CN220602556U - Inertial positioning system of coal mining machine - Google Patents
Inertial positioning system of coal mining machine Download PDFInfo
- Publication number
- CN220602556U CN220602556U CN202321960875.7U CN202321960875U CN220602556U CN 220602556 U CN220602556 U CN 220602556U CN 202321960875 U CN202321960875 U CN 202321960875U CN 220602556 U CN220602556 U CN 220602556U
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- China
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- mining machine
- coal mining
- inertial navigation
- fixedly connected
- positioning system
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- 239000003245 coal Substances 0.000 title claims abstract description 33
- 238000005065 mining Methods 0.000 title claims abstract description 31
- 230000001681 protective effect Effects 0.000 claims abstract description 45
- 238000009434 installation Methods 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000017525 heat dissipation Effects 0.000 abstract description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The utility model discloses a coal mining machine inertial positioning system, which comprises a mounting frame arranged at the front end and the rear end of a coal mining machine, wherein the mounting frame comprises a frame body and a positioning frame body, wherein the frame body is provided with a plurality of positioning plates: the inner chamber of installing frame is provided with inertial navigation instrument, the both sides at installing frame top all rotate and are connected with the protective housing, and the top of two protective housings is provided with locking subassembly, the air inlet has all been seted up to the front surface and the back surface of protective housing, the inner chamber fixedly connected with filter screen of air inlet, the equal fixedly connected with mounting bracket in one side that two protective housings are on the back mutually, the inner chamber intercommunication of mounting bracket and protective housing. According to the utility model, through the arrangement of the inertial navigation instrument, the front end and the rear end of the coal mining machine are subjected to inertial navigation, and meanwhile, the inertial navigation instrument is shielded and protected by the cooperation of the mounting frame and the protective box, and the purposes of stable mounting, high protection and high heat dissipation can be achieved by radiating the surface heat of the inertial navigation instrument while shielding and protecting the inertial navigation instrument.
Description
Technical Field
The utility model belongs to the technical field of inertial navigation positioning, and particularly relates to an inertial positioning system of a coal mining machine.
Background
The inertial navigation technology is that the angular velocity and acceleration information of a carrier are measured through a gyroscope and an accelerometer, and the speed and position information of the carrier are obtained through integral operation, wherein the inertial navigation technology comprises a platform type inertial navigation system and a strapdown inertial navigation system, and the platform type inertial navigation system controls the gyroscope to track the angular velocity of a navigation coordinate system in an inertial space through a platform stabilizing loop.
The coal mining machine is a large complex system integrating mechanical, electric and hydraulic, because the underground environment is bad and available external sensors are few, the positioning accuracy of single inertial navigation cannot meet the requirement of fully-mechanized mining working face automation.
Disclosure of Invention
The utility model aims to provide an inertial positioning system of a coal mining machine, which adopts a double inertial navigation positioning mode, adopts a constraint condition that the relative distance between two inertial navigation devices is a fixed value after installation, uses low-cost secondary inertial navigation to calibrate the main inertial navigation with medium cost, and improves the positioning precision so as to solve the technical problems.
The technical scheme for solving the technical problems is as follows: an inertial positioning system of a coal mining machine comprises a mounting frame arranged at the front end and the rear end of the coal mining machine: the utility model discloses a mounting frame, including mounting frame, air inlet, mounting frame, cooling fan, screw, mounting frame, air inlet, mounting frame and cooling fan, the inner chamber of mounting frame is provided with inertial navigation instrument, the both sides at mounting frame top all rotate and are connected with the protective housing, and the top of two protective housings is provided with locking subassembly, the air inlet has all been seted up to the front surface and the back surface of protective housing, the inner chamber fixedly connected with filter screen of air inlet, the equal fixedly connected with mounting bracket in one side that two protective housings are on a back of the body mutually, the inner chamber intercommunication of mounting bracket and protective housing, one side that the mounting bracket is close to the protective housing passes through screw fixedly connected with cooling fan.
Preferably, the locking assembly comprises a fixed sleeve welded at the top of the right protective box, a limiting plug-in is slidingly connected to the inner cavity of the fixed sleeve, and a limiting plug-in sleeve which is plugged with the limiting plug-in is welded at the top of the right protective box.
Preferably, the right side of fixed cover is provided with the fixed block with welding at the protective housing top, spacing plug-in components sliding connection is at the surface of fixed block.
Preferably, a spring is welded on the left side of the fixed block, and one end, away from the fixed block, of the spring is welded with the inner wall of the limit plug-in.
Preferably, the four corners of the installation frame are all penetrated and provided with first bolts, the installation frame is fixedly connected to the surface of the coal mining machine through the first bolts, the four corners of the inertial navigation instrument are all penetrated and provided with second bolts, and the inertial navigation instrument is fixedly connected to the surface of the coal mining machine through the second bolts.
Preferably, the mounting frame is fixedly connected with a shutter grille at one side far away from the protective box.
1. The beneficial effects of the utility model are as follows: according to the utility model, through the arrangement of the inertial navigation instrument, the front end and the rear end of the coal mining machine are subjected to inertial navigation, and meanwhile, the inertial navigation instrument is shielded and protected by the cooperation of the mounting frame and the protective box, and the purposes of stable mounting, high protection and high heat dissipation can be achieved by radiating the surface heat of the inertial navigation instrument while shielding and protecting the inertial navigation instrument.
2. According to the utility model, through the arrangement of the locking assembly, the limit plug-in and the limit plug-in sleeve are matched for use, the limit locking effect is achieved on the tops of the two protection boxes, so that the two protection boxes can be stably covered on the surface of the inertial navigation instrument to protect the inertial navigation instrument, and meanwhile, under the matched use of the fixing block and the spring, the limit plug-in can be guided and simultaneously can be elastically pushed, and then the limit plug-in can be stably clamped in the inner cavity of the limit plug-in sleeve to prevent the two protection boxes from loosening.
3. According to the utility model, the shutter grille is arranged to shield one side of the mounting frame far away from the coal mining machine, so that foreign matters are prevented from entering the inner cavity of the mounting frame.
Drawings
Wherein:
FIG. 1 is a schematic front view of an embodiment of the present utility model;
FIG. 2 is a partial enlarged view of the point A in FIG. 1 according to an embodiment of the present utility model;
FIG. 3 is a schematic perspective view of a mounting frame, a guard box and a locking assembly according to one embodiment of the utility model;
FIG. 4 is a perspective exploded view of a protective housing and locking assembly according to one embodiment of the present utility model.
In the drawings, the list of components represented by the various numbers is as follows:
1. coal cutter, 2, mounting frame, 3, first bolt, 4, inertial navigation instrument, 5, second bolt, 6, protective housing, 7, locking subassembly, 71, fixed cover, 72, spacing plug-in components, 73, spacing plug-in components, 74, fixed block, 75, spring, 8, air inlet, 9, filter screen, 10, mounting bracket, 11, radiator fan, 12, tripe grid.
Detailed Description
Hereinafter, an embodiment of the inertial positioning system of a shearer of the present utility model will be described with reference to the drawings.
Fig. 1-4 show a coal mining machine inertial positioning system according to an embodiment of the utility model, which comprises a mounting frame 2 mounted at the front end and the rear end of a coal mining machine 1, wherein four corners of the mounting frame 2 are respectively provided with a first bolt 3 in a penetrating manner, the mounting frame 2 is fixedly connected to the surface of the coal mining machine 1 through the first bolt 3, four corners of an inertial navigation instrument 4 are respectively provided with a second bolt 5 in a penetrating manner, the inertial navigation instrument 4 is fixedly connected to the surface of the coal mining machine 1 through the second bolts 5, an inner cavity of the mounting frame 2 is provided with the inertial navigation instrument 4, two sides of the top of the mounting frame 2 are respectively connected with a protective box 6 in a rotating manner, the tops of the two protective boxes 6 are respectively provided with a locking assembly 7, the locking assembly 7 comprises a fixed sleeve 71 welded at the top of the right protective box 6, an inner cavity of the fixed sleeve 71 is slidably connected with a limiting plug-in 72, the top of the right protective box 6 is welded with a limiting plug-in 73 inserted with the limiting plug-in 72, the right side of the fixed sleeve 71 is provided with a fixed block 74 welded at the top of the protective box 6, the limit plug-in 72 is slidingly connected to the surface of the fixed block 74, the left side of the fixed block 74 is welded with a spring 75, one end of the spring 75 away from the fixed block 74 is welded with the inner wall of the limit plug-in 72, through the arrangement of the locking component 7, wherein the limit plug-in 72 and the limit plug-in 73 are matched for use, the top of the two protective boxes 6 is provided with limit locking function, the two protective boxes 6 can be stably covered on the surface of the inertial navigation instrument 4 to protect the inertial navigation instrument 4, meanwhile, under the matched use of the fixed block 74 and the spring 75, the limit plug-in 72 can be elastically pushed while being guided, and then the limit plug-in 72 can be stably clamped in the inner cavity of the limit plug-in 73, prevent that two protective boxes 6 from taking place not hard up, air inlet 8 has all been seted up to the front surface and the back surface of protective box 6, air inlet 8's inner chamber fixedly connected with filter screen 9, the equal fixedly connected with mounting bracket 10 in one side that two protective boxes 6 are on the back, one side fixedly connected with tripe grid 12 of protective box 6 is kept away from to mounting bracket 10, setting through tripe grid 12 shields one side that coal-winning machine 1 was kept away from to mounting bracket 10, thereby the inner chamber that the foreign matter got into mounting bracket 10 has been avoided, mounting bracket 10 and protective box 6's inner chamber intercommunication, one side that mounting bracket 10 is close to protective box 6 passes through screw fixedly connected with radiator fan 11.
Working principle: when the device is used, a user uses the relative distance of the front end and the rear end of the coal mining machine 1 after the installation of the two inertial navigation instruments 4 as a constraint condition, uses low-cost secondary inertial navigation to calibrate main inertial navigation with medium cost to achieve high-precision positioning, so that the device meets the requirement of underground coal mines on the positioning precision of the coal mining machine, in the using process, the inertial navigation instruments 4 continuously work to generate heat, the heat of the surfaces of the inertial navigation instruments 4 is pumped and discharged by the heat radiating fan 11, meanwhile, air entering from the air inlet 8 and entering through the filter screen 9 is filtered, the surfaces of the inertial navigation instruments 4 are protected by the two protecting boxes 6, broken stone or crushed coal in a tunnel is blocked, and the stable operation of the inertial navigation instruments 4 is ensured;
after a certain period of use, the user can maintain the inertial navigation instrument 4 by opening the protective box 6, and when the protective box is opened, the user pulls the limiting plug-in 72 to one side, so that the limiting plug-in 72 is separated from the inner cavity of the limiting plug-in 73, and meanwhile, the spring 75 is compressed, and then the protective box 6 is rotated to be opened.
To sum up: according to the inertial positioning system of the coal mining machine, through the arrangement of the inertial navigation instrument 4, the front end and the rear end of the coal mining machine 1 are subjected to inertial navigation, meanwhile, the inertial navigation instrument 4 is shielded and protected by the cooperation of the installation frame 2 and the protective box 6, and the purposes of stable installation, high protection and high heat dissipation can be achieved by radiating the surface heat of the inertial navigation instrument 4 while shielding and protecting.
Claims (6)
1. The inertial positioning system of the coal mining machine is characterized by comprising a mounting frame (2) arranged at the front end and the rear end of the coal mining machine (1): the utility model discloses a device for fixing a radiator, including installation frame (2), mounting frame (2), locking subassembly (7), air inlet (8) have all been seted up to the inner chamber of installation frame (2), the both sides at installation frame (2) top all rotate and are connected with protective housing (6), the front surface and the back surface of two protective housing (6) all have been seted up air inlet (8), the inner chamber fixedly connected with filter screen (9) of air inlet (8), the equal fixedly connected with mounting bracket (10) in one side that two protective housing (6) are on the back mutually, the inner chamber intercommunication of mounting bracket (10) and protective housing (6), one side that mounting bracket (10) are close to protective housing (6) is through screw fixedly connected with radiator fan (11).
2. The inertial positioning system of the coal mining machine according to claim 1, wherein the locking assembly (7) comprises a fixed sleeve (71) welded at the top of the right-side protective box (6), a limiting plug-in (72) is slidingly connected to an inner cavity of the fixed sleeve (71), and a limiting plug-in sleeve (73) inserted with the limiting plug-in (72) is welded at the top of the right-side protective box (6).
3. The inertial positioning system of a coal mining machine according to claim 2, characterized in that the right side of the fixed sleeve (71) is provided with a fixed block (74) welded on top of the protective box (6), and the limiting insert (72) is slidingly connected to the surface of the fixed block (74).
4. A shearer inertial positioning system according to claim 3, characterized in that a spring (75) is welded to the left side of the fixed block (74), and the end of the spring (75) remote from the fixed block (74) is welded to the inner wall of the limit insert (72).
5. The inertial positioning system of the coal mining machine according to claim 4, wherein the four corners of the installation frame (2) are respectively provided with a first bolt (3) in a penetrating manner, the installation frame (2) is fixedly connected to the surface of the coal mining machine (1) through the first bolts (3), the four corners of the inertial navigation instrument (4) are respectively provided with a second bolt (5) in a penetrating manner, and the inertial navigation instrument (4) is fixedly connected to the surface of the coal mining machine (1) through the second bolts (5).
6. The inertial positioning system of a coal mining machine according to claim 5, wherein a louver grid (12) is fixedly connected to one side of the mounting frame (10) away from the protective box (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321960875.7U CN220602556U (en) | 2023-07-25 | 2023-07-25 | Inertial positioning system of coal mining machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321960875.7U CN220602556U (en) | 2023-07-25 | 2023-07-25 | Inertial positioning system of coal mining machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220602556U true CN220602556U (en) | 2024-03-15 |
Family
ID=90173718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321960875.7U Active CN220602556U (en) | 2023-07-25 | 2023-07-25 | Inertial positioning system of coal mining machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220602556U (en) |
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2023
- 2023-07-25 CN CN202321960875.7U patent/CN220602556U/en active Active
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