CN206248084U - The unmanned development machine cantilever cutting mechanism detecting system of cantilevered - Google Patents
The unmanned development machine cantilever cutting mechanism detecting system of cantilevered Download PDFInfo
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- CN206248084U CN206248084U CN201621404269.7U CN201621404269U CN206248084U CN 206248084 U CN206248084 U CN 206248084U CN 201621404269 U CN201621404269 U CN 201621404269U CN 206248084 U CN206248084 U CN 206248084U
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Abstract
The unmanned development machine cantilever cutting mechanism detecting system of cantilevered, is related to unmanned development machine cantilever cutting mechanism detection field.The utility model is the problem big to cutting arm systematic influence in order to solve underground work bad environments.The unmanned development machine cantilever cutting mechanism detecting system of cantilevered described in the utility model, obliquity sensor is used to gather the inclination angle of cutting arm, rotary angle transmitter is used to gather the corner of unmanned development machine suspending arm rotary platform, displacement transducer is used to gather the displacement of cutting arm, DSP connects impulse ejection circuit, impulse ejection circuit connecting wire coil, DSP connects signal receiving circuit, signal receiving circuit connects waveguide, lead loop is wrapped on waveguide, two dampers are separately positioned on the two ends of waveguide, the N poles of two permanent magnets are oppositely arranged, waveguide is located between two permanent magnets.The utility model is used to detect the swing state of the unmanned development machine cantilever cutting mechanism of cantilevered.
Description
Technical field
The utility model belongs to unmanned development machine cantilever cutting mechanism detection field.
Background technology
China's coal-mine tunnel tradition driving is still manual operations, and labour intensity is high, and dangerous big, operating efficiency is relatively low,
In addition, the safety and quality of construction are largely all limited by human factor, easily there is accident, cause casualties.
Therefore, safe efficient, labour-saving construction tunnel is set up, development development machine people's technology is following developing direction,
Miner can be freed from heavy manual labor and severe working environment.Development development machine people, research driving
Automatically controlling for machine cutting mechanism, is the basis for realizing that driving is unmanned.
The cutting control system of unmanned development machine is general by executing agency, drive device, detection means and control system etc.
Composition.The running orbit of cutting head of roadheader is that have directly contact with the horizontal hunting and vertical oscillation of cutting mechanism, is led to
Cross change and horizontally rotate joint and the diarthrodial pendulum angle of vertical pendulum realizes the horizontal and vertical movement of cutterhead, with reference to cut
The rotation of head completes the cut of drift section.
Underground work bad environments, high temperature, humidity, vibration etc. are big to cutting arm systematic influence.
Utility model content
The utility model is the problem big to cutting arm systematic influence in order to solve underground work bad environments, is now provided
The unmanned development machine cantilever cutting mechanism detecting system of cantilevered.
The unmanned development machine cantilever cutting mechanism detecting system of cantilevered, including：Obliquity sensor 1, rotary angle transmitter 2, position
Displacement sensor and DSP4；
Obliquity sensor 1 is used to gather the inclination angle of cantilever, and the dip angle signal output end connection DSP4's of obliquity sensor 1 inclines
Angle signal input；
Rotary angle transmitter 2 is used to gather the corner of unmanned development machine suspending arm rotary platform, and the angular signal of rotary angle transmitter 2 is defeated
Go out the angular signal input of end connection DSP4；
Displacement transducer is used to gather the displacement of cutterhead, and displacement transducer is received including impulse ejection circuit 31, signal
Circuit 32 and displacement acquisition end 33, displacement acquisition end 33 includes：Waveguide 331,332, two dampers 333 and two of lead loop
Individual permanent magnet 334；
The pulse signal input terminal of the pulse signal output end connection impulse ejection circuit 31 of DSP4, impulse ejection circuit 31
Pulse signal output end connecting wire coil 332, the displacement signal input of DSP4 connects the displacement of signal receiving circuit 32
Signal output part, the signal input part of signal receiving circuit 32 connects one end of waveguide 331, and lead loop 332 is wrapped in ripple
On conduit 331, two dampers 333 are separately positioned on the two ends of waveguide 331, and the N poles of two permanent magnets 334 are oppositely arranged,
Waveguide 331 is located between two permanent magnets 334,
DSP4 is DSPF28335 chips.
The utility model has no directly contact due to magnet ring and sensor itself, is unlikely to be rubbed, weares and teares, thus it makes
With long lifespan, strong environmental adaptability, high temperature, high pressure and strong vibration can be born, reliability is high, security is good, even if severe
Coal mine environment under, also can normal work.
Brief description of the drawings
Fig. 1 is the structured flowchart of the unmanned development machine cantilever cutting mechanism detecting system of cantilevered；
Fig. 2 is the structure chart of impulse ejection circuit；
Fig. 3 is the structure chart of signal receiving circuit.
Specific embodiment
Specific embodiment one：Reference picture 1 illustrates present embodiment, the unmanned pick of the cantilevered described in present embodiment
Enter machine cantilever cutting mechanism detecting system, including：Obliquity sensor 1, rotary angle transmitter 2, displacement transducer and DSP4；
Obliquity sensor 1 is used to gather the inclination angle of cantilever, and the dip angle signal output end connection DSP4's of obliquity sensor 1 inclines
Angle signal input；
Rotary angle transmitter 2 is used to gather the corner of unmanned development machine suspending arm rotary platform, and the angular signal of rotary angle transmitter 2 is defeated
Go out the angular signal input of end connection DSP4；
Displacement transducer is used to gather the displacement of cutterhead, and displacement transducer is received including impulse ejection circuit 31, signal
Circuit 32 and displacement acquisition end 33, displacement acquisition end 33 includes：Waveguide 331,332, two dampers 333 and two of lead loop
Individual permanent magnet 334；
The pulse signal input terminal of the pulse signal output end connection impulse ejection circuit 31 of DSP4, impulse ejection circuit 31
Pulse signal output end connecting wire coil 332, the displacement signal input of DSP4 connects the displacement of signal receiving circuit 32
Signal output part, the signal input part of signal receiving circuit 32 connects one end of waveguide 331, and lead loop 332 is wrapped in ripple
On conduit 331, two dampers 333 are separately positioned on the two ends of waveguide 331, and the N poles of two permanent magnets 334 are oppositely arranged,
Waveguide 331 is located between two permanent magnets 334,
DSP4 is DSPF28335 chips.
In present embodiment, by the stretching motion of cutting arm, change length feed depth, displacement transducer is：Magnetic
Telescopic displacement sensor is caused, it is according to magnetostriction principle, using non-contacting metering system, as shown in figure 1, including pulse
Radiating circuit 31, signal receiving circuit 32, measuring two permanent magnets 334, waveguide 331 etc..
The effect of impulse ejection circuit 31 is：The burst pulse that DSP4 sends is amplified, sufficient intensity can be produced
Current impulse, stronger Circumferential field is produced by magnetostrictive waveguide silk, so as to larger torsion can be produced to become
Shape.
Cutting arm horizontal hunting is to rotate to realize by rotary table, and unmanned development machine suspending arm rotary platform can be with left and right
Horizontal hunting, now cutterhead transverse translation in cut section, suspending arm rotary angle is measured using rotary angle transmitter 2.Underground
Work under bad environment, high temperature, humidity, vibration etc. are big on the influence of cutting arm control system, therefore use DSP as total receiving terminal.
The signal of each sensor output is received in present embodiment using DSP, is the common usage of DSP, be not belonging to this
The inventive point of utility model；Also, inventive point of the present utility model is the annexation between circuit, i.e.,：Signal acquisition electricity
The structure on road, therefore the utility model is not related to the protection object problem of utility model.
Specific embodiment two：Present embodiment is to the unmanned development machine cantilever of cantilevered described in specific embodiment one
Cutting mechanism detecting system is described further, and in present embodiment, obliquity sensor 1 is photoelectric encoder, photoelectric encoder
A be connected the SPIO20 pins of DSP4, the B of photoelectric encoder is connected the SPIO21 pins of DSP4, the Z phases of photoelectric encoder
Connect the SPIO22 pins of DSP4.
Cutting arm swings in vertical plane, can easily change height of the cutterhead on drift section.Wherein light
Photoelectric coder Z phase signals provide accurate zero point information.If the advanced B phases of A phases, as turn clockwise, if instead B phases surpass
Preceding A phases are then rotate counterclockwise.Photoelectric encoder for each revolution, exports a reference pulse (i.e. Z phases), the ripple of reference pulse
The waveform center of shape center aligned with channel A outputs.The precision of encoder produces square wave number to determine by rotating a circle, when rotating a circle
When can produce 1024 pulses (i.e. precision is 10), each pulse is expressed as 360 °/1024.
Specific embodiment three：Present embodiment is to the unmanned development machine cantilever of cantilevered described in specific embodiment one
Cutting mechanism detecting system is described further, and in present embodiment, rotary angle transmitter 2 is TLE5012B chips,
The SCK pins of TLE5012B chips connect the SPIO13 pins of DSP4, the CSQ pins connection of TLE5012B chips
The SPIO14 pins of DSP4, the DATA pins of TLE5012B chips connect the SPIO15 pins of DSP4.
From TLE5012B chips as rotary angle transmitter, TLE5012B sensors are based on iGMR technologies, and it is detected substantially
Principle is based on magnetoresistance, that is, to instruct body or the semiconductor phenomenon that its resistance value changes under magnetic fields,
TLE5012B is made up of two groups of Wheatstone bridges, the huge magnetic induction unit of sinusoidal variations and varies with cosine is reflected respectively, using complete
Bridge construction eliminates the influence of temperature effect.When rotating shaft rotates, magnet changes therewith, and huge magnetic induction unit detects changes of magnetic field,
Angle value is calculated, is exported by various communications protocols interface.TLE5012B is used for the measurement of underground development machine turntable, with point
Resolution is high, and processing speed is fast, the features such as anti-dust, greasy dirt.
Specific embodiment four：Reference picture 2 illustrates present embodiment, and present embodiment is to specific embodiment one
The unmanned development machine cantilever cutting mechanism detecting system of described cantilevered is described further, in present embodiment, impulse ejection
Circuit 31 includes：74HC123D chips, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, electric capacity
C1, electric capacity C2, electric capacity C3, triode T1, triode T2, mos pipe T3 and optocoupler IC1；
The 1RD pins of one end of resistance R1, one end of electric capacity C3, one end of resistance R2 and R274HC123D chips, VCC draw
Pin, 2RD pins are all connected with positive source, the colelctor electrode of optocoupler IC1 and one end connection+5V power supplys of resistance R5, the one of resistance R6
End connection+15V power supplys,
The other end of electric capacity C3, the negative pole of optocoupler IC1, one end of resistance R3, the emitter stage of triode T1, triode T2
The 1A pins of emitter stage, one end of resistance R7 and R274HC123D chips, GND pin, 2A pins connect power supply ground respectively,
The 1B pins and 2B pins of 74HC123D chips simultaneously as the pulse signal input terminal of impulse ejection circuit 31,
The other end of resistance R1 connects one end of electric capacity C1 and the 2REXT/CEXT pins of 74HC123D chips, electric capacity simultaneously
The other end of C1 connects the 2CEXT pins of 74HC123D chips,
The other end of resistance R2 connects one end of electric capacity C2 and the 1REXT/CEXT pins of 74HC123D chips, electric capacity simultaneously
The other end of C2 connects the 1CEXT pins of 74HC123D chips,
The positive pole of the 2Q pins connection optocoupler IC1 of 74HC123D chips, the emitter stage of optocoupler IC1 connects resistance R3's simultaneously
One end of the other end and resistance R4, the base stage of the other end connecting triode T1 of resistance R4, the colelctor electrode of triode T1 connects simultaneously
The other end of connecting resistance R5 and the base stage of triode T2, the grid of the colelctor electrode connection mos pipes T3 of triode T2, mos pipes T3's
The other end of drain electrode connection resistance R6,
The source electrode of mos pipes T3 as the pulse signal output end connecting wire coil 332 of impulse ejection circuit 31 one end,
The other end of the other end connection resistance R7 of lead loop 332.
In present embodiment, the driving pulse amplitude that pulsed current excitation circuit is produced only has 5V, this driving pulse width
Value is too small, and when this driving pulse is directly loaded into waveguide filament two ends, the current impulse of generation is too small, and then the annular for producing
Magnetic field is too small, causes torsional wave signal too small so that torsional wave is difficult to be detected, therefore by after light-coupled isolation, being carried out to signal
Amplify.
Specific embodiment five：Reference picture 3 illustrates present embodiment, and present embodiment is to specific embodiment one
The unmanned development machine cantilever cutting mechanism detecting system of described cantilevered is described further, and in present embodiment, signal is received
Circuit 32 includes：Potentiometer Rx, resistance R11, resistance R12, resistance R13, resistance R14, amplifier AD1, amplifier AD2, electric capacity
C11, electric capacity C12, electric capacity C13, electric capacity C14, electrochemical capacitor C15, diode D11 and optocoupler IC2；
Two inputs of amplifier AD1 are simultaneously as the signal input part of signal receiving circuit 32, the current collection of optocoupler IC2
Pole connects one end of resistance R14, and simultaneously as the displacement signal output end of signal receiving circuit 32,
One end of potentiometer Rx, the in-phase input end of amplifier AD1, the positive pole of amplifier AD2, one end of resistance R13, electricity
Hold one end, one end of electric capacity C14, the positive pole of electrochemical capacitor C15 of C13 while connecting+12V power supplys, the other end of resistance R14 connects
Connect+5V power supplys, the inverting input of amplifier AD1, the inverting input of amplifier AD2, one end of electric capacity C11 and electric capacity C12
One end simultaneously connect -12V power supplys,
One end of resistance R11, the other end of electric capacity C11, the other end of electric capacity C12, the negative pole of diode D11, electric capacity C13
The other end, the other end of electric capacity C14, the negative pole of electrochemical capacitor C15, the negative pole of optocoupler IC2 and emitter stage connect power supply ground simultaneously,
Another positive pole of the other end connection amplifier AD1 of potentiometer Rx, the adjustable end of potentiometer Rx connects electricity simultaneously
The other end of R11 and an input of amplifier AD1 are hindered, the output end of amplifier AD1 connects one end of resistance R12,
The positive input of the other end connection amplifier AD2 of resistance R12, the inverting input of amplifier AD2 connects simultaneously
Connect the positive pole of diode D11 and the other end of resistance R13, the positive pole of the output end connection optocoupler IC2 of amplifier AD2.
In present embodiment, echo electric pulse amplitude is relatively low, about 2.5mV or so, by adjusting potentiometer Rx multiplication factors,
5V is amplified to, shaping is carried out by amplifier AD2, after leaching clutter, DSP is sent into as stopping through light-coupled isolation output signal
Count signal.
Claims (5)
1. the unmanned development machine cantilever cutting mechanism detecting system of cantilevered, it is characterised in that including：Obliquity sensor (1), corner
Sensor (2), displacement transducer and DSP (4)；
Obliquity sensor (1) for gathering the inclination angle of cantilever, dip angle signal output end connection DSP (4) of obliquity sensor (1)
Dip angle signal input；
Rotary angle transmitter (2) is defeated for gathering the corner of unmanned development machine suspending arm rotary platform, the angular signal of rotary angle transmitter (2)
Go out the angular signal input at end connection DSP (4)；
Displacement transducer is used to gather the displacement of cutterhead, and displacement transducer includes that impulse ejection circuit (31), signal receive electricity
Road (32) and displacement acquisition end (33), displacement acquisition end (33) include：Waveguide (331), lead loop (332), two dampings
Device (333) and two permanent magnets (334)；
The pulse signal input terminal of pulse signal output end connection impulse ejection circuit (31) of DSP (4), impulse ejection circuit
(31) pulse signal output end connecting wire coil (332), the displacement signal input connection signal receiving circuit of DSP (4)
(32) displacement signal output end, one end of signal input part connection waveguide (331) of signal receiving circuit (32), wire
Circle (332) is wrapped on waveguide (331), and two dampers (333) are separately positioned on the two ends of waveguide (331), and two forever
The N poles of magnet (334) are oppositely arranged, waveguide (331) between two permanent magnets (334),
DSP (4) is DSPF28335 chips.
2. the unmanned development machine cantilever cutting mechanism detecting system of cantilevered according to claim 1, it is characterised in that inclination angle
Sensor (1) is photoelectric encoder, and the A of photoelectric encoder is connected the SPIO20 pins of DSP (4), and the B of photoelectric encoder is connected
Connect the SPIO21 pins of DSP (4), the Z of photoelectric encoder is connected the SPIO22 pins of DSP (4).
3. the unmanned development machine cantilever cutting mechanism detecting system of cantilevered according to claim 1, it is characterised in that corner
Sensor (2) is TLE5012B chips,
The SPIO13 pins of SCK pins connection DSP (4) of TLE5012B chips, the CSQ pins connection DSP of TLE5012B chips
(4) SPIO14 pins, the SPIO15 pins of DATA pins connection DSP (4) of TLE5012B chips.
4. the unmanned development machine cantilever cutting mechanism detecting system of cantilevered according to claim 1, it is characterised in that pulse
Radiating circuit (31) includes：74HC123D chips, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance
R7, electric capacity C1, electric capacity C2, electric capacity C3, triode T1, triode T2, mos pipe T3 and optocoupler IC1；
The 1RD pins of one end of resistance R1, one end of electric capacity C3, one end of resistance R2 and R274HC123D chips, VCC pin,
2RD pins are all connected with positive source,
The colelctor electrode of optocoupler IC1 and one end connection+5V power supplys of resistance R5,
One end connection+15V power supplys of resistance R6,
The other end of electric capacity C3, the negative pole of optocoupler IC1, one end of resistance R3, the emitter stage of triode T1, the transmitting of triode T2
Pole, one end of resistance R7 and R274HC123D chipsPin, GND pin,Pin connects power supply ground respectively,
The 1B pins and 2B pins of 74HC123D chips are simultaneously as the pulse signal input terminal of impulse ejection circuit (31), resistance
The other end of R1 connects one end of electric capacity C1 and the 2REXT/CEXT pins of 74HC123D chips simultaneously, and the other end of electric capacity C1 connects
The 2CEXT pins of 74HC123D chips are connect,
The other end of resistance R2 connects one end of electric capacity C2 and the 1REXT/CEXT pins of 74HC123D chips simultaneously, electric capacity C2's
The other end connects the 1CEXT pins of 74HC123D chips,
The positive pole of the 2Q pins connection optocoupler IC1 of 74HC123D chips, the emitter stage of optocoupler IC1 connects the another of resistance R3 simultaneously
End and one end of resistance R4,
The base stage of the other end connecting triode T1 of resistance R4, the colelctor electrode of triode T1 connect simultaneously resistance R5 the other end and
The base stage of triode T2,
The grid of the colelctor electrode connection mos pipes T3 of triode T2, the other end of the drain electrode connection resistance R6 of mos pipes T3,
The source electrode of mos pipes T3 as pulse signal output end connecting wire coil (332) of impulse ejection circuit (31) one end,
The other end of the other end connection resistance R7 of lead loop (332).
5. the unmanned development machine cantilever cutting mechanism detecting system of cantilevered according to claim 1, it is characterised in that signal
Receiving circuit (32) includes：Potentiometer Rx, resistance R11, resistance R12, resistance R13, resistance R14, amplifier AD1, amplifier
AD2, electric capacity C11, electric capacity C12, electric capacity C13, electric capacity C14, electrochemical capacitor C15, diode D11 and optocoupler IC2；
Two inputs of amplifier AD1 are simultaneously as the signal input part of signal receiving circuit (32), the colelctor electrode of optocoupler IC2
One end of connection resistance R14, and simultaneously as the displacement signal output end of signal receiving circuit (32),
One end of potentiometer Rx, the in-phase input end of amplifier AD1, the positive pole of amplifier AD2, one end of resistance R13, electric capacity
One end of C13, one end of electric capacity C14, the positive pole of electrochemical capacitor C15 connect+12V power supplys simultaneously,
Other end connection+5V the power supplys of resistance R14, the inverting input of amplifier AD1, the inverting input of amplifier AD2, electricity
One end of one end and electric capacity C12 for holding C11 connects -12V power supplys simultaneously,
One end of resistance R11, the other end of electric capacity C11, the other end of electric capacity C12, the negative pole of diode D11, electric capacity C13 it is another
One end, the other end of electric capacity C14, the negative pole of electrochemical capacitor C15, the negative pole of optocoupler IC2 and emitter stage connect power supply ground simultaneously,
Another positive pole of the other end connection amplifier AD1 of potentiometer Rx, the adjustable end of potentiometer Rx connects resistance R11 simultaneously
The other end and amplifier AD1 an input, one end of the output end connection resistance R12 of amplifier AD1,
The positive input of the other end connection amplifier AD2 of resistance R12, the inverting input of amplifier AD2 connects two simultaneously
The positive pole of pole pipe D11 and the other end of resistance R13, the positive pole of the output end connection optocoupler IC2 of amplifier AD2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621404269.7U CN206248084U (en) | 2016-12-20 | 2016-12-20 | The unmanned development machine cantilever cutting mechanism detecting system of cantilevered |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621404269.7U CN206248084U (en) | 2016-12-20 | 2016-12-20 | The unmanned development machine cantilever cutting mechanism detecting system of cantilevered |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621404269.7U Expired - Fee Related CN206248084U (en) | 2016-12-20 | 2016-12-20 | The unmanned development machine cantilever cutting mechanism detecting system of cantilevered |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110260778A (en) * | 2019-07-19 | 2019-09-20 | 华中科技大学无锡研究院 | Chamfering measurement method and device based on electromagnetic principle |
| CN114135281A (en) * | 2021-11-12 | 2022-03-04 | 黑龙江科技大学 | Arm type heading machine working mechanism and cutting state description device and description method thereof |
-
2016
- 2016-12-20 CN CN201621404269.7U patent/CN206248084U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110260778A (en) * | 2019-07-19 | 2019-09-20 | 华中科技大学无锡研究院 | Chamfering measurement method and device based on electromagnetic principle |
| CN110260778B (en) * | 2019-07-19 | 2024-05-17 | 华中科技大学无锡研究院 | Chamfering measurement method and device based on electromagnetic principle |
| CN114135281A (en) * | 2021-11-12 | 2022-03-04 | 黑龙江科技大学 | Arm type heading machine working mechanism and cutting state description device and description method thereof |
| CN114135281B (en) * | 2021-11-12 | 2024-04-26 | 黑龙江科技大学 | Arm-type heading machine working mechanism and cutting state description device and method thereof |
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Granted publication date: 20170613 Termination date: 20171220 |