CN217928089U - Hydraulic automatic leveling mechanism of underground robot of coal mine - Google Patents
Hydraulic automatic leveling mechanism of underground robot of coal mine Download PDFInfo
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- CN217928089U CN217928089U CN202222258677.8U CN202222258677U CN217928089U CN 217928089 U CN217928089 U CN 217928089U CN 202222258677 U CN202222258677 U CN 202222258677U CN 217928089 U CN217928089 U CN 217928089U
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Abstract
The utility model provides a hydraulic automatic leveling mechanism of a coal mine underground robot, which comprises an installation platform, leveling supporting legs, a displacement sensor, a double-shaft inclination angle sensor, an electromagnetic proportional multi-way reversing valve and a controller; the leveling supporting leg comprises a T-shaped lead screw transmission mechanism, a speed reducer and a driving motor; the calibration of the mounting plane is realized through the double-shaft inclination angle sensor, when the inclination angle in a certain axial direction is detected, the hydraulic drive motor is used for controlling the T-shaped lead screw transmission mechanism to stretch, the stretching amount of each leveling supporting leg is detected in real time through the displacement sensor, the whole leveling process is automatically adjusted, the automation level of the robot can be greatly improved, the working efficiency is improved, the labor intensity of operators is reduced, and the defect of manual leveling is greatly overcome.
Description
Technical Field
The utility model belongs to the technical field of colliery is equipped with automatic leveling in the pit, concretely relates to colliery is hydraulic pressure automatic leveling mechanism of robot in pit.
Background
Along with the continuous improvement of industrial automation level, the application of full-automatic robot in pit has improved the automation level of colliery borehole operation greatly, if: automatic equipment such as an underground stringing robot, a pipe grabbing robot, a guniting robot and a carrying robot is widely applied, and the automatic robot cannot be directly installed on the underground ground for operation due to the fact that some underground coal mine ground is rugged, a leveling structure needs to be installed firstly, and then the automatic robot is installed on the leveling mechanism, so that stable operation of the robot is achieved. However, the existing leveling mechanism cannot achieve automatic leveling, for example, patent "CN201821333213.6 a supporting device for coal mining equipment with leveling function" provides a supporting device for coal mining equipment with manual leveling function, as shown in fig. 1, the whole leveling process is manual, time and labor are wasted, the working efficiency is low, and the purpose of leveling is difficult to achieve by judging with naked eyes. The leveling device with automatic assembly can greatly improve the automation level of the robot, improve the working efficiency, reduce the labor intensity of operators and greatly improve the defect of manual leveling.
SUMMERY OF THE UTILITY MODEL
Based on the problem, the utility model provides a colliery is hydraulic pressure automatic leveling mechanism of robot in pit, include: the device comprises an installation platform, leveling support legs, a displacement sensor, a double-shaft tilt angle sensor, an electromagnetic proportional multi-way reversing valve and a controller; leveling support legs are respectively installed at four corners of the installation platform, a double-shaft inclination angle sensor is arranged at the center of the installation platform, a displacement sensor is installed on the leveling support legs, the double-shaft inclination angle sensor and the displacement sensor are respectively connected with an I/O port of a controller, the I/O port of the controller is connected with an electromagnetic proportional multi-way reversing valve, the leveling support legs control the expansion amount in an electro-hydraulic driving mode, and the electromagnetic proportional multi-way reversing valve is installed on a hydraulic main oil way.
The leveling supporting leg comprises a T-shaped lead screw transmission mechanism, a speed reducer and a driving motor; the speed reducer and the driving motor are arranged at the top of the T-shaped lead screw transmission mechanism; the electromagnetic proportional multi-way reversing valve is arranged on a hydraulic oil path of the driving motor and used for controlling the on-off and reversing of the oil path, the driving motor and the speed reducer are in direct connection, and the expansion amount of the T-shaped lead screw transmission mechanism is controlled through the speed reducer.
The double-shaft inclination angle sensor is used for detecting the inclination angle value of the mounting platform relative to the horizontal plane;
the displacement sensor is used for detecting the expansion amount of the T-shaped lead screw transmission mechanism;
when the inclination angle value acquired by the double-shaft inclination angle sensor is greater than a set threshold value, the controller controls the electromagnetic proportional multi-way reversing valve to act, and the driving motor works under hydraulic drive to drive the speed reducer to control the T-shaped lead screw transmission mechanism to stretch and retract;
the expansion amount acquired by the displacement sensor is uploaded to an upper computer through a controller to display real-time numerical values.
The controller is a programmable logic controller PLC.
The utility model has the advantages that:
the utility model provides a colliery is hydraulic pressure automatic leveling mechanism of robot in pit, realize the check-up of mounting surface through biax angular transducer, when detecting that there is inclination in a certain axial, through the flexible of hydraulic drive motor control T type lead screw drive mechanism, through the flexible volume of displacement sensor real-time detection every leveling landing leg, whole leveling process automatically regulated, the automation level that can improve the robot greatly improves work efficiency, reduce operating personnel's intensity of labour, improve the defect of manual leveling greatly.
Drawings
FIG. 1 is a block diagram of a prior art solution;
fig. 2 is a structural diagram of the hydraulic automatic leveling mechanism of the underground coal mine robot of the utility model;
FIG. 3 is an electrical schematic diagram of the hydraulic automatic leveling mechanism of the underground coal mine robot of the utility model;
FIG. 4 is a flow chart of the automatic leveling process of the hydraulic automatic leveling mechanism of the underground coal mine robot of the utility model;
fig. 5 is a hydraulic driving schematic diagram of the hydraulic automatic leveling mechanism of the underground coal mine robot of the present invention;
in the figure, 1, T-shaped lead screw transmission mechanism; 2. a bolt; 3. a displacement sensor; 4. a speed reducer; 5. a drive motor; 6. a mounting platform (a double-shaft tilt angle sensor is positioned in the center of the mounting platform); 7. an electromagnetic proportional multi-way reversing valve; 8. a hydraulic pump; 9. explosion-proof motor.
Detailed Description
The invention is further described with reference to the accompanying drawings and the following detailed description.
As shown in fig. 2 to 3, a hydraulic automatic leveling mechanism of a coal mine underground robot includes: the device comprises an installation platform 6, leveling support legs, a displacement sensor 3, a double-shaft tilt angle sensor, an electromagnetic proportional multi-way reversing valve 7 and a controller; the leveling support leg comprises a T-shaped lead screw transmission mechanism 1, a speed reducer 4 and a driving motor 5, wherein the speed reducer 4 and the driving motor 5 are installed at the top of the T-shaped lead screw transmission mechanism 1; leveling support legs are respectively installed at four corners of the installation platform 6, a double-shaft inclination angle sensor is arranged at the center of the installation platform and used for detecting the inclination angle value of the installation platform relative to the horizontal plane, a displacement sensor 3 is installed inside the T-shaped lead screw transmission mechanism 1 and used for detecting the extending distance of the leveling support legs, the double-shaft inclination angle sensor and the displacement sensor are respectively connected with an I/O interface of a controller, the I/O interface of the controller is connected with an electromagnetic proportional multi-way reversing valve 7, the leveling support legs control the stretching amount in an electro-hydraulic driving mode, the electromagnetic proportional multi-way reversing valve 7 is installed on a hydraulic main oil way of a driving motor 5 and used for controlling the on-off and reversing of the oil way, the driving motor 5 and a speed reducer 4 are in a direct connection mode, and the driving motor 5 controls the stretching of the T-shaped lead screw transmission mechanism 1 through the speed reducer.
Leveling support legs are respectively arranged at four angular positions of the mounting platform 6; a double-shaft inclination angle sensor is arranged at the center of the mounting platform, and a displacement sensor 3 is arranged in the T-shaped lead screw transmission mechanism 1; the T-shaped lead screw transmission mechanism 1 is connected with the speed reducer 4, the speed reducer 4 is connected with the driving motor 5, and the mounting platform 6 is connected with the T-shaped lead screw transmission mechanism 1 through bolts 2. Acquiring analog signals of a double-shaft tilt sensor and a displacement sensor in real time through a Programmable Logic Controller (PLC); the programmable logic controller PLC receives a control instruction of an upper computer through CANBUS, after receiving an instruction of extending the leveling support leg, the programmable logic controller PLC controls the rotation of the driving motor 5 through the electromagnetic proportional multi-way reversing valve 7, the driving motor 5 transmits power to the T-shaped lead screw transmission mechanism 1 through the speed reducer 4, and the T-shaped lead screw transmission mechanism 1 extends out; if an inclination signal is sent out according to the inclination angle detected by the double-shaft inclination angle sensor; a Programmable Logic Controller (PLC) controls an electromagnetic proportional multi-way reversing valve 7 to reverse through current, a high-pressure hydraulic oil drive motor controls a T-shaped lead screw transmission mechanism to stretch out and draw back, and the inclination angle is proportionally corrected until the T-shaped lead screw transmission mechanism enters an error range (the error range is set to be 0.3 degrees) of a preset angle; and meanwhile, the extension distance is detected according to a displacement sensor arranged on the leveling supporting leg, so that one-key leveling is completed.
The hydraulic schematic is shown in fig. 5. The explosion-proof motor 9 drives the hydraulic pump 8 to work, the oil outlet of the hydraulic pump 8 is connected with the electromagnetic proportional multi-way reversing valve 7, a driving motor 5 is installed on each oil path, and the driving motors 5 drive the speed reducer to control the T-shaped screw rod transmission mechanism to move.
The hydraulic automatic leveling mechanism is a four-point type leveling device, four leveling support legs are fixed at four angular positions of an installation platform to serve as leveling supporting points, each leveling support leg is provided with a displacement sensor, a double-shaft inclination angle sensor is arranged on the installation platform, the heights of the supporting points are adjusted through signals of the double-shaft inclination angle sensor and the displacement sensor, and then the heights of the four supporting points are adjusted to achieve leveling.
As shown in fig. 4, the operation steps of the hydraulic automatic leveling mechanism are as follows:
1) Lifting leveling supporting legs are respectively arranged at four corners of the mounting platform;
2) A double-shaft inclination angle sensor is arranged at the center of the mounting platform, and a displacement sensor is arranged in the T-shaped lead screw transmission mechanism;
3) The programmable controller collects analog signals of the double-shaft tilt angle sensor and the displacement sensor in real time;
4) The programmable controller receives an instruction signal of an upper computer through CANBUS, when an instruction of extending the leveling support leg is received, the drive motor is controlled to rotate through the electromagnetic proportional multi-way reversing valve, the drive motor transmits power to the T-shaped lead screw transmission mechanism through the speed reducer, and the T-shaped lead screw transmission mechanism extends out;
5) Sending an inclination signal according to the inclination angle detected by the double-shaft inclination angle sensor;
6) The programmable controller controls the electromagnetic proportional multi-way reversing valve driving motor to control the T-shaped lead screw transmission mechanism to stretch and retract through current control, and the inclination angle is corrected proportionally until the error range is reached;
7) When the value read by the double-shaft tilt sensor is judged to be horizontal, the values of the double-shaft tilt sensor and the displacement sensor are read;
8) And when the value read by the double-shaft inclination angle sensor is judged to be inclined, repeating the steps 4) to 6) until the error range is entered.
Claims (4)
1. The utility model provides a colliery is hydraulic pressure automatic leveling mechanism of robot in pit which characterized in that includes: the device comprises an installation platform, leveling support legs, a displacement sensor, a double-shaft tilt angle sensor, an electromagnetic proportional multi-way reversing valve and a controller; leveling support legs are respectively installed at four corners of the installation platform, a double-shaft inclination angle sensor is arranged at the center of the installation platform, a displacement sensor is installed on the leveling support legs, the double-shaft inclination angle sensor and the displacement sensor are respectively connected with an I/O port of a controller, the I/O port of the controller is connected with an electromagnetic proportional multi-way reversing valve, the leveling support legs adopt an electro-hydraulic driving mode to control the expansion amount, and the electromagnetic proportional multi-way reversing valve is installed on a hydraulic oil circuit.
2. The hydraulic automatic leveling mechanism of the coal mine underground robot as claimed in claim 1, wherein the leveling support leg comprises a T-shaped lead screw transmission mechanism, a speed reducer and a driving motor; the speed reducer and the driving motor are arranged at the top of the T-shaped lead screw transmission mechanism; the electromagnetic proportional multi-way reversing valve is arranged on a hydraulic oil path of the driving motor and used for controlling the on-off and reversing of the oil path, the driving motor is connected with the speed reducer, and the stretching amount of the T-shaped lead screw transmission mechanism is controlled by the speed reducer.
3. The hydraulic automatic leveling mechanism of the underground coal mine robot according to claim 2,
the double-shaft inclination angle sensor is used for detecting the inclination angle value of the mounting platform relative to the horizontal plane;
the displacement sensor is used for detecting the expansion amount of the T-shaped lead screw transmission mechanism;
when the inclination angle value acquired by the double-shaft inclination angle sensor is greater than a set threshold value, the controller controls the electromagnetic proportional multi-way reversing valve to act, and the driving motor works under hydraulic drive to drive the speed reducer to control the T-shaped lead screw transmission mechanism to stretch and retract;
the expansion amount acquired by the displacement sensor is uploaded to an upper computer through a controller to display real-time numerical values.
4. The hydraulic automatic leveling mechanism of the underground coal mine robot as claimed in claim 2, wherein the controller is a Programmable Logic Controller (PLC).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222258677.8U CN217928089U (en) | 2022-08-26 | 2022-08-26 | Hydraulic automatic leveling mechanism of underground robot of coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222258677.8U CN217928089U (en) | 2022-08-26 | 2022-08-26 | Hydraulic automatic leveling mechanism of underground robot of coal mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217928089U true CN217928089U (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222258677.8U Active CN217928089U (en) | 2022-08-26 | 2022-08-26 | Hydraulic automatic leveling mechanism of underground robot of coal mine |
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| Country | Link |
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| CN (1) | CN217928089U (en) |
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2022
- 2022-08-26 CN CN202222258677.8U patent/CN217928089U/en active Active
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