Hydraulic mechanical arm chain type mining underground transportation box body loading and unloading device and control method thereof

Abstract

The invention relates to a hydraulic mechanical arm chain type mining underground transportation box body loading and unloading device and a control method thereof. The device comprises a hydraulic mechanical arm, a chain assembly and a modular transportation box body. The hydraulic mechanical arm realizes multi-degree-of-freedom movement through cooperative action of the vertical hydraulic cylinder and the horizontal hydraulic cylinder, and drives the chain assembly to complete hoisting, hoisting and lowering operations. The lock chain assembly is composed of a lock catch, a short lock chain, a lock hook and a long lock chain and is connected with the transportation box body, and stable and reliable hoisting is ensured. According to the device, the UWB and IMU fusion technology is adopted, high-precision positioning and posture tracking are achieved, and the alignment precision of the tail end of the mechanical arm and a transport box is optimized. According to the scheme, the overall rigidity and safety of the loading and unloading device are improved, the loading and unloading efficiency is improved through the manual locking design, the problem of lateral loading and unloading of the underground transportation box is solved, the loading and unloading efficiency is improved, the labor demand is reduced, and intelligent, safe and efficient mine construction is promoted.

Description

Technical Field

[0001] The present invention relates to the field of loading and unloading of underground mining transportation boxes, and particularly to a hydraulic manipulator chain type underground mining transportation box loading and unloading device and its control method. Background Art

[0002] Deeply integrating modern information technologies such as the Internet, big data, and artificial intelligence with the energy industry, for the coal industry, specific requirements for strengthening the construction of intelligent and safe and efficient mines, and improving the coal cross-regional transportation channels and the collection and distribution system are put forward.

[0003] Traditional underground loading and unloading mainly adopts the semi-artificial loading method. Workers use manual chain hoists to lift and load and unload transportation boxes to the lateral open space when the mine car is in a parked state. The investment in human resources is large, the working environment of workers is harsh, the labor intensity is high, and there are certain safety hazards. With the rapid development of the economy, the labor cost has also increased significantly. There is a phenomenon of difficult recruitment for such underground operation positions. The increase in labor costs and environmental protection requirements has also become an obstacle to the development of the coal industry. Therefore, researching an intelligent loading system to replace manual operations will become the future development trend and inevitable choice of intelligent coal yards. The purpose of the present invention is to propose a design of a pedestal type underground mining transportation box loading and unloading solution for underground lateral loading and unloading of transportation boxes, eliminating the underground labor of workers. It is a component of the standardized transportation loading system for materials in the coal mine industry and is part of the modern coal mine logistics system, participating in realizing the efficient, safe, and standardized transportation of materials, improving the coal mine production efficiency and reducing the logistics cost. Summary of the Invention

[0004] The task to be solved by the present invention is to design a hydraulic manipulator chain type underground mining transportation box loading and unloading device and its control method, which can unload the transportation box from the mine car and transport it to the target position of the box on the lateral open space when the mine car is in a parked state, and can adapt to the range deviation of the parked position of the mine car.

[0005] The technical solution adopted by the present invention to solve its engineering task is:

[0006] A hydraulic manipulator chain type underground mining transportation box loading and unloading device and its control method, the overall structure is composed of two hydraulic manipulators, a chain component, the top platform of the mine roadway, and a modular underground mining transportation box.

[0007] The hydraulic manipulator, such as Figure 2As shown in the figure, it is composed of a connecting piece, a vertical piston rod, a support frame, a vertical hydraulic cylinder, a horizontal hydraulic cylinder, a base, and a horizontal piston rod. The whole is fixed to the top of the mine passage. The vertical hydraulic cylinder and the vertical piston rod form a moving pair, the horizontal hydraulic cylinder and the horizontal piston rod form a moving pair, the support frame and the base form a rotating pair, and the support frame and the connecting piece form a rotating pair. By driving the vertical hydraulic cylinder and the horizontal hydraulic cylinder, the translation of the two moving pairs is realized, thereby driving the rotation of the two rotating pairs. The purpose of the connecting piece is to connect the support frame, connect the vertical piston rod, and connect the chain assembly, so as to connect the whole mechanism in series and meet the strength requirements of the mechanism. The support frame is the main carrier for the whole mechanism to bear the weight. The vertical hydraulic cylinder and the horizontal hydraulic cylinder are the power sources of the whole mechanism. The base is the main component for fixing the whole mechanism to the top of the mine passage. When the vertical hydraulic cylinder provides power to make the vertical piston rod longer, the connecting piece rotates counterclockwise; when the vertical piston rod becomes shorter, the opposite is true. When the horizontal hydraulic cylinder provides power to make the horizontal piston rod move, the support frame rotates clockwise; when the horizontal piston rod becomes shorter, the opposite is true. By rotating the two rotating pairs, the height of the chain assembly is adjusted, so as to meet the requirement of lifting boxes at different heights.

[0008] The chain assembly, such as Figure 3 As shown in the figure, it is composed of a lock catch, a short chain, a lock hook, and a long chain. The main purpose of the lock catch is to fasten the short chain and the long chain to the connecting piece, so as to connect the chain assembly with the connecting piece. The short chain is used to adapt to the distance between the corner fittings at the top of the box, and the long chain is used to adapt to the distance between the corner fittings at the bottom of the box. The lock hook is to hook the hook at the corner fitting opening to play a fixing role, so that the chain assembly can hold and move the box.

[0009] Due to the diversity of material types, different boxes are needed for transportation, but it is not suitable to design corresponding transportation boxes for each type of material. Therefore, first, the materials are classified according to their types, materials, shapes, sizes, and masses, etc., and then five types of modular mine transportation boxes are designed to be used in conjunction with special lifting tools.

[0010] A side-dumping separable modular mine transportation box is composed of a box body, a vehicle chassis, a hinge mechanism, unloading wheels, and a support frame. The structure is as Figure 7 shown. The box body part is composed of a hopper and a car door, which are connected by a hinge mechanism. The vehicle chassis is located below the hopper, and the hopper rotates around the hinge mechanism on the vehicle chassis. The unloading wheels are fixed on one side of the hopper to enable the hopper to obtain a 40° unloading angle. To ensure the side dumping of the box and realize the overall handling function of the box, the support frame structure is designed. The support frame is composed of basic structural frameworks such as corner columns, corner fittings, and side beams, all of which are standard parts of the same size. A slope strengthening beam is designed on the side of the support frame to ensure the pouring out of the goods during the side dumping process of the box.

[0011] An uncovered separable modular mining transport box can transport small stacked materials or oversize materials. The box design refers to the general container structure and the structure of a mining car box, and is composed of basic structural frameworks such as corner posts, corner fittings, side plates, bottom plates, cross beams, etc. The structure is as shown in Figure 8 shown. Corner posts are added at the four corners of the box to cooperate with the installation of corner fittings, which can effectively increase the structural stability. The distance between the length and the width is determined according to the hole spacing of the corner fittings, and the height needs to be determined according to the depth of the box volume. The mating corner fittings are the fixed parts of the twist locks and the box, with a standard size of 178x162x118mm. The installation method of the corner fittings refers to the installation of standard containers at the eight vertices of the box and can be welded by a carbon dioxide gas machine.

[0012] A double-door separable modular mining transport box. In order to quickly and conveniently load and unload special-shaped or large parts, a double-door transport box is designed on the basis of a general box. The box door hinge is installed on the corner post. Hinge bases are welded on the two end corner posts on the double-door side of the box, and the other end of the hinge is welded to the box door. The hinge selected is a container hinge to ensure the hinge strength. The structure is as shown in Figure 9 shown. The outer dimensions of the box door are designed to be half of the length of the side plate in the length direction, and space is left to ensure that the box doors do not interfere with each other when closed. The width is the distance from the top to the bottom cross beam of the box, and the thickness is the thickness of the side plate. There is a reinforcing rib structure on the outside. When the box door is closed, it is a standard general box.

[0013] An open separable modular mining transport box. Considering the situation when there are fixed requirements for the transported materials or the volume of the materials exceeds the box space, on the basis of the original standard transport box, the side plates connected to the corner posts are removed to design an open modular transport box. The structure is as shown in Figure 10 shown. The ropes for fixing the materials need to be tied to the box. Therefore, lugs (15) are added at both ends of each bottom cross beam. The lugs (15) are in the shape of a right triangle, and the two right sides are welded to the bottom cross beam and the corner post respectively. A hole with a diameter of 30mm is opened in the center of the lug (15) to facilitate the rope to pass through. The overall structure is as shown in the figure.

[0014] A gas-liquid separable modular mining transport box is composed of a tank body, a valve device and a support frame. The structure is as shown in Figure 11 shown. The main feature of the tank body is that its outer shape is cylindrical, and the internal space is a sealed tank body, which can be used to transport liquids, gases and other items. The valve device is arranged below the end of the tank body and is mainly composed of loading and unloading pipelines, safety accessories and an instrument safety monitoring system, etc. The support frame is located outside the tank body and is composed of corner fittings, struts and braces. The support frame part can play a good protective role for the tank body and the valve parts, preventing the tank body from being damaged or the medium from leaking due to being impacted or overturned during use due to sudden accidents.

[0015] For the control of the hydraulic robotic arm for loading, unloading and transporting the box, UWB base stations are installed at the four corners of the warehouse where it is located; a UWB tag and an IMU are installed on the robotic arm connecting piece (3); the UWB base station and the UWB tag are used for indoor positioning of the connecting piece (3), and combining with the IMU can improve the accuracy and robustness of the positioning and realize the tracking of the movement trajectory and attitude of the transported box.

[0016] The UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, the three-dimensional positioning of the transported box or other objects can be realized. At the same time, the IMU can provide the acceleration and angular velocity information of the transported box. By fusing these data of the UWB and the IMU through the extended Kalman filter algorithm, it is used to compensate for the movement and attitude changes in the UWB positioning, and the position, speed, acceleration and attitude of the object can be estimated in real time, thereby improving the stability and accuracy of the positioning.

[0017] For the specific pose positioning measurement of the connecting piece (3), as Figure 12 shown, first, the spatial position of the spreader is solved by UWB, and the formula is as follows:

[0018]

[0019] x, y, z - the position coordinates of the UWB base station;

[0020] t1, t2, t3, t4 - the time when each base station distributed at the four corners receives the signal sent by the UWB tag;

[0021] r1, r2, r3, r4 - the distances from each base station distributed at the four corners to the UWB tag.

[0022] When the connecting piece (3) hooks up the transported box and moves it towards the flatbed truck, the world coordinates of the transported box are obtained through the UWB algorithm, and the relative position between the flatbed truck and the transported box can be initially obtained. In order to further improve the positioning accuracy and robustness, the IMU sensor on the connecting piece (3) is used to return the acceleration of the spreader, and through the extended Kalman filter algorithm (EKF algorithm) for UWB / IMU data fusion, the optimal estimate of the position of the connecting piece (3) is obtained, and the algorithm process is as Figure 13 shown.

[0023] In terms of algorithm implementation, the accelerations [a x , a y measured by the IMU on the x and y axes of the connecting piece (3) are used as the input of the algorithm, and the position and velocity vectors [x t , y t , v x , v y measured by the UWB of the connecting piece (3) are used as the observation of the algorithm, that is, u t = [ax , a y T , Zt = [x t , y t , v x , v y T , the state vector of the model is

[0024] Prior estimate:

[0025]

[0026] where a rx , a ry are the components of the sensor acceleration after rotation on the global x and y:

[0027] a rx = a x cosθ - a y sinθ

[0028] a ry = a x sinθ - a y cosθ

[0029] Then there is:

[0030]

[0031] θ t+1 = θ t

[0032] Motion model representation:

[0033] X t+1 = FX t + Bu t

[0034] where:

[0035]

[0036] Measurement equation:

[0037]

[0038] Calculate the Kalman gain:

[0039]

[0040] Obtain the optimal state estimate:

[0041] x t = x t + K t (z - h(x​​t ))

[0042] A hydraulic robotic arm chain-type underground mine transportation box loading and unloading device and its control method. In the specific operation process, the hydraulic robotic arm transportation box loading and unloading plan is divided into two parts: loading the transportation box and unloading the transportation box.

[0043] Process of loading the transportation box: After the hydraulic robotic arm is started, the vertical piston rod and the horizontal piston rod are simultaneously pushed outwards, and the end of the robotic arm gradually moves to the upper middle position on the side of the transportation box. At this time, the operator needs to precisely adjust the extension lengths of the vertical hydraulic cylinder and the horizontal hydraulic cylinder to ensure that the latch at the end of the robotic arm connecting piece can accurately reach the predetermined position. Subsequently, manual intervention is required. The staff pulls the short chain and the long chain near the upper corner fitting of the transportation box to ensure that the locking hook can accurately lock the upper corner fitting of the transportation box. Then, manually insert the locking hook into the cavity of the corner fitting to complete the locking operation and ensure a firm connection between the transportation box and the hydraulic robotic arm. After the locking is completed, the vertical piston rod and the horizontal piston rod start to retract simultaneously but out of step. Under the traction of the short chain and the long chain, the transportation box is slowly lifted and gradually rises to directly above the transportation trolley platform. At this time, the operator needs to closely observe the rising process of the transportation box to ensure its smooth rise and avoid shaking or collision. When the transportation box reaches directly above the transportation trolley platform, the vertical piston rod and the horizontal piston rod continue to slowly retract, causing the transportation box to gently land on the transportation trolley platform. During the entire placement process, the operator needs to ensure accurate alignment between the transportation box and the transportation trolley platform to avoid position deviation. After the transportation box is stably placed on the transportation trolley platform, the staff removes the locking hook to release the connection between the transportation box and the hydraulic robotic arm. Finally, the hydraulic robotic arm returns to the initial position according to the preset program to complete the entire loading process.

[0044] Unloading process of the transportation box: After the hydraulic robotic arm starts, the latch at the end of the robotic arm connector begins to operate and gradually moves to the upper middle position on the side of the transportation box. At this time, the operator needs to intervene manually and tow the short chain and the long chain near the upper corner fitting of the transportation box to ensure that the locking hook can accurately lock the upper corner fitting of the transportation box. Then, manually insert the locking hook into the cavity of the corner fitting to complete the locking operation and ensure a firm connection between the transportation box and the hydraulic robotic arm. After locking, the vertical piston rod and the horizontal piston rod are simultaneously pushed outwards. Under the traction of the short chain and the long chain, the transportation box is slowly lifted and gradually rises to directly above the lateral open space of the track. At this time, the operator needs to closely observe the rising process of the transportation box to ensure its smooth ascent and avoid shaking or collision. When the transportation box reaches directly above the lateral open space of the track, the horizontal piston rod begins to slowly retract, causing the transportation box to land smoothly on the lateral open space of the track. During the entire placement process, the operator needs to ensure accurate alignment between the transportation box and the open space to avoid position deviation. After the transportation box is smoothly placed on the lateral open space of the track, manually remove the locking hook to release the connection between the transportation box and the hydraulic robotic arm. Finally, the hydraulic robotic arm returns to its initial position according to the preset program, completing the entire unloading process.

[0045] Advantages of the present invention compared with the existing technology: By introducing a hydraulic robotic arm and a locking hook configuration, the overall stiffness of the loading and unloading device is improved. The manual locking design of the locking hook module has higher loading and unloading efficiency. At the same time, the four-corner positioning of the locking hook solves the problems of tilting and toppling of the spreader and the transportation box. Using UWB integrated with IMU for global positioning and attitude tracking further optimizes the alignment accuracy. Under the mining execution standard, this solution uses a multi-degree-of-freedom mining hydraulic device for driving, and the designed special lock matches the modular transportation box, solving the actual engineering problem of lateral loading and unloading of the existing underground transportation box on the track, greatly improving the lateral loading and unloading efficiency of the underground transportation box, reducing labor requirements, and strengthening the construction of an intelligent, safe and efficient mine. Description of the Drawings

[0046] Figure 1 Overall schematic diagram of a hydraulic robotic arm chain type underground mining transportation box loading and unloading device and its control method;

[0047] Figure 2 Overall schematic diagram of the hydraulic robotic arm device;

[0048] Figure 3 Schematic diagram of the iron chain assembly;

[0049] Figure 4 Schematic diagram of the locking hook being locked;

[0050] Figure 5 Schematic diagram of the hydraulic robotic arm loading:

[0051] Figure 6 Flow chart of the process of loading and transporting the transport box

[0052] Figure 7 Flow chart of the process of unloading the transport box

[0053] Figure 8 A side-dumping separable modular mining transport box

[0054] Figure 9 An uncovered separable modular mining transport box

[0055] Figure 10 A double-door separable modular mining transport box

[0056] Figure 11 An open separable modular mining transport box

[0057] Figure 12 A gas-liquid separable modular mining transport box

[0058] Figure 13 Schematic diagram of the distance distribution between the tag and the base station

[0059] Figure 14 Schematic diagram of the process of the extended Kalman filter algorithm

[0060] In the figure: hydraulic manipulator (1), chain assembly (2), connecting piece (3), vertical piston rod (4), support frame (5), vertical hydraulic cylinder (6), horizontal hydraulic cylinder (7), base (8), horizontal piston rod (9), lock (10), short chain (11), lock hook (12), long chain (13). Specific implementation mode

[0061] The present invention will be further described in conjunction with the accompanying drawings.

[0062] A hydraulic manipulator chain-type underground mining transport box loading and unloading device and its control method, as Figure 1 shown, the overall structure is composed of a hydraulic manipulator (1), a chain assembly (2) and a modular mining transport box.

[0063] The hydraulic manipulator, as Figure 2As shown in the figure, it is composed of a connecting piece (3), a vertical piston rod (4), a support frame (5), a vertical hydraulic cylinder (6), a horizontal hydraulic cylinder (7), a base (8), and a horizontal piston rod (9). The whole is fixed to the top of the mine passage. The vertical hydraulic cylinder (6) and the vertical piston rod (4) form a sliding pair, the horizontal hydraulic cylinder (7) and the horizontal piston rod (9) form a sliding pair, the support frame (5) and the base (8) form a rotating pair, and the support frame (5) and the connecting piece (3) form a rotating pair. By driving the vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7), the translation of the two sliding pairs is realized, thereby driving the rotation of the two rotating pairs. The purpose of the connecting piece (3) is to connect the support frame (5), connect the vertical piston rod (4), and connect the chain assembly (2), so as to connect the whole mechanism in series and meet the strength requirements of the mechanism. The support frame (5) is the main carrier for the whole mechanism to bear the weight. The vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7) are the power sources of the whole mechanism. The base (8) is the main component for fixing the whole mechanism on the top of the mine passage. When the vertical hydraulic cylinder (6) provides power to make the vertical piston rod (4) longer, the connecting piece (3) rotates counterclockwise, and vice versa when the vertical piston rod (4) becomes shorter. When the horizontal hydraulic cylinder (7) provides power to make the horizontal piston rod (9), the support frame (5) rotates clockwise, and vice versa when the horizontal piston rod (9) becomes shorter. By rotating the two rotating pairs, the height of the chain assembly (2) is adjusted, so as to meet the requirement of lifting boxes at different heights.

[0064] The chain assembly (2), as Figure 3 shown, is composed of a lock catch (10), a short chain (11), a lock hook (12), and a long chain (13). The main purpose of the lock catch (10) is to fasten the short chain (11) and the long chain (13) to the connecting piece (3), so as to connect the chain assembly (2) with the connecting piece (3). The short chain (11) is to adapt to the distance between the corner fittings at the top of the box, and the long chain (13) is to adapt to the distance between the corner fittings at the bottom of the box. The lock hook (12) is to hook the hook at the corner fitting opening to play a fixing role, so that the chain assembly (2) can catch and move the box.

[0065] Due to the diversity of material types, different boxes are needed for transportation, but it is not suitable to design corresponding transportation boxes for each type of material. Therefore, first, after classifying according to the attributes such as the type, material, shape, size, and quality of the materials, five types of modular mine transportation boxes are designed for supporting use with special lifting tools.

[0066] A side-dumping separable modular mine transportation box is composed of a box body, a vehicle chassis, a hinge mechanism, unloading wheels, and a support frame. The structure is as Figure 7As shown in the figure. The box body part consists of a truck bed and a door, which are connected by a hinge mechanism. The chassis is located under the truck bed, and the truck bed rotates around the hinge mechanism on the chassis. The unloading wheel is fixed on one side of the truck bed, enabling the truck bed to obtain an unloading angle of 40°. To ensure the side unloading of the box body and realize the overall handling function of the box body, a support frame structure is designed. The support frame is composed of basic structural frameworks such as corner posts, corner fittings, and side beams, all of which are standard parts of the same size. A slope strengthening beam is designed on the side of the support frame to ensure the pouring out of the goods during the side unloading of the box body.

[0067] An uncovered separable modular mining transport box body can transport small piled materials or oversize materials. The design of the box body refers to the general container structure and the mining car box body structure, and is composed of basic structural frameworks such as corner posts, corner fittings, side plates, bottom plates, and cross beams. The structure is as Figure 8 shown. Corner posts are added at the four corners of the box body to cooperate with the installation of corner fittings, which can effectively increase the structural stability. The distance between the length and the width is determined according to the hole spacing of the corner fittings, and the height needs to be determined according to the depth of the box body volume. The cooperating corner fittings are the fixed parts of the twist lock and the box body, with a standard size of 178x162x118mm. The installation method of the corner fittings refers to the installation of standard containers at the eight vertices of the box body and can be welded by a carbon dioxide gas machine.

[0068] A double-door separable modular mining transport box body. In order to quickly and conveniently load and unload special-shaped or large parts of materials, a transport box body with double doors on one side is designed on the basis of a general box body. The box door hinge is installed on the corner post, and hinge bases are welded on the two end corner posts on the double-door side of the box body. The other end of the hinge is welded to the box door. The hinge selected is a container hinge, which ensures the hinge strength. The structure is as Figure 9 shown. The outer dimension of the box door is designed to be half of the length of the side plate in the length direction, and a space is left to ensure that the box doors do not interfere with each other when closed. The width is the distance from the top of the box body to the bottom cross beam, and the thickness is the thickness of the side plate. There is a reinforcing rib structure on the outside. When the box door is closed, it is a standard general box body.

[0069] An open separable modular mining transport box body. Considering the situation when there are fixed requirements for the transported materials or the volume of the materials exceeds the space of the box body, on the basis of the original standard transport box body, the side plates connected to the corner posts are removed to design an open modular transport box body. The structure is as Figure 10 shown. The ropes for fixing the materials need to be tied to the box body, so lugs (15) are added at both ends of each bottom cross beam. The lugs (15) are in the shape of a right triangle, and the two right sides are welded to the bottom cross beam and the corner post respectively. A hole with a diameter of 30mm is opened in the center of the lug (15) to facilitate the passing of the rope. The overall structure is as shown in the figure.

[0070] A gas-liquid separable modular mining transport box body consists of a tank body, a valve device and a support frame. The structure is asFigure 11 As shown in the figure. The main feature of the tank body is that its outer shape is cylindrical, and the internal space is a sealed tank body, which can be used to transport liquids, gases and other items. The valve device is arranged below the end of the tank body and mainly consists of a loading and unloading pipeline, safety accessories and an instrument safety monitoring system, etc. The support frame is located outside the tank body and consists of corner fittings, struts and braces. The support frame part can play a good protective role for the tank body and valve parts, preventing the tank body from being damaged or the medium from leaking due to being impacted or overturned during use due to sudden accidents.

[0071] For the control of the hydraulic manipulator for loading, unloading and transporting the box body, UWB base stations are installed at the four corners of the warehouse where it is located; UWB tags and IMUs are installed on the manipulator connecting piece (3); the indoor positioning of the connecting piece (3) is carried out using the UWB base station and the UWB tag, and combining with the IMU can improve the accuracy and robustness of the positioning and realize the tracking of the movement trajectory and attitude of the transport box body.

[0072] The UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, the three-dimensional positioning of the transport box body or other objects can be realized. At the same time, the IMU can provide the acceleration and angular velocity information of the transport box body. By fusing these data of the UWB and the IMU through the extended Kalman filter algorithm, it is used to compensate for the movement and attitude changes in the UWB positioning, and the position, speed, acceleration and attitude of the object can be estimated in real time, thereby improving the stability and accuracy of the positioning.

[0073] For the pose positioning measurement of the specific connecting piece (3), as Figure 12 shown, first, the spatial position of the spreader is calculated by UWB, and the formula is as follows:

[0074]

[0075] x, y, z - the position coordinates of the UWB base station;

[0076] t1, t2, t3, t4 - the time when each base station at the four corners receives the signal sent by the UWB tag;

[0077] r1, r2, r3, r4 - the distances from each base station at the four corners to the UWB tag.

[0078] When the connecting piece (3) hooks up the transport box body and moves it towards the flatbed truck, the world coordinates of the transport box body are obtained through the UWB algorithm, and the relative position between the flatbed truck and the transport box body can be initially obtained. In order to further improve the positioning accuracy and robustness, the IMU sensor on the connecting piece (3) is used to return the acceleration of the spreader, and through the extended Kalman filter algorithm (EKF algorithm) for UWB / IMU data fusion, the optimal estimate of the position of the connecting piece (3) is obtained. The algorithm process is as Figure 13 shown.

[0079] In terms of algorithm implementation, the accelerations of the connecting member (3) measured by the IMU on the x and y axes [a x , a y are used as the input of the algorithm, and the position and velocity vectors of the connecting member (3) measured by the UWB [x t , y t , v x , v y are used as the observations of the algorithm, that is, u t = [a x , a y T , Zt = [x t , y t , v x , v y T , and the state vector of the model is

[0080] Prior estimate:

[0081]

[0082] where a rx , a ry are the components of the sensor acceleration on the global x and y axes after rotation:

[0083] a rx = a x cosθ - a y sinθ

[0084] a ry = a x sinθ - a y cosθ

[0085] Then:

[0086]

[0087] θ t+1 = θ t

[0088] Motion model representation:

[0089] X t+1 = FX t + Bu t

[0090] Where:

[0091]

[0092] Measurement equation:

[0093] ​​

[0094] Calculate the Kalman gain:

[0095]

[0096] Obtain the optimal state estimate:

[0097] x t = x t + K t (z - h(x t ))

[0098] In terms of the specific operation process, the loading and unloading scheme of the hydraulic manipulator for transporting the box body is divided into two parts: loading the transport box body (14) and unloading the transport box body (14).

[0099] The process of loading the transport box body: Transfer the transport box body (14) from the track side to the transport trolley platform (15) on the track. The hydraulic manipulator (1) starts to operate, and the vertical piston rod (4) and the horizontal piston rod (9) are pushed out simultaneously. The end of the manipulator runs from the initial position to the upper middle side of the transport box body (14). Adjust the extension lengths of the vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7) until the end lock (10) of the connecting piece (3) reaches the specified position. Manually tow the short chain (11) and the long chain (13) until the locking hook (12) can lock the upper corner fitting of the transport box body (16), and manually snap the locking hook (12) into the cavity of the corner fitting to complete the locking. The vertical piston rod (4) and the horizontal piston rod (9) are retracted non-simultaneously. Under the simultaneous traction of the short chain (11) and the long chain (13), the transport box body (14) is lifted to directly above the transport trolley platform (15), and then the vertical piston rod (4) and the horizontal piston rod (9) are slowly retracted until the transport box body (14) is smoothly placed on the transport trolley platform. Manually remove the locking hook (12), and the hydraulic manipulator (1) returns to the initial position to complete the loading.

[0100] Process of unloading the transportation box body: For unloading the transportation box body (14) from the rail trolley platform (15) to the lateral rail open space (16). The hydraulic robotic arm (1) starts to operate. The end latch (10) of the robotic arm connecting piece (3) runs from the initial position to the upper middle side of the transportation box body (14). Manually tow the short chain (11) and the long chain (13) until the locking hook (12) can lock the upper corner fitting of the transportation box body (16), and manually snap the locking hook (12) into the cavity of the corner fitting to complete the locking. The vertical piston rod (4) and the horizontal piston rod (9) are pushed out simultaneously, and with the simultaneous traction of the short chain (11) and the long chain (13), the transportation box body (14) is lifted until it reaches directly above the lateral rail open space (16). Then slowly retract the horizontal piston rod (9) until the transportation box body (14) lands smoothly on the lateral rail open space (16). Manually remove the locking hook (12), and the hydraulic robotic arm (1) of the robotic arm returns to the initial position to complete the unloading.

Claims

1. A hydraulic mechanical arm chain type underground mining transport box loading and unloading device and a control method thereof, the overall structure of which is composed of a hydraulic mechanical arm (1), a chain assembly (2) and a modular mining transport box; The hydraulic mechanical arm is composed of a connecting piece (3), a vertical piston rod (4), a supporting frame (5), a vertical hydraulic cylinder (6), a horizontal hydraulic cylinder (7), a base (8), and a horizontal piston rod (9). The whole is fixed to the top of a mine passage. The vertical hydraulic cylinder (6) and the vertical piston rod (4) constitute a moving pair, the horizontal hydraulic cylinder (7) and the horizontal piston rod (9) constitute a moving pair, the supporting frame (5) and the base (8) constitute a rotating pair, and the supporting frame (5) and the connecting piece (3) constitute a rotating pair. By driving the vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7), the translation of the two moving pairs is realized, thereby driving the rotation of the two rotating pairs. The purpose of the connecting piece (3) is to connect the supporting frame (5), the vertical piston rod (4), and the connecting chain assembly ( 2), thereby connecting the entire mechanism in series and meeting the strength requirements of the mechanism. The support frame (5) is the main carrier for the entire mechanism to bear the weight. The vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7) are the power sources of the entire mechanism. The base (8) is the main component for fixing the entire mechanism on the top of the mine passage. The vertical hydraulic cylinder (6) provides power to lengthen the vertical piston rod (4), thereby causing the connecting piece (3) to rotate counterclockwise, and vice versa if the vertical piston rod (4) becomes shorter. The horizontal hydraulic cylinder (7) provides power to cause the horizontal piston rod (9), thereby causing the support frame (5) to rotate clockwise, and vice versa if the horizontal piston rod (9) becomes shorter. By rotating the two rotating pairs, the height of the chain assembly (2) is adjusted to meet the lifting requirements of boxes of different heights. The chain assembly (2) is composed of a lock buckle (10), a short chain (11), a lock hook (12), and a long chain (13). The main purpose of the lock buckle (10) is to buckle the short chain (11) and the long chain (13) on the connecting piece (3), so as to connect the chain assembly (2) and the connecting piece (3). The short chain (11) is adapted to the distance of the corner piece at the top of the box, and the long chain (13) is adapted to the distance of the corner piece at the bottom of the box. The lock hook (12) is used to clamp the hook at the corner piece opening to play a fixing role, so that the chain assembly (2) clamps the box and moves it. Due to the diversity of material types, different boxes are required for transportation, but it is not suitable to design a corresponding transportation box for each material. Therefore, firstly, the materials are classified according to their type, material, shape, size and quality, and five types of modular mining transportation boxes are designed to be used with special lifting equipment; A side-unloading detachable modular mining transport box consists of a box, a chassis, a hinge mechanism, an unloading wheel and a support frame. The box part consists of a bucket and a door, which are connected by a hinge mechanism. The chassis is located below the bucket, and the bucket rotates around the hinge mechanism on the chassis. The unloading wheel is fixed on one side of the bucket, so that the bucket obtains an unloading angle of 40°. In order to ensure the side unloading of the box and realize the overall handling function of the box, a support frame structure is designed. The support frame consists of basic structural frames such as corner columns, corner pieces, and side beams, which are all standard parts of uniform size. A slope reinforcement beam is designed on the side of the support frame to ensure that the goods are dumped out of the box during the side unloading process. A coverless, detachable, modular mining transport box can transport small stacked materials or oversized materials. The box design refers to the general container structure and mine car box structure, and is composed of corner columns, corner fittings, side panels, bottom plates, beams and other basic structural frames. Corner columns are added at the four corners of the box to match the installation of corner fittings, which can effectively increase the stability of the structure. The distance between the length and width is determined according to the spacing of the holes of the matching corner fittings, and the height needs to be determined according to the volume depth of the box. The matching corner fittings are the fixing parts of the twist lock and the box, and the standard size is 178x162x118mm. The installation method of the corner fittings refers to the standard container and is installed on the eight vertices of the box, which can be welded by a carbon dioxide gas machine; A double-door detachable modular mining transport box is designed on one side of a general box for fast and convenient loading and unloading of special-shaped or large materials. The box door hinge is installed on the corner column. The hinge base is welded on the two end corner columns on one side of the double door of the box. The other end of the hinge is welded to the box door. The hinge is selected as a container hinge to ensure the hinge strength. The box door is designed to have a length direction of half the length of the side plate, and space is left to ensure that the box doors do not interfere with each other when closed. The width is the distance from the top of the box to the bottom beam, the thickness is the thickness of the side plate, and there is a reinforcing rib structure on the outside. When the box door is closed, it is a standard general box; An open, detachable, modular mining transport box is designed. Considering the situation that there are fixed requirements for transported materials or the volume of materials exceeds the space of the box, the side panels connected to the corner columns are removed on the basis of the original standard transport box. The ropes for fixing the materials need to be tied to the box, so ear plates (15) are added at both ends of each bottom plate cross beam. The ear plate (15) is in the shape of a right triangle, and the two right-angled sides are respectively welded to the bottom plate cross beam and the corner column. The center of the ear plate (15) is provided with a hole with a diameter of 30 mm to facilitate the rope to pass through. A gas-liquid detachable modular mining transport box consists of a tank body, a valve device and a support frame. The main feature of the tank body is that it is cylindrical in shape and has an internal space that is a closed tank body, which can be used to transport liquids, gases and other items. The valve device is arranged below the end of the tank body and is mainly composed of loading and unloading pipelines, safety accessories and instrument safety monitoring systems. The support frame is located outside the tank body and is composed of corner pieces, pillars and struts. The support frame can provide good protection for the tank body and valve components to prevent the tank body from being damaged or leaking the medium due to impact or overturning due to sudden accidents during use.

2. According to claim 1, a hydraulic mechanical arm chain type mining underground transport box loading and unloading device and its control method are characterized in that: In the sensing control of the hydraulic mechanical arm loading and unloading the transport box, UWB base stations are installed at the four corners of the warehouse; UWB tags and IMUs are installed on the mechanical arm connector (3); the UWB base station and UWB tags are used to perform indoor positioning of the connector (3), and combined with the IMU, the positioning accuracy and robustness can be improved, and the motion trajectory and posture of the transport box can be tracked; UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, the three-dimensional positioning of transport boxes or other objects can be achieved. At the same time, IMU can provide acceleration and angular velocity information of the transport box. The extended Kalman filter algorithm is used to fuse these data of UWB and IMU to compensate for the movement and attitude changes in UWB positioning. The position, velocity, acceleration and attitude of the object can be estimated in real time, thereby improving the stability and accuracy of positioning. Regarding the specific connection part (3) posture positioning measurement, the spatial position of the sling is first calculated by UWB, as shown below: x, y, z——UWB base station location coordinates; t1, t2, t3, t4——The time when the base stations distributed in the four corners receive the signal sent by the UWB tag; r1, r2, r3, r4——the distance between each base station distributed in four corners and the UWB tag; When the connecting piece (3) hooks up the transport box and moves it toward the flatbed truck, the world coordinates of the transport box are obtained through the UWB algorithm, and the relative position of the flatbed truck and the transport box can be preliminarily obtained. In order to further increase the positioning accuracy and robustness, the IMU sensor on the connecting piece (3) is used to return the acceleration of the sling, and the UWB / IMU data is fused through the extended Kalman filter algorithm (EKF algorithm) to obtain the optimal estimate of the position of the connecting piece (3); In algorithm implementation, IMU measures the acceleration of the x and y axes of the connecting part (3) [a x ,a y ] As the input of the algorithm, the position and velocity vector [x t ,y t ,v x ,v y ] as the observation of the algorithm, that is, u t =[a x ,a y ] T ,Zt=[x t ,y t ,v x ,v y ] T , the state vector of the model is A priori estimate: where a rx ,a ry The acceleration of the sensor is rotated and then the global x and y components are: a rx =a x cosθ-a y sinθ a ry =a x sinθ-a y cosθ Then we have: i t+1 =θ t The motion model represents: X t+1 =FX t +Bu t in: Measurement equation: Calculate the Kalman gain: Get the optimal state estimate: x t =x t +K t (z-h(x t ))。 3. According to claim 1, a hydraulic mechanical arm chain type mining underground transport box loading and unloading device and its control method are characterized in that: In terms of specific operation procedures, the hydraulic mechanical arm transport box loading and unloading scheme is divided into two parts: loading the transport box (14) and unloading the transport box (14); Loading and transporting box process: In order to transfer the transporting box (14) from the side of the track to the flat ground (16) to the transporting trolley platform (15) on the track, the hydraulic mechanical arm (1) starts to operate, the vertical piston rod (4) and the horizontal piston rod (9) are pushed out at the same time, and the end of the mechanical arm moves from the initial position to the middle and upper part of the side of the transporting box (14), and the extension length of the vertical hydraulic cylinder (6) and the horizontal hydraulic cylinder (7) are adjusted until the end lock buckle (10) of the connecting piece (3) reaches the specified position, and the short chain (11) and the long chain (13) are manually pulled until the lock hook (12) can be The corner piece on the transport box (16) is locked, and the lock hook (12) is manually inserted into the cavity of the corner piece to complete the locking. The vertical piston rod (4) and the horizontal piston rod (9) are simultaneously and asynchronously retracted. The transport box (14) is lifted to the top of the transport trolley platform (15) under the simultaneous traction of the short chain (11) and the long chain (13). The vertical piston rod (4) and the horizontal piston rod (9) are then slowly retracted until the transport box (14) falls smoothly on the transport trolley platform. The lock hook (12) is manually removed, and the mechanical arm hydraulic mechanical arm (1) returns to the initial position to complete the loading. Unloading process of transport box: for unloading the transport box (14) from the rail trolley platform (15) to the open space (16) on the side of the track, the hydraulic mechanical arm (1) starts to operate, the hydraulic mechanical arm (1) starts to operate, the end lock (10) of the mechanical arm connecting part (3) moves from the initial position to the middle and upper part of the side of the transport box (14), and the short chain (11) and the long chain (13) are manually pulled until the lock hook (12) can lock the upper corner piece of the transport box (16), and the lock hook (12) is manually pulled. 2) The transport box (14) is lifted until it reaches the upper part of the track side space (16), and then the horizontal piston rod (9) is slowly retracted until the transport box (14) falls smoothly on the track side space (16). The lock hook (12) is manually removed, and the mechanical arm hydraulic mechanical arm (1) returns to the initial position to complete the unloading.

Images