Intelligent operation device of underground carry-scraper

Abstract

The utility model provides an underground carry-scraper intelligent operation device which comprises a machine frame and a driving assembly, and the driving assembly comprises a lifting mechanism assembly, a bucket adjusting mechanism assembly and a control assembly. The lifting mechanism assembly comprises a lifting driving mechanism, an upper lifting arm, a lower lifting arm and a lifting arm connecting frame; the bucket adjusting mechanism assembly comprises a branch chain, a branch chain fixing plate and a bucket; one ends of the upper lifting arm and the lower lifting arm are connected with the rack, the other ends of the upper lifting arm and the lower lifting arm are fixed in the middle of the lifting arm connecting frame, one end of the lifting arm connecting frame is connected with the bucket, the other end of the lifting arm connecting frame is connected with the rack, the lifting driving mechanism is simultaneously connected with the upper lifting arm and the lower lifting arm, and the branch chain fixing plate is simultaneously connected with the rack and the lifting arm connecting frame. One end of the branch chain is connected with the branch chain fixing plate, the other end of the branch chain is connected with the bucket, and the bucket adjusting mechanism assembly and the lifting driving mechanism are both connected with the control assembly. According to the utility model, the functions of energy consumption saving, accurate dynamic weighing and the like are realized.

Description

[Technical field]

[0001] The utility model relates to the technical field of mining equipment, in particular to an intelligent operating device for an underground scraper. [Background technology]

[0002] As a major engineering machinery, the scraper plays an important role in mining machinery. With the construction of smart mines, the degree of mechanization is getting higher and higher, and the requirements for the performance indicators of construction machinery and equipment such as scrapers are getting higher and higher. The performance of its operating device depends on the mechanism shape and the size of each component, and the performance of the scraper operating device directly affects the work efficiency and work quality of the whole machine, so the study of the working mechanism is very necessary. Taking the inverted six-link mechanism as an example, the inverted six-link mechanism is composed of two parts with independent movements: the bucket connecting rod mechanism and the boom lifting mechanism. The six-bar mechanisms are: bucket, boom, pull rod, swing rod, lifting cylinder and bucket cylinder. Driven by the two prime movers, the lifting cylinder and the bucket cylinder, the scraper completes the working process from loading to unloading materials.

[0003] The defects of the existing underground shovel loader working mechanism are: 1. The bucket is not flexible enough and needs to rely on the vehicle body to move forward to load materials, which consumes a lot of fuel; 2. The coupled movement of the vehicle body and the working mechanism will cause the control accuracy to decrease, which is an unfavorable factor for intelligent and autonomous operation; 3. Affected by the movement of the vehicle body, the dynamic weighing error of the material is large; 4. It is easy to tilt when encountering uneven road conditions during travel.

[0004] Therefore, it is necessary to study an intelligent operating device for underground shovel loaders to address the deficiencies of the prior art in order to solve or alleviate one or more of the above problems. [Contents of the utility model]

[0005] In view of this, the utility model provides an intelligent operating device for an underground scraper loader, which realizes decoupling from the movement of the vehicle body when loading materials. When the position of the vehicle body remains unchanged, the working mechanism can still complete the loading and unloading tasks of the materials, and is more flexible; when encountering uneven road conditions, the working mechanism can control the bucket to fine-tune, change the center of gravity, and ensure smooth driving; the working mechanism realizes functions such as energy saving and precise dynamic weighing, improves control accuracy, and lays a foundation for realizing intelligence.

[0006] On the one hand, the utility model provides an intelligent operation device for an underground scraper, the intelligent operation device comprising: a frame and a drive assembly, the drive assembly comprising a lifting mechanism assembly, a bucket adjustment mechanism assembly and a control assembly, the lifting mechanism assembly and the bucket adjustment mechanism assembly are both connected to the control assembly at one end and connected to the frame at the other end;

[0007] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the lifting mechanism assembly includes a lifting drive mechanism, an upper lifting arm, a lower lifting arm and a lifting arm connection frame;

[0008] The bucket adjustment mechanism assembly includes a branch chain, a branch chain fixing plate and a bucket;

[0009] The upper lifting arm and the lower lifting arm are connected to the frame at one end, and the other end is fixed to the middle of the lifting arm connecting frame. The lifting arm connecting frame is connected to the bucket at one end, and the frame at the other end. The lifting drive mechanism is simultaneously connected to the upper lifting arm and the lower lifting arm, the branch chain fixing plate is simultaneously connected to the frame and the lifting arm connecting frame, one end of the branch chain is connected to the branch chain fixing plate, and the other end is connected to the bucket, and the bucket adjustment mechanism assembly and the lifting drive mechanism are both connected to the control assembly.

[0010] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein there are at least three branch chains in the bucket adjustment mechanism assembly, each branch chain includes an adjustment drive mechanism, the adjustment drive mechanism is arranged between the branch chain and the branch chain fixing plate, and the adjustment drive mechanism is connected to the control assembly.

[0011] According to the above aspects and any possible implementation manner, there is further provided an implementation manner, wherein a pressure sensor is provided in the adjustment drive mechanism.

[0012] According to the aspects and any possible implementations described above, an implementation is further provided, wherein the branch chain is composed of one or more of a ball joint, a revolute joint, a translation joint and a Hooke's joint.

[0013] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the lifting drive mechanism and the adjustment drive mechanism are any one of an electric push rod, a hydraulic cylinder and a pneumatic cylinder.

[0014] According to the above aspects and any possible implementation, an implementation is further provided, wherein the lifting drive mechanism, the upper lifting arm and the lower lifting arm are each in two pieces, and are symmetrically arranged on both sides of the lifting arm connection frame.

[0015] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the control assembly includes a human-computer interaction device, a weighing device, a motion control device and a servo drive device, wherein the human-computer interaction device is connected to the weighing device and the motion control device at the same time, the motion control device is connected to a lifting drive mechanism and an adjustment drive mechanism through a servo drive device, and the weighing device is connected to a pressure sensor.

[0016] According to the above aspects and any possible implementation, an implementation is further provided, wherein the human-computer interaction device includes a PC, a mobile phone and a tablet.

[0017] According to the above aspects and any possible implementation manner, there is further provided an implementation manner, wherein the motion control device includes a single chip microcomputer.

[0018] According to the aspects described above and any possible implementation methods, a further intelligent operation method for an underground shovel loader is provided. The intelligent operation method performs bucket operation through the intelligent operation device. During the operation, the telescopic length, telescopic speed and telescopic acceleration of the adjustment drive mechanism and the lifting drive mechanism in each branch chain are calculated according to the position and motion trajectory of the bucket. At the same time, the control assembly is extended and retracted according to the calculated value, thereby realizing adaptive adjustment of the bucket to achieve the excavation method with minimal resistance.

[0019] Compared with the prior art, the utility model can obtain the following technical effects:

[0020] 1. The working mechanism of the utility model can be evolved into the working mechanism of different mining equipment, such as the working mechanism of an excavator, the working mechanism of a tunneling machine, the working mechanism of a coal washer, etc., through the change of the freedom of the bucket adjustment mechanism assembly and the replacement of the bucket tool, which enhances the wide application of mining equipment.

[0021] 2. The utility model has the characteristics of self-learning and intelligence, and can automatically realize the tasks of loading, transporting and unloading materials.

[0022] 3. The working mechanism of the utility model realizes decoupling from the movement of the vehicle body when loading materials. When the position of the vehicle body remains unchanged, the working mechanism can still realize the loading and unloading of materials.

[0023] 4. When the utility model encounters uneven road conditions, the working mechanism can control the bucket to fine-tune and change the center of gravity to ensure smooth driving.

[0024] 5. The working mechanism of the utility model realizes the functions of energy saving, accurate dynamic weighing, etc., improves the control accuracy, and lays the foundation for realizing intelligence.

[0025] Of course, any product implementing the present utility model does not necessarily need to achieve all of the above-mentioned technical effects at the same time.

Brief Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1It is a schematic diagram of the overall structure of an intelligent operation device provided by an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of a lifting mechanism assembly provided by an embodiment of the utility model;

[0029] Figure 3 It is a schematic diagram of a bucket adjustment mechanism assembly provided by an embodiment of the utility model;

[0030] Figure 4 It is a schematic diagram of a multi-degree-of-freedom parallel mechanism provided by an embodiment of the utility model.

[0031] Among them, in the figure:

[0032] 1-frame; 2-lifting drive mechanism; 3-upper lifting arm; 4-lower lifting arm; 5-lifting arm connecting frame; 6-branch chain fixing plate; 7-adjusting drive mechanism; 8-bucket. [Specific implementation method]

[0033] In order to better understand the technical solution of the present utility model, the embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0034] It should be clear that the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0036] The utility model provides an intelligent operation device for an underground scraper, the intelligent operation device comprising: a frame and a drive assembly, the drive assembly comprising a lifting mechanism assembly, a bucket adjustment mechanism assembly and a control assembly;

[0037] The lifting mechanism assembly includes a lifting drive mechanism, an upper lifting arm, a lower lifting arm and a lifting arm connecting frame;

[0038] The bucket adjustment mechanism assembly includes a branch chain, a branch chain fixing plate and a bucket;

[0039] The upper lifting arm and the lower lifting arm are connected to the frame at one end, and the other end is fixed to the middle of the lifting arm connecting frame. The lifting arm connecting frame is connected to the bucket at one end, and the frame at the other end. The lifting drive mechanism is simultaneously connected to the upper lifting arm and the lower lifting arm, the branch chain fixing plate is simultaneously connected to the frame and the lifting arm connecting frame, one end of the branch chain is connected to the branch chain fixing plate, and the other end is connected to the bucket, and the bucket adjustment mechanism assembly and the lifting drive mechanism are both connected to the control assembly.

[0040] There are at least three branch chains in the bucket adjustment mechanism assembly, each branch chain includes an adjustment drive mechanism, the adjustment drive mechanism is arranged between the branch chain and the branch chain fixing plate, and the adjustment drive mechanism is connected to the control assembly.

[0041] A pressure sensor is arranged in the adjustment drive mechanism.

[0042] The branch chain is composed of one or more of a ball pair, a revolute pair, a translation pair and a Hooke's joint.

[0043] The lifting drive mechanism and the adjusting drive mechanism are any one of an electric push rod, a hydraulic cylinder and a pneumatic cylinder.

[0044] The lifting drive mechanism, the upper lifting arm and the lower lifting arm are each in two pieces, and are symmetrically arranged on both sides of the lifting arm connection frame.

[0045] The control assembly includes a human-machine interaction device, a weighing device, a motion control device and a servo drive device. The human-machine interaction device is connected to the weighing device and the motion control device at the same time. The motion control device is connected to the lifting drive mechanism and the adjustment drive mechanism through the servo drive device. The weighing device is connected to a pressure sensor. The human-machine interaction device includes a PC, a mobile phone and a tablet. The motion control device includes a single-chip microcomputer.

[0046] Embodiment 1:

[0047] like Figure 1 , Figure 2 and Figure 3 As shown, the working mechanism includes a frame 1 and a drive assembly, and the drive assembly includes a lifting mechanism assembly, a bucket adjustment mechanism assembly and a control system. The lifting mechanism assembly and the bucket adjustment mechanism assembly are connected in series by a lifting arm connection frame 5. The lifting mechanism assembly consists of a lifting drive mechanism 2, an upper lifting arm 3, a lower lifting arm 4, and a lifting arm connection frame 5, wherein the lifting drive mechanism 2, the upper lifting arm 3 and the lower lifting arm 4 are symmetrically distributed on both sides, and the lifting arm connection frame 5 connects the upper lifting arm 3 and the lower lifting arm 4 on both sides in the middle.

[0048] The bucket adjustment mechanism assembly consists of several identical branch chains, branch chain fixing plates 6 and buckets 8, wherein each branch chain includes an adjustment drive mechanism 7, and the two ends of the branch chain are respectively connected to the branch chain fixing plate 6 and the bucket 8, wherein the branch chain fixing plate 6 is fixed together with the lifting arm connecting frame 5.

[0049] Among them, in the bucket adjustment mechanism assembly, the number of branch chains is three, four, five or six, the number of buckets is one, and the number of branch chain fixing plates 6 is one; each branch chain is composed of one or more of a ball pair, a rotating pair, a sliding pair, and a Hooke's joint. The schematic diagram shows a ball pair, a sliding pair, and a rotating pair. One end of each branch chain is connected to the bucket 8, and the other end is connected to the branch chain fixing plate 6, and the branch chain fixing plate 6 is fixed on the lifting arm connecting frame 5.

[0050] like Figure 4 As shown, the telescopic length, telescopic speed and telescopic acceleration of the adjustment drive mechanism 7 and the lifting drive mechanism 2 in each branch chain are calculated through the position and motion trajectory of the bucket 8, and the control system is extended and retracted according to the calculated values, thereby realizing adaptive adjustment of the bucket to achieve the digging method with minimal resistance.

[0051] like Figure 4 As shown, the control system obtains the pressure of the driving mechanism through the pressure sensors in the lifting driving mechanism 2 and the adjusting driving mechanism 7 in each branch chain, realizes multi-cylinder detection, has strong perception, and thus realizes the weighing function.

[0052] When the working mechanism is working, under the control of the control system, first, the adjustment drive mechanism 7 moves according to a certain rule, so that the bucket 8 moves forward from the initial horizontal position of the bottom of the shovel to insert the material while maintaining the same posture. Secondly, when the material is completely attached to the rear wall of the bucket 8, under the joint action of the lifting drive mechanism 2 and the adjustment drive mechanism 7, the bucket 8 first flips back to the bucket mouth approximately horizontal, completing the bucket loading task of the material, and then keeps the bucket 8 mouth approximately horizontal posture and shrinks backward while lifting until it reaches the target position. Then, when the upper unloading limit position is reached, the unloading task is completed under the drive of the adjustment drive mechanism 7 of the bucket adjustment mechanism assembly. Finally, the bucket 8 returns to its original state. During operation, when encountering uneven road conditions, the auxiliary drive mechanism can control the bucket 8 to swing left and right to ensure the stability of driving. At the same time, the pressure on the drive mechanism is obtained according to the pressure sensors in the lifting drive mechanism 2 and the adjustment drive mechanism (auxiliary drive mechanism) 7, thereby realizing the weighing function of the bucket 8.

[0053] The above is a detailed introduction to an intelligent operation device for underground loader provided by the embodiment of the present application. The description of the above embodiment is only used to help understand the method and core idea of ​​the present application; at the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

[0054] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different nouns to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. As mentioned throughout the specification and claims, "including" and "comprising" are open-ended terms, so they should be interpreted as "including / including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application, and is not used to limit the scope of the present application. The scope of protection of the present application shall be determined by the definition of the attached claims.

[0055] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0056] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0057] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. An intelligent operation device for underground scraper, characterized in that: The intelligent operation device comprises: a frame and a driving assembly, wherein the driving assembly comprises a lifting mechanism assembly, a bucket adjustment mechanism assembly and a control assembly; the lifting mechanism assembly and the bucket adjustment mechanism assembly are both connected to the control assembly at one end and connected to the frame at the other end.

2. The intelligent operation device according to claim 1, characterized in that: The lifting mechanism assembly includes a lifting drive mechanism, an upper lifting arm, a lower lifting arm and a lifting arm connecting frame; The bucket adjustment mechanism assembly includes a branch chain, a branch chain fixing plate and a bucket; The upper lifting arm and the lower lifting arm are connected to the frame at one end, and the other end is fixed to the middle of the lifting arm connecting frame. The lifting arm connecting frame is connected to the bucket at one end, and the frame at the other end. The lifting drive mechanism is simultaneously connected to the upper lifting arm and the lower lifting arm, the branch chain fixing plate is simultaneously connected to the frame and the lifting arm connecting frame, one end of the branch chain is connected to the branch chain fixing plate, and the other end is connected to the bucket, and the bucket adjustment mechanism assembly and the lifting drive mechanism are both connected to the control assembly.

3. The intelligent operation device according to claim 2, characterized in that: There are at least three branch chains in the bucket adjustment mechanism assembly, each branch chain includes an adjustment drive mechanism, the adjustment drive mechanism is arranged between the branch chain and the branch chain fixing plate, and the adjustment drive mechanism is connected to the control assembly.

4. The intelligent operation device according to claim 3, characterized in that: A pressure sensor is arranged in the adjustment drive mechanism.

5. The intelligent operation device according to claim 3, characterized in that: The branch chain is composed of one or more of a ball pair, a revolute pair, a translation pair and a Hooke's joint.

6. The intelligent operation device according to claim 3, characterized in that: The lifting drive mechanism and the adjusting drive mechanism are any one of an electric push rod, a hydraulic cylinder and a pneumatic cylinder.

7. The intelligent operation device according to claim 2, characterized in that: The lifting drive mechanism, the upper lifting arm and the lower lifting arm are each in two pieces, and are symmetrically arranged on both sides of the lifting arm connection frame.

8. The intelligent operation device according to claim 4, characterized in that: The control assembly includes a human-computer interaction device, a weighing device, a motion control device and a servo drive device. The human-computer interaction device is connected to the weighing device and the motion control device at the same time. The motion control device is connected to a lifting drive mechanism and an adjustment drive mechanism through a servo drive device. The weighing device is connected to a pressure sensor.

9. The intelligent operation device according to claim 8, characterized in that: The human-computer interaction devices include PCs, mobile phones and tablets.

10. The intelligent operation device according to claim 8, characterized in that: The motion control device includes a single chip microcomputer.

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