A gyro inertial navigation device for long-term anti-seismic of fully mechanized coal face

Abstract

The application discloses a gyro inertial navigation device for long-term anti-shock of a fully-mechanized coal mining face, and relates to the technical field of gyro inertial navigation equipment. The application discloses a gyro inertial navigation device for long-term anti-shock of a fully-mechanized coal mining face, and relates to the technical field of gyro inertial navigation equipment. The application discloses a gyro inertial navigation device for long-term anti-shock of a fully-mechanized coal mining face, and relates to the technical field of gyro inertial navigation equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gyro inertial navigation equipment, in particular to a gyro inertial navigation device for long-term anti-vibration of fully mechanized mining face. BACKGROUND

[0002] The gyro inertial navigation device is commonly known as a gyroscope, which is the core component of an inertial system, an internal sensor that can detect the attitude and state changes of the carrier itself even without external reference signals. Its function is to sense (sensitive sensing detection) the angle, angular velocity and angular acceleration of the moving body. The gyroscope usually refers to a rotor installed in a gimbal support that rotates at high speed. The rotor can also precess around a vertical axis or two axes. The former is called a single-degree-of-freedom gyroscope, and the latter is called a two-degree-of-freedom gyroscope. The gyroscope has fixed-axis and precession properties. Rate gyros that sense angular velocity and position gyros that sense angular deviation are made using these properties. Due to the introduction of optical and micro-electro-mechanical technologies into the development of gyroscopes, devices that can complete gyro functions are now commonly referred to as gyroscopes.

[0003] The fully mechanized mining face is generally equipped with coal mining machines, hydraulic supports, scraper conveyors, transfer machines, crushers and belt conveyors. The entire coal mining process is basically mechanized. In the working of the fully mechanized mining face, a gyroscope is needed for positioning. The mining operation of the fully mechanized mining face requires a large number of excavation equipment, and the gyroscope is also installed on the mining equipment. During the mining process, there is usually a lot of uninterrupted vibration, and there is a high possibility that the vibration will be transmitted to the gyroscope. Under the influence of long-term vibration, the precision of the gyroscope inside is easily damaged, resulting in inaccurate gyroscope data. To overcome the above-mentioned shortcomings, the present application provides a gyro inertial navigation device for long-term anti-vibration of fully mechanized mining face. SUMMARY

[0004] To overcome the above-mentioned shortcomings, the present application provides a gyro inertial navigation device for long-term anti-vibration of fully mechanized mining face.

[0005] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, the gyro sensor anti-seismic structure comprises connecting columns fixed on the top and bottom of the inertial navigation gyro sensor, a flange is fixed on the end of the connecting column away from the inertial navigation gyro sensor, a first base is mounted on the other side of the flange, a support column is hinged in the inner cavity of the first base, a cylinder is welded on the other end of the support column, and a hollow circular table is welded on the other end of the cylinder.

[0006] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, the second bases are fixed on the side walls of the sealing covers close to each other by screws, U-shaped plates are welded on the sides of the second bases close to each other, a rotating shaft is rotatably connected in the inner cavities of the U-shaped plates, fixed blocks are welded on the outer rings of the rotating shafts, and movable columns are welded on the ends of the fixed blocks away from the second bases and penetrating into the cylinders.

[0007] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, a buffer spring is welded on the inner wall of the side of the cylinder close to the first base, a disc is welded on the other end of the buffer spring and in contact with the end of the movable column in the cylinder, and the vertical section of the hollow circular table is trapezoidal.

[0008] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, rubber balls are fixed on the outer wall of the rotating shaft of the movable column by adhesives, and the shapes of the rubber balls and the inner cavities of the hollow circular tables are matched with each other.

[0009] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, the side anti-seismic components comprise two rectangular frames fixed on the side walls of the inertial navigation gyro sensor, and screws penetrating into the inner cavities of the rectangular frames, and nuts are arranged on the ends of the screws in the inner cavities of the rectangular frames.

[0010] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, the ends of the screws away from the rectangular frames penetrate into the outside of the hollow tube, nuts are arranged on the outer rings of the ends of the screws outside the hollow tube, and sleeves are arranged on the outer rings of the screws between the side walls of the rectangular frames away from the inertial navigation gyro sensor and the inner wall of the hollow tube.

[0011] In the technical scheme of the above-described gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face, preferably, a rectangular through hole is formed in each of the two side walls of the hollow tube for the screw to penetrate and move.

[0012] It can be known from the above technical scheme that the gyro inertial navigation device for long-term anti-seismic of fully-mechanized coal mining face has the following beneficial effects compared with the prior art:

[0013] 1. In the application, when the inertial navigation gyroscope sensor is subjected to vibration from the top and bottom, the vibration will be transmitted to the second base along the sealing cover, the second base will transmit the vibration to the movable column, so that the movable column moves into the interior of the cylinder, and at the same time drives the rubber ball to contact the inner cavity of the hollow circular table, utilizes the elasticity of the rubber ball and the contact between the hollow circular table and the movable column, and at the same time the movable column moves into the interior of the cylinder and contacts the disc to extrude the buffer spring, realizes the combination of the elasticity of the rubber ball and the buffer spring, and the vibration from the top and bottom is weakened to the maximum, thereby providing the inertial navigation gyroscope sensor with anti-vibration effect.

[0014] 2. In the application, under the premise that the nuts and caps at both ends of the screw rod are tightened, when the two side walls of the hollow pipe are subjected to impact or vibration, the left and right swinging of the inertial navigation gyroscope sensor or the hollow pipe makes the rectangular frame and the inner wall of the hollow pipe approach or move away from each other, so that the rectangular frame and the inner wall of the hollow pipe extrude or stretch the reset spring therebetween, on the one hand, utilizes the reset spring to provide the left and right swinging with buffering and anti-vibration effect, and on the other hand, utilizes the pulling and rebound of the reset spring to enable the left and right positions of the inertial navigation gyroscope sensor to be quickly reset, thereby realizing long-time anti-vibration effect. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce and describe the drawings needed to be used in the description of the embodiments of the present application or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0016] Figure 1 It is an internal schematic diagram of a gyro inertial navigation device for long-term anti-vibration of a fully mechanized coal mining face in the application.

[0017] Figure 2 It is an external explosion schematic diagram of a gyro inertial navigation device for long-term anti-vibration of a fully mechanized coal mining face in the application.

[0018] Figure 3 It is an external perspective schematic diagram of a gyro inertial navigation device for long-term anti-vibration of a fully mechanized coal mining face in the application.

[0019] Figure 4 It is a schematic diagram of a side anti-vibration component of a gyro inertial navigation device for long-term anti-vibration of a fully mechanized coal mining face in the application.

[0020] Figure 5 It is a schematic diagram of a gyro sensor anti-vibration structure of a gyro inertial navigation device for long-term anti-vibration of a fully mechanized coal mining face in the application.

[0021] Figures 1-5 In particular, the corresponding relationship of the components is as follows:

[0022] 1, inertial navigation gyroscope sensor; 2, gyroscope sensor shockproof structure; 21, connecting column; 22, flange; 23, first base; 24, support column; 25, cylinder; 26, hollow circular table; 27, buffer spring; 28, movable column; 29, disc; 210, rubber ball; 211, fixed block; 212, U-shaped plate; 213, rotating shaft; 214, second base; 3, side shockproof component; 31, rectangular frame; 32, threaded hole; 33, return spring; 34, screw; 35, nut; 36, nut; 4, hollow pipe; 5, rectangular through hole; 6, sealing cover. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the following described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0024] In order to make the technical solutions and implementation modes of the present application clearer and more understandable, the following introduces several preferred specific embodiments for implementing the technical solutions of the present application.

[0025] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0026] In addition, the terms "inner, outer", "front, back", "left, right", "vertical, horizontal", "top, bottom" and the like in this paper indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0027] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0028] Specific embodiment 1.

[0029] The utility model relates to a kind of inertial navigation gyroscope sensor, including hollow tube 4, sealing cover 6 being arranged at the top and bottom opening of hollow tube 4, and inertial navigation gyroscope sensor 1 fixed in the cavity of hollow tube 4, and the top and bottom surface of inertial navigation gyroscope sensor 1 are mutually close to the side between sealing cover 6, and it is provided with gyroscope sensor shockproof structure 2 for providing inertial navigation gyroscope sensor 1 with up and down shock resistance, and inertial navigation gyroscope sensor 1 is fixed with side edge shockproof component 3 for providing inertial navigation gyroscope sensor 1 with left and right shock resistance on two sides of wall.

[0030] Gyroscope sensor shockproof structure 2 includes connecting column 21 fixed on the top and bottom of inertial navigation gyroscope sensor 1, flange 22 is fixed on the end of connecting column 21 away from inertial navigation gyroscope sensor 1, first base 23 is installed on the other side of flange 22, support column 24 is hinged in the cavity of first base 23, cylinder 25 is welded on the other end of support column 24, hollow circular platform 26 is welded on the other end of cylinder 25.

[0031] Sealing cover 6 is mutually close to the side wall of one side, and second base 214 is fixed by screw on the side wall, U-shaped plate 212 is welded on the side of second base 214 mutually close, one rotating shaft 213 is connected in the cavity of U-shaped plate 212, fixed block 211 is welded on the outer ring of rotating shaft 213, and movable column 28 is welded on the end of fixed block 211 away from second base 214 and penetrates into the inside of cylinder 25, buffer spring 27 is welded on the inner wall of the side of cylinder 25 close to first base 23, and the other end of buffer spring 27 is welded with disc 29 in contact with the end of movable column 28 in the inside of cylinder 25, and the vertical section of hollow circular platform 26 is trapezoidal, rubber ball 210 is fixed on the outer ring side wall of movable column 28 by adhesive, and rubber ball 210 and the shape of the cavity of hollow circular platform 26 are mutually adapted.

[0032] Specific embodiment 2.

[0033] The reciprocating motion of an object or particle relative to the equilibrium position is called vibration. Vibration is divided into sinusoidal vibration, random vibration, composite vibration, scanning vibration, and fixed frequency vibration. The main parameters for describing vibration are amplitude, velocity, vibration is divided, acceleration, and the test of the real object or model of the vibration system in the field or laboratory. The vibration system is a mass-elastic system excited by a vibration source, such as a machine, a structure or its parts, a living body, etc. Vibration test is to simulate the various vibration environmental influences encountered by the product in the transportation, installation and use environment. Vibration test is to evaluate the resistance of components, parts and whole machines in the expected transportation and use environment. One test believes that the most commonly used vibration modes can be divided into sinusoidal vibration and random vibration. Sinusoidal vibration is a test method often used in the laboratory to simulate the vibration generated by rotation, pulsation, oscillation, and product structure resonance frequency analysis and resonance point residence verification. It is divided into sweep vibration and fixed frequency vibration. The severity depends on the frequency range, amplitude value and test duration.

[0034] Because in the fully mechanized mining environment, the equipment is subjected to inherent frequency vibration, the equipment is simulated to generate free vibration by knocking or sudden unloading, so the left and right sides of the equipment are subjected to the most frequent vibration, therefore, the corresponding installation side anti-vibration parts are installed on the upper and lower sides of the gyro inertial navigation equipment.

[0035] The anti-vibration structure 2 of the gyroscope sensor includes connecting columns 21 fixed on the top and bottom of the inertial navigation gyroscope sensor 1. The ends of the connecting columns 21 away from the inertial navigation gyroscope sensor 1 are fixed with flanges 22. The other side of the flange 22 is installed with a first base 23. The inner cavity of the first base 23 is hingedly connected with a support column 24. The other end of the support column 24 is welded with a cylinder 25. The other end of the cylinder 25 is welded with a hollow circular platform 26.

[0036] The second bases 214 on the sides of the sealing covers 6 close to each other are fixed with the second bases 214 through screws. The sides of the second bases 214 close to each other are welded with U-shaped plates 212. The inner cavities of the U-shaped plates 212 are rotatably connected with a rotating shaft 213. The outer circle of the rotating shaft 213 is welded with a fixed block 211. The end of the fixed block 211 away from the second base 214 is welded with a movable column 28 penetrating into the inside of the cylinder 25. A buffer spring 27 is welded on the inner wall of the side of the cylinder 25 close to the first base 23. The other end of the buffer spring 27 is welded with a disc 29 in contact with the end of the movable column 28 in the inside of the cylinder 25. The vertical section of the hollow circular platform 26 is trapezoidal. Rubber balls 210 are fixed on the outer circle side wall of the movable column 28 through adhesive. The rubber balls 210 and the inner cavities of the hollow circular platform 26 are mutually matched in shape.

[0037] The side anti-vibration component 3 comprises two rectangular frames 31 fixed on the side wall of the inertial navigation gyroscope sensor 1, a screw rod 34 penetrating into the inner cavity of the rectangular frame 31, and the screw rod 34 is provided with a nut 36 at one end in the inner cavity of the rectangular frame 31, and the other end of the screw rod 34 penetrating out of the hollow tube 4 is provided with a nut 35 on the outer ring of the other end, and a sleeve is arranged on the outer ring of the screw rod 34 between the side wall of the rectangular frame 31 away from the inertial navigation gyroscope sensor 1 and the inner wall of the hollow tube 4, and a rectangular through hole 5 is formed in the two side walls of the hollow tube 4 for the screw rod 34 to penetrate.

[0038] The use method (working process) of the present application is as follows:

[0039] In the long-term anti-vibration operation of the inertial navigation gyroscope sensor 1, first, the sealing cover 6 on the bottom port of the hollow tube 4 is fixed on the hollow tube 4, then the inertial navigation gyroscope sensor 1 is placed in the inner cavity of the hollow tube 4, the sealing cover 6 on the top port of the hollow tube 4 is covered, the second base 214 is connected with the sealing cover 6 by using a screw, and the hollow tube 4 is fixed on the fully mechanized mining face mining machine.

[0040] After the assembly is completed, when the inertial navigation gyroscope sensor 1 is subjected to vibration from the upper and lower sides, the vibration from the upper and lower sides is transmitted to the second base 214 along the sealing cover 6, the second base 214 transmits the vibration to the movable column 28, the movable column 28 moves into the inner part of the cylinder 25, the rubber ball 210 contacts the inner cavity of the hollow circular table 26, the elasticity of the rubber ball 210 contacts the inner cavity of the hollow circular table 26, and the movable column 28 contacts the disc 29 and squeezes the buffer spring 27 while moving into the inner part of the cylinder 25, the elasticity of the rubber ball 210 and the elasticity of the buffer spring 27 are combined, the vibration from the upper and lower sides is weakened to the maximum, and thus the anti-vibration effect of the inertial navigation gyroscope sensor 1 is provided.

[0041] In addition, under the premise that the nuts 35 and the nuts 36 at both ends of the screw rod 34 are tightened, when the two side walls of the hollow tube 4 are subjected to impact or vibration, the left and right swinging of the inertial navigation gyroscope sensor 1 or the hollow tube 4 makes the inner walls of the rectangular frame 31 and the hollow tube 4 approach or move away from each other, and the return spring 33 between the inner walls of the rectangular frame 31 and the hollow tube 4 is squeezed or stretched, on the one hand, the return spring 33 provides a buffer anti-vibration effect for the left and right swinging, and on the other hand, the pulling and rebound of the return spring 33 enables the left and right positions of the inertial navigation gyroscope sensor 1 to be quickly reset, and a long-term anti-vibration effect is achieved.

[0042] Finally, it needs to be explained that the structure, proportion, size and the like shown in the drawings of the present specification are merely used to cooperate with the content disclosed in the present specification, so as to be understood and read by those skilled in the art, and do not have technical substantial meaning, and any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0043] The terms "comprise", "comprising", or any other variation thereof, as used in the present document, are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not only include those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0044] The present application is not limited to the above-mentioned best mode, and anyone should know that any structural changes made under the inspiration of the present application, any technical solutions with the same or similar to the present application, fall within the protection scope of the present application.

Claims

1. A gyro-inertial navigation device for long-term seismic resistance in fully mechanized mining faces, characterized in that, The device includes a hollow tube (4), sealing caps (6) located at the top and bottom openings of the hollow tube (4), and an inertial gyroscope sensor (1) fixed inside the hollow tube (4). A gyroscope sensor anti-vibration structure (2) is provided between the top and bottom surfaces of the inertial gyroscope sensor (1) and the side of the sealing cap (6) that is close to each other, to provide vertical vibration resistance for the inertial gyroscope sensor (1). Side vibration-resistant components (3) are fixed on the sidewalls of both sides of the inertial gyroscope sensor (1) to provide horizontal vibration resistance for the inertial gyroscope sensor (1). Each of the two bases is fixed with a second base (214) by screws. A U-shaped plate (212) is welded to the side of the two bases (214) that are close to each other. A rotating shaft (213) is rotatably connected in the inner cavity of the U-shaped plate (212). A fixing block (211) is welded to the outer ring of the rotating shaft (213). A movable column (28) that penetrates into the inside of the cylinder (25) is welded to the end of the fixing block (211) away from the second base (214). A rubber ball (210) is fixed to the outer side wall of the movable column (28) by adhesive. The shape of the rubber ball (210) is adapted to the inner cavity of the hollow truncated cone (26).

2. The gyro inertial navigation device for long-term seismic resistance in fully mechanized mining faces according to claim 1, characterized in that, The anti-vibration structure (2) of the gyroscope sensor includes a connecting column (21) fixed on the top and bottom of the inertial navigation gyroscope sensor (1). A flange (22) is fixed at one end of the connecting column (21) away from the inertial navigation gyroscope sensor (1). A first base (23) is installed on the other side of the flange (22). A support column (24) is hinged in the inner cavity of the first base (23). A cylinder (25) is welded to the other end of the support column (24). A hollow frustum (26) is welded to the other end of the cylinder (25).

3. A gyro inertial navigation device for long-term seismic resistance in fully mechanized mining faces according to claim 2, characterized in that, A buffer spring (27) is welded to the inner wall of the cylinder (25) near the first base (23), and a disc (29) is welded to the other end of the buffer spring (27) that contacts one end of the movable column (28) inside the cylinder (25), and the vertical cross section of the hollow frustum (26) is trapezoidal.

4. A gyro inertial navigation device for long-term seismic resistance in fully mechanized mining faces according to claim 1, characterized in that, The side shock-resistant component (3) includes two rectangular frames (31) fixed on the side wall of the inertial navigation gyroscope sensor (1) and a screw (34) penetrating into the inner cavity of the rectangular frame (31), and a nut (36) is provided at one end of the screw (34) located in the inner cavity of the rectangular frame (31).

5. A gyro inertial navigation device for long-term seismic resistance in fully mechanized mining faces according to claim 4, characterized in that, The end of the screw (34) away from the rectangular frame (31) extends through to the outside of the hollow tube (4), and a nut (35) is provided on the outer ring of the end of the screw (34) outside the hollow tube (4), and a ring fitted on the outer ring of the screw (34) is provided between the side wall of the rectangular frame (31) away from the inertial navigation gyroscope sensor (1) and the inner cavity side wall of the hollow tube (4).

6. A gyro inertial navigation device for long-term seismic resistance in fully mechanized mining faces according to claim 1, characterized in that, A rectangular through hole (5) is provided on both sides of the hollow tube (4) for the screw (34) to pass through and move.

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