CN207177908U - Development machine tunnels automatic orientation system - Google Patents
Development machine tunnels automatic orientation system Download PDFInfo
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- CN207177908U CN207177908U CN201721222507.7U CN201721222507U CN207177908U CN 207177908 U CN207177908 U CN 207177908U CN 201721222507 U CN201721222507 U CN 201721222507U CN 207177908 U CN207177908 U CN 207177908U
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Abstract
It the utility model is related to excavation work automatic control technology field, and in particular to a kind of development machine tunnels automatic orientation system；Total powerstation including being fixed on fully-mechanized digging machine back body top, ELS electrical laser systems directly over the datum mark in tunnel, the detection system computer being installed in fully-mechanized digging machine fuselage, the gyro sensor being installed in fully-mechanized digging machine fuselage and the fully-mechanized digging machine big gun head control oil circuit being arranged on inside fully-mechanized digging machine；The utility model development machine driving automatic orientation system can automatically determine the position of fully-mechanized digging machine, posture, driving distance, and the cut angle of fully-mechanized digging machine big gun head can be monitored in real time, contrasted with the planned course of fully mechanized workface, the cut border of big gun head is controlled, ensures that the cut of rib is neat；Production efficiency is improved, reduces the labor intensity of worker.
Description
Technical field
It the utility model is related to excavation work automatic control technology field, and in particular to a kind of development machine tunnels automatic orientation
System.
Background technology
The driving face of underground coal mine at present, detection device of the fully-mechanized digging machine in tunneling process, is only capable of referring to using laser
Direction-pointing function is realized to instrument, the border to fully-mechanized digging machine big gun head can not be realized（Vertical plane L1, L2 of tunneling direction both sides, such as Fig. 2 institutes
Show）Control, and entirely sensing process is opened loop control, it is necessary to which underground work personnel artificially judge the driving side of fully-mechanized digging machine
Boundary, fuselage and big gun head posture are adjusted to realize control.This not only severely impacts the driving accuracy of working face in the pit, and digs
Efficiency, the security entered can not also be guaranteed.
The content of the invention
The utility model can not realize the border to fully-mechanized digging machine big gun head for the detection device of the existing fully-mechanized digging machine of solution（Tunnel
The vertical plane of direction both sides）The technical problem being controlled, there is provided one kind integrates sensing, display, control function, possesses and closes
The fully-mechanized digging machine automatic orientation system of ring control.
In order to solve the above technical problems, technical scheme is used by the utility model：
A kind of development machine tunnels automatic orientation system, including is fixed on the total powerstation on fully-mechanized digging machine back body top, installs
ELS electrical laser systems directly over the datum mark in tunnel, the detection system computer being installed in fully-mechanized digging machine fuselage,
The gyro sensor being installed in fully-mechanized digging machine fuselage and the fully-mechanized digging machine big gun head control oil circuit being arranged on inside fully-mechanized digging machine, are installed on
Fully-mechanized digging machine warning system on the left of fully-mechanized digging machine operator seat；The installation site of the ELS electrical laser systems is relative to fully-mechanized digging machine axle
The relation and parameter of line are known；The total powerstation, ELS electrical laser systems, detection system computer are provided with explosion-proof and nothing
Line communication function；
The total powerstation, ELS electrical laser systems, gyro sensor, detection system computer and big gun head control oil circuit
For output block, total powerstation sends laser beam, and ELS electrical laser systems send detection data, and gyro sensor sends comprehensive pick
The real-time attitude signal of machine, big gun head control oil circuit send control instruction, keep real-time communication with detection system computer；ELS
Electrical laser system is also input block, receives the laser beam that sends of total powerstation, gyro sensor also input block,
The attitudes vibration signal of fully-mechanized digging machine is monitored, detection system computer is responsible for receiving total powerstation, ELS electrical laser systems and gyroscope
The signal that sensor is sent, and control oil circuit and fully-mechanized digging machine warning system to keep in communication and contact with fully-mechanized digging machine big gun head, form closed loop
Control system.
The utility model development machine driving automatic orientation system each several part function be：
Total powerstation, there is the total powerstation for sighting objective function automatically, possess explosion-proof and wireless communication function, be fixed on comprehensive pick
Machine back body top, using fully-mechanized digging machine power supply, it is mainly used in measuring horizontal and vertical angle and distance, transmitting laser beam.
ELS electrical laser systems, also known as target or laser target plate, it is installed in the datum mark in tunnel（This point
Positional information obtained by measurement early stage）Surface, possess explosion-proof and wireless communication function, powered using explosion-proof battery.
Its position just has determined that ELS electrical laser systems when mounted, and it is known relative to the relation and parameter of fully-mechanized digging machine axis.
ELS electrical laser systems are an Intelligence sensors, and it receives the laser beam that total powerstation is sent, measure horizontal direction and vertical
The incidence point in direction, determine the tunneling direction of development machine（Point to）With positional information（Ranging）.The gradient and rotation are also by the system
Interior dipmeter survey, drift angle are confirmed by the incidence angle of laser on ELS electrical laser systems.
Detection system computer, for operation control system software, it is installed in the fuselage of development machine, encapsulation, pre- residual
According to input, storage and output interface-SUB interfaces, possesses explosion-proof and wireless communication function.
Gyro sensor, in fully-mechanized digging machine fuselage, for monitoring fully-mechanized digging machine fuselage and big gun head posture in real time, use
Fully-mechanized digging machine power supply.
Fully-mechanized digging machine big gun head controls oil circuit, is responsible for the various cutting actions of control big gun head.
Fully-mechanized digging machine warning system, it is responsible for receiving the alarm command that detection system computer is sent, light, sound can be sent
Signal.
The control process of development machine driving automatic orientation system is：
First, import default tunnelling track to detection system computer, determine datum mark, and using the point as
Benchmark, the initial attitude of fully-mechanized digging machine is adjusted, the center line of track is tunneled to ensure fuselage, big gun head y direction center line with design
Essentially coincide in straight line；
Then, total powerstation transmitting laser beam；ELS electrical laser systems receive the laser beam that total powerstation is sent, and measure is horizontal
Direction and the incidence point of vertical direction, the tunneling direction and positional information of development machine are determined, then these detection data are sent
To detection system computer；Gyro sensor monitors fully-mechanized digging machine fuselage and big gun head posture in real time, and by attitude signal send to
Detection system computer；
Finally, detection system computer under the support of control software to ELS electrical laser systems and gyro sensor
The metrical information of offer is analyzed, and automatically determines the posture of fully-mechanized digging machine and its big gun head, and monitor fully-mechanized digging machine big gun head in real time
Cut angle, carry out big gun head boundary Control：
When rib cut border of the big gun head close to design, detection system computer sends letter to fully-mechanized digging machine warning system
Number, fully-mechanized digging machine warning system sends light and audible alarm；
When big gun head crosses the border cut, detection system computer sends signal to fully-mechanized digging machine big gun head control oil circuit, and it controls oil
Road is automatically locked, and is correspondingly adjusted back, and ensures that the cut of rib is neat.
Control software used in the utility model is existing known software.
The utility model has the advantages that compared with prior art：
The utility model development machine driving automatic orientation system can automatically determine the position of fully-mechanized digging machine, posture, driving distance,
And the cut angle of fully-mechanized digging machine big gun head can be monitored in real time, contrasted with the planned course of fully mechanized workface, big gun head is cut
Cut edge circle is controlled, and ensures that the cut of rib is neat.
The utility model ensure that the accuracy of fully-mechanized digging machine work, improve production efficiency, the work for reducing worker is strong
Degree, suitable for the headwork of various underground driving faces, coal mining enterprise can be made to obtain bigger economic benefit, promoted simultaneously
The automation equipment upgrading of underground coal mine.The utility model uses modular design method, is applicable to what different drivings required
Driving face, and transmission of wireless signals is used, Computer signal processing, real-time is good, precision is high, noise is low, can realize
Precision control, it is easily scalable.
Brief description of the drawings
Fig. 1 is the structural representation that the utility model development machine tunnels automatic orientation system.
Fig. 2 is fully-mechanized digging machine border schematic diagram.
Fig. 3 is workflow diagram of the present utility model.
Marked in figure as follows：
1- total powerstations, 2-ELS electronic lasers system, 3- detection system computers, 4- gyro sensors, 5- fully-mechanized digging machine big gun heads
Control oil circuit, 6- fully-mechanized digging machine warning systems, 7- datum marks, 8- development ends, 9- coal seams.
Embodiment
Below in conjunction with specific embodiment, the utility model is described in further detail.
Embodiment 1
As shown in figure 1, a kind of development machine driving automatic orientation system, including it is fixed on the complete of fully-mechanized digging machine back body top
Stand instrument 1, the ELS electrical laser systems 2 directly over the datum mark in tunnel, the detection being installed in fully-mechanized digging machine fuselage
Component computer 3, the gyro sensor 4 being installed in fully-mechanized digging machine fuselage and the fully-mechanized digging machine big gun head control being arranged on inside fully-mechanized digging machine
Liquefaction road 5, the fully-mechanized digging machine warning system 6 being installed on the left of fully-mechanized digging machine operator seat；The installation position of the ELS electrical laser systems 2
It is known to put relative to the relation and parameter of fully-mechanized digging machine axis；The total powerstation 1, ELS electrical laser systems 2, detection system meter
Calculation machine 3 is provided with explosion-proof and wireless communication function.
Before fully-mechanized digging machine work starts, default tunnelling track is imported to detection system computer 3 first（Such as Fig. 2 institutes
Show）；Datum mark is determined, and on the basis of the point, adjusts the initial attitude of fully-mechanized digging machine, to ensure that fuselage, big gun head posture are expired
The tunneling direction designed enough（Fuselage, big gun head y direction center line and the center line of design driving track are essentially coincided in one
Straight line L）, total powerstation 1 launches laser beam during fully-mechanized digging machine, is swashed by what ELS electronic lasers system 2 received that total powerstation 1 sends
Light beam, incidence point horizontally and vertically is determined, determine the tunneling direction of development machine（Point to）With positional information（Survey
Away from）.The gradient and rotation also by the dipmeter survey in the system, drift angle by laser on ELS electrical laser systems 2 incidence angle
Confirm.ELS electronic lasers system 2 be arranged on tunnel datum mark directly over, when mounted its positional information just it has been determined that it
Relation and parameter relative to fully-mechanized digging machine axis be, it is known that ELS electronic lasers system 2 sends positional information to detection system based on
Calculation machine 3；Gyro sensor 4 in fully-mechanized digging machine fuselage monitors its attitude information in real time, and it is passed into detection system in real time
Computer 3；ELS electronic lasers system 2, gyro sensor 4 are provided by the detection system software on detection system computer 3
Metrical information is analyzed, and automatically determines the posture of fully-mechanized digging machine and its big gun head, and monitors the cut of fully-mechanized digging machine big gun head in real time
Angle, carry out the boundary Control of big gun head（X, Y-direction）, ensure that the cut of rib is neat.When the rib cut of the close design of big gun head
Border（As shown in L1, L2 in Fig. 2）When, fully-mechanized digging machine warning system 6 sends light warning；When big gun head crosses the border cut, detection system
System software sends signal to fully-mechanized digging machine big gun head control oil circuit 5, is controlled oil circuit to be automatically locked, and correspondingly adjusted back（Protect
Protect rib border）So that the X of fully-mechanized digging machine big gun head, Y plane cut scope are no more than X1 ~ X2 sections all the time（As shown in Figure 2）.
As Fig. 3 workflow diagrams of the present utility model comprise the following steps：
1st, default tunnelling track is imported to detection system computer 3；
2nd, pose adjustment is carried out to fully-mechanized digging machine and its big gun head based on datum mark；
3rd, start total powerstation 1, reset；
4th, total powerstation 1 launches laser beam；
5th, the laser beam that total powerstation 1 sends is received by ELS electrical laser systems 2, determined horizontally and vertically
Incidence point；
6th, the tunneling direction of development machine is determined（Point to）With positional information（Ranging）.The gradient and rotation are also by the system
Dipmeter survey, drift angle are confirmed by the incidence angle of laser on ELS electrical laser systems 2；
7th, metrical information is transmitted to detection system computer 3 by ELS electrical laser systems 2；
8th, fully-mechanized digging machine and its big gun head attitude information are passed to detection system computer 3 by gyro sensor 4；
9th, the control software on detection system computer 3 is analyzed the position of fully-mechanized digging machine and its big gun head, attitude information,
Send corresponding control signal；
10th, when the rib cut border of the close design of big gun head（L1, L2) when, control software sends early warning control signal, comprehensive
Pick machine warning system 6 sends light, audible alarm；
11st, when big gun head crosses the border cut, control software sends control signal, and fully-mechanized digging machine big gun head control oil circuit 5 is automatically locked,
And adjusted back accordingly；
12nd, confirm through field personnel, adjust the cut angle of fully-mechanized digging machine big gun head, worked again in preset boundary.
Claims (1)
1. a kind of development machine tunnels automatic orientation system, it is characterised in that：Including being fixed on the complete of fully-mechanized digging machine back body top
Stand instrument（1）, the ELS electrical laser systems directly over the datum mark in tunnel（2）, it is installed in fully-mechanized digging machine fuselage
Detection system computer（3）, the gyro sensor that is installed in fully-mechanized digging machine fuselage（4）With the comprehensive pick being arranged on inside fully-mechanized digging machine
Machine gun head controls oil circuit（5）, the fully-mechanized digging machine warning system that is installed on the left of fully-mechanized digging machine operator seat（6）；The ELS electronic lasers system
System（2）Installation site relative to the relation and parameter of fully-mechanized digging machine axis be known；The total powerstation（1）, ELS electronic lasers system
System（2）, detection system computer（3）It is provided with explosion-proof and wireless communication function；
Total powerstation（1）Send laser beam, ELS electrical laser systems（2）Send detection data, gyro sensor（4）Send comprehensive
The real-time attitude signal of pick machine, big gun head control oil circuit send control instruction, with detection system computer（3）Keep logical in real time
News；ELS electrical laser systems（2）Receive total powerstation（1）The laser beam sent, gyro sensor（4）Monitor the appearance of fully-mechanized digging machine
State variable signal, detection system computer（3）It is responsible for receiving total powerstation（1）, ELS electrical laser systems（2）And gyro sensors
Device（4）The signal sent, and control oil circuit with fully-mechanized digging machine big gun head（5）With fully-mechanized digging machine warning system（6）Keep in communication contact, formed
Closed-loop control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721222507.7U CN207177908U (en) | 2017-09-22 | 2017-09-22 | Development machine tunnels automatic orientation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721222507.7U CN207177908U (en) | 2017-09-22 | 2017-09-22 | Development machine tunnels automatic orientation system |
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| CN207177908U true CN207177908U (en) | 2018-04-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209394A (en) * | 2018-09-19 | 2019-01-15 | 淮北矿业股份有限公司 | A kind of roadway construction method |
| CN109630154A (en) * | 2019-01-24 | 2019-04-16 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Tunneling robot for tunneling and remote mobile terminal command system |
| CN113345128A (en) * | 2021-05-31 | 2021-09-03 | 中铁工程装备集团有限公司 | Tunnel boring machine key component abnormity alarm method and device |
-
2017
- 2017-09-22 CN CN201721222507.7U patent/CN207177908U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209394A (en) * | 2018-09-19 | 2019-01-15 | 淮北矿业股份有限公司 | A kind of roadway construction method |
| CN109630154A (en) * | 2019-01-24 | 2019-04-16 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Tunneling robot for tunneling and remote mobile terminal command system |
| CN109630154B (en) * | 2019-01-24 | 2023-08-25 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Tunneling robot for tunneling and remote mobile terminal command system |
| CN113345128A (en) * | 2021-05-31 | 2021-09-03 | 中铁工程装备集团有限公司 | Tunnel boring machine key component abnormity alarm method and device |
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