A navigation and positioning auxiliary device for unmanned mining vehicles

Abstract

The present invention provides a navigation and positioning auxiliary device for an unmanned mining vehicle, comprising a connecting seat, a signal transceiver device and an adjusting device, wherein a radar base is fixedly arranged on the connecting seat, and the signal transceiver device comprises an adjusting portion base, a swing arm and a radar, and two limit blocks are fixedly arranged on the adjusting portion base, a rotating rod is fixedly connected between the two limit blocks, the swing arm is rotatably connected to the rotating rod, and the radar is fixedly connected to the swing arm. In this scheme, the adjusting portion base drives the radar to move in the vertical direction by driving a cam through a motor, and a torsion spring is arranged between the limit block and the swing arm, and the radar is swung in the horizontal direction by a horizontal reset assembly, so that the radar can rotate in multiple directions at the same time, thereby achieving the purpose of improving the auxiliary positioning capability of the radar in complex situations.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving equipment, and specifically to a navigation and positioning auxiliary device for an unmanned mining vehicle. Background Art

[0002] At present, with the continuous maturity of unmanned driving technology, unmanned driving technology is gradually replacing manual labor in the process of mining survey and mining. However, due to the complex mining environment and weak signals, positioning auxiliary devices are indispensable in the process of unmanned driving technology replacing manual labor.

[0003] For example, a Chinese patent discloses "an auxiliary positioning device for unmanned mine vehicles" (patent number: CN214308788U), which includes a support rod and an electric control box. The bottom end of the support rod is fixed with a fixed seat, the top of the support rod is connected to a lifting rod, the top of the lifting rod is provided with a connecting sleeve, the top of the connecting sleeve is connected to a connecting seat, the top of the connecting seat is connected to a positioning pan-tilt, and a controller is provided at the inner end of the electric control box. One side of the controller is respectively connected to a data communication unit, a data storage unit and a data processing unit, and the controller is also connected to a DSRC receiving module through the data processing unit. The above patent has the advantage of ensuring the location information of the unmanned mine vehicle after the signal in the mining area is lost.

[0004] However, in the above-mentioned positioning assistance process, the design of the lifting rod cannot enable the signal receiving and transmitting device to rotate horizontally, which makes it difficult to cope with signal loss in complex situations, so its auxiliary positioning ability is relatively weak. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the deficiencies in the prior art, the present invention provides a navigation and positioning auxiliary device for an unmanned mining vehicle, which solves the problems raised in the above-mentioned background technology.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a navigation and positioning auxiliary device for an unmanned mining vehicle, characterized in that it includes a connecting seat, a signal transceiver and an adjustment device, a radar base is fixedly arranged on the connecting seat, the signal transceiver includes an adjustment part base, a swing arm and a radar, two limit blocks are fixedly arranged on the adjustment part base, a rotating rod is fixedly connected between the two limit blocks, the swing arm is rotatably connected to the rotating rod, the radar is fixedly connected to the swing arm, two first cavities are opened at one end of the radar base close to the adjustment part base, sliders are fixedly connected at both ends of the adjustment part base close to the radar base, the slider is slidably connected to the first cavity, the adjustment device includes a driving component and a reset component, and the driving component drives the adjustment part base to move in a vertical direction.

[0009] Preferably, a horizontal reset part base is fixedly provided on the connecting seat, and the driving assembly includes an adjusting part connecting block, a cam and a motor, the adjusting part connecting block is fixedly connected to the outer cylindrical surface of the horizontal reset part base, an opening is provided at one end of the adjusting part connecting block away from the horizontal reset part base, the output shaft of the motor is rotatably connected to the opening of the adjusting part connecting block, the output shaft of the motor is fixedly connected to the cam, and the cam is used to drive the adjusting part base to move in the vertical direction.

[0010] Preferably, the reset assembly includes a vertical reset assembly and a horizontal reset assembly, the vertical reset assembly includes a first sliding rod and a second sliding rod, the first sliding rod is provided with a second cavity, the second sliding rod is slidably connected to the second cavity, one end of the second sliding rod away from the first sliding rod is fixedly connected to the adjustment part base, and one end of the first sliding rod away from the second sliding rod is fixedly connected to the radar base.

[0011] Preferably, a first spring is disposed in the second cavity, one end of the first spring is fixedly connected to the second sliding rod, and the other end of the first spring is fixedly connected to the second cavity.

[0012] Preferably, the horizontal reset assembly includes a horizontal reset plate and a pull rope, one end of the pull rope is fixedly connected to the horizontal reset plate, and the other end of the pull rope is fixedly connected to the outer spherical surface of the radar, a third cavity is opened in the base of the horizontal reset part, a second spring is arranged in the third cavity, one end of the second spring is fixedly connected to the horizontal reset plate, and the other end of the second spring is fixedly connected to the third cavity.

[0013] Preferably, two positioning shafts are fixedly connected to the outer circular surface of the third cavity, a guide shaft is rotatably connected between the two positioning shafts, a circular groove is provided on the guide shaft, and the pull rope is slidably connected to the circular groove of the guide shaft.

[0014] Preferably, a groove is provided on a side surface of the adjusting portion base close to the driving assembly.

[0015] Preferably, a plurality of screws are provided on the connecting seat, and the screws are used to fix the connecting seat to the unmanned mining vehicle.

[0016] (III) Beneficial effects

[0017] The present invention provides a navigation and positioning auxiliary device for an unmanned mining vehicle. It has the following beneficial effects:

[0018] 1. This solution uses a motor to drive the cam so that the adjustment base drives the radar to move in the vertical direction. By setting a torsion spring between the limit block and the swing arm, and using a horizontal reset component to make the radar swing horizontally, the radar can rotate in multiple directions at the same time, thereby achieving the purpose of improving the radar's auxiliary positioning capability in complex situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the transverse cross-sectional structure of the present invention;

[0021] Figure 3 for Figure 2 The structural diagram of A in the figure;

[0022] Figure 4 It is a schematic diagram of the longitudinal cross-sectional structure of the present invention;

[0023] Figure 5 It is a schematic diagram of the explosion structure of the present invention.

[0024] In the figure: 11, connecting seat; 12, screw; 13, radar base; 14, first cavity; 15, adjustment unit base; 16, slider; 20, limit block; 21, rotating rod; 22, swing arm; 23, radar; 26, first sliding rod; 27, second cavity; 28, second sliding rod; 29, first spring; 30, horizontal reset unit base; 31, third cavity; 32, positioning shaft; 33, horizontal reset plate; 34, second spring; 35, guide shaft; 36, pull rope; 40, adjustment unit connecting block; 41, cam; 42, motor. DETAILED DESCRIPTION

[0025] The embodiment of the present invention provides a navigation and positioning auxiliary device for an unmanned mining vehicle, such as Figure 1-5 As shown, it includes a connecting seat 11, a screw 12, a radar base 13, a first cavity 14, an adjustment part base 15, a slider 16, a limit block 20, a rotating rod 21, a swing arm 22, a radar 23, a first sliding rod 26, a second cavity 27, a second sliding rod 28, a first spring 29, a horizontal reset part base 30, a third cavity 31, a positioning shaft 32, a horizontal reset plate 33, a second spring 34, a guide shaft 35, a pull rope 36, an adjustment part connecting block 40, a cam 41, and a motor 42.

[0026] like Figure 1-3 As shown, it includes a connecting seat 11, a signal transceiver device and an adjusting device. A radar base 13 is fixedly arranged on the connecting seat 11. The signal transceiver device includes an adjusting portion base 15, a swing arm 22 and a radar 23. Two limit blocks 20 are fixedly arranged on the adjusting portion base 15. A rotating rod 21 is fixedly connected between the two limit blocks 20. A torsion spring is arranged between the limit block 20 and the swing arm 22. The swing arm 22 is rotatably connected to the rotating rod 21. The radar 23 is fixedly connected to the swing arm 22. The radar base 13 is close to the adjusting portion. Two first cavities 14 are provided at one end of the adjusting part base 15, and sliders 16 are fixedly connected to the two ends of the adjusting part base 15 close to the radar base 13. The slider 16 is slidably connected to the first cavity 14. The adjusting device includes a driving component and a reset component. The driving component drives the adjusting part base 15 to move in the vertical direction. A groove is provided on one side surface of the adjusting part base 15 close to the driving component. A plurality of screws 12 are provided on the connecting seat 11, and the screws 12 are used to fix the connecting seat 11 on the mining unmanned vehicle.

[0027] like Figure 2 As shown, a horizontal reset portion base 30 is fixedly provided on the connecting seat 11, and a driving assembly includes an adjusting portion connecting block 40, a cam 41 and a motor 42. The adjusting portion connecting block 40 is fixedly connected to the outer circumferential surface of the horizontal reset portion base 30, and an opening is provided at one end of the adjusting portion connecting block 40 away from the horizontal reset portion base 30. The output shaft of the motor 42 is rotatably connected to the opening of the adjusting portion connecting block 40, and the output shaft of the motor 42 is fixedly connected to the cam 41. The cam 41 is used to drive the adjusting portion base 15 to move in a vertical direction.

[0028] The cam 41 is driven by the motor 42 to rotate around the output shaft of the motor 42 . When the cam 41 rotates to the upper limit position of the cam 41 , the raised part of the cam 41 pushes the adjusting part base 15 upward, so that the adjusting part base 15 moves in the vertical direction and the slider 16 and the first cavity 14 slide upward relative to each other.

[0029] like Figure 4-5As shown, the reset assembly includes a vertical reset assembly and a horizontal reset assembly. The vertical reset assembly includes a first sliding rod 26 and a second sliding rod 28. A second cavity 27 is opened in the first sliding rod 26. The second sliding rod 28 is slidably connected to the second cavity 27. One end of the second sliding rod 28 away from the first sliding rod 26 is fixedly connected to the adjustment part base 15, and one end of the first sliding rod 26 away from the second sliding rod 28 is fixedly connected to the radar base 13. A first spring 29 is arranged in the second cavity 27, one end of the first spring 29 is fixedly connected to the second sliding rod 28, and the other end of the first spring 29 is fixedly connected to the second cavity 27.

[0030] When the cam 41 rotates to the lower limit position of the cam 41, the first spring 29 generates a pulling force on the second sliding rod 28, and the second sliding rod 28 generates a pulling force on the adjusting portion base 15, so that the adjusting portion base 15 moves downward, and the slider 16 and the first cavity 14 slide downward relative to each other, thereby completing the vertical resetting of the adjusting portion base 15.

[0031] The horizontal reset assembly includes a horizontal reset plate 33 and a pull rope 36, one end of the pull rope 36 is fixedly connected to the horizontal reset plate 33, and the other end of the pull rope 36 is fixedly connected to the outer spherical surface of the radar 23. A third cavity 31 is opened in the horizontal reset base 30, and a second spring 34 is arranged in the third cavity 31. One end of the second spring 34 is fixedly connected to the horizontal reset plate 33, and the other end of the second spring 34 is fixedly connected to the third cavity 31. Two positioning shafts 32 are fixedly connected to the outer circumferential surface of the third cavity 31, and a guide shaft 35 is rotatably connected between the two positioning shafts 32. A circular groove is arranged on the guide shaft 35, and the pull rope 36 is slidably connected to the circular groove of the guide shaft 35.

[0032] When the cam 41 rotates to the upper limit position, the cam 41 drives the adjusting portion base 15 to move upward, and the radar 23 moves upward with the adjusting portion base 15. Since the pull rope 36 is fixedly connected to the radar 23, and the pull rope 36 is fixedly connected to the horizontal reset plate 33, the second spring 34 generates a pulling force on the horizontal reset plate 33. Through the pulling force of the second spring 34 on the horizontal reset plate 33, the horizontal reset plate 33 generates a pulling force on the pull rope 36, and the pull rope 36 generates a pulling force on the radar 23, so that the radar 23 rotates in the pulling direction of the pull rope 36. Since a torsion spring is arranged between the limit block 20 and the swing arm 22, the restoring force of the torsion spring on the swing arm 22 is equal to the pulling force of the pull rope 36 on the radar 23 at this time.

[0033] When the cam 41 rotates to the lower limit position, the adjusting portion base 15 moves downward due to the pulling force of the vertical reset assembly, and the radar 23 moves downward along with the adjusting portion base 15. The pulling force of the pull rope 36 on the radar 23 disappears, and since a torsion spring is arranged between the limit block 20 and the swing arm 22, the torsion spring generates a restoring force on the swing arm 22, so that the swing arm 22 drives the radar 23 to reset.

[0034] When the scheme is used to assist the navigation and positioning of the unmanned mining vehicle, first, the motor 42 is started, and the cam 41 is driven by the motor 42 to rotate with the drive shaft of the motor 42 as the axis. Then, when the cam 41 rotates to the upper limit position, the cam 41 drives the adjustment unit base 15 to move upward, and the second spring 34 generates a pulling force on the horizontal reset plate 33. The pulling force of the second spring 34 on the horizontal reset plate 33 causes the horizontal reset plate 33 to generate a pulling force on the pull rope 36, and the pull rope 36 generates a pulling force on the radar 23, thereby causing the radar 23 to rotate in the pulling direction of the pull rope 36. Finally, when the cam 41 rotates to the lower limit position, the adjustment unit base 15 moves downward due to the pulling force of the vertical reset assembly, and the radar 23 moves downward with the adjustment unit base 15. The pulling force of the pull rope 36 on the radar 23 disappears, and the restoring force of the torsion spring on the swing arm 22 causes the swing arm 22 to drive the radar 23 to reset.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A navigation and positioning auxiliary device for an unmanned mining vehicle, characterized in that: The invention comprises a connecting seat (11), a signal transceiver device and an adjusting device, wherein a radar base (13) is fixedly arranged on the connecting seat (11), and the signal transceiver device comprises an adjusting portion base (15), a swing arm (22) and a radar (23), wherein two limit blocks (20) are fixedly arranged on the adjusting portion base (15), a rotating rod (21) is fixedly connected between the two limit blocks (20), a torsion spring is arranged between the limit block (20) and the swing arm (22), the swing arm (22) is rotatably connected to the rotating rod (21), the radar (23) is fixedly connected to the swing arm (22), and two first cavities (14) are formed at one end of the radar base (13) close to the adjusting portion base (15), and sliders (16) are fixedly connected at both ends of the adjusting portion base (15) close to the radar base (13), and the sliders (16) are connected to the first cavities (14). The connection seat (11) is provided with a horizontal reset portion base (30) fixedly thereon, the adjustment device comprises a driving component and a reset component, the reset component comprises a vertical reset component and a horizontal reset component, the horizontal reset component comprises a horizontal reset plate (33) and a pull rope (36), one end of the pull rope (36) is fixedly connected to the horizontal reset plate (33), and the other end of the pull rope (36) is fixedly connected to the outer spherical surface of the radar (23), a third cavity (31) is provided in the horizontal reset portion base (30), a second spring (34) is provided in the third cavity (31), one end of the second spring (34) is fixedly connected to the horizontal reset plate (33), and the other end of the second spring (34) is fixedly connected to the third cavity (31), and the driving component drives the adjustment portion base (15) to move in the vertical direction.

2. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 1, characterized in that: The driving assembly comprises an adjusting portion connecting block (40), a cam (41) and a motor (42); the adjusting portion connecting block (40) is fixedly connected to the outer circumferential surface of the horizontal reset portion base (30); an end of the adjusting portion connecting block (40) away from the horizontal reset portion base (30) is provided with an opening; an output shaft of the motor (42) is rotatably connected to the opening of the adjusting portion connecting block (40); the output shaft of the motor (42) is fixedly connected to the cam (41); and the cam (41) is used to drive the adjusting portion base (15) to move in a vertical direction.

3. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 2, characterized in that: The vertical reset assembly comprises a first sliding rod (26) and a second sliding rod (28), wherein a second cavity (27) is defined in the first sliding rod (26), the second sliding rod (28) is slidably connected to the second cavity (27), an end of the second sliding rod (28) away from the first sliding rod (26) is fixedly connected to the adjustment portion base (15), and an end of the first sliding rod (26) away from the second sliding rod (28) is fixedly connected to the radar base (13).

4. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 3, characterized in that: A first spring (29) is disposed in the second cavity (27), one end of the first spring (29) is fixedly connected to the second sliding rod (28), and the other end of the first spring (29) is fixedly connected to the second cavity (27).

5. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 1, characterized in that: Two positioning shafts (32) are fixedly connected to the outer circumferential surface of the third cavity (31), a guide shaft (35) is rotatably connected between the two positioning shafts (32), a circular groove is provided on the guide shaft (35), and the pull rope (36) is slidably connected to the circular groove of the guide shaft (35).

6. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 1, characterized in that: A groove is provided on a side surface of the adjustment portion base (15) close to the drive assembly.

7. The navigation and positioning auxiliary device for an unmanned mining vehicle according to claim 1, characterized in that: A plurality of screws (12) are provided on the connection seat (11), and the screws (12) are used to fix the connection seat (11) to the unmanned mining vehicle.

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