Cantilever driving frame head posture measuring systems and its method

A technology of cantilever roadheader and measurement system, which is applied in the field of heading head, can solve the problems of poor forming quality of roadway excavation section, achieve the effect of improving forming quality and driving speed, reducing labor intensity, and high accuracy of position and posture measurement

Active Publication Date: 2008-09-17
SHANXI COKING COAL GROUP +1
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  • Abstract
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Problems solved by technology

[0004] The problem to be solved by the present invention is the measurement of the position and posture of the tunneling head when the cantilever roadheader is driving, and solves the problem of poor quality of

Method used

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  • Cantilever driving frame head posture measuring systems and its method
  • Cantilever driving frame head posture measuring systems and its method
  • Cantilever driving frame head posture measuring systems and its method

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Experimental program
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Effect test

Embodiment 1

[0021] Such as figure 1 and Figure 5 As shown, the pose measurement system of the cantilever heading machine head consists of the cantilever lifting cylinder 9 of the cantilever roadheading machine 8, the cantilever rotary cylinder 10, the telescopic cylinder 11 of the heading machine head, the cylinder stroke sensor 12, the laser motorized total station 3, and the reflecting prism 4 , a wireless communication module 2, a vehicle body yaw angle sensor 5, a biaxial inclination sensor 7, a data acquisition module 13 and a computer 1.

[0022] 1) A laser mobile total station 3 is installed on the roadway wall that has been excavated behind the body of the roadheader 8, is at the same level as the rear bracket 6 of the roadheader 8, and is between 1 meter and 10 meters away from the body of the roadheader 8 and measure the three-dimensional coordinates and attitude angle of the installation platform in the geodetic coordinate system, install the laser motorized total station 3 o...

Embodiment 2

[0030] Such as figure 2 and Figure 4 As shown, the solution to the measurement method of the cantilever heading machine head pose is to establish the earth coordinate system OXYZ, the measurement coordinate system O c x c Y c Z c , The body coordinate system O of the excavation locomotive 0 x 0 Y 0 Z 0 , cantilever rotary joint coordinate system O 1 x 1 Y 1 Z 1 , cantilever lifting joint coordinate system O 2 x 2 Y 2 Z 2 , Tunneling head telescopic joint coordinate system O 3 x 3 Y 3 Z 3 and roadway section coordinate system O h x h Y h Z h , each coordinate system is connected in series to form a space coordinate transformation dimension chain.

[0031] figure 2 The body coordinate system of the roadheader and the coordinate system of the cantilever joint are established on the simplified model of the roadheader system shown. θ1, θ2, and d are the variables of the rotary joint, lifting joint, and telescopic joint of the roadheader’s cantilever, respe...

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Abstract

The invention relates to the measurement system of a cantilever tunneling head pose and the method, which is characterized in that a laser mobile electrical total station is arranged on a formed tunnel wall, and measures the coordinate of the tunneling machine body in the earth coordinate system, a body deflection angle sensor is installed behind a reflector prism, and measures to the deflection angle of the tunneling machine body, a biaxial inclination angle sensor surveys the pitching angle and the roll angle of the tunneling machine body, oil cylinder stroke sensors install in a cantilever lifting oil cylinder, a cantilever revolving oil cylinder and a tunneling head flexible oil cylinder to survey the oil cylinder stroke, a wireless communication module and a data acquisition module transmit the metrical data of the laser mobile electrical total station, the cylinder stroke sensor, the biaxial inclination angle sensor and the body deflection angle sensor to the computer, which gathers, processes, and calculates the pose of the tunneling head relative to the body and the earth coordinate system, so as to realize the surveying of the tunneling head pose. The invention has the advantages of good timeliness, high precision, and suitable for the measurement and the position of the tunneling head pose of a tunneling equipment such as the cantilever tunneling machine.

Description

technical field [0001] The invention relates to a tunneling head of a cantilever roadheader for underground coal mine operations, in particular to a measurement system and a measurement method for the pose (position and posture) of the cantilever roadheader head. Background technique [0002] Existing coal mine underground roadway excavation widely adopts cantilever type roadheader. The cantilever roadheader is a roadway joint tunneling unit integrating cutting, loading, walking, dust removal and other functions. It cuts out the roadway through the walking of the tunneling body, the rotary swing of the cantilever, the vertical swing, the telescopic movement and the rotation of the tunneling head. section. The operation of the roadheader is manual. The driver observes the movement position, speed and trend of the head of the roadheader with human eyes, and manually controls the hydraulic control valve of the cantilever lifting, rotary cylinder and roadheader travel motor to ...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B21/00E21C25/06
Inventor 李军利邢建华廉自生郭厚明王维虎李萍李元宗
Owner SHANXI COKING COAL GROUP
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