A RUPU type coal mine underground relative position quick acquisition device and method

Abstract

This invention discloses a RUPU-type device and method for rapid acquisition of relative positions in underground coal mines, comprising a base assembly, a Hooke's hinge assembly, a telescopic device, and an explosion-proof and intrinsically safe main unit. This device can be quickly integrated into underground coal mine machinery to achieve rapid and accurate measurement of the relative positions of two different platforms. The device is a tandem RUPU-type robotic arm, using two flanges located on the base assembly and the Hooke's hinge assembly to connect to the plane to be measured. Optical encoders and displacement sensors located at the rotary joint, Hooke's hinge, and translational joint of the robotic arm are used to sense the robotic arm's posture, thereby achieving accurate acquisition of the spatial relative position between the two flange mounting platforms. The rapid integration of this device provides equipment and data support for the rapid real-time acquisition of the relative positions between different equipment in underground coal mines.

Description

Technical Field

[0001] This invention belongs to the field of underground equipment automation in coal mines, and relates to a RUPU-type device and method for rapidly acquiring relative positions in underground coal mines. Background Technology

[0002] With the development of automated equipment technology in underground coal mines, the level of automation in the entire coal resource mining process is constantly improving. Various automated and intelligent equipment are emerging and being increasingly applied in underground coal mines, effectively reducing the labor intensity and operational risks for workers. Taking underground drilling operations in coal mines as an example: to further improve the automation level of existing equipment, various models of drill pipe loading and unloading systems have been developed, such as the tracked drill pipe loading and unloading vehicle for the GLY30K coal mine tunnel drilling rig produced by China Coal Technology & Engineering Group Xi'an Research Institute (Group) Co., Ltd. These automated equipment can be quickly integrated with existing automatic or conventional drilling rigs, replacing manual labor in the arduous task of loading and unloading drill pipes.

[0003] Conventional drilling rigs mostly lack attitude sensing and data processing capabilities, necessitating the addition of a new drill pipe loading and unloading system capable of independently and rapidly and accurately acquiring the target position for drill pipe loading and unloading. Existing technologies use visual recognition methods, such as setting a cooperative target at the drilling rig's location and incorporating visual sensors within the drill pipe loading and unloading system, to obtain the target point's position. However, visual recognition methods are unsuitable in certain situations due to factors such as dust, humidity, and darkness in underground coal mines. For example, during drilling operations following a tunneling machine for gas extraction from the same coal seam, the dust pollution generated by the tunneling operation is severe. Water mist sprayed for dust suppression mixes with coal dust, reducing visibility and significantly hindering the application of visual recognition methods. Furthermore, vibrations during drilling can cause deviations in the drill pipe's position when delivered to the target point. This necessitates that the visual recognition system re-acquire the cooperative target image and recalculate the target point's position before each drill pipe loading and unloading operation. This computational load places high demands on the drilling rig's data processing capabilities, results in poor real-time position acquisition, and negatively impacts drill pipe loading and unloading efficiency. Meanwhile, the high price and complex visual algorithms are also important reasons hindering the application of this technology in underground coal mines.

[0004] Another scenario: During drilling operations, achieving the fastest drilling speed while ensuring hole formation is a crucial objective of drilling rig control. Increasing drill pressure is an effective way to achieve higher drilling speeds. However, increasing drill pressure can cause drill string buckling, affecting drilling efficiency, and can also induce significant vibrations in the drilling rig, impacting its lifespan and potentially leading to borehole malfunctions. Therefore, timely detection and control are necessary. Existing technologies often detect vibration signals by adding vibration sensors to the drilling rig. However, the vibration amplitude detection range of existing sensors is generally insufficient to monitor the vibration amplitude of the drilling rig. There is an urgent need for an effective technology that can monitor the vibration amplitude of the drilling rig in real time during drilling operations, so as to promptly reduce drill pressure when significant vibrations occur. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a RUPU-type device and method for rapidly acquiring relative positions in underground coal mines, thereby meeting the need for accurate acquisition of the relative positions of different platforms in underground coal mines.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A RUPU-type rapid relative position acquisition device for underground coal mines, which can be integrated into underground coal mine machinery to achieve rapid and accurate measurement of the relative position of two different platforms; including a telescopic device, Hooke hinge assemblies at both ends of the telescopic device, a base assembly connected to one end of the Hooke hinge assembly, and an explosion-proof and intrinsically safe main unit. The telescopic device includes: a cylinder and its cylinder rod, a magnetostrictive displacement sensor and a magnetic ring disposed in the cylinder and cylinder rod to measure the telescopic stroke of the cylinder rod, a limiting pin disposed on the cylinder rod and cooperating with a guide groove on the side of the cylinder to measure the rotation angle of the cylinder rod relative to the cylinder; one end of the cylinder is connected to a set of Hooke hinge assemblies through a connecting flange, and the other end of the cylinder rod is connected to another set of Hooke hinge assemblies through a connecting flange. The Hooke hinge assembly includes an upper fork-shaped lug, a lower fork-shaped lug, a cross shaft, and an optical encoder. The cross shaft is mounted between the upper and lower fork-shaped lugs via two sets of bearings, allowing the upper and lower fork-shaped lugs to rotate freely around the two axes of the cross shaft. Optical encoders are installed on the outer sides of the upper and lower fork-shaped lugs and between them and the cross shaft to acquire the angle data of the two lugs relative to the cross shaft in real time. One of the Hooke hinge assemblies has flanges at the upper end of the upper fork-shaped lug and the lower end of the lower fork-shaped lug to be connected to the connecting flange of the test platform / telescopic device of the underground coal mine machinery equipment, respectively. The other Hooke hinge assembly has flanges at the upper end of the upper fork-shaped lug and the lower end of the lower fork-shaped lug to be connected to the connecting flange of the telescopic device and one end of the base assembly, respectively. The other end of the base assembly can be connected to another test platform. The base assembly and its internal optical encoder can transmit and detect the rotation angle of the device. The explosion-proof and intrinsically safe host includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0008] The present invention also includes the following technical features: Specifically, the telescopic device has an outer cylinder surrounding the cylinder; one end of the cylindrical cylinder has a connecting flange for connection with Hooke's hinge assembly I; a magnetostrictive displacement sensor is installed inside the cylinder, with one end of the magnetostrictive displacement sensor extending into the cylinder rod; the outer surface of the cylinder rod is octagonal with a hollow structure, and a piston is installed at one end, which fits with the inner hole of the cylinder, allowing for free extension and retraction; a nylon ring is provided between the piston and the cylinder; a magnetic ring is installed at the end of the cylinder rod; and the other end of the cylinder rod has a connecting flange for connection with Hooke's hinge assembly II.

[0009] Specifically, the data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer; the explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data; the explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

[0010] Specifically, the base assembly includes a grating encoder, a base, a housing, a cover plate, bearing I, pinion I, a spring support, pinion II, a backlash-free spring, a main shaft I, bearing II, a large gear, a main shaft II, a coupling, a bearing pressure plate, a drive shaft, bearing III, and a connecting flange. The base can be fixed to the platform under test at the bottom, and the housing is installed on the top. A flange is provided on one side of the housing and a grating encoder is installed thereon. The input shaft of the grating encoder is connected to one end of the main shaft I so that they can rotate together. Bearings I are provided at both ends of the main shaft I. A coaxial pinion I and pinion II are set between the two bearings I. Pinion I is engaged with the main shaft I through a flat key and meshes with the large gear. Pinion II has a round hole inside, which can rotate freely around the main shaft I and mesh with the large gear. Spring supports are provided on the end faces of pinion I and pinion II. A backlash-eliminating spring is installed between the two spring supports. The spring force of the backlash-eliminating spring is greater than the resistance of the gear transmission. The large gear and the main shaft II transmit torque through a flat key. The main shaft II is fixed in the base by a set of bearings II. One end of the main shaft II is connected to the drive shaft through a coupling. The drive shaft is fixed in the housing by a set of bearings III. A bearing sleeve is provided between the two bearings III and is fixed in the housing by a cover plate and a bearing pressure plate. One end of the drive shaft is provided with a connecting flange and connected to the lower fork-shaped lug of the Hooke hinge assembly.

[0011] A method for obtaining the relative position between two planes underground in a coal mine using the aforementioned RUPU-type rapid relative position acquisition device includes the following steps: First, the base assembly is installed on one of the planes, namely plane A, and the installation position is precisely fixed by pins; the end flange of the Hooke hinge assembly II is fixed to the other plane, namely plane B, and is also precisely fixed by pins; then, the cables of each grating encoder and magnetostrictive displacement sensor are connected to the explosion-proof and intrinsically safe host; the data acquisition unit in the explosion-proof and intrinsically safe host collects the data of each sensor in real time and calculates the relative positional relationship between the two platforms.

[0012] Specifically, the data collected by the data acquisition device includes the following sensor data: Rotation angle of the base assembly revolute joint measured by the grating encoder The two grating encoders on the Hooke hinge assembly I measure the rotation angles in two directions, respectively. and The telescopic length of the telescopic device measured by a magnetostrictive displacement sensor The two grating encoders on the Hooke hinge assembly II measured the rotation angles in two directions, respectively. and .

[0013] Specifically, calculating the relative positional relationship between the two planes includes: establishing coordinate systems at each joint from the mounting position of the base assembly (plane A) to the end flange position of the Hooke's hinge assembly II (plane B), in sequence as follows: arrive ; Let be a point on plane B at the end of the device. It is known that this point is located at... O 6X 6 Y 6 Z In the case of a 6-coordinate system, In plane coordinate system A The coordinates are calculated using the following formula: (1) In the formula, In coordinate system , The coordinates in the figure are as follows: and ; express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

[0014] Specifically, the direction cosine matrix It can be obtained through the following coordinate transformations: O 6 X 6 Y 6 Z The 6-coordinate system can be used to... O 1 X 1 Y 1 Z The coordinate system is obtained by moving and rotating it according to the following steps; coordinate system O 1 X 1 Y 1 Z 1. Transform into a coordinate system O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation ; coordinate system O 2 X 2 Y 2 Z 2. Transform to coordinate system O 3 X 3 Y 3 Z 3, along X 2 rotations , around Y 2 rotations ; coordinate system O 3 X 3 Y 3Z 3. Transform to coordinate system O 4 X 4 Y 4 Z 4, along Z 3 moves ; coordinate system O 4 X 4 Y 4 Z 4. Transform to coordinate system O 5 X 5 Y 5 Z 5. Along X 4 rotations , around Y 4 rotations ; coordinate system O 5 X 5 Y 5 Z 5. Transform to coordinate system O 6 X 6 Y 6 Z 6. Along Z 5 moves ; in The distance between the mounting plane and the rotation center of the Hooke hinge assembly I. The distance between the rotation center of the Hooke hinge assembly I and the connecting flange of the expansion joint is given. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange of the expansion joint is [distance missing]. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange at the end of the device is [distance missing]. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its x-axis. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its y-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its x-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its y-axis. Let be the angle by which the base assembly rotates about the z-axis.

[0015] Specifically, the calculation process of the coordinate system transformation matrix is ​​as follows: S1, coordinate system O 1 X 1 Y 1 Z 1→ O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation The transformation matrix is: (2) S2, coordinate system O 2 X 2 Y 2 Z 2→ O 3 X 3 Y 3 Z 3, along X 2 rotations The transformation matrix is: (3) Around Y 2 rotations The transformation matrix is: (4) The combined transformation matrix is: (5) S3, coordinate system O 3 X 3 Y 3 Z 3→ O 4 X 4 Y 4 Z 4, along Z 3 moves The transformation matrix is: (6) S4, coordinate system O 4 X 4 Y 4 Z 4→ O 5 X 5 Y 5 Z 5, then go around X 4-axis rotation The transformation matrix is: (7) along Y 4 rotations The transformation matrix is: (8) The combined transformation matrix is: (9) S5, coordinate system O 5 X 5 Y 5Z 5→ O 6 X 6 Y 6 Z 6. Along Z 5 moves The transformation matrix is: (10) Total transformation matrix: To obtain from the coordinate system O 1 X 1 Y 1 Z 1 to O 6 X 6 Y 6 Z 6 Total transformation matrix Multiply the transformation matrices of each step. (11) A known point is on the known plane to be detected. O 6 X 6 Y 6 Z Given the position in the 6-coordinate system, the coordinates of the point can be quickly calculated using formulas (1) and (11). O 1 X 1 Y 1 Z The position in the coordinate system is used to quickly determine the position and orientation of the plane.

[0016] Compared with the prior art, the present invention has the following technical effects: The invention provides real-time, accurate, and continuous acquisition of the relative position of platforms: the device has six degrees of freedom in space, enabling real-time, accurate, and continuous acquisition of the relative position of two platforms in underground coal mines. It can be quickly integrated into intelligent drilling rigs to acquire spatial motion information of drilling rig components, and can also be integrated into drill pipe loading and unloading systems. The device continuously acquires the target position of drill pipe loading and unloading points, unaffected by factors such as vibration during drilling operations.

[0017] This invention eliminates transmission backlash, ensuring recognition accuracy: The base assembly uses two sets of gear pairs to eliminate gear transmission backlash, ensuring accurate angle acquisition. Pinion I engages with main shaft I via a key and meshes with the large gear; pinion II has an internal circular hole, allowing free rotation around main shaft I and also meshes with the large gear; both pinion I and pinion II have spring supports on their cross-sections, with a backlash-eliminating spring installed between them. Under the action of the backlash-eliminating spring, pinion I and pinion II mesh with the tooth surfaces of the large gear on both sides. When the device rotates clockwise, the large gear transmits rotational motion to pinion II through contact with pinion II. Pinion II transmits rotational torque to pinion I through the backlash-eliminating spring. Pinion I drives main shaft I to rotate via its internal key. The grating encoder I obtains the rotation angle of the device's drive shaft by detecting the rotation angle of main shaft I. When the device rotates counterclockwise, the large gear transmits rotational motion to pinion I through contact with pinion I. Pinion I directly drives main shaft I to rotate via its internal key. The grating encoder I also obtains the rotation angle of the device's drive shaft by detecting the rotation angle of the main shaft I. Because the spring force of the backlash-eliminating spring is greater than the resistance of the gear transmission, the tooth surfaces of pinions I and II can always mesh with the two sides of the large gear, eliminating gear transmission backlash and ensuring transmission accuracy. At the same time, the presence of the backlash-eliminating spring eliminates rotational impact during system operation, further ensuring the sensor's lifespan.

[0018] The device of this invention is shaped like a slender rod, with a length comparable to the width of a drilling rig, making it easy to install on underground equipment in coal mines. The device has six degrees of freedom in space, allowing it to be adjusted and adapted to targets at different distances and angles. The telescopic device located in the middle of the device can extend and retract freely, providing a large operating range. Attached Figure Description

[0019] Figure 1 A simplified structural diagram of a device for rapidly acquiring relative positions underground in a coal mine.

[0020] Figure 2 This is a side view of the base assembly.

[0021] Figure 3 This is the top view of the base component.

[0022] Figure 4 This is a schematic diagram of a backlash-free gear pair.

[0023] Figure 5 This is a schematic diagram of the pinion structure.

[0024] Figure 6 This is a schematic diagram of the Hooke's hinge assembly.

[0025] Figure 7 These are the three views of the Hooke's hinge assembly.

[0026] Figure 8 This is a schematic diagram of the telescopic device.

[0027] Figure 9 This is a magnified view of a portion of the telescopic device.

[0028] Figure 10 This is a simplified diagram of the device's mechanism.

[0029] The meanings of the labels in the diagram are as follows: 1-Hooke hinge assembly, 1.1-Lower fork-shaped lug, 1.2-Luggage lug end cap, 1.3-Cross shaft, 1.4-Upper fork-shaped lug, 1.5-Raster encoder II, 1.6-Raster encoder III, 2-Telescopic device, 2.1-Cylinder, 2.2-Outer cylinder, 2.4-Magnetostrictive displacement sensor, 2.5-Cylinder rod, 2.6-Magnetic ring, 2.7-Nylon ring, 2.8-Limit pin, 3-Hooke hinge II, 4-Explosion-proof and intrinsically safe main unit, 5-Base assembly, 5 5.1-Raster encoder, 5.2-Base, 5.3-Housing, 5.4-Cover plate, 5.5-Bearing I, 5.6-Pinus I, 5.6.1-Spring support, 5.7-Pinus II, 5.8-Backlash elimination spring, 5.9-Main shaft I, 5.10-Bearing II, 5.11-Large gear, 5.12-Main shaft II, 5.13-Coupling, 5.14-Bearing pressure plate, 5.15-Drive shaft, 5.16-Bearing III, 5.17-Connecting flange. Detailed Implementation

[0030] This invention, drawing upon extensive experience and achievements in related fields, has developed a RUPU-type rapid relative position acquisition device for underground coal mines through dedicated research and design. The device uses two flanges located on the base assembly and the Hooke's hinge assembly to connect to the plane to be measured. Through optical encoders and displacement sensors located at the rotary joint of the robotic arm, the Hooke's hinge, and the translational joint, the relative spatial position relationship between the mounting platforms of the two flanges is acquired in real time. This enables real-time acquisition of the target position and real-time monitoring of drilling rig vibration amplitude during automatic drill pipe loading and unloading. The rapid integration of this device provides equipment and data support for the rapid real-time acquisition of relative positions between different pieces of equipment in underground coal mines.

[0031] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0032] Example 1: like Figures 1 to 9As shown, this embodiment provides a RUPU type underground relative position rapid acquisition device for coal mines. This device can be integrated into underground coal mine machinery to achieve rapid and accurate measurement of the relative position of two different platforms. It includes a telescopic device 2, Hooke hinge assemblies 1 located at both ends of the telescopic device 2, a base assembly 5 connected to one end of the Hooke hinge assembly 1, and an explosion-proof and intrinsically safe host 4.

[0033] The telescopic device 2 includes: a cylinder 2.1 and its cylinder rod 2.5; a magnetostrictive displacement sensor 2.4 and a magnetic ring 2.6 installed in the cylinder 2.1 and cylinder rod 2.5 to measure the telescopic stroke of the cylinder rod 2.5; a limiting pin 2.8 installed on the cylinder rod 2.5 and cooperating with a guide groove on the side of the cylinder 2.1 to measure the rotation angle of the cylinder rod 2.5 relative to the cylinder 2.1; the limiting pin and the guide groove are fitted together with a clearance fit, allowing the cylinder rod to extend and retract freely along the cylinder, but not to rotate relative to it; one end of the cylinder 2.1 is connected to a set of Hooke hinge assemblies 1 through a connecting flange, and the other end of the cylinder rod 2.5 is connected to another set of Hooke hinge assemblies 1 through a connecting flange; an outer cylinder 2.2 is welded to the outside of the cylinder to improve its structural strength; the outer cylinder has process holes machined at the positions corresponding to the limiting pins to facilitate the disassembly and maintenance of the limiting pins; during normal operation, a dust filter joint is installed at the process holes to prevent dust from entering the telescopic device; the other end of the cylinder rod is provided with a connecting flange and is connected to the end flange of the Hooke hinge II by bolts.

[0034] The Hooke hinge assembly 1 includes an upper fork-shaped lug 1.4, a lower fork-shaped lug 1.1, a cross shaft 1.3, and an optical encoder. The cross shaft 1.3 is mounted between the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 via two sets of bearings. The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 can rotate freely around the two axes of the cross shaft 1.3, respectively. Two optical encoders, namely optical encoder II 1.5 and optical encoder III 1.6, are installed on the outer sides of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 and between them and the cross shaft 1.3, respectively, to acquire the angular data of the two lugs relative to the cross shaft 1.3 in real time. One of the Hooke hinges... The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 of the hinge assembly 1 are respectively provided with flanges to be connected to the connecting flange of the test platform / telescopic device 2 of the underground coal mine machinery equipment by bolts. The upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 of the other Hooke hinge assembly 1 are respectively provided with flanges to be connected to the connecting flange of the telescopic device 2 and one end of the base assembly 5. The other end of the base assembly 5 can be connected to another test platform. The base assembly 5 and its internal grating encoder 5.1 can transmit and detect the rotation angle of the device. The side plates of the upper fork-shaped lug 1.4 and the lower fork-shaped lug 1.1 are provided with lug end caps 1.2.

[0035] The explosion-proof and intrinsically safe host 4 includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

[0036] The telescopic device 2 has an outer cylinder 2.2 around its cylinder 2.1. One end of the cylindrical cylinder 2.1 is equipped with a connecting flange for connection to the Hooke hinge assembly I. A magnetostrictive displacement sensor 2.4 is threadedly installed inside the cylinder 2.1, with one end of the magnetostrictive displacement sensor 2.4 extending into the cylinder rod 2.5. The cylinder rod 2.5 is made of cold-drawn regular octagonal steel tube with a regular octagonal outer surface and a hollow structure. A piston is installed at one end and fits into the inner hole of the cylinder 2.1, allowing for free extension and retraction. A nylon ring 2.7 is provided between the piston and the cylinder 2.1 to reduce friction and prevent wear of components. A magnetic ring 2.6 is bolted to the end of the cylinder rod 2.5 on the side with the larger diameter. The magnetic ring and the magnetostrictive displacement sensor together measure the extension and retraction stroke of the cylinder rod. The other end of the cylinder rod 2.5 is equipped with a connecting flange and is bolted to the Hooke hinge assembly II3.

[0037] The data acquisition unit is used to collect digital and analog signals from the sensors and convert these signals into digital signals according to a certain sampling rate, which are then transmitted to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit. The relative positional parameters between the two platforms are displayed on the screen for easy viewing by relevant personnel and can also be transmitted to other systems.

[0038] The base assembly 5 includes a grating encoder 5.1, a base 5.2, a housing 5.3, a cover plate 5.4, a bearing I 5.5, a pinion I 5.6, a spring support 5.6.1, a pinion II 5.7, a backlash-eliminating spring 5.8, a main shaft I 5.9, a bearing II 5.10, a large gear 5.11, a main shaft II 5.12, a coupling 5.13, a bearing pressure plate 5.14, a drive shaft 5.15, a bearing III 5.16, and a connecting flange 5.17; The base 5.2 is fixed to the platform under test by bottom bolts, and the upper part is equipped with the housing 5.3. A flange is provided on one side of the housing 5.3, and a grating encoder 5.1 is installed by bolts. The input shaft of the grating encoder 5.1 is connected to one end of the main shaft I5.9 and fixed together with set screws, allowing them to rotate together to acquire rotational data. Bearings I5.5 are provided at both ends of the main shaft I5.9, and coaxial pinions I5.6 and II5.7 are positioned between the two bearings I5.5. Pinion I5.6 engages with the main shaft I5.9 via a flat key and meshes with the large gear 5.11. Pinion II5.7 has a circular hole inside, allowing it to rotate freely around the main shaft I5.9 and mesh with the large gear 5.11. Both pinions I5.6 and II5.7 have end faces with... Spring support 5.6.1, with a backlash-free spring 5.8 installed between the two spring supports 5.6.1; the spring force of the backlash-free spring 5.8 is greater than the resistance of the gear transmission; the large gear 5.11 and the main shaft II 5.12 transmit torque via a flat key; the main shaft II 5.12 is fixed in the base 5.2 via a set of bearings II 5.10; one end of the main shaft II 5.12 is connected to the drive shaft 5.15 via a coupling 5.13, and the drive shaft 5.15 is fixed in the housing 5.3 via a set of bearings III 5.16; a bearing sleeve is provided between the two bearings III 5.16, and is fixed in the housing 5.3 via a cover plate 5.4 and a bearing pressure plate 5.14; one end of the drive shaft 5.15 is provided with a connecting flange 5.17, and is connected to the lower fork-shaped lug 1.1 of the Hooke hinge assembly 1 with bolts.

[0039] Example 2: This embodiment provides a method for obtaining the relative position between two planes in a coal mine using the aforementioned RUPU-type underground relative position rapid acquisition device. The RUPU-type underground relative position rapid acquisition device can be used in coal mines to quickly obtain the relative position between two spatial planes; it includes the following steps: First, the base assembly is installed on one of the planes, namely plane A, and the installation position is precisely fixed by pins; the end flange of the Hooke hinge assembly II is fixed to the other plane, namely plane B, also precisely fixed by pins; then, the cables of each grating encoder and magnetostrictive displacement sensor are connected to the explosion-proof and intrinsically safe host; the data acquisition unit in the explosion-proof and intrinsically safe host will collect the data of each sensor in real time according to a certain sampling rate and calculate the relative positional relationship between the two platforms.

[0040] The data collected by the data acquisition unit from various sensors includes: Rotation angle of the base assembly revolute joint measured by the grating encoder The two grating encoders on the Hooke hinge assembly I measure the rotation angles in two directions, respectively. and The telescopic length of the telescopic device measured by a magnetostrictive displacement sensor The two grating encoders on the Hooke hinge assembly II measured the rotation angles in two directions, respectively. and As shown in Table 1: Table 1 Sensor Data Acquisition

[0041] Calculating the relative positional relationship between the two planes includes: establishing coordinate systems at each joint from the mounting position of the base assembly (plane A) to the end flange position of the Hooke hinge assembly II (plane B), in sequence. arrive ; Let be a point on plane B at the end of the device. It is known that this point is located at... O 6 X 6 Y 6 Z In the case of a 6-coordinate system, In plane coordinate system A The coordinates are calculated using the following formula: (1) In the formula, In coordinate system , The coordinates in the figure are as follows: and ; express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

[0042] Direction cosine matrix It can be obtained through the following coordinate transformations: Based on the structural characteristics of the device O 6 X 6 Y 6 Z The 6-coordinate system can be used to... O 1 X 1 Y 1 Z The coordinate system is obtained by moving and rotating it according to the following steps; coordinate system O 1 X 1 Y 1 Z 1. Transform into a coordinate system O 2 X 2 Y 2 Z 2, alongZ 1 move , around Z 1 rotation ; coordinate system O 2 X 2 Y 2 Z 2. Transform to coordinate system O 3 X 3 Y 3 Z 3, along X 2 rotations , around Y 2 rotations ; coordinate system O 3 X 3 Y 3 Z 3. Transform to coordinate system O 4 X 4 Y 4 Z 4, along Z 3 moves ; coordinate system O 4 X 4 Y 4 Z 4. Transform to coordinate system O 5 X 5 Y 5 Z 5. Along X 4 rotations , around Y 4 rotations ; coordinate system O 5 X 5 Y 5 Z 5. Transform to coordinate system O 6 X 6 Y 6 Z 6. Along Z 5 moves ; Figure 10 Here is a simplified diagram of the motion of the device mechanism, where The distance between the mounting plane and the rotation center of the Hooke hinge assembly I. The distance between the rotation center of the Hooke hinge assembly I and the connecting flange of the expansion joint is given. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange of the expansion joint is [distance missing]. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange at the end of the device is [distance missing]. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its x-axis. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its y-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its x-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its y-axis. Let be the angle by which the base assembly rotates about the z-axis.

[0043] Calculation process of coordinate system transformation matrix: S1, coordinate system O 1 X 1 Y 1 Z 1→ O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation The transformation matrix is: (2) S2, coordinate system O 2 X 2 Y 2 Z 2→ O 3 X 3 Y 3 Z 3, along X 2 rotations The transformation matrix is: (3) Around Y 2 rotations The transformation matrix is: (4) The combined transformation matrix is: (5) S3, coordinate system O 3 X 3 Y 3 Z 3→ O 4 X 4 Y 4 Z 4, along Z 3 moves The transformation matrix is: (6) S4, coordinate system O 4 X 4 Y4 Z 4→ O 5 X 5 Y 5 Z 5, then go around X 4-axis rotation The transformation matrix is: (7) along Y 4 rotations The transformation matrix is: (8) The combined transformation matrix is: (9) S5, coordinate system O 5 X 5 Y 5 Z 5→ O 6 X 6 Y 6 Z 6. Along Z 5 moves The transformation matrix is: (10) Total transformation matrix: To obtain from the coordinate system O 1 X 1 Y 1 Z 1 to O 6 X 6 Y 6 Z 6 Total transformation matrix Multiply the transformation matrices of each step. (11) A known point is on the known plane to be detected. O 6 X 6 Y 6 Z Given the position in the 6-coordinate system, the coordinates of the point can be quickly calculated using formulas (1) and (11). O 1 X 1 Y 1 Z The position in the coordinate system is used to quickly determine the position and orientation of the plane.

[0044] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0045] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0046] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A RUPU-type device for rapid acquisition of relative position in underground coal mines, characterized in that, The device can be integrated into the mechanical equipment in the coal mine to achieve rapid and accurate measurement of the relative position of two different platforms; including telescopic device (2), Hooke hinge assembly (1) set at both ends of telescopic device (2), base assembly (5) connected to one end of Hooke hinge assembly (1) and explosion-proof and intrinsically safe host (4). The telescopic device (2) includes: a cylinder (2.1) and its cylinder rod (2.5), a magnetostrictive displacement sensor (2.4) and a magnetic ring (2.6) disposed in the cylinder (2.1) and the cylinder rod (2.5) to measure the telescopic stroke of the cylinder rod (2.5), a limiting pin (2.8) disposed on the cylinder rod (2.5) and cooperating with the guide groove on the side of the cylinder (2.1) to measure the rotation angle of the cylinder rod (2.5) relative to the cylinder (2.1); one end of the cylinder (2.1) is connected to a set of Hooke hinge assemblies (1) through a connecting flange, and the other end of the cylinder rod (2.5) is connected to another set of Hooke hinge assemblies (1) through a connecting flange; The Hooke hinge assembly (1) includes an upper fork-shaped lug (1.4), a lower fork-shaped lug (1.1), a cross shaft (1.3), and a grating encoder. The cross shaft (1.3) is mounted between the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) via two sets of bearings. The upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) can rotate freely around the two axes of the cross shaft (1.3), respectively. Grating encoders are installed on the outer sides of the upper fork-shaped lug (1.4) and the lower fork-shaped lug (1.1) and between the cross shaft (1.3) to acquire the angle data of the two lugs relative to the cross shaft (1.3) in real time. The upper end of the upper fork-shaped lug (1.4) and the lower end of the lower fork-shaped lug (1.1) of one Hooke hinge assembly (1) are respectively provided with flanges to be connected to the connecting flange of the coal mine underground mechanical equipment test platform / telescopic device (2). The upper end of the upper fork-shaped lug (1.4) and the lower end of the lower fork-shaped lug (1.1) of another Hooke hinge assembly (1) are respectively provided with flanges to be connected to the connecting flange of the telescopic device (2) and one end of the base assembly (5). The other end of the base assembly (5) can be connected to another test platform. The base assembly (5) and its internal grating encoder (5.1) can transmit and detect the rotation angle of the device. The explosion-proof and intrinsically safe host (4) includes a data acquisition unit and an explosion-proof and intrinsically safe computer.

2. The RUPU-type rapid relative position acquisition device for underground coal mines as described in claim 1, characterized in that, The telescopic device (2) has an outer cylinder (2.2) outside the cylinder (2.1); one end of the cylindrical cylinder (2.1) is provided with a connecting flange to connect with the Hooke hinge assembly I; a magnetostrictive displacement sensor (2.4) is installed inside the cylinder (2.1) and one end of the magnetostrictive displacement sensor (2.4) extends into the cylinder rod (2.5); the outer surface of the cylinder rod (2.5) is octagonal and hollow; a piston is installed at one end and fits with the inner hole of the cylinder (2.1) for free extension and retraction; a nylon ring (2.7) is provided between the piston and the cylinder (2.1); a magnetic ring (2.6) is installed at the end of the cylinder rod (2.5); the other end of the cylinder rod (2.5) is provided with a connecting flange and connected with the Hooke hinge assembly II (3).

3. The RUPU-type rapid relative position acquisition device for underground coal mines as described in claim 1, characterized in that, The data acquisition unit is used to acquire digital and analog signals from the sensors, convert these signals into digital signals, and transmit them to the explosion-proof and intrinsically safe computer. The explosion-proof and intrinsically safe computer is used for data storage and to calculate the relative positional relationship between the two platforms based on the sensor data. The explosion-proof and intrinsically safe computer also integrates a display and data transmission unit.

4. The RUPU-type rapid relative position acquisition device for underground coal mines as described in claim 1, characterized in that, The base assembly (5) includes a grating encoder (5.1), a base (5.2), a housing (5.3), a cover plate (5.4), bearing I (5.5), pinion I (5.6), a spring support (5.6.1), pinion II (5.7), a backlash-free spring (5.8), a main shaft I (5.9), bearing II (5.10), a large gear (5.11), main shaft II (5.12), a coupling (5.13), a bearing pressure plate (5.14), a drive shaft (5.15), bearing III (5.16), and a connecting flange (5.17). The base (5.2) can be fixed to the platform under test at the bottom, and the housing (5.3) is installed on the upper part; a flange is provided on one side of the housing (5.3) and a grating encoder (5.1) is installed; the input shaft of the grating encoder (5.1) is connected to one end of the main shaft I (5.9) to rotate together; the two ends of the main shaft I (5.9) are respectively provided with bearings I (5.5), and coaxial pinion I (5.6) and pinion II (5.7) are set between the two bearings I (5.5); pinion I (5.6) is engaged with the main shaft I (5.9) through a flat key and meshes with the large gear (5.11); pinion II (5.7) has a round hole inside, which can rotate freely around the main shaft I (5.9) and mesh with the large gear (5.11); the end faces of pinion I (5.6) and pinion II (5.7) are provided with spring supports ( 5.6.1), a backlash-free spring (5.8) is installed between the two spring supports (5.6.1); the spring force of the backlash-free spring (5.8) is greater than the resistance of the gear transmission; the large gear (5.11) and the main shaft II (5.12) transmit torque through a flat key; the main shaft II (5.12) is fixed in the base (5.2) through a set of bearings II (5.10); one end of the main shaft II (5.12) is connected to the transmission shaft (5.15) through a coupling (5.13), and the transmission shaft (5.15) is fixed in the housing (5.3) through a set of bearings III (5.16); a bearing sleeve is provided between the two bearings III (5.16), and is fixed in the housing (5.3) through a cover plate (5.4) and a bearing pressure plate (5.14); one end of the transmission shaft (5.15) is provided with a connecting flange (5.17) and connected to the lower fork-shaped lug (1.1) of the Hooke hinge assembly (1).

5. A method for obtaining the relative position between two planes underground in a coal mine using the RUPU-type rapid relative position acquisition device as described in any one of claims 1 to 4, characterized in that, Includes the following steps: First, the base assembly is installed on one of the planes, namely plane A, and the installation position is precisely fixed by pins; the end flange of the Hooke hinge assembly II is fixed to the other plane, namely plane B, and is also precisely fixed by pins; then, the cables of each grating encoder and magnetostrictive displacement sensor are connected to the explosion-proof and intrinsically safe host; the data acquisition unit in the explosion-proof and intrinsically safe host collects the data of each sensor in real time and calculates the relative positional relationship between the two platforms.

6. The method for obtaining the relative position between two planes underground in a coal mine as described in claim 5, characterized in that, The data collected by the data acquisition device includes the following sensor data: Rotation angle of the base assembly revolute joint measured by the grating encoder The two grating encoders on the Hooke hinge assembly I measure the rotation angles in two directions, respectively. and The telescopic length of the telescopic device measured by a magnetostrictive displacement sensor The two grating encoders on the Hooke hinge assembly II measured the rotation angles in two directions, respectively. and .

7. The method for obtaining the relative position between two planes underground in a coal mine as described in claim 6, characterized in that, Calculating the relative positional relationship between the two planes includes: establishing coordinate systems at each joint from the mounting position of the base assembly (plane A) to the end flange position of the Hooke hinge assembly II (plane B), in sequence. arrive ; Let be a point on plane B at the end of the device. It is known that this point is located at... O 6 X 6 Y 6 Z In the case of a 6-coordinate system, In plane coordinate system A The coordinates are calculated using the following formula: (1) In the formula, In coordinate system , The coordinates in the figure are as follows: and ; express exist O 1 X 1 Y 1 Z Position vector in coordinate system 1 Let be the direction cosine matrix.

8. The method for obtaining the relative position between two planes underground in a coal mine as described in claim 7, characterized in that, Direction cosine matrix It can be obtained through the following coordinate transformations: O 6 X 6 Y 6 Z The 6-coordinate system can be used to... O 1 X 1 Y 1 Z The coordinate system is obtained by moving and rotating it according to the following steps; coordinate system O 1 X 1 Y 1 Z 1. Transform into a coordinate system O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation ; coordinate system O 2 X 2 Y 2 Z 2. Transform to coordinate system O 3 X 3 Y 3 Z 3, along X 2 rotations , around Y 2 rotations ; coordinate system O 3 X 3 Y 3 Z 3. Transform to coordinate system O 4 X 4 Y 4 Z 4, along Z 3 moves ; coordinate system O 4 X 4 Y 4 Z 4. Transform to coordinate system O 5 X 5 Y 5 Z 5. Along X 4 rotations , around Y 4 rotations ; coordinate system O 5 X 5 Y 5 Z 5. Transform to coordinate system O 6 X 6 Y 6 Z 6. Along Z 5 moves ; in The distance between the mounting plane and the rotation center of the Hooke hinge assembly I. The distance between the rotation center of the Hooke hinge assembly I and the connecting flange of the expansion joint is given. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange of the expansion joint is [distance missing]. The distance between the rotation center of the Hooke hinge assembly II and the connecting flange at the end of the device is [distance missing]. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its x-axis. Let be the angle by which the central axis of Hooke's hinge assembly I rotates about its y-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its x-axis. Let be the angle of rotation of the central axis of Hooke's hinge assembly II about its y-axis. Let be the angle by which the base assembly rotates about the z-axis.

9. The method for obtaining the relative position between two planes underground in a coal mine as described in claim 8, characterized in that, Calculation process of coordinate system transformation matrix: S1, coordinate system O 1 X 1 Y 1 Z 1→ O 2 X 2 Y 2 Z 2, along Z 1 move , around Z 1 rotation The transformation matrix is: （2） S2, coordinate system O 2 X 2 Y 2 Z 2→ O 3 X 3 Y 3 Z 3, along X 2 rotations The transformation matrix is: （3） Around Y 2 rotations The transformation matrix is: （4） The combined transformation matrix is: （5） S3, coordinate system O 3 X 3 Y 3 Z 3→ O 4 X 4 Y 4 Z 4, along Z 3 moves The transformation matrix is: （6） S4, coordinate system O 4 X 4 Y 4 Z 4→ O 5 X 5 Y 5 Z 5, then go around X 4-axis rotation The transformation matrix is: （7） along Y 4 rotations The transformation matrix is: （8） The combined transformation matrix is: （9） S5, coordinate system O 5 X 5 Y 5 Z 5→ O 6 X 6 Y 6 Z 6. Along Z 5 moves The transformation matrix is: （10） Total transformation matrix: To obtain from the coordinate system O 1 X 1 Y 1 Z 1 to O 6 X 6 Y 6 Z 6 Total transformation matrix Multiply the transformation matrices of each step. （11） A known point is on the known plane to be detected. O 6 X 6 Y 6 Z Given the position in the 6-coordinate system, the coordinates of the point can be quickly calculated using formulas (1) and (11). O 1 X 1 Y 1 Z The position in the coordinate system is used to quickly determine the position and orientation of the plane.

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