Unmanned mining machine

Abstract

The utility model provides a driverless mining machine, the driverless mining machine is an unmanned vehicle which runs along a track at a mine area and is used for cutting stones, a magnetic nail positioning device is arranged at the position of the driverless vehicle, a magnetic nail is detachably arranged at the position of the track at a stone cutting section, and the magnetic nail is used for triggering the stone cutting action of the driverless vehicle; after the unmanned vehicle enters the stone cutting section, if the magnetic nail positioning device is triggered by the magnetic nail at the track, the unmanned vehicle stops, the stone beside the track is cut through the cutting device, and after the cutting action is completed, the unmanned vehicle continues to run until the stone cutting is executed again after the magnetic nail at the next position is triggered; according to the utility model, the low-precision positioning technology and the high-precision positioning technology can be combined, and the stone cutting device is integrated on the track unmanned vehicle, so that the mine rough blank stone beside the track can be quickly and automatically roughly cut and processed.

Description

Technical Field

[0001] This utility model relates to the field of mining machinery and equipment technology, and in particular to unmanned mining machines. Background Technology

[0002] When rough cutting stone in a mine, a certain level of positioning accuracy is often required. While current satellite positioning is low in cost, its positioning accuracy is poor and difficult to meet the requirements. High-precision positioning mechanisms are more expensive. How to solve this problem is a research direction. Utility Model Content

[0003] This utility model proposes an unmanned mining machine that combines low-precision and high-precision positioning technologies. By integrating a stone cutting device on the track-mounted unmanned vehicle, it can quickly perform automated rough cutting of rough stone materials in the mine next to the track.

[0004] The present invention adopts the following technical solution.

[0005] An unmanned mining machine is a vehicle that travels along a track in a mining area and is used for cutting stone. The unmanned vehicle is equipped with a magnetic nail positioning device. Magnetic nails are detachably installed on the track at the stone cutting section. The magnetic nails are used to trigger the stone cutting action of the unmanned vehicle. After the unmanned vehicle enters the stone cutting section, if the magnetic nail positioning device is triggered by the magnetic nail on the track, the unmanned vehicle stops and cuts the stone next to the track with its cutting device. After the cutting action is completed, the unmanned vehicle continues to travel until it is triggered by the next magnetic nail and then performs stone cutting again. The unmanned vehicle controls the stone cutting stroke through the high-precision positioning of the magnetic nails.

[0006] The track is a track with sleepers installed; the sleepers are evenly and parallelly arranged at the track, and the track at the stone cutting section is laid out in a straight line.

[0007] The magnetic nails are installed on the sleepers at the stone cutting positions. After the magnetic nails are installed, the sleepers are used as positioning sleepers. Two magnetic nails are installed at each positioning sleeper. The installation position and spacing of the magnetic nails at each positioning sleeper are the same to form a specific magnetic triggering structure, so as to avoid the magnetic nail positioning device being accidentally triggered by magnetic impurities at the sleepers.

[0008] The magnetic nail positioning device includes two magnetic switches that are horizontally positioned on the bottom of the unmanned vehicle and close to the track. The positions of the two magnetic switches on the bottom of the unmanned vehicle correspond one-to-one with the positions of the two magnetic nails at the positioning sleepers, forming a magnetic induction structure that matches the magnetic triggering structure at the positioning sleepers.

[0009] The magnetic nail positioning device is connected to the cutting device. When the two magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nail at the positioning sleeper, the magnetic nail positioning device sends a stone cutting command to the cutting device.

[0010] The track at the stone cutting section is laid out in a straight line. The stone to be cut at the stone cutting section is a long strip of stone. The stone to be cut is placed on the bracket on the trolley next to the track. The cutting position of the stone to be cut is aligned with the end of the positioning sleeper by moving the trolley. The trolley is close to the track.

[0011] The cutting device has a saw blade for cutting stone above two magnetic switches. When cutting stone, the saw blade extends laterally to cut into the cutting position of the stone and enters the stone according to the preset cutting position of the stone to cut the stone on the trolley.

[0012] The stones in the stone cutting section are arranged continuously in a straight line, and the cutting positions of the stones are marked with colored pens.

[0013] The saw blade at the cutting device is a circular saw.

[0014] The unmanned vehicle is equipped with a PLC for controlling the saw blade cutting action and the unmanned vehicle's movement. The PLC is connected to the magnetic nail positioning device. When both magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nails at the positioning sleepers, the PLC causes the unmanned vehicle to stop moving. The saw blade extends laterally to cut the stone next to the track. After the cutting device completes one cutting action, the PLC controls the unmanned vehicle to continue moving forward slowly.

[0015] The mining machine is also equipped with a satellite positioning device connected to a PLC. This device includes a BeiDou navigation system with meter-level positioning accuracy. The mining machine uses this satellite positioning device for coarse positioning and switches the unmanned vehicle's driving mode based on the coarse positioning result. When the coarse positioning result indicates the mining machine is far from the stone cutting section, the unmanned vehicle travels at high speed. When the coarse positioning result indicates the mining machine is close to the stone cutting section or is within the stone cutting section, the unmanned vehicle travels at low speed, less than 1 decimeter per second.

[0016] The track in the mining area has several stone cutting sections that are far apart.

[0017] This invention uses magnetic nails on the track sleepers to locate the stone cutting position, and the stone is placed on a trolley next to the track. The stone cutting position can be dually located by the positioning of the unmanned vehicle and the manual movement of the trolley, so that the stone cutting position can be accurately aligned with the positioning sleepers. Rough cutting of the stone can be carried out without the need for a complicated positioning device.

[0018] This invention uses an unmanned vehicle on a track to carry the stone cutting device, which has strong working stability during the stone cutting process and helps to improve the cutting quality.

[0019] In this invention, the magnetic nails at the positioning sleepers are arranged according to a specific rule, which can prevent the magnetic nail positioning device from being accidentally triggered by magnetic impurities on the track and has a strong anti-interference ability.

[0020] In this invention, the unmanned vehicle also uses satellite positioning to determine its location, so that after leaving the stone cutting section, the unmanned vehicle can automatically switch to high-speed driving and quickly reach different stone cutting sections to carry out operations. Attached Figure Description

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0022] Appendix Figure 1 This is a schematic diagram illustrating the principle of this utility model;

[0023] Appendix Figure 2 It is a schematic diagram of the track, sleepers, and trolley;

[0024] Appendix Figure 3 This is a schematic diagram of a cart used to place the stone.

[0025] Appendix Figure 4 This is a top-down view of driverless cars and small vehicles;

[0026] In the diagram: 1-Unmanned vehicle; 2-Cutting device; 3-Trolley; 4-Magnetic nail; 5-Stone; 6-Magnetic nail positioning device; 7-Railway; 8-Sleeper; 9-Cutting position; 10-Bracket; 11-Magnetic switch; 12-Saw blade. Detailed Implementation

[0027] As shown in the figure, the unmanned mining machine is an unmanned vehicle 1 that travels along track 7 in the mining area and is used to cut stone 5. The unmanned vehicle is equipped with a magnetic nail positioning device 6, and magnetic nails 4 are detachably installed on the track at the stone cutting section. The magnetic nails are used to trigger the stone cutting action of the unmanned vehicle. After the unmanned vehicle enters the stone cutting section, if the magnetic nail positioning device is triggered by the magnetic nail at the track, the unmanned vehicle stops and cuts the stone next to the track with the cutting device 2. After the cutting action is completed, the unmanned vehicle continues to travel until it is triggered by the next magnetic nail and then performs stone cutting again. The unmanned vehicle controls the stone cutting stroke through the high-precision positioning of the magnetic nails.

[0028] The track is a track with sleepers 8 installed; each sleeper is evenly and parallelly arranged at the track, and the track at the stone cutting section is laid out in a straight line.

[0029] The magnetic nails are installed on the sleepers at the stone cutting positions. After the magnetic nails are installed, the sleepers are used as positioning sleepers. Two magnetic nails are installed at each positioning sleeper. The installation position and spacing of the magnetic nails at each positioning sleeper are the same to form a specific magnetic triggering structure, so as to avoid the magnetic nail positioning device being accidentally triggered by magnetic impurities at the sleepers.

[0030] The magnetic nail positioning device includes two magnetic switches 11 that are horizontally positioned on the bottom of the unmanned vehicle and close to the track. The positions of the two magnetic switches on the bottom of the unmanned vehicle correspond one-to-one with the positions of the two magnetic nails at the positioning sleepers, forming a magnetic induction structure that matches the magnetic triggering structure at the positioning sleepers.

[0031] The magnetic nail positioning device is connected to the cutting device. When the two magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nail at the positioning sleeper, the magnetic nail positioning device sends a stone cutting command to the cutting device.

[0032] The track at the stone cutting section is laid out in a straight line. The stone to be cut at the stone cutting section is a long strip of stone. The stone to be cut is placed on the bracket 10 on the trolley 3 next to the track. The cutting position 9 of the stone to be cut is aligned with the end of the positioning sleeper by moving the trolley. The trolley is close to the track.

[0033] The cutting device has a saw blade 12 for cutting stone above two magnetic switches. When cutting stone, the saw blade extends laterally to cut into the cutting position of the stone and enters the stone at the preset cutting position to cut the stone on the trolley.

[0034] The stones in the stone cutting section are arranged continuously in a straight line, and the cutting positions of the stones are marked with colored pens.

[0035] The saw blade at the cutting device is a circular saw.

[0036] The unmanned vehicle is equipped with a PLC for controlling the saw blade cutting action and the unmanned vehicle's movement. The PLC is connected to the magnetic nail positioning device. When both magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nails at the positioning sleepers, the PLC causes the unmanned vehicle to stop moving. The saw blade extends laterally to cut the stone next to the track. After the cutting device completes one cutting action, the PLC controls the unmanned vehicle to continue moving forward slowly.

[0037] The mining machine is also equipped with a satellite positioning device connected to a PLC. This device includes a BeiDou navigation system with meter-level positioning accuracy. The mining machine uses this satellite positioning device for coarse positioning and switches the unmanned vehicle's driving mode based on the coarse positioning result. When the coarse positioning result indicates the mining machine is far from the stone cutting section, the unmanned vehicle travels at high speed. When the coarse positioning result indicates the mining machine is close to the stone cutting section or is within the stone cutting section, the unmanned vehicle travels at low speed, less than 1 decimeter per second.

[0038] The track in the mining area has several stone cutting sections that are far apart.

[0039] Example:

[0040] In this example, the stones mined from the mine all have rough cutting positions marked on their surface, which are the positions where the saw blade will cut. The operator first fixes the magnetic nails to the sleepers in a detachable manner. The sleepers with the magnetic nails are the positioning sleepers. The distance between adjacent positioning sleepers is the cutting stroke of the unmanned vehicle. The stone is placed on the trolley, the trolley is moved, and the cutting position is aligned with the magnetic nail.

[0041] When the unmanned mining machine is traveling, it will pass through multiple stone cutting sections. The unmanned mining machine uses a satellite positioning device to adjust the driving conditions. When the unmanned mining machine is far away from the stone cutting section, it travels at high speed to quickly reach the vicinity of the work position, and then switches to low speed to avoid unnecessary cutting and positioning errors caused by excessive start-stop inertia.

[0042] When the unmanned mining machine enters the stone cutting section, it moves slowly at a low speed. If the magnetic nail positioning device is triggered by the magnetic nail on the track, the unmanned vehicle stops and uses the cutting device 2 to cut the stone next to the track. After the cutting action is completed, the unmanned vehicle continues to move until it is triggered by the next magnetic nail and then performs stone cutting again.

[0043] During the cutting process, the operator moves away from the trolley to avoid being impacted by debris.

[0044] Once the satellite positioning device indicates that the unmanned vehicle has left the stone cutting section, the unmanned vehicle resumes high-speed travel on the track to quickly reach the next stone cutting section.

Claims

1. An unmanned mining machine, characterized in that: The mining machine is an unmanned vehicle that travels along a track in the mining area and is used to cut stone. The unmanned vehicle is equipped with a magnetic nail positioning device. Magnetic nails are detachably installed on the track at the stone cutting section. The magnetic nails are used to trigger the stone cutting action of the unmanned vehicle. After the unmanned vehicle enters the stone cutting section, if the magnetic nail positioning device is triggered by the magnetic nail on the track, the unmanned vehicle will stop and use the cutting device to cut the stone next to the track. After the cutting action is completed, the unmanned vehicle will continue to drive until it is triggered by the next magnetic nail and then executes stone cutting again.

2. The unmanned mining machine according to claim 1, characterized in that: The track is a track with sleepers installed; the sleepers are evenly and parallelly arranged at the track, and the track at the stone cutting section is laid out in a straight line.

3. The unmanned mining machine according to claim 2, characterized in that: The magnetic nails are installed on the sleepers at the stone cutting positions. After the magnetic nails are installed, the sleepers are used as positioning sleepers. Two magnetic nails are installed at each positioning sleeper. The installation position and spacing of the magnetic nails at each positioning sleeper are the same to form a specific magnetic triggering structure.

4. The unmanned mining machine according to claim 3, characterized in that: The magnetic nail positioning device includes two magnetic switches that are horizontally positioned on the bottom of the unmanned vehicle and close to the track. The positions of the two magnetic switches on the bottom of the unmanned vehicle correspond one-to-one with the positions of the two magnetic nails at the positioning sleepers, forming a magnetic induction structure that matches the magnetic triggering structure at the positioning sleepers. The magnetic nail positioning device is connected to the cutting device. When the two magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nail at the positioning sleeper, the magnetic nail positioning device sends a stone cutting command to the cutting device.

5. The unmanned mining machine according to claim 4, characterized in that: The track at the stone cutting section is laid out in a straight line. The stone to be cut at the stone cutting section is a long strip of stone. The stone to be cut is placed on the bracket on the trolley next to the track. The cutting position of the stone to be cut is aligned with the end of the positioning sleeper by moving the trolley. The trolley is close to the track.

6. The unmanned mining machine according to claim 5, characterized in that: The cutting device has a saw blade for cutting stone above two magnetic switches. When cutting stone, the saw blade extends laterally to cut into the cutting position of the stone and enters the stone according to the preset cutting position of the stone to cut the stone on the trolley.

7. The unmanned mining machine according to claim 6, characterized in that: The stones in the stone cutting section are arranged continuously in a straight line, and the cutting positions of the stones are marked with colored pens.

8. The unmanned mining machine according to claim 7, characterized in that: The saw blade at the cutting device is a circular saw.

9. The unmanned mining machine according to claim 8, characterized in that: The unmanned vehicle is equipped with a PLC for controlling the saw blade cutting action and the unmanned vehicle's movement. The PLC is connected to the magnetic nail positioning device. When both magnetic switches of the magnetic nail positioning device are simultaneously triggered by the magnetic nails at the positioning sleepers, the PLC causes the unmanned vehicle to stop moving. The saw blade extends laterally to cut the stone next to the track. After the cutting device completes one cutting action, the PLC controls the unmanned vehicle to continue moving forward slowly.

10. The unmanned mining machine according to claim 9, characterized in that: The mining machine is also equipped with a satellite positioning device connected to a PLC. This device includes a BeiDou navigation system with meter-level positioning accuracy. The mining machine uses this satellite positioning device for coarse positioning and switches the unmanned vehicle's driving mode based on the coarse positioning result. When the coarse positioning result indicates the mining machine is far from the stone cutting section, the unmanned vehicle travels at high speed. When the coarse positioning result indicates the mining machine is close to the stone cutting section or is within the stone cutting section, the unmanned vehicle travels at low speed, less than 1 decimeter per second. The track in the mining area has several stone cutting sections that are far apart.

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