Steering angle detection device for mine underground unmanned carry-scraper

Abstract

The invention relates to a mine underground unmanned carry-scraper steering angle detection device, and belongs to the technical field of vehicle steering angle detection. The device comprises a front frame, a support, a shaft angle encoder, a shaft angle encoder fixing back plate, a shaft angle encoder protection cover, an 8-shaped flexible coupler, a transmission shaft, a transmission shaft locking nut, a pin shaft, a pin shaft round end plate and a rear frame. The device can accurately measure the relative steering angle of the front frame and the rear frame of the carry-scraper, and can eliminate a steering angle error caused by relative torsion and pitching of the front frame and the rear frame. The device is simple in structure, more convenient to install and maintain, relatively low in use cost and better in use effect, and has very good popularization and application values.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle steering angle detection, and in particular relates to a steering angle detection device for an unmanned scraper loader in an underground mine. Background Art

[0002] my country's ore reserves rank among the top in the world, and ore remains my country's main resource. Scrapers used in mining play a vital role in mining production. In underground mines, scrapers can complete a series of operations from shoveling to unloading, including loading, transportation and unloading, effectively improving operating efficiency. It has strong adaptability, is not restricted by terrain, and can complete a large number of ore transportation operations in a short period of time, which has a driving effect on improving the level of intelligence in the mining industry. In addition, scrapers are easy to maintain, have a compact structure, are easy to repair and maintain, and have relatively low maintenance costs, providing a strong guarantee for mining production.

[0003] Underground scrapers are mainly used in underground mining areas. Mining areas are mainly equipped with through veins, along veins and approaches. Through veins and along veins are staggered at a certain angle, and approaches and through veins are also staggered at a certain angle. The ore produced by blasting is located in the approach, and the chute is located in the through vein. The operation process of the scraper in actual production is to drive to the approach, load the ore produced by blasting, and then reverse to the chute mouth located in the through vein, and then unload the ore into the corresponding chute. The process of loading ore from the approach to the chute involves flexible coordination of steering. In order to achieve good turning performance, the scraper adopts a pin-shaft articulation. The frame of the vehicle consists of two sections of front and rear frames. The front and rear frames are connected by pin-shaft articulation, and the front and rear frames are maintained or changed by the oil cylinder at a relative angle so that the vehicle can run in the mining area approach, through veins and along veins with different curve driving radii.

[0004] There are many dangerous factors in the underground mining area of ​​mines, such as roof collapse, vehicle injuries, etc., and there are also hazards such as large dust and high humidity. The same is true for the working environment of scraper drivers. In the context of intelligent manufacturing, considering factors such as safe production and occupational health hazards, mechanized replacement and automated reduction of manpower have become a trend. Therefore, it is very necessary to realize unmanned driving of scraper loaders. The research on unmanned driving technology of scraper loaders in mines at home and abroad is also in a hot state.

[0005] The function of the steering system of a scraper is to control the direction of the vehicle. The system should be able to keep the vehicle stable and moving in a straight line as required, and be able to flexibly change the direction of travel as required. The basic requirements for the steering system are easy and flexible operation, stable and reliable operation, and economical and durable use. The above requirements for the steering system are important factors in improving operational productivity. The steering system is a key assembly that determines the safety and operating efficiency of the scraper. In the unmanned driving technology of scraper loader, the detected steering angle and the unmanned driving control system form a closed-loop feedback control. The detection accuracy of the steering angle is the prerequisite for realizing stable, safe and high-performance steering of the unmanned scraper loader, and it is also a necessary condition for realizing the unmanned mining efficiency of the scraper loader. The front frame and the rear frame of the scraper loader are hinged with a pin hinge. The front and rear frames will have a certain degree of angular error caused by relative torsion and pitch, and the space between the front and rear frames is small. If the detection device is not designed reasonably, it is easy to cause angular measurement errors, which in turn causes the unmanned mining efficiency of the scraper loader to decrease. Therefore, how to accurately measure the relative steering angles of the front and rear frames has become a key issue in the research of unmanned driving technology of scraper loader. With the development of modern technology, the technology of electronic products such as angle encoders is also relatively mature. Combining electronic products such as angle encoders with mechanical structures can effectively solve this key problem. Therefore, it is very necessary to design a steering angle detection device for unmanned scraper loader in underground mines, which is conducive to promoting the development, research and application of unmanned driving technology systems for scraper loader.

[0006] In the existing technology, a technical solution is to install a linear displacement sensor with a large axial size across the two ends of the steering cylinder, and indirectly measure the steering angle of the vehicle by measuring the telescopic amount of the steering cylinder. However, the required sensor length is very long. Since the steering cylinder is located at a low position and close to the ground, the sensor is easily impacted by the falling and jumping materials during operation, so that it is damaged. Moreover, there is a certain angle conversion relationship, which belongs to indirect detection and has a large detection error. Patent document CN103183050A discloses a steering angle detection device for a wheel loader, including a front frame and a rear frame hinged together by a pin shaft, a pin shaft pressure plate is pressed on one end face of the pin shaft outside the pin hole of the rear frame, and also includes a large synchronous pulley and a small synchronous pulley, the large synchronous pulley is fixed to the outside of the pin shaft pressure plate through the large synchronous pulley shaft at its center, a bracket is installed on the front frame, and the small synchronous pulley is sleeved on the small synchronous pulley shaft, and the small synchronous pulley shaft is installed in the bearing seat of the bracket through a bearing, and the large synchronous pulley and the small synchronous pulley are connected by a synchronous belt. The upper end of the small synchronous pulley shaft is connected to the input shaft of the shaft angle encoder above through a coupling, and the axis centerline of the shaft angle encoder is consistent with the axis centerline of the small synchronous pulley shaft. The beneficial effect is that the use of synchronous belt transmission can effectively alleviate the angular error caused by the relative pitch of the front and rear frames to a certain extent. The shortcomings of this patent document are that the synchronous belt cannot effectively solve the problem of torsion of the front and rear frames, the synchronous belt will become loose or deformed during long-term use, and the detection angle error will show an upward trend. At the same time, the structure also has the problem of complex structure, high failure rate and inconvenient installation and maintenance. The size of the structural bracket is large and is not suitable for installation on a scraper. Patent document CN104925133A discloses an articulated vehicle steering angle detection device, which mainly includes an angular displacement sensor, an elastic bending plate, a connecting plate, a torsion spring, a leaf spring, a base, a limit bearing, a bearing pin, a pulley bearing pin, a guide pulley bearing, a bracket and a small pin, wherein the bracket is fixedly connected to the rear frame, one end of the bearing pin is fixedly connected to the bracket, and the other end is fixedly connected to the inner ring of the limit bearing, one end of the pulley bearing pin is fixedly connected to the inner ring of the guide pulley bearing, and the other end is fixedly connected On the base, the guide rail pulley bearing is slidably connected to the V-shaped guide rail on the bracket, the connecting plate is hingedly connected to the base through a small pin shaft, the leaf spring is fixedly connected to the connecting plate, the leaf spring is rollingly connected to the limit bearing, the torsion spring is sleeved on the small pin shaft, one end of the torsion spring is supported on the right end surface of the base, and the other end of the torsion spring is supported on the lower surface of the connecting plate, the output shaft of the angular displacement sensor is fixedly installed coaxially with the large pin shaft, and the angular displacement sensor is fixedly connected to the connecting plate through an elastic bent plate. Its beneficial effect is that it can solve a certain degree of angular error caused by relative torsion and pitching of the front and rear frames to a certain extent.The shortcomings of this patent document are: the elastic bent plate in the device is prone to deformation and lacks flexibility, which will lead to insufficient steering angle detection accuracy; the structure is complex, not conducive to installation and maintenance, and there will be insufficient stability during use; the installation size of the structure is large and is not suitable for installation on a scraper.

[0007] Therefore, how to overcome the shortcomings of the existing technology is an urgent problem to be solved in the field of vehicle steering angle detection technology. Summary of the invention

[0008] The purpose of the present invention is to provide a steering angle detection device for an unmanned scraper loader in an underground mine, which solves the problem of angle measurement error caused by relative twisting and pitching between the front frame and the rear frame when the scraper loader turns in the prior art, creates the necessary conditions for unmanned scraper loader to improve mining efficiency, and is conducive to promoting the development, research and application of unmanned scraper loader technology systems. At the same time, the device has a simple structure and is easier to install and maintain.

[0009] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A steering angle detection device for an unmanned scraper in an underground mine, comprising a front frame, a bracket, a shaft angle encoder, a shaft angle encoder fixing back plate, a shaft angle encoder protection cover, an 8-shaped flexible coupling, a transmission shaft, a transmission shaft locking nut, a pin shaft, a pin shaft round end plate and a rear frame; The front frame and the rear frame are hingedly connected by a pin shaft, and the round end plate of the pin shaft is fixed on the rear frame, and the round end plate of the pin shaft is located directly above the pin shaft; The circular end plate of the pin shaft is concentric with the axis of the pin shaft; The bracket is fixedly installed on the front frame; The shaft angle encoder is fixed on the shaft angle encoder fixing back plate; and the shaft angle encoder fixing back plate is fixed on the bracket; The shaft angle encoder is arranged in the shaft angle encoder protection cover; The lower part of the shaft angle encoder protection cover is fixedly connected to the top of the bracket; The shaft angle encoder output shaft at the bottom of the shaft angle encoder is connected to the 8-shaped flexible coupling; The top of the transmission shaft is connected to an 8-shaped flexible coupling; After the transmission shaft screw end of the transmission shaft is screwed into the transmission shaft locking nut, it is further screwed into the central threaded hole of the pin shaft circular end plate on the axis line of the pin shaft circular end plate.

[0010] Further, preferably, the front frame is provided with two front frame threaded holes, and the bracket is provided with two bracket first fixing through holes that match the positions and hole diameters of the front frame threaded holes. After two bracket fixing screw assemblies are sequentially passed through the two bracket first fixing through holes and screwed into the front frame threaded holes, the bracket can be installed on the front frame.

[0011] Further, preferably, the bracket is further provided with a second bracket fixing through hole, a third bracket fixing through hole and a bracket shaft angle encoder fixing through hole; The shaft angle encoder is provided with a shaft angle encoder fixing threaded hole, a shaft angle encoder assembly round table, and a shaft angle encoder output shaft; the shaft angle encoder output shaft is mounted on the shaft angle encoder assembly round table; When the shaft angle encoder body is fixed, the shaft angle encoder output shaft can rotate relative to the shaft angle encoder body under the action of external force; The shaft angle encoder fixing back plate is provided with a shaft angle encoder fixing back plate first fixing through hole, a shaft angle encoder fixing back plate fixing countersunk hole and a shaft angle encoder fixing back plate second fixing through hole; After the shaft angle encoder assembly table is assembled with the second fixed through hole of the shaft angle encoder fixed back plate, use N shaft angle encoder fixing screws to pass through the N shaft angle encoder fixed back plate fixed countersunk holes in sequence and screw into the shaft angle encoder fixed threaded holes of the corresponding positions to fix the shaft angle encoder on the shaft angle encoder fixed back plate; after the shaft angle encoder and the shaft angle encoder fixed back plate are fixed as a whole, use two shaft angle encoder fixed back plate fixing bolt assemblies to pass through the two shaft angle encoder fixed back plate first fixed through holes and the third fixed through holes of the bracket in sequence to fix the above-mentioned whole on the bracket, and the shaft angle encoder fixing through hole of the bracket serves to provide space for the shaft angle encoder output shaft to extend downward and the 8-shaped flexible coupling to twist up, down, left and right; the shaft angle encoder output shaft passes through the shaft angle encoder fixing through hole of the bracket and the axis center lines of the two coincide, and the upper part of the 8-shaped flexible coupling passes through the shaft angle encoder fixing through hole of the bracket and the axis center lines of the two coincide; N≥2.

[0012] Furthermore, preferably, N=3.

[0013] Further, preferably, the shaft angle encoder protection cover is provided with a first fixing through hole of the shaft angle encoder protection cover and a second fixing through hole of the shaft angle encoder protection cover.

[0014] Two sets of shaft angle encoder protection cover fixing bolt assemblies are used to sequentially pass through two groups of shaft angle encoder protection cover first fixing through holes, shaft angle encoder protection cover second fixing through holes, and bracket second fixing through holes, thereby fixing the shaft angle encoder protection cover on the bracket.

[0015] Further, preferably, the figure-8 flexible coupling is provided with a figure-8 flexible coupling rubber body, a fixed shaft block on the figure-8 flexible coupling, a through hole on the fixed shaft block on the figure-8 flexible coupling, a screw plug threaded hole on the fixed shaft block on the figure-8 flexible coupling, a lower fixed shaft block of the figure-8 flexible coupling, a through hole on the lower fixed shaft block of the figure-8 flexible coupling and a screw plug threaded hole on the lower fixed shaft block of the figure-8 flexible coupling.

[0016] Further, preferably, the transmission shaft is provided with a transmission shaft plane end and a transmission shaft screw end; A central threaded hole of the pin shaft circular end plate is arranged on the axis line of the pin shaft circular end plate; The output shaft of the shaft angle encoder passes through the through hole of the fixed shaft block on the 8-shaped flexible coupling and ensure that the flat end of the shaft angle encoder output shaft is aligned with one of the threaded holes of the fixed shaft block screw plug on the 8-shaped flexible coupling (there are two in total). Use two screw plugs to screw into the threaded holes of the fixed shaft block screw plug on the 8-shaped flexible coupling in sequence (there are two threaded holes of the fixed shaft block screw plug) to fix the 8-shaped flexible coupling under the shaft angle encoder; The flat end of the transmission shaft on the transmission shaft passes through the through hole of the fixed shaft block under the figure-8 flexible coupling and ensures that the flat end of the transmission shaft is aligned with one of the threaded holes of the screw plug of the fixed shaft block under the figure-8 flexible coupling (there are two in total). Use two screw plugs to screw into the threaded holes of the screw plug of the fixed shaft block under the figure-8 flexible coupling in sequence (there are two threaded holes of the screw plug of the fixed shaft block under the figure-8 flexible coupling) to fix the transmission shaft under the figure-8 flexible coupling; The transmission shaft screw end of the transmission shaft is screwed into the transmission shaft locking nut and then further screwed into the central threaded hole of the pin shaft round end plate on the axis line of the pin shaft round end plate. The transmission shaft locking nut is tightened in the direction of the pin shaft round end plate (downward); The axis center lines of the output shaft of the shaft angle encoder, the 8-shaped flexible coupling and the transmission shaft coincide with each other and are located on the same axis center line as the axis center lines of the pin shaft circular end plate and the pin shaft.

[0017] The present invention provides a steering angle detection device for an unmanned scraper in a mine, which can accurately measure the relative steering angle of the front and rear frames of the scraper, and can eliminate the steering angle error caused by the relative torsion and pitch of the front and rear frames. The device has a simple structure, is easier to install and maintain, has a relatively lower cost, has a better use effect, and has a good value for promotion and application.

[0018] Specifically, when the front frame and the rear frame are relatively twisted and pitched, the figure-8 flexible coupling can be extended and retracted to a certain length in the up and down directions under the action of the rubber body of the figure-8 flexible coupling, and can swing to a certain degree in the front, back, left and right directions, as well as twist to a certain degree in the clockwise and counterclockwise directions, so that the axis line of the shaft angle encoder output shaft and the pin shaft always remain concentric, which largely avoids the angular error caused by the axis line of the shaft angle encoder output shaft and the pin shaft not remaining concentric due to the relative twisting and pitching of the front frame and the rear frame, thereby achieving the purpose of accurately measuring the steering angle of the scraper loader, creating the necessary conditions for unmanned driving of the scraper loader to improve the mining efficiency, and is conducive to promoting the development, research and application of unmanned driving technology systems for scrapers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a front view of the steering angle detection device for an unmanned scraper in an underground mine according to the present invention; Figure 2 It is a left view of the steering angle detection device for an unmanned scraper in an underground mine according to the present invention; Figure 3 It is a top view of the steering angle detection device for an unmanned scraper in an underground mine of the present invention; Figure 4 It is a top view of the bracket; Figure 5 This is an oblique view of the bracket; Figure 6 This is the main view of the shaft encoder; Figure 7 This is the left view of the shaft encoder; Figure 8 Main view of the back plate for fixing the shaft encoder; Fig. 9 Top view of the back plate for fixing the shaft encoder; Fig.10 This is a top view of the shaft encoder protection cover; Fig.11 This is the front view of the 8-shaped flexible coupling; Fig.12 It is a top view of the 8-shaped flexible coupling; Fig.13 This is the front view of the transmission shaft; Among them, 100, front frame, 101, front frame threaded hole, 200, bracket, 201, bracket fixing screw assembly, 202, bracket first fixing through hole, 203, bracket second fixing through hole, 204, bracket third fixing through hole, 205, bracket shaft angle encoder fixing through hole, 300, shaft angle encoder, 301, shaft angle encoder fixing screw, 302, shaft angle encoder fixing threaded hole, 303, shaft angle encoder assembly round table, 304, shaft angle encoder output shaft, 305, shaft angle encoder output shaft flat end, 400, shaft angle encoder fixing back plate, 401, shaft angle encoder fixing back plate fixing bolt assembly, 402, shaft angle encoder fixing back plate first fixing through hole, 403, shaft angle encoder fixing back plate fixing countersunk hole, 404, shaft angle encoder fixing back plate second fixing through hole, 500, shaft angle encoder protective cover, 501 , shaft angle encoder protection cover fixing bolt assembly, 502, shaft angle encoder protection cover first fixing through hole, 503, shaft angle encoder protection cover second fixing through hole, 600, 8-shaped flexible coupling, 601, 8-shaped flexible coupling rubber body, 602, 8-shaped flexible coupling upper fixed shaft block, 603, 8-shaped flexible coupling upper fixed shaft block through hole, 604, 8-shaped flexible coupling upper fixed shaft block screw plug threaded hole, 6 05, lower fixed shaft block of figure-8 flexible coupling, 606, through hole of lower fixed shaft block of figure-8 flexible coupling, 607, threaded hole of screw plug of lower fixed shaft block of figure-8 flexible coupling, 700, transmission shaft, 701, flat end of transmission shaft, 702, screw end of transmission shaft, 800, locking nut of transmission shaft, 900, pin shaft, 1000, round end plate of pin shaft, 1001, center threaded hole of round end plate of pin shaft, 1100, rear frame. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with embodiments.

[0021] Those skilled in the art will appreciate that the following examples are only used to illustrate the present invention and should not be considered to limit the scope of the present invention. If no specific techniques or conditions are specified in the examples, the techniques or conditions described in the literature in the art or the product specifications are used. If the manufacturer of the materials or equipment used is not specified, they are all conventional products that can be purchased.

[0022] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" to another element, it may be directly connected to the other element, or there may be intermediate elements. In addition, the "connection" used here may include wireless connections. The term "and / or" used here includes any unit and all combinations of one or more associated listed items.

[0023] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two. The terms "inside", "upper", "lower", etc., indicating positions or state relationships, are based on the positions or state relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention will be understood according to specific circumstances.

[0025] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein. Example

[0026] like Figure 1 to Figure 13 As shown, a steering angle detection device for an unmanned scraper in an underground mine includes a front frame 100, a bracket 200, a shaft angle encoder 300, a shaft angle encoder fixing back plate 400, a shaft angle encoder protection cover 500, an 8-shaped flexible coupling 600, a transmission shaft 700, a transmission shaft locking nut 800, a pin shaft 900, a pin shaft round end plate 1000 and a rear frame 1100; The front frame 100 and the rear frame 1100 are hingedly connected by a pin shaft 900, and the pin shaft circular end plate 1000 is fixed on the rear frame 1100, and the pin shaft circular end plate 1000 is located directly above the pin shaft 900; The pin shaft circular end plate 1000 is concentric with the axis of the pin shaft 900; The bracket 200 is fixedly mounted on the front frame 100; The shaft angle encoder 300 is fixed on the shaft angle encoder fixed back plate 400; and the shaft angle encoder fixed back plate 400 is fixed on the bracket 200; The shaft angle encoder 300 is arranged in the shaft angle encoder protection cover 500; The lower part of the shaft angle encoder protection cover 500 is fixedly connected to the top of the bracket 200; The shaft angle encoder output shaft 304 at the bottom of the shaft angle encoder 300 is connected to the 8-shaped flexible coupling 600; The top of the transmission shaft 700 is connected to the 8-shaped flexible coupling 600; After the transmission shaft screw end 702 of the transmission shaft 700 is screwed into the transmission shaft locking nut 800, it is further screwed into the central threaded hole 1001 of the pin shaft circular end plate on the axis line of the pin shaft circular end plate 1000. Example

[0027] like Figure 1 to Figure 13 As shown, a steering angle detection device for an unmanned scraper in an underground mine includes a front frame 100, a bracket 200, a shaft angle encoder 300, a shaft angle encoder fixing back plate 400, a shaft angle encoder protection cover 500, an 8-shaped flexible coupling 600, a transmission shaft 700, a transmission shaft locking nut 800, a pin shaft 900, a pin shaft round end plate 1000 and a rear frame 1100; The front frame 100 and the rear frame 1100 are hingedly connected by a pin shaft 900, and the pin shaft circular end plate 1000 is fixed on the rear frame 1100, and the pin shaft circular end plate 1000 is located directly above the pin shaft 900; The pin shaft circular end plate 1000 is concentric with the axis of the pin shaft 900; The bracket 200 is fixedly mounted on the front frame 100; The shaft angle encoder 300 is fixed on the shaft angle encoder fixed back plate 400; and the shaft angle encoder fixed back plate 400 is fixed on the bracket 200; The shaft angle encoder 300 is arranged in the shaft angle encoder protection cover 500; The lower part of the shaft angle encoder protection cover 500 is fixedly connected to the top of the bracket 200; The shaft angle encoder output shaft 304 at the bottom of the shaft angle encoder 300 is connected to the 8-shaped flexible coupling 600; The top of the transmission shaft 700 is connected to the 8-shaped flexible coupling 600; After the transmission shaft screw end 702 of the transmission shaft 700 is screwed into the transmission shaft locking nut 800, it is further screwed into the central threaded hole 1001 of the pin shaft circular end plate on the axis line of the pin shaft circular end plate 1000.

[0028] The front frame 100 is provided with two front frame threaded holes 101, and the bracket 200 is provided with two bracket first fixing through holes 202 whose positions and hole diameters match the front frame threaded holes 101. After two bracket fixing screw assemblies 201 are sequentially passed through the two bracket first fixing through holes 202 and screwed into the front frame threaded holes 101, the bracket 200 can be installed on the front frame 100.

[0029] The bracket 200 is also provided with a bracket second fixing through hole 203, a bracket third fixing through hole 204 and a bracket shaft angle encoder fixing through hole 205; The shaft angle encoder 300 is provided with a shaft angle encoder fixing threaded hole 302, a shaft angle encoder mounting round table 303, and a shaft angle encoder output shaft 304; the shaft angle encoder output shaft 304 is mounted on the shaft angle encoder mounting round table 303; When the shaft angle encoder 300 body is fixed, the shaft angle encoder output shaft 304 can rotate relative to the shaft angle encoder 300 body under the action of external force; The shaft angle encoder fixing back plate 400 is provided with a shaft angle encoder fixing back plate first fixing through hole 402, a shaft angle encoder fixing back plate fixing countersunk hole 403 and a shaft angle encoder fixing back plate second fixing through hole 404; After the shaft angle encoder assembly truncated table 303 is assembled with the second fixing through hole 404 of the shaft angle encoder fixing back plate, N shaft angle encoder fixing screws 301 are used to sequentially pass through the N shaft angle encoder fixing back plate fixing countersunk holes 403 and screwed into the shaft angle encoder fixing threaded holes 302 matching the corresponding positions, and then the shaft angle encoder 300 is fixed on the shaft angle encoder fixing back plate 400; after the shaft angle encoder 300 and the shaft angle encoder fixing back plate 400 are fixed into a whole, two shaft angle encoder fixing back plate fixing bolt assemblies 401 are used to sequentially pass through the two shaft angle encoder fixing back plate fixing countersunk holes 403 and screwed into the shaft angle encoder fixing threaded holes 302 matching the corresponding positions, and then the shaft angle encoder 300 is fixed on the shaft angle encoder fixing back plate 400. The first fixing through hole 402 of the angle encoder fixing back plate and the third fixing through hole 204 of the bracket can fix the above-mentioned whole on the bracket 200, and the bracket shaft angle encoder fixing through hole 205 provides space for the shaft angle encoder output shaft 304 to extend downward and the 8-shaped flexible coupling 600 to twist up, down, left and right. The shaft angle encoder output shaft 304 passes through the shaft angle encoder fixing through hole 205 of the bracket and the axis lines of the two coincide with each other, and a part of the upper part of the 8-shaped flexible coupling 600 passes through the shaft angle encoder fixing through hole 205 of the bracket and the axis lines of the two coincide with each other.

[0030] The shaft angle encoder protection cover 500 is provided with a first shaft angle encoder protection cover fixing through hole 502 and a second shaft angle encoder protection cover fixing through hole 503 .

[0031] Two sets of shaft angle encoder protection cover fixing bolt assemblies 501 are used to sequentially pass through two groups of shaft angle encoder protection cover first fixing through holes 502 , shaft angle encoder protection cover second fixing through holes 503 , and bracket second fixing through holes 203 , thereby fixing the shaft angle encoder protection cover 500 on the bracket 200 .

[0032] The 8-shaped flexible coupling 600 is provided with an 8-shaped flexible coupling rubber body 601, an 8-shaped flexible coupling upper fixed shaft block 602, an 8-shaped flexible coupling upper fixed shaft block through hole 603, an 8-shaped flexible coupling upper fixed shaft block screw plug threaded hole 604, an 8-shaped flexible coupling lower fixed shaft block 605, an 8-shaped flexible coupling lower fixed shaft block through hole 606 and an 8-shaped flexible coupling lower fixed shaft block screw plug threaded hole 607.

[0033] The transmission shaft 700 is provided with a transmission shaft plane end 701 and a transmission shaft screw end 702; A central threaded hole 1001 of the pin shaft circular end plate is arranged on the axis line of the pin shaft circular end plate 1000; The shaft angle encoder output shaft 304 passes through the fixed shaft block through hole 603 on the 8-shaped flexible coupling and ensures that the shaft angle encoder output shaft plane end 305 of the shaft angle encoder output shaft 304 is aligned with one of the fixed shaft block screw plug threaded holes 604 on the 8-shaped flexible coupling (there are two in total), and two screw plugs are screwed into the fixed shaft block screw plug threaded holes 604 on the 8-shaped flexible coupling in sequence (there are two fixed shaft block screw plug threaded holes 604) to fix the 8-shaped flexible coupling 600 below the shaft angle encoder 300; The transmission shaft plane end 701 on the transmission shaft 700 passes through the through hole 606 of the lower fixed shaft block of the 8-shaped flexible coupling and ensures that the transmission shaft plane end 701 is aligned with one of the screw plug threaded holes 607 of the lower fixed shaft block of the 8-shaped flexible coupling (there are two in total), and two screw plugs are screwed into the screw plug threaded holes 607 of the lower fixed shaft block of the 8-shaped flexible coupling in sequence (there are two screw plug threaded holes 607 of the lower fixed shaft block of the 8-shaped flexible coupling) to fix the transmission shaft 700 below the 8-shaped flexible coupling 600; The transmission shaft screw end 702 of the transmission shaft 700 is screwed into the transmission shaft locking nut 800 and then further screwed into the central threaded hole 1001 of the pin shaft circular end plate on the axis line of the pin shaft circular end plate 1000. The transmission shaft locking nut 800 is screwed and pressed toward the pin shaft circular end plate 1000 (downward). The axis center lines of the shaft encoder output shaft 304, the 8-shaped flexible coupling 600, and the transmission shaft 700 coincide with each other and are located on the same axis center line as the axis center line of the pin circular end plate 1000 and the pin 900. Example

[0034] like Figure 1 to Figure 13 As shown, a steering angle detection device for an unmanned scraper in an underground mine includes a front frame 100, a bracket 200, a shaft angle encoder 300, a shaft angle encoder fixing back plate 400, a shaft angle encoder protection cover 500, an 8-shaped flexible coupling 600, a transmission shaft 700, a transmission shaft locking nut 800, a pin shaft 900, a pin shaft round end plate 1000 and a rear frame 1100; The front frame 100 and the rear frame 1100 are hingedly connected by a pin shaft 900, and the pin shaft circular end plate 1000 is fixed on the rear frame 1100, and the pin shaft circular end plate 1000 is located directly above the pin shaft 900; The pin shaft circular end plate 1000 is concentric with the axis of the pin shaft 900; The bracket 200 is fixedly mounted on the front frame 100; The shaft angle encoder 300 is fixed on the shaft angle encoder fixed back plate 400; and the shaft angle encoder fixed back plate 400 is fixed on the bracket 200; The shaft angle encoder 300 is arranged in the shaft angle encoder protection cover 500; The lower part of the shaft angle encoder protection cover 500 is fixedly connected to the top of the bracket 200; The shaft angle encoder output shaft 304 at the bottom of the shaft angle encoder 300 is connected to the 8-shaped flexible coupling 600, specifically connected to the fixed shaft block through hole 603 on the 8-shaped flexible coupling; The top of the transmission shaft 700 is connected to the 8-shaped flexible coupling 600, specifically connected to the fixed shaft block through hole 606 under the 8-shaped flexible coupling; After the transmission shaft screw end 702 of the transmission shaft 700 is screwed into the transmission shaft locking nut 800, it is further screwed into the central threaded hole 1001 of the pin shaft circular end plate on the axis line of the pin shaft circular end plate 1000.

[0035] The present embodiment is a steering angle detection device for an unmanned scraper in an underground mine, comprising: a front frame 100, a bracket 200, a shaft angle encoder 300, a shaft angle encoder fixing back plate 400, a shaft angle encoder protection cover 500, an 8-shaped flexible coupling 600, a transmission shaft 700, a transmission shaft locking nut 800, a pin shaft 900, a pin shaft round end plate 1000, and a rear frame 1100; The front frame 100 and the rear frame 1100 are hingedly connected by the pin shaft 900, and the circular end plate 1000 of the pin shaft is fixed to the rear frame 1100 with screws to play the role of pressing the pin shaft 900; the circular end plate 1000 of the pin shaft is concentric with the axis line of the pin shaft 900. After the front frame 100 and the rear frame 1100 are hingedly connected by the pin shaft 900, when the front frame 100 and the rear frame 1100 maintain a zero-degree turning angle, a left-right symmetric line OO perpendicular to the axis line of the pin shaft 900 is drawn relative to the front frame 100 and the rear frame 1100.

[0036] The front frame 100 is provided with two front frame threaded holes 101, and the bracket 200 is provided with two bracket first fixing through holes 202 whose positions and hole diameters match the front frame threaded holes 101. After two bracket fixing screw assemblies 201 are sequentially passed through the two bracket first fixing through holes 202 and screwed into the front frame threaded holes 101, the bracket 200 can be installed on the front frame 100.

[0037] The bracket 200 is further provided with a bracket second fixing through hole 203 , a bracket third fixing through hole 204 and a bracket shaft angle encoder fixing through hole 205 .

[0038] The shaft angle encoder 300 is provided with a shaft angle encoder fixing threaded hole 302, a shaft angle encoder assembly frustum 303, a shaft angle encoder output shaft 304 and a shaft angle encoder output shaft flat end 305. When the shaft angle encoder 300 body is fixed, the shaft angle encoder output shaft 304 can rotate relative to the shaft angle encoder 300 body under the action of external force.

[0039] The shaft angle encoder fixing back plate 400 is provided with a first fixing through hole 402 of the shaft angle encoder fixing back plate, a fixing countersunk hole 403 of the shaft angle encoder fixing back plate, and a second fixing through hole 404 of the shaft angle encoder fixing back plate. The shaft angle encoder assembly round table 303 and the shaft angle encoder fixing back plate second fixing through hole 404 have a certain assembly gap. The function is to ensure the installation accuracy of the shaft angle encoder 300. The shaft angle encoder protection cover 500 is provided with a first shaft angle encoder protection cover fixing through hole 502 and a second shaft angle encoder protection cover fixing through hole 503 .

[0040] After the shaft angle encoder assembly cone 303 is assembled with the shaft angle encoder fixed back plate second fixed through hole 404, three shaft angle encoder fixing screws 301 are used to sequentially pass through the three shaft angle encoder fixed back plate fixed countersunk holes 403 and screwed into the shaft angle encoder fixed threaded holes 302 of the corresponding positions to fix the shaft angle encoder 300 on the shaft angle encoder fixed back plate 400. After the shaft angle encoder 300 and the shaft angle encoder fixed back plate 400 are fixed into a whole, two shaft angle encoder fixed back plate fixing bolt assemblies 401 are used to sequentially pass through the two shaft angle encoder fixed back plate first fixed through holes 402 and the third fixed through hole 204 of the bracket to fix the above-mentioned whole on the bracket 200. The bracket shaft angle encoder fixed through hole 205 serves to provide space for the shaft angle encoder output shaft 304 to extend downward and the 8-shaped flexible coupling 600 to twist up, down, left and right.

[0041] The shaft angle encoder protection cover 500 can be fixed on the bracket 200 by using two sets of shaft angle encoder protection cover fixing bolt assemblies 501 to pass through the first fixing through hole 502 of the shaft angle encoder protection cover, the second fixing through hole 503 of the shaft angle encoder protection cover, and the second fixing through hole 203 of the bracket in sequence. The shaft angle encoder protection cover 500 plays a role in protecting the shaft angle encoder 300 to prevent the ore from falling off and damaging the shaft angle encoder 300 during the production process.

[0042] The 8-shaped flexible coupling 600 is provided with an 8-shaped flexible coupling rubber body 601, an 8-shaped flexible coupling upper fixed shaft block 602, an 8-shaped flexible coupling upper fixed shaft block through hole 603, an 8-shaped flexible coupling upper fixed shaft block screw plug threaded hole 604, an 8-shaped flexible coupling lower fixed shaft block 605, an 8-shaped flexible coupling lower fixed shaft block through hole 606 and an 8-shaped flexible coupling lower fixed shaft block screw plug threaded hole 607. Under the action of the 8-shaped flexible coupling rubber body 601, the 8-shaped flexible coupling 600 can be extended and retracted to a certain length in the up and down directions, sway to a certain degree in the four directions of front, back, left and right, and twist to a certain degree in the clockwise and counterclockwise directions.

[0043] The transmission shaft 700 is provided with a transmission shaft flat end 701 and a transmission shaft screw end 702, and the center line of the pin shaft round end plate 1000 is provided with a pin shaft round end plate center threaded hole 1001. The shaft angle encoder output shaft 304 passes through the through hole 603 of the fixed shaft block on the 8-shaped flexible coupling and ensures that the flat end 305 of the shaft angle encoder output shaft is aligned with one of the screw plug threaded holes 604 of the fixed shaft block on the 8-shaped flexible coupling. The 8-shaped flexible coupling 600 can be fixed to the shaft angle encoder 300 by screwing two screw plugs into the screw plug threaded holes 604 of the fixed shaft block on the 8-shaped flexible coupling in sequence. The transmission shaft flat end 701 on the transmission shaft 700 passes through the through hole 606 of the fixed shaft block under the 8-shaped flexible coupling and ensures that the flat end 701 of the transmission shaft is aligned with one of the screw plug threaded holes 607 of the fixed shaft block under the 8-shaped flexible coupling. The two screw plugs are screwed in in sequence. The threaded hole 607 of the fixed shaft block screw plug under the 8-shaped flexible coupling can fix the transmission shaft 700 to the 8-shaped flexible coupling 600. The transmission shaft screw end 702 of the transmission shaft 700 is screwed into the transmission shaft locking nut 800 and then further screwed into the central threaded hole 1001 of the pin circular end plate on the axis line of the pin circular end plate 1000. The transmission shaft locking nut 800 is tightened by turning in the direction of the pin circular end plate 1000. The function of the transmission shaft flat end 701 and the shaft angle encoder output shaft flat end 305 is to prevent the transmission shaft 700 and the shaft angle encoder output shaft 304 from sliding relative to the 8-shaped flexible coupling 600 during the working process of the device, thereby preventing the steering angle measurement error.

[0044] After installation in the above manner, it can be ensured that the axis center lines of the shaft encoder output shaft 304, the 8-shaped flexible coupling 600, and the transmission shaft 700 coincide with and are located on the same axis center line as the axis center line of the pin circular end plate 1000 and the pin 900.

[0045] When the scraper loader turns, the front frame 100 will turn left or right at a certain angle relative to the rear frame 1100 under the push of the steering cylinder under the limit of the pin shaft 900. During this steering process, the pin shaft round end plate 1000 is fixed to the rear frame 1100 and does not rotate. The transmission shaft 700 is fixed to the pin shaft round end plate 1000 under the action of the transmission shaft locking nut 800. The transmission shaft 700 does not rotate, and the 8-shaped flexible coupling 600 and the shaft angle encoder output shaft 304 will not rotate subjectively with the steering of the scraper loader. The shaft angle encoder 300 angle detection body and bracket 200 are fixed together and installed on the front frame 100. When the front frame 100 of the scraper loader turns left or right When the steering angle is turned to a certain angle, the shaft angle encoder 300 body and the bracket 200 will turn left or right relative to the rear frame 1100 to a corresponding angle, that is, the steering angle of the scraper loader will be directly converted into the angle of rotation of the shaft angle encoder 300 body relative to the shaft angle encoder output shaft 304. At this time, the shaft angle encoder 300 will have an electrical signal output, with the left-right symmetry line OO of the front and rear frames perpendicular to the axis of the pin shaft 900 as the center line and looking in the forward direction of the scraper loader. When the steering direction is to the left of this center line, it is a left turn, and to the right, it is a right turn. The electrical signal output by the shaft angle encoder 300 will be distinguished by positive and negative values. The electrical signal output when turning left is a positive value, and the electrical signal output when turning right is a negative value. When the front frame 100 and the rear frame 1100 are relatively twisted and pitched, the 8-shaped flexible coupling 600 can be extended and retracted to a certain length in the up and down directions under the action of the 8-shaped flexible coupling rubber body 601, and a certain degree of swing in the four directions of front, back, left and right, as well as a certain degree of twist in the clockwise and counterclockwise directions, so that the axis center lines of the shaft angle encoder output shaft 304 and the pin shaft 900 always remain concentric, which largely avoids the angular error caused by the axis center lines of the shaft angle encoder output shaft 304 and the pin shaft 900 not remaining concentric due to the relative twisting and pitching of the front frame 100 and the rear frame 1100, thereby achieving the purpose of accurately measuring the steering angle of the scraper loader.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A steering angle detection device for an unmanned scraper in a mine, characterized in that: It comprises a front frame (100), a bracket (200), a shaft angle encoder (300), a shaft angle encoder fixing back plate (400), a shaft angle encoder protection cover (500), an 8-shaped flexible coupling (600), a transmission shaft (700), a transmission shaft locking nut (800), a pin shaft (900), a pin shaft round end plate (1000) and a rear frame (1100); The front frame (100) and the rear frame (1100) are hingedly connected via a pin shaft (900); a pin shaft circular end plate (1000) is fixed to the rear frame (1100), and the pin shaft circular end plate (1000) is located directly above the pin shaft (900); The pin shaft circular end plate (1000) is concentric with the axis of the pin shaft (900); The bracket (200) is fixedly mounted on the front frame (100); The shaft angle encoder (300) is fixed on the shaft angle encoder fixed back plate (400); and the shaft angle encoder fixed back plate (400) is fixed on the bracket (200); The shaft angle encoder (300) is arranged in a shaft angle encoder protection cover (500); The lower part of the shaft angle encoder protection cover (500) is fixedly connected to the top of the bracket (200); The shaft angle encoder output shaft (304) at the bottom of the shaft angle encoder (300) is connected to the 8-shaped flexible coupling (600); The top of the transmission shaft (700) is connected to an 8-shaped flexible coupling (600); After the transmission shaft screw end (702) of the transmission shaft (700) is screwed into the transmission shaft locking nut (800), it is further screwed into the central threaded hole (1001) of the pin shaft round end plate on the axis line of the pin shaft round end plate (1000).

2. The steering angle detection device for an unmanned scraper in an underground mine according to claim 1, characterized in that: The front frame (100) is provided with two front frame threaded holes (101), and the bracket (200) is provided with two bracket first fixing through holes (202) whose positions and hole diameters match those of the front frame threaded holes (101). After two bracket fixing screw assemblies (201) are sequentially passed through the two bracket first fixing through holes (202) and screwed into the front frame threaded holes (101), the bracket (200) can be mounted on the front frame (100).

3. The steering angle detection device for an unmanned scraper in an underground mine according to claim 2, characterized in that: The bracket (200) is further provided with a bracket second fixing through hole (203), a bracket third fixing through hole (204), and a bracket shaft angle encoder fixing through hole (205); The shaft angle encoder (300) is provided with a shaft angle encoder fixing threaded hole (302), a shaft angle encoder assembly round table (303), and a shaft angle encoder output shaft (304); the shaft angle encoder output shaft (304) is mounted on the shaft angle encoder assembly round table (303); When the shaft angle encoder (300) body is fixed, the shaft angle encoder output shaft (304) can rotate relative to the shaft angle encoder (300) body under the action of an external force; The shaft angle encoder fixing back plate (400) is provided with a shaft angle encoder fixing back plate first fixing through hole (402), a shaft angle encoder fixing back plate fixing countersunk hole (403) and a shaft angle encoder fixing back plate second fixing through hole (404); After the shaft angle encoder assembly truncated table (303) is assembled with the second fixing through hole (404) of the shaft angle encoder fixing back plate, N shaft angle encoder fixing screws (301) are sequentially passed through the N shaft angle encoder fixing back plate fixing countersunk holes (403) and screwed into the shaft angle encoder fixing threaded holes (302) at the corresponding positions, and then the shaft angle encoder (300) is fixed on the shaft angle encoder fixing back plate (400); after the shaft angle encoder (300) and the shaft angle encoder fixing back plate (400) are fixed into a whole, two shaft angle encoder fixing back plate fixing bolt assemblies (401) are sequentially passed through the two shaft angle encoder fixing back plate fixing countersunk holes (403) and screwed into the shaft angle encoder fixing threaded holes (302) at the corresponding positions. The first fixing through hole (402) of the angle encoder fixing back plate and the third fixing through hole (204) of the bracket can fix the above-mentioned whole on the bracket (200); the bracket shaft angle encoder fixing through hole (205) plays the role of providing space for the shaft angle encoder output shaft (304) to extend downward and the 8-shaped flexible coupling (600) to twist up and down and left and right; the shaft angle encoder output shaft (304) passes through the bracket shaft angle encoder fixing through hole (205) and the axis center lines of the two coincide; the upper part of the 8-shaped flexible coupling (600) passes through the bracket shaft angle encoder fixing through hole (205) and the axis center lines of the two coincide; N≥2.

4. The steering angle detection device for an unmanned scraper in an underground mine according to claim 3, characterized in that: N=3。 5. The steering angle detection device for an unmanned scraper in an underground mine according to claim 3, characterized in that: The shaft angle encoder protection cover (500) is provided with a shaft angle encoder protection cover first fixing through hole (502) and a shaft angle encoder protection cover second fixing through hole (503); Two sets of shaft angle encoder protection cover fixing bolt assemblies (501) are used to sequentially pass through two groups of shaft angle encoder protection cover first fixing through holes (502), shaft angle encoder protection cover second fixing through holes (503), and bracket second fixing through holes (203), thereby fixing the shaft angle encoder protection cover (500) on the bracket (200).

6. The steering angle detection device for an unmanned scraper in an underground mine according to claim 5, characterized in that: The 8-shaped flexible coupling (600) is provided with an 8-shaped flexible coupling rubber body (601), an 8-shaped flexible coupling upper fixed shaft block (602), an 8-shaped flexible coupling upper fixed shaft block through hole (603), an 8-shaped flexible coupling upper fixed shaft block screw plug threaded hole (604), an 8-shaped flexible coupling lower fixed shaft block (605), an 8-shaped flexible coupling lower fixed shaft block through hole (606) and an 8-shaped flexible coupling lower fixed shaft block screw plug threaded hole (607).

7. The steering angle detection device for an unmanned scraper in an underground mine according to claim 6, characterized in that: The transmission shaft (700) is provided with a transmission shaft plane end (701) and a transmission shaft screw end (702); A central threaded hole (1001) of the pin shaft circular end plate is provided on the axis line of the pin shaft circular end plate (1000); The shaft angle encoder output shaft (304) passes through the through hole (603) of the fixed shaft block on the 8-shaped flexible coupling and ensures that the shaft angle encoder output shaft plane end (305) of the shaft angle encoder output shaft (304) is aligned with one of the screw plug threaded holes (604) of the fixed shaft block on the 8-shaped flexible coupling, and two screw plugs are screwed into the screw plug threaded holes (604) of the fixed shaft block on the 8-shaped flexible coupling in sequence to fix the 8-shaped flexible coupling (600) below the shaft angle encoder (300); The drive shaft flat end (701) on the drive shaft (700) passes through the through hole (606) of the lower fixed shaft block of the figure-8 flexible coupling and ensures that the drive shaft flat end (701) is aligned with one of the screw plug threaded holes (607) of the lower fixed shaft block of the figure-8 flexible coupling, and two screw plugs are screwed into the screw plug threaded holes (607) of the lower fixed shaft block of the figure-8 flexible coupling in sequence to fix the drive shaft (700) below the figure-8 flexible coupling (600); The transmission shaft screw end (702) of the transmission shaft (700) is screwed into the transmission shaft locking nut (800) and then further screwed into the central threaded hole (1001) of the pin shaft circular end plate on the axis line of the pin shaft circular end plate (1000). The transmission shaft locking nut (800) is tightened by turning in the direction of the pin shaft circular end plate (1000); the axis lines of the shaft angle encoder output shaft (304), the 8-shaped flexible coupling (600) and the transmission shaft (700) coincide with and are located on the same axis line as the axis lines of the pin shaft circular end plate (1000) and the pin shaft (900).

Images