CN106477243B

CN106477243B - Steel truss train

Info

Publication number: CN106477243B
Application number: CN201611034645.2A
Authority: CN
Inventors: 付聪慧; 齐向东; 王守信; 刘混举; 原长锁; 付嘉宇; 原敏昕; 付嘉琪; 王振海
Original assignee: Yuanping City Fenghui Machinery Manufacturing Co ltd
Current assignee: Yuanping City Fenghui Machinery Manufacturing Co ltd
Priority date: 2016-11-23
Filing date: 2016-11-23
Publication date: 2023-03-17
Anticipated expiration: 2036-11-23
Also published as: CN106477243A

Abstract

The invention belongs to the technical field of telescopic belt conveyors for coal mines, and provides a steel truss train for solving the technical problems of automatic reset and automatic walking of the existing automatic telescopic belt conveyors, which comprises a plurality of steel truss gun wagons and navigation machine heads which are mutually hinged, wherein each steel truss gun wagon comprises a steel truss, a supporting oil cylinder, a driving wheel shaft, a driven wheel shaft, a wheel balancing mechanism and a belt storage bin frame; all the wheel balance mechanisms are communicated through a communicating oil pipe. The front end of the navigation machine head is provided with the unmanned steering mechanism, so that the train can be ensured to linearly and automatically run without deviating from a target center, and the automatic telescopic belt conveyor can realize automatic reset and automatic running.

Description

Steel truss train

Technical Field

The invention belongs to the technical field of telescopic belt conveyors for coal mines, and particularly relates to a steel truss train.

Background

With the innovation of the coal mine excavation process, the coal mine yield is greatly increased from blast mining to mechanical mining and from a heading machine to a combined coal mining unit, and the daily yield is from hundreds of tons to tens of thousands of tons. In the development process, the mining efficiency is greatly improved, in the mining system, the transshipment mode still adopts the overlapping of the telescopic belt conveyor and the transshipment machine at present, and the transshipment mode is matched with a mining machine set (comprising a crushing transshipment machine) for use, the transshipment efficiency of the transshipment system directly restricts the efficiency of the whole mining system, and in order to improve the transshipment efficiency of the transshipment system, the automatic telescopic belt conveyor is provided. The automatic telescopic belt conveyor comprises a steel truss train, a transition telescopic train, a telescopic train and a receiving navigation tractor. In the transshipment system, the automatic telescopic belt conveyor ascends from the third link to the second link, and the material receiving navigation tractor walks along with the mining unit to realize automatic telescopic. However, after the automatic telescopic belt conveyor is extended or retracted once, the automatic telescopic belt conveyor needs to be restored to the initial state and enter the next cycle, and the work is required to be completed in one maintenance shift. This work can be summarized as: the automatic resetting and automatic walking of the automatic telescopic belt conveyor. This work has become a problem that must be solved.

Disclosure of Invention

The invention provides a steel truss train, which aims to solve the technical problems of automatic resetting and automatic walking of an existing automatic telescopic belt conveyor.

The technical scheme adopted by the invention is as follows:

a steel truss train comprises a plurality of steel truss gun trucks and a navigation machine head, wherein each steel truss gun truck comprises a steel truss, supporting oil cylinders, a driving wheel shaft, a driven wheel shaft and a wheel balancing mechanism, each steel truss is formed by connecting two sections of belt storage bin frames through an upper clamping plate and a side clamping plate, the supporting oil cylinders are respectively installed on the left side and the right side of the front end and the rear end of the lower portion of each steel truss, the driving wheel shaft or the driven wheel shaft is respectively installed on the left side and the right side of the middle of each steel truss, the wheel balancing mechanism is respectively installed on the driving wheel shaft or the driven wheel shaft, an electric control box, a direction-changing roller A, a direction-changing roller B, a plurality of idler trucks, a travelling truck, a front pulley block, a rear pulley block, a constant tension winch, a guide wheel, a pump station system and a lower idler set are sequentially installed in the belt storage bin frames from front to rear, the front ends of the series-connected idler trucks are connected with a steering frame of the belt storage bin frames, the rear ends of the series-connected with the travelling trucks, and a plurality of upper portions of the steel truss are uniformly installed at intervals along the length direction of the steel trusses; the steel truss gun carriages are connected by adopting hinged seats, the steel truss gun carriage at the front end is connected with the navigation machine head by adopting hinged seats, and all the wheel balance mechanisms are communicated through communicated oil pipes.

A navigation machine head comprises a headstock, an unmanned steering mechanism, a wheel balancing mechanism, a driving wheel shaft, a speed reduction roller, a gear box, a hydraulic coupler, a motor, a discharging frame, a carrier roller group, a head guide chute, a discharging roller and a head sweeper. An unmanned steering mechanism and a wheel balancing mechanism are mounted on a front end chassis of a headstock, a wheel balancing mechanism and a driving wheel shaft are mounted on a rear end chassis of the headstock, a speed reduction roller, a hydraulic coupler and a motor are mounted inside the headstock, a gear box is mounted on one side of the headstock, one end of the gear box is connected with one end of the speed reduction roller without a bearing seat, the other end of the gear box is connected with one end of the hydraulic coupler, the other end of the hydraulic coupler is connected with the motor, a discharging frame is mounted above the headstock, a plurality of supporting roller sets are uniformly mounted above the headstock at intervals along the length direction of the headstock, a head guide chute, a discharging roller and a head sweeper are sequentially mounted in front of the supporting roller sets on the discharging frame, and supporting oil cylinders are respectively mounted at the left end and the right end of the headstock.

The unmanned steering mechanism comprises an automatic rope winding device, a servo gear motor, a fixing frame, a rolling pressure bearing I, a rotary disc frame, a double-headed bolt, a steel sleeve, a dust-blocking sleeve, a pinion, an arc-shaped rack, a rolling pressure bearing II, a dustproof gasket, a locking plate, a steering wheel shaft, a direction sensor and a speed sensor, wherein the rolling pressure bearing I, the dust-blocking sleeve, the steel sleeve, the rolling pressure bearing II and the dustproof gasket are installed in a middle base of the rotary disc frame, the fixing frame penetrates out of the upper portion of the steel sleeve, the locking plate is installed on the upper portion of the steel sleeve, two ends of the double-headed bolt respectively penetrate through a round hole in the middle of the rotary disc frame and the locking plate to fix the rotary disc frame in the middle of the fixing frame, the arc-shaped rack is installed on the left side of the rotary disc frame, the pinion meshed with the arc-shaped rack is installed on the left side of the fixing frame, the servo gear motor is installed on the upper end of the pinion, the steering wheel shaft is installed in the middle of the lower portion of the rotary disc frame, the front end of the fixing frame is provided with the automatic rope winding device, and the direction sensor and the speed sensor are installed on the automatic rope winding device.

Automatic ropewinder, including tile seat, reel, wire rope, axle and volute spiral spring, epaxial suit volute spiral spring and reel in proper order, volute spiral spring's one end is fixed with the axle, and the other end is fixed with the reel, and wire rope twines on the reel, and wire rope's one end is fixed with the reel, and the other end is the free end, and the tile seat sets up the both ends at the axle.

The wheel balancing mechanism comprises a plurality of oil cylinder suspensions symmetrically welded on two sides of a headstock, each oil cylinder suspension comprises a wheel shaft frame, a fixing frame and a balancing cylinder, each balancing cylinder comprises a cylinder body and a piston rod, one end of each piston rod is arranged in the cylinder body and forms a closed oil cavity with the cylinder body, the other end of each piston rod extends out of the cylinder body, each balancing cylinder is fixed below the fixing frame, one end of each wheel shaft frame is hinged with the fixing frame through a hinge shaft A, and the middle of each wheel shaft frame is hinged with the piston rod through a hinge shaft B; the top of the balance cylinder of one of the cylinder suspensions is provided with a one-way oil supplementing valve which is communicated with an oil cavity of the balance cylinder, and all the cylinder suspensions are communicated through a communicating oil pipe.

The invention has the beneficial effects that:

1. the front end of the invention is provided with the navigation machine head, the machine head with compact structure does not influence the normal operation of the belt conveyor, and is convenient for the running of a train; the front end of the navigation machine head is provided with an unmanned steering mechanism, and the unmanned steering mechanism closely follows the target command steel truss train to linearly run without deviating from the target center.

2. The steel truss gun carriage is hinged by the hinge seat, and the tension spring devices are arranged on two sides of the hinge seat respectively, so that the walking stability and the running neutrality of a steel truss train are guaranteed.

3. The automatic rope winding device and the constant tension winch are arranged between the carrier roller vehicle and the travelling trolley, a large belt storage space is established, more adhesive tapes can be stored, ordered running of the carrier roller vehicle and the travelling trolley is realized, and the purposes of automatically storing and releasing the adhesive tapes are achieved by matching with other mechanisms.

4. The automatic telescopic belt conveyor is provided with the driving wheel shaft and the driven wheel shaft, can independently and automatically run, and is matched with a transition train, a telescopic train, a navigation tail and the like to realize the movement of the whole machine, namely the automatic reset and the automatic running of the automatic telescopic belt conveyor;

5. the invention is provided with the wheel balancing mechanism, so that the frame is always kept in a nearly horizontal state, and the normal running of the travelling vehicle, the roller vehicle and the carriage vehicle in the storage belt bin is ensured.

Drawings

FIG. 1 is a schematic front end view of the present invention;

FIG. 2 is a rear-end schematic view of the present invention;

FIG. 3 is a front view of the navigation head;

FIG. 4 is a top view of the navigation head;

FIG. 5 is a front view of the unmanned steering mechanism;

FIG. 6 is a top view of the unmanned steering mechanism;

FIG. 7 is a front view of the automatic cord winder;

FIG. 8 is a top view of the automatic cord winder;

FIG. 9 is a front view of the wheel balancing mechanism;

FIG. 10 is a top view of the wheel balancing mechanism;

FIG. 11 is a schematic structural view of the balancing cylinder;

in the figure: 1-supporting oil cylinders, 2-driving wheel shafts, 3-driven wheel shafts, 4-wheel balancing mechanisms, 5-belt storage bin frames, 6-upper clamping plates, 7-side clamping plates, 8-electric control boxes, 9-direction-changing rollers A, 10-direction-changing rollers B, 11-roller trolleys, 12-traveling vehicles, 13-front pulley blocks, 14-rear pulley blocks, 15-constant tension winches, 16-guide wheels, 17-pump station systems, 18-lower roller groups, 19-automatic rope winding devices, 20-steering frames, 21-upper roller groups, 22-hinged seats, 23-communicated oil pipes, 24-head frames, 25-unmanned steering mechanisms, 26-speed reducing rollers, 27-gear boxes and 28-hydraulic couplers, 29-motor, 30-unloading frame, 31-carrier roller group, 32-head guide chute, 33-unloading roller, 34-head cleaner, 35-servo speed reducing motor, 36-fixing frame, 37-rolling pressure bearing I, 38-rotating disc frame, 39-stud bolt, 40-steel sleeve, 41-dust-blocking sleeve, 42-pinion, 43-arc rack, 44-rolling pressure bearing II, 45-dustproof gasket, 46-locking plate, 47-steering wheel shaft, 48-direction sensor, 49-speed sensor, 50-shoe, 51-winding drum, 52-steel wire rope, 53-shaft, 54-scroll spring, 55-wheel shaft frame, 56-fixing frame, 57-balance cylinder, 58-cylinder body, 59-piston rod, 60-oil chamber, 61-articulated shaft A, 62-articulated shaft B, 63-one-way oil-supplementing valve, 64-steel truss gun carriage and 65-navigation machine head.

Detailed Description

As shown in fig. 1 and 2, a steel truss train comprises a plurality of steel truss gun carriages 64 and a navigation head 65, wherein each steel truss gun carriage 64 comprises a steel truss, a support oil cylinder 1, a drive wheel shaft 2, a driven wheel shaft 3 and a wheel balance mechanism 4, the steel truss is formed by connecting two sections of steel truss storage bin frames 5 through an upper clamping plate 6 and a side clamping plate 7, the support oil cylinders 1 are respectively installed on the left side and the right side of the front end and the rear end below the steel truss, the drive wheel shaft 2 or the driven wheel shaft 3 is respectively installed on the left side and the right side of the middle of the steel truss, the wheel balance mechanism 4 is respectively installed on the drive wheel shaft 2 or the driven wheel shaft 3, an electric control box 8, a direction-changing roller A9, a direction-changing roller B10, a plurality of idler carriages 11, a traveling carriage 12, a front pulley block 13, a rear pulley block 14, a constant tension winch 15, a guide wheel 16, a pump station system 17 and a lower idler group 18 are sequentially installed in the storage bin frames 5 from front to rear, the front to the rear, the plurality of idler carriages 11 are sequentially connected in series through an automatic rope winding device 19, the front end of the tandem car 11 is connected with the left side and the rear end of the steel truss storage bin frame in the rear end of the traveling carriage 21; the plurality of steel truss gun carriages are connected by adopting a hinged seat 22, the steel truss gun carriage at the end part is connected with the navigation machine head by adopting the hinged seat 22, and all the wheel balance mechanisms 4 are communicated through a communicating oil pipe 23.

As shown in fig. 3 and 4, the navigation head 65 includes a headstock 24, an unmanned steering mechanism 25, a wheel balancing mechanism 4, a driving wheel shaft 2, a reduction drum 26, a gear box 27, a fluid coupling 28, a motor 29, a discharging frame 30, a roller set 31, a head guide chute 32, a discharging drum 33, and a head sweeper 34, wherein the unmanned steering mechanism 25 and the wheel balancing mechanism 4 are installed at the front end of the headstock 24, the wheel balancing mechanism 4 and the driving wheel shaft 2 are installed at the rear end of the headstock 24, the reduction drum 26, the fluid coupling 28, and the motor 29 are installed inside the headstock 24, the gear box 27 is installed at one side of the headstock 24, one end of the gear box 27 is connected with one end of the reduction drum 26 without the shaft, the other end of the gear box 27 is connected with one end of the fluid coupling 28, the other end of the fluid coupling 28 is connected with a driving shaft of the motor 29, the headstock 24 is provided with the roller set 30 above, a plurality of roller sets 31 are installed at intervals along the length direction of the discharging frame 30 at the left and right sides of the head guide chute 32, and the discharging roller sets 34 are installed at the left and right sides of the head support cylinders 1, respectively installed at the front of the head guide chute set 31 on the discharging frame 30.

As shown in fig. 5 and 6, the unmanned steering mechanism 25 includes an automatic rope winder 19, a servo reduction motor 35, a fixed frame 36, a rolling pressure bearing I37, a rotating disc frame 38, a stud bolt 39, a steel sleeve 40, a dust-proof sleeve 41, a pinion 42, an arc-shaped rack 43, a rolling pressure bearing II44, a dust-proof washer 45, a lock plate 46, a steering wheel shaft 47, a direction sensor 48 and a speed sensor 49, the rolling pressure bearing I37, the dust-proof sleeve 41, the steel sleeve 40, the rolling pressure bearing II44 and the dust-proof washer 45 are installed in a middle base of the rotating disc frame 38, an upper portion of the steel sleeve 40 penetrates through the fixed frame 36, the lock plate 46 is installed on an upper portion of the steel sleeve 40, two ends of the stud bolt 39 respectively penetrate through a circular hole in the middle of the rotating disc frame 38 and the lock plate 46 to fix the rotating disc frame 38 in the middle of the fixed frame 36, the arc-shaped rack 43 is installed on a left side of the rotating disc frame 38, the pinion 42 engaged with the arc-shaped rack 43 is installed on a left side of the rotating disc frame 38, the pinion 35 is installed in the middle of the lower portion of the rotating disc frame 38, the fixed frame 19, the automatic rope winder 19 and the automatic rope winder 19 is installed on the fixed frame 19, and the automatic speed sensor 48.

As shown in fig. 7 and 8, the automatic rope winding device 19 includes a shoe 50, a winding drum 51, a steel wire rope 52, a shaft 53 and a spiral spring 54, the spiral spring 54 and the winding drum 51 are sequentially sleeved on the shaft 53, one end of the spiral spring 54 is fixed to the shaft 53, the other end of the spiral spring 54 is fixed to the winding drum 51, the steel wire rope 52 is wound on the winding drum 51, one end of the steel wire rope 52 is fixed to the winding drum 51, the other end of the steel wire rope is a free end, and the shoe 50 is disposed at two ends of the shaft 53.

As shown in fig. 9, 10 and 11, the wheel balancing mechanism 4 includes a plurality of oil cylinder suspensions symmetrically welded on two sides of the frame, each oil cylinder suspension includes a wheel axle frame 55, a fixing frame 56 and a balancing cylinder 57, the balancing cylinder 57 includes a cylinder body 58 and a piston rod 59, one end of the piston rod 59 is disposed in the cylinder body 58 and forms a closed oil chamber 60 with the cylinder body 58, the other end of the piston rod 59 extends out of the cylinder body 58, the balancing cylinder 57 is fixed under the fixing frame 56, one end of the wheel axle frame 55 is hinged with the fixing frame 56 through a hinge shaft a61, and the middle of the wheel axle frame is hinged with the piston rod 59 through a hinge shaft B62; the top of the balance cylinder 57 of one of the cylinder suspensions is provided with a one-way oil supply valve 63, the one-way oil supply valve 63 is communicated with an oil cavity 60 of the balance cylinder 57, and all the cylinder suspensions are communicated through a communicating oil pipe 23.

The invention generally installs the driving wheel axle 2 under the last steel truss gun carriage, installs the driven wheel axle 3 under the other steel truss gun carriages, the head and the tail are driven; when the walking surface is poor and the gradient is more than +/-6 degrees, a driving wheel shaft 2 can be arranged under a steel truss gun carriage in the middle of the train to form three-point driving. Gaps are reserved in three directions of the hinged seat 22, and the two sides of the hinged seat are provided with the pressure spring devices, so that the hinged seat has a self-centering function during walking and reduces the snaking swing angle;

the main functions of the steel truss train are as follows: 1. a machine head device for bearing and fixing the automatic telescopic belt conveyor, a driving device, a carrier roller vehicle, a traveling trolley, a constant tension winch, a pump station, a carrier roller group, an adhesive tape, a guide chute, a sweeper, a transported material and the like; 2. establishing a roller carrier and a traveling trolley traveling platform, establishing a larger tape storage space, and storing more adhesive tapes; the orderly running of the carrier roller vehicle and the travelling vehicle is realized, and the purposes of automatically storing and releasing the adhesive tape are achieved; 3. the automatic linear walking of the whole machine is realized. 4. All supporting oil cylinders extend out to tightly push the ground, and the bottom of an oil cylinder tray is provided with a gripper which fixes the automatic telescopic belt conveyor to ensure the running and automatic telescopic of the belt conveyor.

The steel truss train is used as one part of the automatic telescopic belt conveyor, and the dynamic state of the steel truss train can be known only by analyzing the dynamic state of the automatic telescopic belt conveyor.

The automatic telescopic belt conveyor can be generally used in a second link of an underground crossheading transshipment system, the head (unloading part) of the automatic telescopic belt conveyor is overlapped with the tail part of a lower belt conveyor, the tail part of the automatic telescopic belt conveyor is overlapped with a crushing transshipment machine or a scraper transshipment machine, and the free ends of steel wire ropes of unmanned steering mechanisms at the two ends of the head and the tail are connected with the central points of adjacent equipment. There are two conditions: the first is a tunneling working condition and an automatic telescopic belt conveyor is extended, and the other is a back stepping working condition and an automatic telescopic belt conveyor is shortened. Under the two working conditions, the function of the coal mixing machine is transshipment, namely, the tunneled or back-stepped coal mixing machine is transshipped to the lower-level belt conveyor. When the tunneling machine works, the telescopic train is contracted to the shortest distance and follows the rear part of the crushing and transferring machine set, and the telescopic train is extended along with the entering of the tunneling machine set (comprising the crushing and transferring machine), and the efficiency is highest when the extending length is the entering of the two mining shifts (200 meters). The elongation working condition is as follows: the steel truss train grabs the ground immovably, the tail unmanned steering mechanism steel wire rope is short in free and is connected with the midpoint of the crushing and reversed loader, when the tunneling machine set advances, the navigation steel wire rope connected with the crushing and reversed loader is pulled, the speed sensor is touched, the material receiving navigation tractor drives the wheel shaft to start after receiving the signal, the vehicle runs towards the tail direction, at the moment, the tension of the rubber belt is increased, when the tension of the rubber belt is larger than the set value range, the constant tension winch reverses and enters the working state of the pump, the steel wire rope is released, the travelling trolley is pulled back by the rubber belt, the rubber belt is released when the vehicle runs towards the head direction, and the telescopic train is lengthened. And when the telescopic train is faster and exceeds the speed of the tunneling machine set, the contact of the speed sensor reverses, and the receiving navigation tractor drives the wheel shaft to decelerate after receiving the signal until the telescopic train is synchronous with the tunneling machine set. When the adhesive tape in the tape storage bin is completely stretched out, the first carrier roller vehicle touches the limit switch, the receiving navigation tractor drives the wheel shaft to power off and stop, and the brake is locked. When the tension of the rubber belt is reduced to a set value range, the constant tension winch blocks the rotation. At the moment, the train just enters a maintenance class, the telescopic train needs to be shortened to the shortest state, and the next cycle is started. Shortening the working condition: the tail part (receiving and navigating tractor) is locked still, the oil cylinder of the steel truss train is retracted and enters a walking working condition, the driving wheel shaft is electrified and runs towards the tail part direction, the extended telescopic train is sequentially pushed to shorten, at the moment, the adhesive tape is loosened, the tension of the adhesive tape is smaller than a set value, the constant tension winch in the tape storage bin frame rotates forwards, (the driving wheel shaft enters a motor state) and sequentially pulls the traveling trolley and the carrier roller vehicle to run towards the tail part direction, the loosened adhesive tape is pulled into the tape storage bin frame to be stored, when the shortest adhesive tape is shortened, the adhesive tape is not loosened any more, when the tension of the adhesive tape reaches a set value range, the constant tension winch blocks the rotation, the traveling trolley and the carrier roller vehicle stop, the last carrier roller vehicle in the tape storage bin touches a limit switch, the driving wheel shaft is powered off and stops, and the brake is locked. Extending out of the oil cylinder to tightly prop against the ground, lifting the wheels off the ground, and leveling the steel truss. The lower belt conveyor is extended to be lapped with the lower belt conveyor, and enters an extension working condition (tunneling working condition). And the automatic telescopic belt conveyor completes one-time automatic extension and automatic recovery to the tunneling working condition repeatedly until the crossheading tunneling is finished.

The automatic telescopic belt conveyor is compressed from the longest state to the shortest state under the shortened working condition, and the whole machine moves a telescopic distance towards the tail direction. This shortened regime is summarized below as: and during tunneling, the automatic telescopic belt conveyor automatically resets and automatically walks.

When the working condition is stepped back, the telescopic train extends to the longest, the head is in lap joint with the tail of the lower-level belt conveyor, the tail is in lap joint with the crushing reversed loader, and the length of the tail is shortened along with the stepping back of the working face. If the telescopic length is the same as before, the length is generally increased by 12 to 20 meters every day, and after about ten days, the telescopic train is shortened to the shortest length and enters a maintenance class. Shortening the working condition: the steel truss train oil cylinder is tightly propped against the ground and is fixed, the free end of a steel wire rope of the tail unmanned steering mechanism is connected with the midpoint of the automatic crushing reversed loader, when the automatic crushing reversed loader moves forwards, the steel wire rope is loosened and automatically shortened, after a speed sensor senses the signal, the receiving navigation tractor driving device is controlled to run towards the machine head direction until the receiving navigation tractor driving device is synchronous with the automatic crushing reversed loader, the telescopic train is simultaneously pushed to shorten (the telescopic train has a guiding function), the rubber belt is loosened, the tension of the rubber belt is smaller than a set value, a constant tension winch rotates forwards (the motor works), the travelling vehicle is pulled to run towards the machine tail direction, and the rubber belt is stored in a belt storage bin; when the telescopic train is faster and exceeds the speed of the automatic crushing and transferring machine, the contact of the speed sensor reversely rotates, and the receiving navigation tractor driving device decelerates after receiving the signal until the receiving navigation tractor driving device is synchronous with the automatic crushing and transferring machine. When the adhesive tape in the tape storage bin is full, the last carrier roller vehicle touches the limit switch, the driving device of the receiving navigation tractor is powered off and is stopped and locked, the tension of the adhesive tape is increased to a set value, and the constant tension winch is locked. At the moment, the whole shortening working condition is completed, the maintenance class is started, the automatic telescopic belt conveyor needs to be adjusted to the longest working condition, and the next cycle is started. The elongation working condition is as follows: the lower belt conveyor is shortened first, and the ground is leveled. The tail of the automatic telescopic belt conveyor is fixed, an oil cylinder of the steel truss train is retracted, a steel wire rope of an unmanned steering mechanism is connected with the middle point of the tail of a lower-level belt conveyor and enters a walking working condition to drive the lower-level belt conveyor to stretch and shorten the telescopic train, the tension of the rubber belt is larger than a set value at the moment, the constant tension winch reverses and enters a pump working state, the traveling train is pulled to the machine head direction by the rubber belt, the roller train automatically draws close, the rubber belt is released from the belt storage bin, the rubber belt is pulled to the longest when all the rubber belt is released, the first roller train touches a limit switch, the steel truss train is powered off and is parked and locked, the rubber belt in the belt storage bin is completely released, the tension of the rubber belt is reduced to the set value, and the constant tension winch blocks rotation. The machine head is lapped with the machine tail of the lower-level belt conveyor, the steel truss train stops, the steel truss train stretches out of the oil cylinder to tightly push the ground, the wheels are lifted off the ground, the steel truss is leveled, and the working condition of shortening is entered. So far, the automatic telescopic belt conveyor finishes one-time automatic shortening and automatically restores to the back stepping working condition. And repeating the steps until the mining area is finished.

The automatic telescopic belt conveyor is stretched from the shortest state to the longest state under the stretching working condition, and the whole machine moves a telescopic distance towards the machine head. This elongation regime is summarized below as: the automatic resetting and automatic walking of the automatic telescopic belt conveyor are realized during back stepping.

Working conditions of the steel truss train are as follows: 1. the steel truss train runs on a mechanical mining road surface, and the unevenness degree of the steel truss train is three meters and the maximum height difference is 100 millimeters; 2. when in a tunneling working condition, the steel truss train runs towards the tail and is guided by the telescopic train, so that the straight running of the steel truss train is ensured, the automatic telescopic belt conveyor is recovered to the shortest (tunneling working condition), and the steel truss train runs a telescopic distance towards the tail; 3. when the back stepping working condition is adopted, the steel truss train runs to the lower belt conveyor and is guided by the unmanned steering mechanism, so that the straight running of the steel truss train is ensured, the telescopic belt conveyor is recovered to the longest (back stepping working condition), and the machine head travels a telescopic distance; 4. the communicating oil pipe communicates the balance cylinders hung by all the oil cylinders, and after the cylinder diameter of each balance cylinder is adjusted corresponding to the load of the steel truss gun carriage, the steel truss is erected on a nearly horizontal plane under the condition that the road surface is uneven, so that the normal running of the traveling trolley and the carrier roller vehicle is ensured.

In summary, although the steel truss train has a navigation function at the front and a guidance function at the back, the train still has a hunting error under the influence of uneven road surface, and the hunting error is caused by the unbalanced loading of the steel truss carriage and the unequal resistance of two wheels. Under such conditions, it is difficult to completely eliminate the error, but it is easier to reduce the error to achieve the purpose of use. The steel truss train is structurally arranged as follows. The steel truss train has the following characteristics:

1. the steel truss cannon carriage is composed of two storage belt bin frames, and each storage belt bin frame is formed by connecting a plurality of single steel structure bolts. The main purpose is to facilitate the underground transportation and installation;

2. the steel truss train is formed by hinging a steel truss gun carriage, and the hinging seat is provided with movable gaps in three directions (vertical and horizontal rotation). The main purpose is as follows: 1) The wheels are pressed on the ground as much as possible, the resistance on the wheels is approximately equal, the hunting error is reduced, and the service life of the wheels is ensured; 2) Lateral force is dispersed, lateral force of wheels is reduced, and sideslip is avoided; 3) The clearance can not be too large, and the requirements for the two purposes can be met, otherwise, the stability of the train can be influenced.

3. The two sides of the hinged seat are symmetrically provided with tension spring devices, so that the train has certain rigidity, the lateral stress of a part of wheels is counteracted, the self-centering function is realized, and the principle is the same as that of a train bogie.

The front end of the invention is provided with the navigation machine head, the mechanism is compact, the normal operation of the belt conveyor can be ensured, and the running of a train is convenient; the front end of the navigation machine head is provided with an unmanned steering mechanism, so that the train can run linearly and automatically without deviating from a target center, and the automatic telescopic belt conveyor can realize automatic reset and automatic running.

Claims

1. The utility model provides a steel truss train which characterized in that: the steel truss gun carriage comprises a plurality of steel truss gun carriages (64) and a navigation head (65), wherein each steel truss gun carriage (64) comprises a steel truss, a supporting oil cylinder (1), a driving wheel shaft (2), a driven wheel shaft (3) and a wheel balancing mechanism (4), the driving wheel shaft (2) is arranged below the last steel truss gun carriage, the driven wheel shafts (3) are arranged below the other steel truss gun carriages, the head and the tail of the steel truss gun carriages are driven by two points, and the driving wheel shafts (2) are arranged below the steel truss gun carriages in the middle of the train to form three-point driving when the walking surface is poor and the gradient is greater than +/-6 degrees; the steel truss is formed by connecting two sections of storage belt bin frames (5) through an upper clamping plate (6) and side clamping plates (7), the left side and the right side of the front end and the rear end below the steel truss are respectively provided with a supporting oil cylinder (1), the left side and the right side of the middle of the steel truss are respectively provided with a driving wheel shaft (2) or a driven wheel shaft (3), the driving wheel shaft (2) or the driven wheel shaft (3) is respectively provided with a wheel balance mechanism (4), an electric control box (8), a turnabout drum A (9), a turnabout drum B (10), a plurality of carrier roller cars (11), a traveling car (12), a front pulley block (13), a rear pulley block (14), a constant tension winch (15), a guide wheel (16), a pump station system (17) and a lower carrier roller group (18) are sequentially and respectively connected in series through an automatic rope winding device (19), the front end of the carrier roller car (11) after series connection is connected with a bogie (20) of the storage belt bin frames (5), the rear end of the car (11) after series connection is connected with the carrier roller cars (12), and the carrier roller groups are arranged above the steel truss at intervals along the left side and the right side of the carrier roller groups (21); the plurality of steel truss gun carriages are connected by adopting a hinge seat (22), the steel truss gun carriage at the end part is connected with the navigation machine head by adopting the hinge seat (22), gaps are reserved in three directions on the hinge seat (22), pressure spring devices are arranged on two sides of the hinge seat (22), and all the wheel balance mechanisms (4) are communicated through a communicating oil pipe (23);

the navigation handpiece comprises a headstock (24), an unmanned steering mechanism (25), a wheel balancing mechanism (4), a driving wheel shaft (2), a speed reducing roller (26), a gear box (27), a hydraulic coupler (28), a motor (29), a discharging frame (30), a carrier roller group (31), a head guide chute (32), an unloading roller (33) and a head sweeper (34), wherein the unmanned steering mechanism (25) and the wheel balancing mechanism (4) are installed at the front end of the headstock (24), the wheel balancing mechanism (4) and the driving wheel shaft (2) are installed at the rear end of the headstock (24), the speed reducing roller (26), the hydraulic coupler (28) and the motor (29) are installed inside the headstock (24), the gear box (27) is installed at one side of the headstock (24), one end of the gear box (27) is connected with one end of the shaftless bearing seat of the speed reducing roller (26), the other end of the gear box (27) is connected with one end of the hydraulic coupler (28), the other end of the hydraulic coupler (28) is connected with a driving shaft of the motor (29), the discharging frame (30) is installed above the headstock (24), a plurality of carrier roller groups (31) are installed at intervals along the length direction of the carrier roller groups (31) on the left side and right side of the discharging frame (30), the left side and right side, the discharging frame (30), the carrying roller groups (31) are installed at intervals, the front end of the head guide chute (32) sequentially installed on the head guide chute (30), and the discharging frame (30), and the carrier roller groups (31), and the discharging frame (30), and the discharging frame (31), and the discharging frame (30), and the head sweeper) are installed at intervals, the head sweeper), and the head (24), the head (32) in sequence, and the head cleaning device (24), and the head cleaning device, the left side and the right side of the rear end of the headstock (24) are respectively provided with a supporting oil cylinder (1);

the unmanned steering mechanism (25) comprises an automatic rope winding device (19), a servo speed reducing motor (35), a fixing frame (36), a rolling pressure bearing I (37), a rotating disc frame (38), a double-headed bolt (39), a steel sleeve (40), a dust blocking sleeve (41), a pinion (42), an arc-shaped rack (43), a rolling pressure bearing II (44), a dustproof gasket (45), a locking plate (46), a steering wheel shaft (47), a direction sensor (48) and a speed sensor (49), wherein the rolling pressure bearing I (37), the dust blocking sleeve (41), the steel sleeve (40), the rolling pressure bearing II (44) and the dustproof gasket (45) are arranged in a middle base of the rotating disc frame (38), the upper part of the steel sleeve (40) penetrates out of the fixing frame (36), the locking plate (46) is arranged on the upper part of the steel sleeve (40), two ends of the double-headed bolt (39) respectively penetrate through a round hole in the middle of the rotating disc frame (38) and the locking plate (46) to fix the rotating disc frame (38) in the middle of the fixing frame (36), the left side of the rotating disc frame (38) is provided with the rack (43), and the left side of the fixing frame (35) is meshed with the left side of the mounting rack (42), a steering wheel shaft (47) is arranged in the middle of the lower part of the rotary disc frame (38), an automatic rope winding device (19) is arranged at the front end of the fixed frame (36), and a direction sensor (48) and a speed sensor (49) are arranged on the automatic rope winding device (19).

2. The steel truss train of claim 1, wherein: automatic ropewinder (19), including tile seat (50), reel (51), wire rope (52), axle (53) and spiral spring (54), suit spiral spring (54) and reel (51) in proper order on axle (53), the one end and axle (53) of spiral spring (54) are fixed, and the other end is fixed with reel (51), and wire rope (52) twine on reel (51), and the one end and reel (51) of wire rope (52) are fixed, and the other end is the free end, and tile seat (50) set up the both ends at axle (53).

3. A steel truss train as claimed in claim 1 wherein: the wheel balancing mechanism (4) comprises a plurality of oil cylinder suspensions symmetrically welded on two sides of a frame, each oil cylinder suspension comprises a wheel axle frame (55), a first fixing frame (56) and a balancing cylinder (57), each balancing cylinder (57) comprises a cylinder body (58) and a piston rod (59), one end of each piston rod (59) is arranged in the cylinder body (58) and forms a closed oil cavity (60) with the cylinder body (58), the other end of each piston rod (59) extends out of the cylinder body (58), each balancing cylinder (57) is fixed below the first fixing frame (56), one end of each wheel axle frame (55) is hinged to the first fixing frame (56) through a hinge shaft A (61), and the middle of each wheel axle frame is hinged to the piston rod (59) through a hinge shaft B (62); the top of a balance cylinder (57) hung by one of the oil cylinders is provided with a one-way oil supplementing valve (63), the one-way oil supplementing valve (63) is communicated with an oil cavity (60) of the balance cylinder (57), and all the oil cylinder hangers are communicated through a communicating oil pipe (23).