Conveying equipment and conveying method thereof

Abstract

The invention provides conveying equipment and a conveying method thereof, and belongs to the technical field of conveying equipment. The conveying equipment comprises a conveying belt module, an angle adjusting device, a steering device and an onboard vehicle. The conveying method of the conveying equipment comprises the steps that S1, the conveying equipment runs to a station; and S2, the position and angle of the conveying belt module are adjusted, so that the conveying belt module is matched with the front equipment and the rear equipment to form a complete material conveying chain. The conveying equipment can achieve 360-degree flexible steering in a narrow space, the problem that traditional conveying equipment is poor in maneuverability in a narrow construction area is solved, the conveying equipment can be flexibly combined to adapt to complex terrains, and the problem that a traditional continuous conveying belt is difficult to adapt to variable terrains is solved; short-distance conveying of materials can be independently completed, a material conveying chain can be formed after combination in a modular mode, long-distance conveying and lightering of the materials are achieved, the conveying modes are diversified, and the use flexibility is further improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of conveying equipment, in particular relates to a conveying equipment and a conveying method thereof. BACKGROUND

[0002] Belt conveyor, as a mature continuous conveying equipment, has been widely used in mine, wharf and other scenes. This equipment carries materials through the ring belt, and relies on the drum drive to realize the one-way transmission of materials. It has obvious advantages in fixed line and large batch material transportation. In recent years, mobile belt conveyor has also been applied to earthwork engineering field, and a certain degree of flexible arrangement is realized through modular combination.

[0003] Traditional earthwork transportation often uses dump trucks or belt conveyors and other equipment, which perform well in flat ground and short distance transportation. However, in the working conditions of narrow space, uneven terrain or long distance continuous transportation, the traditional equipment often has problems such as insufficient flexibility, poor adaptability and so on.

[0004] At present, belt conveyor has been applied in earthwork transportation, but it still faces significant technical bottlenecks in complex terrain and long distance continuous transportation scenes. These problems include insufficient flexibility of equipment turning, poor adaptability of uneven ground, difficulty of multi-device collaborative control, and lack of obstacle avoidance and posture adjustment ability. SUMMARY

[0005] In order to solve the problems of insufficient flexibility and poor adaptability of conveying equipment in the working conditions of narrow space, uneven terrain or long distance continuous transportation, the present application provides a conveying equipment and a conveying method thereof.

[0006] The technical scheme of the present application is as follows:

[0007] A conveying equipment, comprising:

[0008] A conveyor belt module for conveying materials;

[0009] An angle adjusting device arranged below the conveyor belt module for adjusting the inclination angle of the conveyor belt module;

[0010] A turning device arranged below the angle adjusting device for adjusting the conveying direction and height of the conveyor belt module;

[0011] An on-board vehicle arranged below the turning device for carrying the turning device, angle adjusting device and conveyor belt module to walk in the forward direction.

[0012] Further, the conveyor belt module comprises:

[0013] A conveyor belt mechanism for conveying materials;

[0014] Two baffle plates respectively arranged on both sides of the conveying surface of the conveying belt mechanism to prevent the conveyed materials from falling off the sides of the conveying belt mechanism;

[0015] A plurality of obstacle avoidance sensors arranged at intervals around the conveying belt mechanism, the obstacle avoidance sensors integrated with a laser range finder and an electronic level, the laser range finder used to detect the distance of obstacles during the advancement of the conveying device, and the electronic level used to detect the horizontal inclination of the conveying surface of the conveying belt mechanism.

[0016] Further, the angle adjusting device comprises:

[0017] At least four first jacks arranged at the four corners below the conveying belt module to cooperatively adjust the height of the two ends of the conveying belt module to adjust the inclination angle of the conveying belt module;

[0018] A fixed frame arranged below the four first jacks to support and fix the four first jacks; and / or,

[0019] A displacement sensor arranged on each of the first jacks to detect the height of the support point of each first jack.

[0020] Further, the steering device comprises:

[0021] A second jack arranged below the angle adjusting device to drive the angle adjusting device to move up and down to adjust the conveying height of the conveying belt module;

[0022] A steering mechanism arranged below the second jack to drive the angle adjusting device to rotate around the axis of the second jack to adjust the conveying direction of the conveying belt module;

[0023] An angle encoder arranged on the steering mechanism to detect the steering angle of the conveying belt module relative to the on-board vehicle; and / or,

[0024] The second jack is integrated with an angle sensor and a first inertial measurement unit, the angle sensor used to detect the rotation angle of the conveying belt module, and the first inertial measurement unit used to detect the running state of the conveying belt module.

[0025] Further, the on-board vehicle comprises:

[0026] A chassis arranged below the steering device and used to support the steering device, the angle adjusting device, and the conveying belt module;

[0027] A universal wheel set is arranged below the chassis to drive the conveying device to advance and adjust the advancing direction of the conveying device.

[0028] A positioning module is arranged on the chassis, and a UWB positioning sensor and a second inertial measurement unit are integrated in the positioning module. The UWB positioning sensor is used to detect the spatial position of the on-board vehicle, and the second inertial measurement unit is used to detect the running state of the on-board vehicle.

[0029] Further, the universal wheel set comprises a plurality of universal wheels, and a hydraulic leveling device is arranged on each universal wheel to perform basic leveling on the chassis.

[0030] Further, the conveying device further comprises a main control system, which is connected to the conveying belt module, the angle adjusting device, the steering device and the on-board vehicle in a wireless or wired manner, and is used to control the operation of the conveying belt module, the angle adjusting device, the steering device and the on-board vehicle.

[0031] A conveying method of a conveying device, comprising the following steps:

[0032] S1, driving the conveying device to run to a work station by an on-board vehicle;

[0033] S2, adjusting the position and angle of the conveying belt module by the angle adjusting device and / or the steering device according to the discharging position of the front device and the receiving position of the rear device on the material conveying chain, so that the conveying belt module cooperates with the front device and the rear device to form a complete material conveying chain.

[0034] Further, during the conveying device running to the work station in the step S1, the obstacle distance data and the azimuth angle of the obstacle avoidance sensor are obtained in real time when an obstacle is detected during the advancing process, and the real-time pose data fed back by the positioning module of the conveying device is combined to adjust the rotation angle of the universal wheel of the conveying device to realize emergency obstacle avoidance.

[0035] Further, in the step S2, the position and angle of the conveying belt module are adjusted, which specifically comprises the following steps:

[0036] S201, calculating the three-dimensional relative position deviation between the head and tail of the conveying device and the front and rear devices according to the spatial coordinate data of the on-board vehicle;

[0037] S202, control the first jack of the conveying equipment Adjust the inclination angle of the conveying belt module, control the overall height of the second jack of the conveying equipment Adjust the deflection angle of the conveying belt module of the steering mechanism, make the head end of the conveying belt module meet the discharge end of the front device, and the tail end meets the receiving end of the rear device, forming a complete material conveying chain.

[0038] The beneficial effects of the present application are as follows:

[0039] The conveying equipment and the conveying method thereof can realize 360° flexible steering in a narrow space through the cooperation of the angle adjusting device, the steering device and the on-board vehicle, solve the poor maneuverability problem of the traditional transportation equipment in a narrow construction area, and make the conveying belt module have independent steering and height adjusting functions through the cooperation of the angle adjusting device and the steering device, so that the conveying system can be flexibly combined to adapt to complex terrain and solve the problem that the traditional continuous conveying belt is difficult to adapt to variable terrain.

[0040] Further, the present application can not only independently complete short-distance conveying of materials, but also can be combined in a modular way to form a material conveying chain, realize long-distance conveying and transfer of materials, diversify the transportation mode, and further improve the use flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a structural schematic view of a conveying equipment of embodiment 1 from a first perspective;

[0042] Figure 2 is a structural schematic view of a conveying equipment of embodiment 1 from a second perspective;

[0043] Figure 3 is a structural schematic view of a conveying belt module and an angle adjusting device in a first state from a first perspective in embodiment 1;

[0044] Figure 4 is a structural schematic view of a conveying belt module and an angle adjusting device in a first state from a second perspective in embodiment 1;

[0045] Figure 5 is a structural schematic view of a steering device in embodiment 1;

[0046] Figure 6 is a structural schematic view of an on-board vehicle in embodiment 1;

[0047] Figure 7 is a structural schematic view of a conveying belt module and an angle adjusting device in a second state in embodiment 1;

[0048] Figure 8 Figure 2 is a structural schematic diagram of the combination of multiple conveying devices in the embodiment 2 of the present application.

[0049] In the figure: 1, conveying belt module; 101, conveying belt mechanism; 102, baffle; 103, obstacle avoidance sensor; 2, angle adjusting device; 201, first jack; 202, fixed frame; 3, steering device; 301, second jack; 302, steering mechanism; 4, on-board vehicle; 401, chassis; 402, universal wheel set; 403, positioning module. DETAILED DESCRIPTION

[0050] The present application will be further described below in conjunction with the drawings and specific embodiments. The advantages and features of the present application will be more apparent according to the following description and claims. It should be noted that the drawings are very simplified and all use non-precise proportions, only to facilitate, clearly assist the purpose of illustrating the embodiments of the present application.

[0051] Embodiment 1:

[0052] With reference to Figures 1 to 6 , the present embodiment provides a conveying device, which comprises a conveying belt module 1, an angle adjusting device 2, a steering device 3 and an on-board vehicle 4, and can further comprise a master control system.

[0053] The conveying belt module 1 is used for conveying materials.

[0054] The angle adjusting device 2 is used for being arranged below the conveying belt module 1, and is used for adjusting the inclination angle of the conveying belt module 1.

[0055] The steering device 3 is used for being arranged below the angle adjusting device 2, and is used for adjusting the conveying direction and height of the conveying belt module 1.

[0056] The on-board vehicle 4 is used for being arranged below the steering device 3, and is used for carrying the steering device 3, the angle adjusting device 2 and the conveying belt module 1 to walk along the advancing direction.

[0057] The master control system is connected with the conveying belt module 1, the angle adjusting device 2, the steering device 3 and the on-board vehicle 4 through wireless or wired mode, and is used for controlling the operation of the conveying belt module 1, the angle adjusting device 2, the steering device 3 and the on-board vehicle 4.

[0058] As a preferred embodiment, with reference to Figure 3 and Figure 4 , the conveying belt module 1 comprises a conveying belt mechanism 101, two baffles 102 and a plurality of obstacle avoidance sensors 103, and the whole conveying belt module 1 adopts a quick disassembly and assembly interface design, which is convenient for quick combination and separation.

[0059] The conveying belt mechanism 101 is used for conveying materials, and the conveying belt mechanism 101 comprises a conveying belt. The specific structure of the conveying belt mechanism 101 is the prior art, and thus is not described herein. The conveying belt mechanism 101 is driven by a servo motor to adjust the conveying direction of the conveying belt. A bidirectional variable frequency motor is adopted, and the motor can be reversely rotated according to the transportation requirement to realize forward and reverse rotation. When the materials are blocked or need to be maintained, the motor can be automatically reversed to troubleshoot. The surface of the conveying belt is made of anti-skid and wear-resistant material, which is beneficial to improve the conveying efficiency.

[0060] Two baffles 102 are arranged on both sides of the conveying surface of the conveying belt mechanism 101, and are used for blocking the materials conveyed from the side of the conveying belt mechanism 101. The positions of the baffles 102 on both sides are adjustable, and the width of the conveying channel can be adjusted according to the characteristics of the earthwork.

[0061] A plurality of obstacle avoidance sensors 103 are arranged at intervals around the conveying belt mechanism 101. The obstacle avoidance sensor 103 is integrated with a laser range finder and an electronic level. Preferably, the Benewake TFmini series laser range finder is used, the ranging range is 0.1m-12m, the volume is small, the performance is stable, the electronic level can use WYLAND CL series, the precision is high, the laser range finder is used for detecting the distance of the obstacle in the process of advancing the conveying equipment, and the electronic level is used for detecting the horizontal inclination of the conveying surface of the conveying belt mechanism 101. Preferably, eight obstacle avoidance sensors 103 can be arranged on both sides and the front and rear ends of the conveying belt module 1. These obstacle avoidance sensors 103 can detect the distance of the obstacle with millimeter-level precision. The obstacle avoidance sensor 103 can accurately measure the distance between the equipment in the three-dimensional space, coordinate the arrangement and combination form of the plurality of conveying equipment, and avoid the collision between the equipment and other objects. The data of all the obstacle avoidance sensors 103 can be fed back to the main control system through wireless transmission. The multi-directional obstacle avoidance sensor 103 can reduce the collision risk of the conveying equipment and improve the safety of the equipment during operation.

[0062] As a preferred embodiment, reference is made to Figure 3 and Figure 4 The angle adjusting device 2 comprises a fixed frame 202 and at least four first jacks 201.

[0063] Four first jacks 201 are arranged at the four corners below the conveying belt module 1, and are used for cooperating with each other to adjust the height of the two ends of the conveying belt module 1, so as to adjust the inclination angle of the conveying belt module 1. A displacement sensor is arranged on each first jack 201, which is used for detecting the height of the support point of each first jack 201. Preferably, an Omron ZX series displacement sensor can be used to detect the height of each support point of the conveying belt with millimeter level precision. The first jack 201 can be a hydraulic jacking jack. Through the cooperation of the four first jacks 201, the slope of the conveying belt can be adjusted. During the transportation operation, the height of each first jack 201 is adjusted in real time, so that the conveying belt between multiple devices can be connected with high precision, and a continuous material conveying channel is formed. Through the accurate adjustment of the first jack 201, the conveying slope is accurately controlled, and the continuity of earthwork transportation is ensured.

[0064] The fixed frame 202 is arranged below the four first jacks 201, and is used for bearing and fixing the four first jacks 201.

[0065] As a preferred embodiment, referring to Figure 5 The turning device 3 includes a second jack 301, a turning mechanism 302 and an angle encoder. The turning device 3 can form an independent turning adjusting unit, and the conveying belt module 1 can be turned by 0-360° through the turning device 3.

[0066] The second jack 301 is arranged below the angle adjusting device 2. The second jack 301 can be a hydraulic jacking jack, which is used for driving the angle adjusting device 2 to move up and down, so as to adjust the conveying height of the conveying belt module 1. The second jack 301 is integrated with an angle sensor and a first inertial measurement unit. The angle sensor is used for detecting the turning angle of the conveying belt module 1. The first inertial measurement unit is used for detecting the pose state of the conveying belt module 1. Specifically, the orientation of the axis of the conveying belt module 1 in the three-dimensional space and the twist angle along the axis and other data can be detected. The second jack 301 can control the vertical height of the conveying belt module 1, and the jacking height data is fed back to the external main control system in real time through the electronic sensor (such as a height sensor).

[0067] The turning mechanism 302 is arranged below the second jack 301, and is used for driving the angle adjusting device 2 to rotate around the axis of the second jack 301, so as to adjust the conveying direction of the conveying belt module 1.

[0068] The steering mechanism 302 adopts an omnidirectional servo drive system, which can dynamically compensate for mechanical deformation errors caused by long-time operation. Through the steering mechanism 302, 0-360° stepless steering is achieved in cooperation with the second jack 301. When the conveying device serves as a transmission chain hub node, the optimal steering angle can be automatically calculated according to the array parameters issued by the main control system, the three-dimensional space attitude adjustment is completed, and seamless material transfer between adjacent modules within a ±30° inclination range is realized. In particular, the steering mechanism 302 and the obstacle avoidance sensor 103 form a closed-loop control network: when the detection of the transmission belt axis offset exceeds the set threshold, the system will trigger the steering mechanism 302 for second-level dynamic compensation, and at the same time, the first jack 201 group adjusts the support force distribution to maintain the stability of the transmission belt slope. This component adopts a double correction mechanism of "mechanical compensation + electronic correction", which enables the device to maintain millimeter-level transmission trajectory accuracy in complex site environments, breaking through the technical bottleneck of traditional devices that can only be statically steered.

[0069] An angle encoder (not shown) is provided on the steering mechanism 302, which is preferably a Heidenhain RCN / RPN8000 series angle encoder, used to detect the steering angle of the conveyor module 1 relative to the on-board vehicle 4.

[0070] As a preferred embodiment, referring to Figure 6 , the on-board vehicle 4 includes a chassis 401, a universal wheel set 402, and a positioning module 403.

[0071] The chassis 401 is used to be arranged below the steering device 3, and is used to carry the steering device 3, the angle adjusting device 2 and the conveyor module 1.

[0072] The universal wheel set 402 is arranged below the chassis 401, and is used to drive the conveying device to move forward and adjust the moving direction of the conveying device.

[0073] The positioning module 403 is arranged on the chassis 401, which can feed back the three-dimensional space coordinates and attitude data of the device to the main control system in real time, and provide the basis for path planning for multi-device collaborative work. The positioning module 403 integrates a UWB (Ultra Wide Band) positioning sensor and a second inertial measurement unit. The UWB positioning sensor is used to detect the spatial position of the on-board vehicle 4, and the second inertial measurement unit is used to detect the attitude of the on-board vehicle 4. Specifically, it can detect data such as the orientation of the on-board vehicle 4 axis in three-dimensional space and the twist angle along the axis, achieving centimeter-level spatial positioning of the device and solving the problem of difficult collaborative work caused by inaccurate positioning of traditional devices.

[0074] The positioning module 403 can also have near field communication function (such as configuring NFC, Bluetooth module), and data communication can be triggered only when the distance is close. Through this function, the connection function of multiple long-distance efficient walkable earthmoving equipment can be realized, the communication is triggered when the equipment is connected head to tail, the control efficiency of the equipment group is further improved, and the problem of interruption of earthmoving chain caused by the fact that the equipment is not effectively connected is avoided.

[0075] As a preferred embodiment, the universal wheel set 402 includes a plurality of universal wheels, which can rotate 360°. Through the coordinated rotation of the plurality of universal wheels in the universal wheel set 402, the on-board vehicle 4 can realize in-place steering with the center of the projection plane as the axis, which is suitable for the mobile adjustment of narrow construction sites. The leveling system composed of the hydraulic leveling devices of the universal wheels can adapt to the stable placement requirements of uneven sites. Each universal wheel is provided with a hydraulic leveling device for basic leveling of the chassis 401. Specifically, the horizontal inclination of the chassis 401 can be adjusted through the mutual cooperation of the hydraulic leveling devices of the plurality of universal wheels. The basic leveling refers to that when the conveying equipment works on uneven ground, the equipment can be initially leveled by the universal wheel set 402, which can automatically adapt to uneven sites and overcome the defect that the traditional equipment requires high site flatness.

[0076] Dynamic posture adjustment control flow: when working on uneven sites, the on-board vehicle 4 realizes basic leveling through the hydraulic leveling devices driving the universal wheels, and the conveying belt module 1 constructs a three-dimensional slope model through the real-time height feedback data of the four first jacks 201 and the inclination angle information returned by the obstacle avoidance sensor 103. When the slope deviation exceeds the threshold value (which can be ±2°), the compensation jacking amount of each first jack 201 is automatically calculated, the conveying belt is adjusted to the target slope through closed-loop control, and the transmission direction is dynamically corrected according to the posture data of the first inertia measurement unit through the steering mechanism 302, so as to ensure the continuity of earthmoving transmission.

[0077] The conveying equipment of the embodiment can form a material transfer conveying chain through array combination. The conveying belt modules 1 of multiple equipment are kept in the same direction, and the continuous slope is formed through the coordinated adjustment of the hydraulic jack system, so as to construct a long-distance one-way transmission system. At the node where the direction of the transfer line changes, the conveying belt module 1 can independently adjust the steering angle, so that a single equipment becomes a steering node, and the flexible arrangement of the material conveying line is realized. Through the cooperative work of multiple equipment, a complex transmission network can be constructed to meet the diversified construction scene requirements.

[0078] In a specific embodiment, when the earthmoving efficiency of the conveying equipment provided in the embodiment is calculated, the earthmoving efficiency calculation formula is as follows:

[0079] E=E0·F N ·Fw ·F l

[0080] In the formula, E is the earthwork transportation capacity of a conveyor belt chain composed of multiple conveying devices per unit time on a single line, with units of m 3 / h; E0 is the earthwork transportation capacity of a single device under standard working conditions, with units of m 3 / h, and the value of the device in the embodiment of the application can be 600 m 3 / h; F N is the device quantity influence factor; F w is the moisture content influence factor of earthwork; F l is the conveying distance influence factor.

[0081] Device quantity influence factor calculation formula:

[0082] F N = 0.7 + 0.3·e 0.1(N-1)

[0083] In the formula, N is the number of devices.

[0084] Moisture content influence factor calculation formula of earthwork:

[0085]

[0086] In the formula, w is the moisture content, with units of %. When the calculated value is greater than 1.0, F w = 1.0; and when the calculated value is less than 0.3, F w = 0.3.

[0087] Conveying distance influence factor calculation formula:

[0088] F l = e -0.01·L

[0089] In the formula, L is the earthwork transportation distance, with units of m.

[0090] Embodiment 2:

[0091] With reference to Figure 7 and Figure 8 , the embodiment provides a conveying method of a conveying device, which comprises the following steps: S1-S2, through intelligent scheduling of a plurality of conveying devices by a master control system, modular marshalling transportation is realized, and the organization efficiency of the transportation system is significantly improved.

[0092] S1, the conveying device is driven to run to a station by the on-board 4WD.

[0093] As a preferred embodiment, during the running of the conveying device to the station in step S1, the obstacles in the running process are detected by the obstacle avoidance sensors 103 of the conveying device, and when an obstacle is detected in the running process, the obstacle distance data and the azimuth angle of the obstacle avoidance sensors 103 are obtained in real time, and the real-time pose data fed back by the positioning module 403 of the conveying device is combined to adjust the rotation angle of the universal wheel of the conveying device to realize emergency obstacle avoidance.

[0094] S2, according to the discharging position of the front device and the receiving position of the rear device on the material conveying chain, the position and angle of the conveying belt module 1 are adjusted by the angle adjusting device 2 and / or the steering device 3, so that the conveying belt module 1 cooperates with the front device and the rear device to form a complete material conveying chain.

[0095] As a preferred embodiment, in step S2, the position and angle of the conveying belt module 1 are adjusted, which specifically includes the following steps: S201-S202.

[0096] S201, according to the spatial coordinate data of the on-board vehicle 4, the three-dimensional relative position deviation between the head and tail of the conveying device and the front and rear devices is calculated.

[0097] S202, the first jack 201 of the conveying device is controlled to adjust the inclination angle of the conveying belt module 1, the second jack 301 of the conveying device is controlled to adjust the overall height of the conveying belt module 1, and the steering mechanism 302 of the conveying device is controlled to adjust the deflection angle of the conveying belt module 1, so that the head end of the conveying belt module 1 is connected with the discharging end of the front device, and the tail end is connected with the receiving end of the rear device, forming a complete material conveying chain.

[0098] In a specific embodiment, referring to Figure 7 , the conveying device is a conveying chain hub node, and the front device and the rear device can be existing material processing devices with fixed positions, etc. At this time, the transfer conveying of the material can be realized by one conveying device as provided in embodiment 1, and the purpose of short-distance material conveying is achieved.

[0099] In a specific embodiment, referring to Figure 8 , a plurality of conveying devices are combined to form a long-distance conveying chain, and the front device and the rear device can be conveying devices as provided in embodiment 1. At this time, a plurality of conveying devices as provided in embodiment 1 are used to form a device group, and the conveying devices are combined in a modular form to form a long-distance material conveying chain, so that the material can be continuously conveyed in a long distance, and the topographic requirements of different construction sites can be flexibly adapted.

[0100] Multi-device end-to-end combination control process: when multiple conveying devices work cooperatively, the spatial coordinate data of the positioning module 403 on each board vehicle 4 is used to calculate the three-dimensional relative position deviation of the head and tail of two adjacent conveying devices. The 0-360° horizontal rotation of the conveying belt is realized by controlling the steering mechanism 302, and the second jack 301 is started to adjust the height of the conveying belt. When the spatial coordinate difference of the head and tail of two adjacent conveying devices is less than the set threshold value (which can be ±5 cm), the first jack 201 automatically adjusts the height to coordinate the conveying surface angle of the conveying belt on the two conveying devices. At this time, the obstacle avoidance sensor 103 switches to the docking monitoring mode, continuously feeds back the gap data of the conveying belt until a continuous conveying surface is formed, and then automatically locks the height of each first jack 201.

[0101] The above description is only a description of the preferred embodiments of the present application, and is not any limitation on the scope of the present application. Any modification or modification made by a person skilled in the art according to the above disclosure is within the protection scope of the claims.

Claims

1. A conveying device, characterized in that, include: Conveyor belt module (1) for conveying materials; An angle adjustment device (2) is provided below the conveyor belt module (1) for adjusting the tilt angle of the conveyor belt module (1); A steering device (3) is provided below the angle adjustment device (2) for adjusting the conveying direction and height of the conveyor belt module (1); The pallet vehicle (4) is set below the steering device (3) and is used to carry the steering device (3), the angle adjustment device (2) and the conveyor belt module (1) to travel in the forward direction.

2. The conveying device as described in claim 1, characterized in that, The conveyor belt module (1) includes: Conveyor belt mechanism (101) for conveying materials; Two baffles (102) are respectively set on both sides of the conveying surface of the conveyor belt mechanism (101) to prevent the conveyed material from falling from the side of the conveyor belt mechanism (101); Several obstacle avoidance sensors (103) are spaced around the conveyor belt mechanism (101). Each obstacle avoidance sensor (103) integrates a laser rangefinder and an electronic level. The laser rangefinder is used to detect the distance to obstacles during the forward movement of the conveyor equipment, and the electronic level is used to detect the horizontal tilt angle of the conveyor surface of the conveyor belt mechanism (101).

3. The conveying device as described in claim 1, characterized in that, The angle adjustment device (2) includes: At least four first jacks (201) are respectively set at the four corners below the conveyor belt module (1) to cooperate with each other to adjust the height of both ends of the conveyor belt module (1) so as to adjust the tilt angle of the conveyor belt module (1). A fixing frame (202) is provided below the four first jacks (201) for supporting and securing the four first jacks (201); and / or, Each of the first jacks (201) is equipped with a displacement sensor to detect the height of each support point of the first jack (201).

4. The conveying device as described in claim 1, characterized in that, The steering device (3) includes: The second jack (301) is located below the angle adjustment device (2) and is used to drive the angle adjustment device (2) to move up and down to adjust the conveying height of the conveyor belt module (1). A steering mechanism (302) is provided below the second jack (301) to drive the angle adjustment device (2) to rotate around the axis of the second jack (301) to adjust the conveying direction of the conveyor belt module (1). An angle encoder, mounted on the steering mechanism (302), is used to detect the steering angle of the conveyor module (1) relative to the pallet vehicle (4); and / or, The second jack (301) integrates an angle sensor and a first inertial measurement unit. The angle sensor is used to detect the rotation angle of the conveyor belt module (1), and the first inertial measurement unit is used to detect the position and orientation of the conveyor belt module (1).

5. The conveying device as described in claim 1, characterized in that, The pallet truck (4) includes: A chassis (401) is provided below the steering device (3) and is used to support the steering device (3), the angle adjustment device (2) and the conveyor belt module (1); The omnidirectional wheel assembly (402) is disposed below the chassis (401) for driving the conveying equipment forward and adjusting the forward direction of the conveying equipment; A positioning module (403) is installed on the chassis (401). The positioning module (403) integrates a UWB positioning sensor and a second inertial measurement unit. The UWB positioning sensor is used to detect the spatial position of the onboard vehicle (4), and the second inertial measurement unit is used to detect the pose state of the onboard vehicle (4).

6. The conveying device as described in claim 5, characterized in that, The caster assembly (402) includes several casters, each of which is equipped with a hydraulic leveling device for basic leveling of the chassis (401).

7. The conveying device according to any one of claims 1-6, characterized in that, The conveying equipment also includes a main control system, which is connected to the conveyor belt module (1), angle adjustment device (2), steering device (3) and platen vehicle (4) wirelessly or via wired means, and is used to control the operation of the conveyor belt module (1), angle adjustment device (2), steering device (3) and platen vehicle (4).

8. A conveying method for the conveying equipment as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Drive the conveyor to the workstation via the onboard vehicle (4); S2. Based on the discharge position of the front equipment and the receiving position of the rear equipment on the material conveying chain, adjust the position and angle of the conveyor belt module (1) through the angle adjustment device (2) and / or the steering device (3) so that the conveyor belt module (1) cooperates with the front equipment and the rear equipment to form a complete material conveying chain.

9. The conveying method of the conveying equipment as described in claim 8, characterized in that, During the process of the conveying equipment running to the workstation in step S1, obstacles in the process are detected by a plurality of obstacle avoidance sensors (103) of the conveying equipment as described in claim 2. When an obstacle is detected in the process, the obstacle distance data and azimuth angle of the obstacle avoidance sensor (103) are obtained in real time. Combined with the real-time pose data fed back by the positioning module (403) of the conveying equipment as described in claim 5, the rotation angle of the universal wheel of the conveying equipment as described in claim 5 is adjusted to achieve emergency obstacle avoidance.

10. The conveying equipment and conveying method as described in claim 8, characterized in that, In step S2, adjusting the position and angle of the conveyor belt module (1) specifically includes the following steps: S201. Based on the spatial coordinate data of the pallet truck (4), calculate the three-dimensional relative position deviation between the front and rear of the conveying equipment and the equipment in front and behind. S202. Control the first jack (201) of the conveying equipment as described in claim 3 to adjust the tilt angle of the conveyor belt module (1), control the second jack (301) of the conveying equipment as described in claim 4 to adjust the overall height of the conveyor belt module (1), and control the steering mechanism (302) of the conveying equipment as described in claim 4 to adjust the deflection angle of the conveyor belt module (1), so that the first end of the conveyor belt module (1) is connected to the discharge end of the front equipment and the tail end is connected to the receiving end of the rear equipment, forming a complete material conveying chain.

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