CN113852766B - Mining automatic bolt device based on image recognition - Google Patents
Mining automatic bolt device based on image recognition Download PDFInfo
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- CN113852766B CN113852766B CN202111047901.2A CN202111047901A CN113852766B CN 113852766 B CN113852766 B CN 113852766B CN 202111047901 A CN202111047901 A CN 202111047901A CN 113852766 B CN113852766 B CN 113852766B
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- frame assembly
- storage bin
- pin
- bolt
- pin storage
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention discloses a mining automatic bolt device based on image recognition, which comprises a belt frame assembly, a frame assembly and a bolt mechanism, wherein the belt frame assembly is arranged on the frame assembly; the belt frame assembly comprises a carrier roller frame assembly and an H frame assembly, the carrier roller frame assembly is erected and fixed above the H frame assembly, and a plurality of bolt holes are formed in the carrier roller frame assembly and the H frame assembly; the frame assembly comprises a frame, frame supporting legs, a camera and an upper top plate; the bolt mechanism comprises a base, a chute supporting plate, a chute, a pin storage bin supporting plate, a pin storage bin, a moving mechanism and a pressing mechanism; the moving mechanism comprises a sliding block, a moving oil cylinder and a pressing plate; the pressing mechanism comprises a pressing oil cylinder, a pressing assembly, a pressing oil cylinder fixing assembly and a guide groove. According to the invention, through arranging the symmetrical bolt mechanism and the two cameras, the bolt is accurately positioned, the bolt efficiency is improved, the safety is improved, the guide mechanism is arranged, the stable movement among all the parts is realized, and the device has the advantages of simple structure, accurate positioning, high efficiency and the like.
Description
Technical Field
The invention relates to the field of underground rapid tunneling of coal mines, in particular to a mining automatic bolt device based on image recognition.
Background
In recent years, with the improvement of mechanization and intellectualization degree of coal mining, mining unbalance gradually becomes a prominent problem in the coal mining process, particularly, with the intelligent advance of a coal face, the mining speed is continuously improved, higher requirements are provided for the advancing speed of a tunneling face, and the problem of mining unbalance is more serious.
The method has the advantages that the related problems of the coal mine fast tunneling system are deeply researched, the technical index and the automation degree of coal mine roadway tunneling operation can be improved, and the requirements of safe and efficient tunneling are met. At present, most roadways still depend on manual installation of a belt frame assembly in the tunneling process so as to meet the coal conveying requirement of a belt conveyor and seriously influence the tunneling speed. How to realize the automatic installation of the belt frame assembly is one of the key links for improving the tunneling speed. The patent "bolt device" (application number CN 201922061948.9) granted in 11/26/2019 is simple in structure, but bolt hole positioning is difficult and cannot be used in a coal mine underground. Therefore, there is a need for an automatic latch device with precise positioning and high efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the mining automatic bolt device based on the image recognition, and the quick bolt function of the bolt device is realized by controlling the movable oil cylinder and the pressing oil cylinder; in addition, adopt two cameras, realize the accurate positioning in bolt hole, have advantages such as simple structure, location are accurate, efficient.
The technical scheme of the invention is as follows: a mining automatic bolt device based on image recognition comprises a belt frame assembly, a frame assembly and a bolt mechanism;
the belt frame assembly comprises a carrier roller frame assembly and an H frame assembly, the carrier roller frame assembly is erected and fixed above the H frame assembly, and a plurality of bolt holes are formed in the carrier roller frame assembly and the H frame assembly;
the frame assembly comprises a frame, frame supporting legs, a camera and an upper top plate, wherein the frame supporting legs are arranged on two sides of the belt frame assembly, the frame is arranged above the belt frame assembly and fixed on the frame supporting legs, the upper top plate is arranged above the frame, and the camera is arranged at the bottom of the upper top plate;
the bolt mechanism comprises a base arranged on the frame supporting leg, a chute supporting plate arranged above the base, a chute arranged above the chute supporting plate, a pin storage bin supporting plate arranged on the chute, a pin storage bin arranged on the pin storage bin supporting plate, a moving mechanism driving a C-shaped pin in the pin storage bin to move, and a pressing mechanism arranged at one end, close to the bolt hole, of the pin storage bin;
the moving mechanism comprises a sliding block arranged at the bottom of the pin storage bin supporting plate, a moving oil cylinder driving the pin storage bin supporting plate to slide in the sliding groove and a pressing plate arranged inside the pin storage bin, the bottom of the pressing plate is arranged on the pin storage bin supporting plate, one end of the moving oil cylinder is connected with the pin storage bin supporting plate, the other end of the moving oil cylinder is connected with the sliding groove supporting plate, the moving oil cylinder acts to drive the sliding block to slide in the sliding groove, so that the pressing plate is driven to move, the C-shaped pin is pushed to move in the pin storage bin, and conveying and feeding of the C-shaped pin are realized;
push down the mechanism including push down the hydro-cylinder, push down the subassembly, push down the fixed subassembly of hydro-cylinder, guide way, push down the fixed subassembly of hydro-cylinder and be "door" structure, fixed setting is in storing up the storage round pin storehouse backup pad of selling the storehouse both sides, push down hydro-cylinder one end and push down the fixed subassembly of hydro-cylinder and connect, the other end and push down the subassembly and connect, the side in storing up the round pin storehouse is fixed to the guide way, push down the subassembly and include "door" type movable rod and "V" type pushing down, a vertical pole setting of movable rod is connected with the output of pushing down the hydro-cylinder in the guide way, the guide way plays protection, guide effect at pushing down the subassembly in-process, and the bottom of another vertical pole and the crosspoint of pushing down are connected for pushing down the piece opening towards C type round pin, and the center of center and C type round pin is in same vertical straight line, has guaranteed the stable form and the straightness that pushes down.
Furthermore, the pressing plate is connected with the side face of the pin storage bin through a spring, and the pressing plate is convenient to reset.
Furthermore, the spring is internally provided with a guide post, one end of the guide post is fixed on the side surface of the pin storage bin, and the guide post is used for guiding so as to realize the positioning precision of the C-shaped pin and ensure that the C-shaped pin is vertically pressed down.
Furthermore, a partition plate is arranged at one end, close to the bolt hole, of the pin storage bin, and a gap matched with the size of the C-shaped pin is reserved between the partition plate and the bottom of the pin storage bin, so that the C-shaped pin can be pressed down conveniently.
Further, the base is of an L-shaped structure, the vertical surface is connected with the frame supporting legs through bolts, and the horizontal surface is connected with the sliding groove supporting plate through bolts.
Furthermore, the bolt mechanism is total 2, and symmetrical arrangement can realize the synchronous bolt in hole about the belt frame subassembly on the frame landing leg of belt frame subassembly both sides, improves the installation effectiveness.
Furthermore, the cameras are 2 in total and are explosion-proof cameras, are symmetrically arranged below the upper top plate and are connected with the upper top plate through bolts, and therefore positioning accuracy can be improved.
Furthermore, the base is provided with a U-shaped hole, so that the local position of the bolt mechanism can be adjusted.
Furthermore, an apron is arranged above the pin storage bin, and the apron is connected with the pin storage bin through a hinge, so that pulverized coal is prevented from entering the pin storage bin during coal mine underground operation.
Furthermore, the two sides inside the pin storage bin are provided with guide strips, and the pressing plate slides in the pin storage bin along the guide strips, so that the guiding and protecting effects are achieved in the movement process of the pressing plate.
Furthermore, displacement sensors are arranged in the movable oil cylinder and the pressing oil cylinder respectively to control the strokes of the movable oil cylinder and the pressing oil cylinder.
Compared with the prior art, the invention has the beneficial effects that:
(1) By arranging the two bolt mechanisms and the two cameras symmetrically, the cameras can accurately position the bolt holes and synchronously control the two bolt mechanisms, and the bolt efficiency is improved;
(2) The adopted camera is an explosion-proof camera, so that the use requirement of the bolt mechanism in a complex coal mine environment is met, and the safety is improved;
(3) The invention realizes the stable movement of each part by arranging the guide strip and the guide groove.
The invention has the advantages of simple structure, accurate positioning, high efficiency and the like.
Drawings
FIG. 1 is a schematic structural diagram of an automatic bolt device for mining based on image recognition;
FIG. 2 is an enlarged view of the mining automatic bolt device based on image recognition at A in FIG. 1;
FIG. 3 is a schematic structural view of a belt carrier assembly of an automatic bolt device for mining based on image recognition according to the present invention;
FIG. 4 is a schematic structural diagram of a bolt mechanism of the automatic bolt device for mines based on image recognition;
FIG. 5 is a schematic structural diagram of the interior of a bolt mechanism of the mining automatic bolt device based on image recognition;
fig. 6 is an enlarged view of the mining automatic latch device based on image recognition at B in fig. 5.
In the figure:
1. the device comprises a belt frame assembly, 1-1 parts of a carrier roller frame assembly, 1-2 parts of an H frame assembly, 1-3 parts of a pin hole, 2 parts of a frame assembly, 2-1 parts of a frame, 2-2 parts of a camera, 2-3 parts of an upper top plate, 3 parts of a pin mechanism, 4 parts of a base, 5 parts of a chute supporting plate, 6 parts of a pin storage bin supporting plate, 7 parts of a pin storage bin, 8 parts of a partition plate, 9 parts of a guide groove, 10 parts of a pressing assembly, 11 parts of a pressing oil cylinder fixing assembly, 12 parts of a cover plate, 13 parts of a sliding block, 14 parts of a moving oil cylinder, 15 parts of a sliding groove, 16 parts of a pressing oil cylinder, 17 parts of a C-shaped pin, 18 parts of a pressing plate, 19 parts of a guide strip, 20 parts of a spring, 21 parts of a guide column.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in order that those skilled in the art may, without any creative effort, practice the present invention.
The specific implementation mode of the invention is as follows: as shown in fig. 1-6, an automatic bolt device for mining based on image recognition comprises a belt frame assembly 1, a frame assembly 2 and a bolt mechanism 3;
the belt carrier assembly 1 comprises a carrier roller assembly 1-1 and an H-frame assembly 1-2, the carrier roller assembly 1-1 is erected and fixed above the H-frame assembly 1-2, a plurality of bolt holes 1-3 are formed in the carrier roller assembly 1-1 and the H-frame assembly 1-2, C-shaped pins are inserted in the bolt holes 1-3 to realize the connection and fixation of the carrier roller assembly 1-1 and the H-frame assembly 1-2;
the frame assembly 2 comprises a frame 2-1, frame support legs, cameras 2-2 and an upper top plate 2-3, the frame support legs are arranged on two sides of the belt frame assembly 1, the frame 2-1 is arranged above the belt frame assembly 1 and fixed on the frame support legs, the upper top plate 2-3 is welded and fixed above the frame 2-1, and the cameras 2-2 are arranged at the bottom of the upper top plate 2-3;
the bolt mechanism 3 comprises a base 4 arranged on the frame supporting leg, a chute supporting plate 5 arranged above the base 4, a chute 15 arranged above the chute supporting plate 5, a pin storage bin supporting plate 6 arranged on the chute 15, a pin storage bin 7 arranged on the pin storage bin supporting plate 6, a moving mechanism driving a C-shaped pin 17 in the pin storage bin 7 to move, and a pressing mechanism arranged at one end, close to the bolt hole 1-3, of the pin storage bin 7;
the moving mechanism comprises a sliding block 13 welded at the bottom of the pin storage bin supporting plate 6, a moving oil cylinder 14 for driving the pin storage bin supporting plate 6 to slide in a sliding groove 15 and a pressing plate 18 arranged inside the pin storage bin 7, wherein the bottom of the pressing plate 18 is arranged on the pin storage bin supporting plate 6, one end of the moving oil cylinder 14 is connected with the pin storage bin supporting plate 6, the other end of the moving oil cylinder is connected with the sliding groove supporting plate 5, the moving oil cylinder 14 acts to drive the sliding block 13 to slide in the sliding groove 15 and drive the pin storage bin supporting plate 6 fixed with the sliding block 13 to move, so that the pressing plate 18 fixed with the pin storage bin supporting plate 6 is driven to move, the pressing plate 18 pushes the C-shaped pin 17 to move in the pin storage bin 7, and the conveying and feeding of the C-shaped pin 17 are realized;
push down the mechanism including pushing down hydro-cylinder 16, push down subassembly 10, push down the fixed subassembly 11 of hydro-cylinder, guide way 9, push down the fixed subassembly 11 of hydro-cylinder and be "door" structure, welded fastening sets up on storing up round pin storehouse backup pad 6 of round pin storehouse 7 both sides, push down 16 one end of hydro-cylinder and push down the fixed subassembly 11 of hydro-cylinder and connect, the other end and push down subassembly 10 and connect, guide way 9 is fixed in the side of storing up round pin storehouse 7, push down subassembly 10 and include "door" type movable rod and "V" type pushing down piece, a vertical pole setting of movable rod is connected with the output that pushes down hydro-cylinder 16 in guide way 9, guide way 9 plays protection, guide effect at the subassembly 10 pushing down in-process that pushes down, and the bottom of another vertical pole and the crosspoint connection of pushing down piece for pushing down the opening towards C type round pin 17, and the center of center and C type round pin 17 are in same vertical straight line, have guaranteed the stable form and the straightness that pushes down.
According to the invention, the pressure plate 18 is connected with the side surface of the pin storage bin 7 through a spring 20, so that the pressure plate 18 can be conveniently reset, and the spring 20 is arranged at the center of the pressure plate 18.
Further preferably, the spring 20 is internally provided with a guide post 21, one end of the guide post 21 is fixed on the side surface of the pin storage bin 7 and is guided by the guide post 21, so that the positioning precision of the C-shaped pin 17 is realized, and the C-shaped pin 17 is ensured to be vertically pressed down.
The invention further preferably discloses that a partition plate 8 is arranged at one end of the pin storage bin 7 close to the pin inserting holes 1-3, and a gap matched with the C-shaped pin 7 in size is reserved between the partition plate 8 and the bottom of the pin storage bin 7, so that the C-shaped pin 7 can be conveniently pressed down.
Further preferably, the base 4 is of an L-shaped structure, the vertical surface is connected with the frame support legs through bolts, and the horizontal surface is connected with the chute support plate 5 through bolts.
The belt rack assembly is further preferably provided with 2 bolt mechanisms 3 which are symmetrically arranged on the frame supporting legs at two sides of the belt rack assembly 1, so that synchronous bolts of the left bolt hole 1 and the right bolt hole 1-3 of the belt rack assembly 1 can be realized, and the installation efficiency is improved.
The invention further preferably selects 2 cameras 2-2 as the explosion-proof cameras, which are symmetrically arranged below the upper top plate 2-3 and are connected with the upper top plate 2-3 through bolts, so that the positioning precision can be improved.
Further preferably, the base 4 is provided with a U-shaped hole, which can realize the local position adjustment of the latch mechanism 3.
According to the invention, the cover plate 12 is further preferably arranged above the pin storage bin 7, and the cover plate 12 is connected with the pin storage bin 7 through a hinge, so that pulverized coal is prevented from entering the pin storage bin 7 during coal mine underground operation.
The invention further preferably provides that guide strips 19 are welded on two sides inside the pin storage bin 7, and the pressing plate 18 slides in the pin storage bin 7 along the guide strips 19 and plays a role in guiding and protecting in the movement process of the pressing plate 18.
Further preferably, displacement sensors are disposed in the moving cylinder 14 and the pressing cylinder 16 to control the strokes of the moving cylinder 14 and the pressing cylinder 16.
The working process of the invention is as follows: when the belt frame assembly 1 moves from right to left, the camera 2-2 monitors the belt frame assembly in real time, when a second carrier roller frame of the carrier roller frame assembly 1-1 passes through the belt frame assembly, a digital signal is sent to the bolt mechanism 3, after the bolt mechanism 3 receives the digital signal, the moving oil cylinder 14 acts to push the sliding block 13 to drive the pressing plate 18 to move forwards, the displacement of the displacement sensor arranged in the moving oil cylinder 14 is collected in real time, the C-shaped pin 17 and the bolt hole 1-3 are in the same straight line and stop, then, when the camera 2-2 detects that the bolt hole 1-3 is aligned with the C-shaped pin 17, the bolt mechanism 3 receives the digital signal, the pressing oil cylinder 16 acts to quickly press the pressing-down assembly 10, the C-shaped pin 17 is inserted into the specified bolt hole 1-3 of the belt frame assembly 1 through collecting the displacement of the displacement sensor arranged in the pressing-down oil cylinder 16 in real time, after pressing is finished, the pressing-down oil cylinder 16 and the moving oil cylinder 14 are reset, two bolt mechanisms 3 synchronously act in the process, the process is repeated, the continuous pin 1-17 fixing of the C-1-17 in the carrier roller frame assembly, and the storage bin 7 is not completed, and the storage of the carrier roller frame assembly is timely supplemented.
While the preferred embodiments of the invention have been described, it is to be understood that the invention is not limited to the precise embodiments described, and that equipment and structures not described in detail are understood to be practiced as commonly known in the art; any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention by those skilled in the art can be made within the technical scope of the present invention.
Claims (10)
1. A mining automatic bolt device based on image recognition is characterized by comprising a belt frame assembly, a frame assembly and a bolt mechanism;
the belt frame assembly comprises a carrier roller frame assembly and an H frame assembly, the carrier roller frame assembly is erected and fixed above the H frame assembly, and a plurality of bolt holes are formed in the carrier roller frame assembly and the H frame assembly;
the frame assembly comprises a frame, frame supporting legs, a camera and an upper top plate, the frame supporting legs are arranged on two sides of the belt frame assembly, the frame is arranged above the belt frame assembly and fixed on the frame supporting legs, the upper top plate is arranged above the frame, and the camera is arranged at the bottom of the upper top plate;
the bolt mechanism comprises a base arranged on the frame supporting leg, a chute supporting plate arranged above the base, a chute arranged above the chute supporting plate, a pin storage bin supporting plate arranged on the chute, a pin storage bin arranged on the pin storage bin supporting plate, a moving mechanism driving a C-shaped pin in the pin storage bin to move, and a pressing mechanism arranged at one end, close to the bolt hole, of the pin storage bin;
the moving mechanism comprises a sliding block arranged at the bottom of the pin storage bin supporting plate, a moving oil cylinder for driving the pin storage bin supporting plate to slide in the sliding groove and a pressing plate arranged inside the pin storage bin, the bottom of the pressing plate is arranged on the pin storage bin supporting plate, the pressing plate is connected with the side surface of the pin storage bin through a spring, one end of the moving oil cylinder is connected with the pin storage bin supporting plate, the other end of the moving oil cylinder is connected with the sliding groove supporting plate, the moving oil cylinder acts to drive the sliding block to slide in the sliding groove, so that the pressing plate is driven to move, the C-shaped pin is pushed to move in the pin storage bin, and conveying and feeding of the C-shaped pin are realized;
push down the mechanism including push down the hydro-cylinder, push down the subassembly, push down the fixed subassembly of hydro-cylinder, guide way, push down the fixed subassembly of hydro-cylinder and be "door" structure, fixed setting is in storing up the storage round pin storehouse backup pad of selling the storehouse both sides, push down hydro-cylinder one end and push down the fixed subassembly of hydro-cylinder and connect, the other end and push down the subassembly and connect, the side in storing up the round pin storehouse is fixed to the guide way, push down the subassembly and include "door" type movable rod and "V" type pushing down, a vertical pole setting of movable rod is connected with the output of pushing down the hydro-cylinder in the guide way, the guide way plays protection, guide effect at pushing down the subassembly in-process, and the bottom of another vertical pole and the crosspoint of pushing down are connected for pushing down the piece opening towards C type round pin, and the center of center and C type round pin is in same vertical straight line, has guaranteed the stable form and the straightness that pushes down.
2. The mining automatic bolt device based on image recognition as claimed in claim 1, characterized in that a guide post is arranged inside the spring, one end of the guide post is fixed on the side of the pin storage bin, and is guided by the guide post, so as to realize the positioning accuracy of the C-shaped pin and ensure the C-shaped pin to be vertically pressed down.
3. The mining automatic bolt device based on image recognition as claimed in claim 2, characterized in that a partition plate is arranged at one end of the pin storage bin close to the bolt hole, and a gap matched with the size of the C-shaped pin is reserved between the partition plate and the bottom of the pin storage bin, so that the C-shaped pin can be pressed down conveniently.
4. The mining automatic bolt device based on image recognition is characterized in that the base is of an L-shaped structure, the vertical surface of the base is connected with the frame supporting leg through a bolt, and the horizontal surface of the base is connected with the sliding groove supporting plate through a bolt.
5. The mining automatic bolt device based on image recognition of claim 1, characterized in that the number of the bolt mechanisms is 2, and the bolt mechanisms are symmetrically arranged on the frame support legs at two sides of the belt frame assembly, so that synchronous bolt of left and right holes of the belt frame assembly can be realized, and the installation efficiency is improved.
6. The mining automatic bolt device based on image recognition of claim 1, characterized in that the cameras are explosion-proof cameras, 2 in total, are symmetrically arranged below the upper top plate, and are connected with the upper top plate through bolts, so that positioning accuracy can be improved.
7. The mining automatic bolt device based on image recognition as claimed in claim 1, characterized in that a U-shaped hole is formed in the base, so that local position adjustment of the bolt mechanism can be realized.
8. The mining automatic bolt device based on image recognition according to claim 1, characterized in that a cover plate is arranged above the pin storage bin, and the cover plate is connected with the pin storage bin through a hinge, so that pulverized coal is prevented from entering the pin storage bin during coal mine underground operation.
9. The mining automatic bolt device based on image recognition according to claim 1, characterized in that guide strips are arranged on two sides inside the pin storage bin, and the pressing plate slides in the pin storage bin along the guide strips and plays a role in guiding and protecting in the movement process of the pressing plate.
10. The mining automatic bolt device based on image recognition of claim 1, characterized in that displacement sensors are arranged in the moving oil cylinder and the pressing oil cylinder to control the stroke of the moving oil cylinder and the pressing oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111047901.2A CN113852766B (en) | 2021-09-08 | 2021-09-08 | Mining automatic bolt device based on image recognition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111047901.2A CN113852766B (en) | 2021-09-08 | 2021-09-08 | Mining automatic bolt device based on image recognition |
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| CN113852766A CN113852766A (en) | 2021-12-28 |
| CN113852766B true CN113852766B (en) | 2023-04-07 |
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