CN109849805A - A kind of mining crusing robot camera balancing device - Google Patents
A kind of mining crusing robot camera balancing device Download PDFInfo
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- CN109849805A CN109849805A CN201910144608.4A CN201910144608A CN109849805A CN 109849805 A CN109849805 A CN 109849805A CN 201910144608 A CN201910144608 A CN 201910144608A CN 109849805 A CN109849805 A CN 109849805A
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Abstract
A kind of mining crusing robot camera balancing device disclosed by the invention, is related to coal mining security technology area.The balancing device includes computer, photographic device bottom plate, platform, the angular transducer being installed at photographic device bottom plate center and two groups of hydraulic cylinder mechanisms being symmetrically arranged among photographic device bottom plate and platform, angular transducer and hydraulic cylinder mechanism respectively with calculate mechatronics, the tilt angle of angular transducer measurement photographic device bottom plate simultaneously sends result to computer, and the left-right balance adjusting that hydraulic cylinder mechanism movement carries out photographic device bottom plate is controlled after being analyzed by computer disposal.The present invention discloses camera balancing device, in such a way that hydraulic cylinder mechanism and angular transducer combine, angle adjustment is carried out simultaneously from left and right both direction, it is more rapidly accurate to make to adjust, during crusing robot non-horizontal traveling, the balance for remaining photographic device, makes the state of picture holding level, to guarantee the stability of inspection picture.
Description
Technical field
The present invention relates to coal mining security technology areas, and in particular to a kind of mining crusing robot camera balance dress
It sets.
Background technique
It is severe in view of Working Environment of Underground Mine, the quantity of staff under mine should be reduced in process of coal mining to the greatest extent,
However fully-mechanized mining working needs to detect going on smoothly for the safety and exploitation work to ensure working face, equipment in real time again,
Therefore people devise crusing robot to improve this problem.
But due to crusing robot work ground be not it is completely flat, the bottom plate of hydraulic support is also impossible to reach
To complete level, the case where crusing robot will necessarily generate climb and fall during traveling.If photographic device cannot be compared with
Cooperate the elevational change of inspection device well, the picture that computer obtains will generate inclination, to influence to monitor on well
Judgement of the personnel to subsurface working condition.This requires need to take the photograph run-off the straight in crusing robot traveling engineering
As device bottom plate is fast and effeciently adjusted.
Therefore, in view of problem above, it is necessary to it is fast and effective to propose that the photographic device bottom plate of a kind of pair of run-off the straight carries out
The mining crusing robot camera balancing device of ground adjustment, to guarantee the stability of inspection picture.
Summary of the invention
In view of this, the present invention proposes that a kind of mining crusing robot camera balancing device, the balancing device include meter
Calculation machine, the platform being set to above crusing robot walking mechanism, is installed at photographic device bottom plate center photographic device bottom plate
Angular transducer and two groups of hydraulic cylinder mechanisms being symmetrically arranged among photographic device bottom plate and platform, angular transducer with
Respectively with calculating mechatronics, the tilt angle that angular transducer measures photographic device bottom plate simultaneously sends result hydraulic cylinder mechanism
The left-right balance adjusting that hydraulic cylinder mechanism movement carries out photographic device bottom plate is controlled to computer, after being analyzed by computer disposal.
The balancing device carries out angle tune in such a way that hydraulic cylinder mechanism and angular transducer combine, from left and right both direction simultaneously
Whole, it is more rapidly accurate to make to adjust, and during crusing robot non-horizontal traveling, remains the balance of photographic device, makes
Picture keeps horizontal state, to guarantee the stability of inspection picture.
A kind of mining crusing robot camera balancing device that purpose according to the present invention proposes, including computer, take the photograph
As device bottom plate, the platform being set to above crusing robot walking mechanism, the angle being installed at photographic device bottom plate center
Sensor and two groups of hydraulic cylinder mechanisms being symmetrically arranged among photographic device bottom plate and platform, the work of the hydraulic cylinder mechanism
Stopper rod end is flexibly connected with photographic device bottom plate, and the other end is fixedly connected with platform；The angular transducer and hydraulic cylinder machine
For structure respectively with calculating mechatronics, the tilt angle that the angular transducer measures photographic device bottom plate simultaneously sends result to meter
Calculation machine controls two groups of hydraulic cylinder mechanism movements and carries out photographic device in crusing robot direction of advance after being analyzed by computer disposal
The left-right balance of bottom plate is adjusted.
Preferably, hydraulic cylinder mechanism described in every group includes two hydraulic cylinders, and two hydraulic cylinder synchronous move, and are divided into and take the photograph
As the same inclined direction of device bottom plate two corners at.
Preferably, the surveyed inclination angle of computer receiving angle sensor, the mark with inclination angle preset in computer
1~θ of quasi- value-θ 1 is compared, wherein when tilting down on the left of the photographic device bottom plate, inclination angle is taken just, and right side dips down
When oblique, inclination angle takes negative；The angular transducer is passed by the tilt angle of real-time measurement photographic device bottom plate, and by measurement result
Computer is given, the angle, θ of measurement and 1~θ of preset standard value-θ 1 are compared by computer, if angular transducer is surveyed
Angle is in the permission range of tilt angles of setting, then hydraulic cylinder mechanism is locked, and photographic device directly exports picture；If angle passes
Sensor institute measuring angle θ is greater than θ 1, i.e., tilts down on the left of photographic device bottom plate, computer control left side hydraulic cylinder mechanism piston rod
Rise, the decline of right side hydraulic cylinder mechanism piston rod；If angular transducer institute measuring angle θ is less than 1-θ, i.e., photographic device bottom plate is right
It is sloped downwardly, computer control right side hydraulic cylinder mechanism piston rod rises, the decline of left side hydraulic cylinder mechanism piston rod.
Preferably, displacement sensor there are two being symmetrical arranged at left and right sides of the photographic device bottom plate lower section, the displacement
Sensor and calculating mechatronics, for when the surveyed tilt angle of angular transducer exceeds preset standard value, measurement to be imaged
Spacing between device bottom plate and platform is sentenced according to the photographic device bottom plate actual angle of inclination after distance measurement result and its
Disconnected, control hydraulic cylinder mechanism movement, the left-right balance for carrying out photographic device bottom plate is adjusted, if the too small feelings of spacing occurs in side
Condition then only adjusts the hydraulic cylinder piston rod of the big side of spacing.
Preferably, the calculation formula of the distance moved needed for the piston rod of hydraulic cylinder mechanism are as follows:Wherein
L is the length of photographic device bottom plate, the deflection angle that θ is surveyed by angular transducer；Hydraulic cylinder adjusts the angle the calculating of required time
Formula are as follows: t=Δ h/v, wherein v is the displacement that piston rod is per second in hydraulic cylinder mechanism.
Preferably, linkage is fixedly connected with below the photographic device bottom plate, the hydraulic cylinder mechanism piston rod is logical
It crosses linkage and photographic device bottom plate is hinged；Reset rubber device is installed outside the linkage.
Compared with prior art, a kind of the advantages of mining crusing robot camera balancing device disclosed by the invention, is:
The camera balancing device is in such a way that hydraulic cylinder mechanism and angular transducer combine, from two sides in left and right
To angle adjustment is carried out simultaneously, it is more rapidly accurate to make to adjust, and during crusing robot non-horizontal traveling, remains and takes the photograph
As the balance of device, make the state of picture holding level, to guarantee the stability of inspection picture.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description does simple introduction, it is clear that, the accompanying drawings in the following description is only this hair
Bright some embodiments, it will be clear to the skilled person that without creative efforts, may be used also
Other accompanying drawings can also be obtained according to these attached drawings.
Fig. 1 is a kind of work flow diagram of mining crusing robot camera balancing device disclosed by the invention.
Fig. 2 is the position artwork of sensor and hydraulic cylinder in the present invention.
Fig. 3 is a kind of structure chart of mining crusing robot camera balancing device disclosed by the invention.
Fig. 4 is the schematic diagram of hydraulic cylinder works.
The title of components representated by number or letter in figure are as follows:
1- hydraulic cylinder；11- piston rod；2- angular transducer；3- displacement sensor；4- photographic device bottom plate；5- platform.
Specific embodiment
A specific embodiment of the invention is described briefly with reference to the accompanying drawing.Obviously, described embodiment is only
It is a part of the embodiments of the present invention, rather than whole embodiments, based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, belongs to the scope of protection of the invention.
Fig. 1-Fig. 4 shows preferred embodiments of the present invention, has carried out detailed anatomy to it from different angles respectively.
A kind of mining crusing robot camera balancing device as shown in Figs 1-4 is suitable for single direction transverse and walks
Crusing robot, mainly generate in traveling process and tilt.The balancing device includes computer, photographic device bottom plate 4, sets
The platform 5 that is placed in above crusing robot walking mechanism, the angular transducer 2 being installed at 4 center of photographic device bottom plate and
Two groups of hydraulic cylinder mechanisms being symmetrically arranged among photographic device bottom plate 4 and platform 5.Wherein, the piston rod 11 of hydraulic cylinder mechanism
End is flexibly connected with photographic device bottom plate 4, and the other end is fixedly connected with platform 5.Specifically, solid below photographic device bottom plate 4
Surely it is connected with linkage, hydraulic cylinder mechanism piston rod 11 is hinged by linkage and photographic device bottom plate 4；Meanwhile hinge
Reset rubber device is installed, resetting rubber device has certain pretightning force, prevents piston rod 11 in any direction outside mechanism
Inclination.
Angular transducer 2 and hydraulic cylinder mechanism respectively with calculate mechatronics, angular transducer 2 measures photographic device bottom plate
4 tilt angle simultaneously sends result to computer, and two groups of hydraulic cylinder mechanism movements are controlled after being analyzed by computer disposal and are carried out
Left-right balance in 4 direction of advance of photographic device bottom plate is adjusted.Specifically, the surveyed inclination angle of computer receiving angle sensor 2,
It is compared with the 1~θ of standard value-θ 1 at inclination angle preset in computer, wherein tilted down on the left of photographic device bottom plate 4
When, inclination angle takes just, and when right side tilts down, inclination angle takes negative.Angular transducer 2 is by real-time measurement photographic device bottom plate 4
Tilt angle, and send measurement result to computer, computer by the angle, θ of measurement and 1~θ of preset standard value-θ 1 into
Row compares, if 2 measuring angles of angular transducer, in the permission range of tilt angles of setting, hydraulic cylinder mechanism is locked, camera shooting
Device directly exports picture.If 2 measuring angle θ of angular transducer are greater than θ 1, i.e., tilt down, counts on the left of photographic device bottom plate 4
Calculation machine control left side hydraulic cylinder mechanism piston rod 11 rises, and right side hydraulic cylinder mechanism piston rod 11 declines；If 2 institute of angular transducer
It when measuring angle θ is less than 1-θ, i.e., is tilted down on the right side of photographic device bottom plate 4, computer control right side hydraulic cylinder mechanism piston rod 11
Rise, left side hydraulic cylinder mechanism piston rod 11 declines.
Further, every group of hydraulic cylinder mechanism includes two hydraulic cylinders 1, and two hydraulic cylinders 1 move synchronously, and are divided into and take the photograph
As the same inclined direction of device bottom plate 4 two corners at.
Further, displacement sensor 3 there are two being symmetrical arranged at left and right sides of 4 lower section of photographic device bottom plate, displacement sensing
Device 3 and calculating mechatronics, for when the surveyed tilt angle of angular transducer 2 exceeds preset standard value, measurement camera shooting to be filled
Spacing between bottom set plate 4 and platform 5, according to 4 actual angle of inclination of photographic device bottom plate after distance measurement result and its
Judgement, control hydraulic cylinder mechanism movement, the left-right balance for carrying out photographic device bottom plate 4 are adjusted, are prevented in photographic device bottom plate 4
Single side clearance is too small during balance adjustment, continues to adjust the side hydraulic cylinder mechanism, caused photographic device bottom plate 4 and platform
The case where 5 collision, once colliding, then it stuck can not continue to adjust the angle under the present situation.
Specifically, being h in presetting the spacing between photographic device bottom plate 4 and platform 5 in computer, inclined height is △ h,
Displacement sensor 3 rangings in left side are from for h1, displacement sensor 3 rangings in right side are from for h2, photographic device bottom plate 4 and platform 5 it
Between spacing standard value be h > 100mm.
When the inclination angle of the photographic device bottom plate 4 measured by the angular transducer 2 exceeds preset standard value, pass through displacement sensing
Device 3 measures the spacing between photographic device bottom plate 4 and platform 5, when the surveyed spacing of left side displacement sensor 3 is greater than 100mm, sentences
Whether disconnected right side 3 rangings of displacement sensor are from 100mm is greater than, if so, judging whether the surveyed inclination angle of angular transducer 2 is small
It in-θ 1, if θ <-θ 1, i.e., is tilted down on the right side of photographic device bottom plate 4, right side hydraulic cylinder mechanism piston rod is controlled by computer
11 rise, and left side hydraulic cylinder mechanism piston rod 11 declines, to carry out 4 balance adjustment of photographic device bottom plate；If θ > θ 1, that is, image
It is tilted down on the left of device bottom plate 4, computer control left side hydraulic cylinder mechanism piston rod 11 rises, right side hydraulic cylinder mechanism piston
Bar 11 declines, to carry out 4 balance adjustment of photographic device bottom plate.If it is not, then judging whether the surveyed inclination angle of angular transducer 2 is small
In-θ 1, if θ <-θ 1, computer control left side hydraulic cylinder mechanism piston rod 11 declines, on right side hydraulic cylinder mechanism piston rod 11
It rises, to carry out 4 balance adjustment of photographic device bottom plate；If θ > θ 1, computer control left side hydraulic cylinder mechanism piston rod 11 rises,
Right side hydraulic cylinder mechanism does not work, to carry out 4 balance adjustment of photographic device bottom plate.
When the surveyed spacing of left side displacement sensor 3 be less than or equal to 100mm when, judge right side 3 rangings of displacement sensor from
Whether 100mm is greater than, if so, judge whether the surveyed inclination angle of angular transducer 2 is less than-θ 1, if θ <-θ 1, computer control
System right side hydraulic cylinder mechanism piston rod 11 rises, and left side hydraulic cylinder mechanism does not work, and adjusts to carry out the balance of photographic device bottom plate 4
Section；If θ > θ 1, computer control right side hydraulic cylinder mechanism piston rod 11 declines, and left side hydraulic cylinder mechanism rises, to carry out
4 balance adjustment of photographic device bottom plate.If it is not, then shutdown inspection.
Further, the calculation formula of the distance moved needed for the piston rod 11 of hydraulic cylinder mechanism are as follows:
Wherein L is the length of photographic device bottom plate 4, the deflection angle that θ is surveyed by angular transducer 2；The time required to hydraulic cylinder 1 adjusts the angle
Calculation formula are as follows: t=Δ h/v, wherein v is the displacement per second of piston rod 11 in hydraulic cylinder mechanism.
In conclusion a kind of mining crusing robot camera balancing device disclosed by the invention, including computer, camera shooting
Device bottom plate, the platform being set to above crusing robot walking mechanism, the angle being installed at photographic device bottom plate center pass
Sensor and two groups of hydraulic cylinder mechanisms being symmetrically arranged among photographic device bottom plate and platform, angular transducer and hydraulic cylinder machine
For structure respectively with calculating mechatronics, the tilt angle that angular transducer measures photographic device bottom plate simultaneously sends result to calculating
Machine controls the left-right balance adjusting that hydraulic cylinder mechanism movement carries out photographic device bottom plate after being analyzed by computer disposal.The balance
Device carries out angle adjustment simultaneously in such a way that hydraulic cylinder mechanism and angular transducer combine, from left and right both direction, makes
It is more rapidly accurate to adjust, and during crusing robot non-horizontal traveling, remains the balance of photographic device, protects picture
The flat state of water holding, to guarantee the stability of inspection picture.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized and use the present invention.
Various modifications to these embodiments mode will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit and scope of the present invention.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to the principles and novel features disclosed herein phase
Consistent widest scope.
Claims (6)
1. a kind of mining crusing robot camera balancing device, which is characterized in that including computer, photographic device bottom plate (4),
The angular transducer for being set to the platform above crusing robot walking mechanism (5), being installed at photographic device bottom plate (4) center
(2) two groups of intermediate hydraulic cylinder mechanisms of photographic device bottom plate (4) and platform (5), the hydraulic cylinder mechanism are symmetrically arranged on and
Piston rod (11) end be flexibly connected with photographic device bottom plate (4), the other end is fixedly connected with platform (5)；The angle passes
Sensor (2) and hydraulic cylinder mechanism respectively with calculate mechatronics, angular transducer (2) measurement photographic device bottom plate (4)
Tilt angle simultaneously sends result to computer, and two groups of hydraulic cylinder mechanism movements are controlled after being analyzed by computer disposal and carry out inspection
The left-right balance of photographic device bottom plate (4) is adjusted in robot direction of advance.
2. a kind of mining crusing robot camera balancing device according to claim 1, which is characterized in that described in every group
Hydraulic cylinder mechanism includes two hydraulic cylinders (1), and two hydraulic cylinders (1) move synchronously, and it is same to be divided into photographic device bottom plate (4)
At the two corners of inclined direction.
3. a kind of mining crusing robot camera balancing device according to claim 2, which is characterized in that the calculating
Machine receiving angle sensor (2) surveyed inclination angle is compared with the 1~θ of standard value-θ 1 at inclination angle preset in computer,
Wherein, when tilting down on the left of the photographic device bottom plate (4), inclination angle is taken just, and when right side tilts down, inclination angle takes negative；
The angular transducer (2) sends calculating to by the tilt angle of real-time measurement photographic device bottom plate (4), and by measurement result
The angle, θ of measurement and 1~θ of preset standard value-θ 1 are compared by machine, computer, if angular transducer (2) institute measuring angle exists
In the permission range of tilt angles of setting, then hydraulic cylinder mechanism is locked, and photographic device directly exports picture；If angular transducer
(2) it is tilted down on the left of institute measuring angle θ > θ 1, i.e. photographic device bottom plate (4), computer control left side hydraulic cylinder mechanism piston rod
(11) rise, right side hydraulic cylinder mechanism piston rod (11) decline；If when angular transducer (2) institute measuring angle θ < 1-θ, i.e., camera shooting fills
It is tilted down on the right side of bottom set plate (4), computer control right side hydraulic cylinder mechanism piston rod (11) rises, and left side hydraulic cylinder mechanism is living
Stopper rod (11) decline.
4. a kind of mining crusing robot camera balancing device according to claim 3, which is characterized in that the camera shooting
Displacement sensor (3), institute's displacement sensors (3) and computer there are two being symmetrical arranged at left and right sides of below device bottom plate (4)
Electrical connection, for measuring photographic device bottom plate (4) when angular transducer (2) surveyed tilt angle exceeds preset standard value
With the spacing between platform (5), sentenced according to photographic device bottom plate (4) actual angle of inclination after distance measurement result and its
Disconnected, control hydraulic cylinder mechanism movement, the left-right balance for carrying out photographic device bottom plate (4) is adjusted, if spacing occur too small for side
Situation then only adjusts hydraulic cylinder (1) piston rod (11) of the big side of spacing.
5. a kind of mining crusing robot camera balancing device according to claim 4, which is characterized in that hydraulic cylinder machine
The calculation formula of the distance moved needed for the piston rod (11) of structure are as follows:Wherein L is photographic device bottom plate (4)
Length, the deflection angle that θ is surveyed by angular transducer (2)；Hydraulic cylinder (1) adjusts the angle the calculation formula of required time are as follows: t=
Δ h/v, wherein v is the displacement that piston rod (11) is per second in hydraulic cylinder mechanism.
6. a kind of mining crusing robot camera balancing device according to claim 1, which is characterized in that the camera shooting
Linkage is fixedly connected with below device bottom plate (4), the hydraulic cylinder mechanism piston rod (11) passes through linkage and camera shooting
Device bottom plate is hinged；Reset rubber device is installed outside the linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910144608.4A CN109849805B (en) | 2019-02-27 | 2019-02-27 | Mining inspection robot camera balancing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910144608.4A CN109849805B (en) | 2019-02-27 | 2019-02-27 | Mining inspection robot camera balancing unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109849805A true CN109849805A (en) | 2019-06-07 |
| CN109849805B CN109849805B (en) | 2021-04-30 |
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ID=66899092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910144608.4A Expired - Fee Related CN109849805B (en) | 2019-02-27 | 2019-02-27 | Mining inspection robot camera balancing unit |
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| Country | Link |
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| CN (1) | CN109849805B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204450589U (en) * | 2015-01-19 | 2015-07-08 | 中国矿业大学(北京) | For the collateral support arrangement of colliery crusing robot |
| CN105014654A (en) * | 2015-08-10 | 2015-11-04 | 重庆科技学院 | Intelligent inspection robot |
| US20170039671A1 (en) * | 2015-08-07 | 2017-02-09 | Seoul National University R&Db Foundation | Robotic self-filming system |
| CN106840892A (en) * | 2017-03-20 | 2017-06-13 | 中国矿业大学 | A kind of vertical sound loading tester of coal petrography sample true triaxial |
| CN106908000A (en) * | 2017-01-20 | 2017-06-30 | 中国矿业大学 | A kind of measuring system and method for hydraulic support top beam bearing height and attitude |
| CN208034673U (en) * | 2018-02-11 | 2018-11-02 | 北京鲁能物业服务有限责任公司 | A kind of crusing robot |
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
-
2019
- 2019-02-27 CN CN201910144608.4A patent/CN109849805B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204450589U (en) * | 2015-01-19 | 2015-07-08 | 中国矿业大学(北京) | For the collateral support arrangement of colliery crusing robot |
| US20170039671A1 (en) * | 2015-08-07 | 2017-02-09 | Seoul National University R&Db Foundation | Robotic self-filming system |
| CN105014654A (en) * | 2015-08-10 | 2015-11-04 | 重庆科技学院 | Intelligent inspection robot |
| CN106908000A (en) * | 2017-01-20 | 2017-06-30 | 中国矿业大学 | A kind of measuring system and method for hydraulic support top beam bearing height and attitude |
| CN106840892A (en) * | 2017-03-20 | 2017-06-13 | 中国矿业大学 | A kind of vertical sound loading tester of coal petrography sample true triaxial |
| CN208034673U (en) * | 2018-02-11 | 2018-11-02 | 北京鲁能物业服务有限责任公司 | A kind of crusing robot |
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
| CN108983803A (en) * | 2018-08-16 | 2018-12-11 | 燕山大学 | The automatic horizontal control system and leveling method of mobile shallow water platform |
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| CN109849805B (en) | 2021-04-30 |
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