A passive avoidance mechanism and its anti-collision system for measuring rods of water-sounding mining machines
By applying a passive avoidance mechanism on the measuring rod of the water mining machine, and using the cooperation of the roller track and compression spring, the rotation of the measuring rod and the obstacles and rapid reset when encountering obstacles is achieved, the problem of easy damage to the measuring rod of the water mining machine is solved and the safe and stable operation of the equipment is ensured.
Patent Information
- Application Number
- CN202420918000.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-28
- Publication Date
- 2025-04-11
- Estimated Expiration
- 2034-04-28
AI Technical Summary
When the water mining machine works in a concave potassium salt deposit environment, the measuring rod is susceptible to the undulation of the underwater terrain and other obstacles, resulting in damage to the probe sensor and poses a safety risk.
A passive avoidance mechanism is designed, including a U-shaped frame, a fixing frame, a sliding rod and a compression spring. Combined with the depth-shot water mining machine, the anti-collision system is used to achieve rotational obstacles and rapid reset of the measuring rod when encountering obstacles.
It effectively reduces the impact force on the probe, avoids damage to the measuring rod, and ensures the safe, stable and long-term effective operation of the water mining machine.
Smart Images
Figure CN222746074U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of water mining machines, in particular to a passive avoidance mechanism and a depth-sounding water mining machine measuring rod anti-collision system. Background Art
[0002] The working environment of the water mining machine is a concave potash deposit. After the probe of the water mining machine's measuring rod is extended into the water, it is easy to collide during the movement, causing damage to the sensor of the probe. After long-term observation and summary, it is found that the main reasons for the probe collision are as follows: First, the working environment of the water mining machine is a concave potash deposit. The underwater terrain in the salt pond is undulating, and there are many complex terrains such as dry beaches, shallow beaches, and salt flowers; Second, the brine pipelines floating on the surface of the outer salt pond, the transportation boats, work boats and dams required for the daily work of the staff will also affect the measuring rod and bring safety risks; Third, the water mining machine relies on four crawlers to move. During the movement, due to the change in water depth, the operator in the central control room also needs to adjust the water mining machine to the crawler height through the four hydraulic columns on the crawler in real time according to the water depth and rock thickness to ensure that the water mining machine is within a reasonable range on the water surface, but at the same time, it will cause the draft of the water mining machine to change continuously. At this time, if the probe needs to be installed too shallowly, it is easy to be exposed to the water surface and cannot work normally. If the probe is installed too deep, it is easy to hit the salt layer. Therefore, how to reasonably and effectively avoid these risks and ensure the safe, stable, long-term and effective operation of the system is one of the key elements for the normal operation of the water mining machine. Utility Model Content
[0003] The purpose of the utility model is to solve the above-mentioned technical problems and to provide a passive avoidance mechanism and a depth-sounding water sampling machine measuring rod anti-collision system, which can effectively perform avoidance and quickly reset after the avoidance is completed so that it can work again. When applied to a water sampling machine, it can effectively adapt to the problems of complex terrain and traffic in the salt pond, and ensure the safe, stable, long-term and effective operation of the water sampling machine.
[0004] To achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model discloses a passive avoidance mechanism, including a U-shaped frame, a fixed frame and a sliding rod, the open end of the U-shaped frame is hinged on the fixed frame, the closed end of the U-shaped frame is provided with a roller track, the roller track extends in an arc shape, the plane where the extension direction of the roller track is located is perpendicular to the hinge axis of the U-shaped frame, the fixed frame is provided with a guide hole, the guide hole is located within the coverage range of the open end of the U-shaped frame, one end of the sliding rod passes through the guide hole, and the other end of the sliding rod is fixedly connected to a roller plate, the roller plate is provided with a roller that rolls with the roller track, and the sliding rod is sleeved with a compression spring that is tightly pressed between the fixed frame and the roller plate.
[0005] Preferably, the arc is a half ellipse truncated perpendicular to the major axis.
[0006] Preferably, one end of the two arms of the U-shaped frame located at the open end of the U-shaped frame is hinged to the fixing frame through a hinge.
[0007] Also disclosed is a measuring rod anti-collision system for a depth sounding water mining machine, characterized in that it includes a measuring rod anti-collision mounting frame, the measuring rod anti-collision mounting frame includes a supporting stand, a measuring rod bracket for mounting the measuring rod, and the above-mentioned passive avoidance mechanism, the supporting stand is installed on the traveling equipment, the fixing frame and the U-shaped frame are arranged up and down, the fixing frame is fixedly connected to the supporting stand, the hinge axis of the U-shaped frame is perpendicular to the traveling direction and extends horizontally, the plane where the extension direction of the roller track is located is parallel to the traveling direction and is vertically arranged, and the measuring rod bracket is installed below the closed end of the U-shaped frame.
[0008] Preferably, the measuring rod bracket includes a boom, a swing arm and a telescopic cylinder, the top end of the boom is fixedly connected to the side of the closed end of the U-shaped frame away from the supporting stand, the cylinder body of the telescopic cylinder is hinged at the side of the closed end of the U-shaped frame close to the supporting stand, the cylinder body of the telescopic cylinder is hinged to the travel direction, the swing arm is hinged to the bottom end of the boom and the piston rod of the telescopic cylinder, the hinge axis of the bottom end of the boom and the hinge axis of the piston rod of the telescopic cylinder are parallel to the travel direction, the length direction of the swing arm is perpendicular to the travel direction, the measuring head of the measuring rod is installed on the swing arm downward, and the axis of the measuring rod is parallel to the length direction of the swing arm.
[0009] Preferably, mounting plates are respectively provided at both ends of the swing arm in the length direction, mounting holes are provided on the mounting plates for the measuring rod to slide, and a driving cylinder is provided on the swing arm between the mounting plates at both ends of the swing arm, a cylinder body of the driving cylinder is fixedly connected to one end of the swing arm, a piston rod of the driving cylinder is fixedly connected to the measuring rod, and an axial direction of the piston rod is the same as an axial direction of the measuring rod.
[0010] Preferably, it comprises a three-dimensional posture sensor and a control device for controlling the driving cylinder and the telescopic cylinder, the three-dimensional posture sensor is installed at one end of the measuring rod away from the measuring head, and the three-dimensional posture sensor is electrically connected to the control device.
[0011] Preferably, the outer cover of the three-dimensional attitude sensor is provided with a protective cover.
[0012] Preferably, it comprises a GNSS RTK antenna and a database memory storing waterway coordinate data and waterway ore thickness data, the GNSS RTK antenna is installed in the protective cover, and the database memory is installed in the control device.
[0013] Preferably, the probe cover of the measuring rod is provided with a protective cage.
[0014] Compared with the prior art, the utility model has achieved the following technical effects:
[0015] 1. The passive avoidance mechanism in the utility model is a passive obstacle-crossing method. The U-shaped frame is partially stressed, which can drive the roller track to rotate relatively around the roller, so that the object to be avoided installed on the U-shaped frame has a rotation margin, and can rotate to overcome the obstacle when encountering an obstacle. The compression spring on the slide bar can be compressed when the object to be avoided rotates, providing it with elastic buffering force, reducing the impact force of the collision, and providing elastic reset force after overcoming the obstacle, so that the object to be avoided returns to its original position and works normally again. At the same time, the compression spring increases the damping force between the roller and the roller track to avoid excessive flexibility between the roller and the roller track. The passive avoidance mechanism can be widely used in various types of equipment that need to be avoided, especially water sampling machines.
[0016] 2. The anti-collision system for the measuring rod of the depth sounding water mining machine in the utility model adopts a passive avoidance mechanism, so that the measuring rod has a rotation margin, and can rotate to overcome obstacles when encountering obstacles, thereby reducing the impact force on the measuring head, and after overcoming the obstacles, it returns to the original position to continue working normally. At the same time, the compression spring increases the damping force between the roller and the roller track to prevent the roller and the roller track from being too flexible and shaking due to wind and waves.
[0017] 3. The anti-collision system for the measuring rod of the depth sounding water sampling machine in the utility model arranges the measuring rod mounting frame into three parts: a boom, a swing arm, and a telescopic cylinder. The swing arm can swing in a direction perpendicular to the traveling direction under the drive of the driving cylinder, so that the measuring rod can be recovered in advance for active obstacle avoidance, or when the passive obstacle crossing mode fails to effectively cross the obstacle and the measuring rod is dragged due to the inability to effectively cross the obstacle, active recovery can be performed.
[0018] 4. The anti-collision system for the measuring rod of the water sampling machine in the utility model installs the measuring rod slidably on the swing arm, and installs a driving cylinder on the swing arm to adjust the height of the measuring rod, which can adapt to the change of the draft depth of the water sampling machine and assist the active recovery function.
[0019] 5. The anti-collision system for the measuring rod of the depth sounding water mining machine in the utility model is provided with a three-dimensional attitude sensor at the end of the measuring rod away from the measuring head, which can timely detect the collision of the measuring rod and make corresponding treatment in time, whether it is passive obstacle crossing or active recovery in time.
[0020] 6. The anti-collision system for the measuring rod of the sounding water mining machine in the utility model has a database storage installed in the control device, and a GNSS RTK antenna is added to the end of the measuring rod away from the measuring head. Through the channel coordinates and channel ore thickness information in the database, combined with the elevation measured by the GNSS RTK antenna, the final actual ore thickness in front of the travel direction can be calculated, the possibility of collision can be predicted, and the measuring rod can be actively recovered in advance, which is achieved by combining software and hardware to predict avoidance. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0022] Figure 1 This is a schematic diagram of the front view structure of the anti-collision system of the measuring rod of the depth measuring water mining machine;
[0023] Figure 2 It is a three-dimensional structural diagram of the anti-collision system of the measuring rod of the depth-measuring water mining machine;
[0024] Figure 3 It is a side view structural diagram of the anti-collision system of the measuring rod of the depth-measuring water mining machine;
[0025] Figure 4 It is a schematic diagram of the front view structure of the passive avoidance mechanism;
[0026] Figure 5 It is a side view structural diagram of a passive avoidance mechanism;
[0027] Figure 6 It is the avoidance principle diagram of the passive avoidance mechanism (swinging on one side);
[0028] Figure 7 It is the avoidance principle diagram of the passive avoidance mechanism (swinging on the other side);
[0029] Figure 8 This is the channel coordinate data map.
[0030] Explanation of the reference numerals in the accompanying drawings: 1. Control device; 2. Protective cover; 3. Protective cage; 4. Traveling equipment installation area; 5. Support stand; 6. Boom; 7. Swing arm; 8. Telescopic cylinder; 9. Drive cylinder; 10. Three-dimensional posture sensor; 11. U-shaped frame; 12. Fixed frame; 13. Sliding rod; 14. Compression spring; 15. Roller track; 16. Roller plate; 17. Roller; 18. Hinge; 19. Measuring rod; 20. Probe; 21. Linear bearing; 22. Anti-debonding chain. DETAILED DESCRIPTION
[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0032] Example 1
[0033] This embodiment provides a passive avoidance mechanism, such as Figures 1 to 8 As shown, it includes a U-shaped frame 11, a fixed frame 12, a sliding rod 13 and a compression spring 14. The open end of the U-shaped frame 11 is hinged on the fixed frame 12, and the closed end of the U-shaped frame 11 is fixedly connected to a roller track 15. The roller track 15 extends in an arc shape, and the plane where the roller track 15 extends is perpendicular to the hinge axis of the U-shaped frame 11 and the fixed frame 12. A guide hole is provided on the fixed frame 12, and the guide hole corresponds to the open end of the U-shaped frame 11, that is, it is located within the coverage range of the open end of the U-shaped frame 11. Preferably, the guide hole is coaxial with the center line of the U-shaped frame 11. One end of the sliding rod 13 slides in the guide hole, and the other end of the sliding rod 13 is fixedly connected to a roller plate 16. The roller plate 16 is provided with a roller 17, and the roller 17 rolls on the roller track 15. The compression spring 14 is sleeved on the sliding rod 13 , and the compression spring 14 is pressed tightly between the fixing frame 12 and the roller plate 16 , that is, one end of the compression spring 14 abuts against or is fixedly connected to the fixing frame 12 , and the other end of the compression spring 14 abuts against or is fixedly connected to the roller plate 16 .
[0034] Working principle:
[0035] The passive avoidance mechanism needs to be installed in the U-shaped frame 11 on the fixed part of the device that needs to be avoided, and fixed relatively to the device, and then the avoidance part of the device that needs to be avoided is fixedly connected to the closed end of the U-shaped frame 11, and the hinge axis of the U-shaped frame 11 and the fixed frame 12 is hinged to be perpendicular to the direction of the impact force. In this way, when the avoidance part of the device that needs to be avoided hits an obstacle, the U-shaped frame 11 will rotate in the pushing direction under the push of the obstacle, and drive the roller track 15 to swing in the same direction, and the roller track 15 and the roller 17 will roll relative to each other, and the sliding rod 13 will slide along the guide hole toward the fixed frame 12, and the roller plate 16 will compress the compression spring 14, so that the avoidance part installed at the closed end of the U-shaped frame 11 will also rotate accordingly. Swinging in the direction away from the object being hit, the part to be avoided and the obstacle are elastically contacted under the buffering of the compression spring 14, which can significantly reduce the impact force compared to the hard contact collision, avoid the damage of the part to be avoided, and at the same time make the part to be avoided have a certain rotation margin, so that the part to be avoided can pass over the obstacle. After passing over the obstacle, the avoidance part, U-shaped frame 11, and roller track 15 will gradually return to their original positions under the action of gravity and the elastic reset force of the compression spring 14, and work normally again. Of course, if the rotation margin cannot effectively pass over the obstacle, the device to be avoided can be moved in the opposite direction away from the obstacle, so that the avoidance part, U-shaped frame 11, and roller track 15 are all restored to their original positions. At the same time, the compression spring 14 can increase the damping force between the roller 17 and the roller track 15 to prevent the roller 17 and the roller track 15 from being too flexible and shaking due to wind and waves.
[0036] In this embodiment, Figures 1 to 8 As shown, the arc is a half ellipse, which is half of an ellipse cut along a direction perpendicular to the major axis. Compared with cutting along a direction perpendicular to the minor axis, the roller track 15 formed by the arc is steeper, which is helpful for rapid resetting.
[0037] Further, in this embodiment, if Figures 1 to 8 As shown, the two arms of the U-shaped frame 11 are located at one end of the open end of the U-shaped frame 11 and are hinged to the fixed frame 12 through a hinge 18. The hinge 18 adopts an existing type, which can realize that the open end of the U-shaped frame 11 is hinged to the fixed frame 12. A specific setting method of the hinge 18 is provided here, a D-shaped ear plate is set at the end of each of the two arms of the U-shaped frame 11, and then four D-shaped ear plates are set on the fixed frame 12, and the two D-shaped ear plates are a group of each other, respectively corresponding to the D-shaped ear plates on the two arms of the U-shaped frame 11, and the D-shaped ear plates on the two arms are respectively inserted between the two D-shaped ear plates in each group of two groups of D-shaped ear plates on the fixed frame 12, and then locked with a pin to achieve hinge connection.
[0038] Further, in this embodiment, if Figures 1 to 8As shown, a guide sleeve can be installed at the guide hole of the fixed frame 12, and the sliding rod 13 slides in the guide sleeve. The guide sleeve and the inner shell of the sliding rod 13 are coated with lubricating oil to reduce friction resistance, or a linear bearing 21 can be installed at the guide hole, and the sliding rod 13 is slidably connected in the linear bearing 21 to reduce friction resistance.
[0039] Example 2
[0040] This embodiment provides a depth measuring water mining machine measuring rod anti-collision system, such as Figures 1 to 8 As shown, it includes a measuring rod anti-collision mounting frame. The measuring rod anti-collision mounting frame includes a supporting stand 5, a measuring rod bracket and the passive avoidance mechanism in Example 1. The supporting stand 5 is installed on the traveling equipment installation area 4, and the traveling equipment can be a sailing ship or a crawler walking mechanism of the water sampling machine itself. The fixed frame 12 and the U-shaped frame 11 in the passive avoidance mechanism are arranged up and down, the fixed frame 12 is fixedly connected to the supporting stand 5, and the U-shaped frame 11 is connected to the measuring rod bracket. Specifically, the hinge axis at the hinge between the U-shaped frame 11 and the fixed frame 12 is horizontally arranged and perpendicular to the traveling direction, the plane where the extension direction of the roller track 15 is located is vertically arranged and parallel to the traveling direction, and the measuring rod bracket is installed below the closed end of the U-shaped frame 11.
[0041] Working principle:
[0042] When in use, the measuring rod 19 of the water sampling machine is installed on the measuring rod bracket, and the measuring head 20 of the measuring rod 19 is facing. Then, when the traveling equipment moves forward, when the measuring head 20 of the measuring rod 19 collides with the rock formation during the travel, the measuring rod 19 is subjected to a thrust in the opposite direction of the travel, and the U-shaped frame 11 drives the roller track 15 to swing in the opposite direction of the travel, and the sliding rod 13 goes up along the guide hole of the fixed frame 12, and the compression spring 14 is compressed to reduce the impact force on the measuring head 20 and reduce the probability of damage to the measuring head 20. When the measuring head 20 passes over the impacted object, the measuring rod 19 swings back and resets to complete passive obstacle avoidance. When a collision just occurs, it can be discovered in time, or you can step back in time to make the measuring rod 19 swing back and reset.
[0043] The above is a passive avoidance mode, that is, starting from the angle after the collision, how to reduce the impact force, in order to be able to actively avoid, or when an obstacle cannot be crossed, to achieve active recovery, in this embodiment, Figures 1 to 8As shown, the measuring rod bracket is mainly divided into three parts, including a boom 6, a swing arm 7 and a telescopic cylinder 8. The top of the boom 6 is fixedly connected to the closed end of the U-shaped frame 11 and is located on the side of the closed end away from the supporting frame 5. The bottom of the boom 6 is hinged to the swing arm 7 and can be hinged by a hinge 18. The hinge axis of the bottom end of the boom 6 and the swing arm 7 is horizontally arranged and parallel to the travel direction. The cylinder body of the telescopic cylinder 8 is hinged to the closed end of the U-shaped frame 11 and is hinged to the side of the closed end close to the supporting frame 5 and can be hinged by a hinge 18. The hinge axis of the cylinder body of the telescopic cylinder 8 and the closed end is horizontally arranged and parallel to the travel direction. The piston rod of the telescopic cylinder 8 is hinged to the swing arm 7 and can be hinged by a hinge 18. The hinge axis of the piston rod and the swing arm 7 is horizontally arranged and parallel to the travel direction. The length direction of the swing arm 7 is perpendicular to the travel direction. The measuring head 20 of the measuring rod 19 is installed downward on the swing arm 7, and the axis of the measuring rod 19 is parallel to the length direction of the swing arm 7. By extending and retracting the piston rod of the telescopic cylinder 8, the swing arm 7 can be driven to swing in a direction perpendicular to the traveling direction, so as to avoid obstacles in front of the traveling direction and realize active obstacle avoidance.
[0044] In this embodiment, Figures 1 to 8 As shown, the measuring rod support is in the shape of a tripod consisting of a column, a crossbeam and a diagonal brace, and the fixing frame 12 is a rectangular frame, which is horizontally installed on the crossbeam.
[0045] Further, in order to adapt to the change of the draft depth of the water sampling machine, in this embodiment, Figures 1 to 8 As shown, a mounting plate is provided at each end of the swing arm 7 in the length direction, and a mounting hole is provided on the mounting plate. The measuring rod 19 passes through the mounting holes of the two mounting plates to slide along the mounting holes. A driving cylinder 9 is provided on the swing arm 7, and the driving cylinder 9 is located between the two mounting plates. The cylinder body of the driving cylinder 9 is fixedly connected to the swing arm 7, and the piston rod of the driving cylinder 9 is fixedly connected to the measuring rod 19. The axial direction of the piston rod is the same as the axial direction of the measuring rod 19. When the piston rod of the driving cylinder 9 is extended or retracted, the measuring rod 19 can be driven to slide along the length direction of the swing arm 7, thereby adjusting the depth of the measuring head 20 of the measuring rod 19 below the water surface. Preferably, the cylinder body of the driving cylinder 9 is close to the mounting plate at the top end of the swing arm 7, and the piston rod is extended or retracted toward the mounting plate at the bottom end of the swing arm 7.
[0046] Further, in this embodiment, if Figures 1 to 8 As shown, a ±45 degree activity space is set between the roller track 15 and the roller 17, and an emergency response mechanism is added on this basis, that is, when the measuring rod 19 drives the roller track 15 and the roller 17 to rotate relative to each other after the collision occurs, when the rotation angle is greater than ±10 degrees, it means that the measuring rod 19 is dragged, and the emergency response mechanism will be activated, and the control device 1 will automatically drive the telescopic cylinder 8 and the driving cylinder 9 to recover the measuring rod 19.
[0047] Further, in this embodiment, if Figures 1 to 8 As shown, the driving cylinder 9 and the telescopic cylinder 8 can be pneumatic cylinders, hydraulic cylinders or electric cylinders, preferably electric cylinders.
[0048] In this embodiment, Figures 1 to 8 As shown, the anti-collision system for the measuring rod of the deep water mining machine includes a three-dimensional posture sensor 10 and a control device 1, and the three-dimensional posture sensor 10 is electrically connected to the control device 1. The three-dimensional posture sensor 10 is installed at the end of the measuring rod 19 away from the measuring head 20. The three-dimensional posture of the measuring rod 19 can be monitored in real time through the three-dimensional posture sensor 10, and the three-dimensional posture data at this time is transmitted to the control device 1, so that when the measuring rod 19 collides, the three-dimensional position data of the measuring rod 19 changes, and the control device 1 can know it in time, so as to quickly control the driving cylinder 9 and the telescopic cylinder 8 to actuate, so that the measuring rod 19 swings or lifts up to avoid obstacles, and realizes rapid active retraction.
[0049] In order to prevent the three-dimensional attitude sensor 10 from being damaged by collision or eroded by sand, wind, waves, rain, and salt water, in this embodiment, Figures 1 to 8 As shown, a protective cover 2 is provided on the outer cover of the three-dimensional attitude sensor 10 .
[0050] The above are all from the hardware perspective, considering how to passively avoid obstacles and actively avoid them. In order to be able to predict the possibility of collision and achieve pre-obstacle avoidance, in this embodiment, Figures 1 to 8 As shown, from the software perspective, the anti-collision system for the measuring rod of the deep water mining machine also includes a GNSS RTK antenna and a database memory. The database memory stores the channel coordinates and channel ore thickness data. The GNSS RTK antenna is installed in the protective cover 2, and the database memory is installed in the control device 1. Through the ore thickness data and channel coordinates of the current channel in the database memory, the possibility of collision is predicted and the measuring rod 19 is recovered in advance. The full name of the GNSS RTK antenna in Chinese: Global Navigation Satellite System Real-time Motion Positioning Technology Satellite Communication Antenna, which is used to collect the absolute elevation data of the measuring rod 19 after vertical displacement.
[0051] The waterway is the benchmark for the operation of the water mining machine and is also the starting basis for the calculation and storage of data in this system. Unified and high-precision waterway design and calculation are important modules of the software. The software establishes a coordinate system based on the four corner points of the salt pond provided by the system file, with the southwest angle as the starting point, the long side of the salt pond as the X direction, and the short side as the Y direction to establish a Cartesian coordinate system. Then the entire salt pond is divided into several waterways along the X axis with 9 meters as a waterway, with the Y axis as the direction of the waterway. Finally, the waterway is divided into a 9m×9m grid with a grid of 9 meters for data storage, statistical analysis, calculation and display. There is a table in the database memory that records the latest ore thickness grid data based on the waterway. When the water mining machine is in a position, the control device 1 will calculate the waterway and grid in advance according to the coordinates. The ore thickness of the current grid and the other three grids in the forward direction is proposed. Combined with the water level measured by the probe 20, the ore thickness information in the database, and the elevation measured by the GNSS RTK antenna, the distance between the transducer and the salt layer in these grids can be calculated, and a certain tolerance is reserved. If there is a risk of collision, the measuring rod 19 is recovered in advance. In addition, the measurement blind area should also be considered. The distance between the depth sounder on the probe 20 and the bottom of the water is too close to measure effective data, and the measuring device should also be recovered in advance. In addition, the measurement blind area should also be considered. The distance between the probe 20 and the bottom of the water is too close to measure effective data, and the measuring device should also be recovered in advance.
[0052] For example: Specifically, the prediction is made from two data:
[0053] Data 1: The original ore thickness data of the area to be mined is unclear: the real-time water depth data shows a shrinking trend, and the system predicts that the water depth will continue to shrink, so that it will not meet the safety measurement requirements. The system will predict and recover the measuring device in advance to avoid collision accidents after the water depth continues to decrease.
[0054] Data 2: The original ore thickness data of the area to be mined is known: Combined with the background ore thickness data of the area to be measured, combined with the GNSS RTK elevation data, the collision trend is fitted. For example: the GNSS RTK elevation of the current measuring device is X meters, and the ore thickness of the current area is X-0.8 meters, it can be known that the water depth is about 0.8 meters (when the water depth is less than 0.5 meters, a collision accident is very likely to occur). Based on the background fitting data, under the existing measuring rod measurement posture, when the water depth in the area to be mined is less than 0.5 meters, the recovery action is started to avoid collision accidents caused by insufficient water depth in the area to be measured.
[0055] In this embodiment, Figures 1 to 8As shown, the protective cover 2 includes two parts, a mounting base and a glass cover. The mounting base is mounted on the measuring rod 19, and the three-dimensional attitude sensor 10 and the GNSS RTK antenna are mounted on the mounting base. The wiring is routed through the wiring holes of the mounting base. The glass cover is mounted on the mounting base, and the three-dimensional attitude sensor 10 and the GNSS RTK antenna are buckled inside. The glass cover is made of fiberglass and has the advantages of one-piece molding, smooth and smooth production, excellent satellite signal penetration performance, no signal influence, high surface hardness, waterproof, and corrosion resistance.
[0056] The anti-collision system for the measuring rod of the depth measuring water mining machine mainly realizes obstacle avoidance from three perspectives: ① What should we do if there is a collision? How to ensure that it is not damaged? ② How to respond after a collision? How to resume normal operation? ③ How to actively avoid obstacles? ①② The passive obstacle avoidance of the measuring rod 19 is mainly achieved by the passive avoidance mechanism, so that the measuring rod 19 has a rotational activity margin in the direction of travel, which can achieve obstacle crossing and reduce the impact force. ③ Active avoidance and predictive avoidance are achieved by the control device 1, the drive cylinder 9, the telescopic cylinder 8, the three-dimensional posture sensor 10 and the database storage. In summary, the anti-collision system for the measuring rod of the depth measuring water mining machine integrates the three functions of passive avoidance, active avoidance and predictive avoidance, which greatly improves the success rate of avoidance and ensures the measurement safety and stability of the water measuring machine.
[0057] In this embodiment, Figures 1 to 8 As shown, the outer cover of the probe 20 of the measuring rod 19 is provided with a protective cage 3, and the protective cage 3 is fixedly connected to the measuring rod 19. The protection of the probe 20 of the measuring rod 19 is the focus of anti-collision. Because the transducer of the sonar depth sounder in the probe 20 can only work normally when it is located below the water surface, the risk of the sonar depth sounder being hit is the greatest. In order to protect the sonar depth sounder, the protective cage 3 can improve the strength of the body and avoid collision damage to the sonar depth sounder. The protective cage 3 is a spherical protective cage, which surrounds the depth sounder to protect the depth sounder from risks that may be brought to the depth sounder in different directions. At the same time, the spherical protective cage can evenly transfer stresses in different directions to the measuring rod 19.
[0058] Further, in this embodiment, if Figures 1 to 8 As shown, the protection cage 3 and the support stand 5 are connected by an anti-drop chain 22, which prevents the protection cage 3 from being lost when the protection cage 3 falls off as a whole under special circumstances.
[0059] Further, in this embodiment, if Figures 1 to 8 As shown, the cross beam of the support frame 5 and the fixing frame 12 are provided with wiring grooves to facilitate wiring, and a cover plate can be provided on the wiring groove for covering.
[0060] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
Claims
1. A passive avoidance mechanism, characterized in that: The invention comprises a U-shaped frame, a fixed frame and a sliding rod, wherein the open end of the U-shaped frame is hinged on the fixed frame, the closed end of the U-shaped frame is provided with a roller track, the roller track extends in an arc shape, the plane where the extension direction of the roller track is located is perpendicular to the hinge axis of the U-shaped frame, the fixed frame is provided with a guide hole, the guide hole is located within the coverage range of the open end of the U-shaped frame, one end of the sliding rod passes through the guide hole, the other end of the sliding rod is fixedly connected with a roller plate, the roller plate is provided with a roller that rolls with the roller track, and the sliding rod is sleeved with a compression spring that is tightly pressed between the fixed frame and the roller plate.
2. A passive avoidance mechanism according to claim 1, characterized in that: The arc is a half ellipse truncated perpendicular to the major axis.
3. A passive avoidance mechanism according to claim 2, characterized in that: One end of the two arms of the U-shaped frame located at the open end of the U-shaped frame is hinged to the fixing frame through a hinge.
4. A depth measuring water mining machine measuring rod anti-collision system, characterized in that: It includes a measuring rod anti-collision mounting frame, which includes a supporting stand, a measuring rod bracket for mounting the measuring rod, and a passive avoidance mechanism as described in any one of claims 1 to 3, wherein the supporting stand is installed on the traveling equipment, the fixing frame and the U-shaped frame are arranged up and down, the fixing frame is fixedly connected to the supporting stand, the hinge axis of the U-shaped frame is perpendicular to the traveling direction and extends horizontally, the plane where the extension direction of the roller track is located is parallel to the traveling direction and is vertically arranged, and the measuring rod bracket is installed below the closed end of the U-shaped frame.
5. A depth measuring water mining machine measuring rod anti-collision system according to claim 4, characterized in that: The measuring rod bracket includes a boom, a swing arm and a telescopic cylinder. The top end of the boom is fixedly connected to the side of the closed end of the U-shaped frame away from the supporting frame. The cylinder body of the telescopic cylinder is hinged to the side of the closed end of the U-shaped frame close to the supporting frame. The hinge axis of the cylinder body of the telescopic cylinder is parallel to the travel direction. The swing arm is hinged to the bottom end of the boom and the piston rod of the telescopic cylinder. The hinge axis of the bottom end of the boom and the hinge axis of the piston rod of the telescopic cylinder are parallel to the travel direction. The length direction of the swing arm is perpendicular to the travel direction. The measuring rod is installed on the swing arm with the measuring head facing downward, and the axis of the measuring rod is parallel to the length direction of the swing arm.
6. A depth measuring water mining machine measuring rod anti-collision system according to claim 5, characterized in that: Mounting plates are respectively provided at both ends of the swing arm in the length direction, and mounting holes are provided on the mounting plates for the measuring rod to slide. A driving cylinder is provided on the swing arm between the mounting plates at both ends of the swing arm, and a cylinder body of the driving cylinder is fixedly connected to one end of the swing arm, and a piston rod of the driving cylinder is fixedly connected to the measuring rod, and an axial direction of the piston rod is the same as an axial direction of the measuring rod.
7. A depth measuring water mining machine measuring rod anti-collision system according to claim 6, characterized in that: It comprises a three-dimensional posture sensor and a control device for controlling the driving cylinder and the telescopic cylinder. The three-dimensional posture sensor is installed at one end of the measuring rod away from the measuring head, and the three-dimensional posture sensor is electrically connected to the control device.
8. A depth measuring water mining machine measuring rod anti-collision system according to claim 7, characterized in that: The outer cover of the three-dimensional posture sensor is provided with a protective cover.
9. A depth measuring water mining machine measuring rod anti-collision system according to claim 8, characterized in that: The measuring head outer cover of the measuring rod is provided with a protection cage.