Autonomous obstacle-avoidance snakelike track walking-type crushing conveyor

Abstract

The invention relates to an autonomous obstacle-avoidance snakelike track walking-type crushing conveyor. A conveyor front end obstacle avoidance acquisition device is formed by an infrared detection system and a GPS positioning device. When a head dolly runs, an infrared detection device collects information of roads ahead; an intelligent obstacle avoidance system carries out analysis on the collected signals and controls a track walking device and a cylinder steering assisting device to realize active obstacle avoidance; a GPS position recording module records the running tracks of the head dolly; the machine frame dollies at all parts of the conveyor are mutually independent; the dolly at each section adopts the track walking device, so that autonomous moving, and horizontal and vertical being can be realized independently; when the head machine frame dolly carries out autonomous obstacle avoidance, the middle dolly and the tail dolly carry out real-time tracking on the tracks walked by the head machine frame dolly through a control system; and a pressing disc type limitation device can reduce the cases of horizontal off-tracking and belt floating in the working process of a conveyer belt effectively, so that transport efficiency and economic benefit of the conveyer are improved.

Description

technical field [0001] The invention relates to the field of coal mine machinery, in particular to an autonomous obstacle-avoiding snake-shaped crawler-type crushing conveyor. Background technique [0002] With the continuous and rapid development of my country's coal industry, belt conveyors with good transportation capacity, high transportation efficiency, and good economic benefits have become one of the most powerful transportation equipment in contemporary material transportation. In today's rapidly developing transportation industry play an irreplaceable role. As an important transportation equipment, the belt conveyor is developing rapidly in the direction of high performance, long life, large turning angle and low energy consumption. Therefore, the requirements for the economy, efficiency and reliability of the applied belt conveyor are increasing day by day. At present, although there are many types of belt conveyors used at home and abroad, there are still some pr...

AI Technical Summary

Problems solved by technology

At present, although there are many types of belt conveyors used at home and abroad, there are still some problems. For example, the invention patent with the authorized announcement number CN101168406 discloses a "arbitrary bending multi-drive mobile belt conveyor", which solves the following Problem: Generally, belt conveyors use a fixed frame, and the turning angle and turning radius cannot be changed with the specific working conditions during the turning process. Therefore, it cannot adapt to inclination and slope changes. , smooth turns and other natural environments or working conditions; the belt conveyor requires a special T-shaped conveyor belt, and the belt is easy to deviate during the turning process, causing damage to the belt and affecting the service life of the belt; the traditional belt conveyor cannot achieve various Mutual independence of some racks

In order to solve the problem of deviation, a utility model with the authorized announcement number CN201296503Y was designed. This patent relates to a "serpentine moving belt conveyor", which consists of a main motor, a driving roller, a driven roller, a roller frame, a belt, The headstock, the tailstock, the trolley in the middle frame and the traveling wheels are composed, and a crawler trolley is fixed under the noseseat. The crawler trolley includes the output shaft of the hydraulic motor and the connection transmission of the transmission tooth box, and the transmission tooth box is connected to the main shaft. One end is fixedly connected, the other end of the main shaft is fixed to the driving wheel, and the driving wheel and the driven wheel are connected by crawler transmission; although the technical solution of the above-mentioned patent solves the technical problem to a certain extent, there are still the following defects: first, the current belt In the complex working environment, the conveyor cannot realize the function of avoiding obstacles freely and autonomously and tracking the trajectory, and cannot effectively and reasonably plan the walking path.

In practical applications, the flexibility is poor and the structure is too redundant, which is not conducive to simplifying the structure

Second, the current belt conveyor basically uses ordinary walking wheels, which cannot adapt to harsh terrains. The driving power is only the walking motor on the tail frame. The power is too single. Once a failure will cause the entire conveyor to be paralyzed

Third, the steering device of this technical solution adopts the steering wheel driven by the steering stepping motor. Other parts of the conveyor cannot change direction through active control, and the control performance is poor. The rotation of the rear body depends entirely on the front body. Driven, so unable to adapt to complex terrain

Fourth, the deviation correction device in this technical solution is fixed with the upper and lower conveyor belts by T-shaped bosses, and the horizontal position is adjusted by adjusting bolts and guide wheels. However, the deviation correction effect is poor in actual use, and the structure of the deviation correction device is too complicated. not conducive to maintenance

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