CN218727983U

CN218727983U - Unmanned mining truck laser radar fixing device

Info

Publication number: CN218727983U
Application number: CN202222980822.3U
Authority: CN
Inventors: 杨威良; 朱耀占; 刘含; 杨江成; 潘斌
Original assignee: Henan Yuexian Times New Energy Technology Co ltd
Current assignee: Henan Yuexian Times New Energy Technology Co ltd
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-03-24
Anticipated expiration: 2032-11-09

Abstract

The utility model relates to a laser radar fixes technical field, specifically is an unmanned mining truck laser radar fixing device, which comprises a base, the top of base is inserted and is equipped with the regulating box, the top left side fixedly connected with machine case of regulating box, the top of machine case is equipped with places the board, place the top fixedly connected with laser radar of board, adjustment mechanism includes the motor, the inside at the machine case is established to the motor, damper includes an activity section of thick bamboo, activity section of thick bamboo fixed connection is in the inside lateral wall bottom of base. The utility model discloses the realization avoids partial laser radar to be difficult to carry out the adaptability according to the road surface of different gradients to radar detection angle's regulation to avoid partial laser radar to be difficult to detect perfect road surface environment.

Description

Unmanned mining truck laser radar fixing device

Technical Field

The utility model relates to a laser radar fixes technical field, specifically is an unmanned mining truck laser radar fixing device.

Background

The unmanned technology is a complex combining multiple leading-edge subjects such as communication, navigation positioning, mode recognition, intelligent control and the like, the existing unmanned technology is to be perfected and is difficult to be used as a control system of a traffic vehicle through national approval, but in places with rare people such as mines, unmanned mining trucks are tried on a large scale, a laser radar is a radar system for detecting characteristic quantities such as position, speed and the like of a target by emitting a laser beam, part of the unmanned technology adopts the laser radar as a sampling mechanism of the mode recognition, and the laser radar is usually fixed at the top end of the unmanned vehicle and is used for detecting the change of surrounding route environment.

The existing laser radar fixing device mainly adopts a fixed base to fix a laser radar on the top of an unmanned vehicle, the prior art is similar to an unmanned vehicle laser radar holder fixing device, a mechanism with the patent number of CN213322924U comprises a base and a rotary supporting unit arranged on the base, the rotary supporting unit comprises a Z-axis rotary structure, an X-axis rotary structure and a Y-axis rotary structure which are sequentially arranged on the base, each rotary structure comprises a corresponding motor and a transmission rod, the three-axis gyroscope principle is utilized, an algorithm is used for controlling the motor, the laser radar can be inclined at different angles according to different requirements, the use is flexible and convenient, the operation is simple, but the device still has a place which can be optimized.

1. The existing device mainly keeps the stability of the laser radar through setting up three-dimensional three-axis, but part of the laser radar is difficult to carry out adaptability adjustment according to the road surface with different inclinations, thereby leading to that part of the laser radar is difficult to detect perfect road surface environment.

2. Meanwhile, part of mine field transportation routes are rugged, so that more overlapped parts exist in part of environment pictures detected by the laser radar, the mode identification calculation amount of part of unmanned vehicles is larger, and the working efficiency and usability of the device are reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a unmanned mining truck laser radar fixing device, thereby mainly keep laser radar's stability through setting up three-dimensional triaxial with the current device that proposes in solving above-mentioned background art, but partial laser radar is difficult to carry out the adaptability and adjusts according to the road surface of different gradients, thereby lead to partial laser radar to be difficult to detect perfect road surface environment, partial mine field traffic route is comparatively rugged and rugged simultaneously, thereby make the environment picture that partial laser radar surveyed have more overlap portion, thereby lead to the great problem of the mode identification operand of partial unmanned vehicle.

In order to achieve the above object, the utility model provides a following technical scheme: a drone mining truck lidar fixture, comprising:

the laser radar device comprises a base, wherein an adjusting box is inserted into the top of the base, the left side of the top end of the adjusting box is fixedly connected with a case, the top of the case is provided with a placing plate, and the top end of the placing plate is fixedly connected with a laser radar;

the adjusting mechanism comprises a motor, the motor is arranged inside a case, a transmission shaft is fixedly connected to the bottom end inside the motor, an adjusting chamber penetrates through the bottom end of the transmission shaft, the adjusting chamber is arranged inside the adjusting box, a first bevel gear is fixedly connected to the bottom end of the transmission shaft, a second bevel gear is meshed and connected to the left side of the top end of the first bevel gear, a controller is fixedly connected to the top end of the case, the second bevel gear is fixedly connected to the inside of the second bevel gear, two ends of the screw are movably connected to two sides of the inner wall of the adjusting chamber, a sliding block is movably connected to the outer wall of the screw, the top end of the sliding block penetrates through the adjusting chamber and is movably connected with a lifting rod, the top end of the lifting rod is movably connected to the right side of the bottom end of a placing plate, the left side of the bottom end of the placing plate is movably connected with a fixing rod, and the bottom end of the fixing rod is fixedly connected to the left side of the top end of the adjusting box;

the damping mechanism comprises a movable cylinder, and the movable cylinder is fixedly connected to the bottom of the inner side wall of the base.

Preferably, the top end of the base is provided with a limiting through hole corresponding to the adjusting box.

Preferably, the left side wall and the right side wall of the interior of the adjusting chamber are provided with limit grooves corresponding to the screw rods.

Preferably, the inner wall of the sliding block is provided with a threaded hole corresponding to the screw rod, and the top end of the adjusting chamber is provided with a limiting sliding seam corresponding to the sliding block.

Preferably, the inside right side fixedly connected with spring of a movable section of thick bamboo, the left end fixedly connected with spacing ring of spring, the spacing slide that corresponds with the spacing ring is seted up to the inner wall of a movable section of thick bamboo.

Preferably, the left side of the limiting ring is fixedly connected with a sliding rod, the left end of the sliding rod penetrates through the movable cylinder and is movably connected with a traction rod, the left side of the traction rod is movably connected with a fixed shaft, the left end of the fixed shaft is fixedly connected to the outer wall of the supporting column, and the top end of the supporting column is fixedly connected to the bottom end of the adjusting box.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this unmanned mining truck laser radar fixing device is provided with adjustment mechanism, it rotates to drive the transmission shaft through controller starter motor, transmission shaft conical gear rotates, conical gear drives the screw rod and rotates, make the screw rod drive the slider and slide in spacing sliding seam is inside, the bottom synchronous slip that the slider drove the lifter, make the top of lifter drive the right-hand member of placing the board and rotate, through the aforesaid design, realize the regulation to radar detection angle, avoid partial laser radar to be difficult to carry out the adaptability according to the road surface of different gradients and adjust, thereby avoid partial laser radar to be difficult to detect perfect road surface environment, make work efficiency obtain improving, the regulation nature and the practicality of device have been improved.

2. This unmanned mining truck laser radar fixing device is provided with damper, through the base vibrations, the regulating box, support column and fixed axle receive the inertia effect to keep static, make the top that the fixed axle drove the traction lever slide from top to bottom, the bottom of traction lever drives slide bar and spacing ring horizontal slip, spacing ring compression spring, the spring turns into elastic potential energy and heat energy with partial vibrations, thereby the sliding amplitude of regulating box, the regulating box drives the dead lever and places the board vibration of small amplitude, through the aforesaid design, realize the shock attenuation to laser radar, avoid partial environment picture that laser radar surveyed to have more overlap portion, thereby the mode identification operand of avoiding partial unmanned vehicle is great, make work efficiency obtain improving, the stability and the practicality of device have been improved.

Drawings

FIG. 1 is a schematic sectional view of the front view of the structure of the present invention;

FIG. 2 is a schematic sectional view of the front view of the structure of the present invention;

FIG. 3 is a schematic sectional view of the adjusting box and the adjusting mechanism of the present invention in a front view;

fig. 4 is a schematic front sectional view of the partial structure of the base and the damping mechanism of the present invention.

In the figure: 11. a base; 12. an adjusting box; 13. a chassis; 16. placing the plate; 18. a laser radar; 2. an adjustment mechanism; 21. a motor; 22. a drive shaft; 23. a conditioning chamber; 25. a first bevel gear; 26. a second bevel gear; 28. a controller; 31. a screw; 32. a slider; 36. a lifting rod; 38. fixing the rod; 51. a limiting through hole; 56. a limiting groove; 57. a threaded hole; 58. limiting sliding seams; 6. a damping mechanism; 61. a movable barrel; 62. a spring; 63. a limiting ring; 65. a limiting slide way; 66. a slide bar; 68. a draw bar; 86. a fixed shaft; 88. and (4) a support column.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides an embodiment of:

a drone mining truck lidar fixture, comprising:

the laser radar device comprises a base 11, wherein an adjusting box 12 is inserted into the top of the base 11, a limiting through hole 51 corresponding to the adjusting box 12 is formed in the top end of the base 11, limiting sliding of the adjusting box 12 is achieved through the design, a case 13 is fixedly connected to the left side of the top end of the adjusting box 12, a placing plate 16 is arranged on the top of the case 13, and a laser radar 18 is fixedly connected to the top end of the placing plate 16;

the adjusting mechanism 2 comprises a motor 21, the motor 21 is arranged inside a case 13, a transmission shaft 22 is fixedly connected to the bottom end inside the motor 21, an adjusting chamber 23 penetrates through the bottom end of the transmission shaft 22, the adjusting chamber 23 is arranged inside an adjusting box 12, a first bevel gear 25 is fixedly connected to the bottom end of the transmission shaft 22, a second bevel gear 26 is meshed with the left side of the top end of the first bevel gear 25, a controller 28 is fixedly connected to the top end of the case 13, the second bevel gear 26 and a screw 31 are fixedly connected to the inside of the second bevel gear 26, a limiting groove 56 corresponding to the screw 31 is formed in the left side wall and the right side wall inside the adjusting chamber 23, through the design, limiting rotation of the screw 31 is achieved, two ends of the screw 31 are movably connected to two sides of the inner wall of the adjusting chamber 23, a sliding block 32 is movably connected to the outer wall of the screw 31, a threaded hole 57 corresponding to the screw 31 is formed in the inner wall of the sliding block 32, a limiting sliding seam 58 corresponding to the top end of the sliding block 32 is formed in the top end of the adjusting chamber 23, through the design, the sliding of the screw 31 drives the sliding block 32 to pass through the adjusting chamber 23 and is movably connected to a lifting rod 36, a left side of the left side wall of the left side of a fixed rod 16, a fixed rod 16 is connected to the bottom end of the adjusting box 12, and a fixed rod 16 is connected to the left side of the adjusting box;

damper 6, damper 6 includes a movable section of thick bamboo 61, a movable section of thick bamboo 61 fixed connection is in the inside lateral wall bottom of base 11, the inside right side fixedly connected with spring 62 of a movable section of thick bamboo 61, the left end fixedly connected with spacing ring 63 of spring 62, the spacing slide 65 that corresponds with spacing ring 63 is seted up to the inner wall of a movable section of thick bamboo 61, through this design, the automatic re-setting of spacing ring 63 has been realized, the left side fixedly connected with slide bar 66 of spacing ring 63, the left end of slide bar 66 passes a movable section of thick bamboo 61 and swing joint has traction lever 68, the left side swing joint of traction lever 68 has fixed axle 86, the left end fixed connection of fixed axle 86 is at the outer wall of support column 88, the top fixed connection of support column 88 is in the bottom of regulating box 12, through this design, the vibrations that have reduced support column 88 have been realized.

The working principle is as follows: when the radar detection angle needs to be adjusted, the motor 21 is started through the controller 28, the motor 21 drives the transmission shaft 22 to rotate synchronously, the transmission shaft 22 drives the first bevel gear 25 to rotate synchronously, the first bevel gear 25 is meshed with the second bevel gear 26 to drive the second bevel gear 26 to rotate, the second bevel gear 26 drives the screw rod 31 to rotate synchronously, the slide block 32 is limited by the threaded hole 57 and the limiting sliding slit 58, the screw rod 31 drives the slide block 32 to slide inside the limiting sliding slit 58, the slide block 32 drives the bottom end of the lifting rod 36 to slide synchronously, the left side of the placing plate 16 is limited by the fixing rod 38, the top end of the lifting rod 36 drives the right end of the placing plate 16 to rotate, the placing plate 16 drives the laser radar 18 to rotate synchronously, and the adjustment operation of the radar detection angle is achieved.

When the laser radar 18 needs to be damped, firstly, the base 11 drives the movable cylinder 61 to vibrate, the movable cylinder 61 drives the limiting ring 63 to vibrate synchronously, the limiting ring 63 drives the sliding rod 66 to vibrate synchronously, the sliding rod 66 drives the traction rod 68 to vibrate synchronously, the adjusting box 12, the supporting column 88 and the fixing shaft 86 are kept static under the action of inertia, the fixing shaft 86 drives the top end of the traction rod 68 to slide up and down, the bottom end of the traction rod 68 drives the sliding rod 66 to slide left and right, the sliding rod 66 drives the limiting ring 63 to slide synchronously in the limiting slide way 65, the limiting ring 63 compresses the spring 62, and part of vibration is converted into elastic potential energy and heat energy by the spring 62, so that the sliding amplitude of the limiting ring 63 is reduced, the sliding amplitude of the adjusting box 12 is reduced similarly, the adjusting box 12 drives the fixing rod 38 and the placing plate 16 to vibrate in a small amplitude, the damping operation of the laser radar 18 is realized, and the operation is ended.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A laser radar fixing device for an unmanned mining truck, comprising:

the laser radar device comprises a base (11), wherein an adjusting box (12) is inserted into the top of the base (11), the left side of the top end of the adjusting box (12) is fixedly connected with a case (13), a placing plate (16) is arranged on the top of the case (13), and the top end of the placing plate (16) is fixedly connected with a laser radar (18);

an adjusting mechanism (2), the adjusting mechanism (2) comprising a motor (21), the motor (21) is arranged inside the case (13), the bottom end inside the motor (21) is fixedly connected with a transmission shaft (22), the bottom end of the transmission shaft (22) penetrates through an adjusting chamber (23), the adjusting chamber (23) is arranged inside the adjusting box (12), the bottom end of the transmission shaft (22) is fixedly connected with a first conical gear (25), a second bevel gear (26) is meshed and connected with the left side of the top end of the first bevel gear (25), the top end of the case (13) is fixedly connected with a controller (28), the second bevel gear (26), the inner part of the second bevel gear (26) is fixedly connected with a screw rod (31), two ends of the screw rod (31) are movably connected with two sides of the inner wall of the adjusting chamber (23), the outer wall of the screw rod (31) is movably connected with a slide block (32), the top end of the slide block (32) passes through the adjusting chamber (23) and is movably connected with a lifting rod (36), the top end of the lifting rod (36) is movably connected to the right side of the bottom end of the placing plate (16), the left side of the bottom end of the placing plate (16) is movably connected with a fixed rod (38), the bottom end of the fixed rod (38) is fixedly connected to the left side of the top end of the adjusting box (12);

the damping mechanism (6) comprises a movable cylinder (61), and the movable cylinder (61) is fixedly connected to the bottom of the inner side wall of the base (11).

2. The unmanned mining truck lidar fixture of claim 1, wherein: the top end of the base (11) is provided with a limiting through hole (51) corresponding to the adjusting box (12).

3. The unmanned mining truck lidar fixture of claim 1, wherein: and the left side wall and the right side wall in the adjusting chamber (23) are provided with limit grooves (56) corresponding to the screw rods (31).

4. The unmanned mining truck lidar fixture of claim 1, wherein: the inner wall of the sliding block (32) is provided with a threaded hole (57) corresponding to the screw rod (31), and the top end of the adjusting chamber (23) is provided with a limiting sliding seam (58) corresponding to the sliding block (32).

5. The unmanned mining truck lidar fixture of claim 1, wherein: the inside right side fixedly connected with spring (62) of a movable section of thick bamboo (61), the left end fixedly connected with spacing ring (63) of spring (62), spacing slide (65) that correspond with spacing ring (63) are seted up to the inner wall of a movable section of thick bamboo (61).

6. The unmanned mining truck lidar fixture of claim 5, wherein: the left side fixedly connected with slide bar (66) of spacing ring (63), the left end of slide bar (66) passes a movable cylinder (61) and swing joint has traction lever (68), the left side swing joint of traction lever (68) has fixed axle (86), the left end fixed connection of fixed axle (86) is at the outer wall of support column (88), the top fixed connection of support column (88) is in the bottom of regulating box (12).