Automatic positioning mechanism and ore unloading device of mine self-dumper

Abstract

The application relates to an automatic positioning mechanism of a mine self-dumper and a mine unloading device, which comprises a mine self-dumper transport track, a bunker opening and a mine unloading device arranged on the two sides of the mine self-dumper transport track, and a PLC automatic control system, characterized in that a longitudinal locking positioning mechanism is arranged on the self-dumper hydraulic track; the longitudinal locking positioning mechanism comprises four sets of mine self-dumper hydraulic track locking mechanisms, a steel rope locking frame and a positioning locking steel rope, and every two sets of the mine self-dumper hydraulic track locking mechanisms and the steel rope locking frame are arranged on the mine self-dumper transport track from inside to outside with the center line of the bunker opening as the center. The application has the advantages that the accurate positioning problem of the self-dumper in the rail transport is effectively solved, the mixed materials can be guaranteed not to scatter outside the crusher, the production efficiency is improved, and the automation of production is promoted.

Description

Technical Field

[0001] This invention patent belongs to the field of unloading, and in particular relates to the automatic positioning mechanism and unloading device of mining self-tipping trucks. Background Technology

[0002] Currently, the KF-60 and KF-70 models of self-tipping cars with pneumatic tipping devices are commonly used in mining railway transportation. In this type of device, compressed air enters a cylinder through an air duct on the car body. The cylinder lifts one side of the car body, tilting it 45 degrees. The door mechanism on the other side opens, allowing the ore to slide onto the other side of the track, completing the unloading task. This tipping method has several drawbacks during unloading: 2. Poor working conditions for tipping workers; the on-site environment is harsh, with significant dust during air duct connection and disconnection. 2. The tipping system consumes a lot of energy, and the compressed air is wasted after unloading. 3. During the lifting operation of the pneumatic tipping device's air cylinder, as the stroke increases, the lifting torque decreases, and the lifting speed gradually increases, reaching its maximum at the end of the stroke. At this point, the lifting operation ends, and the large inertia of the car body exerts a significant impact on the tipping mechanism, easily causing the bucket or car body to detach from the frame. 4. Due to the potential for cross-flow between the air cylinders on both sides of the vehicle body, simultaneous operation of both air cylinders can easily occur, causing the upper seat of the carriage shaft to detach from the underframe shaft. If not detected in time, this can lead to the vehicle detaching from the underframe during tipping operations. 5. The integrity of the tipping mechanism is difficult to guarantee during vehicle operation, resulting in a high rate of failures such as double-sided opening or failure to tip over. 6. During winter production and operation, large temperature fluctuations frequently cause condensation in the air cylinders and pipes. Severe icing can cause failure to tip over or frost damage. 7. Air leaks in the tipping pipes and tipping air cylinders can cause tipping failures, affecting unloading.

[0003] To address the aforementioned issues, Chinese patent CN201320297744.5 discloses a fixed-side-tilting hydraulic self-controlled unloading machine for mining railway vehicles, comprising a longitudinal locking mechanism, a lateral advance mechanism, a lifting mechanism, a load-bearing mechanism, a safety lifting mechanism, and a locomotive automated control system. This fixed-side-tilting hydraulic self-controlled unloading machine for mining railway vehicles avoids direct contact between workers and the dump truck, ensuring the safety of operators. Furthermore, the indoor operating conditions are significantly superior to the outdoor tipping environment. However, during the unloading process, the positioning between the self-tilting machine and the crusher outlet is done manually or by laser. Due to the harsh on-site environment and severe dust pollution, the failure rate of manual or laser positioning is high, resulting in low work efficiency, inaccurate positioning, and a waste of human resources. Summary of the Invention

[0004] The purpose of this invention patent is to provide a safe and reliable automatic positioning mechanism and unloading device for mine self-tipping cars that are pulled by electric locomotives and precisely aligned.

[0005] The objective of this invention patent is achieved through the following solution: The present invention provides an automatic positioning mechanism and unloading device for a mining self-tipping cart, including a mining self-tipping cart transport track, a hopper opening and an unloading device correspondingly arranged on both sides of the mining self-tipping cart transport track, and a PLC automatic control system. The unloading device includes a lateral advance mechanism, a lifting mechanism arranged on the upper part of the lateral advance mechanism, a bearing mechanism connected to the lifting mechanism, a safety lifting mechanism and an anti-lifting bucket mechanism connected to the bearing mechanism. The invention is characterized in that a longitudinal locking positioning mechanism is provided on the hydraulic track of the self-tipping cart. The longitudinal locking mechanism includes four sets of hydraulic track locking mechanisms, steel rope lock frames, and positioning lock steel ropes for the mine self-tipping trolley. Each pair of sets of hydraulic track locking mechanisms and steel rope lock frames are arranged on the mine self-tipping trolley transport track, centered on the center line of the hopper opening, from the inside out. Each mine self-tipping car hydraulic rail locking mechanism includes a double trunnion rail locking cylinder, a left hydraulic rail locking, a right hydraulic rail locking, an inner locking frame, and an outer locking frame. The double trunnion rail locking cylinder is fixed on the inner side of the two mine self-tipping car tracks. The two output ends of the double trunnion rail locking cylinder are fixedly connected to the outer locking frame and the inner locking frame, respectively. The left hydraulic rail locking is fixedly installed on the left locking frame, and the right hydraulic rail locking is fixedly installed on the right locking frame. The four sets of steel rope lock frames consist of four lock seats symmetrically arranged on both sides of the two mine tipper transport tracks, lock plates on the upper part of the lock seats, and fastening bolts. The lower parts of the four lock seats are fixed to the railway track bed by bolts. There are four positioning lock steel ropes, and every two positioning lock steel ropes pass through the left and right hydraulic lock rails on the same side, respectively, and are fixedly connected to the steel rope lock frames at both ends. Four detection sensors are respectively installed below the outer rail of the mine tipper transport track at the corresponding position of the hopper opening. Each detection sensor and the hydraulic drive device of each cylinder are electrically connected to the PLC automatic control system.

[0006] Preferably, the lateral movement mechanism includes two transverse trolley frames, a truss connecting the two transverse trolley frames, two transverse trolley tracks disposed at the lower part of each transverse trolley frame, a transverse hydraulic cylinder disposed at the upper part of each transverse trolley frame, a spring-supported trolley fixedly connected to the lower front end of the transverse trolley frame, a hinged support trolley fixedly connected to the lower middle part of the transverse trolley frame, and a front longitudinal fine-tuning track and a rear longitudinal fine-tuning track fixed to the foundation. The spring-supported trolley includes a support trolley body A, a pair of track wheels A mounted on the support trolley body A, two sets of compression spring cylinders on both sides of each track wheel A, the upper part of the support trolley body A is fixed to the lower front end of the transverse trolley frame by bolts, and a trolley track lock A is provided in the lower middle part of the support trolley body A. The locking port of the trolley track lock A is connected to the front longitudinal fine-tuning track, and the track wheels A are in rolling connection with the front longitudinal fine-tuning track. The hinge support trolley includes a support trolley body B, a pair of track wheels B, two trolley track locks B, and a pin seat. The pair of track wheels B are mounted on the support trolley body A and are tumbled to the rear longitudinal fine-tuning track at the bottom. The trolley track locks B are mounted at the front end of the support trolley body A, and the locking lugs of the trolley track locks B are engaged with the rear longitudinal fine-tuning track. A connecting seat with a shaft hole is provided at the bottom of the transverse trolley frame. The pin seats are located at both ends of the hinge support trolley and are hinged to the connecting seat at the bottom of the transverse trolley frame by a shaft pin. An anti-lifting limit post is provided on the upper part of the hinge support trolley on the transverse trolley frame. One end of the anti-lifting mechanism is hinged to the anti-lifting limit post, and the other end is hinged to the bearing mechanism. The cylinder tail of the transverse hydraulic cylinder described in this invention is hinged to the rear end of the transverse trolley frame, and the cylinder head is hinged to the lower part of the lifting mechanism.

[0007] Preferably, the lifting mechanism includes a lifting bracket mounted on the transverse trolley frame, a lifting cylinder, a single-sided positioning post, a double-sided positioning post, a front guide roller, a hydraulic spring lever, a rollover locking hook, and a support wheel pair mounted on the lifting bracket. The lifting cylinder is located on the upper part of the lifting bracket, and the upper cylinder head lug is hinged to the lifting cylinder of the bearing mechanism. Single-sided and double-sided positioning piles are set on the upper part of the lifting bracket, and the front guide roller is set on the single-sided positioning pile and is tactilely connected to the single-sided positioning pile; The hydraulic spring lever consists of a lever cylinder and a spring located in the upper part of the lever. The hydraulic spring lever is connected to the mine car's A-frame support. The anti-overturning locking hook is located at the lower part of the lifting cylinder and is used to hook onto the bottom of the mine self-tipping car transport track during operation. The support roller pair is located at the lower part of the lifting bracket and is rotatably connected to the transverse trolley track.

[0008] Preferably, each of the two sets of compression spring cylinders consists of 4 cylinders, for a total of 8 cylinders.

[0009] Preferably, there are four support roller pairs 3-7. The advantages of this invention are: it effectively solves the problem of precise positioning of overturned vehicles at rail transport sites, ensuring that the mixed material does not scatter outside the crusher, improving production efficiency, and promoting the automation of production. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the automatic positioning mechanism and unloading device of the mine self-tipping truck of the present invention.

[0011] Figure 2 for Figure 1 Top view.

[0012] Figure 3 for Figure 2 A cross-sectional view of the hydraulic rail lock mechanism of the self-tipping trolley used by ZhongBB Mining.

[0013] Figure 4 for Figure 2 AA sectional view.

[0014] Figure 5 This is a schematic diagram of the hydraulic rail locking mechanism for clamping mine car wheelsets.

[0015] Figure 6 This is a schematic diagram of the transverse advance mechanism.

[0016] Figure 7 This is a schematic diagram of the spring-supported trolley.

[0017] Figure 8 for Figure 7 Side view.

[0018] Figure 9 for Figure 7 CC section view.

[0019] Figure 10 This is a partial sectional view of the hinged support trolley.

[0020] Figure 11 for Figure 10 Side view.

[0021] Figure 12 This is a schematic diagram of the seating mechanism.

[0022] Figure 13 for Figure 12 Side view. Detailed Implementation The invention will now be further described with reference to the accompanying drawings.

[0023] like Figure 1-13As shown, an automatic positioning mechanism and unloading device for a mining self-tipping cart according to the present invention includes a mining self-tipping cart transport track 9, a hopper opening 7 and an unloading device correspondingly arranged on both sides of the track bed of the mining self-tipping cart transport track 9, and a PLC automatic control system. The unloading device includes a lateral advance mechanism 2, a lifting mechanism 3 arranged on the upper part of the lateral advance mechanism 2, a bearing mechanism 4 connected to the lifting mechanism 3, a safety lifting mechanism 5 and an anti-lifting bucket mechanism 6 connected to the bearing mechanism 4. The feature is that a longitudinal locking positioning mechanism 1 is provided on the mining self-tipping cart transport track 9. like Figures 2-10 As shown, the longitudinal locking positioning mechanism 1 includes four sets of mine self-tipping car hydraulic track locking mechanisms 1-2, steel rope lock frames 1-1, and positioning lock steel ropes 1-3. Each pair of mine self-tipping car hydraulic track locking mechanisms 1-2 and steel rope lock frames 1-1 are arranged on the mine self-tipping car transport track 9, centered on the center line 8 of the hopper opening, from the inside out. Each mine self-tipping car hydraulic track locking mechanism 1-2 includes a double trunnion locking cylinder 1-2-3, a left hydraulic locking rail 1-2-1, a right hydraulic locking rail 1-2-2, an inner locking frame 1-2-4, and an outer locking frame 1-2-5. The double trunnion locking cylinder 1-2-3 is fixed inside the two mine self-tipping car transport tracks 9. The two output ends of the double trunnion locking cylinder 1-2-3 are fixedly connected to the outer locking frame 1-2-4 and the inner locking frame 1-2-4, respectively. The left hydraulic locking rail 1-2-1 is fixedly installed on the door lock frame 1-2-4, and the right hydraulic locking rail 1-2-2 is fixedly installed on the outer locking frame 1-2-5. like Figure 4 As shown, the four sets of steel rope lock frames 1-1 consist of four lock seats 1-1-1 symmetrically arranged on both sides of the two mine self-dumping transport tracks 9, lock plates 1-1-2 arranged on the upper part of the lock seats 1-1-1, and fastening bolts 1-1-3. The lower parts of the four lock seats 1-1-1 are fixed to the railway track bed by bolts 1-1-3. There are four positioning lock steel ropes 1-3. Every two positioning lock steel ropes 1-3 pass through the left hydraulic lock rail and the right hydraulic lock rail on the same side, and are fixedly connected to the steel rope lock frames at both ends. Four detection sensors are respectively installed below the outer rail of the mine self-dumping transport track 9 at the corresponding position of the hopper opening. Each detection sensor and the hydraulic drive device of each cylinder are electrically connected to the PLC automatic control system.

[0024] When the heavy-duty mining tipper reaches the unloading position corresponding to the hopper opening, the detection sensor transmits the vehicle information to the PLC automatic control system. At the same time, the control sends a stop signal to the longitudinal locking mechanism 1. The double trunnion locking cylinder 1-2-3 of the longitudinal locking mechanism extends upon receiving the command, driving the left hydraulic locking rail 1-2-1 and right hydraulic locking rail 1-2-2 on the inner locking frame 1-2-4 and the outer locking frame 1-2-5 to simultaneously clamp the mine car wheelset, achieving automatic and precise positioning.

[0025] The transverse guide mechanism of the present invention is fixed on the outside of the track bed to provide a running track for the seat mechanism. like Figures 6-9 As shown, the lateral movement mechanism 2 of the present invention includes two transverse trolley frames 2-2, a truss 10 connecting the two transverse trolley frames 2-2, two transverse trolley tracks 2-1 disposed at the lower part of each transverse trolley frame 2-2, transverse hydraulic cylinders 2-3 disposed at the upper part of each transverse trolley frame 2-2, a spring support trolley 2-5 fixedly connected to the lower front end of the transverse trolley frame 2-2, and a hinge support trolley 2-4 fixedly connected to the lower middle part of the transverse trolley frame 2-2, and a front longitudinal fine-tuning track 2-6 and a rear longitudinal fine-tuning track 2-7 fixed on the foundation. The spring-supported trolley 2-5 includes a trolley body A2-5-1, a pair of track wheels A2-5-3 mounted on the trolley body A2-5-1, and two sets of compression spring cylinders 2-5-2 on both sides of each track wheel A on the trolley body A2-5-1. Each set of compression spring cylinders 2-5-2 contains 4 cylinders, for a total of 8 cylinders. The upper part of the trolley body A2-5-1 is bolted to the lower front part of the transverse trolley frame 2-2. A trolley track lock A2-5-4 is provided in the lower middle part of 2-5-1. The locking port of the trolley track lock A is connected to the front longitudinal fine-tuning track 2-6. The track wheel A2-5-3 is connected to the front longitudinal fine-tuning track 2-6 in a rolling manner. The function of the compression spring cylinder 2-5-2 is that when the ore unloading device unloads the car, the spring in the spring cylinder is compressed so that the lifting mechanism 3 just contacts the mine self-tipping car transport track 9, ensuring that the transverse trolley track 2-1 of the transverse advance mechanism is not damaged by pressure.

[0026] like Figure 10 and Figure 11As shown, the hinged support trolley 2-4 of the present invention includes a support trolley body B2-4-1, a pair of track wheels B2-4-2, two trolley track locks B2-4-3, and a pin seat 2-4-4. The pair of track wheels B2-4-2 are mounted on the support trolley body B2-4-1, and their lower parts are rolledly connected to the rear longitudinal fine-tuning track 2-7. The trolley track locks B2-4-3... 2-4-3 is set at the front end of the support trolley body A2-4-1, and the locking port of the trolley track lock B2-4-3 is connected to the rear longitudinal fine-tuning track 2-7. A connecting seat 2-8 with a shaft hole is provided at the lower part of the transverse trolley frame 2-2. The pin seat 2-4-4 is set at both ends of the hinge support trolley 2-4, and the upper part of the hinge support trolley 2-4 is hinged to the connecting seat 2-8 at the lower part of the transverse trolley frame 2-2 by the shaft pin, which satisfies the function of tension transmission and rotation, and provides anti-overturning tension. An anti-lifting limit post 6-1 is provided at the upper part of the hinge support trolley 2-4 on the transverse trolley frame 2-2. One end of the anti-lifting mechanism 6 is hinged to the anti-lifting limit post 6-1, and the other end is hinged to the bearing mechanism 4.

[0027] The tail of the transverse hydraulic cylinder 2-3 of the present invention is hinged to the rear end of the transverse trolley frame 2-2, and the head of the cylinder is hinged to the lower part of the lifting mechanism 3.

[0028] like Figure 12 and Figure 13 As shown, the lifting mechanism 3 of the present invention includes a lifting bracket 3-1 installed on the transverse trolley frame 2-2, a lifting cylinder 3-2, a single-sided positioning pile 3-3, a double-sided positioning pile 3-5, a front guide roller 3-4, a hydraulic spring lever 3-7, a rollover locking hook 3-6, and a support roller pair 3-8 installed on the lifting bracket 3-1. The lifting cylinder 3-2 is located on the upper part of the lifting bracket 3-1. The upper cylinder head lug is hinged to the lifting cylinder of the bearing mechanism 4. The single-sided positioning pile 3-3 and the double-sided positioning pile 3-5 are located on the upper part of the lifting bracket 3-1. The front guide roller 3-4 is located on the single-sided positioning pile 3-3 and is in rolling connection with the single-sided positioning pile 3-3. The front guide roller 3-4 reduces the wear of the guide grinding block. The single-sided positioning pile 3-3 and the double-sided guide pile 3-5 contact the rear guide roller and the two side guide rollers of the bearing mechanism to reduce wear.

[0029] The hydraulic spring lever 3-7 is composed of a lever cylinder 3-7-1 and a spring 3-7-2 located in the upper part of the hydraulic spring lever 3-7. The hydraulic spring lever 3-7 is sleeved with the mine car A-frame support 11. The anti-overturning locking hook 3-6 is located at the lower part of the lifting cylinder and is used to hook onto the bottom of the mine self-tipping car transport track 9 during operation. The support rollers 3-8 are located at the lower part of the lifting bracket 3-1, and there are four support roller pairs 3-7, which are rolledly connected to the transverse trolley track 2-1.

[0030] The lifting mechanism 3 of the present invention is more stable and reliable in actual operation.

[0031] This invention can automatically control the positioning and unloading of mine tippers, thereby effectively solving the problem of precise positioning of rail-guided mine cars, improving production efficiency, and promoting the automation of production.

[0032] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", "front", "back", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic positioning mechanism and unloading device for a mining self-tipping cart, comprising a mining self-tipping cart transport track, hopper openings and unloading devices correspondingly arranged on both sides of the mining self-tipping cart transport track, and a PLC automatic control system, wherein the unloading device comprises a lateral advance mechanism, a lifting mechanism disposed above the lateral advance mechanism, a bearing mechanism connected to the lifting mechanism, and a safety lifting mechanism and an anti-lifting mechanism connected to the bearing mechanism, characterized in that... A longitudinal locking mechanism is installed on the self-tipping hydraulic rail; The longitudinal locking mechanism includes four sets of hydraulic track locking mechanisms, steel rope lock frames, and positioning lock steel ropes for the mine self-tipping trolley. Each pair of sets of hydraulic track locking mechanisms and steel rope lock frames are arranged on the mine self-tipping trolley transport track, centered on the center line of the hopper opening, from the inside out. Each mine self-tipping car hydraulic rail locking mechanism includes a double trunnion rail locking cylinder, a left hydraulic rail locking, a right hydraulic rail locking, an inner locking frame, and an outer locking frame. The double trunnion rail locking cylinder is fixed inside the two mine self-tipping car rails. The two output ends of the double trunnion rail locking cylinder are fixedly connected to the outer locking frame and the inner locking frame, respectively. The left hydraulic rail locking is fixedly installed on the left locking frame, and the right hydraulic rail locking is fixedly installed on the right locking frame. The four sets of steel rope lock frames consist of four lock seats symmetrically arranged on both sides of the two mine tipper transport tracks, lock plates on the upper part of the lock seats, and fastening bolts. The lower parts of the four lock seats are fixed to the railway track bed by bolts. There are four positioning lock steel ropes, and every two positioning lock steel ropes pass through the left and right hydraulic lock rails on the same side, respectively, and are fixedly connected to the steel rope lock frames at both ends. Four detection sensors are respectively installed below the outer rail of the mine tipper transport track at the corresponding position of the hopper opening. Each detection sensor and the hydraulic drive device of each cylinder are electrically connected to the PLC automatic control system.

2. The automatic positioning mechanism and unloading device for a mine self-tipping cart according to claim 1, characterized in that, The lateral movement mechanism includes two transverse trolley frames, a truss connecting the two transverse trolley frames, two transverse trolley tracks located at the lower part of each transverse trolley frame, transverse hydraulic cylinders located at the upper part of each transverse trolley frame, a spring-supported trolley fixedly connected to the lower front end of the transverse trolley frame, a hinged support trolley fixedly connected to the lower middle part of the transverse trolley frame, and front and rear longitudinal fine-tuning tracks fixed to the foundation. The spring-supported trolley includes a support trolley body A, a pair of track wheels A mounted on the support trolley body A, two sets of compression spring cylinders on both sides of each track wheel A, the upper part of the support trolley body A is fixed to the lower front end of the transverse trolley frame by bolts, and a trolley track lock A is provided in the lower middle part of the support trolley body A. The locking port of the trolley track lock A is connected to the front longitudinal fine-tuning track, and the track wheels A are in rolling connection with the front longitudinal fine-tuning track. The hinge support trolley includes a support trolley body B, a pair of track wheels B, two trolley track locks B, and a pin seat. The pair of track wheels B are mounted on the support trolley body A and are tumbled to the rear longitudinal fine-tuning track at the bottom. The trolley track locks B are mounted at the front end of the support trolley body A, and the locking lugs of the trolley track locks B are engaged with the rear longitudinal fine-tuning track. A connecting seat with a shaft hole is provided at the bottom of the transverse trolley frame. The pin seats are located at both ends of the hinge support trolley and are hinged to the connecting seat at the bottom of the transverse trolley frame by a shaft pin. An anti-lifting limit post is provided on the upper part of the hinge support trolley on the transverse trolley frame. One end of the anti-lifting mechanism is hinged to the anti-lifting limit post, and the other end is hinged to the bearing mechanism. The tail of the transverse hydraulic cylinder is hinged to the rear end of the transverse trolley frame, and the head of the cylinder is hinged to the lower part of the lifting mechanism.

3. The automatic positioning mechanism and unloading device for a mine self-tipping cart according to claim 1, characterized in that, The lifting mechanism includes a lifting bracket mounted on the transverse trolley frame, a lifting cylinder mounted on the lifting bracket, a single-sided positioning stake, and a double-sided positioning stake. The system includes positioning posts, front guide rollers, hydraulic spring levers, anti-overturning lock hooks, and support roller pairs. The lifting cylinder is located on the upper part of the lifting support, with the upper cylinder head lug hinged to the lifting cylinder of the bearing mechanism. Single-sided and double-sided positioning posts are located on the upper part of the lifting support. The front guide roller is located on the single-sided positioning post and is tumblingly connected to it. The hydraulic spring lever consists of a lever cylinder and a spring located in the upper part of the lever. The hydraulic spring lever is sleeved with the mine car's A-frame support. The anti-overturning lock hook is located at the lower part of the lifting cylinder and is used to hook onto the bottom of the mine self-tipping car transport track during operation. The support roller pairs are located at the lower part of the lifting support and are tumblingly connected to the transverse trolley track.

4. The automatic positioning mechanism and unloading device for a mine self-tipping cart according to claim 2, characterized in that, The two sets of compression spring cylinders each consist of 4 cylinders, for a total of 8 cylinders.

5. The automatic positioning mechanism and unloading device for a mine self-tipping cart according to claim 3, characterized in that, The support roller pairs 3-9 are four in number.

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