Automatic laser tray material scanning holder

Abstract

The utility model discloses a laser automatic tray material scanning cradle head. The automatic tray material scanning cradle head comprises a single-shaft cradle head arranged on the lower portion. A rotatable laser scanner is arranged at the upper part of the single-axis holder; a stepping motor for driving the laser scanner to rotate is arranged in the single-axis holder; the stepping motor drives the laser scanner to rotate through a synchronous belt wheel and a synchronous belt; the single-shaft holder further comprises a motor driver. And the laser scanner extends into the single-axis holder and is provided with a photoelectric switch sensing piece and an electric slip ring. By using the scanning holder, the effects of continuously rotating, reducing blind areas and improving the coal inventory efficiency can be achieved.

Description

Technical Field

[0001] The utility model belongs to the field of automatic coal material panning, and in particular relates to a laser automatic material panning scanning turret. Background Art

[0002] The closed coal yard has a large area and high dust content in the environment, which makes the manual coal handling work heavy and the data real-time poor. Timely statistics of coal stacking data and refined management of closed coal yards are conducive to reducing fuel costs and improving fuel utilization for thermal power generation companies. With the development of coal handling technology, advanced and reliable coal yard automatic laser coal handling systems have been gradually promoted and applied in thermal power generation companies, gradually replacing manual coal handling. In the closed coal yard laser automatic coal handling system, the laser automatic material handling scanning pan / tilt can be used to complete the scanning and calculation of the external volume of the coal pile in the coal yard, and perform fully automatic coal handling.

[0003] However, most of the existing laser coal counting meters are fixed type, which are mainly installed on the top of the stacking and reclaiming equipment, on the boom or on the top of the coal shed. They must rely on the operation of the stacking and reclaiming equipment to conduct inventory, which has many limitations, low efficiency and large blind spots. Utility Model Content

[0004] The utility model provides a laser automatic material-coal ...

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a laser automatic material scanning pan-tilt, the automatic material scanning pan-tilt includes a single-axis pan-tilt arranged at the bottom; a rotatable laser scanner is arranged on the upper part of the single-axis pan-tilt; a stepper motor for driving the laser scanner to rotate is arranged inside the single-axis pan-tilt; the stepper motor drives the laser scanner to rotate through the synchronous pulley and synchronous belt; the single-axis pan-tilt also includes a motor driver; the laser scanner extends into the single-axis pan-tilt and is provided with a photoelectric switch sensor and an electric slip ring.

[0006] Preferably, a code disk is also provided on the outer side of the electric slip ring.

[0007] Preferably, a posture sensor is also provided on the outer side of the point slip ring.

[0008] Compared with the prior art, the beneficial effects of the utility model are:

[0009] 1. The single-axis pan / tilt allows 360-degree rotation, making it easy to use and avoiding blind spots in the pan;

[0010] 2. Automatic coal handling does not require other equipment to cooperate, which improves the efficiency of coal handling;

[0011] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0013] Figure 1 This is the overall diagram of the laser automatic material scanning pan-tilt of the utility model;

[0014] Figure 2 This is the internal structure diagram of the laser automatic material scanning pan-tilt of the utility model;

[0015] In the figure: 1. laser scanner, 2. single-axis pan-tilt head, 21. stepper motor, 22. synchronous pulley, 23. motor driver, 24. photoelectric switch sensor, 25. electric slip ring, 26. encoder, 27. attitude sensor. DETAILED DESCRIPTION

[0016] 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0017] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0018] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0019] See also Figure 1-2 The utility model provides a technical solution: a laser automatic material scanning pan-tilt, the automatic material scanning pan-tilt includes a single-axis pan-tilt 2 arranged at the bottom; a rotatable laser scanner 1 is arranged on the upper part of the single-axis pan-tilt 2; a stepper motor 21 for driving the laser scanner 1 to rotate is arranged inside the single-axis pan-tilt 2; the stepper motor 21 drives the laser scanner 1 to rotate through the arranged synchronous pulley 22 and the synchronous belt; the single-axis pan-tilt 2 also includes a motor driver 23; the laser scanner 1 extends into the single-axis pan-tilt 2 and is provided with a photoelectric switch sensor 24 and an electric slip ring 25.

[0020] A code disc 26 is also provided on the outside of the electric slip ring 25. A posture sensor 27 is also provided on the outside of the point slip ring 25.

[0021] The laser automatic material scanning pan-tilt disclosed in the utility model comprises a laser scanner 1, a single-axis pan-tilt 2, and a stepper motor 21 arranged inside the same. The stepper motor 21 rotates through a driven shaft and a synchronous pulley 22, and drives the laser scanner 1 to rotate through an electric slip ring 25. The utility model also includes control components such as a main control board.

[0022] The laser scanner 1 is rotated by the pan / tilt platform to realize 360-degree laser scanning, and the coal is automatically sorted by scanning and calculating the outer volume of the coal pile.

[0023] The single-axis gimbal 2 supports 360° continuous rotation in the horizontal direction and has a load-bearing capacity of ≥20Kg, so it is also called a heavy-duty gimbal; it has a built-in attitude sensor 27 that can transmit the gimbal attitude data in real time, facilitating gimbal installation error compensation and data correction.

[0024] The stepper motor 21 inside the pan / tilt head drives the main shaft to rotate through the synchronous pulley 22 and the synchronous belt, and the main shaft photoelectric switch sensor 24 cooperates with the code disk 26 and the photoelectric sensor switch to control the rotation angle.

[0025] Among them, the stepper motor is a motor that converts electrical pulse signals into corresponding angular displacement or linear displacement. Every time a pulse signal is input, the rotor rotates an angle or moves forward one step. The output angular displacement or linear displacement is proportional to the number of input pulses, and the speed is proportional to the pulse frequency.

[0026] The motor driver, also known as the stepper motor driver, is an actuator that converts electrical pulses into angular displacement. The stepper motor and the stepper motor driver constitute the stepper motor drive system. The photoelectric switch induction component, also known as the photoelectric sensor, is a device that converts light signals into electrical signals. Its working principle is based on the photoelectric effect. The electric slip ring is the most widely used slip ring in all slip ring series. It is also called brush, carbon brush, collector ring, collector ring, collector ring, rotary joint, rotary electrical joint, which is specially used to transmit power supply and signal power supply during unlimited continuous rotation.

[0027] The code disc refers to a digital encoder that measures angular displacement. It has the advantages of strong resolution, high measurement accuracy and reliable operation, and is the most commonly used displacement sensor for measuring shaft angular position. The attitude sensor is a high-performance three-dimensional motion attitude measurement system based on MEMS technology. It contains auxiliary motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. It outputs calibrated angular velocity, acceleration, magnetic data, etc. through an embedded low-power ARM processor, measures motion attitude through a quaternion-based sensor data algorithm, and outputs zero-drift three-dimensional attitude data represented by quaternions, Euler angles, etc. in real time.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser automatic material scanning pan-tilt platform, characterized in that: The automatic material scanning platform comprises a single-axis platform (2) arranged at the bottom; a rotatable laser scanner (1) is arranged at the top of the single-axis platform (2); a stepper motor (21) is arranged inside the single-axis platform (2) for driving the laser scanner (1) to rotate; the stepper motor (21) drives the laser scanner (1) to rotate via a synchronous pulley (22) and a synchronous belt; the single-axis platform (2) further comprises a motor driver (23); the laser scanner (1) is extended into the single-axis platform (2) and is provided with a photoelectric switch induction component (24) and an electric slip ring (25).

2. The laser automatic material scanning pan-tilt platform according to claim 1, characterized in that: A code disc (26) is also provided on the outside of the electric slip ring (25).

3. The laser automatic material scanning pan-tilt platform according to claim 1, characterized in that: A posture sensor (27) is also provided on the outside of the electric slip ring (25).

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