Open-pit mine pipeline loading and unloading transport vehicle and use method

Abstract

The present application provides an open-pit mine pipeline loading and unloading transport vehicle and a use method, belongs to the technical field of coal mines, and is used for solving the problem of low open-pit mine pipeline moving and setting efficiency. The open-pit mine pipeline loading and unloading transport vehicle comprises an execution vehicle, a transport vehicle and a control system. The execution vehicle is connected to the transport vehicle. The execution vehicle comprises a loading and unloading execution device and a gravity center balancing device. The transport vehicle comprises a buffer device and at least one pipeline placing mechanism. The control system is arranged on the execution vehicle. The control system comprises a control box and a 5G communication module. The control box is connected to the execution vehicle, the loading and unloading execution device, the gravity center balancing device and the buffer device respectively. The control box performs data interaction with a remote control center through the 5G communication module. The open-pit mine pipeline loading and unloading transport vehicle and the use method can safely and efficiently move and set the open-pit mine pipeline.

Description

Technical Field

[0001] This invention belongs to the field of coal mining technology, specifically relating to an open-pit mine pipeline loading and unloading vehicle and its usage method. Background Technology

[0002] Open-pit mining is a crucial method of coal production, involving the laying and routine maintenance of various pipelines for water supply, drainage, oil supply, and ventilation. Because open-pit mines require continuous long-term operation, pipelines must undergo regular inspection and maintenance. Furthermore, they are affected by seasonal climate changes; in summer, pipelines are typically laid on the surface, while in winter, they need to be buried in trenches approximately 2 meters deep to prevent freezing. Therefore, pipeline relocation is frequent and labor-intensive. Currently, open-pit mine pipeline relocation primarily utilizes cranes, excavators, or backhoes for grabbing and unloading, coordinated with transport trucks for transfer. During operations, cranes or backhoes use their robotic arms to grab the pipelines, with manual assistance to adjust their position, before placing them in the truck bed for transport to the designated location. However, because cranes, backhoes, and other loading / unloading equipment operate independently from transport vehicles, frequent coordination and scheduling are required, resulting in low overall efficiency. Moreover, pipelines are prone to tipping over due to load changes during grabbing, posing significant safety risks. In addition, the relocation of open-pit mine pipelines requires close manual operation and command at every stage, from grabbing and loading to transportation and unloading. This not only limits the flexibility of the operation, but also exposes personnel to dangerous environments such as mechanical injuries for a long time. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to provide an open-pit mine pipeline loading and unloading vehicle and its usage method, which can safely and efficiently relocate open-pit mine pipelines.

[0004] To address the aforementioned problems, this invention provides an open-pit mine pipeline loading and unloading transport vehicle, comprising: an execution vehicle, a transport vehicle, and a control system. The execution vehicle is connected to the transport vehicle and provides power to it. The execution vehicle includes a loading / unloading execution device and a center-of-gravity balancing device. The loading / unloading execution device is used to grasp the pipeline and place it onto the transport vehicle. The center-of-gravity balancing device is used to balance the center of gravity of the execution vehicle to prevent it from tipping over when grasping the pipeline. The transport vehicle includes a buffer device and at least one pipeline placement mechanism. The length of the pipeline placement mechanism is adjustable to accommodate pipelines of different specifications. The buffer device is located at both ends of the pipeline placement mechanism to abut against both ends of the pipeline within the mechanism. The control system is mounted on the execution vehicle. The control system includes a control box and a 5G communication module. The control box is connected to the execution vehicle, the loading / unloading execution device, the center-of-gravity balancing device, and the buffer device. The control box interacts with a remote control center via the 5G communication module.

[0005] The loading and unloading actuator includes: a first rotary mechanism, a first telescopic mechanism, a first pitch mechanism, a second rotary mechanism, a second pitch mechanism, a second telescopic mechanism, and a pair of grippers. The first rotary mechanism is rotatably mounted on the execution vehicle. The fixed end of the first telescopic mechanism is hinged to the first rotary mechanism. The first pitch mechanism is hinged between the first rotary mechanism and the first telescopic mechanism to drive the first telescopic mechanism to pitch on the first rotary mechanism. The second rotary mechanism is hinged to the telescopic end of the first telescopic mechanism. The second pitch mechanism is hinged between the first telescopic mechanism and the second rotary mechanism to drive the second rotary mechanism to pitch on the first telescopic mechanism. The second telescopic mechanism is mounted on the second rotary mechanism and rotates with it. A pair of grippers are respectively mounted on the second telescopic mechanism. The pair of grippers is used to grip pipelines. The second telescopic mechanism can change the distance between the pair of grippers.

[0006] The second telescopic mechanism includes a fixed part and a pair of telescopic parts. The fixed part is hinged to the second rotary mechanism. The pair of telescopic parts are symmetrically arranged at both ends of the fixed part along its length. Each gripper is mounted on one telescopic part.

[0007] The center-of-gravity balancing device includes a first slide rail, a counterweight, and a drive cylinder. The first slide rail is located on opposite sides of the execution vehicle. The counterweight is slidably mounted on the first slide rail. The base of the drive cylinder is hinged to the execution vehicle. The piston rod of the drive cylinder is hinged to the counterweight to drive the counterweight to move along the first slide rail.

[0008] The pipe placement mechanism includes: a second slide rail, at least two pipe placement slots, at least one pair of fixing pins, and a limiting rod. The second slide rail is mounted on a transport vehicle. Multiple positioning holes are sequentially arranged along the length of the second slide rail. Multiple insertion holes are sequentially arranged on both sides of the length of the second slide rail. The pipe placement slots are slidably mounted on the second slide rail. The pipe placement slots are used to accommodate pipes. Each pair of fixing pins is inserted into the positioning holes located at both ends of a pipe placement slot to clamp and fix the pipe placement slot onto the second slide rail. The limiting rod is U-shaped. The limiting rod is fastened to the pipe placement slot, and both ends of the limiting rod are inserted into the insertion holes located on both sides of the pipe placement slot to fix the pipe in the pipe placement slot.

[0009] The buffer device includes at least one support cylinder, at least one buffer plate, and a support plate. The support cylinder is mounted on the transport vehicle and located in front of the pipe placement mechanism. The piston rod of the support cylinder faces the pipe placement mechanism. Each buffer plate is mounted on the piston rod of one support cylinder. The support plate is located behind the pipe placement mechanism. The piston rod of the support cylinder extends and can move the buffer plate towards the support plate to clamp the pipes on the pipe placement mechanism between the buffer plate and the support plate.

[0010] The vehicle also includes vision sensors to obtain the length and diameter of the pipeline.

[0011] The vehicle comprises a body, a power system, a cab, and support legs. Wheels are located at the bottom of the body. The power system drives the wheels. The cab, loading / unloading actuators, and a center-of-gravity balancing device are located on the top of the body. The support legs are retractable and mounted on both sides of the body. The support legs can extend towards the ground and provide support.

[0012] The support legs are equipped with pressure sensors. These sensors detect the force applied to each support leg to facilitate adjustment of the center of gravity balance device.

[0013] The present invention also provides a method of use for the above-mentioned open-pit mine pipeline loading and unloading transport vehicle, comprising the following steps: S1. The drive vehicle pulls the transport vehicle to the work site.

[0014] S2. Adjust the length of the pipeline placement mechanism to accommodate the pipeline to be relocated.

[0015] S3. Use the loading and unloading actuator to grab the pipeline and place it on the pipeline placement mechanism.

[0016] S4. During the loading and unloading of the moving pipeline of the actuator, the center of gravity of the actuator vehicle is balanced by the center of gravity balancing device to prevent the actuator vehicle from tipping over.

[0017] S5. Use a buffer device to abut against both ends of the pipe on the pipe placement mechanism.

[0018] S6. The drive vehicle propels the transport vehicle to its destination.

[0019] S7. Use the loading and unloading actuator to unload the pipeline on the pipeline placement mechanism and place it in place.

[0020] S8. During the process of unloading the pipeline from the loading and unloading actuator, the center of gravity of the actuator is balanced by the center of gravity balancing device to prevent the actuator from tipping over.

[0021] Beneficial effects: The open-pit mine pipeline loading and unloading transport vehicle and its usage method provided by this invention integrate loading, unloading and transport functions into a single collaborative vehicle group, eliminating frequent scheduling and waiting between equipment, realizing closed-loop and optimized processes, and significantly improving operational efficiency. When the loading and unloading execution device grabs the pipe, the execution vehicle uses a center-of-gravity balancing device to counteract the overturning moment in real time, thereby reducing the risk of equipment tipping over. The transport vehicle uses a buffer device and a pipeline placement mechanism to fix the pipeline, effectively preventing the pipeline from falling or deforming during transportation, thus meeting the usage requirements under the complex and harsh road conditions of open-pit mines. The control system, through the cooperation of a control box and a 5G communication module, can achieve remote control without the need for close-range manual operation and command, keeping operators away from dangerous work areas, enabling safe and efficient relocation of open-pit mine pipelines. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of an open-pit mine pipeline loading and unloading transport vehicle according to an embodiment of the present invention; Figure 2 A top view of an execution vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a loading and unloading execution device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a transport vehicle according to an embodiment of the present invention.

[0023] The reference numerals in the attached figures are as follows: 1. Execution vehicle; 2. Transport vehicle; 3. Control system; 4. Piping; 11. Loading and unloading actuator; 12. Center of gravity balancing device; 13. Vehicle body; 14. Power system; 15. Cab; 16. Support legs; 17. Wheels; 21. Buffer device; 22. Piping placement mechanism; 31. Control box; 111. First rotary mechanism; 112. First telescopic mechanism; 113. First pitch mechanism; 114. Second rotary mechanism; 115. Second telescopic mechanism; 116. Second pitch mechanism; 117. Gripper; 115a. Fixed part; 115b. Telescopic part; 121. First slide rail; 122. Counterweight; 123. Drive cylinder; 211. Support cylinder; 212. Buffer plate; 213. Support plate; 221. Second slide rail; 222. Pipe placement groove; 223. Fixing pin; 224. Limiting rod; 225. Positioning hole; 226. Insertion hole. Detailed Implementation

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0028] This embodiment provides an open-pit mine pipeline loading and unloading transport vehicle. Figure 1 This is a schematic diagram of the overall structure of an open-pit mine pipeline loading and unloading vehicle provided in this embodiment. Figure 2 This is a top view of an execution vehicle provided in this embodiment.

[0029] like Figure 1 and Figure 2As shown, the open-pit mine pipeline loading and unloading transport vehicle of this embodiment includes: an execution vehicle 1, a transport vehicle 2, and a control system 3. The execution vehicle 1 is connected to the transport vehicle 2 and provides power to the transport vehicle 2. The execution vehicle 1 includes a loading and unloading execution device 11 and a center of gravity balancing device 12. The loading and unloading execution device 11 is used to grab the pipeline 4 and place the pipeline 4 on the transport vehicle 2. The center of gravity balancing device 12 is used to balance the center of gravity of the execution vehicle 1 to prevent the execution vehicle 1 from tipping over when grabbing the pipeline 4. The transport vehicle 2 includes a buffer device 21 and at least one pipeline placement mechanism 22. The length of the pipeline placement mechanism 22 is adjustable to accommodate pipelines 4 of different specifications. The buffer device 21 is disposed at both ends of the pipeline placement mechanism 22 to abut against both ends of the pipeline 4 in the pipeline placement mechanism 22. The control system 3 is disposed on the execution vehicle 1. The control system 3 includes a control box 31 and a 5G communication module. The control box 31 is connected to the execution vehicle, the loading and unloading execution device, the center of gravity balancing device, and the buffer device. The control box 31 interacts with the remote control center via a 5G communication module.

[0030] like Figure 1 As shown, in this embodiment, the execution vehicle 1 and the transport vehicle 2 are hinged together and can be disassembled.

[0031] The open-pit mine pipeline loading and unloading vehicle of this embodiment integrates loading, unloading and transportation functions into a single collaborative vehicle group, eliminating frequent scheduling and waiting between equipment, realizing closed-loop and optimized processes, and significantly improving operational efficiency. When the loading and unloading execution device 11 grabs the pipeline 4, the execution vehicle 1 uses the center of gravity balancing device 12 to counteract the overturning moment in real time, thereby reducing the risk of equipment tipping over. The transport vehicle 2 uses the buffer device 21 and the pipeline placement mechanism 22 to fix the pipeline 4, which can effectively prevent the pipeline 4 from falling or deforming during transportation, so as to meet the usage requirements under the complex and harsh road conditions of the open-pit mine. The control system 3, through the cooperation of the control box 31 and the 5G communication module, can realize remote control without the need for close-range manual operation and command, keeping the operators away from the dangerous work area, so as to safely and efficiently relocate the open-pit mine pipeline 4.

[0032] Figure 3 This is a schematic diagram of a loading / unloading execution device 11 provided in this embodiment. Wherein, as... Figure 3As shown, the loading / unloading actuator 11 includes: a first rotary mechanism 111, a first telescopic mechanism 112, a first pitch mechanism 113, a second rotary mechanism 114, a second pitch mechanism 115, a second telescopic mechanism 116, and a pair of grippers 117. The first rotary mechanism 111 is rotatably mounted on the actuator 1. The fixed end of the first telescopic mechanism 112 is hinged to the first rotary mechanism 111. The first pitch mechanism 113 is hinged between the first rotary mechanism 111 and the first telescopic mechanism 112 to drive the first telescopic mechanism 112 to pitch on the first rotary mechanism 111. The second rotary mechanism 114 is hinged to the telescopic end of the first telescopic mechanism 112. The second pitch mechanism 116 is hinged between the first telescopic mechanism 112 and the second rotary mechanism 114 to drive the second rotary mechanism 114 to pitch on the first telescopic mechanism 112. The second telescopic mechanism 115 is mounted on the second rotary mechanism 114 and rotates with the second rotary mechanism 114. A pair of grippers 117 are respectively mounted on the second telescopic mechanism 115. The pair of grippers 117 are used to grip the pipe 4. The second telescopic mechanism 115 can change the distance between the pair of grippers 117.

[0033] like Figure 3 As shown, the first rotating mechanism 111 in this embodiment includes a rotating base and a supporting column. The rotating base is rotatably mounted on the vehicle body 13 of the execution vehicle 1, and the supporting column is vertically mounted on the rotating base and rotates with the rotating base. The fixed end of the first telescopic mechanism 112 is hinged to the upper part of the supporting column. The control system 3 is connected to the rotating base and adjusts the orientation of the first telescopic mechanism 112 by driving the rotation of the rotating base.

[0034] like Figure 3 As shown, the first telescopic mechanism 112 in this embodiment includes a fixed beam, a telescopic beam, and a first telescopic cylinder. One end of the fixed beam is hinged to the first rotary mechanism 111. The telescopic beam is telescopically inserted into the fixed beam. The cylinder body of the first telescopic cylinder is hinged to the fixed beam, and the piston rod of the first telescopic cylinder is hinged to the telescopic beam. The control system 3 is connected to the first telescopic cylinder and adjusts the extension length of the telescopic beam by driving the piston rod of the first telescopic cylinder to extend or retract. The second rotary mechanism 114 is hinged to the end of the telescopic beam.

[0035] like Figure 3 As shown, the first pitch mechanism 113 in this embodiment includes a first pitch cylinder. The cylinder body of the first pitch cylinder is hinged to the support column of the first rotation mechanism 111, and the piston rod of the first pitch cylinder is hinged to the fixed beam of the first telescopic mechanism 112. The control system 3 is connected to the first pitch cylinder and adjusts the angle between the first telescopic mechanism 112 and the first rotation mechanism 111 by driving the piston rod of the first pitch cylinder to extend or retract.

[0036] like Figure 3As shown, the second rotating mechanism 114 in this embodiment includes a mounting base, a connecting base, and a driving device. The mounting base is hinged to the telescopic end of the first telescopic mechanism 112, and the connecting base is hinged to the mounting base via a hinge shaft, the axis of which is perpendicular to the plane of the vehicle body 13 of the executing vehicle 1. The driving device drives the connecting base to rotate left and right on the mounting base around the hinge shaft. The control system 3 is connected to the driving device, and drives the connecting base to swing left and right on the mounting base via the driving device, thereby changing the angle between the second telescopic mechanism 115 and the first telescopic mechanism 112 on the plane of the vehicle body 13.

[0037] like Figure 3 As shown, the second pitch mechanism 116 in this embodiment includes a second pitch cylinder. The cylinder body of the second pitch cylinder is hinged to the telescopic beam of the first telescopic mechanism 112, and the piston rod of the second pitch cylinder is hinged to the mounting base of the second rotary mechanism 114. The control system 3 is connected to the second pitch cylinder and adjusts the angle between the second rotary mechanism 114 and the first telescopic mechanism 112 in the vertical plane by driving the piston rod of the second pitch cylinder to extend or retract.

[0038] See Figure 3 A pair of grippers 117 are connected to the second telescopic mechanism 115 via a quick-change interface.

[0039] The gripper 117 in this embodiment can also be replaced with an electromagnetic chuck, vacuum clamp, etc., to adapt to the handling of irregularly shaped pipes or non-metallic pipelines.

[0040] It should be noted that the first rotary mechanism 111, the first telescopic mechanism 112, the first pitch mechanism 113, the second rotary mechanism 114, the second pitch mechanism 116, the second telescopic mechanism 115, and the pair of grippers 117 in this embodiment can be pneumatically driven, hydraulically driven, or electrically driven. This embodiment does not impose many restrictions on this, as long as it can meet the usage requirements.

[0041] The loading and unloading execution device 11 of this embodiment has multiple degrees of freedom through the cooperation of the first rotation mechanism 111, the first telescopic mechanism 112, the first pitch mechanism 113, the second rotation mechanism 114, and the second pitch mechanism 116, and can be used to grab and place pipes 4 in different positions; through the cooperation of a pair of grippers 117 and the second telescopic mechanism 115, it can grab pipes 4 of different lengths, and has good flexibility and versatility.

[0042] Among them, such as Figure 2 and Figure 3 As shown, the second telescopic mechanism 115 includes a fixed part 115a and a pair of telescopic parts 115b. The fixed part 115a is hinged to the second rotary mechanism 114. The pair of telescopic parts 115b are symmetrically arranged at both ends of the fixed part 115a along its length. Each gripper 117 is disposed on one telescopic part 115b.

[0043] The second telescopic mechanism 115 in this embodiment can be pneumatically driven, hydraulically driven, or electrically driven, etc. This embodiment does not impose too many restrictions on it.

[0044] In this embodiment, the second telescopic mechanism 115 adopts a double telescopic part 115b structure, with each gripper 117 disposed on one telescopic part 115b. This allows the pair of grippers 117 to have a larger range of spacing adjustment, enabling them to grip pipes 4 of various lengths. Furthermore, the double telescopic part 115b structure ensures that when adjusting the spacing between the grippers 117, the pair of telescopic parts 115b can extend and retract synchronously, keeping the fixed part 115a always in the middle position. This better maintains balance, facilitating the gripping and movement of the pipe 4.

[0045] Among them, such as Figure 1 and Figure 2 As shown, the center of gravity balancing device 12 includes: a first slide rail 121, a counterweight 122, and a drive cylinder 123. The first slide rail 121 is disposed on opposite sides of the execution vehicle 1. The counterweight 122 is slidably disposed on the first slide rail 121. The base of the drive cylinder 123 is hinged to the execution vehicle 1. The piston rod of the drive cylinder 123 is hinged to the counterweight 122 to drive the counterweight 122 to move along the first slide rail 121.

[0046] See Figure 1 and Figure 2 The counterweight 122 can be made of iron, concrete, lead or composite materials, as long as it meets the requirements of weight and corrosion resistance. This embodiment does not impose too many restrictions on this.

[0047] See Figure 1 and Figure 2 In this embodiment, the counterweight 122 is slidably mounted on the first slide rail 121 via rollers. This arrangement reduces the resistance to movement of the counterweight 122, making it more flexible.

[0048] See Figure 1 and Figure 2 In this embodiment, the counterweight 122 can also be driven by a servo motor in conjunction with a gear and rack structure, and the position of the counterweight can be precisely controlled by an encoder to improve the accuracy of counterweight adjustment and reduce the maintenance requirements of the hydraulic system.

[0049] In this embodiment, the execution vehicle 1 is most prone to tipping over when the loading / unloading execution device 11 grabs and lowers the pipeline 4, because the lever arm of the loading / unloading execution device 11 is at its longest and the torque is at its greatest at this time. Therefore, in this embodiment, a center of gravity balancing device 12 is provided on the execution vehicle 1 to balance the torque and reduce the risk of tipping over. When the pipeline 4 to be moved is located in front of the execution vehicle 1, when the loading / unloading execution device 11 grabs the pipeline 4 to be moved, the control system 3 causes the piston rod of the drive cylinder 123 to extend, causing the counterweight 122 to move along the first slide 121 to the rear of the execution vehicle 1; when the loading / unloading execution device 11 is about to place the pipeline 4 on the transport vehicle 2 behind the execution vehicle 1, the control system 3 causes the piston rod of the drive cylinder 123 to retract, causing the counterweight 122 to move along the first slide 121 to the front of the execution vehicle 1.

[0050] In this embodiment, the cooperation of the first slide rail 121, the counterweight 122 and the drive cylinder 123 enables the execution vehicle 1 to remain stable, thereby improving the safety of pipeline 4 relocation and increasing work efficiency.

[0051] It should be noted that in other embodiments, the counterweight 122 can also be moved along the first slide rail 121 by a cylinder or electric power, and this embodiment does not impose any restrictions on this.

[0052] Figure 4 This is a schematic diagram of a transport vehicle 2 provided in this embodiment. Wherein, as... Figure 4 As shown, the pipe placement mechanism 22 includes: a second slide 221, at least two pipe placement slots 222, at least one pair of fixing pins 223, and a limiting rod 224. The second slide 221 is mounted on the transport vehicle 2. Multiple positioning holes 225 are sequentially arranged along the length of the second slide 221. Multiple insertion holes 226 are sequentially arranged on both sides of the length of the second slide 221. The pipe placement slots 222 are slidably mounted on the second slide 221. The pipe placement slots 222 are used to accommodate pipes 4. Each pair of fixing pins 223 is inserted into the positioning holes 225 located at the front and rear ends of a pipe placement slot 222 to clamp and fix the pipe placement slot 222 onto the second slide 221. The limiting rod 224 is U-shaped. The limiting rod 224 is fastened to the pipe placement groove 222, and the two ends of the limiting rod 224 are respectively inserted into the insertion holes 226 located on both sides of the pipe placement groove 222 to fix the pipe 4 in the pipe placement groove 222.

[0053] like Figure 4 As shown, the transport vehicle 2 in this embodiment is equipped with three pipe placement mechanisms 22, which can be used to fix three pipes 4. Each pipe placement mechanism 22 includes three pipe placement slots 222, which support the front, middle and rear sections of the pipe 4 respectively, providing good fixation and protection for the pipe 4.

[0054] See Figure 4 In this embodiment, the pipe placement groove 222 is equipped with a buffer air cushion, an elastic buffer pad, or a buffer spring, which can not only effectively fix the pipe 4, but also play a good buffering role. If a buffer air cushion is used, dynamic shock absorption can be achieved by adjusting the air pressure, thereby improving the protection capability of the extra-long pipe 4 and avoiding the problem of spring fatigue.

[0055] See Figure 4 In this embodiment, the fixing pin 223 can also be replaced with an electromagnetic lock or a buckle.

[0056] In this embodiment, the pipe placement mechanism 22, through the cooperation of the second slide 221, the pipe placement groove 222, and the fixing pin 223, can flexibly change the number of pipe placement grooves 222 used and adjust the spacing between two adjacent pipe placement grooves 222, thus accommodating pipes of different lengths. The U-shaped limiting rod 224, in cooperation with the pipe placement groove 222, can securely restrain the pipe 4 within the pipe placement groove 222, preventing it from falling out during transportation.

[0057] Among them, such as Figure 4 As shown, the buffer device 21 includes at least one support cylinder 211, at least one buffer plate 212, and a support plate 213. The support cylinder 211 is mounted on the transport vehicle 2 and located in front of the pipe placement mechanism 22. The piston rod of the support cylinder 211 faces the pipe placement mechanism 22. Each buffer plate 212 is mounted on the piston rod of one support cylinder 211. The support plate 213 is located behind the pipe placement mechanism 22. The piston rod of the support cylinder 211 extends and can move the buffer plate 212 toward the support plate 213 to clamp the pipe 4 on the pipe placement mechanism 22 between the buffer plate 212 and the support plate 213.

[0058] like Figure 1 and Figure 4 As shown, the buffer device 21 in this embodiment includes three parallel supporting cylinders 211. Each supporting cylinder 211 has a buffer plate 212 on its piston rod, and each buffer plate 212 corresponds to a pipe placement mechanism 22. The supporting plate 213 is a single piece of plate and is located at the rear end of the transport vehicle 2. The piston rods of the three supporting cylinders 211 extend and can drive the buffer plate 212 to move towards the supporting plate 213, so as to clamp the pipes 4 on the three pipe placement mechanisms 22 between the buffer plate 212 and the supporting plate 213 respectively.

[0059] See Figure 4 The support cylinder 211 in this embodiment can also be replaced with a hydraulic damper, as long as the requirements for buffering effect and durability are met.

[0060] See Figure 1 and Figure 4In this embodiment, the buffer plate 212 and the support plate 213 are made of materials such as rubber, plastic, and fabric to avoid hard contact with the pipeline.

[0061] See Figure 1 and Figure 4 In this embodiment, a spring is installed between the buffer plate 212 and the support cylinder 211, and a spring is installed between the support plate 213 and the vehicle body of the transport vehicle 2, in order to further improve the buffering effect and avoid damage to both ends of the pipeline.

[0062] In this embodiment, the buffer device 21, through the cooperation of the support cylinder 211, the buffer plate 212 and the support plate 213, can fix the pipeline 4 in the pipeline placement mechanism 22, preventing the pipeline 4 from moving back and forth in the pipeline placement mechanism 22 during transportation and causing collisions and deformation.

[0063] Among them, see Figure 1 The vehicle also includes vision sensors to obtain the length and diameter of pipe 4.

[0064] In this embodiment, the vision sensor captures an image of the pipe 4 and uses pixel resolution and image processing algorithms to convert the number of pixels into the actual length, thereby accurately measuring the length and diameter of the pipe 4. After the control system 3 obtains the length and diameter of the pipe 4 using the vision sensor, it can adjust the spacing between the pair of grippers 117 and the opening degree of each gripper 117 in advance to improve the gripping efficiency of the loading and unloading execution device 11.

[0065] Among them, such as Figure 1 and Figure 2 As shown, the execution vehicle 1 includes a vehicle body 13, a power system 14, a driver's cab 15, and support legs 16. Wheels 17 are located at the bottom of the vehicle body 13. The power system 14 drives the wheels 17 to rotate. The driver's cab 15, the loading / unloading execution device 11, and the center of gravity balancing device 12 are located on the top of the vehicle body 13. The support legs 16 are retractable and mounted on both sides of the vehicle body 13. The support legs 16 can extend towards the ground and support the ground.

[0066] See Figure 1 and Figure 2 In this embodiment, wheel 17 uses solid tires. Using solid tires enhances the vehicle's passability and driving stability on complex and harsh road surfaces in open-pit mines. It should be noted that the wheels of transport vehicle 2 also use solid tires.

[0067] In this embodiment, the control system 3 is connected to the power system 14 to drive the movement of the vehicle body 13 of the execution vehicle 1. A driver's cab 15 is mounted on the vehicle body 13 and is also connected to the power system 14 to facilitate manual driving of the execution vehicle 1 in response to various emergencies. In this embodiment, support legs 16 are provided on both sides of the vehicle body 13, which improve the stability of the execution vehicle 1 during pipe 4 gripping operations and also distribute the load on the wheels 17.

[0068] Among them, see Figure 1 and Figure 2 Pressure sensors are installed on the support legs 16. The pressure sensors are used to detect the force on each support leg 16 in order to adjust the center of gravity balance device 12.

[0069] In this embodiment, a pressure sensor is provided on the support leg 16. The control system 3 can obtain the force on the front and rear support legs 16 through the pressure sensor, and then adjust the position of the counterweight 122 to ensure the stability of the vehicle 1.

[0070] The structure of the open-pit mine pipeline loading and unloading vehicle of this embodiment has been described in detail above. Next, a method of use is provided for the open-pit mine pipeline loading and unloading vehicle of the above embodiment, including the following steps: S1. Drive the execution vehicle 1 to move the transport vehicle 2 to the work point.

[0071] Specifically, during operation, the operator sends instructions via the 5G network. The control box 31 receives the instructions through the 5G communication module and drives the execution vehicle 1 to bring the transport vehicle 2 to the work site. After arriving at the work site, the execution vehicle 1 lowers its two side support legs 16 to stabilize the vehicle body 13.

[0072] S2. Adjust the length of the pipe placement mechanism 22 to accommodate the pipe 4 to be moved.

[0073] Specifically, the length and diameter of the pipe 4 to be moved are obtained using a visual sensor and fed back to the control box 31 and the remote control terminal. The spacing of the pipe placement slots 222 on the pipe placement mechanism 22 is manually adjusted according to the length of the pipe 4 to accommodate the pipe to be moved. Afterwards, the control system 3 automatically adjusts the opening of the gripper 117 and the distance between the pair of grippers 117 to fit the pipe.

[0074] S3. Use the loading and unloading actuator 11 to grab the pipeline 4 and place it on the pipeline placement mechanism 22.

[0075] Specifically, through the cooperation of the first rotating mechanism 111, the first telescopic mechanism 112, the first pitching mechanism 113, the second rotating mechanism 114, and the second pitching mechanism 116, a pair of grippers 117 clamp the pipeline 4 to be moved and move it into the pipeline placement slot 222 on the pipeline placement mechanism 22.

[0076] S4. During the process of moving the pipeline 4 by the loading and unloading actuator 11, the center of gravity of the actuator 1 is balanced by the center of gravity balancing device 12 to prevent the actuator 1 from tipping over.

[0077] Specifically, during the loading and unloading execution device 11's gripping and lifting of the pipeline 4, pressure sensors monitor the pressure of the support legs 16 in real time. If an increase in pressure is detected in the front support leg 16 due to the forward movement of the load, the counterweight 122 slides towards the rear of the vehicle; if an increase in pressure is detected in the rear support leg 16 due to the forward movement of the load, the counterweight 122 slides towards the front of the vehicle. The center of gravity balancing device 12 uses the counterweight 122 to generate a counter-torque to dynamically maintain the balance of the entire vehicle and prevent tipping.

[0078] S5. The buffer device 21 is used to abut against both ends of the pipe 4 on the pipe placement mechanism 22.

[0079] Specifically, after each pipe placement mechanism 22 has a pipe 4 placed in it, the support cylinder 211 is adjusted so that the buffer plate 212 abuts the pipe 4 against the support plate 213, and then the limit rod 224 is installed manually.

[0080] S6. Drive the execution vehicle 1 to move the transport vehicle 2 to the destination.

[0081] Specifically, the operator sends instructions via the 5G network. The control box 31 receives the instructions through the 5G communication module, retracts the support legs 16, and drives the execution vehicle 1 to move the transport vehicle 2 to the destination. Upon arrival at the destination, the execution vehicle 1 lowers the support legs 16 on both sides to stabilize the vehicle body 13.

[0082] S7. Use the loading and unloading actuator 11 to unload the pipe 4 from the pipe placement mechanism 22 and place it in place.

[0083] Specifically, firstly, the limit rod 224 is manually removed. Then, the piston rod of the support cylinder 211 retracts, causing the buffer plate 212 to move backward and release the pipeline 4. Then, through the cooperation of the first rotary mechanism 111, the first telescopic mechanism 112, the first pitch mechanism 113, the second rotary mechanism 114, and the second pitch mechanism 116, the second telescopic mechanism is moved above the pipeline 4, so that a pair of grippers 117 can grip the pipeline 4 on the pipeline placement mechanism 22, unload the pipeline 4 from the transport vehicle 2, and place it in place.

[0084] S8. During the process of unloading the pipeline 4 by the loading and unloading actuator 11, the center of gravity of the actuator 1 is balanced by the center of gravity balancing device 12 to prevent the actuator 1 from tipping over.

[0085] Specifically, during the process of unloading and lifting the pipeline 4 by the loading and unloading actuator 11 and during the process of lowering the pipeline 4, the pressure sensor monitors the pressure of the support leg 16 in real time. If the pressure of the front support leg 16 increases due to the forward movement of the load, the control box 31 drives the counterweight block 122 to slide towards the rear of the vehicle through the drive cylinder 123; if the pressure of the rear support leg 16 increases due to the backward movement of the load, the control box 31 drives the counterweight block 122 to slide towards the front of the vehicle through the drive cylinder 123; the counterweight block 122 generates a counter-torque to dynamically maintain the balance of the vehicle and prevent tipping.

[0086] The method of use in this embodiment is applied to the open-pit mine pipeline loading and unloading transport vehicle described in the above embodiment, and therefore has all the beneficial effects of the above embodiment, which will not be repeated here.

[0087] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0088] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above are merely preferred embodiments of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A loading and unloading transport vehicle for open-pit mine pipelines, characterized in that, include: Execution vehicle, transport vehicle, and control system; The execution vehicle is connected to the transport vehicle and is used to provide power to the transport vehicle; the execution vehicle includes a loading and unloading execution device and a center of gravity balancing device; the loading and unloading execution device is used to grab the pipeline and place the pipeline on the transport vehicle; the center of gravity balancing device is used to balance the center of gravity of the execution vehicle to prevent the execution vehicle from tipping over when grabbing the pipeline; The transport vehicle includes a buffer device and at least one pipe placement mechanism; the length of the pipe placement mechanism is adjustable to accommodate pipes of different specifications; the buffer device is located at both ends of the pipe placement mechanism to abut against both ends of the pipes in the pipe placement mechanism. The control system is mounted on the execution vehicle; the control system includes a control box and a 5G communication module; the control box is connected to the execution vehicle, the loading and unloading execution device, the center of gravity balancing device, and the buffer device respectively; the control box interacts with the remote control center through the 5G communication module.

2. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The loading and unloading actuator includes: a first slewing mechanism, a first telescopic mechanism, a first pitching mechanism, a second slewing mechanism, a second pitching mechanism, a second telescopic mechanism, and a pair of grippers; The first rotary mechanism is rotatably mounted on the execution vehicle; The fixed end of the first telescopic mechanism is hinged to the first rotary mechanism; The first pitch mechanism is hinged between the first slewing mechanism and the first telescopic mechanism to drive the first telescopic mechanism to pitch and swing on the first slewing mechanism. The second rotary mechanism is hinged to the telescopic end of the first telescopic mechanism; The second pitch mechanism is hinged between the first telescopic mechanism and the second rotary mechanism to drive the second rotary mechanism to pitch and swing on the first telescopic mechanism; The second telescopic mechanism is mounted on the second rotary mechanism and rotates with the second rotary mechanism; A pair of grippers are respectively disposed on the second telescopic mechanism; the pair of grippers are used to grip the pipeline; the second telescopic mechanism can change the distance between the pair of grippers.

3. The open-pit mine pipeline loading and unloading vehicle according to claim 2, characterized in that, The second telescopic mechanism includes a fixed part and a pair of telescopic parts; The fixed part is hinged to the second rotary mechanism; A pair of the telescopic parts are symmetrically arranged at both ends of the fixed part along its length. Each of the grippers is disposed on one of the telescopic parts.

4. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The center of gravity balancing device includes: a first slide rail, a counterweight, and a drive cylinder; The first slide rails are disposed on opposite sides of the execution vehicle; The counterweight can be slidably mounted on the first slide rail; The base of the drive cylinder is hinged to the execution vehicle; the piston rod of the drive cylinder is hinged to the counterweight to drive the counterweight to move along the first slide.

5. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The pipeline placement mechanism includes: a second slide, at least two pipeline placement slots, at least a pair of fixing pins, and a limiting rod; The second slide is mounted on the transport vehicle; a plurality of positioning holes are sequentially arranged along the length of the second slide; a plurality of insertion holes are sequentially arranged on both sides of the length of the second slide. The pipe placement groove is slidably disposed on the second slide rail; the pipe placement groove is used to accommodate pipes; Each pair of fixing pins is inserted into the positioning holes located at the front and rear ends of one of the pipe placement slots to clamp and fix the pipe placement slot on the second slide rail. The limiting rod is U-shaped; the limiting rod is fastened to the pipe placement groove, and both ends of the limiting rod are respectively inserted into the insertion holes located on both sides of the pipe placement groove to fix the pipe in the pipe placement groove.

6. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The buffer device includes: at least one support cylinder, at least one buffer plate, and a support plate; The supporting hydraulic cylinder is mounted on the transport vehicle and located in front of the pipeline placement mechanism; the piston rod of the supporting hydraulic cylinder faces the pipeline placement mechanism. Each of the buffer plates is mounted on the piston rod of one of the supporting cylinders; The support plate is located behind the pipeline placement mechanism; The piston rod of the support cylinder extends and can drive the buffer plate to move toward the support plate, so as to clamp the pipe on the pipe placement mechanism between the buffer plate and the support plate.

7. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The vehicle also includes a vision sensor for acquiring the length and diameter of the pipeline.

8. The open-pit mine pipeline loading and unloading vehicle according to claim 1, characterized in that, The execution vehicle includes a vehicle body, a power system, a driver's cab, and support legs; The vehicle body is equipped with wheels at its bottom; the power system is used to drive the wheels to rotate. The driver's cab, the loading and unloading execution device, and the center of gravity balancing device are located on the top of the vehicle body; The support legs are retractable and mounted on both sides of the vehicle body; the support legs can extend towards the ground and support the ground.

9. The open-pit mine pipeline loading and unloading vehicle according to claim 8, characterized in that, The support leg is equipped with a pressure sensor; the pressure sensor is used to detect the force on each support leg in order to adjust the center of gravity balance device.

10. A method of use for an open-pit mine pipeline loading and unloading transport vehicle according to any one of claims 1 to 9, characterized in that, The method includes the following steps: S1. Drive the execution vehicle to move the transport vehicle to the work point; S2. Adjust the length of the pipeline placement mechanism to accommodate the pipeline to be moved; S3. Use the loading and unloading device to grab the pipeline and place it on the pipeline placement mechanism; S4. During the process of the loading and unloading execution device moving the pipeline, the center of gravity of the execution vehicle is balanced by the center of gravity balancing device to prevent the execution vehicle from tipping over; S5. The buffer device is used to abut against both ends of the pipe on the pipe placement mechanism; S6. Drive the execution vehicle to move the transport vehicle to the destination; S7. Use the loading and unloading device to unload the pipeline from the pipeline placement mechanism and place it in place; S8. During the process of the loading and unloading execution device unloading the pipeline, the center of gravity of the execution vehicle is balanced by the center of gravity balancing device to prevent the execution vehicle from tipping over.

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