CN-116358504-B - Mining annular scanning laser emitter mount

CN116358504BCN 116358504 BCN116358504 BCN 116358504BCN-116358504-B

Abstract

The invention relates to a mining annular scanning laser transmitter fixing frame which comprises a frame body, wherein the frame body is arranged below a roadway top plate and is detachably connected with the roadway top plate; the device comprises a frame body, a movable mounting plate, a linear moving mechanism, a rotary connecting piece, a course angle adjusting mechanism, a pitch angle adjusting mechanism, a linear displacement mechanism, a course angle adjusting mechanism and a laser, wherein the movable mounting plate is arranged below the frame body and is in sliding connection with the frame body, the linear moving mechanism is arranged on the frame body, the output end of the linear moving mechanism is fixedly connected with the movable mounting plate and is used for driving the movable mounting plate to move, the rotary connecting piece is arranged below the movable mounting plate and is in rotary connection with the movable mounting plate, the course angle adjusting mechanism is arranged on the movable mounting plate, the output end of the rotary connecting piece is fixedly connected with the rotary connecting piece, the laser is arranged at the lower end of the rotary connecting piece and is in rotary connection with the rotary connecting piece, the pitch angle adjusting mechanism is arranged on the rotary connecting piece, the output end of the pitch angle adjusting mechanism is fixedly connected with the laser, the linear displacement mechanism, the course angle adjusting mechanism and the pitch angle adjusting mechanism are convenient to adjust the angle of the laser transmitter, and the laser transmitter is convenient to calibrate the position and posture after the device is fixed on a roadway top plate.

Inventors

WEI XUNTAO
SUN HU
ZHANG DONGDONG
CAO HUAIXUAN
PENG JIGUO
YU TONGZHU
LI YONGMING
WANG JINMAN
QI MAOBIN
HAO TIANKUN
XU PENGFEI

Assignees

山东能源集团有限公司
北斗天地股份有限公司

Dates

Publication Date: 20260512
Application Date: 20230406

Claims (3)

1. A mining circular scanning laser transmitter mount, comprising: A frame body (2); the movable mounting plate (212) is arranged below the frame body (2) and is in sliding connection with the frame body (2); the linear moving mechanism is arranged on the frame body (2), and the output end of the linear moving mechanism is connected with the moving mounting plate (212); the rotary connecting piece (205) is arranged below the movable mounting plate (212) and is rotationally connected with the movable mounting plate (212); The course angle adjusting mechanism is arranged on the movable mounting plate (212), and the output end of the course angle adjusting mechanism is connected with the rotary connecting piece (205); The laser (3) is provided with the lower end of the rotary connecting piece (205) and is rotationally connected with the rotary connecting piece (205); the pitch angle adjusting mechanism is arranged on the rotary connecting piece (205), and the output end of the pitch angle adjusting mechanism is connected with the laser (3); The frame body (2) comprises four fixed beam connecting pieces (202), two fixed beams (203) are arranged between two adjacent fixed beam connecting pieces (202), the fixed beams (203) are detachably connected with the fixed beam connecting pieces (202), two suspension beams (207) are parallel to each other and arranged between the two opposite fixed beams (203), hydraulic rods are arranged at two ends of each suspension beam (207), the lower ends of the hydraulic rods are connected with the ball heads of the suspension beams (207), the upper ends of the hydraulic rods are fixedly connected with suspension beam connecting pieces (204), the suspension beam connecting pieces (204) are sleeved on the fixed beams (203), and the movable mounting plates (212) are sleeved on the two suspension beams (207) in a sliding mode; The top of each fixed beam connecting piece (202) is rotationally connected with a threaded cylinder (201), the bottom of the roadway top plate (1) is fixedly connected with four threaded rods, and each threaded cylinder (201) is in threaded connection with the corresponding threaded rod; An inclination sensor (211) is fixedly arranged on the movable mounting plate (212); The movable mounting plate (212) is of a cylindrical structure, the sliding sleeve is arranged on the two suspension beams (207), the linear moving mechanism comprises straight teeth (208), a gear, a first stepping motor (210) and a second stepping motor, wherein the straight teeth (208) are arranged on one side, close to each other, of the two suspension beams (207) and fixedly connected with one suspension beam (207), the gear is meshed with the straight teeth (208) and is rotatably connected with the movable mounting plate (212), and an output shaft of the first stepping motor is fixedly arranged on the movable mounting plate (212) and is connected with one end of a rotating shaft of the gear.
2. A mining ring scan laser transmitter mount according to claim 1, wherein the pitch angle adjusting mechanism comprises a second stepper motor (213) disposed at a lower end of the rotary connector (205), fixedly connected to the rotary connector (205), and fixedly connected to the laser (3) by an output shaft thereof.
3. The mining annular scanning laser transmitter fixing frame according to claim 1, wherein the course angle adjusting mechanism comprises a third stepping motor (215) fixedly arranged on a movable mounting plate (212), a driving gear and a driven gear (217) are rotatably connected to the movable mounting plate (212) and meshed with each other, an output shaft of the third stepping motor (215) is fixedly connected with a rotating shaft of the driving gear, a rotary table is rotatably connected to the bottom of the movable mounting plate (212), the rotary table and the driven gear (217) are coaxially arranged, and the upper end of the rotary connecting piece (205) is fixedly connected with the rotary table.

Description

Mining annular scanning laser emitter mount Technical Field The invention relates to the technical field of pose detection auxiliary devices, in particular to a mining annular scanning laser emitter fixing frame. Background The traditional laser pointing mode for the navigation of the heading machine is difficult to meet the actual navigation requirement of an intelligent coal mine, and due to factors such as dust, water mist, noise, a strong magnetic field and the like on the working surface of a coal mine tunnel, some pose detection and navigation means such as machine vision, an electronic compass and the like are difficult to be applied. In order to monitor the pose of the heading machine in real time, pose monitoring methods based on cross laser, ring laser and the like are proposed, but in the actual working process, the error of pose monitoring by using laser is increased continuously along with the increase of the heading distance. Therefore, in the tunneling process, the laser transmitter needs to continuously follow the tunneling machine to perform the frame moving operation. Because the top plate of the tunnel which is just dug in and out is uneven, the installation, the frame moving and the calibration of the annular laser transmitter are difficult to be efficiently completed on the premise of no auxiliary fixing device. The next pose monitoring and tunneling work cannot be performed before the position fixing work of the laser transmitters is not completed, so that the problem of how to quickly complete the installation and the frame moving of the annular laser transmitters under limited conditions becomes one of the problems to be solved in the pose monitoring method of the tunneling machine by adopting laser. Disclosure of Invention Aiming at the defects in the prior art, the fixing frame for the mining annular scanning laser transmitter provided by the invention is convenient for adjusting the pose of the annular laser transmitter. The invention provides a mining annular scanning laser transmitter fixing frame, which comprises: the frame body is arranged below the roadway top plate and is detachably connected with the roadway top plate; The movable mounting plate is arranged below the frame body and is in sliding connection with the frame body; the linear moving mechanism is arranged on the frame body, and the output end of the linear moving mechanism is fixedly connected with the movable mounting plate and is used for driving the movable mounting plate to move; The rotary connecting piece is arranged below the movable mounting plate and is rotationally connected with the movable mounting plate; the course angle adjusting mechanism is arranged on the movable mounting plate, and the output end of the course angle adjusting mechanism is fixedly connected with the rotary connecting piece; the laser is arranged at the lower end of the rotary connecting piece and is in rotary connection with the rotary connecting piece; The pitch angle adjusting mechanism is arranged on the rotary connecting piece, and the output end of the pitch angle adjusting mechanism is fixedly connected with the laser. The frame body comprises four fixed beam connecting pieces, two hanging beams and two movable mounting plates, wherein one fixed beam is arranged between every two adjacent fixed beam connecting pieces, the fixed beams are detachably connected with the fixed beam connecting pieces, the two hanging beams are parallel to each other and are arranged between the two opposite fixed beams, the two ends of each hanging beam are respectively provided with a hydraulic rod, the lower end of each hydraulic rod is connected with a ball head of the hanging beam, the upper end of each hydraulic rod is fixedly connected with the corresponding hanging beam connecting piece, the hanging beam connecting pieces are sleeved on the fixed beams, and the movable mounting plates are slidably sleeved on the two hanging beams. Preferably, the top of each fixed beam connecting piece is rotationally connected with a thread cylinder, the bottom of the roadway top plate is fixedly connected with four threaded rods, and each thread cylinder is in threaded connection with the corresponding threaded rod. Preferably, the movable mounting plate is in a cylindrical structure, the sliding sleeve is arranged on the two suspension beams, the linear moving mechanism comprises a rack, a gear, a first stepping motor and a first stepping motor, wherein the rack is arranged on one side of the two suspension beams, which is close to each other, and is fixedly connected with one suspension beam, the gear is meshed with the rack and is rotatably connected with the movable mounting plate, and one end of a rotating shaft of an output shaft gear of the first stepping motor is fixedly arranged on the movable mounting plate and is connected with the first stepping motor in a shaft mode. Preferably, the pitch angle adjusting mechanism comprises a second steppin