CN216772264U

CN216772264U - Accurate positioning device for unmanned underground track electric locomotive

Info

Publication number: CN216772264U
Application number: CN202220248038.0U
Authority: CN
Inventors: 连民杰; 范振华; 江松; 范才兵; 陈国利; 马双双; 李达伦; 周文略; 徐中华; 张福锋
Original assignee: SINOSTEEL MINING DEVELOPMENT CO LTD; Sinosteel Shandong Fuquan Mining Co ltd; Xian University of Architecture and Technology
Current assignee: SINOSTEEL MINING DEVELOPMENT CO LTD; Sinosteel Shandong Fuquan Mining Co ltd; Xian University of Architecture and Technology
Priority date: 2022-02-02
Filing date: 2022-02-02
Publication date: 2022-06-17
Anticipated expiration: 2032-02-02

Abstract

The utility model provides an accurate positioning device for an unmanned underground rail electric locomotive, which comprises: draw shafts, tracks, mine cars; the track is laid on the ground of the chute, and the mine car is positioned on the track; the vibratory ore drawing machine is positioned on the inner wall of one side of the chute, and the vibratory ore drawing machine is positioned above the mine car in an inclined manner; the laser sensor is fixedly arranged on the inner wall of one side of the orepass, and the laser receiver is fixedly arranged on the inner wall of the other side of the orepass; the detection sensor is fixedly arranged on the inner wall of one side of the chute and is positioned above the mine car in an inclined manner; the utility model has the advantages that through the improvement of the accurate positioning device of the unmanned underground rail electric locomotive, the structure design is reasonable, the laser sensor is utilized to detect whether the mine car is stopped in place, the positioning accuracy is high, the mine car is automatically dispatched to charge the mine, the full-filling detection function is realized, the ore charging automation is realized, and the practicability is strong, so that the problems and the defects in the existing device are effectively solved.

Description

Accurate positioning device for unmanned underground track electric locomotive

Technical Field

The utility model relates to the technical field of coal mining, in particular to an unmanned underground precise positioning device for a rail electric locomotive.

Background

A special vehicle for mine rail transportation. The device is compact in overall dimension to adapt to narrow conditions of underground roadways. There are trucks, people and vehicles, skip cars, etc. The mine car is a narrow-gauge railway transport vehicle for transporting bulk materials such as coal, ore and waste rocks in mines and generally needs to be towed by a locomotive or a winch.

At present, foreign coal mines are highly mechanized, underground workers are few, and the operation is standard. And the degree of mechanization in China is only 45%, most operations need to be finished by means of worker operation, for example, starting and stopping of a mine car, whether the mine car is fully loaded or not and the like, so that a large amount of manpower and material resources are consumed, great potential safety hazards exist, and the degree of mechanization needs to be improved urgently.

In view of this, research improvement is carried out to current problem, provides a track electric locomotive accurate positioner in unmanned pit, aims at through this technique, reaches the purpose of solving the problem and improving practical value nature.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an accurate positioning device for an unmanned underground rail electric locomotive, which aims to solve the problems and the defects in the background technology.

In order to achieve the purpose, the utility model provides an unmanned underground precise positioning device for a rail electric locomotive, which is achieved by the following specific technical means:

accurate positioner of rail electric locomotive in unmanned aerial vehicle pit includes: the device comprises a chute, a track, a mine car, a vibration ore drawing machine, a laser sensor, a laser receiver, a detection sensor and a camera; the track is laid on the ground of the chute, and the mine car is positioned on the track; the vibratory ore drawing machine is positioned on the inner wall of one side of the chute, and the vibratory ore drawing machine is positioned above the mine car in an inclined manner; the laser sensor is fixedly arranged on the inner wall of one side of the orepass, and the laser receiver is fixedly arranged on the inner wall of the other side of the orepass; the detection sensor is fixedly arranged on the inner wall of one side of the chute and is positioned above the mine car in an inclined manner; the camera is fixedly installed on the inner wall of one side of the drop shaft and is located on one side of the detection sensor.

As a further optimization of the technical scheme, the laser sensor and the laser receiver of the unmanned underground rail electric locomotive precise positioning device are respectively provided with two positions on the inner wall of the chute, and the distance between the two laser sensors is slightly larger than the length of the mine car.

As further optimization of the technical scheme, the laser sensor and the laser receiver of the unmanned underground rail electric locomotive precise positioning device are symmetrically arranged on the inner wall of the drop shaft.

As a further optimization of the technical scheme, the detection sensor of the unmanned underground rail electric locomotive precise positioning device is an infrared distance measurement sensor, and the front end of the detection sensor is aligned with a carriage of a mine car.

Due to the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

1. the laser sensor and the laser receiver are arranged on the inner wall of the chute, the distance between the two laser sensors is slightly larger than the length of the mine car, the laser sensor and the laser receiver are symmetrically arranged on the inner wall of the chute, the laser sensor emits laser, the laser receiver receives the laser, the laser is used for detecting whether the mine car is stopped in place or not, the positioning accuracy is improved, the situation that the mine car falls off the track due to the fact that ores fall out of the car is avoided, the two laser sensors are used for detecting, and the reliability and the stability of system detection are further guaranteed.

2. The detection sensor is an infrared distance measurement sensor, the front end of the detection sensor is aligned with the carriage of the mine car, and the infrared distance measurement sensor is used for measuring the distance between ores in the carriage and carrying out reference according to a preset distance measurement range so as to judge whether the ores in the mine car are full or not.

3. The utility model has the advantages that through the improvement of the accurate positioning device of the unmanned underground rail electric locomotive, the structure design is reasonable, the laser sensor is utilized to detect whether the mine car is stopped in place, the positioning accuracy is high, the mine car is automatically dispatched to charge the mine, the full-filling detection function is realized, the ore charging automation is realized, and the practicability is strong, so that the problems and the defects in the existing device are effectively solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic top view of the present invention;

fig. 3 is a schematic structural diagram of the detection sensor of the present invention.

In the figure: the device comprises a chute 1, a track 2, a mine car 3, a vibration ore drawing machine 4, a laser sensor 5, a laser receiver 6, a detection sensor 7 and a camera 8.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

It is to be noted that, in the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the utility model.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Meanwhile, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, for example, as being fixedly connected, detachably connected, or integrally connected; the connection can be mechanical connection or electrical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 3, the present invention provides a specific technical implementation of an unmanned underground rail electric locomotive precision positioning device:

accurate positioner of rail electric locomotive in unmanned aerial vehicle pit includes: the device comprises a chute 1, a track 2, a mine car 3, a vibration ore drawing machine 4, a laser sensor 5, a laser receiver 6, a detection sensor 7 and a camera 8; the track 2 is laid on the ground of the chute 1, and the mine car 3 is positioned on the track 2; the vibration ore drawing machine 4 is positioned on the inner wall of one side of the chute 1, and the vibration ore drawing machine 4 is positioned above the mine car 3 in an inclined way; the laser sensor 5 is fixedly arranged on the inner wall of one side of the orepass 1, and the laser receiver 6 is fixedly arranged on the inner wall of the other side of the orepass 1; the detection sensor 7 is fixedly arranged on the inner wall of one side of the chute 1, and the detection sensor 7 is positioned above the mine car 3 in an inclined manner; the camera 8 is fixedly arranged on the inner wall of one side of the orepass 1, and the camera 8 is positioned on one side of the detection sensor 7.

Specifically, as shown in fig. 2, two laser sensors 5 and two laser receivers 6 are arranged on the inner wall of the chute 1, the distance between the two laser sensors 5 is slightly larger than the length of the mine car 3, and the two laser sensors 5 are used for detecting, so that the reliability and stability of system detection are further ensured.

Specifically, as shown in fig. 2, laser sensor 5 and laser receiver 6 are installed on the inner wall of draw shaft 1 symmetrically, and laser sensor 5 transmits laser, laser receiver 6 receives laser, utilizes laser to detect whether the mine car stops in place, improves the location precision, avoids the ore to fall outside the car, leads to the vehicle to fall the way.

Specifically, as shown in fig. 3, the detection sensor 7 is an infrared distance measurement sensor, the front end of the detection sensor 7 is aligned with the carriage of the mine car 3, and the infrared distance measurement sensor is used for measuring the distance between ores in the carriage and performing reference according to a preset distance measurement range so as to judge whether the ores in the mine car are full or not.

The method comprises the following specific implementation steps:

mine car 3 moves in drop shaft 1 along track 2, when mine car 3 moves to between two laser sensor 5 in the drop shaft 1, mine car 3 stop moving, mine car 3 is located the below of vibration ore drawing machine 4 this moment, vibration ore drawing machine 4 is automatic to blowing in the railway carriage of mine car 3, realize automatic ore charging, distance between the ore in the detection sensor 7 measures the carriage, and refer according to the range of finding of preset, judge whether the ore in the mine car fills up with this, continue to move after mine car 3 fills up the ore, next mine car 3 continues to advance to between two laser sensor 5, continue to feed.

In summary, the following steps: the unmanned underground rail electric locomotive accurate positioning device is characterized in that two positions are arranged on the inner wall of a drop shaft through laser sensors and laser receivers, the distance between the two laser sensors is slightly larger than the length of a mine car, the laser sensors and the laser receivers are symmetrically arranged on the inner wall of the drop shaft, the laser sensors emit laser, the laser receivers receive the laser, whether the mine car is stopped in place or not is detected by utilizing the laser, the positioning accuracy is improved, the situation that the mine car falls out of the car to cause vehicle lane falling is avoided, the two laser sensors are used for detecting, and the reliability and the stability of system detection are further ensured; the detection sensor is an infrared distance measurement sensor, the front end of the detection sensor is aligned with a compartment of the mine car, and the infrared distance measurement sensor is used for measuring the distance between ores in the compartment and carrying out reference according to a preset distance measurement range so as to judge whether the ores in the mine car are full or not, so that the mine car has a full detection function and realizes ore loading automation; through the improvement to the accurate positioner of rail electric locomotive in unmanned aerial vehicle pit, it is reasonable to have a structural design, utilizes laser sensor to detect whether the mine car stops to target in place, the location precision is high, and automatic dispatch mine car loading has and fills with the detection function, has realized the loading automation, and the advantage that the practicality is strong to effectual problem and not enough that appear in having solved the current device.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Accurate positioner of rail electric locomotive in unmanned aerial vehicle pit includes: the mining machine comprises a chute (1), a track (2), a mine car (3), a vibration ore drawing machine (4), a laser sensor (5), a laser receiver (6), a detection sensor (7) and a camera (8); the method is characterized in that: the track (2) is laid on the ground of the chute (1), and the mine car (3) is positioned on the track (2); the vibrating ore drawing machine (4) is positioned on the inner wall of one side of the chute (1), and the vibrating ore drawing machine (4) is positioned above the mine car (3) in an inclined manner; the laser sensor (5) is fixedly arranged on the inner wall of one side of the orepass (1), and the laser receiver (6) is fixedly arranged on the inner wall of the other side of the orepass (1); the detection sensor (7) is fixedly arranged on the inner wall of one side of the chute (1), and the detection sensor (7) is positioned above the mine car (3) in an inclined manner; the camera (8) is fixedly installed on the inner wall of one side of the orepass (1), and the camera (8) is located on one side of the detection sensor (7).

2. The unmanned downhole tracked electric locomotive precision positioning device of claim 1, wherein: the laser sensors (5) and the laser receiver (6) are arranged on the inner wall of the chute (1), and the distance between the two laser sensors (5) is slightly larger than the length of the mine car (3).

3. The unmanned downhole tracked electric locomotive precision positioning device of claim 1, wherein: the laser sensors (5) and the laser receivers (6) are symmetrically arranged on the inner wall of the orepass (1).

4. The unmanned downhole tracked electric locomotive precision positioning device of claim 1, wherein: the detection sensor (7) is an infrared distance measurement sensor, and the front end of the detection sensor (7) is aligned with the carriage of the mine car (3).