CN112013825B - Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof - Google Patents
Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof Download PDFInfo
- Publication number
- CN112013825B CN112013825B CN202010867125.XA CN202010867125A CN112013825B CN 112013825 B CN112013825 B CN 112013825B CN 202010867125 A CN202010867125 A CN 202010867125A CN 112013825 B CN112013825 B CN 112013825B
- Authority
- CN
- China
- Prior art keywords
- axis
- laser
- adjusting mechanism
- freedom degree
- cross
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention provides a rapid station moving platform device of a laser emitting device for underground coal mine roadway tunneling and a laser adjusting method thereof. Because the effective light intensity distance of the laser is short, the laser emitting platform needs to move forwards frequently, and a total station needs to be used for calibrating the laser after the station is moved, so that a large amount of time is wasted. The quick station moving platform comprises two sets of platforms, two sets of equipment are alternately installed at regular intervals, and the laser emission direction of the next set of equipment is calibrated by taking the equipment as a reference. The platform equipment is fixed on the anchor rod at the top of the roadway. The five-degree-of-freedom accurate adjustment of the cross laser is realized through the laser adjusting mechanism. According to the established adjusting method, the cross laser emitted by the laser emitting device is coincided with the cross laser emitted by the last laser emitting device through the five-degree-of-freedom adjusting mechanism, so that the rapid and convenient laser calibration is realized. The invention considers the characteristics of roadway excavation and the requirement of rapid excavation, designs a convenient disassembly and assembly mechanism, a laser adjusting mechanism and an adjusting method, and is expected to obviously improve the roadway excavation efficiency.
Description
Technical Field
The invention relates to the field of measuring equipment of a roadway tunneling guide system of a tunneling machine, in particular to rapid station-shifting platform equipment and a laser adjusting and correcting method thereof.
Background
In a rapid roadway tunneling system, a tunneling machine is in an unmanned driving mode, and under the interference of underground electromagnetism and vibration, the roadway is difficult to be flat and straight. In order to enable the heading machine to move linearly, the position and posture of the heading machine are required to be monitored constantly. The lane direction is set as a Z axis, the vertical direction is set as a Y axis, and the horizontal direction is set as an X axis. Five parameters of the heading machine need to be monitored and controlled during the rapid heading process: pitch angle (angle of rotation around X axis, angle should be 0), yaw angle (angle of rotation around Y axis, angle should be 0), roll angle (angle of rotation around Z axis, angle should be 0), X direction displacement (should be 0), Y direction displacement (should be 0). In the tunneling process, only when the five parameters are all 0, the correct tunnel direction of the tunneling machine can be ensured. The offset of these five parameters of the heading machine is detected by a cross laser calibration. The posture of the base station laser is fixed after being adjusted, the light emitted by the laser can be just shot to the specified scale of the panel of the heading machine, and two mutually vertical lines of the cross laser are correspondingly parallel to the transverse and longitudinal scale lines of the panel. However, after the tunneling machine has a longer tunneling distance, due to the influence of tunnel dust and the distance, the cross laser on the panel becomes difficult to observe, the pose of the tunneling machine is difficult to monitor, and at the moment, if the base station is moved and the laser emission pose is adjusted again, much time is wasted, the working efficiency is greatly reduced, and the construction progress of the whole project is influenced.
In order to carry out rapid laser calibration, a five-degree-of-freedom adjusting mechanism capable of adjusting the laser emission pose must be designed, and the rapid adjustment and calibration of the five parameters are realized through a specific mechanism design and an adjusting method. When adjusting five parameters, it is necessary to ensure that one parameter is adjusted without interfering with other parameters that have been adjusted, which is the key to performing fast laser calibration.
Disclosure of Invention
The invention aims to provide a rapid station moving platform of a laser emitting device, which can prolong the irradiation range of cross laser and reduce the time wasted by calibrating the pose by a total station when a base station is moved.
The invention aims to provide a rapid station moving platform of a laser emitting device, which can be used for rapidly installing and positioning.
The invention aims to provide a rapid station moving platform of a laser emitting device, which can realize rapid calibration of laser in five directions (X-axis direction, Y-axis direction, X-axis rotation direction, Y-axis rotation direction and Z-axis rotation direction).
The invention aims to provide a regulating mechanism and a regulating method for rapid laser calibration, which are used for sequentially calibrating five directions (an X-axis direction, a Y-axis direction, an X-axis rotating direction, a Y-axis rotating direction and a Z-axis rotating direction) based on specific mechanism design details and a laser regulating method, so that the aim that the calibrated poses in other directions are not influenced by the calibration work in one direction is realized, and the accurate and rapid calibration of a laser emission direction is finally realized.
The technical scheme is as follows.
In order to solve the above problems, the present invention provides a fast station-moving platform device of a laser transmitter and a laser tuning method thereof. The equipment comprises a mounting connection part for fixing the equipment, an adjusting platform device for bearing the laser emitting device and the laser emitting device.
The mounting and connecting part is connected above the platform part, and the rapid station moving platform is integrally fixed at the top of the roadway by being connected with anchor rods attached to two sides of the axis of the top of the roadway.
The whole quick station moving platform is integrally connected with the mounting connecting part through gravity to realize the initial adjustment of the posture of the quick station moving platform.
The laser emitting device is arranged on the adjusting platform device, and the five-degree-of-freedom accurate adjustment of the cross laser is realized through the platform part.
The quick adjustment and use method of the quick station moving platform comprises the following steps: one roadway is provided with two sets of rapid station moving platform equipment, the first rapid station moving platform equipment adopts a total station instrument to position and adjust the emission pose of laser, a dial (comprising two sets of scale lines in a transverse and longitudinal direction) is installed on the tunneling machine, cross laser emitted by the rapid station moving platform is projected onto the dial of the tunneling machine, and the correct tunneling direction is defined by the alignment of the cross laser line and the cross center of the dial. After a certain distance of tunneling, installing another rapid station moving platform device near the tail of the tunneling machine, and performing laser calibration on a second platform by taking cross laser emitted by a first platform as a reference; and then, the rapid station moving platform is sequentially moved forwards in a reciprocating alternating manner, so that the heading machine can be continuously and rapidly guided.
The adjusting platform device comprises two translational freedom degree adjusting mechanisms, namely an X-axis translational freedom degree adjusting mechanism and a Y-axis translational freedom degree adjusting mechanism, and is used for adjusting the translational freedom degrees of the laser emitting device in the X-axis direction and the Y-axis direction; the laser emission device also comprises three rotational freedom degree adjusting mechanisms, namely an X-axis rotational freedom degree adjusting mechanism, a Y-axis rotational freedom degree adjusting mechanism and a Z-axis rotational freedom degree adjusting mechanism, and the three rotational freedom degree adjusting mechanisms are used for adjusting the rotational freedom degrees of the laser emission device in the directions of an X axis, a Y axis and a Z axis; the directions of the X axis, the Y axis and the Z axis are defined as follows: the X-axis is the horizontal direction of the section of the roadway, the Y-axis is the vertical direction of the section of the roadway, and the Z-axis is the advancing direction of roadway excavation.
The translational freedom degree adjusting mechanism comprises two nuts and a threaded rod; the threaded rod penetrates through the through hole part of the adjusted part, two sides of the threaded rod are clamped by the nuts, and the horizontal position and the height position of the adjusted part are adjusted by adjusting the positions of the nuts on the threaded rod; the cross section outline shape of the threaded rod is composed of a 135-degree circular arc and a line segment, and two end points of the line segment are connected with two end points of the circular arc; the threaded rod penetrates through the through hole part of the part to be adjusted, the shape of the cross section profile of the through hole part is consistent with the shape of the cross section profile of the threaded section of the threaded rod, but the through hole part is a smooth hole and is not provided with threads, and the purpose is to assemble two parts through the cross section with the shape, so that the two parts cannot rotate mutually under the working condition of vibration or stress;
the rotational freedom degree adjusting mechanism comprises a two-stage transmission system of a worm gear, a small gear and a large gear, a rotational handle and a bottom plate; the rotational freedom degree adjusting method comprises the following steps: the handle is manually moved to enable the worm to rotate, so that the worm wheel, the pinion and the bull gear are sequentially driven to rotate, rotation of a bull gear shaft is achieved, the bull gear is fixedly connected with the adjusted part, the adjusted part can be driven to rotate, the pinion can axially move on the shaft, and the angle can be roughly adjusted when the pinion is separated from the bull gear; two ends of the worm are assembled with two lug plates which are vertically arranged on the base plate through angular contact ball bearings; the shaft of the large gear vertically penetrates through a bottom plate of the rotational freedom degree adjusting mechanism, and a gear shaft is connected with the bottom plate through a cylindrical roller bearing; the handle of the rotational freedom degree adjusting mechanism is fixedly connected to the tail end of the worm; the expansion helical angle of the worm gear-worm transmission pair is smaller than the contact friction angle of the worm gear and the worm, so that the self-locking fixation after adjustment is realized;
in addition, the installation connecting part comprises two sets of anchor rod fixing equipment, one transverse angle steel piece, two vertical angle steels, two surface positioning parts and one adjusting rod;
the anchor rod fixing equipment comprises an anchor rod fixing device, a connecting block and a tail end connecting rod, and the rapid station transfer platform is integrally arranged and positioned at the tail ends of two anchor rods at the top of the excavation roadway; the anchor rod fixing device comprises a threaded through hole and an opening clamping groove, wherein the threaded through hole is fixedly connected with the anchor rod at the top of the roadway through threads; the opening clamping groove comprises a rectangular through hole and a U-shaped groove; the connecting block comprises a convex connecting shaft and two open clamping grooves; the connecting shaft of the connecting block consists of a tail end thick shaft and a root part thin shaft, the two shaft diameter sizes are respectively the same as the long side size and the U-shaped groove diameter of the rectangular through hole of the open slot of the anchor rod fixing device, the axial length of the two shafts is respectively the same as the short side size and the U-shaped groove width of the rectangular through hole of the open slot of the anchor rod fixing device, so that the connecting shaft of the connecting block is assembled with the open slot of the anchor rod fixing device, the connecting shaft and the open slot of the anchor rod fixing device can rotate relatively, the posture is adjusted by using gravity, and the connecting shaft is easy to assemble and disassemble; the opening clamping groove of the connecting block comprises a rectangular through hole and a U-shaped groove; one end of the tail end connecting rod is a full-thread cylindrical rod, and the other end of the tail end connecting rod comprises two connecting shafts which are same in shape and opposite in orientation; the connecting shaft of the tail end connecting rod comprises a tail end thick shaft and a root thin shaft, the two shaft diameter sizes are respectively the same as the long side size and the U-shaped groove diameter of the rectangular through hole of the connecting block open groove, the axial length of the two shafts is respectively the same as the short side size and the U-shaped groove width of the rectangular through hole of the connecting block open groove, and therefore the two connecting shafts of the tail end connecting rod and the two open grooves of the connecting block can be assembled and can rotate relative to each other, the posture of the two connecting shafts can be adjusted by means of gravity, and the two connecting shafts are easy to assemble and disassemble;
the horizontal angle steel is provided with a row of holes and is used for fixedly mounting a five-degree-of-freedom adjusting platform device and roughly adjusting the horizontal position of the laser transmitter platform;
the vertical angle steel is provided with a row of holes and used for fixing the horizontal angle steel and roughly adjusting the height of the adjusting platform device;
the surface positioning part is used for connecting the vertical angle steel with the anchor rod fixing equipment; the surface positioning part is provided with a circular threaded through hole and is fixedly connected with a full-threaded cylindrical rod of a tail end connecting rod in anchor rod fixing equipment, and the height and the horizontal inclination angle of parts below the surface positioning part can be adjusted; the surface positioning part is also provided with a rectangular through hole, and the pore channel direction of the rectangular through hole is vertical to the pore channel direction of the round threaded through hole of the surface positioning part;
the adjusting rod is used for quickly aligning two face positioning parts; the utility model discloses a two-sided angle steel, including two vertical angle steel, adjusting rod, the adjusting rod inserts in the rectangle through-hole of two sides location part, adjusting rod height dimension is less than the height dimension of face location part rectangular hole cross-section a little, and the thickness dimension of adjusting rod is unanimous with the width dimension of face location part rectangular hole cross-section, and its design aim at adjusting rod inserts behind the two sides location part rectangular hole, two sides location part respectively with the contact surface space of two vertical angle steel on be in the coplanar, convenient operation when making horizontal angle steel install to vertical angle steel.
The X-axis translation freedom degree adjusting mechanism, the Y-axis translation freedom degree adjusting mechanism, the X-axis rotational freedom degree adjusting mechanism, the Y-axis rotational freedom degree adjusting mechanism and the Z-axis rotational freedom degree adjusting mechanism of the adjusting platform device are spatially arranged as follows: the Z-axis rotational freedom degree adjusting mechanism is arranged at the top end, and the shaft tail end of a large gear shaft contained in the Z-axis rotational freedom degree adjusting mechanism comprises a through hole; the threaded rod of the Y-axis translational freedom degree adjusting mechanism penetrates through a through hole at the shaft tail end of the large gear shaft in the Z-axis rotational freedom degree adjusting mechanism; the tail end of a threaded rod of the Y-axis translation freedom degree adjusting mechanism comprises a through hole; the threaded rod of the X-axis translational degree of freedom adjusting mechanism penetrates through a through hole at the tail end of the threaded rod in the Y-axis translational degree of freedom adjusting mechanism; two ends of a threaded rod of the X-axis translation freedom degree adjusting mechanism are connected with the X-axis rotation freedom degree adjusting mechanism; the X-axis rotational freedom degree adjusting mechanism comprises a left transmission device and a right transmission device, one device is a driving adjusting device, and the other device is a driven device; the two large gear shafts of the left and right transmission devices of the X-axis rotational freedom degree adjusting mechanism are fixedly connected with the bottom plate of the Y-axis rotational freedom degree adjusting mechanism through two rocker arms; the Y-axis rotational freedom degree adjusting mechanism is positioned at the lowest position of the five freedom degree adjusting mechanisms.
The X-axis rotational freedom degree adjusting mechanism is fixedly connected to two shaft ends of a threaded rod part of the X-axis translational freedom degree adjusting mechanism by a bottom plate, one end of the X-axis rotational freedom degree adjusting mechanism is a driving system for active adjustment, the other end of the X-axis rotational freedom degree adjusting mechanism is driven, a worm gear is not arranged, and a large gear and a small gear play a stabilizing role; the axes of the left gearwheel and the right gearwheel are a straight line and are parallel to the axis of the threaded rod part of the X-axis translational freedom degree adjusting mechanism.
The laser emitting device comprises a cylinder which is coaxially connected with a large gear in the Y-axis rotational freedom degree adjusting mechanism; the extension line of the central shaft of the cylinder is vertical to the axis of the threaded rod in the X-axis translational freedom degree adjusting mechanism and is vertically intersected with the axis of the bull gear in the X-axis rotational freedom degree adjusting mechanism;
the laser emission device also comprises a dial which is fixedly connected to the top of the cylinder in the laser emission device and used for receiving the cross laser beam emitted by the previous laser emission device; the dial is provided with two groups of scales in the transverse direction and the longitudinal direction; in a group of transverse scales of the dial, a scale mark with the longest length is provided, and the extension line of the scale mark is vertically intersected with the axis of the cylinder and is superposed with the axis of the bull gear in the X-axis rotational freedom degree adjusting mechanism; in a group of longitudinal scales of the dial, a scale mark with the longest length is arranged, and the extension line of the scale mark is superposed with the axis of the cylinder;
the laser emitting device also comprises a cross-shaped laser emitting head which is embedded on the cylinder; in the cross-shaped laser beam emitted by the laser emitting head, the plane swept by the vertical laser beam and the central axis of the cylinder are in the same plane; the plane swept by the horizontal laser beam is vertical to the central axis of the cylinder, and is in the same plane with the axis of the bull gear in the X-axis rotational freedom degree adjusting mechanism.
The laser adjusting method of the rapid station moving platform of the laser emitting device is as follows: the cross laser beam print received on the dial in the laser emitting device is used for sequentially adjusting the Z-axis rotational freedom degree adjusting mechanism, the Y-axis translational freedom degree adjusting mechanism and the X-axis translational freedom degree adjusting mechanism, so that three adjustment works are respectively realized: making a transverse laser beam footprint of a cross laser beam footprint parallel to a longest scale line of the transverse scales of the dial, making a transverse laser beam footprint of a cross laser beam footprint coincide with a longest scale line of the transverse scales of the dial, and making a longitudinal laser beam footprint of a cross laser beam footprint coincide with a longest scale line of the longitudinal scales of the dial; two cross laser beams emitted by laser emitting devices of the two rapid station moving platforms project onto a laser receiving plate installed at the tail of the tunneling machine, cross laser prints, emitted by a previous rapid station moving platform, on the laser receiving plate are used as reference prints, cross laser prints, emitted by a rapid station moving platform which is being installed and calibrated, on the laser receiving plate are used as calibrated prints, the platform device, emitted by the rapid station moving platform which is being installed and calibrated, is adjusted, and the specific method is as follows: firstly, the X-axis rotational freedom degree adjusting mechanism is adjusted to enable the transverse trace line of the adjusted mark to coincide with the transverse trace line of the reference mark, and then the Y-axis rotational freedom degree adjusting mechanism is adjusted to enable the longitudinal trace line of the adjusted mark to coincide with the longitudinal trace line of the reference mark.
Drawings
Fig. 1 is a schematic structural diagram of a rapid station-moving platform of a laser transmitter according to the present invention.
Fig. 2 is a schematic view of the construction of the anchor fixing apparatus of the present invention.
Fig. 3 is a schematic view of the Y-axis translational degree of freedom adjustment mechanism of the present invention.
Fig. 4 is a schematic diagram of the X-axis translational degree of freedom adjustment mechanism of the present invention.
Fig. 5 is a schematic diagram of laser calibration of a fast station-moving platform of a laser transmitter according to the present invention.
Fig. 6 is a schematic view of a laser receiving plate at the tail end of the heading machine.
Fig. 7 is a schematic view of a platform part for carrying a laser emitting device according to the present invention.
Fig. 8 is a schematic diagram of a laser attitude adjustment process according to the present invention.
In the figure, 1-roadway top, 2-anchor rod fixing equipment, 3-surface positioning parts, 4-adjusting rods, 5-translational freedom degree coarse adjusting device, 6-vertical angle steel, 7-horizontal angle steel, 8-worm gear, 9-worm gear fixing device, 10-large gear, 11-Z axis rotating rod, 12-worm gear, 13-large gear, 14-laser emitter platform, 15-worm gear, 16-laser emitter, 17-calibration scale, 18-counterweight large gear, 19-counterweight small gear, 20-anchor rod fixing device, 21-connecting rod adjusting block, 22-connecting rod, 23-translational freedom degree adjusting rod, 24, 25, 26, 27-bolt, 28-threaded rod and 29-heading machine tail end laser receiving plate.
Detailed Description
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings.
Fig. 1 to 8 illustrate a rapid station-moving platform of a laser transmitter in a roadway and a laser adjusting method thereof in detail. Fig. 1 is a schematic perspective view of a rapid station-moving platform of a laser emitting device of the present invention, which is applied to the spatial attitude positioning of a heading machine during coal roadway heading.
The quick station moving platform is provided with a mounting connection part for fixing equipment, and the mounting connection part comprises an anchor rod fixing device 20, a connecting rod adjusting block 21, a connecting rod 22, a translational degree of freedom adjusting rod 23, bolts 24, 25, 26 and 27, anchor rod fixing equipment 2, a surface positioning part 3, an adjusting rod 4, a translational degree of freedom coarse adjusting device 5, vertical angle steel 6, horizontal angle steel 7, a worm gear 8, a worm gear fixing device 9, a large gear 10 and a Z-axis rotating rod 11. The anchor rod fixing device 20 is fixed with the anchor rod at the top of the roadway, and the connecting rod 22 is connected with the anchor rod fixing device 20 through the connecting rod adjusting block 21. The surface positioning part 3 is connected with vertical angle steels 6, the adjustment is carried out through the adjusting rod 4, the two vertical angle steels 6 are kept approximately parallel, a row of through holes are formed in the vertical angle steels 6 and the horizontal angle steels 7, and the horizontal angle steels 7 are approximately in a horizontal state through bolt fixation. The translational freedom degree coarse adjustment device 5 can move on the horizontal angle steel to coarsely adjust the laser position. The turbine and the pinion of the turbine worm 8 are fixed and synchronously rotate through a turbine fixing device 9, the rotation is transmitted to a large gear 10 through a worm by poking a wrench on the worm, and then is transmitted to a Z-axis rotating rod 11, and the Z-axis rotation fine adjustment is realized. Wherein the pinion is axially movable on the shaft and is angularly coarsely adjustable when separated from the bull gear 10.
The platform part for bearing the laser emitting device comprises a worm gear 12, a gearwheel 13, a laser emitter platform 14, a worm gear 15, a calibration scale 17, a counterweight gearwheel 18 and a counterweight pinion 19. The worm gear 12, the pinion gear and the bull gear 13 are used for adjusting the degree of freedom of the X-axis rotation. The laser emitter platform 14 is used for placing a laser emitting device and a Y-axis rotational freedom degree adjusting mechanism. A calibration graduated scale 17 is installed, the zero scale of the graduated scale is aligned to the center of the laser emitting head, scales on two sides with the zero scale as the center are divided into positive and negative numerical values, a balance weight large gear 18 and a balance weight small gear 19 are installed on the other side corresponding to the small gear and the large gear to balance a balance weight, and the motion stability and the balance stress of the system are guaranteed.
The laser transmitter 16 is fixed on a gearwheel on the laser transmitter platform 14, and one transverse laser beam and one longitudinal laser beam are arranged inside the transmitter, and is characterized by comprising two transverse laser beams and two longitudinal laser beams which are perpendicular to each other, namely a cross laser beam.
The use method of the rapid station-moving platform of the laser emitting device comprises the following steps.
The method comprises the following steps: two identical laser emitting devices are prepared on site for a fast station-moving platform.
Step two: and (3) mounting and fixing the rapid station moving platform of one laser emitting device to a roadway roof at a position 10m away from the rear of the heading machine.
Step three: the subassembly that is equipped with erection joint portion includes stock fixing device 20, connecting rod adjusting block 21, connecting rod 22, be connected to the stock tail end, realize the vertical gesture of connecting rod 22 threaded rod through gravity, install face location part 3 in proper order, adjusting lever 4, vertical angle steel 6, horizontal angle steel 7 and translation degree of freedom coarse adjusting device 5, select suitable hole in the installation and carry out bolt and nut's fixed, adjust platform device and laser emission device and assemble in advance on translation degree of freedom coarse adjusting device 5, realize the installation of the platform that moves fast, and accomplish the preliminary coarse adjustment of position parameter about the laser beam about from top to bottom.
Step four: the Z-axis rotational freedom degree of the laser is quickly adjusted by adjusting a large gear of a Z-axis rotational freedom degree adjusting mechanism according to a pose signal of the total station, and the Z-axis rotational freedom degree of the laser is finely adjusted by adjusting a wrench of a worm; then, the translation of the laser of the base station in the Y-axis direction is adjusted by rotating the bolts 24 and 25; the bolts 26 and 27 are rotated to adjust the translation of the base station laser in the X-axis direction; and finally, sequentially adjusting the X-axis rotational freedom adjusting mechanism and the Y-axis rotational freedom adjusting mechanism according to the Z-axis rotational freedom adjusting method. The emitting direction and the posture of the cross laser are consistent with the required tunneling direction and the required posture of the tunnel.
Step five: and (3) after the heading machine forwards tunnels 50m, mounting and fixing a rapid station moving platform of another laser emission device to the top plate of the roadway, wherein the rapid station moving platform is positioned 10m behind the heading machine, and the mounting method is the same as the third step.
Step six: the laser calibration is realized by adjusting an adjusting platform device of a rapid station-shifting platform at the position of 10m behind the heading machine, and the specific method comprises the following steps: the Z-axis rotational freedom of the laser is quickly adjusted by adjusting a large gear of a Z-axis rotational freedom adjusting mechanism, and the fine adjustment of the Z-axis rotational freedom of the laser is realized by adjusting a wrench of a worm, so that the cross laser of the previous mounting device is correspondingly parallel to two groups of scale marks of the horizontal scale and the vertical scale of the dial of the mounting device respectively; then, the translation of the base station laser in the Y-axis direction is adjusted by rotating the bolts 24 and 25, and the translation of the base station laser in the X-axis direction is adjusted by rotating the bolts 26 and 27, so that the transverse and longitudinal laser beams of the cross laser beam emitted by the previous mounting equipment are respectively superposed with the longest scale mark in the transverse scale and the longest scale mark in the longitudinal scale on the dial of the currently-mounted equipment; and finally, sequentially adjusting the X-axis rotational freedom adjusting mechanism and the Y-axis rotational freedom adjusting mechanism according to a Z-axis rotational freedom adjusting method, and respectively enabling the positions of the cross laser beam of the device being installed and the position of the cross laser beam of the previous installation device on the laser receiving plate of the heading machine to coincide. Namely, the emitting direction and the posture of the cross laser of the installed equipment are kept consistent with the required tunneling direction and the required posture.
Step seven: and after the heading machine is tunneled forwards for 50m again, the rapid station-moving platform equipment far away from the heading machine is detached and installed at the position 10m behind the heading machine, and the installation and laser adjustment method respectively refers to the third step and the sixth step.
Step eight: and repeating the seventh step to realize accurate, rapid and continuous forward tunneling of the tunneling machine.
Claims (6)
1. The utility model provides a laser emitter's platform of moving fast, includes installation connecting portion, regulation platform device and the laser emitter who is used for fixed equipment, its characterized in that:
the mounting and connecting part is connected above the adjusting platform device and is connected with the tail ends of two anchor rods of the roadway, so that the rapid station moving platform is fixed at the top of the roadway;
the rapid station moving platform realizes the initial adjustment of the posture of the rapid station moving platform by gravity through the installation connecting part;
the laser emitting device is arranged on the adjusting platform device and can emit a cross-shaped laser beam;
the cross-shaped laser beam emitted by the laser emitting device comprises two transverse and longitudinal laser beams which are vertical to each other;
the adjusting platform device realizes the accurate adjustment of the emission direction of the cross laser beam;
the adjusting platform device comprises two translational freedom degree adjusting mechanisms, namely an X-axis translational freedom degree adjusting mechanism and a Y-axis translational freedom degree adjusting mechanism, and is used for adjusting the translational freedom degrees of the laser emitting device in the X-axis direction and the Y-axis direction; the three rotational freedom degree adjusting mechanisms, namely an X-axis rotational freedom degree adjusting mechanism, a Y-axis rotational freedom degree adjusting mechanism and a Z-axis rotational freedom degree adjusting mechanism, are used for adjusting the rotational freedom degrees of the laser emitting device in the directions of an X axis, a Y axis and a Z axis;
the directions of the X axis, the Y axis and the Z axis are defined as follows: the horizontal direction of the cross section of the X-axis roadway, the Y-axis is the vertical direction of the cross section of the roadway, and the Z-axis is the advancing direction of roadway excavation;
the translational freedom degree adjusting mechanism comprises two nuts and a threaded rod;
the horizontal position and the height position of the adjusted part are adjusted by adjusting the position of the nut on the threaded rod, namely the adjustment of the positions of an X axis and a Y axis;
the cross section outline shape of the threaded rod of the translation freedom degree adjusting mechanism consists of a 135-degree circular arc and a line segment, and two end points of the line segment are connected with two end points of the circular arc;
the threaded rod penetrates through a through hole part of an adjusted part, the shape of the cross section profile of the through hole part is consistent with that of the cross section profile of a threaded section of the threaded rod, but the through hole part is a smooth hole and is not provided with threads;
the threaded rod has the cross section profile shapes of the threaded part and the through hole of the regulated part, and aims to assemble the two parts through the cross section with the shape, so that the two parts cannot rotate mutually under the working condition of vibration or stress;
the rotational freedom degree adjusting mechanism comprises a secondary transmission system of a worm gear, a small gear and a large gear, a rotational handle and a bottom plate;
two ends of the worm of the rotational freedom degree adjusting mechanism are assembled with two lug plates erected on the bottom plate through angular contact ball bearings;
a large gear shaft of the rotational freedom degree adjusting mechanism vertically penetrates through a bottom plate of the rotational freedom degree adjusting mechanism, and the gear shaft is connected with the bottom plate through a cylindrical roller bearing;
the handle of the rotational freedom degree adjusting mechanism is fixedly connected to the tail end of the worm;
the rotational freedom degree adjusting mechanism comprises the following rotational freedom degree adjusting methods: the handle is manually moved to enable the worm to rotate, so that the worm wheel, the pinion and the bull gear are sequentially driven to rotate, rotation of a bull gear shaft is achieved, the bull gear is fixedly connected with the adjusted part, the adjusted part can be driven to rotate, the pinion can axially move on the shaft, and the angle can be roughly adjusted when the pinion is separated from the bull gear;
the worm gear and worm transmission pair of the secondary transmission system is characterized in that the unfolding helical angle of the worm is smaller than the contact friction angle of the worm gear and the worm, so that self-locking fixation after adjustment is realized;
the cross-shaped laser beam emitted by the laser emitting device is projected onto a laser receiving plate at the tail part of the development machine;
the rapid station moving platform of the laser emitting device is used, each set of two rapid station moving platforms are positioned and calibrated by a total station, then the two rapid station moving platforms are alternately moved towards the direction of a tunneling working face every certain tunneling distance, and the emitting direction of the laser of the rapid station moving platform which is being installed and calibrated is calibrated by taking a cross laser beam emitted by one rapid station moving platform far away from the tunneling machine as a reference.
2. The rapid station-moving platform of the laser transmitter according to claim 1, wherein the mounting connection part comprises two sets of anchor rod fixing devices, one transverse angle steel piece, two vertical angle steels, two surface positioning parts and one adjusting rod piece, and is characterized in that:
the anchor rod fixing equipment comprises an anchor rod fixing device, a connecting block and a tail end connecting rod, and the rapid station transfer platform is integrally arranged and positioned at the tail ends of two anchor rods at the top of the excavation roadway;
the horizontal angle steel is provided with a row of holes and is used for fixedly mounting a five-degree-of-freedom adjusting platform device and roughly adjusting the horizontal position of the laser transmitter platform;
the vertical angle steel is provided with a row of holes and used for fixing the horizontal angle steel and roughly adjusting the height of the adjusting platform device;
the surface positioning part is used for connecting the vertical angle steel with the anchor rod fixing equipment;
the adjusting rod is used for quickly aligning two face positioning parts;
the anchor rod fixing device of the anchor rod fixing equipment comprises a threaded through hole and an opening clamping groove, wherein the threaded through hole is fixedly connected with the anchor rod at the top of the roadway through threads; the opening clamping groove comprises a rectangular through hole and a U-shaped groove;
the connecting block of the anchor rod fixing equipment comprises a convex connecting shaft and two open clamping grooves;
stock fixed equipment's connecting block, its convex connecting axle that contains, its characterized in that: the connecting shaft of the connecting block is assembled with the open slot of the anchor rod fixing device, the connecting shaft and the open slot of the anchor rod fixing device can rotate relatively, the posture is adjusted by using gravity, and the connecting shaft is easy to assemble and disassemble;
the connecting block of stock fixed equipment, its opening draw-in groove that contains, its characterized in that: comprises a rectangular through hole and a U-shaped groove;
stock fixed equipment's end-to-end connection pole, its characterized in that: one end of the rod is a full-thread cylindrical rod, and the other end of the rod comprises two connecting shafts which are same in shape and opposite in orientation;
stock fixed equipment's end connecting rod, the connecting axle that contains, its characterized in that: the connecting rod assembly comprises a tail end thick shaft and a root thin shaft, the two shaft diameter sizes are respectively the same as the long side size and the U-shaped groove diameter of a rectangular through hole of a connecting block open slot, the axial length of the two shafts is respectively the same as the short side size and the U-shaped groove width of the rectangular through hole of the connecting block open slot, and therefore the two connecting shafts of the tail end connecting rod are assembled with the two open slots of the connecting block, can rotate relative to each other, utilize gravity to adjust the posture, and are easy to assemble and disassemble;
the surface positioning part is provided with a circular thread through hole and is fixedly connected with a full thread cylindrical rod of a tail end connecting rod in anchor rod fixing equipment, and the height and the horizontal inclination angle of parts below the surface positioning part can be adjusted;
the surface positioning part is also provided with a rectangular through hole, and the pore channel direction of the rectangular through hole is vertical to the pore channel direction of the round threaded through hole of the surface positioning part;
the adjusting rod is inserted into the rectangular through holes of the two positioning parts and is characterized in that the height dimension of the adjusting rod is slightly smaller than the height dimension of the section of the rectangular hole of the positioning part, and the thickness dimension of the adjusting rod is consistent with the width dimension of the section of the rectangular hole of the positioning part;
the size incidence relation of the adjusting rod and the surface positioning part is designed to ensure that the two positioning parts are respectively positioned on the same plane with the contact surfaces of the two vertical angle steels after the adjusting rod is inserted into the rectangular holes of the two positioning parts, so that the operation is convenient when the transverse angle steels are installed on the vertical angle steels.
3. The fast station-shifting platform of the laser transmitter according to claim 1, wherein the adjusting platform device comprises an X-axis translational degree of freedom adjusting mechanism, a Y-axis translational degree of freedom adjusting mechanism, an X-axis rotational degree of freedom adjusting mechanism, a Y-axis rotational degree of freedom adjusting mechanism and a Z-axis rotational degree of freedom adjusting mechanism, and the spatial arrangement of the adjusting platform device is characterized in that:
the Z-axis rotational freedom degree adjusting mechanism is arranged at the top end, and the shaft tail end of a large gear shaft contained in the Z-axis rotational freedom degree adjusting mechanism comprises a through hole;
the threaded rod of the Y-axis translational freedom degree adjusting mechanism penetrates through a through hole at the shaft tail end of the large gear shaft in the Z-axis rotational freedom degree adjusting mechanism;
the tail end of a threaded rod of the Y-axis translation freedom degree adjusting mechanism comprises a through hole;
the threaded rod of the X-axis translational degree of freedom adjusting mechanism penetrates through a through hole at the tail end of the threaded rod in the Y-axis translational degree of freedom adjusting mechanism;
two ends of a threaded rod of the X-axis translation freedom degree adjusting mechanism are connected with the X-axis rotation freedom degree adjusting mechanism;
the X-axis rotational freedom degree adjusting mechanism comprises a left transmission device and a right transmission device, one device is a driving adjusting device, and the other device is a driven device;
the two large gear shafts of the left and right transmission devices of the X-axis rotational freedom degree adjusting mechanism are fixedly connected with the bottom plate of the Y-axis rotational freedom degree adjusting mechanism through two rocker arms;
the Y-axis rotational freedom degree adjusting mechanism is positioned at the lowest position of the five freedom degree adjusting mechanisms.
4. The fast station-moving platform of the laser transmitter according to claim 1, wherein the adjusting mechanism for the degree of freedom of X-axis rotation in the adjusting platform device is characterized in that: the two shaft ends of the threaded rod part of the X-axis translation freedom degree adjusting mechanism are fixedly connected by a bottom plate, one end of the threaded rod part is a driving adjusting transmission system, the other end of the threaded rod part is driven, a worm gear and a worm are not arranged, and a large gear and a small gear play a stabilizing role;
the axes of the left gearwheel and the right gearwheel are a straight line and are parallel to the axis of the threaded rod part of the X-axis translational freedom degree adjusting mechanism.
5. The rapid station-moving platform of the laser transmitter as claimed in claim 1, wherein the laser transmitter comprises a cylinder coaxially connected to the large gear of the Y-axis rotational freedom adjustment mechanism;
the extension line of the central shaft of the cylinder is vertical to the axis of the threaded rod in the X-axis translational degree of freedom adjusting mechanism and is vertically intersected with the axis of the bull gear in the X-axis rotational degree of freedom adjusting mechanism;
the laser emission device also comprises a dial which is fixedly connected to the top of the cylinder in the laser emission device and used for receiving the cross laser beam emitted by the previous laser emission device;
the dial of the laser emitting device is provided with two groups of scales in the transverse direction and the longitudinal direction;
in a group of transverse scales of the dial of the laser emitting device, a scale mark with the longest length is arranged, and the extension line of the scale mark is vertically intersected with the axis of the cylinder and is superposed with the axis of the bull gear in the X-axis rotational freedom degree adjusting mechanism;
in a group of longitudinal scales of the dial of the laser emitting device, a scale mark with the longest length is arranged, and the extension line of the scale mark is superposed with the axis of the cylinder;
the laser emitting device also comprises a cross-shaped laser emitting head which is embedded on the cylinder;
in the cross-shaped laser beam emitted by the laser emitting head, the plane swept by the vertical laser beam and the central axis of the cylinder are in the same plane;
in the cross-shaped laser emitted by the laser emitting head, the plane swept by the horizontal laser beam is vertical to the central axis of the cylinder, and is in the same plane with the axis of the bull gear in the X-axis rotational freedom degree adjusting mechanism.
6. The fast station-moving platform of the laser transmitter as claimed in claim 1, wherein the laser tuning method comprises:
the cross laser beam print received on the dial in the laser emitting device is used for sequentially adjusting the Z-axis rotational freedom degree adjusting mechanism, the Y-axis translational freedom degree adjusting mechanism and the X-axis translational freedom degree adjusting mechanism, so that three adjustment works are respectively realized: making a transverse laser beam footprint of a cross laser beam footprint parallel to a longest scale line of the transverse scales of the dial, making a transverse laser beam footprint of a cross laser beam footprint coincide with a longest scale line of the transverse scales of the dial, and making a longitudinal laser beam footprint of a cross laser beam footprint coincide with a longest scale line of the longitudinal scales of the dial;
the two rapid station moving platforms respectively project two cross laser beams emitted by laser emitting devices contained in the two rapid station moving platforms onto a laser receiving plate installed at the tail part of the heading machine, cross laser prints, on the laser receiving plate, of the laser emitted by the previous rapid station moving platform are taken as reference prints, cross laser prints, on the laser receiving plate, of the laser emitted by the rapid station moving platform which is being installed and calibrated are taken as calibrated prints, and the platform device, which is being installed and calibrated and is emitting by the rapid station moving platform, is adjusted, and the specific method is as follows: firstly, the X-axis rotational freedom degree adjusting mechanism is adjusted to enable the transverse trace line of the adjusted mark to coincide with the transverse trace line of the reference mark, and then the Y-axis rotational freedom degree adjusting mechanism is adjusted to enable the longitudinal trace line of the adjusted mark to coincide with the longitudinal trace line of the reference mark.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010867125.XA CN112013825B (en) | 2020-08-26 | 2020-08-26 | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010867125.XA CN112013825B (en) | 2020-08-26 | 2020-08-26 | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112013825A CN112013825A (en) | 2020-12-01 |
| CN112013825B true CN112013825B (en) | 2022-05-17 |
Family
ID=73503472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010867125.XA Active CN112013825B (en) | 2020-08-26 | 2020-08-26 | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112013825B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112525175B (en) * | 2020-12-21 | 2022-05-31 | 辽宁工程技术大学 | Cross laser emitting device capable of being automatically adjusted and calibrated in roadway |
| CN113250690A (en) * | 2021-05-25 | 2021-08-13 | 中煤科工开采研究院有限公司 | Relative position sensing method for tunneling complete equipment |
| CN113863936A (en) * | 2021-08-16 | 2021-12-31 | 中铁工程装备集团技术服务有限公司 | Alternating positioning type double-shield TBM automatic guiding system and method |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102207382B (en) * | 2011-03-31 | 2012-10-03 | 天地（常州）自动化股份有限公司 | Pose measure system of cantilever type heading machine |
| CN104567837B (en) * | 2014-12-12 | 2016-08-24 | 中国航空工业集团公司北京长城计量测试技术研究所 | The same axis adjustment device of a kind of high accuracy |
| CN207991537U (en) * | 2018-02-08 | 2018-10-19 | 烟台飞马瓦特热交换技术有限公司 | A kind of underground laser orientation instrument |
| CN111174067A (en) * | 2020-04-02 | 2020-05-19 | 辽宁工程技术大学 | Rapid station moving platform and method for laser emitting device |
-
2020
- 2020-08-26 CN CN202010867125.XA patent/CN112013825B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112013825A (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112013825B (en) | Rapid station moving platform of laser emitting device in roadway and laser adjusting method thereof | |
| CN104759876A (en) | Coordination location device for automatic butt joint assembly of large thin-wall cylindrical members | |
| WO2022160559A1 (en) | Intelligent alignment system and method for aircraft wing | |
| CN112976337A (en) | Automatic installation equipment and method for building surface explosion bolt | |
| CN111794679A (en) | Horizontal light blasting hole direction control device and use method thereof | |
| CN104748733A (en) | Laser indicating instrument suitable for survey setting out in tunnel excavation | |
| CN109084960A (en) | A kind of double parallel light pipe type pointing turntable pointing accuracy test macro and method | |
| CN111947606B (en) | Tunnel central axis auxiliary measuring device and measuring method thereof | |
| CN110453551B (en) | Subway is built and is carried out skew calibration adjusting device with making things convenient for rail | |
| CN110411297B (en) | Positioning device and method for tunnel inclined hole cut blast hole | |
| CN104368470B (en) | A kind of railway freight-car paint marks position automatic positioning equipment | |
| CN104132644B (en) | Tunnel cross-section measurement point laying out apparatus and tunnel cross-section measurement point setting out method | |
| FI74112C (en) | Drill boom arrangement for a rock drill | |
| CN211038510U (en) | Side slope contour blasting blast hole drilling guide frame | |
| CN112901267B (en) | Intelligent mining miner positioning system | |
| CN212656828U (en) | Movable total station fixing equipment suitable for shield automatic guiding | |
| CN108871294B (en) | Plug-in type electric paying-off device | |
| CN117489353A (en) | Laser station shifting device for electric adjustment in roadway | |
| CN212779265U (en) | Device for quickly aligning laser target | |
| CN215177344U (en) | Highway tunnel blasting excavation construction equipment | |
| CN220407771U (en) | Transfer platform for auxiliary assembly of inertial sensor | |
| CN116358504A (en) | Mining annular scanning laser emitter mount | |
| CN204043885U (en) | Wind tunnel test Stereo Vision Measurement System surving coordinate system pose caliberating device | |
| CN218748609U (en) | Angle-adjustable hydraulic drilling support device | |
| CN217872792U (en) | Blast hole positioning device for full-section blasting of tunnel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |