Automatic transport vehicle for materials in tunnel

Abstract

The invention relates to the technical field of automatic transport vehicles for materials, in particular to an automatic transport vehicle for materials in a tunnel, which comprises a frame, a moving assembly is mounted at the lower end of the frame, and a clamping assembly is mounted at the upper end of the moving assembly. A tracking device is arranged on the second fixing block on one side, an obstacle avoiding device is arranged on the second fixing block on the other side, a piston block is driven by a telescopic air cylinder to move forwards in a piston pipeline to drive a valve ball into a clamping jaw, gas is conveyed into an air cushion, and when the piston block moves backwards in the piston pipeline, the valve ball moves; the problems that some transport vehicles supply power in a new energy and battery power supply mode, if the electric quantity of the vehicles is exhausted in the tunnel, potential safety hazards are possibly caused by charging the vehicles in the tunnel, casualties are caused to construction workers, and meanwhile tracking and obstacle avoiding functions need to be achieved are reasonably solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated material transport vehicles, and in particular to an automated material transport vehicle in a tunnel. Background Art

[0002] In the process of cable laying, it is often necessary to transport various materials. Especially when laying cables in tunnels, materials need to be transported from the ground to various locations in the underground tunnel through the wellhead. A tracking and obstacle avoidance vehicle is designed so that the vehicle can autonomously avoid obstacles in the tunnel and transport materials to various destinations according to the prescribed route. The tunnel material automated transport vehicle is an automated equipment specially designed for transporting materials in tunnels. This equipment combines advanced automation technology with the characteristics of engineering vehicles and can efficiently and safely complete the material transportation task in the tunnel environment.

[0003] Some transport vehicles use new energy and battery-powered modes to provide power, but if the vehicle runs out of power in the tunnel, charging in the tunnel may pose a safety hazard and cause casualties to construction workers. At the same time, it is also necessary to have tracking and obstacle avoidance functions. Summary of the invention

[0004] The purpose of the present invention is to provide an automated material transport vehicle in a tunnel, which reasonably solves the problem that some transport vehicles use new energy and battery-powered modes to provide power. However, if the vehicle runs out of power in the tunnel, charging in the tunnel may bring safety hazards and cause casualties to construction workers. At the same time, it is also required to have tracking and obstacle avoidance functions.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated material transport vehicle in a tunnel, an automated material transport vehicle in a tunnel, comprising a frame, a moving component with a moving function is fixedly installed at the lower end of the frame, a clamping component with a fixing function is fixedly installed at the upper end of the moving component, the moving component comprises a motor, axles are fixedly installed at the output ends on both sides of the motor, wheels are fixedly installed on both sides of the axles, a fixing frame is fixedly installed on one side of the wheel, a first fixing block is fixedly installed on both sides of the axle, a frame is fixedly installed on one side of the first fixing block, and a fixing frame is fixedly installed on the frame. A battery compartment is provided, an air cushion is fixedly installed inside the battery compartment, a compartment cover is fixedly installed on the battery compartment, the clamping assembly includes a telescopic cylinder, a clamping plate is fixedly installed on one side of the telescopic cylinder, a piston rod is fixedly installed on one side of the telescopic cylinder, a piston block is fixedly installed on one side of the piston rod, a piston pipe is fixedly installed on the outer surface of the piston block, a first pipe is fixedly installed on the output end of the piston pipe, a clamping claw is installed on one side of the output end of the first pipe, a valve ball is provided inside the clamping claw, a second pipe is fixedly installed on the output end of the piston pipe, and an L-shaped pipe is fixedly installed on the output end of the second pipe.

[0006] Preferably, a groove is provided on the frame, and sliders are provided on both sides of the lower end of the clamping plate. The sliders are connected to the grooves, and the sliders slide on the grooves to assist the clamping plate in moving.

[0007] Preferably, wheels are also fixedly mounted on the other side of the fixing frames at both sides, and second fixing blocks are fixedly mounted on one side of the wheels, and the second fixing blocks are fixed on the frame for fixing.

[0008] Preferably, a tracker is fixedly mounted on the second fixed block on one side for controlling the travel route of the transport vehicle, and an obstacle avoider is fixedly mounted on the second fixed block on the other side for avoiding obstacles during the travel of the transport vehicle.

[0009] Preferably, wheels are also installed on the fixing frames to assist the transport vehicle in walking on the track.

[0010] Preferably, the battery compartment is used to store batteries to power the motor, and the compartment cover is provided with a handle groove for construction workers to conveniently open the handle groove and replace the batteries inside the battery compartment.

[0011] Preferably, one side of the L-shaped pipe passes through the battery compartment and is fixedly mounted on the air cushion for transmitting gas to the interior of the air cushion.

[0012] Preferably, the air cushion is filled with a certain amount of gas, and some of the gas is transmitted through the battery compartment to make the air cushion more inflated, thereby protecting the batteries inside the battery compartment from collision during movement.

[0013] Preferably, one side of the clamping plate is fixedly mounted on the piston pipe for fixing, and the piston pipe on the other side moves toward the clamping plate fixed on the piston pipe following the telescopic cylinder's telescopic movement.

[0014] Preferably, the telescopic cylinder is fixedly mounted on a frame for fixing and supporting the telescopic cylinder to operate. Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. The battery compartment is used to store batteries and power the motor. An air cushion is fixed inside the battery compartment to protect the batteries inside the battery compartment from collision during movement. If the batteries are damaged, they can be replaced. The batteries of the transport vehicle can be disassembled and charged separately to prevent the vehicle from charging in the tunnel, which may cause safety hazards and casualties to the construction workers.

[0016] 2. A tracker is fixedly installed on the second fixed block on one side. It is designed based on the different light absorption abilities of black and white substances in optical principles. First, a route is laid on the tunnel ground. The infrared diode on the car emits red light. When encountering a black route, most of the red light is absorbed by the black route, and only a very small amount of infrared light is reflected back. There is an infrared receiving photosensitive transistor next to the infrared diode of the car. Since very little infrared light is received, the transistor cannot be turned on. When encountering a white route, most of the red light will be reflected back, and the infrared receiving photosensitive transistor will be turned on. The microcontroller determines the position of the black tracking line and the travel route of the car based on whether the transistor is turned on. An obstacle avoider is fixedly installed on the second fixed block on the other side. The main principle of using an ultrasonic sensor for distance measurement is that after the sensor emits an ultrasonic wave in one direction, the ultrasonic wave propagates in the air and returns immediately after encountering an obstacle. According to the propagation speed of the ultrasonic wave in the air of 340m / s and the propagation time t, the distance s=340t / 2 between the car and the obstacle can be calculated. When the calculated distance is less than 30cm, the car will turn in time and choose another route to move forward, thus achieving the function of obstacle avoidance.

[0017] 3. When the piston rod drives the piston block to move forward in the piston pipe through the telescopic cylinder, the air volume under the piston block decreases and the pressure increases, causing the gas to rush to the valve ball, driving the valve ball to the clamping claw, and the gas is transmitted. The gas is transmitted to the inside of the air cushion through the second pipe and the L-shaped pipe to protect the batteries inside the battery compartment from bumping during movement. When the goods are transported to the destination, the telescopic cylinder drives the clamping claw to move backward and release, and at the same time drives the piston rod to drive the piston block to move backward in the piston pipe. The air volume under the piston increases, the pressure decreases, and the suction force increases to drive the valve ball to move, blocking the output port of the first pipe, preventing the air cushion from flowing back through the pipe and preventing air leakage. This is a reasonable solution to the problem that some transport vehicles use new energy and battery-powered mode to provide power, but if the vehicle runs out of power in the tunnel, charging in the tunnel may pose a safety hazard and cause casualties to the construction workers. It is also required to have tracking and obstacle avoidance functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the side structure of the mobile assembly of the present invention;

[0020] Figure 3 It is a schematic diagram of the overall structure of the chassis of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the mobile component of the present invention;

[0022] Figure 5It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0023] Figure 6 It is a schematic diagram of the structural analysis of the clamping assembly of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of component A of the present invention.

[0025] In the figure: 1. frame; 101. groove; 2. moving assembly; 201. motor; 202. axle; 203. first fixed block; 204. wheel; 205. fixing frame; 206. frame; 207. battery compartment; 208. compartment cover; 209. handle groove; 210. tracker; 211. obstacle avoider; 212. second fixed block; 213. air cushion; 3. clamping assembly; 301. telescopic cylinder; 302. clamping plate; 303. piston rod; 304. piston block; 305. piston pipe; 306. first pipe; 307. clamping claw; 308. valve ball; 309. second pipe; 310. L-shaped pipe; 311. slider. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The present invention provides an automated material transport vehicle in a tunnel, comprising a frame 1, a moving component 2 with a moving function is fixedly installed at the lower end of the frame 1, and a clamping component 3 with a fixing function is fixedly installed at the upper end of the moving component 2;

[0028] See also Figures 1 to 4As shown, the moving component 2 includes a motor 201 for providing power, and the motor 201 drives the axles 202 fixedly installed on the output ends on both sides to rotate, thereby driving the wheels 204 fixedly installed on both sides of the axles 202 to rotate and move on the track, and a fixed frame 205 is fixedly installed on one side of the wheel 204 for fixing and supporting the wheel 204 to run, and the other side of the fixed frames 205 on both sides is also fixedly installed with the wheel 204 to rotate and move on the track, and a second fixed block 212 is fixedly installed on one side of the wheel 204, and the second fixed block 212 is fixed on the frame 1 for fixing, and a tracker 210 is fixedly installed on one side of the second fixed block 212 for controlling the walking route of the transport vehicle, which is designed based on the different absorption capabilities of black and white substances to light in optical principles. First, a route is laid on the tunnel ground, and the infrared diode on the trolley emits red light. When encountering a black route, most of the red light is absorbed by the black route. The infrared light is absorbed by the infrared diode of the car, and only a small amount of infrared light is reflected back. There is an infrared receiving photosensitive transistor next to the infrared diode of the car. Since the infrared light received is very small, the transistor cannot be turned on. When encountering a white route, most of the red light will be reflected back, and the infrared receiving photosensitive transistor will be turned on. The single-chip microcomputer determines the position of the black tracking line and the travel route of the car according to whether the transistor is turned on. An obstacle avoider 211 is fixedly installed on the second fixed block 212 on the other side, which is used to avoid obstacles during the driving of the transport vehicle. Since ultrasonic waves have the characteristics of high frequency, short wavelength, good directionality, directional propagation, and little environmental interference, the main principle of using ultrasonic sensors for distance measurement is that after the sensor emits ultrasonic waves in one direction, the ultrasonic waves propagate in the air and will return immediately after encountering an obstacle. According to the propagation speed of ultrasonic waves in the air 340m / s and the propagation time t, the distance s=340t / 2 between the car and the obstacle can be calculated.When the calculated distance is less than 30cm, the car will turn in time and choose other routes to move forward to achieve the function of obstacle avoidance. At the same time, the ultrasonic sensor can be equipped with a servo to drive it to turn left and right to achieve multi-angle ranging and obstacle avoidance. The fixed frame 205 is also installed with wheels 204 to assist the transport vehicle to walk on the track. The first fixed blocks 203 are fixedly installed on both sides of the axle 202 for fixed connection. The frame 206 is fixedly installed on one side of the first fixed block 203 for fixed connection with other devices. The frame 206 is fixedly installed with a battery. The battery compartment 207 is used to store batteries, and the battery compartment 207 is used to store batteries to supply power to the motor 201. An air cushion 213 is fixedly installed inside the battery compartment 207 to protect the batteries inside the battery compartment 207 from being bumped during movement and causing damage to the batteries. A compartment cover 208 is fixedly installed on the battery compartment 207. The battery compartment 207 is used to store batteries, and construction personnel can conveniently open the handle slot 209 to replace the batteries inside the battery compartment 207. The batteries of the transport vehicle can be disassembled and charged separately to prevent the possibility of safety hazards when charging the vehicle in the tunnel, which may cause casualties to construction personnel.

[0029] See also Figures 5 to 7As shown, the clamping assembly 3 includes a telescopic cylinder 301 for extension and retraction, and the telescopic cylinder 301 is fixedly installed on the frame 1, which is used to fix and support the telescopic cylinder 301 to run. When the telescopic cylinder 301 is started to extend, the telescopic cylinder 301 drives the clamping plate 302 fixedly installed on one side to move toward the clamping plate 302 fixed on the other side, which is used to fix the cables placed for transportation to prevent the cables or goods from falling or being damaged in the running frame. The frame 1 is provided with a groove 101 for providing a sliding place, and sliders 311 are provided on both sides of the lower end of the clamping plate 302. The slider 311 is connected to the groove 101, and the slider 311 slides on the groove 101 to assist the clamping plate 302 to move. The piston pipe 305 on the other side follows the telescopic cylinder 301 to move toward the clamping plate 302 fixed on the piston pipe 305, and is used to fix the cables placed for transportation to prevent the cables or cargo running frames from falling or being damaged. When the telescopic cylinder is extending and retracting, it also drives the piston rod 303 fixedly installed on one side of the telescopic cylinder 301 to move, thereby driving the piston block 304 fixedly installed on one side of the piston rod 303 to move. The piston pipe 305 is fixedly installed on the outer surface of the piston block 304. The piston rod 303 drives the piston block 304 to move in the piston pipe 305. The output end of 305 is fixed A first pipeline 306 is fixedly installed, and a clamping claw 307 is installed at the output end of one side of the first pipeline 306 for fixing a valve ball 308. A valve ball 308 is arranged inside the clamping claw 307 for blocking the first pipeline 306. When the piston rod 303 drives the piston block 304 to move forward in the piston pipeline 305, the volume of air below the piston block 304 is reduced and the pressure is increased, so that the gas rushes to the valve ball 308, driving the valve ball 308 to the clamping claw 307, and the gas is transmitted. A second pipeline 309 is fixedly installed at the output end of the piston pipeline 305 for transmitting gas. An L-shaped pipeline 310 is fixedly installed at the output end of the second pipeline 309 for transmitting gas. One side of the L-shaped pipeline 310 The battery compartment 207 is passed through and fixedly installed on the air cushion 213 to transmit gas to the inside of the air cushion 213. The inside of the air cushion 213 is filled with a certain amount of gas. Some gas is transmitted through the battery compartment 207 to make the air cushion 213 more inflated, and to protect the batteries inside the battery compartment 207 from bumping during movement. When the goods are transported to the destination, the telescopic cylinder drives the clamping claw 307 to move backward and release, and at the same time drives the piston rod 303 to drive the piston block 304 to move backward in the piston pipe 305. The air volume under the piston increases, the pressure decreases, and the suction force increases to drive the valve ball 308 to move, blocking the output port of the first pipe 306, preventing the air cushion 213 from flowing back through the pipe, and preventing air leakage.

[0030] Working principle: The battery compartment 207 is used to store batteries and supply power to the motor 201. An air cushion 213 is fixedly installed inside the battery compartment 207 to protect the batteries inside the battery compartment 207 from bumping during movement. If the batteries are damaged, they can be replaced. The batteries of the transport vehicle can be disassembled and charged separately to prevent the vehicle from charging in the tunnel, which may bring safety hazards and cause casualties to the construction workers. The motor 201 drives the axle 202 to rotate, thereby driving the wheel 204 to rotate and move on the track. A tracker 210 is fixedly installed on the second fixed block 212 on one side to control the travel route of the transport vehicle. It is designed based on the different light absorption abilities of black and white substances in optical principles. First, a route is laid on the tunnel ground. The infrared diode on the vehicle emits red light. When encountering a black route, most of the red light is absorbed by the black route, and only a very small amount of the red light is absorbed by the black route. The infrared light is reflected back. There is an infrared receiving photosensitive transistor next to the infrared diode of the car. Since very little infrared light is received, the transistor cannot be turned on. When encountering a white route, most of the red light will be reflected back, and the infrared receiving photosensitive transistor will be turned on. The single-chip microcomputer determines the position of the black tracking line and the travel route of the car according to whether the transistor is turned on. An obstacle avoider 211 is fixedly installed on the second fixed block 212 on the other side, which is used to avoid obstacles during the driving of the transport vehicle. Since ultrasonic waves have the characteristics of high frequency, short wavelength, good directionality, directional propagation, and little environmental interference, the main principle of using ultrasonic sensors for distance measurement is that after the sensor emits ultrasonic waves in one direction, the ultrasonic waves propagate in the air and will return immediately after encountering an obstacle. According to the propagation speed of ultrasonic waves in the air 340m / s and the propagation time t, the distance s=340t / 2 between the car and the obstacle can be calculated. When the calculated distance is less than 30cm, the car will turn in time and choose other routes to move forward to achieve the function of obstacle avoidance. At the same time, a servo can be equipped for the ultrasonic sensor to drive it to turn left and right to achieve multi-angle distance measurement and obstacle avoidance. When the piston rod 303 drives the piston block 304 to move forward in the piston pipe 305 through the telescopic cylinder 301, the air volume under the piston block 304 is reduced and the pressure is increased, so that the gas rushes to the valve ball 308, drives the valve ball 308 to the clamp 307, and the gas is transmitted. The gas is transmitted to the inside of the air cushion 213 through the second pipe 309 and the L-shaped pipe 310, so as to prevent the batteries inside the battery compartment 207 from being bumped during movement. When the goods are transported to the destination, the telescopic cylinder drives the clamping claw 307 to move backward and loosen, and at the same time drives the piston rod 303 to drive the piston block 304 to move backward in the piston pipe 305. The air volume under the piston increases, the pressure decreases, and the suction force increases, which drives the valve ball 308 to move, blocking the output port of the first pipe 306, preventing the air cushion 213 from flowing back through the pipe and preventing air leakage.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated transport vehicle for materials in a tunnel, comprising a frame (1), characterized in that: A moving component (2) having a moving function is fixedly installed at the lower end of the frame (1), and a clamping component (3) having a fixing function is fixedly installed at the upper end of the moving component (2); The moving assembly (2) comprises a motor (201), axles (202) are fixedly mounted on output ends on both sides of the motor (201), wheels (204) are fixedly mounted on both sides of the axles (202), a fixing frame (205) is fixedly mounted on one side of the wheel (204), a first fixing block (203) is fixedly mounted on both sides of the axle (202), a frame (206) is fixedly mounted on one side of the first fixing block (203), a battery compartment (207) is fixedly mounted on the frame (206), an air cushion (213) is fixedly mounted inside the battery compartment (207), and a compartment cover (208) is fixedly mounted on the battery compartment (207); The clamping assembly (3) comprises a telescopic cylinder (301), a clamping plate (302) is fixedly mounted on one side of the telescopic cylinder (301), a piston rod (303) is fixedly mounted on one side of the telescopic cylinder (301), a piston block (304) is fixedly mounted on one side of the piston rod (303), a piston pipe (305) is fixedly mounted on the outer surface of the piston block (304), a first pipe (306) is fixedly mounted on the output end of the piston pipe (305), a clamping jaw (307) is mounted on the output end of one side of the first pipe (306), a valve ball (308) is arranged inside the clamping jaw (307), a second pipe (309) is fixedly mounted on the output end of the piston pipe (305), and an L-shaped pipe (310) is fixedly mounted on the output end of the second pipe (309).

2. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: The frame (1) is provided with a groove (101), and sliders (311) are provided on both sides of the lower end of the clamping plate (302). The sliders (311) are connected to the groove (101), and the sliders (311) slide on the groove (101) to assist the clamping plate (302) in moving.

3. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: The other side of the fixing frames (205) on both sides is also fixedly mounted with a wheel (204), and one side of the wheel (204) is fixedly mounted with a second fixing block (212), and the second fixing block (212) is fixed on the frame (1) for fixing.

4. The automated transport vehicle for materials in tunnels according to claim 1, characterized in that: A tracker (210) is fixedly mounted on the second fixed block (212) on one side for controlling the travel route of the transport vehicle, and an obstacle avoider (211) is fixedly mounted on the second fixed block (212) on the other side for avoiding obstacles during the travel of the transport vehicle.

5. The automatic transport vehicle for materials in tunnels according to claim 3, characterized in that: Wheels (204) are also installed on the fixed frame (205) to assist the transport vehicle to walk on the track.

6. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: The battery compartment (207) is used to store batteries to supply power to the motor (201), and the compartment cover (208) is provided with a handle groove (209) for construction workers to conveniently open the handle groove (209) and replace the batteries inside the battery compartment (207).

7. The automatic transport vehicle for materials in tunnels according to claim 5, characterized in that: One side of the L-shaped pipe (310) passes through the battery compartment (207) and is fixedly mounted on the air cushion (213) for transmitting gas to the inside of the air cushion (213).

8. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: The air cushion (213) is filled with a certain amount of gas, and some of the gas is transmitted through the battery compartment (207) to expand the air cushion (213) further, thereby protecting the batteries inside the battery compartment (207) from collision during movement.

9. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: One side of the clamping plate (302) is fixedly mounted on the piston pipe (305) for fixing, and the other side of the piston pipe (305) moves toward the clamping plate (302) fixed on the piston pipe (305) following the telescopic cylinder (301) to extend and retract.

10. The automatic transport vehicle for materials in tunnels according to claim 1, characterized in that: The telescopic cylinder (301) is fixedly mounted on the frame (1) and is used to fixedly support the operation of the telescopic cylinder (301).

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