CN209469434U - Development machine - Google Patents
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- CN209469434U CN209469434U CN201821596015.9U CN201821596015U CN209469434U CN 209469434 U CN209469434 U CN 209469434U CN 201821596015 U CN201821596015 U CN 201821596015U CN 209469434 U CN209469434 U CN 209469434U
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- fuselage
- detection device
- development machine
- boring mechanism
- cutting arm
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Abstract
The utility model provides a kind of development machine, comprising: fuselage；Boring mechanism is set on fuselage；Inertial navigation module is set on fuselage, for determining the posture of fuselage；First detection device, is set on boring mechanism, for detecting the heave amplitude of boring mechanism；Second detection device is set on boring mechanism, for detecting the revolution amplitude of boring mechanism；Controller is connected with inertial navigation module, the first detection device, second detection device, and controller can work according to the gesture stability boring mechanism of the first detection device, the testing result of second detection device and fuselage.The utility model inertial navigation system is applied in the control of development machine, it can be achieved that automatic driving to development machine.
Description
Technical field
The utility model relates to technical field of engineering machinery, in particular to a kind of development machine.
Background technique
In coal mine digging intelligent Process, input for safety is increased, reduce the amount of labour of staff and improves working environment,
Realizing that development machine carries out far-end operation in centralized control room is a kind of inexorable trend.Therefore develop it is a set of have remote operation,
Information state monitoring and visual development machine remote intelligent control system, realize it is unmanned in driving face tunneling process and
Few people's chemical conversion is a technical problem urgently to be solved.
Utility model content
The utility model aims to solve at least one of the technical problems existing in the prior art.
For this purpose, the utility model provides a kind of development machine.
The utility model provides a kind of development machine, comprising: fuselage；Boring mechanism is set on fuselage；Inertial navigation mould
Block is set on fuselage, for determining the posture of fuselage；First detection device, is set on boring mechanism, for detecting driving
The heave amplitude of mechanism；Second detection device is set on boring mechanism, for detecting the revolution amplitude of boring mechanism；Control
Device is connected with inertial navigation module, the first detection device, second detection device, and controller can be according to the first detection device,
The testing result of two detection devices and the gesture stability boring mechanism work of fuselage.
Development machine provided by the utility model is provided with inertial navigation module on fuselage, specifically, inertial navigation mould
Block is built-in with the measuring cells such as gyroscope, can the exercise datas such as acceleration to fuselage be measured in real time, then calculate and obtain
Fuselage changing coordinates, and then determine the real-time attitude of fuselage, and the first detection device being set on boring mechanism and the second inspection
Heave amplitude and revolution amplitude that device detects boring mechanism respectively are surveyed, obtains the current state of boring mechanism, controller is obtaining
Take after the posture of the heave amplitude of boring mechanism, revolution amplitude and fuselage can the work of autonomous control boring mechanism, realize driving
The voluntarily driving of machine realizes that development machine is carried out in centralized control room to reduce the amount of labour of staff and improve working environment
Far-end operation.
Specifically, inertial navigation system is applied in the automatic control of development machine by the utility model, can independently obtain machine
The posture of body then comprehensively considers the automatic control of the heave amplitude, the realization of revolution amplitude of boring mechanism to development machine, so that pick
Far-end operation can be carried out in centralized control room into machine, realize remote operation, automatic driving, information state monitoring and visual control
System realizes that development machine independent navigation, control development machine carry out autonomous headwork, realizes unmanned in tunneling process and few people
Change, reduces the amount of labour of staff and improve working environment.
According to the above-mentioned development machine of the utility model, there can also be following additional technical feature:
In the above-mentioned technical solutions, it is preferable that boring mechanism includes: cutting arm, and one end of cutting arm is connected with fuselage；
Cutterhead is set to the other end of cutting arm；Driving device is connected with cutting arm and cutterhead, and driving device can control
Cutting arm and cutterhead work are driven under the control instruction of device.
In the technical scheme, cutting arm interconnected and driving device are provided on fuselage, and in cutting arm
End is provided with cutterhead, and during boring mechanism work, driving device drives cutting under the control instruction of controller
Then arm and cutterhead drive cutterhead to carry out headwork to predeterminated position.Specifically, phase can be used with cutterhead in cutting arm
Mutual independent driving device is driven, and can also be driven by the same driving device.
Specifically, since controller has known the posture of fuselage according to inertial navigation module, can guarantee to tunnel
The spatial position of machine is accurate, and the first detection device and second detection device cooperate, and can know the accurate of boring mechanism
Position, and then realize and boring mechanism is precisely controlled, guarantee the voluntarily driving of development machine.
In any of the above-described technical solution, it is preferable that the first detection device is displacement sensor, and displacement sensor, which is located at, to be driven
On the lifting cylinder of dynamic device.
In the technical scheme, displacement sensor is set by the first detection device, and is positioned on lifting cylinder,
During lifting cylinder lifting, displacement sensor can go up and down displacement to it and detect, and then obtain detection boring mechanism
Heave amplitude.
In any of the above-described technical solution, it is preferable that the first detection device is obliquity sensor, and obliquity sensor, which is located at, to be cut
It cuts on arm.
In the technical scheme, obliquity sensor is set by the first detection device, and be positioned on cutting arm,
During cutting arm moves, obliquity sensor can detect the movement of cutting arm, and then obtain the lifting of boring mechanism
Amplitude.
In any of the above-described technical solution, it is preferable that second detection device is displacement sensor, and displacement sensor, which is located at, to be driven
On the angling cylinder of dynamic device.
In the technical scheme, displacement sensor is set by second detection device, and is positioned on angling cylinder,
During angling cylinder revolution, displacement sensor can detect its rotary displacement, and then obtain returning for boring mechanism
Turn amplitude.
In any of the above-described technical solution, it is preferable that second detection device is angular transducer, and angular transducer is located at pick
Into on the revolving platform of mechanism.
In the technical scheme, angular transducer is set by second detection device, and is positioned on revolving platform,
During revolving platform movement, angular transducer can detect the rotary motion of revolving platform, and then obtain driving
The heave amplitude of mechanism.
In any of the above-described technical solution, it is preferable that the posture of fuselage are as follows: the roll angle of the pitch angle of fuselage, fuselage
The horizontal deflection angle of degree, fuselage.
In the technical scheme, the posture of fuselage includes but is not limited to following data: the pitch angle of fuselage, fuselage turn over
The horizontal deflection angle of roll angle degree, fuselage can accurately obtain the physical location shape of fuselage by the detection to above-mentioned data
State works so that controller controls development machine according to virtual condition.
In any of the above-described technical solution, it is preferable that further include: third detection device is set on fuselage, with controller
It is connected, the traveling for detecting fuselage is displaced.
In the technical scheme, it is provided with third detection device on fuselage, and fuselage is detected by third detection device
Traveling displacement, development machine work during, the posture of controller synthesis fuselage, the traveling displacement of fuselage and boring mechanism
Heave amplitude and revolution amplitude realize development machine automatic driving.
In any of the above-described technical solution, it is preferable that third detection device is with one of lower sensor: bracing wire displacement sensing
Device, laser range sensor.
In the technical scheme, stay wire displacement sensor or laser range sensor are set by third detection device, it can
It is configured according to the actual situation, the sensor can guarantee the accurate measurement of the traveling displacement of fuselage.
In any of the above-described technical solution, it is preferable that controller and inertial navigation module, the first detection device, the second inspection
Surveying device is remote control connection or wired connection.
In the technical scheme, controller and inertial navigation module, the first detection device, second detection device connection side
Formula can be according to its needs be configured, and specifically, the mode that wired connection can be used reduces cost, and wireless remote control can also be used
Mode convenient for operation.
The additional aspect and advantage of the utility model will become obviously in following description section, or practical new by this
The practice of type is recognized.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 is the structural block diagram of the development machine of the utility model one embodiment；
Fig. 2 is the structural block diagram of the development machine of the utility model another embodiment.
Wherein, the corresponding relationship in Fig. 1 and Fig. 2 between appended drawing reference and component names are as follows:
100 development machines, 102 fuselages, 104 boring mechanisms, 106 inertial navigation modules, 108 first detection devices, 110 second
Detection device, 112 controllers, 114 third detection devices.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are explained in the following description in order to fully understand the utility model, still, this is practical
It is novel to be implemented using other than the one described here mode, therefore, the protection scope of the utility model not by
The limitation of following public specific embodiment.
The development machine 100 provided according to some embodiments of the utility model is described referring to Fig. 1 and Fig. 2.
The utility model first aspect proposes a kind of development machine 100, as shown in Figure 1, comprising: fuselage 102；Boring mechanism
104, it is set on fuselage 102；Inertial navigation module 106 is set on fuselage 102, for determining the posture of fuselage 102；The
One detection device 108, is set on boring mechanism 104, for detecting the heave amplitude of boring mechanism 104；Second detection device
110, it is set on boring mechanism 104, for detecting the revolution amplitude of boring mechanism 104；Controller 112, with inertial navigation mould
Block 106, the first detection device 108, second detection device 110 are connected, and controller 112 can be according to the first detection device 108,
The testing result of two detection devices 110 and the gesture stability boring mechanism 104 of fuselage 102 work.
Development machine 100 provided by the utility model is provided with inertial navigation module 106 on fuselage 102, specifically, is used to
Property navigation module 106 is built-in with the measuring cells such as gyroscope, can the exercise data to the acceleration of fuselage 102 examined in real time
It surveys, then calculates and obtain 102 changing coordinates of fuselage, and then determine the real-time attitude of fuselage 102, and be set to boring mechanism 104
On the first detection device 108 and second detection device 110 detect respectively boring mechanism 104 heave amplitude and revolution amplitude,
Obtain the current state of boring mechanism 104, controller 112 obtain according to the heave amplitude of boring mechanism 104, revolution amplitude and
After the posture of fuselage 102 can autonomous control boring mechanism 104 work, realize development machine 100 voluntarily driving, to reduce work
The amount of labour of personnel simultaneously improves working environment, realizes that development machine 100 carries out far-end operation in centralized control room.
Specifically, inertial navigation system is applied in the automatic control of development machine 100 by the utility model, can independently obtain
The posture of fuselage 102 then comprehensively considers the heave amplitude of boring mechanism 104, revolution amplitude is realized to the automatic of development machine 100
Control realizes remote operation, automatic driving, information state prison so that development machine 100 can carry out far-end operation in centralized control room
Control and visual control realize that 100 independent navigation of development machine, control development machine 100 carry out autonomous headwork, realize driving
Unmanned in the process and few peopleization, reduces the amount of labour of staff and improves working environment.
In one embodiment of the utility model, it is preferable that boring mechanism 104 includes: cutting arm, one end of cutting arm
It is connected with fuselage 102；Cutterhead is set to the other end of cutting arm；Driving device is connected with cutting arm and cutterhead,
Driving device can drive cutting arm and cutterhead to work under the control instruction of controller 112.
In this embodiment, cutting arm interconnected and driving device are provided on fuselage 102, and in cutting arm
End is provided with cutterhead, and during boring mechanism 104 works, driving device is driven under the control instruction of controller 112
Then dynamic cutting arm and cutterhead drive cutterhead to carry out headwork to predeterminated position.Specifically, cutting arm and cutterhead can
It is driven, can also be driven by the same driving device using mutually independent driving device.
It specifically, can be with since controller 112 has known the posture of fuselage 102 according to inertial navigation module 106
Guarantee that the spatial position of development machine 100 is accurate, and the first detection device 108 cooperates with second detection device 110, can obtain
Know the elaborate position of boring mechanism 104, and then realize being precisely controlled to boring mechanism 104, guarantees the voluntarily pick of development machine 100
Into.
In one embodiment of the utility model, it is preferable that the first detection device 108 is displacement sensor, and displacement passes
Sensor is located on the lifting cylinder of driving device.
In this embodiment, displacement sensor is set by the first detection device 108, and is positioned in lifting cylinder
On, during lifting cylinder lifting, displacement sensor can go up and down displacement to it and detect, and then obtain detection development machine
The heave amplitude of structure 104.
In one embodiment of the utility model, it is preferable that the first detection device 108 is obliquity sensor, and inclination angle passes
Sensor is located on cutting arm.
In this embodiment, obliquity sensor is set by the first detection device 108, and is positioned on cutting arm,
During cutting arm movement, obliquity sensor can detect the movement of cutting arm, and then obtain boring mechanism 104
Heave amplitude.
In one embodiment of the utility model, it is preferable that second detection device 110 is displacement sensor, and displacement passes
Sensor is located on the angling cylinder of driving device.
In this embodiment, displacement sensor is set by second detection device 110, and is positioned in angling cylinder
On, during angling cylinder revolution, displacement sensor can detect its rotary displacement, and then obtain boring mechanism
104 revolution amplitude.
In one embodiment of the utility model, it is preferable that second detection device 110 is angular transducer, and angle passes
Sensor is located on the revolving platform of boring mechanism 104.
In this embodiment, angular transducer is set by second detection device 110, and is positioned in revolving platform
On, during revolving platform movement, angular transducer can detect the rotary motion of revolving platform, and then obtain pick
Into the heave amplitude of mechanism 104.
In one embodiment of the utility model, it is preferable that the posture of fuselage 102 are as follows: the pitch angle of fuselage 102,
Rolling angle, the horizontal deflection angle of fuselage 102 of fuselage 102.
In this embodiment, the posture of fuselage 102 includes but is not limited to following data: pitch angle, the fuselage of fuselage 102
102 rolling angle, the horizontal deflection angle of fuselage 102 can accurately obtain fuselage 102 by the detection to above-mentioned data
Physical location state so that controller 112 according to virtual condition control development machine 100 work.
In one embodiment of the utility model, it is preferable that as shown in Figure 2, further includes: third detection device 114, if
It is placed on fuselage 102, is connected with controller 112, the traveling for detecting fuselage 102 is displaced.
In this embodiment, it is provided with third detection device 114 on fuselage 102, and is examined by third detection device 114
The traveling displacement for surveying fuselage 102, during development machine 100 works, the posture of the comprehensive fuselage 102 of controller 112, fuselage
102 traveling displacement and the heave amplitude of boring mechanism 104 and revolution amplitude realize the automatic driving of development machine 100.
In one embodiment of the utility model, it is preferable that third detection device 114 is with one of lower sensor: being drawn
Linear movement pick-up, laser range sensor.
In this embodiment, stay wire displacement sensor or laser range sensor are set by third detection device 114, it can
It is configured according to the actual situation, the sensor can guarantee the accurate measurement of the traveling displacement of fuselage 102.
In one embodiment of the utility model, it is preferable that preferably, controller 112 and inertial navigation module 106,
First detection device 108, second detection device 110 are remote control connection or wired connection.
In this embodiment, controller 112 and inertial navigation module 106, the first detection device 108, second detection device
110 connection type can be according to its needs be configured, and specifically, the mode that wired connection can be used reduces cost, can also
Convenient for operation by the way of wireless remote control.
In specific embodiment, development machine 100 provided by the utility model introduces inertia navigation system, inertial navigation module
106 determine 100 fuselage of development machine, 102 posture by modeling.Specifically, 102 posture of fuselage includes 102 pitch angle of fuselage, machine
Body 102 rolling angle, 102 horizontal angle of deviation of fuselage, and above-mentioned posture is to realize that 102 posture of fuselage is surveyed in real time by control algolithm
Amount.And displacement sensor is installed on 100 lifting cylinder of development machine or obliquity sensor is installed on cutting arm, and then is detected
Cutterhead heave amplitude or cutting arm heave amplitude install displacement sensor or the setting angle on revolving platform on angling cylinder
Sensor, detection cutterhead revolution amplitude or cutting revolution of arm amplitude, are sensed using stay wire displacement sensor or laser ranging etc.
Device detects the advance displacement of development machine 100, and development machine 100 may be implemented by above-mentioned detection mode and control algolithm and dig automatically
Into the amount of labour and improvement working environment, realization development machine 100 for reducing staff carry out far-end operation in centralized control room.
Term " multiple " then refers to two or more in the description of the present invention, unless otherwise restricted clearly,
The orientation or positional relationship of the instructions such as term " on ", "lower" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the utility model and simplify description, rather than the device or element of indication or suggestion meaning there must be specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention；Term " connection ", " installation ",
" fixation " etc. shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally
Connection；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art,
The concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of development machine characterized by comprising
Fuselage；
Boring mechanism is set on the fuselage；
Inertial navigation module is set on the fuselage, for determining the posture of the fuselage；
First detection device is set on the boring mechanism, for detecting the heave amplitude of the boring mechanism；
Second detection device is set on the boring mechanism, for detecting the revolution amplitude of the boring mechanism；
Controller is connected with the inertial navigation module, first detection device, the second detection device, the control
Device processed can be according to the gesture stability of first detection device, the testing result of the second detection device and the fuselage
Boring mechanism work；
The posture of the fuselage are as follows: the pitch angle of the fuselage, the rolling angle of the fuselage, the fuselage horizontal deflection
Angle.
2. development machine according to claim 1, which is characterized in that the boring mechanism includes:
Cutting arm, one end of the cutting arm are connected with the fuselage；
Cutterhead is set to the other end of the cutting arm；
Driving device is connected with the cutting arm and the cutterhead, and the driving device can be in the control of the controller
Instruction is lower to drive the cutting arm and cutterhead work.
3. development machine according to claim 2, which is characterized in that
First detection device is displacement sensor, and institute's displacement sensors are located on the lifting cylinder of the driving device.
4. development machine according to claim 2, which is characterized in that
First detection device is obliquity sensor, and the obliquity sensor is located on the cutting arm.
5. development machine according to claim 2, which is characterized in that
The second detection device is displacement sensor, and institute's displacement sensors are located on the angling cylinder of the driving device.
6. development machine according to claim 2, which is characterized in that
The second detection device is angular transducer, and the angular transducer is located on the revolving platform of the boring mechanism.
7. development machine according to any one of claim 1 to 6, which is characterized in that further include:
Third detection device is set on the fuselage, is connected with the controller, for detecting the traveling position of the fuselage
It moves.
8. development machine according to claim 7, which is characterized in that
The third detection device is with one of lower sensor: stay wire displacement sensor, laser range sensor.
9. development machine according to any one of claim 1 to 6, which is characterized in that
The controller and the inertial navigation module, first detection device, the second detection device are remote control connection
Or wired connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596015.9U CN209469434U (en) | 2018-09-28 | 2018-09-28 | Development machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596015.9U CN209469434U (en) | 2018-09-28 | 2018-09-28 | Development machine |
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| Publication Number | Publication Date |
|---|---|
| CN209469434U true CN209469434U (en) | 2019-10-08 |
Family
ID=68086964
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| CN201821596015.9U Active CN209469434U (en) | 2018-09-28 | 2018-09-28 | Development machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209418A (en) * | 2018-09-28 | 2019-01-15 | 三重型装备有限公司 | Development machine and its control method |
| CN111535810A (en) * | 2020-05-06 | 2020-08-14 | 三一重型装备有限公司 | Attitude detection device and heading machine |
-
2018
- 2018-09-28 CN CN201821596015.9U patent/CN209469434U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109209418A (en) * | 2018-09-28 | 2019-01-15 | 三重型装备有限公司 | Development machine and its control method |
| CN111535810A (en) * | 2020-05-06 | 2020-08-14 | 三一重型装备有限公司 | Attitude detection device and heading machine |
| CN111535810B (en) * | 2020-05-06 | 2021-10-22 | 三一重型装备有限公司 | Attitude detection device and heading machine |
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