Rail transportation unmanned automatic ore unloading system and method
By designing an unmanned automatic mine unloading system and using hydraulic cylinders and lidar technologies, the problem of vehicle inertia turning into the pit and the inability to return to the car during the unloading of rail mine trucks is solved, and efficient and safe automatic mine unloading operations are achieved.
Patent Information
- Application Number
- CN202510149651.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2025-04-25
AI Technical Summary
The existing rail mine truck unloading methods have the problem that vehicles are rolling into the pit with the cargo due to inertia, and the carriage cannot return to the position.
An unmanned automatic mine unloading system was designed, using tracks, hydraulic stations, mine unloading areas and mine vehicles to accurately adjust the position and angle of the vehicle bucket by swinging hydraulic cylinders and telescopic hydraulic cylinders, combine hydraulic push rods and locking components to realize automatic mine unloading, and conduct comprehensive monitoring and environmental obstacle avoidance through lidar.
It realizes automatic unloading of unmanned mines, reduces labor costs, reduces the risk of human operation errors, improves the efficiency of unloading, accelerates material turnover, and ensures the efficient, safe and stable operation of unloading operations.
Smart Images
Figure CN119873244A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of mine car unloading, and in particular to an unmanned automatic unloading system and method for rail transport. Background Art
[0002] Trolley is a vehicle specially used to transport coal, ore and other materials, mainly used in coal mines, gold mines, copper mines and other fields. It runs on a predetermined track, has a high traffic capacity and the ability to adapt to the complex geological environment of underground mines, and can ensure the efficiency of coal mine transportation.
[0003] The on-site ore unloading adopts the method of manual air connection. When the mine car enters the unloading area, the air pipe is manually connected to the mine car unloading air pipe at the head and tail of the mine car. The mine cars are connected by air pipes, and then the air valves on each mine car are opened in turn for unloading. Only one or two air valves can be opened manually at a time. Two people open and close the air valves at both ends of the train to complete the unloading of the goods in the carriage. At present, it takes about 5 minutes to complete the unloading of a train.
[0004] However, the existing ore unloading method has the problem that the vehicle may overturn into the pit along with the cargo due to inertia during the unloading process, and the carriage may be unable to return to its original position. Summary of the invention
[0005] The purpose of the present invention is to provide a rail transport unmanned automatic ore unloading system and method to solve the problem that the vehicle rolls over into the pit along with the cargo due to inertia during the unloading process, and the problem that the carriage cannot return to its original position.
[0006] To achieve the above-mentioned purpose, the basic scheme provided by the present invention is: an unmanned automatic ore unloading system for rail transportation, comprising a track, a hydraulic station, an ore unloading area and a plurality of ore carts, a plurality of ore unloading platforms are arranged on one side of the track, a swing hydraulic cylinder is arranged on each platform, a telescopic hydraulic cylinder is connected to each swing hydraulic cylinder, the cylinder rod of each telescopic hydraulic cylinder is detachably connected to the ore cart, a support rod for limiting the rotation angle of the telescopic hydraulic cylinder is arranged on each platform, an oil supply pipe is connected to the hydraulic station, a plurality of oil supply branch pipes are connected to the oil supply pipe, and the plurality of branch pipes are connected to a plurality of swing hydraulic cylinders and a plurality of telescopic hydraulic cylinders, a front-end laser radar and a rear-end laser radar are respectively arranged on one side of the ore unloading area, a hydraulic push rod is arranged on each telescopic hydraulic cylinder, a locking assembly is connected to the cylinder rod of the telescopic hydraulic cylinder, and the push rod of the hydraulic push rod is connected to the locking assembly.
[0007] The principles and beneficial effects of the present invention are as follows: the track and the unloading platform are reasonably laid out; the swing hydraulic cylinder and the telescopic hydraulic cylinder are responsible for accurately adjusting the position and angle of the bucket to facilitate efficient unloading; the support rod ensures the stable operation of the telescopic hydraulic cylinder; the oil supply pipe and the oil supply branch pipe are connected to the hydraulic station to provide power for each cylinder; the laser radar can monitor the surrounding environment in all directions to avoid collisions; the system realizes unmanned driving, reduces labor costs, and reduces the risk of human operational errors; the automatic unloading process improves unloading efficiency and speeds up material turnover; and the components in the system work closely together with high reliability, which effectively ensures the efficient, safe and stable operation of the entire unloading operation.
[0008] Option 2, which is the preferred basic option, is to wrap the oil delivery pipe and several oil delivery branch pipes with an insulation layer. Wrapping the oil delivery pipe and the oil delivery branch pipe with an insulation layer can reduce heat loss, maintain oil temperature, ensure smooth oil flow, prevent pipeline freezing and corrosion, and improve safety and environmental protection.
[0009] Solution 3, which is the optimal choice of the basic solution, includes a frame, a bucket, axles, several wheels and a DC variable frequency speed regulating motor. One side of the frame is hinged to the bucket, and a lever is provided on the side of the bucket that is not hinged to the frame. The locking assembly is connected to the lever, and the DC variable frequency speed regulating motor drives the axle. The bucket is hinged with a lever and a locking assembly to facilitate loading and unloading of goods. The DC variable frequency speed regulating motor drives the axle, which can achieve precise speed regulation of the mine car and efficient transportation.
[0010] Solution 4 is the preferred solution of Solution 3. The locking assembly includes a fixed plate and a movable plate. The fixed plate and the movable plate are hinged. The fixed plate is fixedly connected to the telescopic hydraulic cylinder, and the movable plate is bolted to the hydraulic push rod. Through the cooperation between the fixed plate and the telescopic hydraulic cylinder, and the movable plate and the hydraulic push rod, the position of the movable plate can be flexibly adjusted to achieve a firm locking and convenient release of the lever, ensuring stable and efficient loading and unloading operations in the bucket.
[0011] Plan 5 is the best choice of Plan 4. The swing hydraulic cylinder, telescopic hydraulic cylinder, hydraulic push rod, hydraulic station, laser radar and DC variable frequency speed regulating motor are all connected to the PLC controller. Connecting various components through the PLC controller can achieve centralized automatic control, accurately coordinate actions, improve the operation efficiency of the mine car, and use the feedback signal of the laser radar to ensure safe and stable operation.
[0012] Solution 6: A method for automatic unloading of ore by unmanned rail transport. The steps of automatic unloading are as follows: S1: The PLC controller transmits signals to the electric locomotive driving system to control the rotation of the mine car wheel axle, drive the mine car into the unloading area, and use the track passive positioning technology to slow down the mine car and stop it in the predetermined area; S2: Use the front-end laser radar to detect the parking situation of the mining car. After the front of the car slows down and enters the laser radar detection area, the front position of the car is accurately located, and the car automatically stops when it reaches the designated position; S3: Use the laser radars at the front and rear ends to detect the parking position of the mine car and determine whether the mine car is parked at the specified position. If it is parked at the specified position, proceed to the next step. If it is not parked at the specified position, send a signal to the electric locomotive frequency conversion through the main control end, and proceed to the next step after adjustment; S4: After the mine car is detected to be parked at the designated position, the parking ready signal is transmitted to the main control end, and the main control end starts the hydraulic station. According to production needs, the swing hydraulic cylinders are started one by one or multiple times, and the telescopic hydraulic cylinder is driven to rotate by the swing hydraulic cylinder rod; S5: When the telescopic hydraulic cylinder contacts the frame, the hydraulic push rod is automatically opened, and the hydraulic push rod drives the movable plate to rotate until it contacts the fixed plate and is locked in the bucket; S6: The hydraulic push rod is used to transmit a signal to the hydraulic station, and the hydraulic station drives the telescopic hydraulic cylinder to extend the cylinder rod, so that the truck bucket is tilted toward the unloading area to unload the ore. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a structural schematic diagram of an unmanned automatic ore unloading system for rail transportation according to the present invention; Figure 2 It is a stereoscopic diagram of a mine car, a brake platform, a swing hydraulic cylinder, a telescopic hydraulic cylinder, a support rod, a hydraulic push rod and a locking assembly in a rail transport unmanned automatic ore unloading system of the present invention; Figure 3 It is a front view of a mine car in a rail transport unmanned automatic unloading system of the present invention; Figure 4 yes Figure 2 A three-dimensional image without the minecart. DETAILED DESCRIPTION
[0014] The present invention is further described in detail below through specific embodiments: The figure marks in the drawings of the specification include: 1. track, 2. hydraulic station, 3. unloading area, 4. mine car, 401. frame, 402. car body, 403. axle, 404. wheel, 405. DC variable frequency speed regulating motor, 406. lever, 5. brake platform, 6. swing hydraulic cylinder, 7. telescopic hydraulic cylinder, 8. support rod, 9. oil supply pipe, 10. oil supply branch pipe, 11. front end laser radar, 12. rear end laser radar, 13. hydraulic push rod, 14. locking assembly, 141. fixed plate, 142. movable plate.
[0015] Embodiment 1 The embodiment is basically as shown in the attached Figure 1 To Attachment Figure 4As shown: a rail transport unmanned automatic unloading system, including a track 1, a hydraulic station 2, an unloading area 3 and a plurality of mine cars 4, a plurality of brake platforms 5 are arranged on one side of the track 1, each brake platform 5 is provided with a swing hydraulic cylinder 6, each swing hydraulic cylinder 6 is connected to a telescopic hydraulic cylinder 7, the cylinder rod of each telescopic hydraulic cylinder 7 is detachably connected to the mine car 4, each brake platform 5 is provided with a support rod 8 for limiting the rotation angle of the telescopic hydraulic cylinder 7, an oil delivery pipe 9 is connected to the hydraulic station 2, the oil delivery pipe 9 is connected to a plurality of oil delivery branch pipes 10, the oil delivery pipe 9 and the plurality of oil delivery branch pipes 10 are wrapped with a heat preservation layer, the plurality of oil delivery branch pipes 10 are connected to a plurality of swing hydraulic cylinders 6 and a plurality of telescopic hydraulic cylinders 7, a front-end laser radar 11 and a rear-end laser radar 12 are respectively arranged on one side of the unloading area 3, each telescopic hydraulic cylinder 7 is provided with a hydraulic push rod 13, the cylinder rod of the telescopic hydraulic cylinder 7 A locking assembly 14 is connected to the top, and the push rod of the hydraulic push rod 13 is connected to the locking assembly 14. The mine car 4 includes a frame 401, a bucket 402, an axle 403, a plurality of wheels 404 and a DC variable frequency speed regulating motor 405. One side of the frame 401 is hinged to the bucket 402, and a lever 406 is provided on the side of the bucket 402 that is not hinged to the frame 401. The locking assembly 14 is connected to the lever 406, and the DC variable frequency speed regulating motor 405 drives the axle 403. The locking assembly 14 includes a fixed plate 141 and a movable plate 142. The fixed plate 141 and the movable plate 142 are hinged, the fixed plate 141 is fixedly connected to the telescopic hydraulic cylinder 7, and the movable plate 142 is bolted to the hydraulic push rod 13. The swing hydraulic cylinder 6, the telescopic hydraulic cylinder 7, the hydraulic push rod 13, the hydraulic station 2, the front-end laser radar 11, the rear-end laser radar 12 and the DC variable frequency speed regulating motor 405 are all connected to the PLC controller.
[0016] The implementation method of this embodiment is as follows: When the mine car 4 needs to unload ore, first a signal is sent to the DC variable frequency speed regulating motor 405 through the main control end, and the DC variable frequency speed regulating motor 405 drives the wheel shaft 403 to start rotating, driving the mine car 4 to move towards the unloading area 3. When the leading car enters the unloading area 3, the rear end laser radar 12 is sensed, and the driving trajectory of the mine car 4 is detected and the number of mine cars 4 is counted. When the leading car drives towards the designated parking space, the front end laser radar 11 is sensed and sends a signal to the main control end to stop the mine car 4 automatically. Then, the rear end laser radar 12 is used to detect whether the parking position of the tail car is in the designated position. If not, a signal is sent to the main control end to adjust the parking space of the mine car 4. After the mine car 4 is in the designated position, the parking ready signal is transmitted to the main control end, and the main control end starts the hydraulic station 2, and according to production needs, the parking position is adjusted one by one. One or more swing hydraulic cylinders 6 are started, and the cylinder rod of the swing hydraulic cylinder 6 is used to drive the telescopic hydraulic cylinder 7 to rotate. When the telescopic hydraulic cylinder 7 rotates and abuts against the frame 401, the hydraulic push rod 13 is automatically opened, and the hydraulic push rod 13 drives the movable plate 142 to rotate until it abuts against the fixed plate 141 and is buckled on the bucket 402. At this time, the buckle 406 is connected with the locking assembly 14, and the hydraulic push rod 13 is used to transmit a signal to the hydraulic station 2. The hydraulic station 2 drives the telescopic hydraulic cylinder 7 to extend the cylinder rod, so that the bucket 402 is overturned toward the unloading area 3 to unload the ore. After unloading the ore, the telescopic hydraulic cylinder 7 retracts the cylinder rod. After the bucket 402 is placed stably, the hydraulic push rod 13 is retracted, and the movable plate 142 rotates and opens. Then the swing hydraulic cylinder 6 rotates to drive the telescopic hydraulic cylinder 7 to reset. Finally, the mine car 4 leaves the unloading area 3, and a round of automatic unloading operation can be completed.
[0017] Embodiment 2 A method for automatic ore unloading by unmanned rail transport, the steps of automatic ore unloading are as follows: S1: The PLC controller transmits a signal to the electric locomotive driving system to control the rotation of the wheel shaft 403, drives the mine car 4 into the unloading area 3, and uses the track passive positioning technology to slow down the mine car 4 and park it in the predetermined area; S2: Use the front-end laser radar 11 to detect the parking situation of the mining car 4. After the head car slows down and enters the detection area of the front-end laser radar 11, the front position of the car is accurately located, and the car automatically stops after reaching the designated position; S3: Use the front-end laser radar 11 and the rear-end laser radar 12 to detect the parking position of the mine car 4, and determine whether the mine car 4 is parked at the specified position. If it is parked at the specified position, proceed to the next step. If it is not parked at the specified position, send a signal to the DC variable frequency speed regulating motor 405 through the main control end, and proceed to the next step after adjusting the position; S4: After the mine car 4 is detected to be parked at the designated position, a signal of being ready to park is transmitted to the main control end, and the main control end starts the hydraulic station 2, and according to production requirements, starts the swing hydraulic cylinder 6 one by one or multiple times, and uses the cylinder rod of the swing hydraulic cylinder 6 to drive the telescopic hydraulic cylinder 7 to rotate; S5: When the telescopic hydraulic cylinder 7 abuts against the vehicle frame 401, the hydraulic push rod 13 is automatically opened, and the hydraulic push rod 13 drives the movable plate 142 to rotate until it abuts against the fixed plate 141 and is buckled on the vehicle bucket 402; S6: The hydraulic push rod 13 is used to transmit a signal to the hydraulic station 2, and the hydraulic station 2 drives the telescopic hydraulic cylinder 7 to extend the cylinder rod, so that the truck bucket 402 is overturned toward the unloading area 3 to unload the ore.
[0018] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.
Claims
1. An unmanned automatic ore unloading system for rail transport, characterized in that: The invention comprises a track (1), a hydraulic station (2), a ore unloading area (3) and a plurality of ore carts (4); a plurality of brake platforms (5) are provided on one side of the track (1); each brake platform (5) is provided with a swing hydraulic cylinder (6); each swing hydraulic cylinder (6) is connected to a telescopic hydraulic cylinder (7); the cylinder rod of each telescopic hydraulic cylinder (7) is detachably connected to the ore cart (4); each brake platform (5) is provided with a support rod (8) for limiting the rotation angle of the telescopic hydraulic cylinder (7); the hydraulic station (2) is connected to a An oil delivery pipe (9), the oil delivery pipe (9) being connected to a plurality of oil delivery branch pipes (10), the plurality of oil delivery branch pipes (10) being connected to a plurality of swing hydraulic cylinders (6) and a plurality of telescopic hydraulic cylinders (7), a front-end laser radar (11) and a rear-end laser radar (12) being respectively provided on one side of the unloading area (3), each of the telescopic hydraulic cylinders (7) being provided with a hydraulic push rod (13), a locking assembly (14) being connected to the cylinder rod of the telescopic hydraulic cylinder (7), and a push rod of the hydraulic push rod (13) being connected to the locking assembly (14).
2. The unmanned automatic ore unloading system for rail transport according to claim 1 is characterized in that: The oil delivery pipe (9) and the plurality of oil delivery branch pipes (10) are all wrapped with a thermal insulation layer.
3. The unmanned automatic ore unloading system for rail transport according to claim 1 is characterized in that: The mining vehicle (4) comprises a vehicle frame (401), a vehicle bucket (402), a wheel axle (403), a plurality of wheels (404) and a DC variable frequency speed regulating motor (405); one side of the vehicle frame (401) is hinged to the vehicle bucket (402); a lever (406) is provided on the side of the vehicle bucket (402) not hinged to the vehicle frame (401); the locking assembly (14) is connected to the lever (406); and the DC variable frequency speed regulating motor (405) drives the wheel axle (403).
4. The unmanned automatic ore unloading system for rail transport according to claim 3 is characterized in that: The locking assembly (14) comprises a fixed plate (141) and a movable plate (142); the fixed plate (141) and the movable plate (142) are hingedly connected; the fixed plate (141) is fixedly connected to the telescopic hydraulic cylinder (7); and the movable plate (142) is bolted to the hydraulic push rod (13).
5. The unmanned automatic ore unloading system for rail transport according to claim 4 is characterized in that: The swing hydraulic cylinder (6), the telescopic hydraulic cylinder (7), the hydraulic push rod (13), the hydraulic station (2), the front-end laser radar (11), the rear-end laser radar (12) and the DC variable frequency speed regulating motor (405) are all connected to the PLC controller.
6. A method for automatic unloading of ore by rail transport, characterized in that: The steps of automatic unloading are as follows: S1: transmitting a signal to the electric locomotive driving system through a PLC controller to control the rotation of the wheel axle (403), driving the mine car (4) into the unloading area (3), and slowing down the mine car (4) and stopping it in a predetermined area through track passive positioning technology; S2: using the front-end laser radar (11) to detect the parking status of the mining car (4), and after the head car slows down and enters the detection area of the front-end laser radar (11), accurately locate the position of the head car, and automatically stop the car after reaching the designated position; S3: using the front-end laser radar (11) and the rear-end laser radar (12) to detect the parking position of the mining car (4), and determining whether the mining car (4) is parked at the designated position; if it is parked at the designated position, proceeding to the next step; if it is not parked at the designated position, sending a signal to the DC variable frequency speed regulating motor (405) through the main control terminal, and proceeding to the next step after adjusting the position; S4: After detecting that the mining car (4) stops at the designated position, a signal indicating that the mining car (4) is ready to stop is transmitted to the main control end, and the main control end starts the hydraulic station (2), and according to production requirements, starts the swing hydraulic cylinders (6) one by one or in multiples, and uses the cylinder rod of the swing hydraulic cylinder (6) to drive the telescopic hydraulic cylinder (7) to rotate; S5: When the telescopic hydraulic cylinder (7) abuts against the vehicle frame (401), the hydraulic push rod (13) is automatically opened, and the hydraulic push rod (13) drives the movable plate (142) to rotate until it abuts against the fixed plate (141) and is locked with the vehicle bucket (402); S6: Utilizing the hydraulic push rod (13) to transmit a signal to the hydraulic station (2), the hydraulic station (2) drives the telescopic hydraulic cylinder (7) to extend the cylinder rod, causing the truck bucket (402) to tip over toward the unloading area (3) to unload the ore.