Anti-deviation system for underground tracked vehicle

Abstract

The invention discloses an underground tracked vehicle anti-deviation system which comprises a vehicle body, a walking mechanism is arranged on the vehicle body and comprises two rows of rotating wheels, tracks are arranged on the two rows of rotating wheels, the underground tracked vehicle anti-deviation system further comprises a power mechanism and a control mechanism, and the power mechanism is used for providing power for the walking mechanism; the power mechanism can independently control the number of rotation turns of each rotating wheel; the control mechanism can detect the number of rotation turns of the rotating wheel, the control mechanism can control output parameters of the power mechanism according to the number of rotation turns of the rotating wheel, the number of rotation turns of the rotating wheel can be adjusted through changes of the output parameters, and the control mechanism is wirelessly connected with a remote control device. According to the anti-deviation system for the underground tracked vehicle, the rotating speed of the left track driving wheel and the rotating speed of the right track driving wheel can be guaranteed to be consistent, the service life of the tracks is effectively prolonged by correcting the vehicle in time, it is guaranteed that the tracked vehicle can safely bear heavier loads, therefore, the working efficiency is improved, and meanwhile the safety of underground production can be effectively guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of anti-deviation systems for tracked vehicles, and in particular relates to an anti-deviation system for underground tracked vehicles. Background Art

[0002] In the construction machinery industry, crawler travel mechanisms are widely used in construction operations in complex environments such as mines, tunnels, and underground due to their wide adaptability to road conditions, low ground pressure, good stability, and maneuverability. With the continuous advancement of intelligent manufacturing and information technology, remote control technology has developed rapidly in the field of construction machinery. The underground working environment is extremely complex and full of dangers. Facing the challenges brought by mine safety production, remote control technology has become a new idea to improve underground work efficiency and ensure personnel safety.

[0003] Traditional crawler drive systems generally adopt a single pump and dual motor structure. Due to this structural design, the speed of the left and right drive motors is difficult to be completely synchronized. Even in ideal conditions, due to factors such as friction and inertia of the mechanical transmission chain, there will be deviations in the speed of the left and right crawler drive wheels, which will easily cause the crawler to deviate when traveling.

[0004] When the crawler is controlled by remote control, the signals received by the left and right drive motors will be out of sync due to the delay in signal transmission, processing and feedback. This asynchrony further amplifies the problem of inconsistent rotation speeds of the left and right crawler drive wheels, making it difficult for the left and right crawlers to move synchronously, which will increase the deviation during driving and cause unstable travel, which is not only easy to damage the crawler, but also cause safety accidents. In addition, frequent deviation correction operations increase the workload and reduce work efficiency.

[0005] Therefore, in view of the above technical problems, it is necessary to provide an anti-drifting system for underground tracked vehicles.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to provide an anti-drifting system for underground tracked vehicles, which can ensure that the rotation speeds of the left and right track drive wheels are consistent, effectively extend the service life of the tracks by timely correcting the deviation of the vehicle, and ensure that the tracked vehicle can safely withstand heavier loads, thereby improving work efficiency and effectively ensuring the safety of underground production.

[0008] In order to achieve the above-mentioned object, a specific embodiment of the present invention provides an anti-deviation system for underground tracked vehicles, including a vehicle body, a walking mechanism is provided on the vehicle body, the walking mechanism includes two rows of running wheels, and tracks are provided on the two rows of running wheels. The anti-deviation system for underground tracked vehicles also includes:

[0009] A power mechanism, the power mechanism is used to provide power to the walking mechanism, and the power mechanism can independently control the number of rotations of each wheel;

[0010] A control mechanism, wherein the control mechanism can detect the number of rotations of the rotating wheel, the control mechanism can control the output parameters of the power mechanism according to the number of rotations of the rotating wheel, the change of the output parameters can adjust the number of rotations of the rotating wheel, and the control mechanism is connected to the remote control device via radio.

[0011] In one or more embodiments of the present invention, the power mechanism includes a hydraulic oil tank, which is fixedly mounted on a vehicle body, a pair of oil pumps are mounted on the hydraulic oil tank, a hydraulic motor matching the oil pumps is mounted on the hydraulic oil tank, a second rotating shaft is fixedly connected to the hydraulic motor, a second bevel gear is integrally formed on an end surface of the second rotating shaft away from the hydraulic motor, a first rotating shaft is fixedly connected to the rotating wheel, and a first bevel gear matching the second bevel gear is fixedly connected to the first rotating shaft.

[0012] In one or more embodiments of the present invention, the hydraulic motors are in two pairs, and one pair of the hydraulic motors corresponds to one oil pump.

[0013] In one or more embodiments of the present invention, the control mechanism includes a protective shell, which is installed on the hydraulic oil tank. A central processing module is installed in the protective shell. A motion sensor is installed on the first rotating shaft, and the motion sensor can measure the number of rotations of the first rotating shaft. The motion sensor is connected to the central processing module.

[0014] In one or more embodiments of the present invention, the motion sensor is a photoelectric sensor, an inductive sensor, a rotary transformer or a combination thereof.

[0015] In one or more embodiments of the present invention, a coding detection head is installed on the motion sensor, and a concave hole matching the coding detection head is formed on the first rotating shaft.

[0016] In one or more embodiments of the present invention, a tilt sensor is fixedly connected to the motion sensor, and one end of the tilt sensor away from the motion sensor is fixedly connected to the vehicle body.

[0017] In one or more embodiments of the present invention, the control mechanism further includes a hydraulic valve, which is installed between the oil pump and the hydraulic motor, and is used to control the flow rate output by the oil pump. The hydraulic valve is connected to the central processing module.

[0018] In one or more embodiments of the present invention, the central processing module is connected to a flow regulator, the flow regulator is installed on the oil pump, and the flow regulator is used to detect the return oil volume of the hydraulic motor.

[0019] In one or more embodiments of the present invention, the control mechanism further comprises a pair of acoustic wave detectors, which are mounted on the vehicle body, and the data of the acoustic wave detectors are transmitted to an information receiving module on the control mechanism.

[0020] Compared with the prior art, the anti-drifting system for underground tracked vehicles of the present invention can ensure that the rotation speeds of the left and right track drive wheels are consistent. By timely correcting the deviation of the vehicle, the service life of the track can be effectively extended, and the tracked vehicle can be ensured to safely withstand heavier loads, thereby improving work efficiency and effectively ensuring the safety of underground production. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a structural schematic diagram of an anti-drifting system for an underground tracked vehicle in one embodiment of the present invention;

[0023] Figure 2 It is a cross-sectional view of an anti-slip system for an underground tracked vehicle in an embodiment of the present invention in a top view;

[0024] Figure 3 for Figure 2 The structural diagram at A in the middle;

[0025] Figure 4 It is a schematic structural diagram of a power mechanism of an anti-slip system for an underground tracked vehicle in one embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a deviation correction mechanism of an anti-deviation system for an underground tracked vehicle in one embodiment of the present invention;

[0027] Figure 6A cross-sectional view of a motion sensor of an anti-slip system for an underground tracked vehicle in one embodiment of the present invention;

[0028] Figure 7 The figure is a schematic diagram of the use status of an anti-drifting system for an underground tracked vehicle in one embodiment of the present invention.

[0029] Description of main reference numerals:

[0030] 1. Vehicle body; 2. Traveling mechanism; 21. Rotating wheel; 22. First rotating shaft; 221. Concave hole; 222. First bevel gear; 3. Power mechanism; 31. Hydraulic oil tank; 32. Oil pump; 33. Hydraulic motor; 331. Second rotating shaft; 332. Second bevel gear; 4. Control mechanism; 41. Protective shell; 42. Central processing module; 43. Information receiving module; 44. Motion sensor; 441. Encoding detection head; 442. Tilt sensor; 45. Hydraulic valve; 46. Flow regulator; 47. Acoustic wave detector. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions 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. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] like Figures 1 to 6 As shown, an anti-deviation system for underground tracked vehicles in one embodiment of the present invention includes a vehicle body 1, a traveling mechanism 2 is provided on the vehicle body 1, and the traveling mechanism 2 includes two rows of rotating wheels 21, and tracks are provided on both rows of rotating wheels 21. A power mechanism 3 and a control mechanism 4 are installed on the vehicle body 1. The power mechanism 3 is used to provide power to the traveling mechanism 2, and the power mechanism 3 can individually control the number of rotations of each rotating wheel 21. The control mechanism 4 can detect the number of rotations of the rotating wheel 21, and the control mechanism 4 can control the output parameters of the power mechanism 3 according to the number of rotations of the rotating wheel 21. The change of the output parameters can adjust the number of rotations of the rotating wheel 21, so that the number of rotations of multiple rotating wheels 21 is the same. In addition, when the number of rotations of the rotating wheel 21 is different, the control mechanism 4 can issue an instruction to make the power mechanism 3 change the output parameters and adjust the number of rotations of multiple rotating wheels 21.

[0033] Specifically, the control mechanism 4 is connected to the remote control device via radio. When the remote control device sends a signal to the control mechanism 4, the control mechanism 4 identifies the remote control signal, thereby controlling the power mechanism 3 to start, so that the tracked vehicle moves.

[0034] In order to enable tracked vehicles to move, Figure 1 and Figure 2 As shown, the power mechanism 3 includes a hydraulic oil tank 31, which is fixedly mounted on the vehicle body 1, a pair of oil pumps 32 are mounted on the hydraulic oil tank 31, and two pairs of hydraulic motors 33 matching the oil pumps 32 are also mounted on the hydraulic oil tank 31, a second rotating shaft 331 is integrally formed on the transmission shaft of the hydraulic motor 33, and a second bevel gear 332 is integrally formed on the end face of the second rotating shaft 331 away from the hydraulic motor 33. A first rotating shaft 22 is welded to the runner 21, and a first bevel gear 222 matching the second bevel gear 332 is integrally formed on the first rotating shaft 22.

[0035] Specifically, when the oil pump 32 is started, hydraulic oil is drawn from the hydraulic oil tank 31 and pressurized, and the pressurized hydraulic oil is delivered to the oil pump 32. The oil pump 32 drives the second rotating shaft 331 to rotate. After the second bevel gear 332 and the first bevel gear 222 are engaged, the first rotating shaft 22 rotates, thereby enabling the tracked vehicle to move.

[0036] In order to make the two rows of tracks move synchronously, Figures 2 to 5 As shown, the control mechanism 4 includes a protective shell 41, which is installed on the hydraulic oil tank 31. A central processing module 42 is installed in the protective shell 41. A motion sensor 44 is installed on the first rotating shaft 22. The motion sensor 44 can measure the number of rotations of the first rotating shaft 22. The motion sensor 44 is connected to the central processing module 42.

[0037] Specifically, after the remote control device sends out a walking signal, the central processing module 42 receives the walking signal and transmits it to the oil pump 32 via wire. Because the central processing module 42 acts as an intermediate conductor, the difference in the walking signals received by a pair of oil pumps 32 can be reduced, so that the time when a pair of oil pumps 32 are started is basically the same, thus ensuring that a pair of tracks remain basically synchronized when walking.

[0038] It is worth noting that although the above method can basically keep a pair of tracks in sync when walking, the slight deviation that exists when the walking distance is long will be magnified, and the tracked vehicle will still have walking deviation.

[0039] In order to solve this problem, the motion sensor 44 can measure the number of rotations of the first rotating shaft 22, and transmit the number of rotations of the first rotating shaft 22 to the central processing module 42. When the central processing module 42 detects that the number of rotations transmitted by the motion sensors 44 on the left and right sides of the tracked vehicle is different, it can control the power of the two oil pumps 32 respectively, so that one of them is reduced or increased, until the number of rotations transmitted by the motion sensors 44 on the left and right sides is the same, the central processing module 42 issues an instruction again to make the power of the two oil pumps 32 the same, so that the number of rotations of the first rotating shaft 22 on the left side of the tracked vehicle and the first rotating shaft 22 on the right side are generally the same. The number of rotations of the first rotating shaft 22 on the left side and the first rotating shaft 22 on the right side are the same, so that the number of rotations of the wheels 21 on the left and right sides of the tracked vehicle are the same, which can ensure that the tracked vehicle does not deviate when walking and walks in a straight line.

[0040] Specifically, the motion sensor 44 is a combination of one or more of a photoelectric sensor, an inductive sensor, and a rotary transformer. Preferably, the motion sensor 44 is a rotary transformer, which has low requirements on environmental conditions, especially performs well in high temperature and high dust environments, can output absolute value analog signals, has good resistance to harsh environments, and has strong anti-interference capabilities, and is fully capable of underground work.

[0041] In addition, during the movement of the tracked vehicle, if the tracked vehicle deviates due to the asynchronism between the left and right tracks, the central processing module 42 adjusts the output power of the two oil pumps 32, so that the deviation value of the tracked vehicle can be corrected while the vehicle is moving. Compared with the traditional correction method that requires stopping one side of the track, this system does not need to stop the tracked vehicle, which can greatly improve work efficiency.

[0042] Furthermore, there are two pairs of hydraulic motors 33, and one pair of hydraulic motors 33 corresponds to one oil pump 32. Specifically, one oil pump 32 outputs hydraulic oil to a pair of hydraulic motors 33 respectively, and after the pair of hydraulic motors 33 are started, the two wheels 21 can be rotated. Specifically, due to the complex and uneven ground of the underground environment, the road conditions of the crawlers on the left and right sides of the crawler vehicle are basically different. If there is gravel or a slope ahead, a pair of oil pumps 32 can provide stronger power for the wheel 21 on one side, which is more conducive to the crawler vehicle to maintain a straight line when walking.

[0043] It is worth noting that Figure 7As shown, although the cooperation of the motion sensor 44 and the central processing module 42 can ensure that the first rotating shaft 22 on both sides of the tracked vehicle rotates the same number of times when the tracked vehicle is moving. When the track on one side is moving on a horizontal road surface and the track on the other side is moving on a sloped road surface, although the first rotating shaft 22 on both sides of the tracked vehicle rotates the same number of times, the moving direction of the tracked vehicle will still deviate. This is mainly because the sloped road surface converts the straight line into a height difference with the horizontal road surface. Although the total length of the tracks on both sides is the same, the distances the tracks travel on the horizontal plane are different, which will also cause the tracked vehicle to deviate. The complex road environment underground will further increase this offset, which will still cause the tracked vehicle to deviate.

[0044] To solve this problem, Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, a coding probe 441 is mounted on the motion sensor 44, and a concave hole 221 matching the coding probe 441 is formed on the first rotating shaft 22. A tilt sensor 442 is welded on the motion sensor 44, and one end of the tilt sensor 442 away from the motion sensor 44 is threadedly connected to the vehicle body 1.

[0045] Specifically, when the crawler track on one side of the tracked vehicle is pressed on a slope and the crawler track on the other side is running on a horizontal road surface, the first rotating shaft 22 will tilt, and the concave hole 221 will also tilt. The coding detection head 441 can measure the tilt angle of the concave hole 221 and transmit this data to the central processing module 42. At the same time, the inclination sensor 442 measures the overall tilt angle of the tracked vehicle, and also transmits the tilt angle of the tracked vehicle to the central processing module 42. The central processing module 42 calculates the tilt angle of the wheels 21 on both sides of the tracked vehicle and its own tilt angle, and adjusts the output power of the oil pump 32 after calculation, so that the number of rotations of the wheels 21 on both sides matches the straight-line travel distance of the tracked vehicle. In this way, even if the roads on which the crawlers on both sides are running are not parallel to each other, the travel distance of the tracked vehicle can be guaranteed to be consistent, thereby ensuring that the tracked vehicle does not deviate.

[0046] like Figure 2 , Figure 4 and Figure 5As shown, the control mechanism 4 also includes a hydraulic valve 45, which is installed between the oil pump 32 and the hydraulic motor 33. The hydraulic valve 45 is used to control the flow rate output by the oil pump 32, and the hydraulic valve 45 is connected to the central processing module 42. Specifically, after the oil pump 32 receives the start signal transmitted by the central processing module 42, the oil pump 32 starts to output hydraulic oil to the hydraulic motor 33. When the hydraulic oil passes through the hydraulic valve 45, the hydraulic valve 45 delays the hydraulic oil and can detect the pressure of the hydraulic oil. When the hydraulic oil pressures measured by the four hydraulic valves 45 on the control mechanism 4 are the same, the central processing module 42 sends a signal to open the four hydraulic valves 45 at the same time, so that the four hydraulic motors 33 can be started at the same time, so that the multiple wheels 21 on the tracked vehicle can rotate at the same time, so that the tracks on both sides can move at the same time.

[0047] In addition, when the motion sensor 44 detects that the number of rotations of the first rotating shaft 22 is different, or one side of the tracked vehicle is walking on an inclined road, the central processing module 42 controls the oil pump 32 while also controlling the opening of the hydraulic valve 45, thereby more finely controlling the rotation speed of the hydraulic motor 33, thereby enabling rapid correction of the tracked vehicle.

[0048] Furthermore, the central processing module 42 is connected to a flow regulator 46, which is installed on the oil pump 32 and is used to detect the amount of oil returned from the hydraulic motor 33. According to the amount of oil returned measured by the flow regulator 46 and transmitted to the central processing module 42, the output power of the oil pump 32 can be corrected to compensate for the error between the pair of oil pumps 32 when leaving the factory.

[0049] Specifically, when the number of rotations of the first rotating shaft 22 detected by the motion sensor 44 is the same, the power of the two oil pumps 32 will normally be the same. Due to the inevitable errors of the equipment itself, or different wear and tear due to long-term use, the return oil volume measured by the two oil pumps 32 will be different. At this time, the central processing module 42 can collect these error information and automatically balance these errors, so that the output power of the oil pumps 32 can be guaranteed to be equal in the number of rotations of the oil pumps 32, although the data is different.

[0050] It is worth noting that the deviation of the tracked vehicle when walking is in a straight line with the ideal state, but in reality, there will be errors in the straightness of the wellway underground. In order to make the vehicle walk in a straight line relative to the wellway underground, such as Figure 1 , Figure 2 and Figure 5 As shown, the control mechanism 4 further includes a pair of acoustic wave detectors 47 , which are mounted on the vehicle body 1 , and the data of the acoustic wave detectors 47 are transmitted to the information receiving module 43 on the control mechanism 4 .

[0051] Specifically, the pair of acoustic wave detectors 47 have different output powers, and each acoustic wave detector 47 can only receive the acoustic waves it emits, and the acoustic wave imaging data received by the pair of acoustic wave detectors 47 is transmitted to the information receiving module 43, which processes the data detected by the pair of acoustic wave detectors 47, generates coordinates, and adjusts the position of the tracked vehicle in the well in real time according to the coordinates, so that the tracked vehicle keeps walking in the middle position of the well, thereby preventing collision and scratching between the tracked vehicle and the well.

[0052] When in use, after receiving the command from the remote control device, the control mechanism 4 controls the oil pump 32 to start, so that the tracked vehicle moves. During the movement of the tracked vehicle, the motion sensor 44 will always detect the number of rotations of the first rotating shaft 22. When it is found that the change in the number of rotations of the first rotating shaft 22 causes the tracked vehicle to deviate, the motion sensor 44 will adjust the output power of a pair of oil pumps 32 respectively, so that the total number of rotations of each first rotating shaft 22 is the same, and the tracked vehicle is corrected.

[0053] Compared with the prior art, the anti-drifting system for underground tracked vehicles of the present invention can ensure that the rotation speeds of the left and right track drive wheels are consistent. By timely correcting the deviation of the vehicle, the service life of the track can be effectively extended, and the tracked vehicle can be ensured to safely withstand heavier loads, thereby improving work efficiency and effectively ensuring the safety of underground production.

[0054] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0055] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An anti-slip system for underground tracked vehicles, comprising a vehicle body, a walking mechanism being arranged on the vehicle body, the walking mechanism comprising two rows of running wheels, both rows of running wheels being arranged with tracks, characterized in that: Also includes: A power mechanism, the power mechanism is used to provide power to the walking mechanism, and the power mechanism can independently control the number of rotations of each wheel; A control mechanism, wherein the control mechanism can detect the number of rotations of the rotating wheel, the control mechanism can control the output parameters of the power mechanism according to the number of rotations of the rotating wheel, the change of the output parameters can adjust the number of rotations of the rotating wheel, and the control mechanism is connected to the remote control device via radio.

2. The anti-slip system for underground tracked vehicles according to claim 1, characterized in that: The power mechanism includes a hydraulic oil tank, which is fixedly installed on the vehicle body. A pair of oil pumps are installed on the hydraulic oil tank. A hydraulic motor matching the oil pumps is installed on the hydraulic oil tank. A second rotating shaft is fixedly connected to the hydraulic motor. A second bevel gear is integrally formed on an end surface of the second rotating shaft away from the hydraulic motor. A first rotating shaft is fixedly connected to the rotating wheel. A first bevel gear matching the second bevel gear is fixedly connected to the first rotating shaft.

3. The anti-slip system for underground tracked vehicles according to claim 2, characterized in that: There are two pairs of hydraulic motors, and one pair of hydraulic motors corresponds to one oil pump.

4. The anti-slip system for underground tracked vehicles according to claim 2, characterized in that: The control mechanism includes a protective shell, which is installed on the hydraulic oil tank. A central processing module is installed in the protective shell. A motion sensor is installed on the first rotating shaft. The motion sensor can measure the number of rotations of the first rotating shaft. The motion sensor is connected to the central processing module.

5. The anti-slip system for underground tracked vehicles according to claim 4, characterized in that: The motion sensor is a photoelectric sensor, an inductive sensor, a rotary transformer or a combination thereof.

6. The anti-slip system for underground tracked vehicles according to claim 4, characterized in that: The motion sensor is provided with a coding detection head, and the first rotating shaft is provided with a concave hole matching the coding detection head.

7. An anti-slip system for underground tracked vehicles according to any one of claims 4 to 6, characterized in that: The motion sensor is fixedly connected with an inclination sensor, and one end of the inclination sensor away from the motion sensor is fixedly connected to the vehicle body.

8. The anti-slip system for underground tracked vehicles according to claim 4, characterized in that: The control mechanism also includes a hydraulic valve, which is installed between the oil pump and the hydraulic motor. The hydraulic valve is used to control the flow rate output by the oil pump, and the hydraulic valve is connected to the central processing module.

9. The anti-slip system for underground tracked vehicles according to claim 8, characterized in that: The central processing module is connected to a flow regulator, which is installed on the oil pump and is used to detect the return oil volume of the hydraulic motor.

10. The anti-slip system for underground tracked vehicles according to claim 4, characterized in that: The control mechanism further comprises a pair of acoustic wave detectors, which are mounted on the vehicle body, and the data of the acoustic wave detectors are transmitted to an information receiving module on the control mechanism.

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