CN114302047B - Computer vision control type coal mining machine - Google Patents
Computer vision control type coal mining machine Download PDFInfo
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- CN114302047B CN114302047B CN202210009657.9A CN202210009657A CN114302047B CN 114302047 B CN114302047 B CN 114302047B CN 202210009657 A CN202210009657 A CN 202210009657A CN 114302047 B CN114302047 B CN 114302047B
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Abstract
The invention discloses a computer vision control type coal mining machine, which belongs to the field of coal mining machines, and aims to effectively protect a camera main body by sleeving a high-permeability protective cover on the outer side of the camera main body, prevent pulverized coal impurities from being directly attached to the outer surface of the camera main body, and prevent the pulverized coal impurities from being covered on the outer surface of the high-permeability protective cover to shield the screen of the camera main body by rotationally connecting the high-permeability protective cover above a protective cover, and a scraper fixedly connected to the outer end wall of the protective cover is attached to the outer side of the high-permeability protective cover, so that a relative rotary scraping brush is formed between the high-permeability protective cover and the scraper when the high-permeability protective cover rotates, and meanwhile, water conveyed by a cavity I and a cavity II is matched to spray out through a water spray port to wash the outer surface of the high-permeability protective cover, so that the pulverized coal impurities attached to the outer surface of the high-permeability protective cover can be prevented from being covered on the outer surface of the high-permeability protective cover.
Description
Technical Field
The invention relates to the field of coal mining machines, in particular to a computer vision control type coal mining machine.
Background
The coal mining machine is a large-scale special machine for mining underground coal mines, a computer vision control system is usually arranged in the coal mining machine in the prior art, and the coal mining machine is controlled in real time through the vision control system, so that manual control is replaced, the stay time of workers in underground mine holes can be greatly shortened, and the casualty probability of the workers in the coal mines is effectively reduced.
The computer vision control system for the coal mining machine in the prior art is generally constructed by a camera, various sensors and a control terminal, acquires the underground environment by the camera and the various sensors, uploads the acquired environment to the control terminal for analysis, and the control terminal performs analysis according to the uploaded actual state and controls the coal mining machine to perform reasonable operation.
In the actual working process, the camera in the visual control system of the coal mining machine is usually directly arranged on the outer side of the coal mining machine, and as the under-mine environment is complex, scattered coal dust impurities in a mine hole are easily attached to the outer surface of the camera during coal mining, the video acquisition of the camera is shielded, and the stability of visual control during the working of the coal mining machine is affected.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems existing in the prior art, the invention aims to provide the computer vision control type coal mining machine, which can realize timely cleaning of the outer surface of a camera in a vision control system, and can prevent the coal dust impurities from covering the outer surface of a high-permeability protective cover to shield the vision screen of the camera main body when the high-permeability protective cover is cleaned, the camera main body is not shielded by the series of structures when the high-permeability protective cover is cleaned, and the stability of the coal mining machine in vision control is ensured to a certain extent by matching with the water flow conveyed by the first cavity and the second cavity and being sprayed out through water nozzles.
2. Technical proposal
In order to solve the problems, the invention adopts the following technical scheme.
The utility model provides a computer vision control formula coal-winning machine, including the coal-winning machine main part, fixed mounting has the axle bed on the outer end wall of coal-winning machine main part, and fixed welding has a section of thick bamboo on the outer end wall of axle bed, the outside cover of section of thick bamboo is equipped with the connecting seat, equal symmetry is fixed with the support arm on the upper and lower outer end wall of every connecting seat, the support arm is kept away from the one end of connecting seat and is installed the protecting crust, the inside fixed mounting of protecting crust has the camera main part, the spout that is the ring structure has been seted up on the inner end wall of protecting crust, and the inside rotation of spout is connected with the go-between, the outside fixed mounting of go-between has the cover to establish the high protection casing outside the camera main part, and the top of high protection casing sets up to hemispherical structure, the outside cover of high protection casing is equipped with the scraper blade with the outer end wall fixed connection of protecting crust, the inboard laminating of scraper blade is on the outer end wall of high protection casing, fixed mounting has the ring gear on the inner end wall of high protection casing, the inside fixed mounting has servo motor one, and fixed mounting has the gear one with the ring that meshes with the ring gear on the drive shaft of servo motor one.
Further, the appearance of the scraping plate is of a lamellar inverted U-shaped structure, and the scraping plate is arranged in a forty-five-degree radial deflection manner relative to the right front.
Further, the inside fixed mounting of coal-winning machine main part has the water pump, and the water inlet of water pump is external to have pure water tank, be provided with on the side end wall of protecting crust with the delivery port of water pump be linked together cavity one, the inside of side end wall of go-between and go-between is provided with the cavity two that communicate to, spout and go-between department correspond to set up with cavity one, the through-hole of cavity two phase intercommunication, high top intermediate position department fixed mounting of passing through the protection casing has the water jet with cavity two phase intercommunication.
Further, the upper part of the water spraying port is covered with a high-permeability water baffle fixedly connected with the scraping plate, and the appearance of the high-permeability water baffle is set to be in an arc-shaped structure matched with the top of the high-permeability protective cover.
Further, a main shaft fixedly connected with the inner end wall of the connecting seat is inserted through the inside of the shaft barrel, a second servo motor is fixedly installed in the coal mining machine main body, the main shaft is fixedly connected with a driving shaft of the second servo motor, and the connecting seat is rotationally connected with the shaft barrel.
Further, the protective shell is rotationally connected inside the end of the supporting arm through the shaft rod, a gear II is fixedly sleeved on the outer end wall of the shaft barrel, a gear III rotationally connected inside the connecting seat is meshed above the gear II, the gear III is in transmission connection with the shaft rod located above through a transmission component I, the shaft barrel is in transmission connection with the shaft rod located below through a transmission component II, and the gear II and the gear III are arranged to be equal-ratio gears.
Further, the first transmission component and the second transmission component both comprise two chain wheels and a transmission chain, the two chain wheels in the first transmission component have the same number of teeth, and the two chain wheels in the second transmission component have the same number of teeth.
Further, the rubber protection cover wraps the outer side of the joint of the support arm and the protection shell, and the rubber protection cover is fixedly connected with the protection shell and the outer end wall of the support arm in a sealing manner.
Further, stop rods arranged on the front side and the rear side of the shaft seat are symmetrically fixed on the outer end wall of the main body of the coal mining machine, and a sponge layer is fixedly wrapped on the outer surface of the stop rods.
Further, the two shaft seats are symmetrically fixed on the outer end walls of the left side and the right side of the coal mining machine main body, the four camera main bodies are arranged in a total, and the four camera main bodies are respectively arranged in the upper direction and the lower direction of the two connecting seats in a one-to-one correspondence mode.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) This scheme is through establishing the cover of high protective cover in the outside of camera main part, can effectually protect the camera main part, avoid buggy impurity direct attachment to be on the surface of camera main part, through rotating the top of connecting at the protective housing with high protective cover, and laminating in the outside of high protective cover has the scraper blade of fixed connection on the outer end wall of protective housing, can make the high rotatory brush of scraping of formation between rotatory time and the scraper blade of protective cover, thereby clear up the buggy impurity of attaching on the surface of high protective cover, the device is used for scraping the scraper blade of brush for the camera main part is in fixed position, can effectually avoid the scraper blade to cause the shelter from the camera main part when high protective cover surface rotation scrapes the buggy impurity, the device video information's when carrying out visual control collection overall stability has effectually ensured.
(2) Through setting up the appearance of scraper blade into the thin slice structure, can effectively reduce its influence of sheltering from to camera main part side, simultaneously, can improve its effect of scraping the brush to the high protection casing surface, through setting up the appearance of scraper blade into the structure of falling U-shaped, can improve the laminating compactness between scraper blade and the high protection casing surface, be favorable to promoting the effect when the buggy impurity is scraped, through setting up the scraper blade to radial forty-five degrees skew for the scraper blade takes place in the oblique angle position department of camera main part to the scraping of high protection casing surface, effectually avoid the scraper blade during operation to cause the video acquisition in four directions around to the camera main part to shelter from, effectually ensured the device vision control's stability.
(3) Through seting up cavity one and cavity two respectively on the side end wall of protecting crust and high protective cover to communicate through the through-hole of seting up between spout and the go-between, can avoid rivers to cause the video acquisition of camera main part to shelter from in carrying the in-process, through the fixed top that sets up at the high protective cover that passes through with the water jet, when rivers outwards overflow through the water jet, can wash away the surface of high protective cover, cooperate with the scraping brush of scraper blade, the effectual clean degree of high protective cover surface of having ensured has reduced the camera main part and has been sheltered from by the buggy impurity, leads to the video acquisition to receive the probability of influence, the effectual job stabilization who ensures the device.
(4) Through installing the high breakwater that passes through of convex structure directly over the water jet, can carry out the backstop to spun rivers in the water jet, be favorable to spreading rivers evenly, simultaneously, through shelter from the high breakwater directly over the water jet, can improve the dynamics that the high protective cover surface buggy impurity washed of water jet in the water jet to the mode that passes through with high breakwater, the clean degree of protective cover surface is passed through to the high assurance.
(5) Through rotating the cover with the connecting seat and establishing in the outside of a section of thick bamboo to with main shaft fixed connection between the drive shaft of connecting seat and servo motor two, can drive the connecting seat rotation with the help of servo motor two starts, adjust the position of camera main part, make the video acquisition scope of device promote greatly, and be favorable to guaranteeing the flexibility when the device vision control.
(6) Through establish the fixed cover of gear two on the outer end wall of a section of thick bamboo to with the inside of connecting seat is connected in the gear three rotation rather than meshing, when making the connecting seat rotatory, gear three can take place relative rotation with a section of thick bamboo, through connecting transmission assembly one transmission between gear three and the pivot that is located the top, and connect transmission assembly two rotation between a section of thick bamboo and the pivot that is located the below, can make two protective housing synchronous relative deflection adjustment in its upper and lower direction when the connecting seat is rotatory, be favorable to the stability of the video acquisition of the camera main part of guaranteeing to install at the protective housing inside.
(7) Through setting up two sprocket that drive assembly one and drive assembly two inside correspond into same tooth number pattern, can make drive assembly one and drive assembly two all carry out the equal ratio transmission to the deflection of guarantee protecting crust keeps synchronous unanimity with the rotation of connecting seat, is favorable to making the camera main part remain vertical state throughout and carries out video acquisition, is convenient for ensure the device vision control's stability.
(8) Through the fixed parcel of rubber protection casing in the junction of support arm and protecting crust, can effectually carry out the shutoff to the clearance of junction to avoid external buggy impurity to enter into inside the equipment through the junction of support arm and protecting crust, effectually ensured the job stabilization nature of the device, through setting up the stop lever symmetry form in the front and back both sides of axle bed, can carry out the backstop restriction when the support arm is driven the rotation, avoid the rotation amplitude of connecting seat too big to lead to the camera main part to receive the damage, effectually ensured the job stabilization nature of the device.
(9) Through setting up four camera main parts respectively in the upper and lower direction of coal-winning machine main part left and right sides, can promote the comprehensive that the camera main part carries out video acquisition to coal-winning machine main part surrounding environment, be favorable to promoting the comprehensive stability of the visual control of the device.
Drawings
FIG. 1 is a perspective view of a shearer body of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a schematic view of the internal structure of the connecting base and the support arm of the present invention;
FIG. 4 is a front cross-sectional view of the present invention;
FIG. 5 is a schematic diagram of the structure shown at A in FIG. 4;
FIG. 6 is a schematic diagram of the structure at B in FIG. 4;
FIG. 7 is a schematic view of the structure at C in FIG. 6;
FIG. 8 is a schematic diagram of the structure at D in FIG. 6;
FIG. 9 is a side cross-sectional view of the present invention;
FIG. 10 is a schematic diagram of the structure at E in FIG. 9;
FIG. 11 is a split view of the junction of the protective housing and the high-permeability protective cover of the present invention;
fig. 12 is a schematic diagram of the structure of the connection seat after being turned over.
The reference numerals in the figures illustrate:
1. a coal cutter main body; 2. a shaft seat; 201. a shaft cylinder; 202. a connecting seat; 203. a support arm; 3. a protective shell; 301. a chute; 302. a connecting ring; 303. a high-permeability protective cover; 304. a scraper; 305. an inner gear ring; 306. a servo motor I; 307. a first gear; 4. a camera body; 5. a water pump; 501. a first cavity; 502. a cavity II; 503. a water jet; 504. a high-permeability water baffle; 6. a main shaft; 601. a servo motor II; 602. a second gear; 603. a third gear; 604. a first transmission component; 605. a transmission assembly II; 7. a rubber boot; 8. stop lever.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1:
referring to fig. 1-12, a computer vision control type coal mining machine includes a coal mining machine main body 1, an axle seat 2 is fixedly installed on an outer end wall of the coal mining machine main body 1, an axle barrel 201 is fixedly welded on an outer end wall of the axle seat 2, a connecting seat 202 is sleeved on an outer side of the axle barrel 201, supporting arms 203 are symmetrically fixed on an upper outer end wall and a lower outer end wall of each connecting seat 202, a protecting shell 3 is installed at one end of each supporting arm 203 far away from the connecting seat 202, camera main bodies 4 are fixedly installed in the protecting shell 3, two axle seats 2 are symmetrically fixed on outer end walls at left and right sides of the coal mining machine main body 1, four camera main bodies 4 are arranged on the outer end walls at the left and right sides of the coal mining machine main body 1 in a total mode, and four camera main bodies 4 are respectively arranged on the upper and lower directions of the two connecting seats 202 in a one-to-one mode.
Referring to fig. 4-5, a spindle 6 fixedly connected with an inner end wall of a connecting seat 202 is inserted through the inside of a shaft barrel 201, a second servo motor 601 is fixedly installed in the coal cutter body 1, the spindle 6 is fixedly connected with a driving shaft of the second servo motor 601, the connecting seat 202 and the shaft barrel 201 are rotationally connected, when the device works, if the food collecting position of the camera body 4 needs to be adjusted and changed, the second servo motor 601 is electrified and started to drive the spindle 6 fixedly installed on the driving shaft of the device to rotate, the connecting seat 202 is driven to rotate through rotation of the spindle 6, so that the camera bodies 4 on the upper side and the lower side of the connecting seat 202 synchronously rotate and change positions, the spindle 6 is rotationally sleeved on the outer side of the shaft barrel 201 and fixedly connected between the connecting seat 202 and the driving shaft of the second servo motor 601, the connecting seat 202 can be driven to rotate by means of the second servo motor 601, and the position of the camera body 4 is adjusted, so that the video collecting range of the device is greatly improved, and flexibility of the device in visual control is guaranteed.
Referring to fig. 1, the outer end wall of the main body 1 of the coal mining machine is symmetrically fixed with stop rods 8 disposed on the front and rear sides of the shaft seat 2, and a sponge layer is fixedly wrapped on the outer surface of the stop rod 8.
Referring to fig. 2 and 6, the protecting shell 3 is rotatably connected inside the end of the supporting arm 203 through a shaft rod, the rubber protecting cover 7 is wrapped outside the joint of the supporting arm 203 and the protecting shell 3, and the rubber protecting cover 7 is respectively and fixedly connected with the protecting shell 3 and the outer end wall of the supporting arm 203 in a sealing manner.
Referring to fig. 3-5, a gear two 602 is fixedly sleeved on the outer end wall of the shaft barrel 201, a gear three 603 rotationally connected inside the connecting seat 202 is meshed above the gear two 602, the gear three 603 is in transmission connection with a shaft rod located above through a transmission component one 604, the shaft barrel 201 is in transmission connection with a shaft rod located below through a transmission component two 605, the gear two 602 and the gear three 603 are set to be equal ratio gears, when the device works, if the connecting seat 202 rotates, under the action of relative motion, the gear three 603 rotationally connected inside the device rotates synchronously around the shaft barrel 201 along with the connecting seat 202, the gear three 603 rotates automatically by means of tooth meshing between the gear three 603 and the gear two 602, the upper protecting shell 3 is synchronously deflected through transmission connection of the transmission component one 604, and similarly, the lower protecting shell 3 is reversely deflected through transmission connection of the transmission component two 605, and the camera body 4 mounted inside the protecting shell 3 is adjusted.
Through establish gear two 602 fixed cover on the outer end wall of axle section of thick bamboo 201 to with the inside of connecting seat 202 is connected in the rotation of gear three 603 rather than meshing, when making connecting seat 202 rotatory, gear three 603 can take place relative rotation with axle section of thick bamboo 201, through connecting transmission assembly one 604 transmission between gear three 603 and the pivot that is located the top, and connect transmission assembly two 605 rotation between axle section of thick bamboo 201 and the pivot that is located the below, can make two protective housing 3 synchronous relative deflection adjustment in its upper and lower direction when connecting seat 202 is rotatory, be favorable to guaranteeing the stability of installing the video acquisition of the camera main part 4 in protective housing 3.
Referring to fig. 3 and 12, the first transmission component 604 and the second transmission component 605 each include two sprockets and a transmission chain, the teeth of the two sprockets included in the first transmission component 604 are the same, the teeth of the two sprockets included in the second transmission component 605 are the same, and when the device works, the first transmission component 604 and the second transmission component 605 can perform equal ratio transmission by setting the corresponding two sprockets in the first transmission component 604 and the second transmission component 605 to the same teeth pattern, so that the deflection of the protective shell 3 and the rotation of the connecting seat 202 are kept synchronous and consistent, the camera main body 4 is kept in a vertical state all the time for video acquisition, and the stability of visual control of the device is guaranteed conveniently.
Referring to fig. 6-7 and 11, a chute 301 with a circular ring structure is formed on the inner end wall of the protective housing 3, a connecting ring 302 is rotatably connected in the chute 301, a high-transmission protective cover 303 is fixedly arranged on the outer side of the connecting ring 302 and covers the outer side of the camera body 4, the top of the high-transmission protective cover 303 is of a hemispherical structure, a scraper 304 fixedly connected with the outer end wall of the protective housing 3 is sleeved on the outer side of the high-transmission protective cover 303, the inner side of the scraper 304 is attached to the outer end wall of the high-transmission protective cover 303, the shape of the scraper 304 is of a lamellar inverted U-shaped structure, and the scraper 304 is arranged in a radial forty-five-degree deflection manner relative to the right front.
When the device during operation, when the buggy impurity falls to the top hemisphere surface of high protective cover 303, under the action of gravity, buggy impurity can drop downwards fast along the top cambered surface of high protective cover 303, avoid the long-time video acquisition that piles up the high protective cover 303 surface of dust impurity to the camera main part 4 to cause the influence, through setting up the appearance of scraper blade 304 to the thin slice structure, can effectively reduce it and shelter from the influence to camera main part 4 side, simultaneously, can improve its and scrape the brush effect to the high protective cover 303 surface, through setting up the appearance of scraper blade 304 to the structure of falling the U-shaped, can improve the laminating compactness between scraper blade 304 and the high protective cover 303 surface, be favorable to promoting the effect when buggy impurity is scraped, through setting up the scraper blade 304 to radially forty-five degrees skew for the scraper blade 304 takes place in the oblique angle position department of camera main part 4 to the high protective cover 303 surface, effectually avoid the scraper blade 304 during operation to cause shelter from the video acquisition in four directions about the camera main part 4, the effective guarantee the stability of visual control of the device.
Referring to fig. 10, an inner gear ring 305 is fixedly mounted on an inner end wall of the high-permeability protective cover 303, a first servo motor 306 is fixedly mounted inside the protective housing 3, and a first gear 307 engaged with the inner gear ring 305 is fixedly mounted on a driving shaft of the first servo motor 306.
When the device works, the working environment around the coal mining machine main body 1 is detected through the camera main body 4, the surrounding environment information of the coal mining machine main body 1 is subjected to video acquisition and analysis, so that the coal mining machine main body 1 is controlled visually in time, the first servo motor 306 installed in the protective shell 3 is electrified and started to drive the first gear 307 fixedly installed on the driving shaft of the first servo motor to rotate, the high-permeability protective cover 303 is enabled to rotate on the outer side of the camera main body 4 through meshed connection between the first gear 307 and the inner gear ring 305, rotary scraping brush is arranged between the scraping plate 304 and the high-permeability protective cover 303 under relative movement, and pulverized coal impurities attached to the outer surface of the high-permeability protective cover 303 can be effectively scraped, so that the influence of the pulverized coal impurities on the outer surface of the high-permeability protective cover 303 on video acquisition of the camera main body 4 is avoided.
Through establishing the outside at camera main part 4 with high protective cover 303 cover, can effectually protect camera main part 4, avoid buggy impurity direct attachment on the surface of camera main part 4, through rotating high protective cover 303 and connect the top at protective housing 3, and laminate in the outside of high protective cover 303 has the scraper blade 304 of fixed connection on the outer end wall of protective housing 3, can make high protective cover 303 rotatory time and form relative rotation between the scraper blade 304 and scrape the brush, thereby clear up the buggy impurity that adheres to on the surface of high protective cover 303, the device is used, be in fixed position for camera main part 4 for the scraper blade 304 that is used for scraping the buggy impurity, can effectually avoid scraper blade 304 to cause the shelter from to camera main part 4 when high protective cover 303 surface rotation scrapes the buggy impurity, the device has the comprehensive stability of video information's collection when carrying out visual control.
Referring to fig. 2 and fig. 6-8, a water pump 5 is fixedly installed in the coal mining machine main body 1, a water inlet of the water pump 5 is externally connected with a pure water tank, a cavity one 501 communicated with a water outlet of the water pump 5 is arranged on a side end wall of the protective shell 3, a cavity two 502 which is communicated with each other in a direction is arranged in a side end wall of the connecting ring 302 and the connecting ring 302, through holes communicated with the cavity one 501 and the cavity two 502 are correspondingly formed in the positions of the sliding groove 301 and the connecting ring 302, a water spraying opening 503 communicated with the cavity two 502 is fixedly installed in the middle position of the top of the high-permeability protective cover 303, and when the device works, the water pump 5 is electrified to start pumping water in the external pure water tank into the cavity one 501, flows into the cavity two 502 through the through holes formed between the sliding groove 301 and the connecting ring 302, and is sprayed outwards through the water spraying opening 503 fixed at the top of the high-permeability protective cover 303, flushing operation is performed on the outer surface of the high-permeability protective cover 303, and the cleaning degree of the outer surface of the high-permeability protective cover 303 is maintained by scraping the scraping of the scraping scraper 304.
Through seting up cavity one 501 and cavity two 502 respectively on the side end wall of protecting crust 3 and high transparent protective cover 303 to communicate through the through-hole of seting up between spout 301 and the go-between 302, can avoid rivers to cause shielding to the video acquisition of camera main part 4 in the transportation process, through the fixed top that sets up at high transparent protective cover 303 with water jet 503, when rivers outwards overflow through water jet 503, can wash the surface of high transparent protective cover 303, cooperate with the scraping of scraper blade 304, the effectual clean degree of high transparent protective cover 303 surface that has ensured has reduced camera main part 4 and has sheltered from by the buggy impurity, leads to the video acquisition to receive the probability of influence, the effectual job stabilization who ensures the device.
Referring to fig. 11, a high-permeability water baffle 504 fixedly connected with a scraper 304 is covered above a water jet 503, and the high-permeability water baffle 504 is in a circular arc structure adapted to the top of a high-permeability protective cover 303.
The above is only a preferred embodiment of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (5)
1. Computer vision control formula coal-winning machine, including coal-winning machine main part (1), its characterized in that: the utility model discloses a coal mining machine, including coal-winning machine main part (1), outer end wall of coal-winning machine main part (1) is last fixed mounting has axle bed (2), and fixed welding has a section of thick bamboo (201) on the outer end wall of axle bed (2), the outside cover of section of thick bamboo (201) is equipped with connecting seat (202), every all symmetry is fixed with support arm (203) on the upper and lower outer end wall of connecting seat (202), support arm (203) keep away from one end of connecting seat (202) and install protection casing (3), the internally fixed mounting of protection casing (3) has camera main part (4), the spout (301) that is the ring structure has been seted up on the inner end wall of protection casing (3), and the inside rotation of spout (301) is connected with go-between (302), the outside fixed mounting of go-between (302) has the cover to establish in the outside of camera main part (4), and the top of high-penetration protection casing (303) is set up to hemispherical structure, the outside cover of high-penetration protection casing (303) is equipped with scraper blade (304) fixedly connected with the outer end wall of protection casing (3), the inboard scraper blade (306) laminating on the high-penetration protection casing (305) on the inner gear (3) is equipped with servo motor (305), a first gear (307) meshed with the inner gear ring (305) is fixedly arranged on a driving shaft of the first servo motor (306);
a main shaft (6) fixedly connected with the inner end wall of the connecting seat (202) is inserted through the inside of the shaft barrel (201), a second servo motor (601) is fixedly installed in the coal mining machine main body (1), the main shaft (6) is fixedly connected with a driving shaft of the second servo motor (601), and the connecting seat (202) is rotationally connected with the shaft barrel (201);
the protection shell (3) is rotationally connected inside the end head of the supporting arm (203) through a shaft rod, a gear II (602) is fixedly sleeved on the outer end wall of the shaft barrel (201), a gear III (603) rotationally connected inside the connecting seat (202) is meshed above the gear II (602), the gear III (603) is in transmission connection with a shaft rod positioned above through a transmission component I (604), the shaft barrel (201) is in transmission connection with a shaft rod positioned below through a transmission component II (605), and the gear II (602) and the gear III (603) are arranged as equal ratio gears;
the inside of the first transmission component (604) and the inside of the second transmission component (605) respectively comprise two chain wheels and a transmission chain, the number of teeth of the two chain wheels in the inside of the first transmission component (604) is the same, and the number of teeth of the two chain wheels in the inside of the second transmission component (605) is the same;
stop rods (8) arranged on the front side and the rear side of the shaft seat (2) are symmetrically fixed on the outer end wall of the coal mining machine main body (1), and a sponge layer is fixedly wrapped on the outer surface of the stop rods (8);
the two shaft seats (2) are symmetrically fixed on the outer end walls of the left side and the right side of the coal mining machine main body (1), the four camera main bodies (4) are arranged in total, and the four camera main bodies (4) are respectively arranged in the upper direction and the lower direction of the two connecting seats (202) in a one-to-one correspondence manner;
when the device works, the second servo motor (601) is electrified and started to drive the main shaft (6) fixedly arranged on the driving shaft to rotate, and the connecting seat (202) is driven to rotate through the rotation of the main shaft (6), so that the camera main bodies (4) on the upper side and the lower side of the connecting seat (202) synchronously rotate to change positions.
2. A computer vision controlled shearer as defined in claim 1, wherein: the appearance of the scraping plate (304) is provided with a lamellar reverse U-shaped structure, and the scraping plate (304) is arranged in a forty-five degree radial deflection manner relative to the right front.
3. A computer vision controlled shearer as defined in claim 1, wherein: the coal mining machine is characterized in that a water pump (5) is fixedly installed in the coal mining machine body (1), a water inlet of the water pump (5) is externally connected with a purified water tank, a first cavity (501) communicated with a water outlet of the water pump (5) is arranged on a side end wall of the protective shell (3), a second cavity (502) which is communicated with the side end wall of the connecting ring (302) and the inside of the connecting ring (302) are arranged, through holes which are communicated with the first cavity (501) and the second cavity (502) are correspondingly formed in the positions of the sliding groove (301) and the connecting ring (302), and a water spraying port (503) communicated with the second cavity (502) is fixedly installed at the middle position of the top of the high-permeability protective cover (303).
4. A computer vision controlled shearer as defined in claim 3, wherein: the high-permeability water baffle (504) fixedly connected with the scraping plate (304) is covered above the water jet (503), and the appearance of the high-permeability water baffle (504) is set to be in a circular arc structure matched with the top of the high-permeability protective cover (303).
5. A computer vision controlled shearer as defined in claim 1, wherein: the rubber protection cover (7) is wrapped outside the joint of the supporting arm (203) and the protection shell (3), and the rubber protection cover (7) is fixedly connected with the protection shell (3) and the outer end wall of the supporting arm (203) in a sealing way.
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