CN114833064A - Intelligent unmanned vehicle capable of automatically avoiding obstacles - Google Patents
Intelligent unmanned vehicle capable of automatically avoiding obstacles Download PDFInfo
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- CN114833064A CN114833064A CN202210468179.8A CN202210468179A CN114833064A CN 114833064 A CN114833064 A CN 114833064A CN 202210468179 A CN202210468179 A CN 202210468179A CN 114833064 A CN114833064 A CN 114833064A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/42—Drive mechanisms, regulating or controlling devices, or balancing devices, specially adapted for screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
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Abstract
The invention provides an intelligent unmanned vehicle capable of automatically avoiding obstacles, which comprises an unmanned vehicle for raw coal screening tests, two groups of collecting devices for collecting materials, a conveying mechanism for conveying the materials and a screening mechanism for screening the materials; the two groups of collecting devices are installed at the front end of the unmanned vehicle to supply materials for the conveying mechanism, the conveying mechanism is adjustably installed on the unmanned vehicle through the first lifting mechanism to feed materials for screening mechanisms with different heights, and the screening mechanisms are installed on the unmanned vehicle through the second lifting mechanism and the rotating mechanism to supply materials for vehicles with different positions and different heights. According to the intelligent unmanned vehicle capable of automatically avoiding the obstacle, disclosed by the invention, the coal to be tested is automatically obtained through the unmanned vehicle, and is automatically screened, so that the time and the labor are saved.
Description
Technical Field
The invention belongs to the technical field of coal screening, and particularly relates to an intelligent unmanned vehicle capable of automatically avoiding obstacles.
Background
In the raw coal screening test, the coal is required to be screened into 50mm, 25mm, 13mm or other different sizes, the coal particle level composition condition during the period that the mine passes through the fault is mastered through screening, and the adjustment of the washing processing technology is fully guided, but in the existing raw material screening test, the raw material screening test is carried out manually and is weighed, because the screening sizes are different, the raw material screening test needs to be carried out for many times, and in the screening process, two persons are required to hold the screen plate to carry out screening action during manual screening, and the other person is required to carry out feeding, so that time and labor are wasted.
Disclosure of Invention
In view of the above, the invention aims to provide an intelligent unmanned vehicle capable of automatically avoiding obstacles, so as to solve the problems of manpower occupation, low efficiency, time consuming and labor consuming in the existing raw coal screening experiment.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an intelligent unmanned vehicle capable of automatically avoiding obstacles comprises an unmanned vehicle for raw coal screening tests, two groups of collecting devices for collecting materials, a conveying mechanism for conveying the materials and a screening mechanism for screening the materials;
the two groups of collecting devices are arranged at the front end of the unmanned vehicle to supply materials for the conveying mechanism, the conveying mechanism is adjustably arranged on the unmanned vehicle through a first lifting mechanism to feed materials for screening mechanisms with different heights, and the screening mechanisms are arranged on the unmanned vehicle through a second lifting mechanism and a rotating mechanism to supply materials for vehicles with different positions and different heights;
screening mechanism includes three-layer screening mechanism, one deck sieve material output mechanism, and three-layer screening mechanism includes two layers of screening axle, one deck sieve, and second floor screening mechanism installs the material of screening behind the first layer under first layer screening mechanism, and third layer screening mechanism installs the material of screening behind the second layer under second layer screening mechanism, and sieve material output mechanism installs the material of carrying third layer screening mechanism under third layer screening mechanism.
Further, screening mechanism still includes the base, and two-layer screening axle is installed at the base top through driving motor respectively, and the screen cloth is swayd and is installed inside the base, and sieve material output mechanism passes through driving motor and installs in the base bottom.
Further, screening mechanism still includes the base, the base top is equipped with first boss, be equipped with the first mounting groove of screening axle that is used for the installation of second floor screening axle on the first boss, the second floor screening axle passes through the bearing and installs in first mounting groove, still install a plurality of bearing frames that are used for the installation of second floor screening axle on the first boss, a plurality of screening axle one end of second floor screening axle are connected with a plurality of bearing frames that correspond respectively, the other end is connected with the second drive wheel respectively, interconnect between the second drive wheel, the second drive wheel and the second driving motor of tip are connected, the second floor screening axle passes through the mount pad to be fixed on first boss, the mount pad bottom is equipped with the second mounting groove that is used for screening axle installation, the second mounting groove on the mount pad is corresponding with the first mounting groove on the first boss, the mount pad is fixed on first boss.
Further, the mount pad top is equipped with the third mounting groove that is used for first layer screening axle installation, a plurality of screening axles of first layer screening axle all install in the third mounting groove through the bearing, a plurality of screening axle one end are passed through the bearing frame and are installed on the mount pad, the other end is connected with first drive wheel, interconnect between the first drive wheel, the first drive wheel and the first driving motor of tip are connected, the top shell is installed at the mount pad top, top shell bottom is equipped with the fourth mounting groove corresponding with the third mounting groove, a plurality of screening axles of first layer screening axle all are located the fourth mounting groove that corresponds, the top shell passes through the bolt fastening at the mount pad top.
Further, a cavity is arranged below the base, a second boss is symmetrically arranged in the cavity, a third-layer screening mechanism is arranged on the second boss, a screen plate of the third-layer screening mechanism is arranged on the second boss, a nylon roller is arranged at the bottom of the screen plate, a sliding groove corresponding to the roller is formed in the second boss, and the roller is located in the sliding groove;
the top of the sieve plate is provided with a connecting ring, a hanging chain is arranged below the first boss, and the hanging chain is connected with the connecting ring.
Furthermore, the rear wall of the sieve plate is provided with a connecting lug which is connected with a centrifugal shaft motor through a connecting rod.
Further, sieve material output mechanism installs in the base bottom, and sieve material output mechanism includes the conveyer belt, and the conveyer belt tiling is installed in the base bottom, and the conveyer belt drive end runs through behind the base lateral wall and is connected with third driving motor.
Further, transport mechanism includes the conveyer belt, and unmanned vehicles top is equipped with the box, and conveyer belt one end extends to inside the box to be connected with inside rotation, the conveyer belt other end extends the box, and first actuating mechanism is installed at unmanned aerial vehicles driving top, and first actuating mechanism includes two fifth cylinders, and the conveying drives the middle part and is equipped with the round bar, and fifth cylinder lever end portion rotates with the round bar to be connected, and fifth cylinder bottom rotates and installs at unmanned aerial vehicles driving top.
Furthermore, the rotating mechanism comprises a rotating platform which comprises a base plate, a third air cylinder, a main driving rod and a secondary driving rod, wherein the third air cylinder and the main driving rod are rotatably arranged on the base plate, a central shaft is arranged at the center of the base plate, an outer rotating platform is rotatably arranged outside the central shaft, the cross section of the outer rotating platform is in an I shape, one end of the secondary driving rod is hinged with the outer rotating platform, the other end of the secondary driving rod is connected with the main driving rod, the secondary driving rod is in an arc shape, the radian corresponds to the middle diameter of the outer transmission platform, and a cylinder rod of the third air cylinder is hinged with the middle part of the main driving rod.
Further, screening mechanism passes through the mounting bracket, installs on rotary mechanism, and rotary mechanism is including still the mounting panel, and screening mechanism's base passes through the bolt and installs on the mounting bracket, and the mounting panel passes through the bolt to be installed outward on the rotary table, and a plurality of fourth cylinders are installed at the mounting panel top, and the thick stick rod end at the fourth cylinder is installed to the mounting bracket.
Furthermore, a front fork is installed at the front end of the unmanned vehicle, two groups of collecting devices are installed on the front fork, the two groups of collecting devices comprise a first collecting component and a second collecting component, the first collecting component and the second collecting component are symmetrically provided with two groups, the first collecting component comprises a first air cylinder, a vertical plate, first connecting plates and a collecting shifting plate, the vertical plate is installed on the front fork, the first connecting plates are symmetrically and rotatably installed at the upper end and the lower end of the vertical plate, the collecting shifting plate is installed between the two first connecting plates, one end of the first air cylinder is rotatably installed at the top of the vertical plate, and the other end of the first air cylinder is rotatably connected with the collecting shifting plate;
the second is collected and is dialled board and is included second connecting plate, first motor, broom, second cylinder, and the second connecting plate rotates the both feet department of installing at the front fork, and the broom rotates the other end of installing at the second connecting plate, and first motor is installed at the second connecting plate other end and is connected with the broom, and second cylinder one end is rotated and is installed on the front fork, and second cylinder thick stick end is articulated with the second connecting plate.
Compared with the prior art, the intelligent unmanned vehicle capable of automatically avoiding obstacles has the following advantages:
(1) according to the intelligent unmanned vehicle capable of automatically avoiding the obstacle, disclosed by the invention, the coal to be tested is automatically obtained through the unmanned vehicle, and is automatically screened, so that the time and the labor are saved.
(2) According to the intelligent unmanned vehicle capable of automatically avoiding the obstacle, which is disclosed by the invention, the coal is collected through the two groups of collecting devices, so that the coal can be accurately obtained and cannot be left over.
(3) According to the intelligent unmanned vehicle capable of automatically avoiding the obstacle, disclosed by the invention, coal materials required by experiments can be realized at one time through multilayer screening, multiple screening is not required, and the time is saved.
(4) According to the intelligent unmanned vehicle capable of automatically avoiding the obstacles, the screening mechanism can automatically rotate according to the requirement of the outlet position, so that accurate material receiving is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of an intelligent unmanned vehicle capable of automatically avoiding obstacles according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an intelligent unmanned vehicle capable of automatically avoiding obstacles according to an embodiment of the present invention;
fig. 3 is a schematic view of a part of a mechanism of an intelligent unmanned vehicle capable of automatically avoiding obstacles according to an embodiment of the invention;
FIG. 4 is an enlarged view of portion A of FIG. 1 according to an embodiment of the present invention;
FIG. 5 is a schematic view of a screening mechanism according to an embodiment of the present invention;
fig. 6 is a schematic view of a rotating mechanism according to an embodiment of the present invention.
Description of the reference numerals:
1. a control system; 2. a transport mechanism; 3. a screening mechanism; 4. a mounting frame; 5. a rotation mechanism; 6. a collection mechanism; 7. a track drive mechanism; 21. a baffle plate; 22. a fifth cylinder; 31. a first layer screening mechanism; 32. a second layer screening mechanism; 33. a third layer of screening mechanism; 34. a screen material output mechanism; 35. a base; 331. connecting lugs; 332. a connecting rod; 33. a centrifugal shaft motor; 41. a centrifugal shaft motor mounting position; 51. mounting plate, 52, fourth cylinder; 61. a front fork; 62. a first collection assembly; 63. a second collection assembly; 621. a vertical plate; 622. a first cylinder; 623. a first connecting plate; 624. collecting and pulling the plate; 631. a second connecting plate; 632. a first motor; 633. a second cylinder; 634. cleaning a broom; 310. a top shell; 311. a first layer of discharge holes; 312. a mounting seat; 313. a first layer screening shaft; 314. a first drive motor; 315. a first set of drive wheels; 316. an installation part; 321. a second layer screening shaft; 322. a second set of drive wheels; 32. a second drive motor; 331. a sieve plate; 332. a chain is hung; 341. a fourth outlet; 342. a third drive motor; 351. a first boss; 352. a second boss; 521. a chassis; 522. a third cylinder; 523. a main driving rod; 524. the driven rod; 525. and (4) turning the table outward.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 6, an intelligent unmanned vehicle capable of automatically avoiding obstacles comprises an unmanned vehicle for raw coal screening test, and comprises: the device comprises two groups of collecting devices for collecting materials, a conveying mechanism 2 for conveying the materials and a screening mechanism 3 for screening the materials;
the two groups of collecting devices are arranged at the front end of the unmanned vehicle to supply materials for the conveying mechanism 2, the conveying mechanism 2 is adjustably arranged on the unmanned vehicle through a first lifting mechanism to feed materials for screening mechanisms 3 with different heights, and the screening mechanisms 3 are arranged on the unmanned vehicle through a second lifting mechanism and a rotating mechanism 5 to supply materials for vehicles with different positions and different heights;
As shown in fig. 5, a first mounting groove for mounting the second-layer screening shaft 321 is formed at the top of the first boss 351, a second mounting groove corresponding to the first mounting groove is formed on the mounting seat 312, the first mounting groove and the second mounting groove form a circular through hole, and both ends of each screening shaft are mounted in the first mounting groove and the second mounting groove through bearings, wherein as can be seen in the figure, the mounting seat 312 and the first boss 351 are detachably mounted, so that the screening shaft is conveniently maintained and detached;
mount pad 312 top is equipped with the third mounting groove that is used for first layer screening axle 313 to install, a plurality of screening axles of first layer screening axle 313 all install in the third mounting groove through the bearing, a plurality of screening axle one end are passed through the bearing frame and are installed on mount pad 312, the other end is connected with first drive wheel, interconnect between the first drive wheel, the first drive wheel and the first driving motor 314 of tip are connected, top shell 310 is installed at mount pad 312 top, top shell 310 bottom is equipped with the fourth mounting groove corresponding with the third mounting groove, a plurality of screening axles of first layer screening axle 313 all are located the fourth mounting groove that corresponds, top shell 310 passes through the bolt fastening at mount pad 312 top.
The mounting structure of its mount pad 312 is unanimous with base 35 mounting structure, all through the bolt fastening, and every mounting groove forms the round hole, supplies the installation of screening axle.
Wherein, the top shell 310 is a sectional view, and the height is higher than the height in the figure, so as to prevent the overflow of the materials during feeding;
wherein the driving mode of each layer of screening shaft is consistent as follows: the driving motor drives the driving wheel at the end part, the driving wheel is driven by a grooved wheel or a belt wheel, the first driving motor 314 drives one driving wheel at the end part, the driving wheel drives the transmission rod belt to rotate, the driving wheel is two grooved wheels, and the grooved wheels of each adjacent wheel are connected through a transmission belt.
A cavity is arranged below the base 35, a second boss 352 is symmetrically arranged in the cavity, the third-layer screening mechanism 33 is arranged on the second boss 352, a screen plate 331 of the third-layer screening mechanism 33 is arranged on the second boss 352, a nylon roller wheel is arranged at the bottom of the screen plate 331, a sliding groove corresponding to the roller wheel is arranged on the second boss 352, and the roller wheel is positioned in the sliding groove;
the top of the sieve plate 331 is provided with a connecting ring, a hanging chain 332 is arranged below the first boss 351, and the hanging chain 332 is connected with the connecting ring.
In fig. 5, it can be seen that the screen plate 331 is located above the second boss 352, the roller is located at the bottom of the screen plate 331 (not labeled in the figure), the roller is matched with the chute, so that the screen plate 331 can be limited, the screen plate 331 is prevented from shaking left and right, and the hanging chain 332 supports the screen plate 331, so that the screen plate 331 can run stably.
The rear wall of the sieve plate 331 is provided with a connecting lug 331, and the connecting lug 331 is connected with a centrifugal shaft motor 33 through a connecting rod 332.
As shown in fig. 2, the mounting seat 312 is provided with a centrifugal shaft motor 33 mounting position for mounting the centrifugal shaft motor 33, and the screen plate 331 is driven by the centrifugal shaft motor 33 to drive the connecting rod 332 to reciprocate, so that the connecting rod 332 pushes the screen plate 331 to reciprocate, thereby realizing the screening of the material.
Sieve material output mechanism 34 installs in base 35 bottom, and sieve material output mechanism 34 includes the conveyer belt, and the conveyer belt tiling is installed in base 35 bottom, and the conveyer belt drive end runs through behind the base 35 lateral wall and is connected with third driving motor 342.
As shown in fig. 5, the material sieving output mechanism 34 is a conveyor belt, two ends of the conveyor belt are connected through a rotating shaft, the rotating shaft penetrates through the side wall of the base 35 and is connected with a third driving motor 342, the third driving motor 342 drives one of the rotating shafts to drive the conveyor belt to rotate, the conveyor belt conveys the material sieved by the third layer;
each layer of screening mechanism 3 is correspondingly provided with a discharge port, a first discharge port of the first layer of screening mechanism 313 is positioned at the end part of the mounting seat 312 and is used for discharging materials screened by the first layer, a second discharge port of the second layer of screening mechanism 32 is positioned at the top of the base 35 and is used for discharging materials screened by the second layer, and a discharge port of the third layer of screening mechanism 33 is positioned at the bottom of the screen plate 331 and is used for preventing the materials from falling off when the screen plate 331 does reciprocating motion, so that the length of the bottom of the screen plate 331 is greater than the motion amplitude of the screen plate 331; the bottom of the screening material output mechanism 34 is provided with a fourth material outlet for outputting the screened material.
The aforesaid sets up this structure, and the coal raw materials experiment of being convenient for, screen cloth sieve material are more meticulous, and the coal size that the screening axle was sieved will be greater than the size that the screen cloth was sieved, and consequently this structure is convenient for sieve the coal of equidimension not.
When raw materials screening is experimental, need divide into 50mm, 25mm, 13mm or other not equidimension screening with the coal, above-mentioned three-layer screening can realize sieving the coal of equidimension not, the experiment of being convenient for to above-mentioned screening mechanism 3 is all detachable, and the size that needs can be changed according to actual need to the screening axle, and the recess that wherein is used for installing the screening axle is detachable mount pad 312 equally, is convenient for change to the screening axle of difference.
As shown in fig. 1 and 2, the existing conveyor belt is adopted as the conveyor belt, a rotating shaft extends from the outer wall of the whole conveyor belt, the rotating shaft is rotatably connected with the inside of the box body, and the conveyor belt can be rotated to realize adjustment of different heights under the driving of the fifth cylinder 22.
Wherein the conveyer belt tip is equipped with baffle 21, and baffle 21 is used for spacing to the material, prevents that conveyer belt conveying dynamics is too big, leads to the material to splash, and the screening mechanism 3 that flies to spill.
The rotating mechanism 5 comprises a base plate 521, a third air cylinder 522, a main driving rod 523 and a secondary driving rod 524, wherein the third air cylinder 522 and the main driving rod 523 are rotatably installed on the base plate 521, a central shaft is installed in the center of the base plate 521, an outer rotating platform is rotatably installed outside the central shaft, the cross section of the outer rotating platform is in an I shape, one end of the secondary driving rod 524 is hinged with the outer rotating platform, the other end of the secondary driving rod 524 is connected with the main driving rod 523, the secondary driving rod 524 is in an arc shape, the radian corresponds to the middle diameter of the outer transmission platform, and the cylinder rod of the third air cylinder 522 is hinged with the middle part of the main driving rod 523.
As shown in fig. 3, the fourth cylinder 52 is used to raise and lower the sifting mechanism 3.
As shown in fig. 6, the rotation mechanism 5 operates as follows:
the third cylinder 522 stretches and retracts to push the main driving rod 523 to rotate, the main driving rod 523 pushes the auxiliary driving rod 524 to rotate, the diameter of the cylinder is smaller than the distance between the auxiliary driving rods 524, the auxiliary driving rod 524 can pass through the auxiliary driving rods 524, the auxiliary driving rod 524 pushes the outer turntable to rotate when the third cylinder 522 is retracted, the outer turntable is driven to surround the outer turntable from the driving rod 524 when the outer turntable rotates until the outer turntable enters the arc-shaped part of the auxiliary driving rod 524, and when the third cylinder 522 extends out, the third cylinder 522 rotates in the reverse direction, so that 180-degree rotation of the turntable can be realized.
The front end of the unmanned vehicle is provided with a front fork 61, two groups of collecting devices are arranged on the front fork 61 and comprise a first collecting component 62 and a second collecting component 63, the first collecting component 62 and the second collecting component 63 are symmetrically provided with two groups, the first collecting component 62 comprises a first air cylinder 622, a vertical plate 621, a first connecting plate 623 and a collecting shifting plate 624, the front fork 61 is provided with the vertical plate 621, the upper end and the lower end of the vertical plate 621 are symmetrically and rotatably provided with the first connecting plate 623, the collecting shifting plate 624 is arranged between the two first connecting plates 623, one end of the first air cylinder 622 is rotatably arranged at the top of the vertical plate 621, and the other end of the first air cylinder 622 is rotatably connected with the collecting shifting plate 624;
the second collecting dial plate 624 comprises a second connecting plate 631, a first motor 632, a sweeping handle 634 and a second air cylinder 633, wherein the second connecting plate 631 is rotatably mounted at two legs of the front fork 61, the sweeping handle 634 is rotatably mounted at the other end of the second connecting plate 631, the first motor 632 is mounted at the other end of the second connecting plate 631 and connected with the sweeping handle 634, one end of the second air cylinder 633 is rotatably mounted on the front fork 61, and the rod end of the second air cylinder 633 is hinged with the second connecting plate 631.
As shown in fig. 4, the two groups of collecting devices are driven by the cylinder to gather materials on the ground inwards so as to realize the effect of pushing and accumulating the materials, gather the materials on the front fork 61 and facilitate the conveying of the conveying mechanism 2.
One end of the conveying mechanism 2 extends to the front fork 61 to receive the materials gathered by the front fork 61 and convey the materials.
When the first collecting assembly 62 is driven, the first cylinder 622 pushes the collecting shifting plate 624 to perform gathering action, and the shifting plate rotates under the action of the first connecting plate 623 to complete the movement.
Wherein every discharge gate department mountable different transport bag, similar gunny bag section of thick bamboo to and revolving stage also can adopt current central adapter to realize 360 degrees rotations.
Wherein this unmanned vehicle adopts the tracked vehicle, is comparatively suitable for mining tracked vehicle, and other current wheels all can be adopted in its this application.
The unmanned aerial vehicle is characterized in that a control system 1 installation position is arranged above the unmanned aerial vehicle, the control system 1 comprises a camera device, a motor, a position attitude sensor, a cylinder, a controller and the like, the connection mode adopts the prior art, the control system 1 can adopt the existing unmanned control system 1, when the unmanned aerial vehicle is driven, the position attitude sensor collects attitude information of the unmanned aerial vehicle and transmits the information to the controller, the camera device collects image information of the position where the unmanned aerial vehicle is located and transmits the image information to the controller, the controller identifies and processes the collected attitude information and image information of the unmanned aerial vehicle, and the functions of path planning, intelligent obstacle avoidance and the like are realized by combining algorithms of path planning, intelligent obstacle avoidance and the like.
The specific principle is as follows:
for raw coal screening experiments, coal to be tested is screened by the unmanned screening vehicle, the unmanned vehicle is started, the unmanned vehicle can search the coal to be tested according to the control system 1 of the unmanned vehicle, the front fork 61 is dropped after searching, the raw material is taken, when the raw material is taken, the raw material is gathered by the cleaning handle 634 due to possible dispersion of the raw material, then the raw material is stirred to the conveying mechanism 2 by gathering the collecting deflector rod, the conveying mechanism 2 is started, and the conveying mechanism 2 conveys the coal to the screening mechanism 3;
the screening mechanism 3 screens the raw materials conveyed by the conveying mechanism 2, the raw materials fall into a first layer of screening mechanism 313 and then fall into a second layer of screening mechanism 32 in the conveying process, the materials of the second layer of screening mechanism 32 fall into a screen plate 331, the screen plate 331 is driven by a centrifugal shaft motor 33 to screen the raw materials, finally, screened powder or unqualified raw materials are output by a screening output mechanism, each layer is provided with a discharge hole, the discharge holes output raw materials with different screening specifications for experiments, and the materials can be received by following other unmanned vehicles in the material discharging process;
in the operation process, the unmanned vehicle can judge according to the surrounding conditions, automatically avoid obstacles, and rotate the discharge hole of the screening mechanism 3 according to the position of the receiving vehicle for the receiving vehicle to receive materials.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An intelligent unmanned vehicle capable of automatically avoiding obstacles comprises an unmanned vehicle for a raw coal screening test, two groups of collecting devices for collecting materials, a conveying mechanism (2) for conveying the materials and a screening mechanism (3) for screening the materials;
the two groups of collecting devices are arranged at the front end of the unmanned vehicle to supply materials for the conveying mechanism (2), the conveying mechanism (2) is adjustably arranged on the unmanned vehicle through a first lifting mechanism to feed materials for screening mechanisms (3) with different heights, and the screening mechanisms (3) are arranged on the unmanned vehicle through a second lifting mechanism and a rotating mechanism (5) to supply materials for vehicles with different positions and different heights;
screening mechanism (3) are including three-layer screening mechanism (3), one deck screening output mechanism (34), three-layer screening mechanism (3) are including two layers screening axle, one deck sieve (331), the material after the screening of first layer is installed under first layer screening mechanism (31) (3) in second layer screening mechanism (32), the material after the screening of second layer is installed under second layer screening mechanism (32) in third layer screening mechanism (33), the material of carrying third layer screening mechanism (33) under third layer screening mechanism (33) is installed in screening output mechanism (34).
2. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 1, characterized in that: screening mechanism (3) still include base (35), and two-layer screening axle is installed at base (35) top through driving motor respectively, and the screen cloth is swayd and is installed inside base (35), and sieve material output mechanism (34) are installed in base (35) bottom through driving motor.
3. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 2, characterized in that: the screening mechanism (3) further comprises a base (35), a first boss (351) is arranged at the top of the base (35), a first mounting groove of the screening shaft for mounting the second layer of screening shaft (321) is formed in the first boss (351), the second layer of screening shaft (321) is mounted in the first mounting groove through a bearing, a plurality of bearing seats for mounting the second layer of screening shaft (321) are further mounted on the first boss (351), one ends of the screening shafts of the second layer of screening shaft (321) are respectively connected with the corresponding bearing seats, the other ends of the screening shafts are respectively connected with a second driving wheel, the second driving wheels are mutually connected, the second driving wheel at the end part is connected with a second driving motor (32), the second layer of screening shaft (321) is fixed on the first boss (351) through a mounting seat (312), a second mounting groove for mounting the screening shaft is formed in the bottom of the mounting seat (312), the second mounting groove on the mounting seat (312) corresponds to the first mounting groove on the first boss (351), the mounting seat (312) is fixed on the first boss (351).
4. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 3, wherein: mount pad (312) top is equipped with the third mounting groove that is used for first layer screening axle (313) to install, a plurality of screening axles of first layer screening axle (313) all install in the third mounting groove through the bearing, a plurality of screening axle one end are passed through the bearing frame and are installed on mount pad (312), the other end is connected with first drive wheel, interconnect between the first drive wheel, the first drive wheel and the first driving motor (314) of tip are connected, top shell (310) is installed at mount pad (312) top, top shell (310) bottom is equipped with the fourth mounting groove corresponding with the third mounting groove, a plurality of screening axles of first layer screening axle (313) all are located the fourth mounting groove that corresponds, top shell (310) are through the bolt fastening at mount pad (312) top.
5. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 2, characterized in that: a cavity is arranged below the base (35), a second boss (352) is symmetrically arranged in the cavity, a third layer of screening mechanism (33) is arranged on the second boss (352), a screen plate (331) of the third layer of screening mechanism (33) is arranged on the second boss (352), nylon rollers are arranged at the bottom of the screen plate (331), sliding grooves corresponding to the rollers are formed in the second boss (352), and the rollers are located in the sliding grooves;
the top of the sieve plate (331) is provided with a connecting ring, a hanging chain (332) is arranged below the first boss (351), and the hanging chain (332) is connected with the connecting ring;
the rear wall of the sieve plate (331) is provided with a connecting lug (331), and the connecting lug (331) is connected with a centrifugal shaft motor (33) through a connecting rod (332).
6. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 2, characterized in that: sieve material output mechanism (34) are installed in base (35) bottom, and sieve material output mechanism (34) include the conveyer belt, and the conveyer belt tiling is installed in base (35) bottom, and the conveyer belt drive end runs through behind base (35) lateral wall and is connected with third driving motor (342).
7. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 1, characterized in that: transport mechanism (2) include the conveyer belt, unmanned vehicles top is equipped with the box, conveyer belt one end extends to inside the box to be connected with inside rotation, the conveyer belt other end extends the box, first actuating mechanism is installed at unmanned vehicles top, first actuating mechanism includes two fifth cylinders (22), the conveying drives the middle part and is equipped with the round bar, fifth cylinder (22) lever end rotates with the round bar and is connected, fifth cylinder (22) bottom is rotated and is installed at unmanned vehicles driving top.
8. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 1, characterized in that: the rotating mechanism (5) comprises a rotating table, the rotating table comprises a base plate (521), a third air cylinder (522), a main driving rod (523) and a secondary driving rod (524), the third air cylinder (522) and the main driving rod (523) are rotatably installed on the base plate (521), a central shaft is installed in the center of the base plate (521), an outer rotating table is rotatably installed outside the central shaft, the cross section of the outer rotating table is I-shaped, one end of the secondary driving rod (524) is hinged with the outer rotating table, the other end of the secondary driving rod is connected with the main driving rod (523), the secondary driving rod (524) is arc-shaped, the radian corresponds to the middle diameter of an outer transmission table, and a cylinder rod of the third air cylinder (522) is hinged with the middle part of the main driving rod (523).
9. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 1, characterized in that: screening mechanism (3) are installed on rotary mechanism (5) through mounting bracket (4), and rotary mechanism (5) are including still mounting panel (51), and base (35) of screening mechanism (3) are installed on mounting bracket (4) through the bolt, and mounting panel (51) are installed on outer revolving stage through the bolt, and a plurality of fourth cylinders (52) are installed at mounting panel (51) top, and the lever end at fourth cylinder (52) is installed in mounting bracket (4).
10. The intelligent unmanned vehicle capable of automatically avoiding obstacles according to claim 1, characterized in that: the front end of the unmanned vehicle is provided with a front fork (61), two groups of collecting devices are arranged on the front fork (61), the two groups of collecting devices comprise a first collecting component (62) and a second collecting component (63), the first collecting component (62) and the second collecting component (63) are symmetrically provided with two groups, the first collecting component (62) comprises a first cylinder (622), a vertical plate (621), a first connecting plate (623) and a collecting shifting plate (624), the vertical plate (621) is arranged on the front fork (61), the first connecting plate (623) is symmetrically and rotatably arranged at the upper end and the lower end of the vertical plate (621), the collecting shifting plate (624) is arranged between the two first connecting plates (623), one end of the first cylinder (622) is rotatably arranged at the top of the vertical plate (621), and the other end of the first cylinder (622) is rotatably connected with the collecting shifting plate (624);
the second collecting shifting plate (624) comprises a second connecting plate (631), a first motor (632), a sweeping handle (634) and a second air cylinder (633), the second connecting plate (631) is rotatably installed at two feet of the front fork (61), the sweeping handle (634) is rotatably installed at the other end of the second connecting plate (631), the first motor (632) is installed at the other end of the second connecting plate (631) and connected with the sweeping handle (634), one end of the second air cylinder (633) is rotatably installed on the front fork (61), and the lever end of the second air cylinder (633) is hinged to the second connecting plate (631).
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| CN202210468179.8A CN114833064B (en) | 2022-04-29 | 2022-04-29 | Intelligent unmanned vehicle capable of automatically avoiding obstacle |
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