CN220040764U - Airborne ranging device of underground development machine - Google Patents
Airborne ranging device of underground development machine Download PDFInfo
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- CN220040764U CN220040764U CN202320019113.0U CN202320019113U CN220040764U CN 220040764 U CN220040764 U CN 220040764U CN 202320019113 U CN202320019113 U CN 202320019113U CN 220040764 U CN220040764 U CN 220040764U
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- 230000005641 tunneling Effects 0.000 claims abstract description 12
- 238000004140 cleaning Methods 0.000 claims description 25
- 229910052710 silicon Inorganic materials 0.000 claims description 17
- 239000010703 silicon Substances 0.000 claims description 17
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 16
- 239000000428 dust Substances 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000010408 sweeping Methods 0.000 claims description 2
- 239000003245 coal Substances 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses an airborne ranging device of an underground tunneling machine, which comprises an airborne ranging transmitting device arranged above the body of the tunneling machine and a rectangular ranging receiving device suspended below a roadway top plate, wherein a first servo motor of the airborne ranging transmitting device is fixedly arranged in the middle of a bottom plate support; the rotary table is movably arranged on the bottom plate support, and the first servo motor drives the rotary table to rotate; the second servo motor is arranged on the outer side of the support plate positioned on the left side; the U-shaped swing arm is movably clamped between the two support plates with the opening facing downwards, and the upper end of the U-shaped swing arm is provided with an L-shaped bracket; the ranging laser transmitter is arranged on the inner side of the L-shaped bracket; the third servo motor is arranged on the outer side of the L-shaped bracket, and an output shaft of the third servo motor penetrates through the L-shaped bracket and is fixedly connected with the ranging laser transmitter. In a word, the utility model has the advantages of novel structure, convenient operation, accuracy, high efficiency and the like.
Description
Technical Field
The utility model belongs to the technical field of comprehensive digging equipment process detection, and particularly relates to an airborne ranging device of an underground heading machine.
Background
Coal is a basic energy and an important raw material in China, and the safety and stability development relationship of coal resources is national and national energy safety. The coal mine intellectualization is a necessary way for the development of the coal industry, and is a core technical support for realizing the high-quality development targets of new coal and new patterns in a new period. The development machine is core equipment for underground comprehensive mining operation, and intelligent monitoring of attitude space and operation travel of the development machine is one of key elements for realizing coal mine intelligence
At present, the detection technology for the attitude space of the body of the heading machine is endless, but the attention to the travel detection of the heading machine is less. The method is influenced by complex underground operation conditions and more environmental limiting factors, and the conventional mileage detection method such as an odometer and an inertial navigation system is poor in adaptability due to the influence of accumulated errors of track slippage and inertial navigation of a development machine. In the detection technology of a laser ranging sensor commonly used on the ground, because the body and the posture of a heading machine are changed in real time when the heading machine advances, ranging laser can not strike a ranging target at a proper angle, and thus off-target is caused.
Disclosure of Invention
Aiming at the problems, the utility model aims to provide an airborne ranging device of an underground tunneling machine, which solves the problems of off-target and lost target when a laser ranging sensor is applied as airborne equipment to underground ranging, and enables a ranging laser transmitter to transmit laser beams to effectively fall on a ranging target and return through the adaptive adjustment of three-degree-of-freedom machine body states of the airborne ranging transmitter, and indicates a silicon light patch voltage signal through synchronous detection of the target, reads the output signal value of the airborne laser ranging device, completes the dynamic monitoring of the travel of the underground tunneling machine, and further enhances the intelligent level of underground comprehensive tunneling operation.
The technical scheme of the utility model is as follows: an airborne ranging device of an underground tunneling machine, comprising an airborne ranging transmitting device and a rectangular ranging receiving device for receiving signals transmitted by the airborne ranging transmitting device, wherein the airborne ranging transmitting device comprises:
the bottom plate support comprises a lower plate fixedly arranged at the central axis above the body of the heading machine and an upper plate arranged above the lower plate at intervals;
the first servo motor is fixedly arranged in the middle of the upper surface of the lower plate;
the rotary table is movably arranged in the middle of the upper plate, the first servo motor drives the rotary table to rotate, and two support plates are symmetrically and vertically welded above the rotary table;
the second servo motor is arranged outside the support plate positioned at the left side;
the U-shaped swing arms are movably clamped between the two support plates with the downward openings, connecting rods are fixedly arranged between the inner sides of the openings of the U-shaped swing arms, the output shafts of the second servo motors penetrate through the support plates and are fixedly connected with the connecting rods, and L-shaped brackets are arranged at the upper ends of the U-shaped swing arms;
the ranging laser emitter is arranged on the inner side of the L-shaped bracket;
the third servo motor is arranged on the outer side of the L-shaped bracket, and an output shaft of the third servo motor penetrates through the L-shaped bracket and is fixedly connected with the ranging laser transmitter.
Further, the rectangular ranging receiving device is hung below the roadway roof.
Further, the rectangular ranging reception apparatus includes:
three U-shaped connecting seats are uniformly arranged on two sides of the rectangular target respectively, and silicon light patches are uniformly arranged on the surface of the rectangular target;
the two target fixing rods penetrate through the U-shaped connecting seats on the two sides respectively to be fixedly connected with the rectangular targets, and the upper ends of the target fixing rods are hung on the roadway top plate;
and the cleaning mechanism is arranged on the outer side of the rectangular target and is used for cleaning dust on the silicon optical patch.
Further, the cleaning mechanism includes:
the screw rod is horizontally arranged behind the bottom of the rectangular target, and one end of the screw rod is connected with a screw rod motor;
the sliding block is sleeved on the lead screw in a sliding manner;
the chute is arranged at the upper end of the rectangular target;
the U-shaped cleaning frame is provided with an opening which covers the rectangular target downwards, one end of the opening of the U-shaped cleaning frame is fixedly connected with the sliding block, and the upper top of the U-shaped cleaning frame is in sliding engagement with the sliding groove.
Further, the upper surface of the lower plate of the bottom plate support is riveted with a motor support through rivets, and the first servo motor is fixedly installed on the motor support.
Further, a plurality of rubber brushes are arranged on the inner side of the U-shaped cleaning frame and used for cleaning dust attached to the silicon light patch.
The working principle of the utility model is as follows:
the method comprises the steps that when a silicon light patch arranged on the surface of a rectangular target irradiates laser of a ranging laser emitter, a small voltage lifting signal is generated, whether a laser beam falls on the surface of the rectangular target is judged by detecting whether the voltage signal of the arranged silicon light patch rises, further, the signal value output by the ranging laser emitter is judged to be an output value when the laser falls on the rectangular target by detecting the signal of the silicon light patch on the surface of the rectangular target, and the signal value can be output by synchronously detecting signals of a transmitting end and a receiving end instead of the output value when the laser falls on other parts of a heading machine body or a coal wall, so that interference of the signal value can be eliminated when the laser falls off the target;
when the laser is off-target, the receiving end has no voltage signal change, and the output value of the airborne ranging transmitting device is invalid at the moment, so that the airborne ranging transmitting device is controlled to perform attitude compensation according to the attitude deviation signal of the machine body, and the specific compensation steps are as follows: the yaw attitude compensation method comprises the steps of receiving yaw angle information of a heading machine body, driving a first servo motor to drive a whole rotating table to rotate, and carrying out yaw attitude compensation; the yaw angle information of the heading machine body is received, the second servo motor is controlled to do corresponding angle left-right rotation movement, and the roll angle of the heading machine body is compensated; and (3) through receiving the pitching angle information of the body of the tunneling machine, controlling a third servo motor to drive a ranging laser transmitter to perform pitching motion at a corresponding angle, and compensating the pitching angle of the body of the tunneling machine.
Compared with the prior art, the utility model has the beneficial effects that:
1) Through the adaptability adjustment of the three-degree-of-freedom machine body state of the airborne ranging transmitting device, the problem of off-target of laser beam transmitted by the laser ranging transmitting device during the posture change of the heading machine body can be effectively solved.
2) The heading machine body position is located at the front operation end, the roadway top plate target position is located at the rear operation end, the target position is set at the position, the dust concentration is much smaller than that of the front operation end, the cleaning frame can clean coal dust attached to the silicon grain film, and the underground environment suitability is stronger.
Drawings
FIG. 1 is an overall schematic diagram of an on-board ranging system of a heading machine of the present utility model;
FIG. 2 is a perspective view of the airborne ranging transmitter of the present utility model;
fig. 3 is a perspective view of a ranging rectangular receiving apparatus of the present utility model;
fig. 4 is a rear view of the ranging rectangular receiving apparatus of the present utility model;
FIG. 5 is a schematic installation view of an airborne ranging transmitter apparatus of the present utility model;
reference numerals illustrate: the device comprises a 1-tunnel top plate, a 2-heading machine, a 3-airborne ranging transmitting device, a 301-bottom plate support, a 302-first servo motor, a 303-first servo motor support, a 304-rotating table, a 305-supporting plate, a 306-second servo motor, a 307-connecting rod, a 308-swinging arm, a 309-ranging laser transmitter, a 3010-third servo motor, a 4-rectangular ranging receiving device, a 401-target fixing rod, a 402-U-shaped connecting seat, a 403-sliding groove, a 404-lead screw, a 405-cleaning frame, a 406-rectangular target, a 407-silicon optical patch and a 408-sliding block.
Detailed Description
The following describes embodiments of the present utility model in detail with reference to fig. 1 to 5. In the description of the present utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
It should be noted that, the circuit connection related in the present utility model adopts a conventional circuit connection manner, and no innovation is related.
Example 1: as shown in fig. 1 and 5, the airborne ranging device of the underground tunneling machine comprises an airborne ranging transmitting device 3 arranged above the body of the tunneling machine 2 and a rectangular ranging receiving device 4 suspended below a roadway roof 1, wherein the rectangular ranging receiving device 4 is used for receiving signals transmitted by the airborne ranging transmitting device 3.
Wherein,
as shown in fig. 2, the on-board ranging transmitter 3 includes a base plate support 301, a first servo motor 303, a rotary table 304, a second servo motor 306, a U-shaped swing arm 308, a ranging laser transmitter 309, and a third servo motor 3010; the bottom plate support 301 comprises a lower plate fixedly arranged at the central axis above the body of the heading machine 2 and an upper plate arranged above the lower plate at intervals; the upper surface of the lower plate of the bottom plate support 301 is riveted with a motor bracket through rivets, and the first servo motor 303 is fixedly arranged on the motor bracket; the rotary table 304 is movably arranged in the middle of the upper plate, the first servo motor 303 drives the rotary table 304 to rotate, and two support plates 305 are symmetrically and vertically welded above the rotary table 304; the second servo motor 306 is disposed outside the support plate 305 located on the left side; the U-shaped swing arm 308 is movably clamped between the two support plates 305 with a downward opening, a connecting rod 307 is fixedly arranged between the inner sides of the openings of the U-shaped swing arm 308, an output shaft of the second servo motor 306 penetrates through the support plates 305 to be fixedly connected with the connecting rod 307, and an L-shaped bracket is arranged at the upper end of the U-shaped swing arm 308; the ranging laser transmitter 309 is disposed inside the L-shaped bracket; the third servo motor 3010 is disposed outside the L-shaped bracket, and an output shaft of the third servo motor 3010 passes through the L-shaped bracket and is fixedly connected to the ranging laser emitter 309.
As shown in fig. 3 and 4, the rectangular ranging reception device 4 includes a rectangular target 406, two target fixing bars 401, and a sweeping mechanism; three U-shaped connecting seats 402 are uniformly arranged on two sides of the rectangular target 406 respectively, and silicon light patches 407 are uniformly arranged on the surface of the rectangular target 406; each target fixing rod 401 passes through the U-shaped connecting seats 402 on two sides and is fixedly connected with the rectangular targets 406, and the upper ends of the target fixing rods 401 are hung on the roadway roof 1; the cleaning mechanism is arranged on the outer side of the rectangular target 406 and is used for cleaning dust on the silicon optical patch 407, and comprises a lead screw 404, a sliding block 408, a sliding chute 403 and a U-shaped cleaning frame 405; the screw 404 is horizontally arranged at the rear of the bottom of the rectangular target 406, and one end of the screw 404 is connected with a screw motor; the sliding block 408 is in sliding sleeve connection with the lead screw 404; the chute 403 is arranged at the upper end of the rectangular target 406; the U-shaped cleaning frame 405 is arranged on the rectangular target 406 in a downward covering mode, one end of the opening of the U-shaped cleaning frame 405 is fixedly connected with the sliding block 408, the upper top of the U-shaped cleaning frame 405 is slidably embedded on the sliding groove 403, and a plurality of rubber brushes are arranged on the inner side of the U-shaped cleaning frame 405 and used for cleaning dust attached to the silicon light patch 407.
The working principle of the embodiment is as follows: the silicon optical patch 407 arranged on the surface of the rectangular target 406 generates a small voltage lifting signal when the laser of the ranging laser emitter 309 irradiates, whether the laser beam falls on the surface of the rectangular target 406 is judged by detecting whether the voltage signal of the arranged silicon optical patch 407 rises, further, the signal value output by the ranging laser emitter 309 is judged to be the output value when the laser falls on the rectangular target 406 instead of the output value when the laser falls on other parts of the body of the heading machine 2 or the coal wall, and the interference of the signal value can be output when the laser is off-target is eliminated by synchronously detecting the signals of a transmitting end and a receiving end;
when the laser is off-target, the receiving end has no voltage signal change, and the output value of the airborne ranging transmitting device 3 is invalid at the moment, so that the airborne ranging transmitting device 3 is controlled to perform posture compensation according to the posture deviation signal of the machine body, and the specific compensation steps are as follows: by receiving yaw angle information of the heading machine 2, driving a first servo motor 302 to drive a whole rotating table 304 to rotate so as to perform yaw attitude compensation; the second servo motor 306 is controlled to do corresponding left-right rotation movement by receiving yaw angle information of the heading machine 2 body so as to compensate the roll angle of the heading machine 2 body; by receiving the heading machine body pitch angle information, the third servo motor 3010 is controlled to drive the ranging laser transmitter 309 to perform corresponding angle pitching motion, so as to compensate the heading machine 2 body pitch angle.
The specific model of the electronic component is not specifically specified, and all the electronic components can be common products sold in the market, so long as the use requirements of the electronic component can be met.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the utility model, and is not meant to limit the utility model thereto, but to limit the utility model thereto, and any modifications, equivalents, improvements and equivalents may be made thereto without departing from the spirit and principles of the utility model.
Claims (6)
1. An airborne ranging device of an underground tunneling machine, comprising an airborne ranging transmitting device (3) and a rectangular ranging receiving device (4) for receiving signals transmitted by the airborne ranging transmitting device (3), wherein the airborne ranging transmitting device (3) comprises:
the bottom plate support (301) comprises a lower plate fixedly arranged at a central axis above the body of the heading machine (2) and an upper plate arranged above the lower plate at intervals;
the first servo motor (303) is fixedly arranged in the middle of the upper surface of the lower plate;
the rotary table (304) is movably arranged in the middle of the upper plate, the first servo motor (303) drives the rotary table (304) to rotate, and two support plates (305) are symmetrically and vertically welded above the rotary table (304);
a second servo motor (306) disposed outside the support plate (305) located on the left side;
the U-shaped swing arms (308) are movably clamped between the two support plates (305) with downward openings, connecting rods (307) are fixedly arranged between the inner sides of the openings of the U-shaped swing arms (308), the output shafts of the second servo motors (306) penetrate through the support plates (305) and are fixedly connected with the connecting rods (307), and L-shaped brackets are arranged at the upper ends of the U-shaped swing arms (308);
a ranging laser emitter (309) disposed inside the L-shaped bracket;
the third servo motor (3010) is arranged at the outer side of the L-shaped bracket, and an output shaft of the third servo motor (3010) penetrates through the L-shaped bracket to be fixedly connected with the ranging laser transmitter (309).
2. An on-board ranging device for a down-hole heading machine as claimed in claim 1, wherein the rectangular ranging receiver (4) is suspended below the tunnel roof (1).
3. An on-board ranging device for a down-hole heading machine as claimed in claim 1, wherein the rectangular ranging receiver (4) comprises:
three U-shaped connecting seats (402) are uniformly arranged on two sides of the rectangular target (406), and silicon light patches (407) are uniformly arranged on the surface of the rectangular target (406);
the two target fixing rods (401), each target fixing rod (401) respectively penetrates through the U-shaped connecting seats (402) on two sides to be fixedly connected with the rectangular targets (406), and the upper ends of the target fixing rods (401) are hung on the roadway top plate (1);
and the cleaning mechanism is arranged outside the rectangular target (406) and is used for cleaning dust on the silicon optical patch (407).
4. A downhole tunnelling machine on-board distance measuring device as claimed in claim 3 wherein the sweeping mechanism comprises:
the screw rod (404) is horizontally arranged behind the bottom of the rectangular target (406), and one end of the screw rod (404) is connected with a screw rod motor;
a sliding block (408) which is in sliding sleeve connection with the lead screw (404);
the chute (403) is arranged at the upper end of the rectangular target (406);
the U-shaped cleaning frame (405) is downwards covered on the rectangular target (406), one end of the opening of the U-shaped cleaning frame (405) is fixedly connected with the sliding block (408), and the upper top of the U-shaped cleaning frame (405) is in sliding engagement with the sliding groove (403).
5. An on-board distance measuring device for a down-hole heading machine as in claim 1, wherein the lower plate upper surface of the base plate support (301) is provided with a motor bracket, and the first servo motor (303) is fixedly mounted on the motor bracket.
6. An on-board distance measuring device for a down-hole tunneling machine according to claim 4, wherein a plurality of rubber brushes are arranged on the inner side of the U-shaped cleaning frame (405) for cleaning dust attached to the silicon optical patch (407).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320019113.0U CN220040764U (en) | 2023-01-05 | 2023-01-05 | Airborne ranging device of underground development machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320019113.0U CN220040764U (en) | 2023-01-05 | 2023-01-05 | Airborne ranging device of underground development machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220040764U true CN220040764U (en) | 2023-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320019113.0U Active CN220040764U (en) | 2023-01-05 | 2023-01-05 | Airborne ranging device of underground development machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220040764U (en) |
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2023
- 2023-01-05 CN CN202320019113.0U patent/CN220040764U/en active Active
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