CN109163676A - A kind of development machine suspending arm rotary angle detection method and device - Google Patents
A kind of development machine suspending arm rotary angle detection method and device Download PDFInfo
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- CN109163676A CN109163676A CN201811144880.4A CN201811144880A CN109163676A CN 109163676 A CN109163676 A CN 109163676A CN 201811144880 A CN201811144880 A CN 201811144880A CN 109163676 A CN109163676 A CN 109163676A
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- 238000011161 development Methods 0.000 title claims abstract description 94
- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 57
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000007667 floating Methods 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 13
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005291 magnetic effect Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of development machine suspending arm rotary angle detecting device and methods, screw cylinder and displacement sensor are provided on development machine revolving platform, displacement sensor acquires the distance between displacement sensor and screw cylinder, it is calculated by formula, is converted to the opposite angle of revolution and absolute angle of revolution of development machine cantilever.By means of the invention it is possible to overcome the problems, such as fuselage when development machine works, the sharp pounding of rotating shaft causes rotary encoder to be difficult to carry out the detection of suspending arm rotary angle, improve measurement accuracy and reliability.
Description
Technical field
The present invention relates to development machine detection field more particularly to a kind of development machine suspending arm rotary angle detection method and devices.
Background technique
Detection development machine suspending arm rotary angle, pitch angle are to realize the automatic cutting of development machine to calculate cutterhead spatial position
Prerequisite.Currently, the detection of cantilever pitch angle very easily can realize that the detection of angle of revolution is then by obliquity sensor
Never reliable and high-precision solution, the sharp pounding of fuselage, rotating shaft etc. can not adopt when due to development machine work
With the mode angle measurement of shaft end installation rotary encoder, external stay wire displacement sensor detection angle of revolution then exists apparent reliable
Property problem, the mode more approved at present be by angling cylinder install magneto strictive sensor measure piston rod position
It moves, is then calculated by cantilever motion model (relationship for establishing angling cylinder piston rod displacement and suspending arm rotary angle) outstanding
The advantages of angle of revolution of arm, this mode, is that piston rod displacement detection precision is high, saves space, the problem is that belonging to secondary
Measurement, detection accuracy are not only influenced by sensor accuracy and reliability, it is often more important that it is influenced by cantilever motion model,
And the processing such as various simplification are certainly existed when establishing kinematics model, ignores and idealizes, these processing can be to passing through model
The parameter measurement precision of progress causes inevitably to influence (this shadow for influencing often to be much larger than sensor measurement accuracy itself
Ring), secondly, installation magneto strictive sensor needs that angling cylinder is specially designed and is transformed, many times it is related to changing
The problems such as rear oil cylinder installation space is insufficient is made, in addition, reliability is poor in the case where vibrating operating condition also influences it for magneto strictive sensor
It promotes and applies.The sensing technology that therefore, it is necessary to develop a kind of high reliablity, can directly detect angle of revolution.
Application No. is a kind of angle of revolution measuring mechanisms of the disclosure of the invention of CN201310546109, angle of revolution measurement side
Method, apparatus and system, the measuring mechanism include: the rotary drive being fixedly connected with the rotary shaft of equipment under test；First driving
Bar and the second drive rod, first drive rod and the rotary drive are hinged, and second drive rod and described first drives
Lever is hinged, and the length of first drive rod is greater than the rotation of the hinge joint of the rotary drive and first drive rod
Diameter；Voltage detecting circuit, the voltage detecting circuit include slide rheostat, the brush of the slide rheostat and described the
Two drive rods are fixedly connected, and the brush is as the movement of second drive rod is on the resistance wire surface of the slide rheostat
Sliding.
Application No. is a kind of spherical hinge of achievable angle of revolution measurement of the disclosure of the invention of CN103527620A and measurements
Method, it is characterized in that: being made of the internal ball seat with ball-and-socket pedestal and end cap, bulb is embedded in ball-and-socket, and in end cap
Opening exposes spherical crown, in the spherical crown top surface connected ball toggle of bulb；Bulb is concentric with ball-and-socket, and bulb can be relative to ball
Nest rotates with one heart；It is embedded with permanent magnet in the lower half ball surface of bulb, each permanent magnet is evenly distributed on the lower half ball surface of bulb；
It is embedded with magnetic effect sensor on the surface of ball-and-socket, each magnetic effect sensor is evenly distributed on the surface of ball-and-socket；Utilize magnetic effect
The inductive output signal of sensor judges the relative position between bulb and ball-and-socket and the direction of relative motion.
Application No. is a kind of novel angle measurement system of the disclosure of the invention of CN103499327A, including specific curves are real
Body, terminal display and monitoring point, all the points of the specific curves physically have unique value, monitoring in polar coordinate system
Distance measuring sensor is installed on point and is connect with terminal display, monitoring point is equipped with defined relative motion track, the operation rail
Mark is a circular orbit concentric with specific curves entity basic circle.
Invention disclosed above is different from solution disclosed by the invention, and application is different, and can not solve well
The application problem being certainly mentioned above.
Summary of the invention
A kind of detection of development machine suspending arm rotary angle is provided it is an object of the invention to avoid the deficiencies in the prior art place
Method and apparatus.
The purpose of the present invention can be realized by using following technical measures, design a kind of development machine suspending arm rotary angle
Detection device is set on the development machine revolving platform of development machine rack, and the development machine revolving platform is set in development machine rack,
The cantilever and cutting head of development machine connect the development machine revolving platform, and the oil cylinder of development machine is separately connected development machine rack and pick
Into machine revolving platform, the development machine revolving platform is fixedly installed on floating bearing inner ring, setting revolution on the outside of floating bearing inner ring
Bearing outer ring, the rotating shaft of development machine, floating bearing outer ring are fixedly installed in the rack of development machine, and described device includes:
Displacement sensor, provides the hollow cylinder and processor of screw cylinder at sensor stand；Wherein, the hollow cylinder is placed in institute
It states on floating bearing inner ring, outside the hollow cylinder and the rotating shaft, the development machine floating bearing inner ring and floating bearing
Circle is arranged concentrically；The sensor stand is fixedly installed on the rotating shaft, and institute's displacement sensors are fixedly connected with the biography
The screw cylinder of sensor bracket, laser beam direct projection to the hollow cylinder that institute's displacement sensors issue is detected；Institute
Processor connection institute's displacement sensors are stated, the displacement detecting data for receiving institute's displacement sensors are calculated, to be dug
It is detected into machine suspending arm rotary angle.
Wherein, the rectangular shape of sensor stand, wherein one end is fixedly installed on the rotating shaft, and the other end is fixedly connected
Institute's displacement sensors.
Wherein, screw cylinder is the helicoid processed in the end face of hollow cylinder, and screw cylinder is by one perpendicular to cylinder
The straight line of face axis according to certain lift angle around face of cylinder axis be rotated by 360 ° cutting cylindrical at.
The purpose of the present invention can be realized by using following technical measures, design a kind of development machine suspending arm rotary angle
Detection method carries out development machine suspending arm rotary angle based on the development machine suspending arm rotary angle detecting device as described in preceding solution
Detection, comprising:
When development machine revolving platform drives the cantilever of development machine and cutting head to rotate, the real-time acquisition testing number of displacement sensor
According to, and will test data and be transferred to processor；
Processor carries out data processing and analysis to detection data and handles to obtain development machine cantilever with respect to angle of revolution and absolutely
Turn round angular dimensions.
Wherein, the detection data that displacement sensor generates includes at least: the height of displacement sensor to screw cylinder.
Wherein, such as formula (1) and (2) is shown respectively by the absolute angle of revolution β of development machine cantilever and opposite angle of revolution Δ β:
Wherein, the difference in height of screw cylinder minimum point to highest point is OA, and π is constant, displacement sensor to screw cylinder
The height of plane where minimum point is H, and the height of displacement sensor to screw cylinder is l, and absolute angle of revolution is referred to spiral
The minimum point of cylinder is the development machine revolving platform of starting point and the angle that cantilever turns over, and opposite angle of revolution refers to development machine revolving platform
The angle turned over cantilever with respect to last moment.
It is different from the prior art, development machine suspending arm rotary angle detecting device of the invention and method are on development machine revolving platform
Provided with screw cylinder and displacement sensor, displacement sensor acquires the distance between displacement sensor and screw cylinder, passes through
Formula calculates, and is converted to the opposite angle of revolution and absolute angle of revolution of development machine cantilever.By means of the invention it is possible to overcome development machine work
Fuselage when making, rotating shaft sharp pounding cause rotary encoder to be difficult to the problem of carrying out the detection of suspending arm rotary angle, improve survey
Accuracy of measurement and reliability.
Detailed description of the invention
Fig. 1 is a kind of side structure schematic view of development machine suspending arm rotary angle detecting device provided by the invention；
Fig. 2 is a kind of overlooking structure diagram of development machine suspending arm rotary angle detecting device provided by the invention；
Fig. 3 is that a kind of screw cylinder expansion of development machine suspending arm rotary angle detecting device provided by the invention is calculated
Schematic diagram；
Fig. 4 is a kind of flow diagram of development machine suspending arm rotary angle provided by the invention detection method.
Specific embodiment
Further more detailed description is made to technical solution of the present invention With reference to embodiment.Obviously, it is retouched
The embodiment stated is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention,
Those of ordinary skill in the art's every other embodiment obtained without creative labor, all should belong to
The scope of protection of the invention.
Refering to fig. 1 and Fig. 2, Fig. 1 and Fig. 2 be a kind of development machine suspending arm rotary angle detecting device provided by the invention side view
And overlooking structure diagram.
The device is set on the development machine revolving platform 1 of development machine rack, and development machine revolving platform 1 is set to development machine rack
On 6, the cantilever and cutting head 9 of development machine connect the development machine revolving platform 1, and the oil cylinder 10 of development machine is separately connected development machine
Rack and development machine revolving platform 1, the development machine revolving platform 1 are fixedly installed on floating bearing inner ring 7, the rotating shaft of development machine
5, floating bearing outer ring 8 is fixedly installed in the rack 6 of development machine, which includes: displacement sensor 2, sensor stand
3, the hollow cylinder 4 and processor 11 of screw cylinder are provided；The hollow cylinder 4 for providing screw cylinder is co-axially mounted with rotating shaft 5,
Sensor stand 3 is mounted on 5 top of rotating shaft, and displacement sensor 2 is mounted on the other end of sensor stand 3, and installation should ensure that
The dot projection that displacement sensor 2 is launched when suspending arm rotary is on the helicoid of screw cylinder 4；Hollow cylinder 4 is placed on institute
State 5 outside of rotating shaft；The screw cylinder of laser beam direct projection to hollow cylinder 4 that displacement sensor 2 issues is detected；Processing
Device 11 connects displacement sensor 2, and the detection data for receiving displacement sensor 2 is calculated, to carry out development machine suspending arm rotary angle
Detection.
Wherein, the rectangular shape of sensor stand 3, wherein one end is fixedly installed on the rotating shaft 5, and the other end is fixed to be connected
Connect institute's displacement sensors.One endpoint of its perpendicular type is fixed on rotating shaft 5, and the axis of locating right-angle side and rotating shaft is flat
Row, is preferably located at the center position of rotating shaft 5, the right-angle side where the other end is vertical with the axis of rotating shaft, and length
Equal to the radius of hollow cylinder 4, displacement sensor 2 is fixedly installed on the endpoint, and the laser beam direct projection for projecting it is arrived
On the screw cylinder of hollow cylinder 4.
Wherein, screw cylinder is the helicoid processed in the end face of hollow cylinder 4, and screw cylinder is by one perpendicular to cylinder
The straight line of face axis according to certain lift angle around face of cylinder axis be rotated by 360 ° cutting hollow cylinder 4 cylindrical at.
Assuming that screw cylinder diameter is D, spiral angle of revolution is 2 π.By screw cylinder expansion as shown in figure 3, A is borded pile
The highest point in face, B are the minimum point of screw cylinder, and O is the projection of A in the vertical direction, the helix angle α of screw cylinder, position
The mounting height H of displacement sensor be it is known that the displacement sensor then measured by displacement sensor is to the height l of helicoid, can
It calculates using the minimum point of screw cylinder as the absolute angle of revolution of the absolute angle of revolution i.e. rotary disk of starting point and the cantilever of development machine
For
Opposite angle of revolution is
It can be seen that the highest point of screw cylinder is higher, angle of revolution detection resolution is higher, and precision is also higher, and displacement passes
Sensor resolution ratio is higher, and precision is higher, and angle of revolution detection accuracy and resolution ratio are also higher.
Displacement detecting resolution ratio relatively conventional in the market is selected to be not less than 0.01mm, sample frequency is not less than the position of 50Hz
Displacement sensor (is mainly made of laser emitter and linear array cmos imaging device), is added by numerical control machining center or linear cutting equipment
Work screw cylinder, it is assumed that screw cylinder diameter is 150mm, helicoid in the axial direction minimum point to difference in height between highest point
For 100mm, then helicoid lift angle is about 11.98 degree, and according to formula (2), the resolution ratio of opposite angle of revolution should be 0.036 degree, can
Meet detection accuracy and require to be 0.1 degree of application, to cutterhead space when can also meet the automatic cutting of boom-type roadheader
Position detection accuracy is the requirement of 1cm.Higher detection accuracy and resolution requirement can be by selecting more high measurement accuracy and dividing
Resolution displacement sensor or the mode for increasing helicoid minimum point to difference in height between highest point in the axial direction are realized.
Further, show refering to the process that Fig. 4, Fig. 4 are a kind of development machine suspending arm rotary angle provided by the invention detection methods
It is intended to.
This method is to carry out development machine based on the development machine suspending arm rotary angle detecting device as described in preceding solution to hang
The detection at revolution of arm angle, step include:
When development machine revolving platform drives the cantilever of development machine and cutting head to rotate, the real-time acquisition testing number of displacement sensor
According to, and will test data and be transferred to processor；
Processor carries out data processing and analysis to detection data and handles to obtain development machine cantilever with respect to angle of revolution and absolutely
Turn round angular dimensions.
Wherein, the detection data data that displacement sensor generates include at least: the height of displacement sensor to screw cylinder.
Wherein, such as formula (1) and (2) is shown respectively by the absolute angle of revolution β of development machine cantilever and opposite angle of revolution Δ β:
Wherein, screw cylinder diameter is D, then OA=π D, the installation of the helix angle α, displacement sensor of screw cylinder
Height H=OAtan α, the height of displacement sensor to screw cylinder are l.
It is different from the prior art, development machine suspending arm rotary angle detecting device of the invention and method pass through setting and be fixed on pick
Into the development machine revolving platform in machine rack, Rotating cylindrical surface and displacement sensor, displacement sensing are provided on development machine revolving platform
Device acquires the distance between displacement sensor and Rotating cylindrical surface, is calculated by formula, is converted to the opposite revolution of development machine cantilever
Angle and absolute angle of revolution.By means of the invention it is possible to which the sharp pounding of fuselage when development machine being overcome to work, rotating shaft causes rotation to be compiled
Code device is difficult to the problem of carrying out angle measurement, improves measurement accuracy.
The above is only embodiments of the present invention, are not intended to limit the scope of the invention, all to utilize the present invention
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field is included within the scope of the present invention.
Claims (6)
1. a kind of development machine suspending arm rotary angle detecting device, is set on the development machine revolving platform of development machine rack, the driving
Machine revolving platform is set in development machine rack, and the cantilever and cutting head of development machine connect the development machine revolving platform, and development machine
Angling cylinder be separately connected driving rack and development machine revolving platform, the development machine revolving platform be fixedly installed in floating bearing
On circle, floating bearing outer ring is set, the rotating shaft of development machine cantilever, the fixation of floating bearing outer ring are set on the outside of floating bearing inner ring
It is placed in the rack of development machine, which is characterized in that described device includes: displacement sensor, sensor stand, provides screw cylinder
Hollow cylinder and processor；Wherein, the hollow cylinder is placed on the floating bearing inner ring, the hollow cylinder and described
Rotating shaft, the floating bearing inner ring and floating bearing outer ring are arranged concentrically；The sensor stand is fixedly installed on described return
In shaft, institute's displacement sensors are fixedly connected on the sensor stand end, the laser light that institute's displacement sensors issue
The screw cylinder of beam direct projection to the hollow cylinder carries out displacement detecting；The processor connects institute's displacement sensors, receives
The displacement detecting data of institute's displacement sensors are calculated, to carry out the detection of development machine suspending arm rotary angle.
2. development machine suspending arm rotary angle detecting device according to claim 1, which is characterized in that the sensor stand is in
Rectangular-shaped, wherein one end is fixedly installed on the rotating shaft, and the other end is fixedly connected with institute's displacement sensors.
3. development machine suspending arm rotary angle detecting device according to claim 1, which is characterized in that screw cylinder is hollow
The screw cylinder that the end face of cylinder processes, screw cylinder by one perpendicular to face of cylinder axis straight line according to certain lift angle around circle
Cylindrical axis be rotated by 360 ° cutting cylindrical at.
4. a kind of development machine suspending arm rotary angle detection method, based on the development machine suspending arm rotary angle inspection as described in claim 1-4
Survey the detection that device carries out development machine suspending arm rotary angle characterized by comprising
When development machine revolving platform drives the cantilever of development machine and cutting head to rotate, the real-time acquisition testing data of displacement sensor, and
It will test data and be transferred to processor；
Processor carries out data processing to detection data and analysis handles to obtain development machine cantilever with respect to angle of revolution and absolutely revolution
Angular dimensions.
5. development machine suspending arm rotary according to claim 4 angle detection method, which is characterized in that institute's displacement sensors produce
Raw detection data includes at least: the height of displacement sensor to screw cylinder.
6. development machine suspending arm rotary according to claim 5 angle detection method, which is characterized in that the development machine cantilever is exhausted
To angle of revolution β and opposite angle of revolution Δ β, such as formula (1) and (2) is shown respectively:
Wherein, the difference in height of screw cylinder minimum point to highest point is OA, and π is constant, and displacement sensor is minimum to screw cylinder
The height of plane where point is H, and the height of displacement sensor to screw cylinder is l, and absolute angle of revolution is referred to screw cylinder
Minimum point be starting point development machine revolving platform and the angle that turns over of cantilever, opposite angle of revolution refers to development machine revolving platform and outstanding
The angle that arm is turned over respect to last moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811144880.4A CN109163676A (en) | 2018-09-29 | 2018-09-29 | A kind of development machine suspending arm rotary angle detection method and device |
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| CN201811144880.4A CN109163676A (en) | 2018-09-29 | 2018-09-29 | A kind of development machine suspending arm rotary angle detection method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111380522A (en) * | 2020-04-07 | 2020-07-07 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN112129255A (en) * | 2020-09-16 | 2020-12-25 | 中国煤炭科工集团太原研究院有限公司 | Hight measuring device for side coal mining equipment |
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| JPH0354897U (en) * | 1989-10-03 | 1991-05-27 | ||
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Application publication date: 20190108 |