The lifting unit 13 includes a rack 131 and a gear 132. A rack 131 is provided on both sides of the pile leg 12. A gear 132 is provided in the mounting compartment 113 at the position on both sides of the pile leg 12. The gear 132 meshes with the rack 131. The gear 132 is connected to the output end of the motor 133.

[0044] The sliding support body 21 has sliding support surfaces 24 on both sides of its top. The two sides of the connector 23 are slidably mounted on the sliding support surfaces 24. The bottom of the connector 23 is provided with a second rack 25, which meshes with a second gear 26 located below it. The second gear 26 is connected to the output end of the second motor 27.

[0045] The connecting support 31 has an inverted U-shaped structure. Guide rail hooks 33 are provided on both sides of the inner top surface of the connecting support 31. A horizontal and vertical sliding block 32 is installed between the inner top surface of the connecting support 31 and the guide rail hooks 33.

[0046] The transverse unit includes a first hydraulic cylinder 34, which is installed on the inner side of the connecting support 31. The output end of the first hydraulic cylinder 34 is connected to the transverse and longitudinal sliding block 32.

[0047] The longitudinal movement unit includes a second hydraulic cylinder 35 and a third hydraulic cylinder 36 arranged symmetrically. The second hydraulic cylinder 35 is mounted on a guide rail hook 33, and its output end is connected to one side of a fixed block 37. The fixed block 37 is mounted on the bottom of the transverse and longitudinal movement slider 32. The third hydraulic cylinder 36 is mounted on another guide rail hook 33, and its output end is connected to the other side of the fixed block 37.

[0048] The lifting unit includes a fourth hydraulic cylinder 38 and a base 39. The fourth hydraulic cylinder 38 is installed at the bottom of the horizontal and vertical sliding block 32, and the output end of the fourth hydraulic cylinder 38 is connected to the base 39.

[0049] The overall autonomous relocation system also includes an integrated control system, which includes a data acquisition module 5, a comprehensive calculation module 6, and a closed-loop control module 7.

[0050] The data acquisition module 5 is used to acquire displacement data and load data of the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal movement system 3.

[0051] The integrated calculation module 6 is used to calculate the displacement control parameters and load control parameters of the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal sliding system 3 based on the displacement data, load data, and ground data collected by the data acquisition module 5.

[0052] The closed-loop control module 7 is used to iteratively optimize the displacement control parameters and load control parameters based on the principles of displacement synchronization and load limiting, and then transmit the optimized displacement control parameters and load control parameters to the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal movement system 3.

[0053] The ground data includes ground slope data, which is acquired by a horizontal angle sensor. The integrated calculation module 6 first performs error analysis on the displacement data and load data acquired by the data acquisition module 5 with the preset displacement curve and load curve, and then calculates the displacement control parameters and load control parameters based on the principle of minimum error, in combination with the ground slope data. Finally, the displacement control parameters and load control parameters are transmitted to the closed-loop control module 7.

[0054] The principle of this invention is explained as follows:

[0055] To quickly and effectively adapt to changes in the shape of the end-side slope, this invention deploys three sets of integrated autonomous relocation systems beneath the main structure of the end-side slope transportation system. These systems work together to achieve the overall relocation of the main structure. This invention features three intelligent collaborative control subsystems, enabling autonomous overall translation and attitude adjustment without the need for other auxiliary equipment, making it convenient to use. It can autonomously adjust to road slopes and unevenness, supporting the end-side slope equipment in any position while maintaining a horizontal state, preventing tilting and overturning. It can achieve the overall relocation of heavy-duty, long-span equipment; currently, the largest single span is 150m. The system can be configured according to the number of support points on the equipment, offering high adaptability.

[0056] The lifting unit can be either a rack and pinion or a hydraulic pin system. Driving the lifting unit causes the main support beam to reciprocate along the pile leg axis, achieving vertical lifting. The tilting sliding system primarily adjusts the relative positions of the connecting support points. The bottom of the sliding support body has pin holes and bushings, connecting to the hinge support on the main support beam via hinge shafts, allowing for axial rotational freedom. The top two sides are sliding support surfaces used to place connecting parts and transmit the normal pressure load of the main equipment on the connecting parts. The sliding load of the main equipment on the connecting parts is transmitted to the sliding support body through the sliding drive unit. The sliding drive unit can be either a rack and pinion or a hydraulic pin system, installed on the sliding support body, driving the connecting parts to slide along the sliding support surface and locking them in place. The lifting unit consists of four sets, one end mounted on the horizontal and vertical sliding blocks, and the other end equipped with a circular chassis (base). During operation, the lifting unit extends, with the circular chassis contacting the ground for support, lifting the equipment off the ground. When not in operation, it retracts, and the legs contact the ground for support. The horizontal sliding unit is installed in the lateral direction between the horizontal and vertical sliding blocks and the legs, driving relative lateral movement between them. The vertical sliding unit is installed in the longitudinal direction between the horizontal and vertical sliding blocks and the legs, driving relative longitudinal movement between them. The hydraulic system uses flow ratio control and load limiting to control the sequential execution of the lifting, horizontal, and vertical sliding units, achieving overall stepping-style horizontal or vertical movement.

[0057] The overall autonomous relocation involves two steps: overall translation and attitude adjustment. Overall translation is accomplished by the coordinated use of the vertical lifting system and the horizontal lateral and longitudinal movement system. Attitude adjustment is accomplished by the coordinated use of the vertical lifting system, the tilting sliding system, and the jacking and longitudinal movement systems within the horizontal lateral and longitudinal movement system. During overall translation, the equipment moves along the road's direction of travel under the drive of this system to change work locations. During this process, the jacking and lateral movement systems within the horizontal lateral and longitudinal movement system are the primary drivers, propelling the equipment along the road's direction of travel. When a curve is detected in the road surface, the longitudinal movement system intervenes, driving the equipment along the road's width. The horizontal lateral and longitudinal movement systems work together, employing a stepped approach to navigate the curve. When a slope is detected in the road surface, the vertical lifting system activates, adjusting the relative position of each pile leg to the main support beam based on the slope value to ensure the equipment remains level and prevents overturning due to road slope. After the equipment has been translated to the designated work location, attitude adjustment is performed based on the end-end conditions, such as height, span, and angle. First, based on the end-side status parameters, the integrated control system calculates and determines the equipment's working angle, the positions of the three support points, and the execution control commands for the three subsystems. Then, the lifting and longitudinal movement systems in the vertical lifting system and the horizontal and longitudinal movement system cooperate to lift the equipment first. The vertical lifting system and the longitudinal movement system then work together to adjust the equipment's working angle after multiple work cycles. Finally, the positions of the three support points are adjusted sequentially, which is accomplished collaboratively by the vertical lifting system, the tilting sliding system, and the longitudinal movement system.

[0058] This invention uses a data acquisition module to collect displacement and load data from the actuators of three subsystems, which is then transmitted to a comprehensive calculation module. Based on a pre-set calculation program, the module optimizes and calculates the control signals for the three subsystems. Finally, a closed-loop control module transmits these signals to the three subsystems for execution, ensuring synchronized and stable system operation. Each subsystem has its own displacement and load data monitoring sensors. For the vertical lifting system, displacement data is monitored by an absolute encoder to measure motor speed, thus calculating the vertical displacement of the lifting unit. Load data is monitored and calculated using a motor torque sensor. The monitoring and calculation of displacement and load data for the tilting sliding system are consistent with the equipment and methods used for the vertical lifting system. For the horizontal lateral and longitudinal movement system, displacement data is monitored and calculated using a built-in hydraulic cylinder displacement sensor, while the load is calculated by monitoring the inlet and outlet pressures of the hydraulic cylinder using a pressure sensor. Ground data is primarily collected based on ground slope, which is monitored and calculated using a horizontal angle sensor. The integrated control system collects the displacement and load data calculated by each subsystem in real time, performs error analysis against a pre-set displacement curve, and then, based on the ground slope data and the principle of minimum error, calculates the displacement and load control parameters for each subsystem in the next step before transmitting them to each subsystem for execution. Through closed-loop control at each small step, the synchronous displacement error of each subsystem is kept within a reasonable range, ensuring the smooth relocation of the equipment. Regarding load data, the integrated control system sets a maximum load value for each subsystem. If the load does not reach the limit, no processing is performed, and the original signal continues. If the load exceeds the limit, it indicates that the displacement of that subsystem is too large, requiring the displacement value of the next sub-step. Once the displacements of other subsystems catch up, the load decreases, and the normal operating signal is restored. Each complete relocation is divided into several relocation sub-steps due to variations in relocation distance and road conditions. The integrated control system ensures that the displacement of each subsystem within each relocation sub-step is synchronized and the load is limited. This ensures that the entire relocation process maintains displacement synchronization and load limitation, allowing the equipment to smoothly reach the designated working position.

[0059] Example 1:

[0060] See Figures 1 to 8An integrated autonomous relocation system includes a vertical lifting system 1, an inclined sliding system 2, and a horizontal and longitudinal sliding system 3. The vertical lifting system 1 includes a main support beam 11, pile legs 12, and a lifting unit 13. The main support beam 11 is mounted on the pile legs 12 via the lifting unit 13 and can move vertically along the pile legs 12 under the drive of the lifting unit 13. Multiple hinge supports 14 are mounted on the main support beam 11. The inclined sliding system 2 includes a sliding support body 21, a hinge shaft 22, and a connecting member 23. The lower part of the sliding support body 21 is provided with the hinge shaft 22, which is connected to the hinge supports 14. The upper end face of the sliding support body 21 is slidably mounted with the connecting member 23, which is connected to the end-side conveying system 4. The horizontal and longitudinal sliding system 3... The moving system 3 includes a connecting support 31, a horizontal and vertical sliding block 32, a horizontal moving unit, a vertical moving unit, and a lifting unit. The top of the connecting support 31 is connected to the bottom of the pile leg 12. A guide rail hook 33 is provided at the bottom of the connecting support 31. The horizontal and vertical sliding block 32 is installed at the bottom of the connecting support 31 through the guide rail hook 33. The horizontal and vertical sliding block 32 can move horizontally and vertically along the connecting support 31. One end of the horizontal moving unit is connected to the horizontal and vertical sliding block 32, and the other end of the horizontal moving unit is connected to the connecting support 31. One end of the vertical moving unit is installed on the horizontal and vertical sliding block 32, and the other end of the vertical moving unit is installed on the guide rail hook 33. One end of the lifting unit is in contact with the ground, and the other end of the lifting unit is connected to the horizontal and vertical sliding block 32.

[0061] Example 2:

[0062] The basic content is the same as in Example 1, except that:

[0063] The main support beam 11 includes a support crossbeam 111, a support longitudinal beam 112, and an installation compartment 113. The support crossbeam 111 is vertically connected to the support longitudinal beam 112 at both ends, and the support longitudinal beam 112 is connected to the installation compartment 113 at both ends. Multiple hinge supports 14 are installed on the top of the support crossbeam 111. The lifting unit 13 is installed inside the installation compartment 113. The pile leg 12 passes through the interior of the installation compartment 113 and is connected to the top of the connecting support body 31. The lifting unit 13 includes a first rack 131 and a first gear 132. A first rack 131 is provided on both sides of the pile leg 12. A first gear 132 is provided in the installation compartment 113 at the position on both sides of the pile leg 12. The first gear 132 meshes with the first rack 131. The first gear 132 is connected to the output end of the first motor 133.

[0064] Example 3:

[0065] The basic content is the same as in Example 1, except that:

[0066] The sliding support body 21 has sliding support surfaces 24 on both sides of its top. The two sides of the connector 23 are slidably mounted on the sliding support surfaces 24. The bottom of the connector 23 is provided with a second rack 25, which meshes with a second gear 26 located below it. The second gear 26 is connected to the output end of the second motor 27.

[0067] Example 4:

[0068] The basic content is the same as in Example 1, except that:

[0069] The connecting support 31 has an inverted U-shaped structure. Guide rail hooks 33 are provided on both sides of the inner top surface of the connecting support 31. A horizontal and vertical sliding block 32 is installed between the inner top surface of the connecting support 31 and the guide rail hooks 33. The horizontal movement unit includes a first hydraulic cylinder 34, which is installed on the inner side of the connecting support 31. The output end of the first hydraulic cylinder 34 is connected to the horizontal and vertical sliding block 32. The vertical movement unit includes a second hydraulic cylinder 35 and a third hydraulic cylinder 36 symmetrically arranged. 5 is installed on a guide rail hook 33. The output end of the second hydraulic cylinder 35 is connected to one side of the fixing block 37. The fixing block 37 is installed at the bottom of the horizontal and vertical sliding block 32. The third hydraulic cylinder 36 is installed on another guide rail hook 33. The output end of the third hydraulic cylinder 36 is connected to the other side of the fixing block 37. The lifting unit includes a fourth hydraulic cylinder 38 and a base 39. The fourth hydraulic cylinder 38 is installed at the bottom of the horizontal and vertical sliding block 32. The output end of the fourth hydraulic cylinder 38 is connected to the base 39.

[0070] Example 5:

[0071] The basic content is the same as in Example 1, except that:

[0072] See Figure 9 , Figure 10The overall autonomous relocation system also includes an integrated control system, which comprises a data acquisition module 5, a comprehensive calculation module 6, and a closed-loop control module 7. The data acquisition module 5 is used to acquire displacement and load data from the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal movement system 3. The comprehensive calculation module 6 is used to calculate the displacement control parameters and load control parameters of the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal movement system 3 based on the displacement and load data acquired by the data acquisition module 5 and ground data. The closed-loop control module 7 is used to align the system with the principle of displacement synchronization and load limiting. The displacement control parameters and load control parameters are iteratively optimized, and the optimized displacement control parameters and load control parameters are transmitted to the vertical lifting system 1, the tilting sliding system 2, and the horizontal lateral and longitudinal movement system 3; the ground data includes ground slope data, which is acquired through a horizontal angle sensor; the comprehensive calculation module 6 first performs error analysis on the displacement data and load data collected by the data acquisition module 5 with the pre-set displacement curve and load curve, and then calculates the displacement control parameters and load control parameters based on the principle of minimum error, combined with the ground slope data, and then transmits the displacement control parameters and load control parameters to the closed-loop control module 7.

Claims

1. An overall autonomous relocation system, characterized in that, It includes a vertical lifting system (1), a tilting sliding system (2), a horizontal lateral and longitudinal movement system (3), and an integrated control system; The vertical lifting system (1) includes a main support beam (11), a pile leg (12) and a lifting unit (13). The main support beam (11) is installed on the pile leg (12) through the lifting unit (13). The main support beam (11) can move vertically along the pile leg (12) under the drive of the lifting unit (13). Multiple hinge supports (14) are installed on the main support beam (11). The tilting sliding system (2) includes a sliding support (21), a hinge shaft (22) and a connector (23). The lower part of the sliding support (21) is provided with a hinge shaft (22), which is connected to a hinge support (14). The upper end face of the sliding support (21) is slidably installed with a connector (23), which is connected to an end-side conveying system (4). The horizontal and vertical movement system (3) includes a connecting support (31), a horizontal and vertical movement slider (32), a horizontal movement unit, a vertical movement unit, and a lifting unit. The top of the connecting support (31) is connected to the bottom of the pile leg (12). A guide rail hook (33) is provided at the bottom of the connecting support (31). The horizontal and vertical movement slider (32) is installed at the bottom of the connecting support (31) through the guide rail hook (33). The horizontal and vertical movement slider (32) can move horizontally and vertically along the connecting support (31). One end of the horizontal movement unit is connected to the horizontal and vertical movement slider (32), and the other end of the horizontal movement unit is connected to the connecting support (31). One end of the vertical movement unit is installed on the horizontal and vertical movement slider (32), and the other end of the vertical movement unit is installed on the guide rail hook (33). One end of the lifting unit is in contact with the ground, and the other end of the lifting unit is connected to the horizontal and vertical movement slider (32). The integrated control system includes a data acquisition module (5), a comprehensive calculation module (6), and a closed-loop control module (7); The data acquisition module (5) is used to acquire displacement data and load data of the vertical lifting system (1), the tilting sliding system (2), and the horizontal lateral and longitudinal movement system (3); The integrated calculation module (6) is used to calculate the displacement control parameters and load control parameters of the vertical lifting system (1), the tilt sliding system (2), and the horizontal lateral and longitudinal movement system (3) based on the displacement data, load data, and ground data collected by the data acquisition module (5). The closed-loop control module (7) is used to iteratively optimize the displacement control parameters and load control parameters based on the principles of displacement synchronization and load limiting, and transmit the optimized displacement control parameters and load control parameters to the vertical lifting system (1), the tilting sliding system (2), and the horizontal lateral and longitudinal movement system (3). The ground data includes ground slope data, which is acquired by a horizontal angle sensor. The integrated calculation module (6) first performs error analysis on the displacement data and load data acquired by the data acquisition module (5) with the preset displacement curve and load curve, and then calculates the displacement control parameters and load control parameters based on the principle of minimum error in combination with the ground slope data. Then, the displacement control parameters and load control parameters are transmitted to the closed-loop control module (7).

2. The overall autonomous relocation system according to claim 1, characterized in that: The main support beam (11) includes a support crossbeam (111), a support longitudinal beam (112), and an installation compartment (113). The support crossbeam (111) is vertically connected to the support longitudinal beam (112) at both ends, and the support longitudinal beam (112) is connected to the installation compartment (113) at both ends. Multiple hinge supports (14) are installed on the top of the support crossbeam (111). The lifting unit (13) is installed inside the installation compartment (113). The pile leg (12) passes through the interior of the installation compartment (113) and is connected to the top of the connecting support body (31).

3. The overall autonomous relocation system according to claim 2, characterized in that: The lifting unit (13) includes a rack (131) and a gear (132). A rack (131) is provided on both sides of the pile leg (12). A gear (132) is provided in the mounting compartment (113) on both sides of the pile leg (12). The gear (132) meshes with the rack (131). The gear (132) is connected to the output end of the motor (133).

4. The overall autonomous relocation system according to claim 1, characterized in that: The sliding support body (21) has sliding support surfaces (24) on both sides of its top. The two sides of the connector (23) are slidably mounted on the sliding support surfaces (24). The bottom of the connector (23) is provided with a second rack (25). The second rack (25) meshes with the second gear (26) located below it. The second gear (26) is connected to the output end of the second motor (27).

5. The overall autonomous relocation system according to claim 1, characterized in that: The connecting support (31) has an inverted U-shaped structure. Guide rail hooks (33) are provided on both sides of the inner top surface of the connecting support (31). A horizontal and vertical sliding block (32) is installed between the inner top surface of the connecting support (31) and the guide rail hooks (33).

6. The overall autonomous relocation system according to claim 5, characterized in that: The transverse unit includes a first hydraulic cylinder (34), which is installed on the inner side of the connecting support (31), and the output end of the first hydraulic cylinder (34) is connected to the transverse and longitudinal sliding block (32).

7. The overall autonomous relocation system according to claim 5, characterized in that: The longitudinal movement unit includes a second hydraulic cylinder (35) and a third hydraulic cylinder (36) arranged symmetrically. The second hydraulic cylinder (35) is mounted on a guide hook (33), and the output end of the second hydraulic cylinder (35) is connected to one side of a fixed block (37). The fixed block (37) is mounted on the bottom of the transverse and longitudinal movement slider (32). The third hydraulic cylinder (36) is mounted on another guide hook (33), and the output end of the third hydraulic cylinder (36) is connected to the other side of the fixed block (37).

8. The overall autonomous relocation system according to claim 5, characterized in that: The lifting unit includes a fourth hydraulic cylinder (38) and a base (39). The fourth hydraulic cylinder (38) is installed at the bottom of the horizontal and vertical sliding block (32), and the output end of the fourth hydraulic cylinder (38) is connected to the base (39).

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