CN207050702U - A kind of fully-mechanized mining working surface hydraulic support linearity measurer - Google Patents
A kind of fully-mechanized mining working surface hydraulic support linearity measurer Download PDFInfo
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- CN207050702U CN207050702U CN201720953027.1U CN201720953027U CN207050702U CN 207050702 U CN207050702 U CN 207050702U CN 201720953027 U CN201720953027 U CN 201720953027U CN 207050702 U CN207050702 U CN 207050702U
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Abstract
The utility model discloses a kind of fully-mechanized mining working surface hydraulic support linearity measurer, including multiple marking plates, the robot for ranging and the guide rail for mounting robot, a marking plate is laid in each hydraulic support foundation front end, and robot includes housing, the electronic circuit board for being arranged on enclosure interior, the electric walking mechanism positioned at housing bottom and the monocular range cells for measuring distance between marking plate and robot.The utility model on hydraulic support foundation by setting marking plate and proximity switch, when robot is moved to proximity switch, monocular range cells are measured to the distance between robot and marking plate, and measurement result is transferred into controller, and measurement result is transmitted to host computer by controller again；By setting host computer, the distance signal that controller transmits can be received in real time, after monitoring personnel is analyzed the data that host computer receives, draw the linearity of hydraulic support group, reliability is high, practical.
Description
Technical field
The utility model belongs to equipment running status monitoring technical field, and in particular to a kind of fully-mechanized mining working surface hydraulic support
Linearity measurer.
Background technology
Fully-mechanized mining working surface hydraulic support linearity is the important parameter of support straightening and fully-mechanized mining working operation.In some ore deposits
Area, coal-winning machine are automatically controlled using automatic coal cutting technology, and hydraulic support follows coal-winning machine to realize that position automatically moves, and are realized
The even unmanned target of the few peopleization of working face in production process, but after working face is carried out continuously repeatedly coal mining, due to
Cumulative errors, as the unmanned exploitation of working face the problem of the linearity control of comprehensive mining hydraulic bracket in continuous progradation
Technical bottleneck.In face of this problem, generally use manually in working face drawstring or beats the modes such as infrared beam and provides hydraulic support
Localization criteria, then manually adjusted with worker to realize the straightening of working surface hydraulic support.Such method had both been unsatisfactory for fully mechanized mining work
Make the automating of face, intelligentized target, cannot guarantee that accuracy.Problem in summary, machine vision technique can be utilized,
Fully-mechanized mining working surface hydraulic support linearity is measured by certain technological means.
Therefore, a kind of rational linearity measurer novel in design is nowadays lacked, by hydraulic support foundation
Marking plate is set, and robot can be measured by monocular range cells to the distance between marking plate and robot；Pass through
When being positioned proximate to switch can make the robot be moved to proximity switch, monocular range cells in real time to robot and marking plate it
Between distance measure, and measurement result is transferred to controller, the robot does not have to stop walking in measurement process,
The efficiency of measurement is improved, while avoids measurement error caused by site error of the robot in measurement；By in setting
Position machine, can receive the distance signal that controller transmits in real time, monitoring personnel is analyzed the data that host computer receives
Afterwards, the linearity of hydraulic support group is drawn.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided a kind of fully mechanized mining
Working surface hydraulic support linearity measurer, by setting marking plate and proximity switch on hydraulic support foundation, work as machine
When people is moved to proximity switch, monocular range cells are measured to the distance between robot and marking plate, and measurement is tied
Fruit is transferred to controller, and measurement result is transmitted to host computer by controller again, and the robot does not have to stop row in measurement process
Walk, improve the efficiency of measurement, while avoid measurement error caused by site error of the robot in measurement；Pass through setting
Host computer, can receive the distance signal that controller transmits in real time, and monitoring personnel divides the data that host computer receives
After analysis, the linearity of hydraulic support group is drawn, reliability is high, practical, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of fully-mechanized mining working surface hydraulic support
Linearity measurer, it is characterised in that：Including multiple marking plates, the robot for ranging and for installing the robot
Guide rail, each hydraulic support foundation front end lays a marking plate, the robot include housing, be arranged on it is described
The spacing of the electronic circuit board of enclosure interior, the electric walking mechanism positioned at housing bottom and measurement marking plate and the robot
From monocular range cells, the guide rail is laid on drag conveyor along the length direction of drag conveyor, the guide rail with
Multiple hydraulic supports are in parallel laying, are provided with multiple proximity switches on the guide rail, each described proximity switch is equal
Positioned at the front side of a marking plate, controller is provided with the electronic circuit board, the controller passes through wireless communication unit
With host computer two-way communication, the monocular range cells are connected with controller, and the proximity switch is connected with controller, the electricity
Dynamic walking mechanism is controlled by controller and is connected with controller.
A kind of above-mentioned fully-mechanized mining working surface hydraulic support linearity measurer, it is characterized in that：The proximity switch is setting
Multiple through holes that can be vortexed sensor identification, each institute are provided with the eddy current sensor of lower housing portion, the guide rail
State the front side that through hole is respectively positioned on a hydraulic support.
A kind of above-mentioned fully-mechanized mining working surface hydraulic support linearity measurer, it is characterized in that：The monocular range cells are
Monocular vision rangefinder.
A kind of above-mentioned fully-mechanized mining working surface hydraulic support linearity measurer, it is characterized in that：The host computer is explosion-proof meter
Calculation machine.
A kind of above-mentioned fully-mechanized mining working surface hydraulic support linearity measurer, it is characterized in that：On the electronic circuit board also
Inertial navigator is laid with, the inertial navigator is connected with controller.
The utility model has advantages below compared with prior art：
1st, for the utility model by setting marking plate on hydraulic support foundation, robot can pass through monocular range cells
The distance between marking plate and robot are measured, and the result measured is transferred to host computer, final monitoring personnel
The linearity of the hydraulic support group can be calculated according to the measurement result on host computer, principle is simple, is easy to promote the use of.
2nd, when the utility model can make the robot be moved to proximity switch by being positioned proximate to switch, monocular range cells
The distance between robot and marking plate are measured in real time, robot does not have to stop walking in measurement process, improves
The efficiency of measurement, while measurement position is more accurate, avoids and measures knot caused by site error of the robot in measurement
Fruit error, reliable and stable, using effect is good.
3rd, the utility model is novel in design rationally, by setting controller can be by controlling electric walking mechanism to control
The walking of robot, controller can also control monocular range cells to measure the distance between robot and marking plate,
The distance signal that monocular range cells measure can be transferred to host computer in real time by controller by wireless communication unit, prison
After survey personnel are analyzed the data that host computer receives, the linearity of hydraulic support group is drawn, it is practical, it is easy to promote
Use.
In summary, the utility model is novel in design rationally, by setting marking plate, robot on hydraulic support foundation
The distance between marking plate and robot can be measured by monocular range cells；It can be made by being positioned proximate to switch
When robot is moved to proximity switch, monocular range cells measure to the distance between robot and marking plate in real time,
And measurement result is transferred to controller, the robot does not have to stop walking in measurement process, improves the efficiency of measurement,
Measurement error caused by site error of the robot in measurement is avoided simultaneously；By setting host computer, can connect in real time
The distance signal that admission controller transmits, after monitoring personnel is analyzed the data that host computer receives, draw hydraulic support group
Linearity, reliability is high, practical, is easy to promote the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is use state figure of the present utility model.
Fig. 2 is the schematic view of the mounting position of the utility model robot and guide rail.
Fig. 3 is control principle block diagram of the present utility model.
Description of reference numerals:
1-controller；2-wireless communication unit；3-host computer；
4-monocular range cells；5-electric walking mechanism；6-proximity switch；
7-housing；8-guide rail；9-through hole；
10-eddy current sensor；11-marking plate；12-inertial navigator.
Embodiment
As shown in Figure 1, Figure 2 and Figure 3, the utility model includes multiple marking plates 11, the robot for ranging and is used for
The guide rail 8 of the robot is installed, a marking plate 11 is laid in each hydraulic support foundation front end, and the robot includes shell
Body 7, the electronic circuit board being arranged on inside the housing 7, the electric walking mechanism 5 positioned at the bottom of housing 7 and measurement marking plate
The monocular range cells 4 of distance between 11 and the robot, length direction of the guide rail 8 along drag conveyor, which is laid in, to be scraped
On plate conveyer, the guide rail 8 is in parallel laying with multiple hydraulic supports, and multiple approach is provided with the guide rail 8 and is opened
6 are closed, each proximity switch 6 is respectively positioned on the front side of a marking plate 11, and controller is provided with the electronic circuit board
1, the controller 1 is connected by wireless communication unit 2 and the two-way communication of host computer 3, the monocular range cells 4 with controller 1
Connect, the proximity switch 6 is connected with controller 1, and the electric walking mechanism 5 is controlled by controller 1 and connected with controller 1
Connect.
In actual use, by setting marking plate 11 on the hydraulic support foundation, the robot can lead to
Cross monocular range cells 4 to measure the distance between marking plate 11 and the robot, and the result measured is transmitted
To controller 1, measurement result is issued host computer 3 by the controller 1, and final monitoring personnel can be according to the measurement on host computer 3
As a result the linearity of the hydraulic support group is calculated；By being positioned proximate to switch 6, can be moved to the robot close
When switching 6, the monocular range cells 4 measure to the distance between the robot and marking plate 11 in real time, described
Robot does not have to stop walking in measurement process, improves the efficiency of measurement, while measurement position is more accurate, avoids institute
State measuring result error caused by site error of the robot in measurement；Electric walking can be controlled by the controller 1
Mechanism 5 drives the robot ambulation, and the controller 1 can be measured monocular range cells 4 by wireless communication unit 2
Distance signal be transferred to host computer 3 in real time, after the data that monitoring personnel receives to host computer 3 are analyzed, draw institute
State the linearity of hydraulic support group；The guide rail 8 is laid on the outside of the cell wall of the feeding groove side of drag conveyor, the guide rail
8 be to be flexibly connected the flexible rail being formed as one by more piece rail.
As depicted in figs. 1 and 2, in the present embodiment, the proximity switch 6 is the eddy current sensor for being arranged on the bottom of housing 7
10, multiple through holes 9 that can be vortexed the identification of sensor 10 are provided with the guide rail 8, each described through hole 9 is respectively positioned on one
The front side of the hydraulic support.
In actual use, the eddy current sensor 10 can recognize the through hole 9 positioned at the surface of guide rail 8, while institute
The signal that eddy current sensor 10 sends a beginning ranging to controller 1 is stated, the controller 1 can control list after receiving signal
Mesh range cells 4 carry out a ranging.
As shown in figure 1, in the present embodiment, the monocular range cells 4 are monocular vision rangefinder.
In actual use, the monocular range cells 4 have abundant information, investigative range is wide, target information is complete
The advantages that, ultrasonic ranging unit or laser ranging unit can also be used during actual use.
As shown in figure 3, in the present embodiment, the host computer 3 is anti-explosion computer.
In actual use, the anti-explosion computer meets the requirement of particular surroundings within coal mines, safer
Reliably.
As shown in figure 3, inertial navigator 7 is also laid with the electronic circuit board, the inertial navigator 7 and controller
1 connection.
In actual use, by setting inertial navigator 12 to make monocular range cells 4 every time to the hydraulic support
When carrying out ranging, the definite position coordinates of monocular range cells 4 can be obtained, facilitates staff to pass through monocular in a period of time
The change of the position coordinates of range cells 4, grasp the change in location situation of the drag conveyor and the hydraulic support.
The utility model is in use, the robot walks along guide rail 8, when the robot ambulation to proximity switch 6
When, the robot walking while monocular range cells 4 in real time to the distance between the robot and marking plate 11
Measure, measurement result is then transmitted to controller 1, then, the controller 1 will be measured by wireless communication unit 2 and tied
Fruit sends host computer 3 in real time, after the measurement data that monitoring personnel receives to host computer 3 is analyzed, draws the liquid
Press the linearity of support group.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (5)
- A kind of 1. fully-mechanized mining working surface hydraulic support linearity measurer, it is characterised in that：Including multiple marking plates (11), it is used for A mark is laid in the robot of ranging and the guide rail (8) for installing the robot, each hydraulic support foundation front end Plate (11), the robot include housing (7), are arranged on the internal electronic circuit board of the housing (7), positioned at housing (7) bottom The monocular range cells (4) of distance, described between the electric walking mechanism (5) and measurement marking plate (11) and the robot in portion Guide rail (8) is laid on drag conveyor along the length direction of drag conveyor, the guide rail (8) and multiple hydraulic supports In parallel laying, multiple proximity switches (6) are provided with the guide rail (8), each described proximity switch (6) is respectively positioned on one The front side of marking plate (11), controller (1) is provided with the electronic circuit board, the controller (1) passes through radio communication list First (2) and host computer (3) two-way communication, the monocular range cells (4) are connected with controller (1), the proximity switch (6) and Controller (1) connects, and the electric walking mechanism (5) is controlled by controller (1) and is connected with controller (1).
- 2. according to a kind of fully-mechanized mining working surface hydraulic support linearity measurer described in claim 1, it is characterised in that：It is described Proximity switch (6) is to be arranged on the eddy current sensor (10) of housing (7) bottom, be provided with the guide rail (8) it is multiple can be by whirlpool The through hole (9) of flow sensor (10) identification, each through hole (9) are respectively positioned on the front side of a hydraulic support.
- 3. according to a kind of fully-mechanized mining working surface hydraulic support linearity measurer described in claim 1 or 2, it is characterised in that： The monocular range cells (4) are monocular vision rangefinder.
- 4. according to a kind of fully-mechanized mining working surface hydraulic support linearity measurer described in claim 1 or 2, it is characterised in that： The host computer (3) is anti-explosion computer.
- 5. according to a kind of fully-mechanized mining working surface hydraulic support linearity measurer described in claim 1 or 2, it is characterised in that： Inertial navigator (12) is also laid with the electronic circuit board, the inertial navigator (12) is connected with controller (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953027.1U CN207050702U (en) | 2017-08-02 | 2017-08-02 | A kind of fully-mechanized mining working surface hydraulic support linearity measurer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953027.1U CN207050702U (en) | 2017-08-02 | 2017-08-02 | A kind of fully-mechanized mining working surface hydraulic support linearity measurer |
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| CN207050702U true CN207050702U (en) | 2018-02-27 |
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ID=61498877
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827220A (en) * | 2018-04-27 | 2018-11-16 | 西安科技大学 | A kind of coal mine fully-mechanized mining working Linearity surveying method based on inertial navigation |
| CN109115173A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Machine body of boring machine pose monocular vision measurement method based on straight line location model |
| CN110108202A (en) * | 2019-03-01 | 2019-08-09 | 太原理工大学 | A kind of hydraulic support apparatus for detecting position and posture and method |
| CN111561865A (en) * | 2020-03-26 | 2020-08-21 | 三一重型装备有限公司 | Measuring device and measuring method for beam end curve of hydraulic support |
| CN111811427A (en) * | 2020-06-30 | 2020-10-23 | 中国矿业大学 | Method for monitoring straightness of scraper conveyor |
| CN112324483A (en) * | 2020-11-03 | 2021-02-05 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN113587883A (en) * | 2021-07-27 | 2021-11-02 | 联想新视界(江苏)设备服务有限公司 | Elevator main rail installation detection device |
-
2017
- 2017-08-02 CN CN201720953027.1U patent/CN207050702U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827220A (en) * | 2018-04-27 | 2018-11-16 | 西安科技大学 | A kind of coal mine fully-mechanized mining working Linearity surveying method based on inertial navigation |
| CN109115173A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Machine body of boring machine pose monocular vision measurement method based on straight line location model |
| CN109115173B (en) * | 2018-08-23 | 2020-09-11 | 西安科技大学 | Monocular vision measuring method for position and attitude of heading machine body based on linear positioning model |
| CN110108202A (en) * | 2019-03-01 | 2019-08-09 | 太原理工大学 | A kind of hydraulic support apparatus for detecting position and posture and method |
| CN110108202B (en) * | 2019-03-01 | 2021-07-06 | 太原理工大学 | Hydraulic support pose detection device and method |
| CN111561865A (en) * | 2020-03-26 | 2020-08-21 | 三一重型装备有限公司 | Measuring device and measuring method for beam end curve of hydraulic support |
| CN111811427A (en) * | 2020-06-30 | 2020-10-23 | 中国矿业大学 | Method for monitoring straightness of scraper conveyor |
| CN112324483A (en) * | 2020-11-03 | 2021-02-05 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN112324483B (en) * | 2020-11-03 | 2022-03-25 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN113587883A (en) * | 2021-07-27 | 2021-11-02 | 联想新视界(江苏)设备服务有限公司 | Elevator main rail installation detection device |
| CN113587883B (en) * | 2021-07-27 | 2023-05-23 | 联想新视界(江苏)设备服务有限公司 | Elevator main rail installation detection device |
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