CN117301081B - Mining pipeline grab inclination angle adjusting system and method - Google Patents
Mining pipeline grab inclination angle adjusting system and method Download PDFInfo
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- CN117301081B CN117301081B CN202311594466.4A CN202311594466A CN117301081B CN 117301081 B CN117301081 B CN 117301081B CN 202311594466 A CN202311594466 A CN 202311594466A CN 117301081 B CN117301081 B CN 117301081B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000005065 mining Methods 0.000 title claims description 15
- 238000005259 measurement Methods 0.000 claims abstract description 36
- 238000004441 surface measurement Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000006978 adaptation Effects 0.000 claims description 10
- 230000000750 progressive effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 210000003205 muscle Anatomy 0.000 claims 4
- 238000005452 bending Methods 0.000 abstract description 2
- 210000002435 tendon Anatomy 0.000 description 8
- 230000002787 reinforcement Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pipeline Systems (AREA)
Abstract
The invention relates to the technical field of inclination angle measurement, and particularly discloses a system and a method for adjusting the inclination angle of a mine pipeline gripper, wherein the system particularly comprises a pipeline delivery gripper and a threading curved surface measurement distance module, the threading curved surface measurement distance module is provided with a curved surface side line measurement module, the curved surface side line measurement module is used for measuring the shape of a fault curved surface, and an inner clamping inclination angle adjusting module and an electric control chuck unit are arranged on the inner side of the pipeline delivery gripper; the extension tail end passage seat is driven to span the fault curved surface through the bending tail end conduction execution assembly, the conveying edge guide unit is guided by the rotation of the wall-connected curved surface guide unit to be attached to the curved surface nodes in the covering fault, further, the distribution position, the steering dip angle and the arrangement interval data of the nodes covered on the fault curved surface are directly obtained, the data are integrated, a survey graph of the fault path curved surface is generated, and the survey graph is used as a control parameter of the electric control chuck unit to ensure the dip angle fit of the fault path when a pipeline passes through.
Description
Technical Field
The invention relates to the technical field of inclination angle measurement, in particular to a system and a method for adjusting the inclination angle of a mining pipeline gripper.
Background
When the mine pipeline channel generates a local fault or the original channel distribution surface generates curved surface offset, the maximum inclination angle of pipeline transportation in the mine channel is limited, when the pipeline is clamped by a grip and vertically ascends, the pipeline is blocked by the curved surface in the channel, the pipeline is easily limited when the pipeline is delivered out, and the pipeline is also easily in excessively hard contact with the channel fault or the curved surface corner when the pipeline ascends, so that the structural surface is damaged. Therefore, the structural form of the cavity in the hoisting channel is measured before the pipeline is hoisted out of the mine pipeline channel.
The traditional measurement mode mainly obtains the main body form in the pipeline channel, and the distribution of the nodes of each curved surface in the fault is irregular, so that the measurement mode cannot fully cover the curved surfaces of each node of the channel. Therefore, due to the local curved surface deviation of the fault node in the channel, the traditional measurement mode is easier to generate measurement errors, and the accuracy of the finally measured data of the curve path change in the channel is not ideal enough, so that the smoothness of the pipeline when the pipeline is delivered from the inner side of the channel to the outer side is easily affected. How to accurately measure the delivery path of the pipeline in the fault surface for the collaborative adjustment reference of the gripper transporting pipeline to each node of the fault surface is a technical problem in the current field. Therefore, we propose a system and a method for adjusting the inclination angle of the mining pipeline grab handle.
Disclosure of Invention
The invention mainly aims to provide a system and a method for adjusting the inclination angle of a mining pipeline grab handle, which are used for solving the technical problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an adjusting system of mining pipeline tongs inclination, a mining pipeline tongs inclination's adjusting system, includes pipeline and gives out tongs and wears around curved surface measurement distance module, wear around curved surface measurement distance module and install curved surface sideline measurement module, curved surface sideline measurement module is used for measuring fault curved surface shape, pipeline gives out the tongs inboard and is equipped with interior centre gripping inclination adjustment module and automatically controlled chuck unit, interior centre gripping inclination adjustment module with automatically controlled chuck unit signal connection, pipeline gives out the tongs outside and installs and gives out inclination follow-up adaptation module, give out inclination follow-up adaptation module be used for automatically controlled chuck unit centre gripping pipeline passes the slip guide of fault curved surface in-process;
the curved surface side line measuring module comprises a plurality of conveying side line guiding units, a plurality of wall connecting curved surface guiding units and an over-closing fault path curved surface measuring component, wherein the conveying side line guiding units are used for setting a transmission path of a pipeline passing through a fault curved surface;
the over-shut fault path curved surface measuring component comprises a measuring end point positioning part, a rotating inclination angle sensing part, an adjacent end point distance measuring module and a multipoint measuring data integrating part, wherein the measuring end point positioning part is used for acquiring the distribution position of the wall-connected curved surface guiding unit, the rotating inclination angle sensing part is used for acquiring the steering inclination angle of the wall-connected curved surface guiding unit, the adjacent end point distance measuring module is used for acquiring the distribution distance between the adjacent wall-connected curved surface guiding units, and the multipoint measuring data integrating part integrates the distribution position, the steering inclination angle and the distribution distance data of the wall-connected curved surface guiding unit and generates a fault path curved surface graph; .
The invention further improves that the penetrating and winding curved surface measuring distance module comprises a pipeline passage end seat, a fault end point positioning piece and an extension tail end passage seat, wherein the pipeline passage end seat and the extension tail end passage seat are symmetrically distributed, the fault end point positioning piece is fixedly connected to the outer side of the pipeline passage end seat, and the pipeline passage end seat is used for fixing the fault end point positioning piece and the extension tail end passage seat after being distributed across a fault curved surface.
The invention is further improved in that the progressive inclination angle follow-up adaptation module comprises a follow-up distance seat, an inclination angle surface follow-up guide wheel and an inward contraction conduction part, wherein the follow-up distance seat is arranged on the outer side of the pipeline progressive gripper, the inward contraction conduction part is arranged on the inner side of the follow-up distance seat, and the inclination angle surface follow-up guide wheel is in sliding connection with the follow-up distance seat through the inward contraction conduction part.
The invention further improves that the curved tail end conduction executing component is used for transmission driving when the extending tail end passage seat spans a fault curved surface, the curved tail end conduction executing component comprises a positioning angle driving part, an extending conveying driving part and a wall surface grabbing seat, the positioning angle driving part is arranged on the outer side of the extending tail end passage seat, the extending conveying driving part is arranged at the rotating end of the positioning angle driving part, and the wall surface grabbing seat is arranged at the driving end of the extending conveying driving part.
The invention is further improved in that the pipeline delivery grip is provided with a measuring end conveying rib line, the measuring end conveying rib line is used for traction conduction after the electric control chuck unit clamps the pipeline, the threading curved surface measuring distance module is provided with a guiding end conveying rib line, and the guiding end conveying rib line is used for traction conduction when the curved surface side line measuring module is distributed along a curved surface of a measuring fault.
The invention further improves a using method of the mining pipeline grab hand inclination angle adjusting system, which comprises the following steps:
s1, arranging a measuring end conveying reinforcement line and a guide end conveying reinforcement line along a mine pipeline channel, conveying a conveying side line guide unit to a fault curved surface along a guide end conveying reinforcement line arrangement path through an overhead tractor, and driving an extension tail end conduction execution assembly to drive an extension tail end passage seat to cross the fault curved surface so that the conveying side line guide unit covers the fault curved surface through the rotation guide of a wall-connected curved surface guide unit;
s2, after the conveying edge guide units cover the fault curved surface, measuring the distribution position of each wall-connected curved surface guide unit through a measuring end point positioning part, measuring the steering inclination angle of each wall-connected curved surface guide unit through a rotating inclination angle sensing part, measuring the arrangement distance between adjacent wall-connected curved surface guide units through an adjacent end point ranging module, integrating measured data through a multipoint measured data integrating part, and uploading the integrated data to a PC end through a multipoint measured data integrating part to generate a survey graph of a fault path curved surface;
and S3, conveying the electric control chuck unit to the end of the pipeline by using a conveying rib line at the measuring end, grabbing and fixing the pipeline by using the electric control chuck unit, setting an inclination angle adjustment control signal of an inner clamping inclination angle adjustment module according to the measured fault path curved surface graph, and adjusting the electric control chuck unit to form a corresponding grabbing inclination angle according to the maximum inclination angle of the distributed node of the wall connecting curved surface guide unit in the measured curved surface graph when the electric control chuck unit reaches the distributed node of each wall connecting curved surface guide unit, so as to ensure the inclination angle of the fault path to be proper when the pipeline passes through.
Compared with the prior art, the invention drives the extension tail end passage seat to span the fault curved surface through the bending tail end conduction execution assembly, so that the conveying edge guide unit is guided by the rotation of the wall-connected curved surface guide unit, and is attached to the curved surface nodes in the covering fault, further, the data of the distribution position, the steering inclination angle and the arrangement distance of each node of the fault curved surface are directly acquired, the data are integrated, a survey graph of the fault path curved surface is generated, and further, when the electric control chuck unit reaches the distributed nodes of each wall-connected curved surface guide unit, the maximum inclination angle of the distributed nodes in the measured curved surface graph can be used as the control parameter of the electric control chuck unit, the inclination angle of the fault path is proper when the pipeline passes through is ensured, and the limitation of the accuracy of measured data can be effectively avoided.
Compared with the prior art, after the curved surface side line measuring module is arranged in a measuring mode, the conveying side line guiding unit is covered along the fault curved surface, the curved surface side line measuring module and the delivery inclination angle follow-up adaptation module can act on guiding protection when the pipeline is delivered, limitation of rotatable angles of the pipeline due to the fact that the distance between the pipeline delivery grip and the conveying side line guiding unit is too close can be avoided, and further the fact that the inclination angle adjusting angle of the pipeline can stably pass through the fault curved surface is ensured.
Drawings
Fig. 1 is a schematic structural diagram of a system for adjusting the inclination angle of a mining pipeline gripper according to the present invention.
Fig. 2 is a schematic structural diagram of a system for adjusting the inclination angle of a mining pipeline gripper according to the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 2;
FIG. 4 is a schematic diagram showing a state of a curve side line measuring module after arrangement in a mining pipeline grab inclination angle adjusting system;
fig. 5 is a diagram showing the components of the over-shut-down fault path curved surface measuring part in the mining pipeline grab inclination angle adjusting system.
In the figure: 1. a pipeline delivering gripper; 11. the measuring end transmits a reinforcement wire; 12. an inner clamping inclination angle adjusting module; 13. an electric control chuck unit; 2. a threading curved surface measuring and spacing module; 21. a conduit pathway end seat; 22. a fault end point locator; 23. extending the tail end passage seat; 24. the leading end transmits the reinforcement wire; 3. a curved surface side line measuring module; 31. a conveying edge line guiding unit; 32. a wall-connecting curved surface guiding unit; 33. a fault path curve surface measuring part; 331. a measurement end point positioning section; 332. a rotation inclination angle sensing part; 333. a neighboring endpoint ranging module; 334. a multipoint measurement data integrating unit; 4. a gradient angle follow-up adaptation module; 41. a follow-up distance holder; 42. a tilt angle surface follow-up guide wheel; 43. an inner shrink conductive part; 5. a curved tail conductive actuator assembly; 51. positioning an angle transmission piece; 52. an extension conveying transmission part; 53. the wall surface grabs the seat.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are shown in schematic drawings, rather than physical drawings, and are not to be construed as limiting the present invention, and in order to better explain the detailed description of the invention, certain components of the drawings may be omitted, enlarged or reduced in size, and not represent the actual product, and it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted, and that all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the invention based on the detailed description of the present invention.
Examples
Referring to fig. 1-5, an inclination angle adjusting system for a mine pipeline gripper comprises a pipeline delivering gripper 1 and a threading curved surface measuring and spacing module 2, wherein the threading curved surface measuring and spacing module 2 is provided with a curved surface side line measuring module 3, the curved surface side line measuring module 3 is used for measuring the shape of a fault curved surface, an inner clamping inclination angle adjusting module 12 and an electric control chuck unit 13 are arranged on the inner side of the pipeline delivering gripper 1, the inner clamping inclination angle adjusting module 12 is in signal connection with the electric control chuck unit 13, a delivering inclination angle follow-up module 4 is arranged on the outer side of the pipeline delivering gripper 1, and the delivering inclination angle follow-up module 4 is used for sliding guidance in the process that the pipeline is clamped by the electric control chuck unit 13 to pass through the fault curved surface.
The pipeline delivery gripper 1 is provided with a measuring end conveying rib line 11, the measuring end conveying rib line 11 is used for traction conduction after the electric control chuck unit 13 clamps a pipeline, the guiding end conveying rib line 24 is arranged around the curved surface measuring distance module 2, and the guiding end conveying rib line 24 is used for traction conduction when the curved surface side line measuring module 3 is distributed along a curved surface of a measuring fault.
In this embodiment, the head ends of the measurement end conveying tendon 11 and the guide end conveying tendon 24 are installed on an external tractor, and the measurement end conveying tendon 11 and the guide end conveying tendon 24 are arranged along a mine pipeline channel, so that after crossing the pipeline channel, the measurement end conveying tendon 11 and the guide end conveying tendon 24 penetrate out from the bottom end of the channel and are nailed and fixed with the measurement end conveying tendon 11 and the guide end conveying tendon 24. After the end conveying rib line 11 to be measured and the guide end conveying rib line 24 are installed along the pipeline channel, the traction machine is used for traction to penetrate the curved surface measuring distance module 2 and the pipeline delivering gripper 1 to slide along the inner side of the pipeline channel.
The curved end conduction executing component 5 is used for transmission driving when the extending end passage seat 23 spans the fault curved surface, the curved end conduction executing component 5 comprises a positioning angle driving part 51, an extending conveying driving part 52 and a wall surface grabbing seat 53, the positioning angle driving part 51 is arranged on the outer side of the extending end passage seat 23, the extending conveying driving part 52 is arranged at the rotating end of the positioning angle driving part 51, and the wall surface grabbing seat 53 is arranged at the driving end of the extending conveying driving part 52.
In this embodiment, the conveying edge line guiding unit 31 is conveyed to the fault surface along the arrangement path of the guide end conveying rib line 24 by the tractor, when the conveying edge line guiding unit 31 reaches the fault surface, the contact angle between the extending conveying transmission part 52 and the channel wall surface is adjusted by the positioning angle transmission part 51, then the extending conveying transmission part 52 is driven by the positioning angle transmission part 51, so that the wall surface grabbing seat 53 contacts and climbs along the channel wall surface, and further the extending tail end passage seat 23 is driven to span the fault surface, and is clamped with the pipeline channel wall surface by the wall surface grabbing seat 53, so that the extending tail end passage seat 23 spans the fault surface and is fixed to the pipeline channel. The conveying edge line guiding unit 31 can flexibly adapt to the rotation of the channel wall surface due to the arrangement of the wall-connecting curved surface guiding unit 32, and then after the extending tail end passage seat 23 spans the fault curved surface, the conveying edge line guiding unit 31 is attached to cover the fault curved surface.
The curved surface side line measuring module 3 comprises a plurality of conveying side line guiding units 31, wall connecting curved surface guiding units 32 and over-closing fault path curved surface measuring components 33, wherein the conveying side line guiding units 31 are used for setting a conveying path of a pipeline passing through a fault curved surface, the wall connecting curved surface guiding units 32 are arranged between two adjacent conveying side line guiding units 31, the over-closing fault path curved surface measuring components 33 are arranged on the outer sides of the wall connecting curved surface guiding units 32, and the over-closing fault path curved surface measuring components 33 are used for measuring the arrangement path of the conveying side line guiding units 31 so as to further determine the shape of the fault curved surface;
in this embodiment, after the conveying edge guiding unit 31 covers the fault surface, the over-closing fault path curved surface measuring part 33 directly obtains the distribution position, the steering inclination angle and the arrangement pitch data of the obtainable middle joint wall curved surface guiding unit 32, so as to ensure the accuracy of the measurement data of the curve path change in the channel.
The over-shutdown fault path curved surface measuring component 33 includes a measuring end point positioning portion 331, a rotation inclination angle sensing portion 332, an adjacent end point ranging module 333, and a multipoint measurement data integrating portion 334, where the measuring end point positioning portion 331 is used to obtain a distribution position of the wall-connected curved surface guiding unit 32, the rotation inclination angle sensing portion 332 is used to obtain a steering inclination angle of the wall-connected curved surface guiding unit 32, the adjacent end point ranging module 333 is used to obtain a distribution interval between adjacent wall-connected curved surface guiding units 32, and the multipoint measurement data integrating portion 334 integrates the distribution position, the steering inclination angle, and the distribution interval data of the wall-connected curved surface guiding unit 32, and generates a fault path curved surface graph.
In this embodiment, the measurement end point positioning portion 331 measures the position of each curved surface guiding unit 32, marks a distribution point at the PC end, and the rotation inclination angle sensing portion 332 obtains the inclination angle of the conveying edge guiding unit 31 after measuring the rotation angle of the current curved surface guiding unit 32, for marking the inclination angle of each curved surface guiding unit 32 at the PC end, the adjacent end point ranging module 333 measures the spacing between adjacent curved surface guiding units 32, after integrating the measurement data, draws the connection line between the curved surface guiding units 32 by the distribution point along the curved surface guiding unit 32, and generates a survey pattern of the curved surface of the fault path, and further, when the electric control chuck unit 13 reaches the node where each curved surface guiding unit 32 is located, the maximum inclination angle of the node is allocated according to the measured curved surface pattern, which is used as a control parameter for adjusting the inclination angle by the electric control chuck unit 13, so as to ensure the inclination angle of the fault path during pipeline passing, and effectively avoid the accumulation of measurement errors of the curved surface node, so as to limit the accuracy of the measurement data.
The threading curved surface measuring and spacing module 2 comprises a pipeline passage end seat 21, a fault end point positioning piece 22 and an extending tail end passage seat 23, wherein the pipeline passage end seat 21 and the extending tail end passage seat 23 are symmetrically distributed, the fault end point positioning piece 22 is fixedly connected to the outer side of the pipeline passage end seat 21, and the pipeline passage end seat 21 is used for fixing the fault end point positioning piece 22 and the extending tail end passage seat 23 after crossing the fault curved surface.
In this embodiment, the guiding end conveying rib line 24 is driven by the tractor to convey the pipeline passage end seat 21 to the fault surface, so that the pipeline passage end seat 21 is located at the fault surface input end of the pipeline channel, the extending tail end passage seat 23 is located at the fault surface tail end of the pipeline channel, and then the pipeline passage end seat 21 is kept in a positioning support by expanding the fault end point positioning piece 22, so that the conveying edge line guiding unit 31 is used for covering the fault surface and then keeping a fixed point.
The progressive inclination angle follow-up adaptation module 4 comprises a follow-up distance seat 41, an inclination angle surface follow-up guide wheel 42 and an inward shrinkage conduction part 43, wherein the follow-up distance seat 41 is arranged on the outer side of the pipeline progressive gripper 1, the inward shrinkage conduction part 43 is arranged on the inner side of the follow-up distance seat 41, and the inclination angle surface follow-up guide wheel 42 is in sliding connection with the follow-up distance seat 41 through the inward shrinkage conduction part 43.
In this embodiment, after the curved surface edge measurement module 3 measures and arranges, the conveying edge guide unit 31 covers along the fault curved surface, the curved surface edge measurement module 3 and the delivering inclination angle follow-up adaptation module 4 can act on the guiding protection when the pipeline is delivered, that is, when the electric control chuck unit 13 clamps the pipeline to slide along the distribution path of the conveying edge guide unit 31, the inclination angle face follow-up guide wheel 42 extrudes and slides towards the inner side of the follow-up distance seat 41, and further, the contact distance between the pipeline delivering grip 1 and the conveying edge guide unit 31 is kept through the shrinkage of the internal shrinkage conduction part 43, so that the limitation of the rotatable angle of the pipeline due to the too close distance between the pipeline delivering grip 1 and the conveying edge guide unit 31 can be avoided, and the inclination angle adjusting angle of the pipeline can be ensured to stably traverse the fault curved surface, meanwhile, the conveying edge guide unit 31 serves as a buffer surface of the pipeline, the pipeline can be prevented from directly contacting with the fault curved surface structural layer when the pipeline spans, and the damage of the pipeline structural surface is prevented.
The application method of the invention is as follows: after the measuring end conveying rib line 11 and the guiding end conveying rib line 24 are arranged along the mine pipeline channel and the conveying edge line guide unit 31 is conveyed to the fault curved surface along the guiding end conveying rib line 24 by the well tractor, the curved extension tail end conduction executing assembly 5 drives the extension tail end passage seat 23 to span the fault curved surface, and the conveying edge line guide unit 31 covers the fault curved surface by the rotation guide of the wall-connected curved surface guide unit 32. After the conveying edge guide unit 31 covers the fault curved surface, the distribution position of each wall-connected curved surface guide unit 32 is measured by the measurement end point positioning part 331, the steering inclination angle of each wall-connected curved surface guide unit 32 is measured by the rotation inclination angle sensing part 332, and the arrangement distance between adjacent wall-connected curved surface guide units 32 is measured by the adjacent end point ranging module 333. The multipoint measurement data integrating part 334 integrates the measurement data, and further serves as the composition data of the fault curved surface path, and the composition data is uploaded to the PC end through the multipoint measurement data integrating part 334 to generate a survey graph of the fault curved surface path. The measuring end conveying rib line 11 conveys the electric control chuck unit 13 to the end of the pipeline, the pipeline is gripped and fixed through the electric control chuck unit 13, the inclination angle adjustment control signal of the inner clamping inclination angle adjustment module 12 is set according to the fault path curved surface graph formed after measurement, when the electric control chuck unit 13 reaches the node distributed by each wall-connected curved surface guide unit 32, the electric control chuck unit 13 is adjusted to be a corresponding gripping inclination angle according to the maximum inclination angle of the node distributed by the wall-connected curved surface guide unit 32 in the measured curved surface graph, and the inclination angle of the fault path is ensured to be moderate when the pipeline passes through.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides an adjusting system of mining pipeline tongs inclination, includes pipeline and gives out tongs (1) and wears around curved surface measurement distance module (2), its characterized in that, wear around curved surface measurement distance module (2) and install curved surface sideline measurement module (3), curved surface sideline measurement module (3) are used for measuring fault curved surface shape, pipeline is given out tongs (1) inboard and is equipped with interior centre gripping inclination adjustment module (12) and automatically controlled chuck unit (13), interior centre gripping inclination adjustment module (12) with automatically controlled chuck unit (13) signal connection, pipeline is given out tongs (1) outside and is installed and gives out inclination follow-up adaptation module (4), it is used for automatically controlled chuck unit (13) centre gripping pipeline is passed the slip guide of fault curved surface in-process to give out inclination follow-up adaptation module (4);
the curved surface side line measuring module (3) comprises conveying side line guiding units (31), wall connecting curved surface guiding units (32) and over-closing fault path curved surface measuring components (33), the number of the conveying side line guiding units (31) is a plurality of, the conveying side line guiding units (31) are used for setting a conveying path of a pipeline through a fault curved surface, the wall connecting curved surface guiding units (32) are arranged between two adjacent conveying side line guiding units (31), the over-closing fault path curved surface measuring components (33) are arranged on the outer sides of the wall connecting curved surface guiding units (32), and the over-closing fault path curved surface measuring components (33) are used for measuring the arrangement path of the conveying side line guiding units (31) so as to determine the shape of the fault curved surface;
the over-shut fault path curved surface measuring component (33) comprises a measuring end point positioning part (331), a rotation inclination angle sensing part (332), an adjacent end point distance measuring module (333) and a multi-point measuring data integrating part (334), wherein the measuring end point positioning part (331) is used for acquiring the distribution position of the wall-connected curved surface guiding unit (32), the rotation inclination angle sensing part (332) is used for acquiring the steering inclination angle of the wall-connected curved surface guiding unit (32), the adjacent end point distance measuring module (333) is used for acquiring the arrangement distance between the adjacent wall-connected curved surface guiding units (32), and the multi-point measuring data integrating part (334) integrates the distribution position, the steering inclination angle and the arrangement distance data of the wall-connected curved surface guiding unit (32) and generates a fault path curved surface graph;
the threading curved surface measuring and spacing module (2) comprises a pipeline passage end seat (21), fault end point locating pieces (22) and an extending tail end passage seat (23), wherein the pipeline passage end seat (21) and the extending tail end passage seat (23) are symmetrically distributed, the fault end point locating pieces (22) are fixedly connected to the outer side of the pipeline passage end seat (21), and the pipeline passage end seat (21) is used for fixing the fault end point locating pieces (22) and the extending tail end passage seat (23) after being distributed across a fault curved surface;
the progressive inclination angle follow-up adaptation module (4) comprises a follow-up distance seat (41), an inclination angle surface follow-up guide wheel (42) and an inward shrinkage conduction part (43), wherein the follow-up distance seat (41) is arranged on the outer side of the pipeline progressive gripper (1), the inward shrinkage conduction part (43) is arranged on the inner side of the follow-up distance seat (41), and the inclination angle surface follow-up guide wheel (42) is in sliding connection with the follow-up distance seat (41) through the inward shrinkage conduction part (43);
the curved end conduction execution assembly (5) is installed on the penetrating and winding curved surface measurement distance module (2), the curved end conduction execution assembly (5) is used for transmission driving when the extending end passage seat (23) spans a fault curved surface, the curved end conduction execution assembly (5) comprises a positioning angle transmission piece (51), an extending conveying transmission part (52) and a wall surface grabbing seat (53), the positioning angle transmission piece (51) is installed on the outer side of the extending end passage seat (23), the extending conveying transmission part (52) is installed at the rotating end of the positioning angle transmission piece (51), and the wall surface grabbing seat (53) is installed at the driving end of the extending conveying transmission part (52).
2. The mining pipeline grab angle adjustment system according to claim 1, wherein: the pipeline is delivered tongs (1) and is installed measurement end conveying muscle line (11), measurement end conveying muscle line (11) are used for traction conduction behind automatically controlled chuck unit (13) centre gripping pipeline, wear around curved surface measurement distance module (2) and install guide end conveying muscle line (24), guide end conveying muscle line (24) are used for traction conduction when curved surface boundary line measurement module (3) are arranged along the measurement fault curved surface.
3. The method for using the mining pipeline grab angle adjusting system according to claim 2, comprising the following steps:
step S1, arranging a measuring end conveying rib line (11) and a guide end conveying rib line (24) along a mine pipeline channel, conveying a conveying edge line guide unit (31) to a fault curved surface along the guide end conveying rib line (24) by a well tractor, and driving an extending tail end conduction execution assembly (5) to drive an extending tail end passage seat (23) to cross the fault curved surface so that the conveying edge line guide unit (31) covers the fault curved surface by rotating a wall-connected curved surface guide unit (32);
s2, after the conveying edge line guide unit (31) covers the fault curved surface, measuring the distribution position of each wall-connected curved surface guide unit (32) through the measuring end point positioning part (331), measuring the steering inclination angle of each wall-connected curved surface guide unit (32) through the rotating inclination angle sensing part (332), measuring the arrangement distance between adjacent wall-connected curved surface guide units (32) through the adjacent end point ranging module (333), integrating the measuring data through the multipoint measuring data integrating part (334), and uploading the measuring data to a PC end through the multipoint measuring data integrating part (334) to generate a survey graph of the fault path curved surface;
and S3, conveying the electric control chuck unit (13) to the end of the pipeline by the measuring end conveying rib line (11), grabbing and fixing the pipeline by the electric control chuck unit (13), setting an inclination angle adjustment control signal of the inner clamping inclination angle adjustment module (12) according to the measured fault path curved surface graph, enabling the electric control chuck unit (13) to reach the maximum inclination angle of the distributed node of each wall-connected curved surface guide unit (32) according to the measured maximum inclination angle of the distributed node of the wall-connected curved surface guide unit (32) in the measured curved surface graph, and adjusting the corresponding grabbing inclination angle of the electric control chuck unit (13) to ensure the inclination angle of the fault path when the pipeline passes through.
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| CN202311594466.4A CN117301081B (en) | 2023-11-28 | 2023-11-28 | Mining pipeline grab inclination angle adjusting system and method |
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| CN202311594466.4A CN117301081B (en) | 2023-11-28 | 2023-11-28 | Mining pipeline grab inclination angle adjusting system and method |
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| CN117301081B true CN117301081B (en) | 2024-02-06 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07210230A (en) * | 1994-01-25 | 1995-08-11 | Nippon Steel Corp | Pipe surface copying control method using force control robot |
| JP2009142918A (en) * | 2007-12-12 | 2009-07-02 | Kwang-Sul Choi | Cable guide device for industrial robot |
| CN102634618A (en) * | 2012-03-27 | 2012-08-15 | 马钢(集团)控股有限公司 | Transformed angle measurement device of blast furnace tuyere and measurement method thereof |
| CN103085083A (en) * | 2013-01-07 | 2013-05-08 | 汪雯 | Flexible continuous body mechanical structure capable of bending and stretching |
| CN105945926A (en) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | Nuclear decommissioning pipe reconfigurable snakelike robot |
| CN208459031U (en) * | 2018-07-20 | 2019-02-01 | 常州市新创智能科技有限公司 | A kind of curved face type fatigue batten detection device |
| CN215334827U (en) * | 2021-04-25 | 2021-12-28 | 昆明力标科技有限公司 | Pipeline of adjustable assembly inclination is with a gallows |
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2023
- 2023-11-28 CN CN202311594466.4A patent/CN117301081B/en active Active
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|---|---|---|---|---|
| JPH07210230A (en) * | 1994-01-25 | 1995-08-11 | Nippon Steel Corp | Pipe surface copying control method using force control robot |
| JP2009142918A (en) * | 2007-12-12 | 2009-07-02 | Kwang-Sul Choi | Cable guide device for industrial robot |
| CN102634618A (en) * | 2012-03-27 | 2012-08-15 | 马钢(集团)控股有限公司 | Transformed angle measurement device of blast furnace tuyere and measurement method thereof |
| CN103085083A (en) * | 2013-01-07 | 2013-05-08 | 汪雯 | Flexible continuous body mechanical structure capable of bending and stretching |
| CN105945926A (en) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | Nuclear decommissioning pipe reconfigurable snakelike robot |
| CN208459031U (en) * | 2018-07-20 | 2019-02-01 | 常州市新创智能科技有限公司 | A kind of curved face type fatigue batten detection device |
| CN215334827U (en) * | 2021-04-25 | 2021-12-28 | 昆明力标科技有限公司 | Pipeline of adjustable assembly inclination is with a gallows |
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| CN117301081A (en) | 2023-12-29 |
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