SU756020A1 - Device for determining self-propelled machine position - Google Patents

Description

The invention relates to the automatic control of moving objects and can be used to automate the directional maintenance of self-propelled mining machines.

Known devices used for ₅ control direction, determine the position and measurement of the deviation of self-propelled mining machines from a given direction [1]. To determine the position of the tunneling machine, photodetectors are used that measure the deviation of the axis of the machine from a given direction.

Of the known, the closest in technical essence is a device for measuring the coordinates of determining the position of a self-propelled machine relative to a given direction, containing two photoelectric sensors, an electric drive, displacement measurement sensors [2].

The device requires the use of two photoelectric sensors, simultaneously measuring the deviation of two points of the longitudinal axis from a given direction of motion. As a consequence, the shading of the second receiver is inevitable first, considering

2

from setting direction. As a result, information about the position of one of the controlled points of the shield axis relative to a given direction is lost, and therefore the position of the axis itself is not determined. The direction of the beam search is also uncertain, therefore, the accuracy of determining the deflection of the self-propelled machine and the reliability of the automatic tracking system are reduced.

The aim of the invention is to improve the reliability and accuracy.

This goal is achieved by the fact that the device is equipped with a flexible closed connection in the form of rectangular chains stretched on rollers parallel to each other, on which photoelectric sensors are mounted on the outer side, with two sides of the rectangle parallel to the longitudinal axis of the machine.

FIG. 1 shows a diagram of the device; in fig. 2 - its structural diagram.

The direction of movement of the machine 1 is set by beam 2 of an optical quantum generator (OCT) 3. On machine 1, a device is installed to determine it

756020

position relative to a given direction, consisting of two photoelectric sensors 4 and 5, the electric wire 6, a flexible connection 7, four rollers 8 and sensors 9 for measuring deviations. The flexible connection, stretched on the rollers 8, has the shape of a rectangle, the two sides of which are parallel to the machine’s longitudinal axis, and the other two, perpendicular to it, cover the entire working area of the device: A and B are the intersections of its longitudinal axis with a flexible link.

The signals from sensors 4 and 5 are fed respectively to memory blocks 10 and 11, from where they are fed to comparison unit 12 and to actuating element 13. ¹¹

The device works as follows.

Photoelectric sensors 4 and 5, mounted on a flexible connection 7, are driven by the actuator 6 in the reciprocating movement. The arrangement of 20 photoelectric sensors 4, 5 on a flexible connection is such that when one of them is in the working area of the device (position 5 or 4), the other is out of it (position 4 'or 5') 5 alternately ²⁵ fall into the zone of the beam 2 of the OKG 3, which sets the direction to the movement of the machine, which excludes shading by one sensor of the other at any of their positions. Sliding contacts connected to each photoelectric ₃₀ sensor slide as they move along resistive sensors 9 measuring deviations. At the moment of crossing the photoelectric sensor of the laser beam from the deviation measurement sensor, a voltage is collected, the value of which is proportional to the deviation of the machine's reference point from the path specified by the laser beam.

Since the photoelectric sensors constantly move in the working area of the device and cross the beam in whatever

it was not located at the point of this zone, then there is no need for the blocks of remembering the departure of the beam and its automatic search.

The photoelectric sensor 4 at the intersection of the laser beam detects the deviation of the first point of the axis of the machine relative to a given direction. This signal is fed to the memory unit 10. Then the second photoelectric sensor 5 enters the beam zone and records the deviation of the second point of the machine axis. This signal is fed to the memory block 11. From the memory blocks, signals about deviations of two points of the machine axis from a given direction are sent to the comparison block 12, and then to the actuating element 13, which corrects the course of the car.

The device reliably ensures the development in the initial predetermined direction, which allows for a 70% reduction in surveying control over the course of penetration.

Claims (1)

Claim A device for determining the position of a self-propelled machine, containing two photoelectric sensors, an electric drive, displacement measurement sensors, characterized in that, in order to improve reliability and accuracy of operation, it is equipped with a flexible closed connection in the form of rectangular chains stretched on rollers parallel to each other, which on the outside are mounted in a vertical position photoelectric sensors, with two sides of a rectangle parallel to the longitudinal axis of the machine.