CN212150530U - Flatness detection system of fully mechanized coal mining face scraper conveyor - Google Patents
Flatness detection system of fully mechanized coal mining face scraper conveyor Download PDFInfo
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- CN212150530U CN212150530U CN202020300492.7U CN202020300492U CN212150530U CN 212150530 U CN212150530 U CN 212150530U CN 202020300492 U CN202020300492 U CN 202020300492U CN 212150530 U CN212150530 U CN 212150530U
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Abstract
The utility model discloses a combine and adopt working face scraper conveyor straightness detecting system comprises scraper conveyor and two detection cars of installing at the scraper conveyor both ends, detects the car and rides and stride on scraper conveyor, when needs detect scraper conveyor straightness, detects the car and moves along scraper conveyor, and relevant motion data are gathered to its inside inertia measuring unit and encoder, obtains straightness information through controller module processing, sends the straightness to external control device at last. The utility model discloses avoided with sensor direct mount on the coal-winning machine, overcome coal-winning machine vibration, the slow adverse effect to the straightness detection of rate of movement, reduced the performance requirement to the sensor, can be under the lower prerequisite of cost, the straightness of measuring the working face more high-efficiently, accurately.
Description
Technical Field
The utility model relates to a coal mining technical field, in particular to combine and adopt working face scraper conveyor straightness detecting system.
Background
The intelligent fully-mechanized coal mining face of the coal mine needs to realize long-time unmanned mining, and the whole face can keep better straightness in the real-time propelling process. If the working face has large bending fluctuation, the production needs to be stopped immediately, and normal production work is started after the working face is straightened artificially, so that the production efficiency is greatly reduced, and further large-area popularization of the intelligent fully-mechanized coal mining face of the coal mine is greatly restricted.
Present scraper conveyor straightness detection system generally relies on the coal-winning machine, combines inertial measurement unit or encoder, and real-time detection working face scraper conveyor's straightness accuracy though can keep the straightness accuracy of working face in the short time, but it still can not satisfy the operating mode demand of working face in the pit completely, and the leading cause that causes this kind of phenomenon includes:
1. the inertia measurement unit is arranged in the body of the coal mining machine, and because the traveling speed of the coal mining machine is very low, errors of the inertia measurement unit and the encoder are accumulated for a long time, so that the measurement accuracy is reduced. To improve the accuracy of detection, inertial measurement units and encoders with higher accuracy must be used.
2. The coal mining machine can produce violent vibration during operation, can lead to the inside inertia measuring unit measurement accuracy of coal mining machine to reduce, influences the degree of accuracy that scrapes trigger straightness and detect.
SUMMERY OF THE UTILITY MODEL
To the current problem that exists of the mode that relies on the working face scraper conveyor straightness of coal-winning machine of the aforesaid, the utility model provides a combine and adopt working face scraper conveyor straightness detecting system can provide important data support for subsequent working face is flare-outed with low cost, high-efficient, real-time, the straightness of measuring the working face accurately.
Combine and adopt working face scraper conveyor straightness detecting system, by scraper conveyor with install two at scraper conveyor both ends and detect the car and constitute, under the triggering of external control signal, detect the car and follow scraper conveyor back and forth movement, detect the straightness information that motion parameter changes into scraper conveyor, send for outside controlling means.
The detection vehicle consists of an explosion-proof vehicle body, and a power supply unit, a main control unit, a sensing unit and a driving motor which are arranged in the explosion-proof vehicle body. The power supply unit is powered by a battery pack or an external cable and provides a working power supply for the main control unit, the sensing unit and the driving motor after conversion; the main control unit is connected with the sensing unit and the driving motor, the driving motor drives the detection vehicle to move according to a control instruction of the main control unit, and the sensing unit detects the motion parameter information and sends the motion parameter information to the main control unit; the driving motor is connected with a driving wheel of the detection vehicle through a transmission mechanism.
The main control unit of the detection vehicle consists of a controller module, a sensor interface module, a motor driving module, a communication module and a power supply module. The power supply module is connected with the controller module, the sensor interface module, the motor driving module and the communication module and provides power; the controller module is connected with the sensor interface module, the motor driving module and the communication module; the sensor interface module is connected with the sensing unit; the motor driving module is connected with the driving motor.
The sensing unit of the detection vehicle comprises a left encoder, a right encoder, an inertia measurement unit and two non-contact distance measurement sensors, and the sensing unit is connected with corresponding ports in the sensor interface module respectively. The left encoder is connected with the left front wheel or the left rear wheel of the detection vehicle through a transmission mechanism and used for detecting the mileage information of the left wheel, and the right encoder is connected with the right front wheel or the right rear wheel of the detection vehicle through a transmission mechanism and used for detecting the mileage information of the right wheel. The two non-contact distance measuring sensors are respectively arranged in front of and behind the detection vehicle and used for measuring the distance between the detection vehicle and the end equipment of the scraper conveyor and the coal mining machine, and collision is avoided in the operation process.
Compare in the mode that relies on the working face scraper conveyor straightness that the coal-winning machine detected, combine and adopt working face scraper conveyor straightness detecting system all has obvious advantage in many-sided:
1. the flatness detection system of the fully mechanized coal mining face scraper conveyor can automatically run, the running speed and the running direction of the flatness detection system are completely controllable, and compared with a flatness detection mode of the working face scraper conveyor depending on a coal mining machine, the flatness detection system is not limited by the slow running speed of the coal mining machine, can quickly move along the scraper conveyor, greatly shortens the time required for measurement, reduces the accumulated error of a flatness detection algorithm based on an inertial measurement unit and an encoder, and improves the detection precision.
2. The flatness detection system of the fully mechanized mining face scraper conveyor is separated from the coal mining machine, so that the measurement error of an inertia measurement unit caused by the vibration of the coal mining machine can be reduced, and the detection precision can be improved. In addition, compared with a mode of detecting the straightness of the scraper conveyor on the working surface of the coal mining machine, the system does not need to modify the existing coal mining machine, and the equipment modification cost is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the embodiment of the present invention
FIG. 2 is a block diagram of a system of a detection vehicle according to an embodiment of the present invention
FIG. 3 is a block diagram of an electric control system of a detection vehicle according to an embodiment of the present invention
FIG. 4 is a schematic view of the embodiment of the present invention showing the connection between the encoder and the wheels of the inspection vehicle
In the figure, the device comprises a detection vehicle 1, a detection vehicle 2, a scraper conveyor 11, a main control unit 12, a sensing unit 13, a driving motor 14, a power supply unit 15, an explosion-proof vehicle body 111, a controller module 112, a sensor interface 113, a motor driving module 114, a communication module 115, a power supply module 121, an inertia measurement unit 122, a left encoder 123, a right encoder 124 and a non-contact distance measuring sensor.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Combine and adopt working face scraper conveyor straightness detecting system, as shown in fig. 1, by scraper conveyor 2 with install two at 2 both ends of scraper conveyor and detect car 1 and constitute, under the triggering of external control signal, detect car 1 along 2 reciprocating motion of scraper conveyor, detect motion parameter and change into scraper conveyor 2's straightness information, send for outside controlling means.
As shown in fig. 2 and fig. 3, the system structure of the detection vehicle 1 is shown, and the detection vehicle 1 is composed of an explosion-proof vehicle body 15, and a main control unit 11, a sensing unit 12, a driving motor 13 and a power supply unit 14 which are installed inside the explosion-proof vehicle body 15. The power supply unit 14 is powered by a battery pack or an external cable, and provides a working power supply for the main control unit 11, the sensing unit 12 and the driving motor 13 after conversion; the main control unit 11 is connected with the sensing unit 12 and the driving motor 13, the driving motor 13 drives the detection vehicle to move according to the control instruction of the main control unit 11, and the sensing unit 12 detects the movement parameter information and sends the movement parameter information to the main control unit 11; the driving motor 13 is connected with the driving wheel of the detection vehicle through a transmission mechanism.
The main control unit 11 of the detection vehicle is composed of a controller module 111, a sensor interface module 112, a motor driving module 113, a communication module 114 and a power supply module 115. The power module 115 is connected with the controller module 111, the sensor interface module 112, the motor driving module 113 and the communication module 114 and provides power; the controller module 111 is connected with the sensor interface module 112, the motor driving module 113 and the communication module 114; the sensor interface module 112 is connected with the sensing unit 12; the motor driving module 113 is connected to the driving motor 13.
The sensing unit 12 of the detection vehicle includes an inertial measurement unit 121, a left encoder 122, a right encoder 123 and two non-contact distance measurement sensors 124, which are respectively connected to corresponding ports in the sensor interface module 112. As shown in fig. 4, the left encoder 122 is connected to the left front wheel or the left rear wheel of the detection vehicle through a transmission mechanism for detecting the mileage information of the left wheel, and the right encoder 123 is connected to the right front wheel or the right rear wheel of the detection vehicle through a transmission mechanism for detecting the mileage information of the right wheel. Two non-contact ranging sensors 124 are respectively arranged in the front and the back of the detection vehicle and used for measuring the distance between the detection vehicle 1 and the end equipment of the scraper conveyor 2 and the coal mining machine, and collision is avoided in the operation process.
When the coal mining machine runs to one end of the scraper conveyor 2, the detection vehicle 1 at the other end of the scraper conveyor 2 can be remotely started through an external control device. After the detection vehicle 1 is started, the detection vehicle travels towards one end where the coal mining machine is located, the speed of the detection vehicle is higher than the normal traveling speed of the coal mining machine, the inertia measurement unit 121 and the encoder 122 in the detection vehicle 1 acquire the motion data of the detection vehicle 1 in real time, and after the motion data are processed by the controller module 111, the flatness information of the scraper conveyor 2, namely the flatness information of the working face, is obtained. When the non-contact ranging sensor 123 of the detection vehicle 1 detects that the distance from the coal mining machine reaches a threshold value, the detection vehicle 1 returns to the initial end at the same speed according to the original path, detects the flatness of the working surface again, and finally, after the flatness information of the working surface detected twice is integrated, the information is uploaded to an external control device through the communication module 114.
The above description is only the preferred embodiment of the present invention, but the present invention is not limited to any form, and any skilled person familiar with this field will not depart from the technical solution of the present invention, but all the contents of the technical solution of the present invention will not depart from the technical solution of the present invention, and all the technical solution of the present invention still belongs to the scope of the technical solution of the present invention to any simple modification, equivalent change and modification made by the above embodiments.
Claims (4)
1. The utility model provides a combine and adopt working face scraper conveyor straightness detecting system which characterized in that comprises scraper conveyor and two detection cars of installing at scraper conveyor both ends, under the triggering of outside control signal, detects the car and along scraper conveyor back and forth movement, detects motion parameter and converts into scraper conveyor's straightness information, sends for outside controlling means.
2. The flatness detecting system according to claim 1, wherein the detecting vehicle is composed of an explosion-proof vehicle body, and a power supply unit, a main control unit, a sensing unit and a driving motor which are installed inside the explosion-proof vehicle body, the power supply unit is powered by a battery pack or an external cable, and provides working power for the main control unit, the sensing unit and the driving motor after conversion, the main control unit is connected with the sensing unit and the driving motor, the driving motor drives the detecting vehicle to move according to a control command of the main control unit, the sensing unit detects motion parameter information and sends the motion parameter information to the main control unit, and the driving motor is connected with a driving wheel of the detecting vehicle through a transmission mechanism.
3. The flatness detecting system according to claim 2, wherein the main control unit of the inspection vehicle is composed of a controller module, a sensor interface module, a motor driving module, a communication module and a power module, the power module is connected with the controller module, the sensor interface module, the motor driving module and the communication module and provides power, the controller module is connected with the sensor interface module, the motor driving module and the communication module, the sensor interface module is connected with the sensing unit, and the motor driving module is connected with the driving motor.
4. The flatness detecting system according to claim 2, wherein the sensing unit of the detecting vehicle includes a left and a right encoder, an inertia measuring unit and two non-contact distance measuring sensors, which are respectively connected to corresponding ports in the sensor interface module, the left encoder is connected to the left front wheel or the left rear wheel of the detecting vehicle through a transmission mechanism for detecting mileage information of the left wheel, the right encoder is connected to the right front wheel or the right rear wheel of the detecting vehicle through a transmission mechanism for detecting mileage information of the right wheel, and the two non-contact distance measuring sensors are respectively installed in front of and behind the detecting vehicle for measuring a distance from the detecting vehicle to the end head device of the scraper conveyor and the coal mining machine, thereby avoiding collision during operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020300492.7U CN212150530U (en) | 2020-03-12 | 2020-03-12 | Flatness detection system of fully mechanized coal mining face scraper conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020300492.7U CN212150530U (en) | 2020-03-12 | 2020-03-12 | Flatness detection system of fully mechanized coal mining face scraper conveyor |
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| Publication Number | Publication Date |
|---|---|
| CN212150530U true CN212150530U (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020300492.7U Expired - Fee Related CN212150530U (en) | 2020-03-12 | 2020-03-12 | Flatness detection system of fully mechanized coal mining face scraper conveyor |
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| CN (1) | CN212150530U (en) |
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2020
- 2020-03-12 CN CN202020300492.7U patent/CN212150530U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201215 |