CN115855037A

CN115855037A - Gyro inertial navigation device for long-term shock resistance of fully mechanized mining face

Info

Publication number: CN115855037A
Application number: CN202211465085.1A
Authority: CN
Inventors: 魏延辉; 陈湘源
Original assignee: Guoneng Yulin Energy Co ltd; Harbin Engineering University
Current assignee: Guoneng Yulin Energy Co ltd; Harbin Engineering University
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-03-28

Abstract

The invention discloses a gyro inertial navigation device for long-term shock resistance of a fully mechanized mining face, relates to the technical field of gyro inertial navigation equipment, and provides the following scheme, which comprises the following steps: the device comprises a hollow pipe, sealing covers arranged at openings at the top and the bottom of the hollow pipe, and inertial navigation gyroscope sensors fixed in the inner cavity of the hollow pipe. According to the invention, the elasticity of the rubber ball is utilized to contact with the inner cavity of the hollow circular truncated cone, and the movable column moves towards the inner part of the cylinder and simultaneously contacts with the disc to extrude the buffer spring, so that the elasticity of the rubber ball and the elastic combination of the buffer spring are realized, the vibration of the upper surface and the lower surface is weakened to the maximum extent, and the anti-vibration effect is provided for the inertial navigation gyroscope sensor; utilize reset spring to provide the shock-resistant effect of buffering for the horizontal hunting on the one hand, on the other hand, utilize pull and the bounce of reset spring to let and be used to lead the position about the gyroscope sensor and can reset fast, realize long-time shock-resistant effect.

Description

Gyro inertial navigation device for long-term shock resistance of fully mechanized mining face

Technical Field

The invention relates to the technical field of gyro inertial navigation equipment, in particular to a gyro inertial navigation device for long-term shock resistance of a fully mechanized mining face.

Background

The gyro inertial navigation device is generally called a gyroscope, is a core component of an inertial system, is an internal sensor capable of detecting the attitude and state change of a carrier even without an external reference signal, and has the functions of sensing (sensitively sensing and detecting) the angle, the angular velocity and the angular acceleration of a moving body; the gyroscope is generally a rotor which is arranged in a universal bracket and rotates at a high speed, the rotor can simultaneously precess around one shaft or two shafts which are vertical to a rotation shaft, the former is called a single-degree-of-freedom gyroscope, the latter is called a two-degree-of-freedom gyroscope, the gyroscope has the characteristics of axis fixation and precession, a rate gyroscope with sensitive angular speed and a position gyroscope with sensitive angular deviation are manufactured by utilizing the characteristics, and because the technologies of optics, micro-electro-mechanical systems and the like are introduced into the development of the gyroscope, the device which can complete the function of the gyroscope is commonly called as the gyroscope at present.

The fully-mechanized mining face is generally provided with equipment such as a coal mining machine, a hydraulic support, a scraper conveyor, a reversed loader, a crusher, a belt conveyor and the like, the whole coal process basically realizes mechanized operation, in addition, in the work of the fully-mechanized mining face, a gyroscope is required to be used for positioning, the mining operation of the fully-mechanized mining face needs a large amount of excavating equipment, the gyroscope is also arranged on the mining equipment, a large amount of uninterrupted vibration is usually accompanied in the mining process, the vibration is secondarily transmitted to the gyroscope with high possibility, and under the influence of long-time vibration, the precision in the gyroscope is easily damaged, so that the data of the gyroscope is inaccurate; in view of the above-mentioned drawbacks, those skilled in the art propose a gyroscopic inertial navigation device for long-term seismic resistance of a fully mechanized mining face.

Disclosure of Invention

In view of the above-mentioned drawbacks, an object of the present invention is to provide a gyro inertial navigation device for long-term anti-seismic fully-mechanized mining face, which includes a hollow pipe, sealing caps disposed at openings at the top and bottom of the hollow pipe, and an inertial navigation gyroscope sensor fixed in an inner cavity of the hollow pipe, wherein gyroscope sensor anti-seismic structures for providing upper and lower anti-seismic for the inertial navigation gyroscope sensor are disposed between the top and bottom surfaces of the inertial navigation gyroscope sensor and one side of the sealing cap close to each other, and lateral anti-seismic parts for providing left and right anti-seismic for the inertial navigation gyroscope sensor are fixed on lateral walls of the inertial navigation gyroscope sensor.

In the technical scheme of the gyro inertial navigation device for the fully mechanized mining face to resist shock for a long time, preferably, the gyro sensor anti-shock structure comprises a connecting column fixed on the top and the bottom of the gyro sensor, one end of the connecting column, which is far away from the gyro sensor, is fixed with a flange, a first base is installed on the other side of the flange, a support column is hinged in an inner cavity of the first base, a cylinder is welded at the other end of the support column, and a hollow circular truncated cone is welded at the other end of the cylinder.

In the above-mentioned a technical scheme that is used for combining that mining face carries out long-term antidetonation top is used to lead device, preferably, all there is the second base through the fix with screw on the lateral wall of one side that the lid is close to each other, and all the welding has the U-shaped board on one side that the second base is close to each other, rotates in the inner chamber of U-shaped board and is connected with a pivot, and the welding has the fixed block on the outer lane of pivot, and the fixed block is kept away from one of second base and is served the welding and have run through the activity post in the drum inside.

In the above technical scheme of the gyro inertial navigation device for long-term earthquake resistance of the fully mechanized mining face, preferably, a buffer spring is welded on the inner wall of one side of the cylinder close to the first base, a disc in contact with one end of the movable column inside the cylinder is welded at the other end of the buffer spring, and the vertical section of the hollow circular truncated cone is trapezoidal.

In the above technical scheme of the gyro inertial navigation device for long-term earthquake resistance of the fully mechanized mining face, preferably, a rubber ball is fixed on the outer ring side wall of the movable column through an adhesive, and the rubber ball is matched with the hollow circular truncated cone in shape.

In the above technical scheme of the gyro inertial navigation device for long-term anti-seismic fully-mechanized mining face, preferably, the side anti-seismic component includes two rectangular frames fixed on the side walls of the inertial navigation gyroscope sensor and a screw rod penetrating into an inner cavity of the rectangular frame, and a nut is disposed at one end of the screw rod located in the inner cavity of the rectangular frame.

In the above technical scheme of the gyro inertial navigation device for long-term earthquake resistance of the fully mechanized mining face, preferably, one end of the screw, which is far away from the rectangular frame, penetrates through the outside of the hollow tube, a nut is arranged on an outer ring of one end of the screw, which is located at the outside of the hollow tube, and a sleeve is arranged between a side wall of the rectangular frame, which is far away from the inertial navigation gyroscope sensor, and an inner cavity side wall of the hollow tube and is sleeved on the outer ring of the screw.

In the above technical scheme of the gyro inertial navigation device for long-term earthquake resistance of the fully mechanized mining face, preferably, two side walls of the hollow pipe are both provided with a rectangular through hole for a screw to pass through.

Compared with the prior art, the gyro inertial navigation device for long-term earthquake resistance of the fully mechanized mining face has the following beneficial effects:

1. when the inertial navigation gyroscope sensor is subjected to vibration from the upper surface and the lower surface, the vibration of the upper surface and the lower surface is transmitted to the second base along the sealing cover, the second base transmits the vibration to the movable column in a shifting manner, so that the movable column moves towards the interior of the cylinder and simultaneously drives the rubber ball to be in contact with the inner cavity of the hollow circular truncated cone, the elasticity of the rubber ball is utilized to be in contact with the inner cavity of the hollow circular truncated cone, the movable column moves towards the interior of the cylinder and simultaneously contacts with the disc to extrude the buffer spring, the elasticity of the rubber ball and the elasticity of the buffer spring are combined, the vibration of the upper surface and the lower surface is weakened to the maximum extent, and the anti-vibration effect is provided for the inertial navigation gyroscope sensor.

2. In the invention, on the premise of screwing the nuts and the screw caps at two ends of the screw, when the side walls at two sides of the hollow pipe are impacted or vibrated, the inertial navigation gyroscope sensor or the hollow pipe swings left and right to enable the inner walls of the rectangular frame and the hollow pipe to be close to or far away from each other, so that the inner walls of the rectangular frame and the hollow pipe extrude or stretch the reset spring therein, on one hand, the reset spring is utilized to provide a buffering anti-seismic effect for left and right swinging, on the other hand, the left and right positions of the inertial navigation gyroscope sensor can be quickly reset by utilizing the pulling and rebounding of the reset spring, and the long-time anti-seismic effect is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments of the present invention or the description in the prior art will be briefly described and explained below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is an internal schematic view of a gyro inertial navigation device for long-term seismic resistance of a fully mechanized mining face according to the present invention;

FIG. 2 is an exploded view of the gyroscope inertial navigation device for long-term seismic resistance of a fully mechanized mining face according to the present invention;

FIG. 3 is a schematic perspective view of an appearance of a gyro inertial navigation device for long-term seismic resistance of a fully mechanized mining face according to the present invention;

FIG. 4 is a schematic diagram of a side anti-seismic component of a gyro inertial navigation device for long-term anti-seismic of a fully mechanized mining face according to the present invention;

FIG. 5 is a schematic diagram of a seismic resistant structure of a gyroscope sensor of a gyroscope inertial navigation system for long-term seismic resistance of a fully mechanized mining face according to the present invention.

In fig. 1 to 5, the correspondence between the components is as follows:

1. an inertial navigation gyroscope sensor; 2. a gyroscope sensor seismic structure; 21. connecting columns; 22. a flange plate; 23. a first base; 24. a support pillar; 25. a cylinder; 26. a hollow round table; 27. a buffer spring; 28. a movable post; 29. a disc; 210. a rubber ball; 211. a fixed block; 212. a U-shaped plate; 213. a rotating shaft; 214. a second base; 3. a side anti-seismic member; 31. a rectangular frame; 32. a threaded hole; 33. a return spring; 34. a screw; 35. a nut; 36. a nut; 4. a hollow tube; 5. a rectangular through hole; 6. and (7) sealing the cover.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the technical solution and implementation of the present invention more clearly explained and illustrated, several preferred embodiments for implementing the technical solution of the present invention are described below.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In addition, the terms herein: the references to "inner, outer", "front, rear", "left, right", "vertical, horizontal", "top, bottom", etc. are made based on the orientation or positional relationship shown in the drawings and are intended only to facilitate the description of the application and to simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and therefore should not be construed as limiting the application.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

Example 1.

Including hollow tube 4, the sealed lid 6 of setting at the top of hollow tube 4 and bottom opening part to and fix the inertial navigation gyroscope sensor 1 in the 4 inner chambers of hollow tube, all be provided with between the top of inertial navigation gyroscope sensor 1 and the one side that sealed lid 6 is close to each other and be used for providing shock-resistant gyroscope sensor antidetonation structure 2 from top to bottom for inertial navigation gyroscope sensor 1, and be fixed with on the lateral wall of inertial navigation gyroscope sensor 1's both sides to be used for providing left and right shock-resistant side antidetonation part 3 for inertial navigation gyroscope sensor 1.

Including fixing the spliced pole 21 on being used to lead gyroscope sensor 1 top and bottom in gyroscope sensor antidetonation structure 2, the spliced pole 21 is kept away from the one end of being used to lead gyroscope sensor 1 and is fixed with ring flange 22, and first base 23 is installed to the opposite side of ring flange 22, and it has support column 24 to articulate in the inner chamber of first base 23, and the other end welding of support column 24 has drum 25, and the welding has hollow round platform 26 on the other end of drum 25.

The side walls of the two adjacent sides of the sealing cover 6 are respectively fixed with a second base 214 through screws, the side walls of the two adjacent sides of the second base 214 are respectively welded with a U-shaped plate 212, a rotating shaft 213 is rotatably connected in the inner cavity of the U-shaped plate 212, the outer ring of the rotating shaft 213 is welded with a fixed block 211, one end of the fixed block 211, which is far away from the second base 214, is welded with a movable column 28 penetrating through the inside of the cylinder 25, the inner wall of one side of the cylinder 25, which is close to the first base 23, is welded with a buffer spring 27, the other end of the buffer spring 27 is welded with a disc 29 contacting with one end of the movable column 28, which is located in the cylinder 25, the vertical section of the hollow circular truncated cone 26 is trapezoidal, the side wall of the outer ring of the movable column 28 is fixed with a rubber ball 210 through an adhesive, and the rubber ball 210 is matched with the shape of the inner cavity of the hollow circular truncated cone 26.

Example 2.

The reciprocating motion of an object or particle relative to an equilibrium location is called vibration. The vibration is divided into sinusoidal vibration, random vibration, compound vibration, scanning vibration and fixed frequency vibration. The main parameters describing the vibrations are: amplitude, velocity vibration, acceleration, testing of a real object or model of a vibration system, in the field or in a laboratory, the vibration system being a mass elastic system excited by a vibration source, such as a machine, a structure or a part thereof, a living body, etc.; the vibration test is to simulate various vibration environment influences of the product in the transportation, installation and use environments, and the vibration test is to evaluate the resistance of components, parts and the whole machine in the expected transportation and use environments; one common test considers that the most commonly used vibration mode can be divided into sinusoidal vibration and random vibration, the sinusoidal vibration is a frequently adopted test method in a laboratory, mainly simulating vibration generated by rotation, pulsation and oscillation, and product structure resonance frequency analysis and resonance point residence verification, and is divided into frequency sweep vibration and fixed frequency vibration, and the severity degree of the vibration depends on frequency range, amplitude value and test duration.

In the fully-mechanized mining face mining environment, the equipment is subjected to natural frequency vibration, free vibration is generated by simulation of the equipment through knocking or sudden unloading, and therefore the left face and the right face of the equipment are subjected to the most frequent vibration, and therefore side anti-vibration parts are correspondingly arranged on the upper face, the lower face, the left face and the right face of the gyro inertial navigation equipment.

The side wall of one side, close to each other, of the sealing cover 6 is fixed with a second base 214 through screws, one side, close to each other, of the second base 214 is welded with a U-shaped plate 212, a rotating shaft 213 is connected in an inner cavity of the U-shaped plate 212 in a rotating mode, a fixing block 211 is welded on the outer ring of the rotating shaft 213, one end, far away from the second base 214, of the fixing block 211 is welded with a movable column 28 penetrating into the cylinder 25, the inner wall of one side, close to the first base 23, of the cylinder 25 is welded with a buffer spring 27, the other end of the buffer spring 27 is welded with a disc 29 in contact with one end, located inside the cylinder 25, of the movable column 28, the vertical section of the hollow circular truncated cone 26 is trapezoidal, the side wall of the outer ring of the movable column 28 is fixed with a rubber ball 210 through an adhesive, and the rubber ball 210 is matched with the shape of the inner cavity of the hollow circular truncated cone 26.

Including two rectangular frame 31 of fixing on being used to lead on the gyro sensor 1 lateral wall in the side antidetonation part 3, run through the screw rod 34 in the rectangular frame 31 inner chamber, and the one end that screw rod 34 is arranged in the rectangular frame 31 inner chamber all is provided with nut 36, the outside that hollow tube 4 was run through to the one end that rectangular frame 31 was kept away from to screw rod 34, and screw rod 34 is provided with nut 35 on being located the outside one end outer lane of hollow tube 4, and rectangular frame 31 is kept away from and is used to be provided with the cover between one side lateral wall of leading gyro sensor 1 and the inner chamber lateral wall of hollow tube 4 and overlap in the 34 outer lane of screw rod, a rectangle through-hole 5 that supplies screw rod 34 to run through the activity has all been seted up on the both sides lateral wall of hollow tube 4.

The use method (working process) of the invention is as follows:

in the long-term anti-seismic operation of the inertial navigation gyroscope sensor 1, firstly, the sealing cover 6 on the bottom port of the hollow tube 4 is fixed on the hollow tube 4, then the inertial navigation gyroscope sensor 1 is put into the inner cavity of the hollow tube 4, the sealing cover 6 on the top port of the hollow tube 4 is covered, the second base 214 is connected with the sealing cover 6 by using screws, and the hollow tube 4 is fixed on the fully mechanized mining face mining machine.

After the assembly is completed, when the inertial navigation gyroscope sensor 1 is subjected to vibration from the upper surface and the lower surface, the vibration of the upper surface and the lower surface is transmitted to the second base 214 along the sealing cover 6, the second base 214 transmits the stirring of the vibration to the movable column 28, so that the movable column 28 moves towards the inside of the cylinder 25 and simultaneously drives the rubber ball 210 to contact with the inner cavity of the hollow circular truncated cone 26, the elasticity of the rubber ball 210 is utilized to contact with the inner cavity of the hollow circular truncated cone 26, the buffer spring 27 is extruded by the contact disc 29 when the movable column 28 moves towards the inside of the cylinder 25, the elasticity of the rubber ball 210 and the elasticity of the buffer spring 27 are combined, the vibration of the upper surface and the lower surface is weakened to the maximum extent, and the anti-vibration effect is provided for the inertial navigation gyroscope sensor 1.

In addition, on the premise of screwing up nuts 35 and nuts 36 at two ends of the screw rod 34, after the two side walls of the hollow tube 4 are impacted or vibrated, the inertial navigation gyroscope sensor 1 or the left-right swinging of the hollow tube 4 enables the inner walls of the rectangular frame 31 and the hollow tube 4 to be close to or far away from each other, the reset spring 33 in the rectangular frame 31 and the inner wall of the hollow tube 4 is extruded or stretched, on one hand, the reset spring 33 is utilized to provide buffering anti-seismic effect for left-right swinging, on the other hand, the left-right position of the inertial navigation gyroscope sensor 1 can be rapidly reset by utilizing the pulling and rebounding of the reset spring 33, and the long-time anti-seismic effect is realized.

Finally, it should be noted that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present application can implement, so that the present application has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present application without affecting the efficacy and the achievable purpose of the present application.

As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The present invention is not limited to the above preferred embodiments, and any structural changes made under the teaching of the present invention shall fall within the protection scope of the present invention.

Claims

1. The utility model provides a top is used for synthesizing face and is carried out long-term antidetonation and is used to lead device, a serial communication port, including hollow tube (4), set up sealed lid (6) at the top of hollow tube (4) and bottom opening part, and fix inertial navigation gyroscope sensor (1) in hollow tube (4) inner chamber, all be provided with between the top of inertial navigation gyroscope sensor (1) and bottom surface and the sealed one side that lid (6) are close to each other and be used for providing up-down antidetonation gyroscope sensor antidetonation structure (2) for inertial navigation gyroscope sensor (1), and be fixed with on the both sides lateral wall of inertial navigation gyroscope sensor (1) and be useful for inertial navigation gyroscope sensor (1) provide about antidetonation side antidetonation part (3).

2. The gyroscope inertial navigation device for long-term seismic resistance of a fully mechanized mining face according to claim 1, wherein the gyroscope sensor seismic structure (2) comprises connecting columns (21) fixed on the top and the bottom of the inertial navigation gyroscope sensor (1), one end of each connecting column (21) far away from the inertial navigation gyroscope sensor (1) is fixed with a flange (22), the other side of each flange (22) is provided with a first base (23), a supporting column (24) is hinged in an inner cavity of the first base (23), the other end of each supporting column (24) is welded with a cylinder (25), and the other end of each cylinder (25) is welded with a hollow circular truncated cone (26).

3. The gyro inertial navigation device for long-term earthquake resistance of fully mechanized mining surfaces according to claim 1, wherein the side walls of the close sides of the sealing covers (6) are fixed with second bases (214) through screws, the sides of the close sides of the second bases (214) are welded with U-shaped plates (212), the inner cavities of the U-shaped plates (212) are rotatably connected with a rotating shaft (213), the outer ring of the rotating shaft (213) is welded with fixed blocks (211), and one ends of the fixed blocks (211) far away from the second bases (214) are welded with movable columns (28) penetrating into the inner parts of the cylinders (25).

4. The gyro inertial navigation unit for long-term earthquake resistance of a fully mechanized mining face according to claim 2, wherein a buffer spring (27) is welded on the inner wall of the cylinder (25) near the first base (23), a disc (29) in contact with one end of the movable column (28) inside the cylinder (25) is welded at the other end of the buffer spring (27), and the vertical section of the hollow circular truncated cone (26) is trapezoidal.

5. The gyroscopic inertial navigation device for long-term earthquake resistance of a fully mechanized mining surface according to claim 3, wherein the rubber ball (210) is fixed on the outer ring side wall of the movable column (28) through an adhesive, and the shape of the rubber ball (210) is matched with that of the inner cavity of the hollow circular truncated cone (26).

6. The gyro inertial navigation device for long-term seismic resistance of a fully mechanized mining face according to claim 1, wherein the lateral seismic resistance part (3) comprises two rectangular frames (31) fixed on the side walls of the inertial navigation gyroscope sensor (1) and a screw rod (34) penetrating into the inner cavity of the rectangular frame (31), and one ends of the screw rods (34) in the inner cavity of the rectangular frame (31) are provided with nuts (36).

7. The gyro inertial navigation device for long-term earthquake resistance of a fully mechanized mining face according to claim 6, wherein one end of the screw rod (34) far away from the rectangular frame (31) penetrates through the outside of the hollow tube (4), a nut (35) is arranged on an outer ring of one end of the screw rod (34) outside the hollow tube (4), and a sleeve is arranged between a side wall of the rectangular frame (31) far away from the inertial navigation gyroscope sensor (1) and an inner cavity side wall of the hollow tube (4) and sleeved on the outer ring of the screw rod (34).

8. The gyro inertial navigation device for long-term earthquake resistance of a fully mechanized mining face according to claim 1, wherein a rectangular through hole (5) for a screw rod (34) to pass through is formed in each of two side walls of the hollow pipe (4).