Auxiliary row distance adjusting device and mining drill carriage

Abstract

The utility model discloses an auxiliary row distance adjusting device and a mining drill carriage, and the auxiliary row distance adjusting device comprises a housing which is installed on the mining drill carriage and is used as a structural carrier to provide support protection; the laser emitting device is used for projecting linear laser rays on the wall surface of the roadway corresponding to the advancing direction of the mining drill carriage; the acquisition direction of the image acquisition device is parallel to the emission direction of the laser emission device, and the image acquisition device is used for acquiring laser images projected on the roadway wall surface by the laser emission device; an adjusting mechanism, a method for rotationally adjusting a direction of a laser emitting device relative to a housing with a first direction perpendicular to an advancing direction of a mining drill carriage as an axis and / or for rotationally adjusting a direction of an image acquisition device relative to the housing with a first direction perpendicular to the advancing direction of the mining drill carriage as an axis and / or for rotationally adjusting a direction of an image acquisition device relative to the housing with a direction perpendicular to the advancing direction of the mining drill carriage. And the direction of the shell relative to the mining drill carriage is adjusted by rotating the shaft in the second direction perpendicular to the first direction.

Description

TECHNICAL FIELD

[0001] The utility model relates to engineering machinery auxiliary positioning technical field, especially, relate to a kind of auxiliary alignment device. In addition, the utility model further relates to a kind of mining drill carriage comprising the auxiliary alignment device described above. BACKGROUND

[0002] In the construction operation of mine roadway, first, alignment line is drawn in the roadway, after mining drill carriage enters the roadway, corresponding position is aligned with alignment line, and parking is carried out, so that the working surface of drill arm is coincided with the section of roadway needing to be drilled, to ensure that mining drill carriage can accurately carry out drilling and blasting operation in the roadway.

[0003] At present, the existing mining drill carriage in roadway construction mainly determines construction working surface by observing whether mining drill carriage boom is aligned with roadway alignment line by driver. There is visual error in the observation of alignment line on roadway wall by human eye in cab, which leads to inaccurate parking position. Inaccurate parking position can lead to that boom working range cannot completely cover working surface, and repeated position adjustment is needed.

[0004] The existing alignment device mainly used for measuring roadway alignment is relatively complex in structure and large in space occupation, and is not suitable for being installed on mining drill carriage. Therefore, a device that can help mining drill carriage driver to determine whether trolley is aligned with roadway alignment line is needed. UTILITY MODEL CONTENT

[0005] The utility model provides a kind of auxiliary alignment device and mining drill carriage, to solve the technical problem of inconvenient operation and low efficiency in the prior art that roadway alignment needs to be repeatedly moved to adjust position.

[0006] According to an aspect of the utility model, an auxiliary alignment device is provided, applied to mining drill carriage, and the auxiliary alignment device comprises:

[0007] Shell, installed in the mining drill carriage, used as a structural carrier to provide support and protection;

[0008] Laser emitting device, for projecting a linear laser line on the roadway wall surface corresponding to the travel direction of the mining drill carriage;

[0009] Image acquisition device, arranged in the shell, for acquiring the laser image projected on the roadway wall surface by the laser emitting device;

[0010] An adjusting mechanism is arranged to rotate the laser emitting device relative to the housing in a first direction perpendicular to the travel direction of the mining drill rig and / or to rotate the image collecting device relative to the housing in the first direction perpendicular to the travel direction of the mining drill rig and / or to rotate the housing relative to the mining drill rig in a second direction perpendicular to the travel direction of the mining drill rig and perpendicular to the first direction.

[0011] As a further improvement of the above technical solution, the housing comprises a protective cover and a connecting flange arranged at the bottom of the protective cover, the protective cover is arranged with an opening towards one side of the travel direction of the mining drill rig, and the connecting flange is arranged with a connecting structure, and the mining drill rig is arranged with a mounting position corresponding to the connecting structure of the connecting flange.

[0012] As a further improvement of the above technical solution, a first threading hole is arranged at the bottom of the side of the protective cover away from the opening direction, and a second threading hole is arranged on the connecting flange and communicates with the inside of the protective cover.

[0013] As a further improvement of the above technical solution, the connecting structure comprises a connecting hole arranged on the connecting flange, the adjusting mechanism comprises a first arc-shaped track arranged on the connecting flange and integrated with the connecting hole, the two first arc-shaped tracks are symmetrically arranged on the connecting flanges of the two sides of the protective cover, the distance between the two first arc-shaped tracks is the diameter of the first arc-shaped track, the mounting position comprises mounting holes respectively corresponding to the first arc-shaped tracks, and the distance between the mounting holes matches the diameter of the first arc-shaped track; the adjusting mechanism further comprises a fixing member for being arranged in the first arc-shaped track and connected with the mounting holes, and the fixing member is used for fixing the housing on the mounting position.

[0014] As a further improvement of the above technical solution, an angle mark is arranged on one side of the first arc-shaped track of the connecting flange.

[0015] As a further improvement of the above technical solution, the adjusting mechanism comprises second arc-shaped tracks arranged on the first side wall and the second side wall of the housing and third arc-shaped tracks arranged on the first side wall and the second side wall of the housing, and the adjusting mechanism further comprises a fixing member, which is used for being connected with the laser emitting device and being fixed on the housing, or is used for being connected with the image collecting device and being fixed on the housing.

[0016] As a further improvement of the above technical solution, an angle mark is arranged on one side of the second arc-shaped track and one side of the third arc-shaped track of the housing.

[0017] As a further improvement of the above technical solution, two of the second arc-shaped tracks are symmetrically arranged on the first side wall, two of the second arc-shaped tracks are symmetrically arranged on the second side wall, two of the third arc-shaped tracks are symmetrically arranged on the first side wall, two of the third arc-shaped tracks are symmetrically arranged on the second side wall, and the distance between adjacent two of the second arc-shaped tracks is the diameter of the second arc-shaped track, and the distance between adjacent two of the third arc-shaped tracks is the diameter of the third arc-shaped track.

[0018] As a further improvement of the above technical solution, the laser emitting device comprises a protective shell, one end of the protective shell is provided with a light-transmitting glass, a fixing gasket for fixing the light-transmitting glass, and a sealing gasket arranged between the fixing gasket and the protective shell.

[0019] According to another aspect of the present application, a mining drill rig is also provided, which comprises the above auxiliary pair spacing device, and the auxiliary pair spacing device is arranged on both sides of the mining drill rig.

[0020] The present application has the following beneficial effects:

[0021] The auxiliary pair spacing device is used for being mounted on both sides of the mining drill rig, and when being mounted on the mining drill rig, the laser emitting direction of the laser emitting device is matched with the advancing direction of the mining drill rig by rotating the adjusting shell in the second direction as an axis to adjust the position of the laser emitting device, and the pitch angle of the laser emitting device is adjusted by the adjusting mechanism in the first direction to calibrate, and the pitch angle of the image collecting device is adjusted to ensure the image collecting range. After the laser calibration of both sides is completed, the accuracy of the pair spacing is ensured, and the mining drill rig operator can clearly observe the laser lines on both sides during work, and the image collecting device can also clearly observe the laser lines on both sides at near and far distances, effectively solving the problem of large blind area of the mining drill rig cab, and when the mining drill rig walks in the tunnel, the yaw angle in the tunnel can be ensured to be about 0° by aligning the laser emitted on both sides with the pair spacing line on the tunnel wall, and work can be performed after parking, greatly shortening the parking time of the pair spacing, improving the pair spacing accuracy and construction efficiency.

[0022] In addition to the purposes, features and advantages described above, the present application has other purposes, features and advantages. The present application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 is a structure schematic diagram of the preferred embodiment of the utility model Figure 1 ;

[0025] Figure 2 is a structure schematic diagram of the preferred embodiment of the utility model Figure 2 ;

[0026] Figure 3 is a structure schematic diagram of the preferred embodiment of the utility model Figure 3 ;

[0027] Figure 4 is a structure schematic diagram of the preferred embodiment of the utility model Figure 4 ;

[0028] Figure 5 is a calibration schematic diagram of the preferred embodiment of the utility model;

[0029] Figure 6 is a use state reference diagram of the preferred embodiment of the utility model.

[0030] Legend:

[0031] 1, auxiliary alignment device;2, laser emitting device;21, protective shell;22, light transmission glass;23, sealing washer;3, image acquisition device;4, shell;41, second through hole;42, third arc track;43, second arc track;44, first through hole;45, first threading hole;5, connecting flange;51, first arc track;52, fixing piece;53, second threading hole. Specific implementation

[0032] The embodiments of the utility model are described in detail below in combination with the drawings, but the utility model can be implemented in multiple different ways limited and covered by the following.

[0033] Figure 1 is a structure schematic diagram of the preferred embodiment of the utility model Figure 1 ; Figure 2 is a structure schematic diagram of the preferred embodiment of the utility model Figure 2 ; Figure 3 is a structure schematic diagram of the preferred embodiment of the utility model Figure 3 ; Figure 4 is a structure schematic diagram of the preferred embodiment of the utility model Figure 4 ; Figure 5 is a calibration schematic diagram of the preferred embodiment of the utility model; Figure 6 is a use state reference diagram of the preferred embodiment of the utility model.

[0034] As Figures 1 to 6 shown, the auxiliary alignment device 1 of the embodiment is applied to a mining drill carriage, and the auxiliary alignment device 1 comprises:

[0035] The shell 4 is installed on a mining jumbo and is used as a structural carrier to provide support protection;

[0036] The laser emitting device 2 is used to project a linear laser line on the roadway wall surface in the direction of travel of the mining jumbo;

[0037] The image collecting device 3 is arranged on the shell 4 and is used to collect the laser image projected on the roadway wall surface by the laser emitting device 2;

[0038] The adjusting mechanism is used to adjust the direction of the laser emitting device 2 relative to the shell 4 in the first direction perpendicular to the direction of travel of the mining jumbo and / or to adjust the direction of the image collecting device 3 relative to the shell 4 in the first direction perpendicular to the direction of travel of the mining jumbo and / or to adjust the direction of the shell 4 relative to the mining jumbo in the second direction perpendicular to the direction of travel of the mining jumbo and perpendicular to the first direction.

[0039] It can be understood that the auxiliary alignment device 1 is used to be installed on both sides of the mining jumbo respectively, and when installed on the mining jumbo, the position of the shell 4 is adjusted by the adjusting mechanism in the second direction to match the laser emitting direction of the laser emitting device 2 with the direction of travel of the mining jumbo, and the pitch angle of the laser emitting device 2 is adjusted by the adjusting mechanism in the first direction to calibrate, and the pitch angle of the image collecting device 3 is adjusted in the same way to ensure the image collecting range; after the laser calibration on both sides is completed, the accuracy of the alignment is ensured, and the mining jumbo operator can clearly observe the laser lines on both sides during work, and the near and far laser lines on both sides can also be clearly seen through the image collecting device 3, effectively solving the problem of large blind area of the mining jumbo cab, and when the mining jumbo travels in the roadway, the laser emitted on both sides is aligned with the alignment line on the roadway wall to ensure that the yaw angle in the roadway is about 0°, and work can be performed after parking, greatly shortening the parking time for alignment, improving the alignment accuracy and construction efficiency.

[0040] In some embodiments, the shell 4 includes a protective cover and a connecting flange 5 arranged at the bottom of the protective cover, the protective cover is arranged with an opening on the side facing the direction of travel of the mining jumbo, the connecting flange 5 is provided with a connecting structure, and the mining jumbo is provided with a mounting position corresponding to the connecting structure of the connecting flange 5, wherein the connecting structure can be a connecting hole opened in the connecting flange 5, and the mounting position is provided with a structure such as a threaded hole corresponding to the connecting hole and is fastened by a screw; in other embodiments, the connecting structure can also be a buckle mounting structure, which is not limited;

[0041] In some embodiments, a first threading hole 45 is opened on the bottom of the side of the protective cover away from the outlet direction, and a second threading hole 53 is opened on the connecting flange 5 and communicates with the inside of the protective cover. By setting the first threading hole 45 on the back of the protective cover and the second threading hole 53 on the bottom, one of the threading holes can be used for wiring when the other is blocked, thereby making the auxiliary pair of row spacing devices 1 have good adaptive ability to different installation environments.

[0042] In some embodiments, the connecting structure is preferably a connecting hole provided on the connecting flange 5, the adjusting mechanism includes first arc-shaped tracks 51 provided on the connecting flange 5 and integrated with the connecting hole, the two first arc-shaped tracks 51 are symmetrically distributed on the connecting flanges 5 on the two sides of the protective cover, and the distance between the two first arc-shaped tracks 51 is the diameter of the first arc-shaped track 51. The mounting position includes mounting holes respectively corresponding to the first arc-shaped tracks 51, and the distance between the mounting holes matches the diameter of the first arc-shaped track 51. The adjusting mechanism further includes a fixing member 52 for penetrating the first arc-shaped track 51 and connecting with the mounting hole, and the fixing member 52 is used to fix the shell 4 on the mounting position. Specifically, by setting the symmetrically distributed first arc-shaped tracks 51 and setting the fixing member 52 connected to the connecting flange 5 and cooperating with the first arc-shaped track 51, the shell 4 can only rotate circumferentially along the first arc-shaped track 51, thereby realizing left-right direction angle adjustment. The shell 4 is locked and fixed on the mounting position by locking the fixing member 52. Preferably, the fixing member 52 can be a screw, which can be tightened to fix and loosened to adjust. The structure is simple and the operation is convenient. Preferably, the first arc-shaped track 51 is an arc-shaped groove opened on the connecting flange 5, and the fixing member 52 is arranged behind the mounting hole, so that only the two arc-shaped grooves can move relative to each other under the limitation of the screw, that is, the shell 4 can only rotate circumferentially.

[0043] In some embodiments, the adjusting mechanism is respectively arranged on the second arc-shaped tracks 43 on the first side wall and the second side wall of the shell 4 and the third arc-shaped tracks 42 arranged on the first side wall and the second side wall of the shell 4, and the adjusting mechanism further comprises a fixing member 52 for being connected with the laser emitting device 2 and being fixed on the laser emitting device 2 on the shell 4 or for being connected with the image collecting device 3 and being fixed on the image collecting device 3 on the shell 4; preferably, the fixing member 52 is a screw threadedly connected with a fixed point of the laser emitting device 2 or a fixed point of the image collecting device 3, two second arc-shaped tracks 43 are symmetrically arranged on the first side wall, two second arc-shaped tracks 43 are symmetrically arranged on the second side wall, two third arc-shaped tracks 42 are symmetrically arranged on the first side wall, and two third arc-shaped tracks 42 are symmetrically arranged on the second side wall; the distance between the adjacent two second arc-shaped tracks 43 is the diameter of the second arc-shaped track 43, and the distance between the adjacent two third arc-shaped tracks 42 is the diameter of the third arc-shaped track 42, that is, the two second arc-shaped tracks 43 of the first side wall are respectively connected with one side of the laser emitting device 2 through the screws, the two second arc-shaped tracks 43 of the second side wall are respectively connected with the other side of the laser emitting device 2 through the screws, so that the laser emitting device 2 is limited to rotate only along the second arc-shaped track 43; similarly, the two third arc-shaped tracks 42 of the first side wall are respectively connected with one side of the image collecting device 3 through the screws, and the two third arc-shaped tracks 42 of the second side wall are respectively connected with the other side of the image collecting device 3 through the screws, so that the image collecting device 3 is limited to rotate only along the third arc-shaped track 42; preferably, first through holes 44 are arranged on the first side wall and the second side wall at the middle part of the two second arc-shaped tracks 43 to pass the screws or the rotating shafts to connect with the laser emitting device 2, and similarly, second through holes 41 are arranged on the first side wall and the second side wall at the middle part of the two third arc-shaped tracks 42 to pass the screws or the rotating shafts to connect with the image collecting device 3, so that the rotation is smoother, and the arc-shaped track limits the rotation angle range;

[0044] In some embodiments, an angle mark is arranged on one side of the first arc-shaped track 51 on the connecting flange 5, and an angle mark is arranged on one side of the second arc-shaped track 43 and one side of the third arc-shaped track 42 on the shell 4, so that more accurate angle adjustment can be performed through the angle mark, and the efficiency and accuracy are improved.

[0045] In some embodiments, the laser emitting device 2 comprises a linear laser and a protective shell 21, one end of the protective shell 21 is provided with a light-transmitting glass 22, a fixing gasket for fixing the light-transmitting glass 22 and a sealing gasket 23 arranged between the fixing gasket and the protective shell 21, wherein the fixing gasket is fixed to the protective shell 21 by a screw to press the sealing gasket 23 and the light-transmitting glass 22; the light of the linear laser is emitted through the light-transmitting glass 22, and the tail end of the protective shell 21 is provided with a sealed outlet.

[0046] It should be noted that the two laser lines emitted by the auxiliary alignment device need to be calibrated before leaving the factory, and the steps are as follows:

[0047] Firstly, the two sides of the mining jumbo are blocked by obstacles to see the two linear laser lines, and the obstacles on the two sides are the same distance from the laser auxiliary alignment device on the two sides, and the coordinate system is set in the jumbo coordinate system by using the total station, and the jumbo coordinate system is as shown in Figure 5 The coordinates P1(x 10 ,y 10 ,z 10 ) of the center point of the left laser line are recorded, the light-transmitting glass and the sealing gasket of the protective shell are opened, the rotating shell is adjusted by the adjusting mechanism, and when x 11 =y 11 in the coordinates P2(x 11 ,y 11 ,z 10 ) of any end point of the laser line, the laser line is perpendicular to the z-axis of the jumbo coordinate system; the right laser line is processed in the same way as the left laser line, the coordinates Q1(x 20 ,y 20 ,z 20 ) of the center point of the right laser line are recorded, and the right laser line is rotated to be perpendicular to the z-axis of the jumbo coordinate system.

[0048] Secondly, the coordinates O1(x1,y1,z1) and O2(x2,y2,z2) of the emitting points of the two lasers are recorded by the total station, and the installation is symmetrical, so x 1 =x 2 , z 1 =z 2 , the slide rail of the installation base is adjusted to rotate, so that the horizontal coordinates of the midpoints P1 and Q1 of the left and right laser lines are equal, i.e. x 10 =x 1 =x 2 =z 20 , and at this time the bolts on the connecting flanges of the auxiliary alignment device are tightened to fix them;

[0049] Finally, the camera of the image acquisition device of the laser-assisted pair-row-spacing device and the rotating laser emitting device are adjusted and rotated along the corresponding slide rails until the mining jumbo operator can clearly observe the two laser lines and the camera can also clearly observe the two laser lines, and the calibration is completed.

[0050] After the calibration of the two laser lines is completed, when the mining jumbo is walking in the roadway, only the two laser lines need to be aligned with the row-spacing lines on the walls of the roadway, as shown in Figure 6 After the left and right row lines are aligned, the yaw angle of the trolley in the roadway is about 0°, and the work can be carried out after the trolley is stopped, which greatly improves the work efficiency.

[0051] It should be understood that the above calibration steps are only preferred examples, and other calibration methods can also be used in other embodiments, and no limitation is made thereto.

[0052] On the other hand, the preferred embodiment also provides a mining jumbo, which comprises the above-mentioned auxiliary pair-row-spacing device, and the auxiliary pair-row-spacing device is arranged on both sides of the mining jumbo.

[0053] In the description of the present application, it should be explained that the terms "upper", "lower", "front", "rear" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] In the description of the present application, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An auxiliary distance-keeping device (1) for a mining jumbo, characterized in that, The auxiliary alignment device (1) comprises: a housing (4) mounted on the mining jumbo for providing support and protection as a structural carrier; a laser emitting device (2) for projecting a linear laser light on the tunnel wall in the direction of travel of the mining jumbo; an image collecting device (3) arranged on the housing (4) for collecting the laser image projected on the tunnel wall by the laser emitting device (2); an adjusting mechanism for adjusting the direction of the laser emitting device (2) relative to the housing (4) in a first direction perpendicular to the direction of travel of the mining jumbo and / or for adjusting the direction of the image collecting device (3) relative to the housing (4) in the first direction perpendicular to the direction of travel of the mining jumbo and / or for adjusting the direction of the housing (4) relative to the mining jumbo in a second direction perpendicular to the direction of travel of the mining jumbo and perpendicular to the first direction.

2. The auxiliary aligning device (1) according to claim 1, characterized in that The housing (4) comprises a protective cover and a connecting flange (5) arranged at the bottom of the protective cover, the protective cover is arranged with an opening on one side facing the direction of travel of the mining jumbo, the connecting flange (5) is provided with a connecting structure, and the mining jumbo is provided with a mounting position corresponding to the connecting structure of the connecting flange (5).

3. The device (1) for assisting the alignment of the pitch distance according to claim 2, characterized in that A first threading hole (45) is arranged at the bottom of the side of the protective cover away from the opening direction, and a second threading hole (53) is arranged on the connecting flange (5) and communicated into the protective cover.

4. The device (1) for assisting the alignment of the pitch distance according to claim 2, characterized in that The connecting structure comprises a connecting hole arranged on the connecting flange (5), the adjusting mechanism comprises a first arc-shaped track (51) arranged on the connecting flange (5) and integrated with the connecting hole, the two first arc-shaped tracks (51) are symmetrically arranged on the connecting flanges (5) on both sides of the protective cover, the distance between the two first arc-shaped tracks (51) is the diameter of the first arc-shaped track (51), the mounting position comprises mounting holes respectively corresponding to the first arc-shaped tracks (51), and the distance between the mounting holes matches the diameter of the first arc-shaped track (51); the adjusting mechanism further comprises a fixing member (52) for being arranged in the first arc-shaped track (51) and connected with the mounting holes, and the fixing member (52) is used for fixing the housing (4) on the mounting position.

5. The device (1) for assisting the alignment of the pitch distance according to claim 4, characterized in that An angle mark is arranged on one side of the first arc-shaped track (51) of the connecting flange (5).

6. The device (1) for assisting the alignment of the pitch distance according to claim 1, characterized in that The adjusting mechanism comprises second arc-shaped tracks (43) arranged on the first side wall and the second side wall of the housing (4) and third arc-shaped tracks (42) respectively arranged on the first side wall and the second side wall of the housing (4), and further comprises a fixing member (52) used for being connected with the laser emitting device (2) and fixed on the laser emitting device (2) on the housing (4) or used for being connected with the image collecting device (3) and fixed on the image collecting device (3) on the housing (4).

7. The device (1) for assisting the alignment of the pitch distance according to claim 6, characterized in that Angle marks are arranged on one side of the second arc-shaped track (43) and one side of the third arc-shaped track (42) of the shell (4).

8. The device (1) for assisting the alignment of the pitch distance according to claim 6, characterized in that Two of the second arc-shaped tracks (43) are symmetrically arranged on the first side wall, two of the second arc-shaped tracks (43) are symmetrically arranged on the second side wall, two of the third arc-shaped tracks (42) are symmetrically arranged on the first side wall, two of the third arc-shaped tracks (42) are symmetrically arranged on the second side wall, the distance between two adjacent second arc-shaped tracks (43) is the diameter of the second arc-shaped track (43), and the distance between two adjacent third arc-shaped tracks (42) is the diameter of the third arc-shaped track (42).

9. The device (1) for assisting the alignment of the rows according to claim 1, characterized in that, The laser emitting device (2) comprises a protective shell (21), one end of the protective shell (21) is provided with a light-transmitting glass (22), a fixing gasket for fixing the light-transmitting glass (22), and a sealing gasket (23) arranged between the fixing gasket and the protective shell (21).

10. A mining jumbo, characterized in that, The auxiliary row spacing device of any one of claims 1-9 is arranged on both sides of a mining drill carriage.

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