A mine-used annular scanning laser transmitter fixing frame

Abstract

The present application relates to a kind of mine annular scanning laser transmitter fixing frame, including frame body, be set below roadway roof, with roadway roof dismounting connection;Mobile mounting plate is set below frame body, with frame body sliding connection;Linear movement mechanism is set on frame body, output end is fixedly connected with mobile mounting plate, for driving mobile mounting plate moves;Rotary connecting piece is set below mobile mounting plate, with mobile mounting plate rotation connection;Course angle adjusting mechanism is set on mobile mounting plate, and its output end is fixedly connected with rotary connecting piece;Laser is set rotary connecting piece lower end, with rotary connecting piece rotation connection;Pitch angle adjusting mechanism is set on rotary connecting piece, and its output end is fixedly connected with laser, set linear displacement mechanism and course angle adjusting mechanism, pitch angle adjusting mechanism, it is convenient to adjust the angle of laser transmitter, after fixing device on roadway roof, it is convenient to carry out pose calibration work to laser transmitter.

Description

Technical Field

[0001] This invention relates to the field of posture detection auxiliary device technology, and in particular to a fixing frame for a mining ring scanning laser emitter. Background Technology

[0002] Traditional laser pointing methods used for tunneling machine navigation are insufficient to meet the actual navigation needs of smart coal mines. Furthermore, factors such as dust, water mist, noise, and strong magnetic fields on the working face of coal mine roadways make it difficult to apply pose detection and navigation methods such as machine vision and electronic compasses. To monitor the pose of the tunneling machine in real time, pose monitoring methods based on cross-shaped and ring-shaped lasers have been proposed. However, in actual operation, the error of laser-based pose monitoring increases continuously with the tunneling distance. Therefore, during tunneling operations, the laser emitter needs to continuously move along with the tunneling machine.

[0003] Because the roof of the newly excavated tunnel is not flat, it is difficult to efficiently complete the installation, relocation, and calibration of the ring laser emitter without auxiliary fixing devices. Furthermore, the next step of attitude monitoring and tunneling work cannot proceed until the laser emitter's position is fixed. Therefore, how to quickly complete the installation and relocation of the ring laser emitter under limited conditions has become one of the challenges that needs to be solved in the laser-based tunneling machine attitude monitoring method. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, this invention provides a mounting bracket for a mining-use ring scanning laser emitter, which facilitates the adjustment of the ring laser emitter's position and orientation.

[0005] The present invention provides a mounting bracket for a mining ring scanning laser emitter, comprising:

[0006] The frame is installed below the tunnel roof and is detachably connected to the tunnel roof.

[0007] The movable mounting plate is located below the frame and is slidably connected to the frame.

[0008] A linear motion mechanism is mounted on the frame, and its output end is fixedly connected to the movable mounting plate to drive the movable mounting plate to move.

[0009] A rotating connector is located below the movable mounting plate and is rotatably connected to the movable mounting plate;

[0010] The heading angle adjustment mechanism is mounted on the movable mounting plate, and its output end is fixedly connected to the rotating connector.

[0011] The laser is equipped with a rotating connector at its lower end, which is rotatably connected to the rotating connector.

[0012] The pitch angle adjustment mechanism is mounted on the rotating connector, and its output end is fixedly connected to the laser.

[0013] Preferably, the frame includes: four fixed beam connectors, with a fixed beam between each pair of adjacent fixed beam connectors, and the fixed beams are detachably connected to the fixed beam connectors; two suspended beams, parallel to each other, are arranged between the two opposite fixed beams, and each suspended beam has a hydraulic rod at both ends, the lower end of the hydraulic rod is connected to the ball head of the suspended beam, and the upper end is fixedly connected to a suspended beam connector, the suspended beam connector is fitted onto the fixed beam, and the movable mounting plate is slidably fitted onto the two suspended beams.

[0014] Preferably, a threaded cylinder is rotatably connected to the top of each fixed beam connector, and four threaded rods are fixedly connected to the bottom of the tunnel roof, with each threaded cylinder being threadedly connected to the corresponding threaded rod.

[0015] Preferably, the movable mounting plate is configured as a cylindrical structure and slidably sleeved on two suspension beams. The linear movement mechanism includes: a rack, located on one side of the two suspension beams that are close to each other, and fixedly connected to one of the suspension beams; a gear, meshing with the rack and rotatably connected to the movable mounting plate; and a first stepper motor, fixedly mounted on the movable mounting plate, with one end of its output shaft gear shaft connected to the shaft.

[0016] Preferably, the pitch angle adjustment mechanism includes a second stepper motor, which is disposed at the lower end of the rotating connector and fixedly connected to the rotating connector, and its output shaft is fixedly connected to the laser.

[0017] Preferably, the heading angle adjustment mechanism includes a third stepper motor, which is fixedly mounted on a movable mounting plate. A drive gear and a driven gear are rotatably connected to the movable mounting plate and mesh with each other. The output shaft of the third stepper motor is fixedly connected to the rotating shaft of the drive gear. A turntable is rotatably connected to the bottom of the movable mounting plate. The turntable is coaxially arranged with the driven gear. The upper end of the rotating connector is fixedly connected to the turntable.

[0018] Preferably, a tilt sensor is fixedly mounted on the movable mounting plate.

[0019] Compared with the prior art, the beneficial effects of the ring scanning laser emitter mounting bracket for mining provided by the present invention are as follows:

[0020] 1. This invention facilitates the adjustment of the laser emitter's angle by setting up a linear displacement mechanism, a heading angle adjustment mechanism, and a pitch angle adjustment mechanism. After fixing the device to the tunnel roof, it is convenient to perform posture calibration on the laser emitter.

[0021] 2. This invention connects the threaded cylinder directly to the four threaded rods driven into the top plate, thus completing the installation of the frame. There is no need to consider the alignment problem during installation. During installation and subsequent relocation, it is only necessary to re-drive the four bolt rods to move the frame to the new position, and then manually operate the threaded cylinder to complete the new fixing work.

[0022] 3. The present invention provides a hydraulic rod below the suspension connector, wherein the lower end of the hydraulic rod is threaded and can be directly inserted into the joint cup reserved in the suspension beam after being connected to the ball head. The roll angle of the laser emitter can be adjusted by adjusting the extension length of the hydraulic rod.

[0023] 4. The present invention installs each drive motor on the movable mounting plate and the rotating connector, adjusts the position and heading angle of the laser emitter by the first and third stepper motors and related structures, and adjusts the pitch angle of the laser emitter by the second drive motor.

[0024] 5. This invention allows for free adjustment of the laser emitter's position using hydraulic rods and three stepper motors. Therefore, it can be installed anywhere near the centerline of the tunnel without any additional measurement work before installation. This makes installation easier and more efficient. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the movable mounting plate of the present invention;

[0027] Figure 3 This is a schematic diagram of the linear motion mechanism of the present invention;

[0028] Figure 4 This is a schematic diagram showing the connection between the rotating connector and the movable mounting plate of the present invention;

[0029] Figure 5 This is a schematic diagram showing the connection between the threaded cylinder and the threaded rod of the present invention;

[0030] Figure 6 This is a schematic diagram showing the connection between the suspension beam connector and the suspension beam of the present invention;

[0031] Figure 7 This is a schematic diagram showing the connection between the suspension beam connector, hydraulic rod, and spherical head of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1-Tunnel roof 1; 2-Frame; 3-Laser; 201-Threaded cylinder; 202-Fixed beam connector; 203-Fixed beam; 204-Suspension beam connector; 205-Rotary connector; 206-Spherical head; 207-Suspension beam; 208-Straight gear; 209-First rotary encoder; 210-First stepper motor; 211-Tilt sensor; 212-Moving mounting plate; 213-Second stepper motor; 214-Second rotary encoder; 215-Third stepper motor; 216-Third rotary encoder; 217-Driven gear. Detailed Implementation

[0034] The following is in conjunction with the appendix Figures 1 to 7 The specific embodiments of the present invention will be described in detail, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0035] like Figures 1 to 7 As shown, the present invention provides a ring scanning laser emitter mounting bracket for mining, which aims to solve the problem of low efficiency in laser-based tunneling machine position monitoring due to difficulties in installing, moving, and calibrating the laser emitter.

[0036] To achieve the above objectives, this invention fully considers the practical problems of installing, moving, and calibrating the ring laser 3, and proposes a specific structure for a fixing frame for a mining ring scanning laser transmitter. It improves the installation and alignment efficiency of the laser transmitter by combining manual rough installation with automatic fine adjustment.

[0037] The mounting bracket for the mining ring laser emitter mainly consists of two parts: a threaded cylinder 201 (manually installed), a fixed beam connector 202, a fixed beam 203, a suspension beam connector 204 / 204, a rotating connector 205, a spherical head 206, a hydraulic rod, a suspension beam 207, a spur gear 208, a movable mounting plate 212, and a gear 217; and a first rotary encoder 209, a first stepper motor 210, a tilt sensor 211, a second stepper motor 213, a second rotary encoder 214, a third stepper motor 215, and a third rotary encoder 216.

[0038] During the installation process, four threaded rods are first driven vertically into the roof slab 1 of the tunnel to secure the entire frame to be installed. The threaded cylinder 201 is then manually rotated to connect to the threaded rods via threads. A circular pad beneath the threaded cylinder 201 suspends the fixed beam connector 202 below it. It should be noted that in the actual installation process, three threaded cylinders 201 and the fixed beam connector 202 are installed first, followed by the installation of the fixed beam 203. When installing the fixed beam 203, the suspension beam connector 204 is first fitted onto the left and right fixed beams 203. Three of the fixed beams 203 are temporarily installed in the fixed beam connector 202. Finally, the fourth threaded cylinder 201 is connected to the threaded rod, and the four beams are connected to the fixed beam connectors 202 in pairs before tightening the bolts, completing the foundation installation of the ring laser emitter mounting frame.

[0039] In use, two suspension beams 207 are inserted into the movable mounting plate 212, and the movable suspension beams 207 and the movable mounting plate 212 are suspended from the tunnel roof 1 by the suspension beam frame. Figure 7 As shown, the upper side of the suspension beam connector 204 is a perforated square steel, and the bottom is fixedly connected to a hydraulic rod. A thread is provided at the lower end of the hydraulic rod, and a ball head 206 is threadedly connected to it. The suspension beam 207 has an internal bowl-shaped structure. During installation, the hydraulic rod below the suspension beam fixing component first inserts into the pre-drilled hole in the suspension beam 207. Then, the ball head 206 is installed at the end of the hydraulic rod, and the ball head finally snaps into the pre-drilled joint bowl in the suspension beam 207. Installing the four ball heads 206 in sequence completes the installation of the main body of the frame.

[0040] Further, the remaining components, such as the rotating connector 205 and gear 217, are installed. Gear 217 and the connector are installed on the upper and lower sides of the lower surface of the movable mounting plate 212, respectively; the spur gear is installed inside the suspension beam 207; the first rotary encoder 209, the first stepper motor 210, and the tilt sensor 211 are installed on the upper surface of the movable mounting plate 212, with the first stepper motor 210 extending into the movable mounting plate 212, and its gear 217 meshing with the spur gear 208 to drive the laser emitter to adjust its position; the second stepper motor 213 and the second rotary encoder 214 are installed on one side of the rotating connector, with the second stepper motor 213 driving the laser emitter to adjust its pitch angle; the third stepper motor 215 and the third rotary encoder 216 are installed in the middle part of the movable mounting plate 212, with the third rotary encoder 216 mounted on the driven gear 217, and the third stepper motor 215 driving the driven gear 217 to rotate, thereby adjusting the emitter's heading angle. Finally, the laser emitter is suspended on the rotating connector 205.

[0041] The tilt sensor is a dual-axis tilt sensor used to measure the pitch and roll angles of the movable mounting plate 212. A control board is built into the laser 3, and the control board is electrically connected to the tilt sensor and the hydraulic rod. The tilt sensor 211 transmits the acquired angle information to the control board, which processes the data and sends a control signal to the hydraulic rod after processing by the data processing module. The movable mounting plate 212 is kept horizontal by adjusting the extension length of the hydraulic rod.

[0042] Manual installation is a rough installation, which only ensures that the laser emitted by the laser emitter is aligned with the direction of the tunneling machine. At this point, the roll angle of the emitter can be corrected by adjusting the hydraulic rod at the bottom of the suspension beam connector 204 to make the two suspension beams 207 change the same roll angle. The position of the laser emitter and the heading angle of the emitted laser can be adjusted by the first stepper motor 210 and the third stepper motor 215. When the tunneling machine needs to operate uphill or downhill, the pitch angle of the laser can be changed by the second stepper motor 213.

[0043] It should be noted that the above installation process is for the purpose of explaining the structure of the frame. In actual installation, four bolt rods are driven into the tunnel roof 1, and the laser emitter fixing frame that has been installed is directly suspended on the tunnel roof 1 through the threaded cylinder 201. Then, the position of the laser emitter is adjusted by the hydraulic rod on the suspension beam connector 204 and each drive motor. After the adjustment is completed, it can be put into actual use directly.

[0044] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A mounting bracket for a mining ring scanning laser emitter, characterized in that, include: Frame (2); The movable mounting plate (212) is set below the frame (2) and is slidably connected to the frame (2); A linear motion mechanism is mounted on the frame (2), and its output end is connected to the movable mounting plate (212); A rotating connector (205) is disposed below the movable mounting plate (212) and is rotatably connected to the movable mounting plate (212); The heading angle adjustment mechanism is mounted on the movable mounting plate (212), and its output end is connected to the rotating connector (205); The laser (3) is provided with the lower end of the rotating connector (205) and is rotatably connected to the rotating connector (205); The pitch angle adjustment mechanism is set on the rotating connector (205), and its output end is connected to the laser (3); The frame (2) includes: four fixed beam connectors (202), with a fixed beam (203) between each two adjacent fixed beam connectors (202), and the fixed beams (203) are detachably connected to the fixed beam connectors (202); two suspension beams (207), which are parallel to each other and are set between the two opposite fixed beams (203), with hydraulic rods at both ends of each suspension beam (207), the lower end of the hydraulic rods being connected to the ball head of the suspension beam (207), and the upper end being fixedly connected to a suspension beam connector (204), the suspension beam connector (204) being fitted onto the fixed beams (203), and the movable mounting plate (212) being slidably fitted onto the two suspension beams (207); Each fixed beam connector (202) has a threaded cylinder (201) rotatably connected to its top, and four threaded rods are fixedly connected to the bottom of the tunnel roof (1). Each of the threaded cylinders (201) is threadedly connected to the corresponding threaded rod. An angle sensor (211) is fixedly installed on the movable mounting plate (212); The movable mounting plate (212) is configured as a cylindrical structure and is slidably sleeved on two suspension beams (207). The linear movement mechanism includes: a spur gear (208), which is located on one side of the two suspension beams (207) that are close to each other and is fixedly connected to one of the suspension beams (207); a gear, which meshes with the spur gear (208) and is rotatably connected to the movable mounting plate (212); and a first stepper motor (210), which is fixedly mounted on the movable mounting plate (212) and whose output shaft is shaft-connected to one end of the gear's rotating shaft.

2. The mounting bracket for a mining ring scanning laser emitter as described in claim 1, characterized in that, The pitch angle adjustment mechanism includes a second stepper motor (213), which is located at the lower end of the rotating connector (205) and is fixedly connected to the rotating connector (205). Its output shaft is fixedly connected to the laser (3).

3. The mounting bracket for a mining ring scanning laser emitter as described in claim 1, characterized in that, The heading angle adjustment mechanism includes a third stepper motor (215), which is fixedly mounted on a movable mounting plate (212). A drive gear and a driven gear (217) are rotatably connected to the movable mounting plate (212), and the two mesh with each other. The output shaft of the third stepper motor (215) is fixedly connected to the rotating shaft of the drive gear. A turntable is rotatably connected to the bottom of the movable mounting plate (212). The turntable is coaxially arranged with the driven gear (217). The upper end of the rotating connector (205) is fixedly connected to the turntable.

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