CN114200464A - Rapid moving platform of laser ranging device for tunneling and anchoring machine in rapid tunneling of coal mine and laser adjusting method - Google Patents
Rapid moving platform of laser ranging device for tunneling and anchoring machine in rapid tunneling of coal mine and laser adjusting method Download PDFInfo
- Publication number
- CN114200464A CN114200464A CN202111513786.3A CN202111513786A CN114200464A CN 114200464 A CN114200464 A CN 114200464A CN 202111513786 A CN202111513786 A CN 202111513786A CN 114200464 A CN114200464 A CN 114200464A
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- moving platform
- adjusting mechanism
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- 230000005641 tunneling Effects 0.000 title claims abstract description 37
- 239000003245 coal Substances 0.000 title claims abstract description 30
- 238000004873 anchoring Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 78
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000009412 basement excavation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (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)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a laser ranging device quick moving platform for an anchor driving machine in coal mine quick tunneling and a laser adjusting method. The device includes base, quick travel platform and laser range finder, possesses a degree of freedom of movement and two degrees of freedom of rotation. The laser distance measuring instruments are arranged on the cutting arm of the tunneling and anchoring machine and on two sides of the machine body, so that the distance from the tunneling and anchoring machine to the coal wall and the side wall is monitored in real time, and the tunneling distance and the distance between the machine body and the side face of the roadway are controlled. The invention has the advantages that the rapid moving platform of the laser ranging device can monitor the distance between the driving and anchoring machine and the coal wall and the side wall in real time, thereby saving the shutdown monitoring time, improving the driving efficiency, improving the automation of the equipment operation, effectively reducing the occurrence probability of safety accidents and achieving the purpose of safe and orderly production; the using amount of the laser range finders is reduced, the influence of the flatness of a roadway on the fixed point position measurement data is improved, and all data on the motion path of the range finders can be obtained at one time; the emitting direction of the laser beam is automatically adjusted to ensure that the laser beam is vertical to the measured plane.
Description
Technical Field
The invention relates to the field of laser ranging equipment of a positioning system of a tunneling, tunneling and anchoring machine, in particular to a rapid moving platform of a laser ranging device for a tunneling and anchoring machine in rapid tunneling of a coal mine and a laser adjusting method.
Background
Three parameters of the tunneling and anchoring machine are monitored and controlled at any time in the tunneling process: distance to the coal wall, distance to the left side wall and distance to the right side wall. The distance between the cutting drum and the coal wall is monitored so as to obtain the position of the cutting drum relative to the coal wall and control the cutting depth; the distance between the monitoring machine and the two sides is used for obtaining the side position of the machine body relative to the roadway, controlling the tunneling direction and avoiding collision between the tunneling and anchoring machine and the roadway. The three parameters of the tunneling and anchoring machine can be monitored through the laser range finder, and compared with the visual observation of an operator, the subjective judgment is realized, the laser range finder is more efficient and accurate, the time for stopping measurement is saved, the tunneling efficiency is greatly improved, and the safety of tunneling engineering personnel is improved.
In order to reduce the using quantity of the laser range finders during positioning and ranging of the excavator and anchor machine and avoid fixed point location laser ranging errors, a quick moving device capable of achieving the laser range finders between different point locations must be designed, the device further has the function of automatically adjusting the laser emitting direction, and the situation that laser is perpendicularly shot on a monitoring plane is guaranteed.
Disclosure of Invention
The invention aims to provide a laser ranging device quick moving platform for an anchor driving machine in coal mine quick tunneling. The laser ranging device quick moving platform can be flexibly installed at different positions of the machine body.
The invention aims to provide a laser ranging device quick moving platform for an anchor driving machine in coal mine quick tunneling. The laser range finder fast moving platform can realize the high-speed reciprocating motion of the laser range finder at different point positions, and reduce the installation quantity of the range finder.
The invention aims to provide a laser ranging device quick moving platform for an anchor driving machine in coal mine quick tunneling. The laser ranging device fast moving platform can adjust the emitting direction of the laser beam, and ensures that the laser vertically hits on a measured plane.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a laser ranging device fast moving platform device for a tunneling and anchoring machine in coal mine fast tunneling and a laser adjusting method comprise a base part used for fixing a device, a fast moving platform part used for bearing and adjusting the pose of a laser range finder and the laser range finder.
The base part is arranged below the quick moving platform part and is connected with the excavator body through bolts.
The fast moving platform portion is mounted on the base portion by bolts, having one degree of translational freedom and two degrees of rotational freedom.
The laser range finder part is installed on the rapid moving platform, and the rapid moving platform realizes the reciprocating motion of the laser range finder and the adjustment of the laser emission direction, so that the laser beam emission direction is ensured to be perpendicular to the measured roadway plane all the time.
The laser ranging device rapid moving platform can reduce the number of laser ranging instruments required by the positioning of the driving and anchoring machine, and avoids the influence of the flatness of the coal wall and the side wall on the fixed point location ranging data.
The use method of the laser ranging device rapid moving platform for the tunneling and anchoring machine in the rapid tunneling of the coal mine comprises the following steps: one driving and anchoring machine needs three sets of the device which are respectively arranged above a cutting arm of the driving and anchoring machine and at the left side and the right side of the machine body. When a platform above the cutting arm is installed, the length direction is parallel to the axis of the roller, the axis of a rotating shaft of the distance measuring instrument is adjusted to be parallel to the axis of the roller, the pitch angle of the distance measuring instrument is adjusted by a control system through a stepping motor, the laser direction is enabled to be vertical to the coal wall all the time, and data of the control system is obtained by an angle sensor on the cutting arm; the distance measuring device is used for monitoring the distances between the machine body at different point positions on the motion path of the distance measuring device and the coal wall and the side wall; when the platforms on two sides of the machine body are installed, the length direction is parallel to the horizontal plane, the axis of the rotating shaft of the distance measuring instrument is adjusted to be parallel to the side, and the pitch angle of the distance measuring instrument is adjusted by the control system through the stepping motor, so that the laser direction is always vertical to the coal wall; the laser range finder reciprocates to obtain the distances between the anchor driving machine and the coal wall and the side wall at different point positions on the path.
Further, the base portion includes a mounting platform and four height adjustment devices; four through holes are formed in four corners of the mounting platform, a row of through holes are formed in the middle of the mounting platform, the through holes in the four corners are used for fixing the mounting platform, and the middle through hole is used for mounting the rapid moving platform; the height adjusting device comprises a bolt and two nuts, the bolt head is welded on the tunneling and anchoring machine body, the bolt is pre-screwed by one nut, then the bolt is inserted into the through holes at the four positions of the mounting platform, the other nut is screwed by the bolt, and the base part can be fixed at any position of the machine body by adjusting the length of the bolt and the position of the nut.
Further, the fast moving platform part comprises: a transverse moving mechanism for adjusting the position of the laser ranging device on the linear guide rail; the steering adjusting mechanism is used for adjusting the angle of the laser ranging device in a plane parallel to the linear guide rail; and the pitching adjusting mechanism is used for adjusting the angle of the laser ranging device in the plane vertical to the linear guide rail.
Further, the transverse moving mechanism comprises a linear motor, a linear track and a moving platform; the linear motor contained in the transverse moving mechanism is divided into a stator and a rotor, the stator is provided with a row of through holes for fixing the linear motor on the mounting platform, the rotor is sleeved in the stator and fixed on the moving platform through threaded holes, and the moving platform is driven to reciprocate by means of electromagnetic force; the linear rail contained in the transverse moving mechanism is provided with two rows of through holes and used for fixing the linear rail on the upper surface of the stator of the linear motor; the moving platform contained in the transverse moving mechanism is nested on the linear track, and one rectangular side of the moving platform is connected with the linear motor rotor through a through hole; the middle of a moving platform contained in the transverse moving mechanism is provided with a large through hole for placing a rotating shaft of the upper rotating mechanism; and one trapezoidal side of the moving platform contained by the transverse moving mechanism is provided with a small through hole and two positioning through holes for mounting the motor of the steering adjusting mechanism.
Further, the steering adjusting mechanism comprises a stepping motor, a pinion and a rotating platform; the stepping motor contained in the steering adjusting mechanism is arranged on one trapezoidal side of the mobile platform; the pinion contained in the steering adjusting mechanism is arranged on the output shaft of the stepping motor and transmits the output torque of the motor to the rotating platform through gear engagement; the rotating platform is contained in the steering adjusting mechanism, and the rotating shaft of the rotating platform penetrates through a large through hole part of the moving platform below the rotating platform; the steering adjusting mechanism comprises a rotating platform, one arc-shaped side of the rotating platform is a toothed edge, and the rotating platform is matched with a pinion installed on the stepping motor to adjust the steering angle of the rotating platform. Two vertical supports with through holes are arranged above the arc-shaped side of the rotating platform contained in the steering adjusting mechanism and used for mounting the laser range finder; and a vertical flat plate with a positioning threaded hole is arranged above one rectangular side of the rotating platform contained in the steering adjusting mechanism and used for mounting the pitching adjusting mechanism motor.
Furthermore, the pitching adjusting mechanism comprises a stepping motor, a small belt wheel, a large belt wheel and a synchronous belt; the stepping motor contained in the pitching adjusting mechanism is arranged on a vertical flat plate above one rectangular side of the rotating platform; the small belt wheel included in the pitching adjusting mechanism is arranged on the output shaft of the stepping motor; the large belt wheel included in the pitching adjusting mechanism is arranged on a rotating shaft of the laser range finder; one side of the synchronous belt contained in the pitching adjusting mechanism is sleeved on the small belt wheel, and the other side of the synchronous belt is sleeved on the large belt wheel; the pitching adjusting mechanism converts the motion of the stepping motor into the swing of the laser range finder through a synchronous belt.
Further, the laser range finder encapsulates a laser transmitter in a cuboid with an opening on one side; the non-opening end of the laser range finder is provided with a rotating shaft, and the long end of the rotating shaft is provided with the large belt wheel; and the laser range finder is arranged on a vertical support of the pitching adjusting mechanism.
The invention has the advantages that: (1) the laser ranging device rapidly moves the platform to monitor the distance between the digging and anchoring machine and the coal wall and the side wall in real time, thereby saving the shutdown monitoring time, improving the digging efficiency, improving the automation of equipment operation, effectively reducing the occurrence probability of safety accidents and achieving the purpose of safe and orderly production; (2) the laser range finder moves the platform quickly, so that the use number of the laser range finders is reduced, the influence of the flatness of a roadway on the fixed point position measurement data is improved, and all data on the motion path of the range finder can be obtained at one time; (3) the laser range finder fast moving platform can automatically adjust the laser beam emission direction and ensure that the laser range finder points to the measured plane at any time.
Drawings
Fig. 1 is a schematic structural diagram of a laser ranging device rapid moving platform for an anchor driving machine in coal mine rapid tunneling.
Fig. 2 is a schematic diagram of a laser range finder of the present invention.
Fig. 3 is a schematic view of the pitch adjustment mechanism of the present invention.
Fig. 4 is a schematic view of the steering adjustment mechanism of the present invention.
Fig. 5 is a schematic view of the lateral shifting mechanism of the present invention.
Fig. 6 is a schematic view of the base structure of the present invention.
Figure 7 is a schematic view of the installation of the excavator and the anchor driving machine.
In the figure, 101-laser range finder, 102-large belt wheel, 103-synchronous belt, 104-small belt wheel, 105-pitching mechanism stepping motor, 106-rotating platform, 107-small gear, 108-moving platform, 109-steering mechanism stepping motor, 110-linear motor mover, 111-linear motor stator, 112-mounting platform, 113-tightening nut, 114-positioning nut, 115-bolt, 116-anchor driving machine body.
Detailed Description
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings.
The laser ranging device rapid moving platform and the laser adjusting method for the tunneling and anchoring machine in the coal mine rapid tunneling are described in detail with reference to fig. 1 to 7. FIG. 1 is a schematic perspective view of a laser ranging device rapid moving platform for an anchor driving machine in coal mine rapid excavation, which is applied to space positioning of the anchor driving machine in coal mine tunnel excavation.
Referring to fig. 2 and 3, the pitch adjustment mechanism includes a large pulley 102, a timing belt 103, a small pulley 104, and a pitch mechanism stepping motor 105. The rotating shaft of the laser range finder 101 is matched with the hole of the vertical support of the rotating platform 106, and the laser range finder 101 can swing up and down around the rotating shaft. The long shaft end of the laser range finder 101 is in interference fit with a hole of a large belt pulley 102, the large belt pulley 102 rotates synchronously with a small belt pulley 104 on an output shaft of a stepping motor 105 of the pitching mechanism through a synchronous belt 104, and the stepping motor 105 of the pitching mechanism is installed on a vertical flat plate of a rotating platform 106 through bolts and nuts. The laser range finder 101 is driven by the pitch mechanism stepping motor 105 to achieve fine adjustment of the pitch angle.
Referring to fig. 4, the steering adjustment mechanism includes a rotating platform 106, a pinion gear 107, and a steering mechanism stepper motor 109. The rotating platform 106 carries a pitch adjustment mechanism, the lower part of the pitch adjustment mechanism is matched with a middle through hole of the moving platform 108 through a rotating shaft, and the rotating platform 106 can swing left and right around the rotating shaft. The steering mechanism stepping motor 109 is arranged on the lower end face of the moving platform 108 through bolts and nuts, the pinion 107 rotates along with the output shaft of the steering mechanism stepping motor 109, and power is transmitted to the rotating platform 106 through gear transmission. The laser range finder 101 is driven by the steering mechanism stepping motor 109 to achieve fine adjustment of the rotation angle.
Referring to fig. 5, the lateral movement mechanism includes a moving platform 108, a linear motor mover 110, and a linear motor stator 111. The moving platform 108 carries a steering adjusting mechanism, the lower part of the steering adjusting mechanism is matched with a guide rail above the linear motor stator 111 through a groove, and the moving platform 108 can reciprocate along the guide rail. The linear motor rotor 110 is fixed on the lower end face of the moving platform through screws, and the linear motor stator 111 is fixed above the mounting platform 112 through bolts and nuts. The laser range finder 101 is driven by the linear motor rotor 110 to realize reciprocating linear motion.
Referring to fig. 6, the base includes a mounting platform 112, a tightening nut 113, a positioning nut 114, and a bolt 115. The mounting platform bears the whole device and is fixed through bolts and nuts, wherein the bolts 115 are welded on the plane of the mounting position of the machine body, the positioning nuts 114 are adjusted to enable the mounting platform 112 to be located on the same plane, the mounting platform 112 penetrates through the bolts 115 and is placed on the positioning nuts 114, and the nuts 113 are screwed tightly to enable the position of the mounting platform to be fixed.
Referring to fig. 7, three sets of devices are respectively arranged above the cutting arm of the driving and bolting machine, on the left vertical plane of the machine body and on the right vertical plane of the machine body, and the laser range finder is enabled to be opposite to the monitoring plane through the steering mechanism stepping motor and the pitching mechanism stepping motor.
Claims (4)
1. A laser ranging device quick moving platform for an anchor driving machine in coal mine quick tunneling comprises a base part for fixing a device, a quick moving platform part for bearing and adjusting the pose of a laser range finder and a laser range finder part, and is characterized in that: the base part is arranged below the quick moving platform part and is connected with the excavator body through a bolt; the fast moving platform part is installed on the base part through bolts and has one translational degree of freedom and two rotational degrees of freedom; the laser range finder is partially arranged on the rapid moving platform, and the reciprocating motion and the adjustment of the laser emission direction of the laser range finder are realized through the rapid moving platform; the laser distance measuring device for the heading and anchoring machine in the coal mine rapid excavation is used as a rapid moving platform, and each three laser distance measuring devices are respectively arranged above a cutting arm of the heading and anchoring machine and on the left side and the right side of the machine body and are used for monitoring the distance between the machine body at different point positions on the motion path of the distance measuring instrument and the coal wall and the side wall.
2. The laser ranging device rapid-moving platform device for a tunneling and anchoring machine in coal mine rapid tunneling as claimed in claim 1, wherein said base portion comprises a mounting platform, four height adjusting mechanisms, and is characterized in that: four corners of the mounting platform are respectively provided with a through hole and fixed on the height adjusting mechanism, and the middle of the mounting platform is provided with a row of through holes for fixing the linear motor rotor; the height adjusting mechanism comprises a bolt, a positioning nut and a tightening nut; the bolt head is welded on the surface of the machine, and the threaded end sequentially penetrates through the positioning nut, the mounting platform through hole and the tightening nut; the positioning nut is screwed into the threaded end of the bolt, and the upper end surface of the positioning nut is aligned with the upper end surfaces of the other three positioning nuts through rotation; the tightening nut is used for fixing the mounting plane to the height adjusting mechanism.
3. The laser ranging device rapid moving platform device for the tunneling and anchoring machine in the rapid tunneling of the coal mine as claimed in claim 1, wherein said rapid moving platform part comprises:
a transverse moving mechanism for adjusting the position of the laser ranging device on the linear guide rail;
the steering adjusting mechanism is used for adjusting the angle of the laser ranging device in a plane parallel to the linear guide rail;
the pitching adjusting mechanism is used for adjusting the angle of the laser ranging device in the plane vertical to the linear guide rail;
the transverse moving mechanism comprises a linear motor, a linear track and a moving platform;
the linear motor contained in the transverse moving mechanism is divided into a stator and a rotor, the stator is provided with a row of through holes for fixing the linear motor on the mounting platform, the rotor is sleeved in the stator and fixed on the moving platform through threaded holes, and the moving platform is driven to reciprocate by means of electromagnetic force;
the linear rail contained in the transverse moving mechanism is provided with two rows of through holes and used for fixing the linear rail on the upper surface of the stator of the linear motor;
the moving platform contained in the transverse moving mechanism is nested on the linear track, and one rectangular side of the moving platform is connected with the linear motor rotor through a through hole;
the middle of a moving platform contained in the transverse moving mechanism is provided with a large through hole for placing a rotating shaft of the upper rotating mechanism;
one side of a trapezoid of the moving platform contained by the transverse moving mechanism is provided with a small through hole and two positioning through holes for mounting the motor of the steering adjusting mechanism;
the steering adjusting mechanism comprises a stepping motor, a pinion and a rotating platform;
the step motor included in the steering adjusting mechanism is arranged on one trapezoidal side of the mobile platform in the claim 2;
the pinion contained in the steering adjusting mechanism is arranged on the output shaft of the stepping motor and transmits the output torque of the motor to the rotating platform through gear engagement;
the rotating platform is contained in the steering adjusting mechanism, and the rotating shaft of the rotating platform penetrates through a large through hole part of the moving platform below the rotating platform;
the steering adjusting mechanism comprises a rotating platform, one arc-shaped side of the rotating platform is a toothed edge, and the rotating platform is matched with a pinion arranged on the stepping motor to adjust the steering angle of the rotating platform; two vertical supports with through holes are arranged above the arc-shaped side of the rotating platform contained in the steering adjusting mechanism and used for mounting the laser range finder;
a vertical flat plate with a positioning threaded hole is arranged above one rectangular side of the rotating platform contained in the steering adjusting mechanism and used for mounting a motor of the pitching adjusting mechanism;
the pitching adjusting mechanism comprises a stepping motor, a small belt wheel, a large belt wheel and a synchronous belt;
the stepping motor contained in the pitching adjusting mechanism is arranged on a vertical flat plate above one rectangular side of the rotating platform;
the small belt wheel included in the pitching adjusting mechanism is arranged on the output shaft of the stepping motor;
the large belt wheel included in the pitching adjusting mechanism is arranged on a rotating shaft of the laser range finder;
one side of the synchronous belt contained in the pitching adjusting mechanism is sleeved on the small belt wheel, and the other side of the synchronous belt is sleeved on the large belt wheel;
the pitching adjusting mechanism converts the motion of the stepping motor into the swing of the laser range finder through a synchronous belt.
4. The laser ranging device rapid moving platform equipment for the tunneling and anchoring machine in the rapid tunneling of the coal mine as claimed in claim 1, wherein the laser ranging instrument part is characterized in that:
the laser range finder is characterized in that a laser transmitter is packaged in a cuboid with an opening at one side;
the laser range finder is characterized in that two sides of a non-open end are respectively provided with a section of rotating shaft, and a longer section of rotating shaft is provided with a large belt wheel as claimed in claim 3; the laser rangefinder mounted on the vertical support of the pitch adjustment mechanism of claim 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513786.3A CN114200464A (en) | 2021-12-13 | 2021-12-13 | Rapid moving platform of laser ranging device for tunneling and anchoring machine in rapid tunneling of coal mine and laser adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513786.3A CN114200464A (en) | 2021-12-13 | 2021-12-13 | Rapid moving platform of laser ranging device for tunneling and anchoring machine in rapid tunneling of coal mine and laser adjusting method |
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| Publication Number | Publication Date |
|---|---|
| CN114200464A true CN114200464A (en) | 2022-03-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111513786.3A Pending CN114200464A (en) | 2021-12-13 | 2021-12-13 | Rapid moving platform of laser ranging device for tunneling and anchoring machine in rapid tunneling of coal mine and laser adjusting method |
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| Country | Link |
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| CN (1) | CN114200464A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115119A (en) * | 2018-11-01 | 2019-01-01 | 山东科技大学 | A kind of coal mine roadway deformation monitoring device and its application method |
| CN112013825A (en) * | 2020-08-26 | 2020-12-01 | 辽宁工程技术大学 | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof |
| CN113250690A (en) * | 2021-05-25 | 2021-08-13 | 中煤科工开采研究院有限公司 | Relative position sensing method for tunneling complete equipment |
-
2021
- 2021-12-13 CN CN202111513786.3A patent/CN114200464A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115119A (en) * | 2018-11-01 | 2019-01-01 | 山东科技大学 | A kind of coal mine roadway deformation monitoring device and its application method |
| CN112013825A (en) * | 2020-08-26 | 2020-12-01 | 辽宁工程技术大学 | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof |
| CN113250690A (en) * | 2021-05-25 | 2021-08-13 | 中煤科工开采研究院有限公司 | Relative position sensing method for tunneling complete equipment |
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