An automatic loading device that uses millimeter wave radar technology for precise positioning

Abstract

The utility model discloses an automatic loading device of accurate positioning adopts millimeter wave radar technology relates to the automatic loading technical field of accurate positioning of millimeter wave radar technology, and its technical key points include loading drive mechanism, and two suspension pull mechanism symmetry fixed junction is in loading drive mechanism, and loading material distributing mechanism is installed on loading drive mechanism through screw, and loading material distributing mechanism is connected with loading feeding telescopic pipe, and radar response mechanism symmetry fixed junction is on the lower end both sides of loading material distributing mechanism, and technical effect is that radar response mechanism symmetry fixed junction is on the lower end both sides of loading material distributing mechanism, thereby can induct on both sides, make loading material distributing mechanism through the radar response mechanism of lower end both sides can accurate determination position, and when material loading is distributed, is more accurate, effectively avoids the drop of loading material.

Description

Technical Field

[0001] This utility model relates to the field of mining machinery technology, specifically to an automatic loading device that uses millimeter-wave radar technology for precise positioning. Background Technology

[0002] Mining machinery refers to mechanical equipment directly used in mineral mining, mineral processing and related operations. It mainly includes two categories: mining machinery and mineral processing machinery. In a broader sense, it also includes prospecting machinery and auxiliary equipment. When loading mineral debris, the material is discharged through the loading hopper and then discharged into the loading vehicle below for transportation.

[0003] Existing Chinese patent CN216971365U, published on July 15, 2022, discloses an automatic ore loading device, including a base. Two elongated bases are arranged in parallel. Each base has a first sliding groove and a first lead screw. One end of the first lead screw is connected to a first motor. A first slider is fitted onto the nut of the first lead screw. The top of the first slider is detachably connected to a vertically telescopic electric telescopic rod via a connector. A movable top plate is fixedly connected to the top of the electric telescopic rod. The movable top plate has a second sliding groove and two parallel second lead screws. One end of the second lead screw is connected to a second motor. Second sliders are fitted onto the nuts of the two second lead screws. A storage bin is fixedly connected to the top of the second slider. A discharge pipe at the bottom of the storage bin passes through the second slider, and a screw conveyor mechanism communicating with the bottom of the discharge pipe is provided.

[0004] However, in actual use, the above-mentioned device cannot effectively and accurately identify the position of the loading vehicle, which can easily cause the material to fall off when loading materials. Moreover, it cannot effectively move the position for loading when loading the whole vehicle.

[0005] Therefore, we propose a novel automatic loading device that uses millimeter-wave radar technology for precise positioning to solve the above-mentioned technical problems.

[0006] To address this, an automatic loading device using millimeter-wave radar technology for precise positioning is proposed. Utility Model Content

[0007] To address the shortcomings of existing technologies, this utility model provides an automatic loading device that uses millimeter-wave radar technology for precise positioning. This solves the problems of the aforementioned devices not being able to effectively and accurately identify the position of the loading vehicle in actual use, which easily leads to material falling off during loading, and also prevents effective repositioning during overall loading.

[0008] To achieve the above objectives, this utility model specifically adopts the following technical solution: The system includes: a loading drive mechanism; a suspension and pulling mechanism, two of which are symmetrically fixed to the loading drive mechanism; and a loading and discharging mechanism, which is mounted on the loading drive mechanism by screws and connected to a loading and feeding telescopic pipe. The loading and discharging mechanism includes a conical tank, with a suspension and pulling rod fixed to the middle of the upper end of the conical tank. The suspension and pulling rod is mounted on a lead screw moving block by screws. A feed inclined pipe is fixedly connected through the outer wall of the conical tank and is connected to the loading and feeding telescopic pipe. Electromagnetic vibrators are mounted on the front and rear outer walls of the conical tank by screws. An electromagnetic discharge valve is fixedly connected through the lower end of the conical tank, and radar sensing mechanisms are fixedly attached to both sides of the electromagnetic discharge valve on the conical tank. The electromagnetic vibrators and the electromagnetic discharge valve are electrically connected to a control box via connecting wires. The radar sensing mechanism is symmetrically fixed to both sides of the lower end of the loading and discharging mechanism. The radar sensing mechanism includes a radar and vision sensing positioning component. Screw lugs are symmetrically fixed to the four corners of the outer wall of the radar and vision sensing positioning component. The radar and vision sensing positioning component is detachably mounted on the pull panel through the screw lugs. The pull panel is fixed to the conical tank. The radar and vision sensing positioning component is electrically connected to the control box through a connecting wire.

[0009] Furthermore, the loading drive mechanism includes a positioning panel, a suspension and pulling mechanism fixed to the outer wall of the positioning panel, a rotating screw rotatably mounted in the center of the interior of the positioning panel, positioning sleeves fixed to both sides of the rotating screw on the positioning panel, positioning moving components mounted around the rotating screw and positioning sleeves, a first coupling fixed to the front end of the rotating screw, a reducer fixed to the front end of the first coupling on the positioning panel, a rotary motor mounted to the lower end of the reducer by screws, a dust cover fixed to the periphery of the positioning moving component on the positioning panel, a loading and unloading mechanism mounted to the lower end of the positioning moving component, and the rotary motor electrically connected to the control box via a connecting wire.

[0010] Furthermore, the positioning and moving component includes a connecting end plate, a lead screw moving block is fixedly connected to the lower middle of the connecting end plate, a lead screw thread hole is opened on the inner side of the upper end of the lead screw moving block, positioning sleeve blocks are fixedly connected to both sides of the lead screw moving block on the connecting end plate, positioning sleeve holes are opened inside the positioning sleeve blocks, the positioning sleeve blocks are sleeved on the positioning sleeve rod through the positioning sleeve holes, the lead screw moving block is threaded to the rotating lead screw through the lead screw thread hole, and a loading and unloading mechanism is installed at the lower end of the lead screw moving block by screws.

[0011] Furthermore, the suspension and pulling mechanism includes a suspension lug plate, which is fixedly connected to the positioning panel. Pulling end rods are fixedly connected to both sides of the upper end of the suspension lug plate, and a suspension mounting plate is fixedly connected to the upper end of the pulling end rod.

[0012] Furthermore, there are two pull panels, and the pull panels are symmetrically fixed to the lower outer wall of the conical tank.

[0013] Furthermore, the radar and visual sensing positioning component includes a positioning component housing, with a camera installed in the middle of the inner side of the positioning component housing. Millimeter-wave radar and lidar are sequentially installed on the left and right sides of the camera on the positioning component housing. The camera, millimeter-wave radar, and lidar are electrically connected to a communication interface via connecting cables and a power supply. The power supply and communication interface are electrically connected to a control chassis.

[0014] The beneficial effects of this utility model are as follows: 1. The radar sensing mechanism of this utility model is symmetrically fixed on both sides of the lower end of the loading and unloading mechanism, so that it can sense from both sides. This allows the loading and unloading mechanism to accurately determine the position through the radar sensing mechanism on both sides of the lower end, which makes the unloading and loading more accurate and effectively avoids the falling of the loaded material.

[0015] 2. The positioning component housing of this utility model's radar and visual sensing positioning component can be effectively positioned. A camera is installed in the middle of the inner side of the positioning component housing, which can effectively identify the target visually. Millimeter-wave radar and laser radar are installed sequentially on the left and right sides of the positioning component housing, respectively. The millimeter-wave radar emits electromagnetic wave signals. When the signal encounters an obstacle, it is reflected. The radar system receives the reflected signal and determines the distance, speed, and angle of the target object by measuring parameters such as the round-trip time of the signal. The laser radar detects the target by emitting a laser beam and measures parameters such as the arrival time and beam direction of the reflected laser signal (target echo) to determine the target's position, speed, and other characteristic quantities. Through the mutual recognition of the two, the position can be effectively and accurately determined.

[0016] 3. When the loading drive mechanism of this utility model moves, it can drive the loading and unloading mechanism to move left and right, changing the loading position for loading. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the combined structure of the radar sensing mechanism and the loading and unloading mechanism of this utility model; Figure 3 This is a schematic diagram of the loading drive mechanism of this utility model; Figure 4This is a schematic diagram of the positioning and moving component structure of this utility model; Figure 5 This is a schematic diagram of the radar sensing mechanism structure of this utility model; Figure 6 This is a schematic diagram of the radar and visual sensing positioning component of this utility model.

[0018] Reference numerals: 1. Suspension mounting plate; 11. Suspension lug; 12. Pull-out rod; 2. Dust cover; 3. Positioning panel; 31. Reducer; 32. Rotary motor; 33. First coupling; 34. Positioning sleeve rod; 35. Rotary lead screw; 4. Conical tank; 41. Suspension pull rod; 42. Electromagnetic vibrator; 43. Feeding inclined tube; 5. Positioning component housing; 51. Pull-out panel; 52. Screw lug; 53. Power and communication interface; 54. Camera; 55. LiDAR; 56. Millimeter-wave radar; 6. Electromagnetic discharge valve; 7. Connecting end plate; 71. Positioning sleeve block; 72. Positioning sleeve hole; 73. Lead screw hole; 74. Lead screw moving block. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In the description of the embodiments of this utility model, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing this utility model 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 utility model.

[0023] This embodiment provides a technical solution: an automatic loading device that uses millimeter-wave radar technology for precise positioning. Example 1 like Figure 1-5 As shown, it includes a loading drive mechanism, a suspension pulling mechanism, a loading and unloading mechanism, and a radar sensing mechanism.

[0024] Two suspension and pulling mechanisms are symmetrically fixed to the loading drive mechanism. The loading drive mechanism can be suspended and pulled in place by the two suspension and pulling mechanisms. The loading and discharging mechanism is installed on the loading drive mechanism with screws. When the loading drive mechanism moves, it can drive the loading and discharging mechanism to move left and right to change the loading position for loading. The loading and discharging mechanism is connected to the loading and feeding telescopic pipe. The loading and discharging mechanism can receive the ore material discharged by the loading and feeding telescopic pipe for discharging. The radar sensing mechanism is symmetrically fixed to both sides of the lower end of the loading and discharging mechanism. The loading and discharging mechanism can determine its position through the radar sensing mechanism at the lower end. This makes the discharging and loading more accurate and effectively avoids the falling of the loaded material.

[0025] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the radar sensing mechanism includes a radar and vision sensing positioning component. This component employs visual, laser scanning, and millimeter-wave fusion technology. In the event of interference, it can utilize other methods for filtering, effectively avoiding interference. Furthermore, the radar and vision sensing positioning component is powered via Ethernet (PoE) communication and communicates with management software via Ethernet. The management software controls the vehicle's forward and backward movement. The radar and vision sensing positioning component determines the vehicle's position through visual and laser radar scanning, enabling accurate location determination. Screw lugs 52 are symmetrically fixed at the four corners of the outer wall of the radar and vision sensing positioning component, allowing for corresponding installation. The radar and vision sensing positioning component can be detachably installed on the pull panel 51 via the screw lugs 52, ensuring stable connection. The pull panel 51 is fixed to the conical tank 4, effectively stabilizing the suspension and pulling. The radar and vision sensing positioning component is electrically connected to the control box via a connecting cable, effectively transmitting signals electrically. Two pull panels 51 are installed, and the pull panels 51 are symmetrically fixed to the lower outer wall of the conical tank 4, so that they can be pulled and placed symmetrically. The radar and vision sensing positioning component includes a positioning component housing 5 for effective positioning. A camera 54 is installed in the middle of the inner side of the positioning component housing 5 for effective visual identification. Millimeter-wave radar 56 and laser radar 55 are installed sequentially on the left and right sides of the camera 54 on the positioning component housing 5. The millimeter-wave radar 56 emits electromagnetic wave signals. When the signal encounters an obstacle, it is reflected. The radar system receives the reflected signal and determines the distance, speed, and angle of the target object by measuring parameters such as the round-trip time of the signal. The laser radar 55 detects the target by emitting a laser beam and measures parameters such as the arrival time and beam direction of the reflected laser signal (target echo) to determine the target's position, speed, and other characteristics. Through mutual identification between the two, the position can be accurately determined. The camera 54, millimeter-wave radar 56, and laser radar 55 are electrically connected to the communication interface 53 via connecting cables and power supply for easy external connection. The power supply and communication interface 53 are electrically connected to the control box for effective control and power supply.

[0026] The loading and discharging mechanism includes a conical tank 4. The conical tank 4, with its internal conical cavity, facilitates material collection and discharge. A suspension rod 41 is fixedly connected to the upper middle of the conical tank 4, allowing the tank 4 to be suspended and pulled. The suspension rod 41 is mounted on a screw-driven sliding block 74 for easy installation. The screw-driven sliding block 74 can change the position of the suspension rod 41 during movement, enabling loading from different positions. A feed inlet pipe 43 is fixedly connected to the outer wall of the conical tank 4, and this inlet pipe 43 connects to the loading and feeding telescopic pipe. The conical tank 4, through the feed inlet pipe 43, facilitates receiving the loading and feeding telescopic pipe. The ore material is conveyed by a conical tank 4. Electromagnetic vibrators 42 are installed on the front and rear outer walls of the conical tank 4 by screws. When the electromagnetic vibrator 42 is energized, electromagnetic force acts on the vibrating device to make it vibrate. The vibration force will drive the conical tank 4 to vibrate, which can accelerate the shaking and dropping of the material in the conical tank 4. An electromagnetic discharge valve 6 is fixedly connected to the lower end of the conical tank 4. When the electromagnetic discharge valve 6 is open, it facilitates the discharge of material. Radar sensing mechanisms are fixedly connected to both sides of the electromagnetic discharge valve 6 on the conical tank 4, so that the position can be determined. The electromagnetic vibrator 42 and the electromagnetic discharge valve 6 are electrically connected to the control box through the connecting wire, and can be controlled accordingly by the control box.

[0027] In use, the loading drive mechanism can be suspended and pulled by two suspension and pulling mechanisms. When the loading drive mechanism moves, it can drive the loading and discharging mechanism to move left and right to change the loading position for loading. The loading and discharging mechanism can receive the ore material discharged by the loading and feeding telescopic pipe for discharging. The radar sensing mechanism is symmetrically fixed on both sides of the lower end of the loading and discharging mechanism, so that it can sense from both sides. This allows the loading and discharging mechanism to accurately determine its position through the radar sensing mechanism on both sides of the lower end. This makes the discharging and loading more accurate and effectively avoids the falling of the loaded material.

[0028] Example 2 This embodiment is a further optimization based on Embodiment 1. The parts that are the same as those described above will not be repeated here. Figures 1-4 As shown, to further better realize this utility model, the following configuration is specifically adopted: The loading drive mechanism includes a positioning panel 3. A suspension and pulling mechanism is fixedly connected to the outer wall of the positioning panel 3. The positioning panel 3 can be suspended and pulled in place through the suspension and pulling mechanism. A rotating screw 35 is rotatably installed in the middle of the interior of the positioning panel 3, which can be positioned and rotated. Positioning sleeves 34 are fixedly connected to both sides of the rotating screw 35 on the positioning panel 3, which play a positioning role. Positioning moving components are installed around the rotating screw 35 and the positioning sleeves 34. When the rotating screw 35 rotates in both directions, the positioning moving components can move left and right. When the positioning moving components move left and right, they can be positioned and moved through the positioning sleeves 34. A first coupling 33 is fixedly connected to the front end of the rotating screw 35. The output shaft of the first coupling 33 can drive the rotary screw 35 to rotate in both directions. The front end of the first coupling 33 is fixedly connected to the reducer 31 located on the positioning panel 3. The output shaft of the reducer 31 can drive the first coupling 33 to rotate in rotation. The lower end of the reducer 31 is mounted with a rotary motor 32 by screws. The output shaft of the rotary motor 32 can drive the output shaft inside the reducer 31 to rotate in rotation. The periphery of the positioning moving component is fixedly connected to the positioning panel 3 with a dust cover 2, which plays a protective role. The lower end of the positioning moving component is equipped with a loading and unloading mechanism. The positioning moving component can change the position of the loading and unloading mechanism for loading. The rotary motor 32 is electrically connected to the control box through a connecting wire and can be controlled accordingly through the control box. The positioning and moving assembly includes a connecting end plate 7. A lead screw moving block 74 is fixedly connected to the middle of the lower end of the connecting end plate 7. A lead screw thread hole 73 is opened on the inner side of the upper end of the lead screw moving block 74. The lead screw moving block 74 is threadedly connected to the rotating lead screw 35 through the lead screw thread hole 73. When the rotating lead screw 35 rotates forward and backward, it can drive the lead screw moving block 74 to move left and right. The lead screw moving block 74 can drive the connecting end plate 7 to move. Positioning sleeve blocks 71 are fixedly connected to both sides of the lead screw moving block 74 on the connecting end plate 7. When the connecting end plate 7 moves, it can change the position of the positioning sleeve blocks 71. A positioning sleeve hole 72 is opened inside the positioning sleeve block 71. The positioning sleeve block 71 is sleeved on the positioning sleeve rod 34 through the positioning sleeve hole 72. The positioning sleeve block 71 can be positioned and moved on the positioning sleeve rod 34 through the positioning sleeve hole 72, so that the movement is more stable. A loading and discharging mechanism is installed at the lower end of the lead screw moving block 74 by screws. When the lead screw moving block 74 moves, it can change the position of the loading and discharging mechanism for loading.

[0029] The suspension and pulling mechanism includes a suspension lug 11, which is fixedly connected to the positioning panel 3. The suspension lug 11 can be pulled to position the positioning panel 3. Pulling end rods 12 are fixedly connected to both sides of the upper end of the suspension lug 11. The suspension lug 11 is pulled by the pulling end rods 12. The upper end of the pulling end rod 12 is fixedly connected to a suspension mounting plate 1. The pulling end rod 12 can be fixedly installed by the suspension mounting plate 1, so that it can be suspended and pulled stably.

[0030] The foregoing description enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic loading device employing millimeter-wave radar technology for precise positioning, characterized in that, include: Loading drive mechanism; Two suspension and pulling mechanisms are symmetrically fixed to the loading drive mechanism; The loading and discharging mechanism is mounted on the loading drive mechanism by screws. The loading and discharging mechanism is connected to the loading and feeding telescopic pipe. The loading and discharging mechanism includes a conical tank (4). A suspension pull rod (41) is fixedly connected to the middle of the upper end of the conical tank (4). The suspension pull rod (41) is mounted on the lead screw moving block (74) by screws. A feed inclined pipe (43) is fixedly connected through the outer wall of the conical tank (4). The feed inclined pipe (43) is connected to the loading and feeding telescopic pipe. Electromagnetic vibrators (42) are mounted on the front and rear outer walls of the conical tank (4) by screws. An electromagnetic discharge valve (6) is fixedly connected through the lower end of the conical tank (4). Radar sensing mechanisms are fixedly connected on both sides of the electromagnetic discharge valve (6) on the conical tank (4). The electromagnetic vibrator (42) and the electromagnetic discharge valve (6) are electrically connected to the control box through connecting wires. The radar sensing mechanism is symmetrically fixed on both sides of the lower end of the loading and discharging mechanism. The radar sensing mechanism includes a radar and vision sensing positioning component. Screw lugs (52) are symmetrically fixed at the four corners of the outer wall of the radar and vision sensing positioning component. The radar and vision sensing positioning component is detachably mounted on the pull panel (51) through the screw lugs (52). The pull panel (51) is fixed on the conical tank (4). The radar and vision sensing positioning component is electrically connected to the control box through a connecting line.

2. The automatic loading device for precise positioning using millimeter-wave radar technology according to claim 1, characterized in that: The loading drive mechanism includes a positioning panel (3), a suspension and pulling mechanism is fixed to the outer wall of the positioning panel (3), a rotating screw (35) is rotatably installed in the middle of the interior of the positioning panel (3), positioning sleeves (34) are fixed to both sides of the rotating screw (35) on the positioning panel (3), positioning moving components are installed around the rotating screw (35) and the positioning sleeves (34), a first coupling (33) is fixed to the front end of the rotating screw (35), a reducer (31) is fixed to the front end of the first coupling (33), a rotary motor (32) is installed at the lower end of the reducer (31) by screws, a dust cover (2) is fixed to the periphery of the positioning moving component on the positioning panel (3), a loading and unloading mechanism is installed at the lower end of the positioning moving component, and the rotary motor (32) is electrically connected to the control box through a connecting line.

3. An automatic loading device for precise positioning using millimeter-wave radar technology according to claim 2, characterized in that: The positioning and moving assembly includes a connecting end plate (7), a lead screw moving block (74) is fixedly connected to the middle of the lower end of the connecting end plate (7), a lead screw screw hole (73) is opened on the inner side of the upper end of the lead screw moving block (74), positioning sleeve blocks (71) are fixedly connected to both sides of the lead screw moving block (74) on the connecting end plate (7), positioning sleeve holes (72) are opened inside the positioning sleeve blocks (71), the positioning sleeve blocks (71) are sleeved on the positioning sleeve rod (34) through the positioning sleeve holes (72), the lead screw moving block (74) is threadedly connected to the rotating lead screw (35) through the lead screw screw hole (73), and a loading and unloading mechanism is installed at the lower end of the lead screw moving block (74) by screws.

4. An automatic loading device employing millimeter-wave radar technology for precise positioning according to claim 1 or 2, characterized in that: The suspension and pulling mechanism includes a suspension lug (11), which is fixedly connected to the positioning panel (3). Pulling end rods (12) are fixedly connected to both sides of the upper end of the suspension lug (11), and a suspension mounting plate (1) is fixedly connected to the upper end of the pulling end rod (12).

5. An automatic loading device for precise positioning using millimeter-wave radar technology according to claim 1, characterized in that: There are two pull panels (51), and the pull panels (51) are symmetrically fixed to the lower outer wall of the conical tank (4).

6. An automatic loading device for precise positioning using millimeter-wave radar technology according to claim 1, characterized in that: The radar and vision sensing positioning component includes a positioning component housing (5). A camera (54) is installed in the middle of the inner side of the positioning component housing (5). A millimeter-wave radar (56) and a laser radar (55) are installed on the left and right sides of the camera (54) on the positioning component housing (5). The camera (54), millimeter-wave radar (56) and laser radar (55) are electrically connected to a power supply and communication interface (53) through connecting lines. The power supply and communication interface (53) are electrically connected to the control box.

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