CN107448209A - A kind of development machine alignment system - Google Patents
A kind of development machine alignment system Download PDFInfo
- Publication number
- CN107448209A CN107448209A CN201710825291.1A CN201710825291A CN107448209A CN 107448209 A CN107448209 A CN 107448209A CN 201710825291 A CN201710825291 A CN 201710825291A CN 107448209 A CN107448209 A CN 107448209A
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- CN
- China
- Prior art keywords
- development machine
- double
- tilt angle
- axis
- alignment system
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Links
- 238000009434 installation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention discloses a kind of development machine alignment system, including a three-dimensional electronic compass, two rope sensors, a double-shaft tilt angle sensor；Wherein three-dimensional electronic compass and double-shaft tilt angle sensor are horizontally arranged above development machine body backplate and its center line and development machine axis are horizontal.One end of two rope sensors is symmetrically mounted on the side guard plate of development machine two, and the other end is symmetrically mounted in the side wall of tunnel, and both ends are identical relative to the height on ground.The present invention can quickly locate particular location of the development machine in tunnel.
Description
Technical field
The present invention relates to a kind of development machine alignment system, belong to mine equipment technical field.
Background technology
The working environment of the mining engineering machineries such as boom-type roadheader is mostly big dust, low visibility, noise is strong, is illuminated
Difference, the physical and mental health and operating efficiency of operating personnel are had a strong impact on, in order to solve this problem, it is proposed that automatic cut, imitate
The concepts such as shape cut, it is desirable to manipulator is freed from rugged environment by technological innovation, and realizes these concepts
Basal core problem be exactly to realize development machine being accurately positioned in tunnel.
The content of the invention
Purpose：In order to overcome the deficiencies in the prior art, the present invention provides a kind of development machine alignment system.
Technical scheme：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of development machine alignment system, it is characterised in that：Sensed including three-dimensional electronic compass, rope sensor and double-shaft tilt angle
Device, the three-dimensional electronic compass are arranged on development machine body, and one end of two rope sensors is separately mounted to tunnel pusher side
Face, the other end are separately mounted in the side wall in tunnel, and double-shaft tilt angle sensor is arranged on development machine body, described three-dimensional electricity
Sub- compass, rope sensor and double-shaft tilt angle sensor are connected with controller.
Preferably, described development machine alignment system, it is characterised in that：The installation of the three-dimensional electronic compass is put down
Face and plane keep level on development machine body.
Further, the X-axis of three-dimensional electronic compass and development machine length direction axis keep level, three-dimensional electronic compass
Y-axis and development machine width axis keep level.
Preferably, described development machine alignment system, it is characterised in that：One end difference of two rope sensors
Development machine side is symmetrically mounted at, the other end is completely symmetrically arranged on the drawstring fixing end in the side wall of tunnel both sides respectively
On, ensure that the end of two rope sensors is highly consistent relative to roadway floor.
Preferably, described development machine alignment system, it is characterised in that：The installation of the double-shaft tilt angle sensor
Plane and plane keep level on development machine body.
Further, the X-axis of the double-shaft tilt angle sensor and development machine length direction axis keep level, twin shaft incline
The Y-axis of angle transducer and development machine width axis keep level.
Beneficial effect：Development machine alignment system provided by the invention, passes through three-dimensional electronic compass, rope sensor and twin shaft
Obliquity sensor, particular location of the development machine in tunnel can be quickly located, and not influenceed by site environment.
Brief description of the drawings
Fig. 1 is the structure and initial position scheme of installation of the present invention；
Fig. 2 is that development machine needs positioning states schematic diagram；
Fig. 3 is development machine positioning states simplification figure；
Fig. 4 is electrical principle block diagram；
In figure：1st, three-dimensional electronic compass, 2, drawstring fixing end, 3, rope sensor, 4, double-shaft tilt angle sensor, 5, controller.
Embodiment
The present invention is further described with reference to specific embodiment.
As shown in Figure 1 and Figure 4, a kind of development machine alignment system, including three-dimensional electronic compass 1, rope sensor 3 and twin shaft
Obliquity sensor 4, the three-dimensional electronic compass 1 are arranged on development machine body, and one end of two rope sensors 3 is installed respectively
In development machine side, the other end is separately mounted in the drawstring fixing end 2 in the side wall in tunnel, and double-shaft tilt angle sensor 4 is installed
On development machine body, described three-dimensional electronic compass 1, rope sensor 3 and double-shaft tilt angle sensor 4 are connected with controller 5.
Preferably, as shown in figure 1, development machine is run into tunnel centre position, posture is ajusted, by three-dimensional electronic compass 1
On development machine body, make the mounting plane of three-dimensional electronic compass 1 and plane keep level on development machine body, three-dimensional electricity
The X-axis of sub- compass 1 and development machine length direction axis keep level, Y-axis and the development machine width of three-dimensional electronic compass 1
Axis keep level, one end of two rope sensors 3 are completely symmetrically arranged on development machine side, other end difference respectively
Completely symmetrically in the drawstring fixing end 2 in the side wall of tunnel both sides, ensure that the end of two rope sensors 3 is relative
Highly consistent in roadway floor, double-shaft tilt angle sensor 4 is arranged on development machine body, makes the installation of double-shaft tilt angle sensor 4
Plane and plane keep level on development machine body, X-axis and the development machine length direction axis of double-shaft tilt angle sensor 4 are kept
Level, Y-axis and the development machine width axis keep level of double-shaft tilt angle sensor 4, described three-dimensional electronic compass 1,
Rope sensor 3 and double-shaft tilt angle sensor 4 are connected with controller 5.
Install rear development machine to be powered, controller 5 records and preserves the course heading α 1 of three-dimensional electronic compass 1, driving
The angle of pitch β 1 of machine, the angle of heel γ 1 of development machine, α 1 represent tunnel direction of advance, and β 1 represents the gradient of tunnel direction of advance,
γ 1 represents the gradient in span length direction.
As shown in Fig. 2 development machine, which advances to run to, needs position location, wherein length L3, L4 is fixed value, in advance by surveying
Amount instrument measurement show that L1, L2 are drawn by two measurements of rope sensor 3 and be transferred to controller 5, current development machine course angle
Degree α 2 draws by the measurement of three-dimensional electronic compass 1 and is transferred to controller 5, the angle of pitch β 2 and angle of heel γ 2 of current development machine by
The measurement of double-shaft tilt angle sensor 4 draws and is transferred to controller 5.- the α 1 of angle R=α 2 in figure.When β 2 and β 1 error or γ 2
When exceeding preset value with γ 1 error, controller 5 sends instruction notification operator and carries out manual intervention amendment machine pose recovery
To error allowed band.
As shown in figure 3, being projected perpendicular to tunnel bottom surface, using A points in Fig. 2 as reference axis origin, tunnel direction of advance is seat
Parameter Y-direction, span length direction are reference axis X to a, it can be deduced that quadrangle.Four edge lengths known to described quadrangle
（L1、L2、L3、L4）With upper and lower two sides（CD and AB）Between angle R（CE ∥ AB, ∠ DCE=R）.Pushed away according to geometrical relationship
Reason can learn that C points, the coordinate of D points are unique.Development machine walking is on roadway floor and C points, D point coordinates are, it is known that therefore
Position location of the development machine in tunnel can be drawn.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
- A kind of 1. development machine alignment system, it is characterised in that：Sensed including three-dimensional electronic compass, rope sensor and double-shaft tilt angle Device, the three-dimensional electronic compass are arranged on development machine body, and one end of two rope sensors is separately mounted to tunnel pusher side Face, the other end are separately mounted in the side wall in tunnel, and double-shaft tilt angle sensor is arranged on development machine body, described three-dimensional electricity Sub- compass, rope sensor and double-shaft tilt angle sensor are connected with controller.
- 2. development machine alignment system according to claim 1, it is characterised in that：The mounting plane of the three-dimensional electronic compass With plane keep level on development machine body.
- 3. development machine alignment system according to claim 1, it is characterised in that：The X-axis and development machine of three-dimensional electronic compass Length direction axis keep level, Y-axis and the development machine width axis keep level of three-dimensional electronic compass.
- 4. development machine alignment system according to claim 1, it is characterised in that：One end of two rope sensors is right respectively Ground is claimed to be arranged on development machine side, the other end is completely symmetrically arranged on the drawstring fixing end in the side wall of tunnel both sides respectively On, ensure that the end of two rope sensors is highly consistent relative to roadway floor.
- 5. development machine alignment system according to claim 1, it is characterised in that：The installation of the double-shaft tilt angle sensor is put down Face and plane keep level on development machine body.
- 6. development machine alignment system according to claim 1, it is characterised in that：The X-axis of the double-shaft tilt angle sensor with Development machine length direction axis keep level, Y-axis and the development machine width axis of double-shaft tilt angle sensor keep water It is flat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710825291.1A CN107448209A (en) | 2017-09-14 | 2017-09-14 | A kind of development machine alignment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710825291.1A CN107448209A (en) | 2017-09-14 | 2017-09-14 | A kind of development machine alignment system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107448209A true CN107448209A (en) | 2017-12-08 |
Family
ID=60496521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710825291.1A Pending CN107448209A (en) | 2017-09-14 | 2017-09-14 | A kind of development machine alignment system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107448209A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101266134A (en) * | 2008-04-30 | 2008-09-17 | 山西焦煤集团有限责任公司 | Cantilever driving frame head posture measuring systems and its method |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN204705359U (en) * | 2015-03-24 | 2015-10-14 | 中国矿业大学(北京) | A kind of boom-type roadheader fuselage and cutting head pose detection system |
| CN105652866A (en) * | 2014-11-24 | 2016-06-08 | 丁金堂 | Automatic measurement and error correcting system for heading machine |
| CN207194904U (en) * | 2017-09-14 | 2018-04-06 | 徐州徐工基础工程机械有限公司 | A kind of development machine alignment system |
-
2017
- 2017-09-14 CN CN201710825291.1A patent/CN107448209A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101266134A (en) * | 2008-04-30 | 2008-09-17 | 山西焦煤集团有限责任公司 | Cantilever driving frame head posture measuring systems and its method |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN105652866A (en) * | 2014-11-24 | 2016-06-08 | 丁金堂 | Automatic measurement and error correcting system for heading machine |
| CN204705359U (en) * | 2015-03-24 | 2015-10-14 | 中国矿业大学(北京) | A kind of boom-type roadheader fuselage and cutting head pose detection system |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN207194904U (en) * | 2017-09-14 | 2018-04-06 | 徐州徐工基础工程机械有限公司 | A kind of development machine alignment system |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171208 |