Shoveling and transporting integrated split ant-shaped track transportation system and method

Abstract

The invention discloses a shoveling and transporting integrated split ant-shaped track transportation system and method, and belongs to the field of mine transportation. The shoveling and transporting integrated split ant-shaped rail transportation system comprises a rail system which is laid along an inclined transportation roadway and extends to a working face area at the front end of the transportation roadway, a transportation unit which walks along the rail system and an integrated working device which is arranged near an ore stacking area of the working face area. The invention further discloses a transportation method, and small-amount, high-frequency and continuous transportation and unmanned operation are achieved through mutual cooperation of the integrated operation device, the variable-structure shoveling and transporting container and the track system. The machine has multiple purposes, the working efficiency is improved, and the occupied area space of a working face is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of mine transportation, and particularly relates to a shovel-truck integrated split ant line rail transportation system and method. BACKGROUND

[0002] After ore blasting, the ore on the working face needs to be loaded and transported to other areas, and then lifted to the ground surface by vehicles or shafts.

[0003] The current operation process of underground mines is as follows: after the working face is blasted, the shovel truck enters the working face in the forward direction for loading, and then exits to the flat roadway error point in reverse, cooperates with the mine truck to complete loading and unloading, and finally the mine truck transports the ore to the downward middle section shaft opening for unloading. This mode has the following problems in actual application: (1) The conventional drilling jumbo and shovel truck are large in size. Limited by the size of the roadway, only one device (drilling jumbo or shovel truck) can be accommodated in the working face at the same time, and the drilling, shoveling and other processes need to be performed in shifts in turn. Moreover, when the processes are transferred, the previous device needs to be completely withdrawn before the next device can enter, which is low in efficiency.

[0004] (2) After the shovel truck enters in the forward direction for loading, it needs to exit to the flat roadway error point in reverse, and then unload to the mine truck, and then be transported to the middle section roadway shaft opening by the mine truck. Due to the need of underground engineering design and mining cost, the longest extension from the working face to the flat roadway opening is more than 300M, and the shovel truck needs to reverse for a long distance, which is not only slow but also has safety hazards.

[0005] (3) In order to adapt to low mine tunnels, the driver's cab of the current shovel truck and mine truck is arranged on the left side of the vehicle body, and the height is generally not more than the tire of the device. The front and rear blind areas are extremely large. Combined with the curved roadway planning and noisy sound environment in the underground mine, mechanical collision accidents that injure people often occur during transportation.

[0006] If the size of the roadway is increased, the cost of early exploration and storage will be significantly increased, which is unacceptable for high-value and low-content mines such as gold mines. SUMMARY

[0007] The present application proposes a shovel-truck integrated split ant line rail transportation system and method, which aims to solve the problems of low working efficiency and safety hazards in the transportation process of the existing shovel truck and mine truck due to the limitation of the roadway.

[0008] The technical scheme of the present application is as follows: The application discloses a shovel-hauler integrated split ant track transportation system, which comprises a track system and a transportation unit walking along the track system. The transportation unit comprises a transportation chassis and a variable-structure shovel-hauler container placed on the transportation chassis and capable of being separated from the transportation chassis. The shovel-hauler integrated split ant track transportation system further comprises an integrated operation device arranged near a mineral deposit area in the operation area.

[0009] As a further improvement of the shovel-hauler integrated split ant track transportation system, an upward driving mechanism for lifting the transportation unit upwards is arranged along the transportation roadway.

[0010] As a further improvement of the shovel-hauler integrated split ant track transportation system, the upward driving mechanism comprises a first driving sprocket, a first driven sprocket, a first transportation driving chain connected between the first driving sprocket and the first driven sprocket and a first driving device for driving the first driving sprocket to rotate. The rotation axes of the first driving sprocket and the first driven sprocket are both arranged perpendicularly to the ground of the transportation roadway. A reverse T-shaped hook is arranged at the bottom of the first transportation driving chain, and the reverse T-shaped hook is used for being connected with a hooking mechanism on the transportation unit. For the transportation unit driving along the upward transportation track, the reverse T-shaped hook above the transportation unit drives the transportation unit to move along the upward transportation track to the operation area through the hooking mechanism. For the transportation unit driving along the downward transportation track, the hooking mechanism drives the first transportation driving chain to rotate through the reverse T-shaped hook above the transportation unit.

[0011] As a further improvement of the said shovel-loader integrated split ant track transportation system: the track system further comprises an uplink circular arc track, a downlink circular arc track and a transverse circular arc track located in the working face area; The lower end of the uplink circular arc track is connected with the uplink transportation track located on the right side, and the upper end is connected with the left end of the transverse circular arc track through a turnout, and a loading front reversing area is arranged at the junction after the intersection. The lower end of the downlink circular arc track is connected with the downlink transportation track located on the left side, and the upper end is connected with the right end of the transverse circular arc track through a turnout, and a loading rear reversing area is arranged at the junction after the intersection. The middle part of the transverse circular arc track is curved towards the direction of the transportation tunnel, and the intermediate waiting area is arranged.

[0012] As a further improvement of the said shovel-loader integrated split ant track transportation system: the uplink circular arc track and the transverse circular arc track are respectively provided with auxiliary driving mechanisms for driving the transportation unit to move; The auxiliary driving mechanism comprises a second driving sprocket, a second driven sprocket, a second transportation driving chain connected between the second driving sprocket and the second driven sprocket, and a second driving device for driving the second driving sprocket to rotate; The rotation axes of the second driving sprocket and the second driven sprocket are both arranged parallel to the ground; The bottom of the second transportation driving chain is provided with an L-shaped hook, which is used to be connected with the hitching mechanism.

[0013] As a further improvement of the said shovel-loader integrated split ant track transportation system: a vertical plate is arranged on the transportation chassis, and the hitching mechanism is mounted on the vertical plate, and the hitching mechanism comprises a sliding rod, a spring, a limiting plate, a second rotating wheel, an intermediate connecting rod and an L-shaped rotating plate; The sliding rod passes through the limiting plate fixed on the vertical plate and is in sliding fit with the limiting plate to realize the up-down movement relative to the vertical plate; The intermediate connecting rod and the L-shaped rotating plate are both two groups and are arranged symmetrically left and right, the inner ends of the two groups of intermediate connecting rods are rotatably connected with the upper end of the sliding rod, the outer ends are rotatably connected with the lower end of the vertical part of the corresponding L-shaped rotating plate, and the middle parts of the L-shaped rotating plates are rotatably connected with the vertical plate; The spring is sleeved on the sliding rod and is used to push the sliding rod downward, so that the sliding rod pulls the two groups of L-shaped rotating plates to rotate through the intermediate connecting rod, and then the horizontal parts at the upper ends of the two L-shaped rotating plates are in contact with each other to realize closing; The second rotating wheel is installed at the lower end of the sliding rod.

[0014] As a further improvement of the said shovel-loader integrated split ant track transportation system: a hydraulic support leg is further arranged at the side of the moving chassis.

[0015] As a further improvement of the said shovel-carry integrated split ant track transportation system: the said lifting mechanical arm further comprises a slewing base, a swing arm, a telescopic cylinder, a first rotary joint, a second rotary joint and a third rotary joint; The slewing base is installed on the mobile chassis, and the upper end of the slewing base can rotate horizontally relative to the mobile chassis; the lower end of the swing arm is rotationally connected to the upper end of the slewing base to realize the pitching swing relative to the slewing base; the upper end of the swing arm is connected to the cylinder body of the telescopic cylinder, and the piston rod end of the telescopic cylinder is connected to the said clamping mechanism through the first rotary joint, the second rotary joint and the third rotary joint in sequence; the rotation axis of the first rotary joint coincides with the axis of the telescopic cylinder, and the axes of the second rotary joint and the third rotary joint are perpendicular to each other and to the rotation axis of the first rotary joint.

[0016] As a further improvement of the said shovel-carry integrated split ant track transportation system: the said first compartment is further connected with a deformation auxiliary mechanism, which comprises a swing rod and a first rotary wheel; the upper end of the swing rod is rotationally connected to the side plate of the first compartment, and the rotation axis of the rotational connection is parallel to the axis of the hinge; the first rotary wheel is installed at the lower end of the swing rod, and the rotation axis of the first rotary wheel is perpendicular to the axis of the hinge; The mobile chassis is further provided with an upper convex deformation track and a lower concave deformation track, the upper convex deformation track is located at the rear side of the lower concave deformation track and is lower than the lower concave deformation track; the two lifting mechanical arms are located at the two sides of the upper convex deformation track; The upper convex deformation track is arranged along the front-rear direction, and the top surface of the upper convex curved shape is used to contact the first rotary wheel; The lower concave deformation track is arranged along the front-rear direction, and the bottom surface of the lower convex curved shape is used to contact the first rotary wheel.

[0017] The application further discloses a transportation method based on the said shovel-carry integrated split ant track transportation system, and the steps comprise: Step 1: the integrated working device completes the coarse crushing and gathering work of the hydraulic blasting collapsed ore on the working surface by the breaking hammer, so that the ore is gathered in the ore stacking area; Step 2: the transportation unit passes through the ascending transportation track and the ascending circular arc track in sequence to reach the loading front reversing area, then the turnout at the left end of the transverse circular arc track acts, and the transportation unit in the loading front reversing area reaches the intermediate waiting area along the transverse circular arc track; Step 3: The two lifting mechanical arms of the integrated operation device respectively clamp the cylinders at the two ends of the transformable scraper container of the transport unit in the intermediate waiting area, lift the transformable scraper container in the folded state from the transport chassis, and then move forward to the folding state work station; the two lifting mechanical arms continue to move the transformable scraper container forward, so that the top surface of the upper convex deformation track is in contact with the first rotating wheel, and at the same time, the two lifting mechanical arms control the relative rotation of the first compartment and the second compartment to unfold the transformable scraper container until the transformable scraper container reaches the unfolded state work station in front, at which time the transformable scraper container is changed to the unfolded state, and the openings of the first compartment and the second compartment are upward; then the two lifting mechanical arms continue to move the transformable scraper container forward while rotating the angle of the transformable scraper container until reaching the front-leaning preparation work station in front, at which time the openings of the first compartment and the second compartment are turned forward; then the two lifting mechanical arms continue to move the transformable scraper container forward to the loading operation work station in front of the moving chassis, and through forward and backward movement, the ore is scooped into the first compartment and the second compartment; Step 4: The two lifting mechanical arms rotate the angle of the transformable scraper container to turn the openings of the first compartment and the second compartment upward, and then move the transformable scraper container backward so that the bottom surface of the lower concave deformation track is in contact with the first rotating wheel, and at the same time, the two lifting mechanical arms control the relative rotation of the first compartment and the second compartment to fold the transformable scraper container, and then place the transformable scraper container in the folded state on the transport chassis in the intermediate waiting area; Step 5: The transport unit loaded with ore in the intermediate waiting area reaches the loading reversing area along the transverse circular arc track, and then the turnout at the right end of the transverse circular arc track acts, the transport unit in the loading reversing area enters the downward transport track along the downward circular arc track, and the ore is transported to the destination; A plurality of transport units perform continuous loading and transporting operations according to steps 2 to 5 until the ore transportation in the ore stacking area is completed.

[0018] Compared with the prior art, the present application has the following positive effects: 1. The integrated operation device of the present application is provided with a crushing hammer, which can coarsely crush large pieces of ore produced by blasting, and at the same time, the transformable scraper container can be controlled by the lifting mechanical arm to complete the loading operation, so that one machine has multiple functions, improves the operation efficiency, and reduces the occupation of the operation area space.

[0019] 2. The track transportation method is used instead of the traditional mine truck, which can quickly transport in a limited size tunnel. Moreover, other operation personnel can judge the current risk operation area according to the track, as long as the operation is in compliance, accidents can be avoided.

[0020] 3. The variable-configuration shovel container has two states: unfolded and closed. When unfolded, it can be used as a bucket for loading and unloading operations. When closed, it becomes a closed transport container that can be quickly transported along a track system, preventing spillage. Furthermore, the lifting robotic arm can quickly switch between the two states, further improving efficiency.

[0021] 4. This invention, through the coordinated operation of an integrated working device, a variable-structure shovel and transport container, and a track system, not only enables small-volume, high-frequency, continuous transport, but also allows for simultaneous rock drilling, blasting, and transport operations. Furthermore, through remote control and other means, it can also achieve unmanned shoveling and transport operations.

[0022] 6. The upward part of the first transport drive chain in the upward drive mechanism can drive the transport unit to move towards the working face, while the downward part can attach a transport unit fully loaded with ore. Thus, the gravity of the ore is used to drive the first transport drive chain to operate, which reduces the power requirements of the first drive device, reduces energy consumption, reduces the heat generation of underground equipment, and alleviates the pressure on underground cooling and ventilation.

[0023] 7. This invention also employs a mechanically opening and closing hook-up mechanism. The two L-shaped rotating plates at the top of this mechanism form a closed hook ring, which can be hooked with an inverted T-shaped hook or an L-shaped hook to achieve power transmission. When the hook reaches a position close to the sprocket, a protrusion is provided to lift the sliding rod, which opens the hook-up mechanism, thereby preventing interference between the turning hook and the hook-up mechanism. Attached Figure Description

[0024] Figure 1 This is a layout diagram of the integrated shovel and transport split-type ant-like track transport system of the present invention; Figure 2 This is a side view diagram of two transport units traveling uphill and downhill respectively along a sloping roadway. Figure 3 for Figure 2 A magnified view of part A in the middle; Figure 4 This is a schematic diagram of the auxiliary drive mechanism; Figure 5 This is a schematic diagram of the hook-up mechanism when it is closed. Figure 6 This is a schematic diagram of the structure when the mounting mechanism is deployed; Figure 7 This is a schematic diagram of the integrated operating device; Figure 8 for Figure 7 A magnified view of part B in the middle section; Figure 9 This is a schematic diagram of the modified shovel and transport container in the closed state. Figure 10 is a structural schematic view of the variable structure scraper container when starting to unfold; Figure 11 is Figure 10 is a partial enlarged view of part C; Figure 12 is a structural schematic view of the variable structure scraper container when in an unfolded state; Figure 13 is a structural schematic view of the variable structure scraper container when starting to fold; Figure 14 is Figure 13 is a partial enlarged view of part D.

[0025] The reference signs include: 1, ore deposit area; 2, integrated working device; 3, transverse circular arc track; 4, upward circular arc track; 5, downward circular arc track; 6, downward transport track; 7, upward transport track; 8, transport unit; 9, loading front reversing area; 10, loading rear reversing area; 11, intermediate waiting area; 12, first transport driving chain; 13, first driven sprocket; 14, first driving sprocket; 15, inverted T-shaped hook; 16, transport chassis; 17, hooking mechanism; 18, first compartment; 19, second compartment; 20, deformation auxiliary mechanism; 21, vertical plate; 22, swing rod; 23, first rotating wheel; 24, hinge; 25, cylinder; 26, second driven sprocket; 27, second driving sprocket; 28, L-shaped hook; 29, second transport driving chain; 30, sliding rod; 31, spring; 32, limiting plate; 33, second rotating wheel; 34, intermediate connecting rod; 35, L-shaped rotating plate; 36, protrusion; 37, moving chassis; 38, hydraulic outrigger; 39, breaking hammer; 40, lifting mechanical arm; 41, upward convex deformation track; 42, folding state station; 43, unfolded state station; 44, downward concave deformation track; 45, front inclination preparation station; 46, shovel loading working station; 47, rotary base; 48, swing arm; 49, telescopic oil cylinder; 50, first rotating joint; 51, second rotating joint; 52, third rotating joint; 53, clamping mechanism. DETAILED DESCRIPTION

[0026] The technical solutions of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all.

[0027] As Figure 1 , a scraper integrated split ant track transport system, comprising a track system laid along an inclined transport tunnel and extending to a working face area at the front end of the transport tunnel, a transport unit 8 walking along the track system, and an integrated working device 2 arranged near the ore deposit area 1 in the working face area.

[0028] The track system comprises a middle waiting area 11 arranged in the working face area, and comprises an uplink transport track 7 and a downlink transport track 6 arranged in parallel along the transport lane, and an uplink circular arc track 4, a downlink circular arc track 5 and a transverse circular arc track 3 arranged in the working face area.

[0029] Three steel rails are arranged in parallel in the transport lane, the middle steel rail and the left steel rail form the downlink transport track 6, and the right steel rail forms the uplink transport track 7.

[0030] The lower end of the uplink circular arc track 4 is connected with the uplink transport track 7 on the right side, and the upper end is connected with the left end of the transverse circular arc track 3 through a turnout, and a loading-before-reversing area 9 is arranged at the junction after the intersection.

[0031] The lower end of the downlink circular arc track 5 is connected with the downlink transport track 6 on the left side, and the upper end is connected with the right end of the transverse circular arc track 3 through a turnout, and a loading-after-reversing area 10 is arranged at the junction after the intersection.

[0032] The turnout is a common technical means in the field of track transportation, so its structure is not described.

[0033] The intersection of the uplink circular arc track 4 and the downlink circular arc track 5 is disconnected to ensure that the wheels of the transport unit 8 can pass normally. Since the wheels on the left and right sides of the transport unit 8 do not pass the disconnected position at the same time, the gap caused by the disconnection will not cause derailment.

[0034] The middle part of the transverse circular arc track 3 is curved towards the direction of the transport lane, and the middle waiting area 11 is arranged therein. Since the middle waiting area 11 is at the lowest point of the transverse circular arc track 3, when the turnout is opened, the transport unit 8 in the loading-before-reversing area 9 will automatically move to the middle of the track under the action of gravity, and then stop in the middle waiting area 11 through reciprocating yawing.

[0035] As shown in Figure 2 and 3 , the transport unit 8 comprises a transport chassis 16 and a variable-structure scraper container placed on the transport chassis 16 and capable of being separated from the transport chassis 16.

[0036] The transport chassis 16 can be powered (for example, the rotation of the wheels is driven by an engine or an electric motor, and the driving is controlled by a driver in real time or by remote control), or can be unpowered.

[0037] In this embodiment, the transport chassis 16 is unpowered, so an external driving mechanism is needed to drive the transport unit 8 to move. The driving mechanism comprises an uplink driving mechanism arranged along the transport lane for lifting the transport unit 8 to move upward, and an auxiliary driving mechanism arranged at the uplink circular arc track 4 and the transverse circular arc track 3, respectively.

[0038] As Figures 1 to 3 The uplink driving mechanism comprises a first driving sprocket 14, a first driven sprocket 13, a first transport driving chain 12 connected between the first driving sprocket 14 and the first driven sprocket 13, and a first driving device driving the first driving sprocket 14 to rotate. The first driving device is preferably an electric motor.

[0039] The rotation axes of the first driving sprocket 14 and the first driven sprocket 13 are both perpendicular to the ground of the transport tunnel, so that the moving directions of the chain parts on both sides are opposite, corresponding to uplink and downlink respectively.

[0040] The bottom of the first transport driving chain 12 is provided with a T-shaped hook 15, which is used to connect with the hooking mechanism 17 on the transport unit 8. For the transport unit 8 running along the uplink transport track 7, the T-shaped hook 15 above it drives the transport unit 8 to move along the uplink transport track 7 to the working area through the hooking mechanism 17. For the transport unit 8 running along the downlink transport track 6, the hooking mechanism 17 on it drives the first transport driving chain 12 to run through the T-shaped hook 15 above, so as to drive the transport unit 8 on the other side to uplink by gravity, reducing the load of the first driving device.

[0041] As Figure 4 The auxiliary driving mechanism comprises a second driving sprocket 27, a second driven sprocket 26, a second transport driving chain 29 connected between the second driving sprocket 27 and the second driven sprocket 26, and a second driving device driving the second driving sprocket 27 to rotate. The difference is that the rotation axes of the second driving sprocket 27 and the second driven sprocket 26 are both parallel to the ground, and only the chain part running to the bottom is used to drive the transport unit 8 to walk. Specifically, the bottom of the second transport driving chain 29 is provided with an L-shaped hook 28, which is used to connect with the hooking mechanism 17 on the transport unit 8.

[0042] Because the chain needs to follow the sprocket to turn when it runs to the position close to the sprocket, the hooking mechanism 17 needs to be designed to be openable, so as to be timely unhooked from the hook and avoid interference collision.

[0043] As Figure 5 And Figure 6The mounting mechanism 17 is installed on the upright plate 21 of the transport chassis 16 and includes a sliding rod 30, a spring 31, a limiting plate 32, a second rotating wheel 33, an intermediate connecting rod 34, and an L-shaped rotating plate 35. The sliding rod 30 passes through and slides with the limiting plate 32 fixed on the upright plate 21 to achieve vertical movement relative to the upright plate 21. The intermediate connecting rod 34 and the L-shaped rotating plate 35 are in two sets, symmetrically arranged. The inner ends of both sets of intermediate connecting rods 34 are rotatably connected to the upper end of the sliding rod 30, and the outer ends are rotatably connected to the lower end of the vertical portion of the corresponding L-shaped rotating plate 35. The middle portions of the L-shaped rotating plates 35 are rotatably connected to the upright plate 21. The spring 31 is fitted onto the sliding rod 30 and is used to push the sliding rod 30 downwards, causing the sliding rod 30 to pull the two sets of L-shaped rotating plates 35 to rotate via the intermediate connecting rod 34, thereby causing the horizontal portions of the upper ends of the two L-shaped rotating plates 35 to contact each other and close. The second rotating wheel 33 is installed at the lower end of the sliding rod 30. When the transport unit 8 moves to a position close to the sprocket, the pre-fixed protrusion 36 (with a sloping top) on the ground will lift the sliding rod 30 via the second rotating wheel 33. The sliding rod 30 will then drive the two L-shaped rotating plates 35 to rotate via the two intermediate connecting rods 34. Figure 6 As shown, at this time, the closed top of the two L-shaped rotating plates 35 will open, thus disengaging from the hook. After disengaging, the transport unit 8 will continue to move forward under the action of inertia, and after passing the protrusion 36, the hooking mechanism 17 will automatically close again under the action of the spring 31. At this time, the hook on the next section of the upward drive mechanism or auxiliary drive mechanism will engage with the already closed hooking mechanism 17, driving the transport unit 8 to continue moving.

[0044] Since the tunnel is a slope, all the downward areas do not require a drive mechanism to move the transport unit 8; the transport unit 8 will move automatically under the action of gravity.

[0045] Furthermore, such as Figure 9 and Figure 10 The variable-structure shovel container includes a first compartment 18 and a second compartment 19 connected to each other at their inner bottom ends by a hinge 24. Cylindricals 25 are welded to the outer ends of the first compartment 18 and the second compartment 19, respectively. The first compartment 18 and the second compartment 19 can rotate relative to each other via the hinge 24, thus achieving both closed and open states. Figure 9 When the variable-configuration shovel container is in the closed state, the openings of the first compartment 18 and the second compartment 19 are opposite to each other and interlock to form a closed transport container. The side panels of the first compartment 18 and the second compartment 19 have overlapping areas, providing better sealing and preventing leakage. Figure 12When the variable configuration scraper container is in the unfolded state, the openings of the first compartment 18 and the second compartment 19 are towards the same side, forming an open loading container, and the loading operation can be realized by moving the variable configuration scraper container.

[0046] As Figure 7 , the integrated working device 2 comprises a tracked mobile chassis 37, the front end of the mobile chassis 37 is provided with a breaking hammer 39, and the rear end is provided with two left and right lifting mechanical arms 40. The side of the mobile chassis 37 is also provided with a hydraulic support leg 38, which can stably support the integrated working device 2 at a fixed position. In addition to breaking large blocks of ore for easy loading, the breaking hammer 39 can also be used to adjust the level of the roadway (normal excavation will cause the ground to rise slightly due to the thickness of the rock wall itself, so the breaking hammer needs to be used to adjust the horizontal plane, also called bottoming operation).

[0047] As Figure 8 , the lifting mechanical arm 40 comprises a rotary base 47, a swing arm 48, a telescopic oil cylinder 49, a first rotary joint 50, a second rotary joint 51, a third rotary joint 52, and a clamping mechanism 53 at the end. The rotary base 47 is installed on the mobile chassis 37, and the upper end of the rotary base 47 can rotate horizontally relative to the mobile chassis 37. The lower end of the swing arm 48 is connected with the upper end of the rotary base 47 to realize the pitching swing relative to the rotary base 47. The upper end of the swing arm 48 is connected with the cylinder body of the telescopic oil cylinder 49, and the piston rod end of the telescopic oil cylinder 49 is connected with the clamping mechanism 53 through the first rotary joint 50, the second rotary joint 51 and the third rotary joint 52 in turn. The rotary axis of the first rotary joint 50 coincides with the axis of the telescopic oil cylinder 49, the axes of the second rotary joint 51 and the third rotary joint 52 are perpendicular to each other and perpendicular to the rotary axis of the first rotary joint 50. The horizontal rotation of the rotary base 47, the pitching swing of the swing arm 48 and the telescopic movement of the telescopic oil cylinder 49 can provide three degrees of freedom, so that the clamping mechanism 53 at the end can reach any position in space, and the first rotary joint 50, the second rotary joint 51 and the third rotary joint 52 further provide three degrees of freedom for rotation, which are used to adjust the clamping mechanism 53 to any attitude angle. It can be seen that the lifting mechanical arm 40 is a six-degree-of-freedom mechanical arm, which can ensure that the clamping mechanism 53 at the end can reach any position in three-dimensional space with any attitude, thereby meeting the action control needs of the system.

[0048] The clamping mechanisms 53 at the ends of the two lifting mechanical arms 40 are respectively used to clamp the two cylinders 25 of the variable configuration scraper container, and they cooperate with each other to not only move and rotate the variable configuration scraper container, but also realize the relative rotation between the two compartments through relative movement, thereby completing the switching between the folded and unfolded states.

[0049] Further, in order to prevent the two compartments from being unable to be smoothly opened and closed due to the influence of friction during rotation, a deformation auxiliary mechanism 20 is further arranged on the first compartment 18. As shown in Figure 11 and Figure 14 , the deformation auxiliary mechanism 20 comprises a swing rod 22 and a first rotating wheel 23. The upper end of the swing rod 22 is rotationally connected with the side plate of the first compartment 18, and the axis of the rotational connection is parallel to the axis of the hinge 24. The first rotating wheel 23 is installed at the lower end of the swing rod 22, and the rotational axis is perpendicular to the axis of the hinge 24. On the other hand, in order to avoid interference between the first rotating wheel 23 and the first compartment 18, the outer end of the bottom of the first compartment 18 needs to be chamfered.

[0050] Meanwhile, as shown in Figure 7 , the moving chassis 37 is further provided with an upper convex deformation track 41 and a lower concave deformation track 44. The upper convex deformation track 41 is located at the rear side of the lower concave deformation track 44 and is lower than the lower concave deformation track 44. The two lifting mechanical arms 40 are located on the two sides of the upper convex deformation track 41. The upper convex deformation track 41 is arranged along the front-rear direction, and the top surface of the upper convex curve shape thereof is used to contact the first rotating wheel 23, so as to upwardly lift the deformation auxiliary mechanism 20 and assist in unfolding. The lower concave deformation track 44 is arranged along the front-rear direction, and the bottom surface of the lower convex curve shape thereof is used to contact the first rotating wheel 23, so as to downwardly pull the deformation auxiliary mechanism 20 and assist in folding. It should be noted that the first rotating wheel 23 is supported on the left side, while the upper convex deformation track 41 and the lower concave deformation track 44 are both supported from the right side, so as to avoid unnecessary interference.

[0051] The transportation method of the shovel-integrated split ant track transportation system is as follows: Step 1, as shown in Figure 1 , the integrated working device 2 completes the coarse crushing and folding work of the hydraulic blasting collapsed ore on the working surface by the breaking hammer 39, so that the ore is gathered in the ore stacking area 1.

[0052] Preferably, the system can be used in cooperation with a roof-climbing tunneling integrated machine. The roof-climbing tunneling integrated machine walks along the wall and drills in, leaving a certain working space between the bottom and the ground. The integrated working device 2, the transverse circular arc track 3 and the like in the system can be arranged in this space, so as to further improve the working efficiency. The specific structure of the roof-climbing tunneling integrated machine can refer to the Chinese invention patent application “Metal Mine Roof-climbing Tunneling Equipment and Tunneling Method” with the publication number CN119981950A, which will not be described here.

[0053] Step 2, the transport units 8 pass through the ascending transport track 7 and the ascending circular track 4 in sequence to reach the loading pre-reversing area 9, then the switch at the left end of the transverse circular track 3 acts, and the transport units 8 in the loading pre-reversing area 9 reach the intermediate waiting area 11 along the transverse circular track 3.

[0054] Step 3, as Figure 7 The two lifting mechanical arms 40 of the integrated working device 2 respectively clamp the cylindrical columns 25 at both ends of the variable-configuration scraper container of the transport unit 8 in the intermediate waiting area 11, lift the variable-configuration scraper container in the folded state from the transport chassis 16, and then move forward to reach the folded state station 42.

[0055] The two lifting mechanical arms 40 continue to move the variable-configuration scraper container forward, so that the top surface of the upper convex deformation track 41 is in contact with the first rotating wheel 23 (as Figure 11 ), and at the same time, the two lifting mechanical arms 40 control the relative rotation of the first compartment 18 and the second compartment 19 to unfold the variable-configuration scraper container (as Figure 10 ), until the variable-configuration scraper container reaches the unfolded state station 43 in front, at which time the variable-configuration scraper container is changed to the unfolded state (as Figure 12 ), and the openings of the first compartment 18 and the second compartment 19 are upward.

[0056] Then the two lifting mechanical arms 40 continue to move the variable-configuration scraper container forward while rotating the angle of the variable-configuration scraper container, until reaching the front-leaning preparation station 45 in front, at which time the openings of the first compartment 18 and the second compartment 19 are turned forward.

[0057] Then the two lifting mechanical arms 40 continue to move the variable-configuration scraper container forward to reach the loading operation station 46 in front of the moving chassis 37, and through forward and backward movement, the ore is scooped into the first compartment 18 and the second compartment 19.

[0058] Step 4, the two lifting mechanical arms 40 rotate the angle of the variable-configuration scraper container to turn the openings of the first compartment 18 and the second compartment 19 upward, and then move the variable-configuration scraper container backward, so that the bottom surface of the lower concave deformation track 44 is in contact with the first rotating wheel 23 (as Figure 13 and Figure 14 ), and at the same time, the two lifting mechanical arms 40 control the relative rotation of the first compartment 18 and the second compartment 19 to fold the variable-configuration scraper container, and then place the variable-configuration scraper container in the folded state on the transport chassis 16 in the intermediate waiting area 11.

[0059] Step 5, as Figure 1, the transport unit 8 loaded with the ore on the intermediate waiting area 11 reaches the loading reversing area 10 along the transverse circular arc track 3, then the transport unit 8 of the loading reversing area 10 reaches the descending circular arc track 5 through the action of the turnout located at the right end of the transverse circular arc track 3, and is transported to the destination along the descending transport track 6.

[0060] The multiple transport units 8 continuously perform the shoveling and transporting operations according to steps 2 to 5 until the ore transportation of the ore deposit area 1 is completed.

[0061] It should be noted that, for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. The scope of the present application is defined by the claims rather than the above description.

Claims

1. A shovel-transport integrated split ant track transport system comprising a track system and a transport unit (8) walking along the track system, characterized in that: The track system is laid along the inclined transportation roadway and extends to the working face area at the front end of the transportation roadway; the track system comprises a middle waiting area (11) arranged at the working face area, and an upward transportation track (7) and a downward transportation track (6) laid in parallel along the transportation roadway; The transportation unit (8) comprises a transportation chassis (16) and a variable-structure scraper container placed on the transportation chassis (16) and capable of being separated from the transportation chassis (16); the variable-structure scraper container comprises a first compartment (18) and a second compartment (19) connected to each other through hinges (24) at inner ends of the bottoms, and the outer ends of the first compartment (18) and the second compartment (19) are respectively provided with cylinders (25); when the variable-structure scraper container is in a folded state, the opening of the first compartment (18) and the opening of the second compartment (19) are oppositely arranged and buckled to form a closed transportation container, and the side plates of the first compartment (18) and the second compartment (19) have an overlapping area; when the variable-structure scraper container is in an unfolded state, the opening of the first compartment (18) and the opening of the second compartment (19) are oppositely arranged and buckled to form a closed transportation container, and the side plates of the first compartment (18) and the second compartment (19) have an overlapping area; The integrated operation device (2) comprises a mobile chassis (37), a crushing hammer (39) is arranged at the front end of the mobile chassis (37), and left and right two lifting mechanical arms (40) are installed at the rear end of the mobile chassis (37); the clamping mechanisms (53) at the ends of the two lifting mechanical arms (40) are respectively used for clamping the two cylinders (25) of the variable-structure scraper container.

2. The integrated split ant track transportation system of claim 1, wherein: An upward driving mechanism for lifting the upward transportation unit (8) is further arranged along the transportation roadway.

3. The integrated split ant track transportation system of claim 2, wherein: The upward driving mechanism comprises a first driving sprocket (14), a first driven sprocket (13), a first transportation driving chain (12) connected between the first driving sprocket (14) and the first driven sprocket (13), and a first driving device for driving the first driving sprocket (14) to rotate; The rotation axes of the first driving sprocket (14) and the first driven sprocket (13) are both arranged perpendicularly to the ground of the transportation roadway; The bottom of the first transportation driving chain (12) is provided with a T-shaped hook (15), and the T-shaped hook (15) is used for connecting with the hooking mechanism (17) on the transportation unit (8); For the transportation unit (8) running along the upward transportation track (7), the T-shaped hook (15) above the transportation unit (8) drives the transportation unit (8) to move along the upward transportation track (7) to the working face area through the hooking mechanism (17); For the transportation unit (8) running along the downward transportation track (6), the hooking mechanism (17) of the transportation unit (8) drives the first transportation driving chain (12) to operate through the T-shaped hook (15) above the transportation unit (8).

4. The integrated split ant track transportation system of claim 3, wherein: The track system further comprises an upward circular arc track (4), a downward circular arc track (5), and a transverse circular arc track (3) at the working face area; The upper end of the uplink circular arc track (4) is connected with the uplink transportation track (7) on the right side, and the lower end is connected with the left end of the horizontal circular arc track (3) through a turnout, and a loading front reversing area (9) is arranged at the junction after the intersection. The lower end of the downlink circular arc track (5) is connected with the downlink transportation track (6) on the left side, and the upper end is connected with the right end of the horizontal circular arc track (3) through a turnout, and a loading rear reversing area (10) is arranged at the junction after the intersection. The middle part of the horizontal circular arc track (3) is curved towards the direction of the transportation tunnel, and the intermediate waiting area (11) is arranged.

5. The integrated split ant track transportation system of claim 4, wherein: The uplink circular arc track (4) and the horizontal circular arc track (3) are respectively provided with auxiliary driving mechanisms for driving the transportation unit (8) to move. The auxiliary driving mechanism comprises a second driving sprocket (27), a second driven sprocket (26), a second transportation driving chain (29) connected between the second driving sprocket (27) and the second driven sprocket (26), and a second driving device for driving the second driving sprocket (27) to rotate. The rotation axes of the second driving sprocket (27) and the second driven sprocket (26) are parallel to the ground. The bottom of the second transportation driving chain (29) is provided with an L-shaped hook (28), which is used for connecting with the hooking mechanism (17).

6. The integrated split ant track transportation system of claim 5, wherein: The transportation chassis (16) is provided with a vertical plate (21), and the hooking mechanism (17) is mounted on the vertical plate (21). The sliding rod (30) passes through the limiting plate (32) fixed on the vertical plate (21) and is in sliding fit with the limiting plate (32), so as to realize the up-down movement relative to the vertical plate (21). The intermediate connecting rods (34) and the L-shaped rotating plates (35) are both two groups and are symmetrically arranged, the inner ends of the two groups of intermediate connecting rods (34) are rotatably connected with the upper end of the sliding rod (30), the outer ends are rotatably connected with the lower end of the vertical part of the corresponding L-shaped rotating plate (35), and the middle part of the L-shaped rotating plate (35) is rotatably connected with the vertical plate (21). The spring (31) is sleeved on the sliding rod (30) and is used for pushing the sliding rod (30) downward, so that the sliding rod (30) pulls the two groups of L-shaped rotating plates (35) to rotate through the intermediate connecting rods (34), and then the horizontal parts at the upper ends of the two L-shaped rotating plates (35) are in contact with each other to realize closing. The second rotating wheel (33) is installed at the lower end of the sliding rod (30).

7. The integrated split ant track transportation system of claim 1, wherein: The side of the moving chassis (37) is also provided with a hydraulic support leg (38).

8. The integrated split ant track transportation system of claim 1, wherein: The lifting mechanical arm (40) further comprises a rotary base (47), a swing arm (48), a telescopic oil cylinder (49), a first rotary joint (50), a second rotary joint (51) and a third rotary joint (52). The swivel base (47) is installed on the mobile chassis (37), and the upper end of the swivel base (47) can rotate horizontally relative to the mobile chassis (37); the lower end of the swing arm (48) is rotationally connected to the upper end of the swivel base (47) to realize the pitching swing relative to the swivel base (47); the upper end of the swing arm (48) is connected to the cylinder body of the telescopic oil cylinder (49), and the piston rod end of the telescopic oil cylinder (49) is sequentially connected to the clamping mechanism (53) through the first rotary joint (50), the second rotary joint (51) and the third rotary joint (52); the rotary axis of the first rotary joint (50) coincides with the axis of the telescopic oil cylinder (49), the axes of the second rotary joint (51) and the third rotary joint (52) are perpendicular to each other and are perpendicular to the rotary axis of the first rotary joint (50).

9. The integrated split ant track transportation system of claim 4, wherein: The first compartment (18) is also connected with a deformation auxiliary mechanism (20), which comprises a swing rod (22) and a first rotary wheel (23); the upper end of the swing rod (22) is rotationally connected to the side plate of the first compartment (18), and the rotary connection axis is parallel to the axis of the hinge (24); the first rotary wheel (23) is installed at the lower end of the swing rod (22), and the rotary axis of the first rotary wheel (23) is perpendicular to the axis of the hinge (24); The mobile chassis (37) is also provided with an upper convex deformation track (41) and a lower concave deformation track (44), the upper convex deformation track (41) is located at the rear side of the lower concave deformation track (44) and is lower than the lower concave deformation track (44); two lifting mechanical arms (40) are located on both sides of the upper convex deformation track (41); The upper convex deformation track (41) is arranged along the front and rear direction, and the convex curved top surface thereof is used to contact the first rotary wheel (23); The lower concave deformation track (44) is arranged along the front and rear direction, and the concave curved bottom surface thereof is used to contact the first rotary wheel (23).

10. A method of transporting based on the split ant track transportation system of claim 9, wherein the steps of Comprise: Step 1, the integrated working device (2) completes the coarse crushing and gathering work of the hydraulic blasting collapsed ore on the working surface by the breaking hammer (39), so that the ore is gathered in the ore stacking area (1); Step 2, the transport unit (8) sequentially passes through the upward transport track (7) and the upward circular track (4) to reach the loading front reversing area (9), and then the turnout at the left end of the transverse circular track (3) acts, and the transport unit (8) in the loading front reversing area (9) reaches the intermediate waiting area (11) along the transverse circular track (3); Step 3, two lifting mechanical arms (40) of the integrated working device (2) respectively clamp the two ends of the cylindrical (25) of the variable configuration scraper container of the transport unit (8) in the intermediate waiting area (11), lift the variable configuration scraper container in the folded state from the transport chassis (16), and then move forward to the folding state work station (42); the two lifting mechanical arms (40) continue to move the variable configuration scraper container forward, so that the top surface of the upper convex deformation track (41) is in contact with the first rotating wheel (23), and at the same time, the two lifting mechanical arms (40) control the relative rotation of the first compartment (18) and the second compartment (19) to unfold the variable configuration scraper container until the unfolded state work station (43) in front of the variable configuration scraper container, at which time the variable configuration scraper container is changed to the unfolded state, and the openings of the first compartment (18) and the second compartment (19) are upward; then the two lifting mechanical arms (40) continue to move the variable configuration scraper container forward while rotating the angle of the variable configuration scraper container until reaching the front inclination preparation work station (45) in front, at which time the openings of the first compartment (18) and the second compartment (19) are turned forward; then the two lifting mechanical arms (40) continue to move the variable configuration scraper container forward to reach the loading work station (46) in front of the moving chassis (37), and by moving forward and backward, the ore is loaded into the first compartment (18) and the second compartment (19); Step 4, the two lifting mechanical arms (40) rotate the angle of the variable configuration scraper container to turn the openings of the first compartment (18) and the second compartment (19) upward, and then move the variable configuration scraper container backward so that the bottom surface of the lower concave deformation track (44) is in contact with the first rotating wheel (23), and at the same time, the two lifting mechanical arms (40) control the relative rotation of the first compartment (18) and the second compartment (19) to fold the variable configuration scraper container, and then place the variable configuration scraper container in the folded state on the transport chassis (16) in the intermediate waiting area (11); Step 5, the transport unit (8) loaded with ore in the intermediate waiting area (11) reaches the loading reversing area (10) along the transverse circular arc track (3), and then the switch action at the right end of the transverse circular arc track (3) causes the transport unit (8) in the loading reversing area (10) to enter the downward transport track (6) along the downward circular arc track (5), and the ore is transported to the destination; A plurality of transport units (8) perform continuous loading and transportation operations according to steps 2 to 5 until the ore transportation in the ore stacking area (1) is completed.

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