阅读说明：本技术 定位试验台 (Positioning test bed ) 是由 张东宝 吕继双 裴明尧 康鹏 毕跃起 米雄伟 闫金宝 兰辉敏 张云波 杜玉祥 贾 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种定位试验台,所述定位试验台包括安装平台、大臂组件、视觉识别组件、微调组件和动力组件,所述大臂组件包括基座、模拟大臂、第一驱动件、第二驱动件和模拟钻架,所述基座与所述安装平台相连,所述模拟大臂的一端枢接在所述基座上,所述模拟大臂的另一端与所述模拟钻架枢接,所述视觉识别组件与所述大臂组件相连,所述视觉识别组件可自动寻找识别钢带孔的位置并计算输出位置坐标信息,所述微调组件设在所述大臂组件上且与所述视觉组件相连,所述微调组件接收所述视觉识别组件输出的位置信息并调整所述大臂组件的位置,所述动力组件与所述大臂组件和所述微调组件相连。本发明的定位试验台具有反应速度快、控制精度高的特点。(The invention discloses a positioning test bed, which comprises an installation platform, a large arm component, a visual identification component, a fine adjustment component and a power component, the big arm component comprises a base, a simulation big arm, a first driving piece, a second driving piece and a simulation drill frame, the base is connected with the mounting platform, one end of the simulation big arm is pivoted on the base, the other end of the simulation big arm is pivoted with the simulation drill frame, the visual identification component is connected with the big arm component, the visual identification component can automatically find and identify the position of the steel belt hole and calculate and output position coordinate information, the fine adjustment assembly is arranged on the big arm assembly and connected with the visual assembly, the fine adjustment assembly receives the position information output by the visual identification assembly and adjusts the position of the big arm assembly, and the power assembly is connected with the big arm assembly and the fine adjustment assembly. The positioning test bed has the characteristics of high reaction speed and high control precision.)

1. A positioning test stand, comprising:

mounting a platform;

the large arm assembly comprises a base, a simulation large arm, a first driving piece, a second driving piece and a simulation drill rig, wherein the base is connected with the mounting platform, one end of the simulation large arm is pivoted on the base, the other end of the simulation large arm is pivoted with the simulation drill rig, the first end of the first driving piece is connected with the base, the second end of the first driving piece is connected with the simulation large arm, the first driving piece can drive the simulation large arm to pivot, the first end of the second driving piece is connected with the simulation large arm, the second end of the second driving piece is connected with the simulation drill rig, and the second driving piece is used for driving the simulation drill rig to pivot;

the visual recognition component is connected with the big arm component and can automatically find and recognize the position of the steel belt hole and calculate and output the position coordinate information of the steel belt hole;

the fine adjustment component is arranged on the big arm component and connected with the visual component, receives the position information output by the visual identification component and adjusts the position of the big arm component according to the position information;

and the power assembly is connected with the large arm assembly and the fine adjustment assembly to provide power.

2. The positioning test bed according to claim 1, further comprising a simulation tunnel, wherein the simulation tunnel is connected with the mounting platform, the simulation tunnel comprises a tunnel rack, a steel strip, a steel wire mesh and a covering curtain, the steel strip is arranged on the tunnel rack, the steel wire mesh and the covering curtain are both connected with the steel strip, and the steel strip hole is located in the steel strip.

3. The positioning test bed according to claim 1, further comprising a mounting base, wherein the mounting base is connected with the mounting platform, the base comprises a rotating vertical shaft, the mounting base is provided with a mounting support lug, and the rotating vertical shaft penetrates through the mounting support lug so as to enable the base to be pivoted with the mounting base.

4. The positioning test bed according to claim 3, further comprising a third driving member, wherein one end of the third driving member is pivotally connected to the mounting base, and the other end of the third driving member is pivotally connected to the base, and the third driving member is configured to drive the base to pivot.

5. The positioning test stand of claim 4, wherein the visual identification component comprises a visual sensor for capturing a visual signal and a controller for receiving and transmitting the visual signal.

6. The positioning test stand of claim 5, wherein the visual recognition assembly further comprises an automatic washer coupled to the visual sensor to wash the visual sensor.

7. The positioning test stand of claim 1, wherein the fine adjustment assembly includes a first fine adjustment seat and a second fine adjustment seat, the first fine adjustment seat being adjustable to the position of the simulated boom in a first direction, the second fine adjustment seat being adjustable to the position of the simulated boom in a second direction, the first direction being parallel to the width direction of the simulated roadway, the second direction being parallel to the length direction of the simulated roadway.

8. The positioning test stand of claim 7, wherein the fine adjustment assembly further comprises a control system coupled to the first and second fine adjustment mounts, respectively, to control movement of the first and second fine adjustment mounts.

9. The positioning test stand of claim 8, wherein the control system is an electro-hydraulic proportional servo system.

10. The positioning test stand of any of claims 1-9, wherein the power assembly is a mobile pump station.

Technical Field

The invention relates to the technical field of coal mining, in particular to a positioning test bed.

Background

The anchor bolt support is one of the most important devices of the tunneling working face, is automatically and intelligently leveled, and plays an important role in realizing unmanned tunneling working face.

Disclosure of Invention

The present invention is based on the discovery and recognition by the inventors of the following facts and problems:

when the anchor rod drill carriage carries out supporting operation, the machine vision function is not provided, the full-flow automatic anchor rod supporting operation cannot be realized, and various problems of low speed, low precision, inconvenient maintenance, poor reliability and the like exist, so that the working efficiency of the anchor rod drill carriage is influenced.

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the embodiment of the invention provides a positioning test bed with high reaction speed and high control precision.

The positioning test bed comprises a mounting platform, a large arm assembly, a visual identification assembly, a fine adjustment assembly and a power assembly, wherein the large arm assembly comprises a base, a simulation large arm, a first driving piece, a second driving piece and a simulation drill frame, the base is connected with the mounting platform, one end of the simulation large arm is pivoted on the base, the other end of the simulation large arm is pivoted with the simulation drill frame, the first end of the first driving piece is connected with the base, the second end of the first driving piece is connected with the simulation large arm, the first driving piece can drive the simulation large arm to pivot, the first end of the second driving piece is connected with the simulation large arm, the second end of the second driving piece is connected with the simulation drill frame, the second driving piece is used for driving the simulation drill frame to pivot, the visual identification assembly is connected with the large arm assembly, the visual identification assembly can automatically find and identify the position of the steel belt hole and calculate and output the position coordinate information of the steel belt hole, the fine adjustment assembly is arranged on the big arm assembly and connected with the visual assembly, the fine adjustment assembly receives the position information output by the visual identification assembly and adjusts the position of the big arm assembly according to the position information, and the power assembly is connected with the big arm assembly and the fine adjustment assembly to provide power.

According to the positioning test bed provided by the embodiment of the invention, the coarse adjustment system and the fine adjustment system are adopted to realize the accurate positioning of the large arm of the drilling rig, manual auxiliary adjustment is not needed, the automation degree of underground equipment is improved, and the positioning test bed has the characteristics of high reaction speed and high control accuracy.

In some embodiments, the positioning test platform further comprises a simulation tunnel, the simulation tunnel is connected with the mounting platform, the simulation tunnel comprises a tunnel rack, a steel strip, a steel wire mesh and a covering curtain, the steel strip is arranged on the tunnel rack, the steel wire mesh and the covering curtain are both connected with the steel strip, and the steel wire mesh hole is located on the steel strip.

In some embodiments, the positioning test bed further comprises a mounting base, the mounting base is connected with the mounting platform, the base comprises a rotating vertical shaft, the mounting base is provided with a mounting lug, and the rotating vertical shaft penetrates through the mounting lug so as to enable the base to be pivoted with the mounting base.

In some embodiments, the positioning test bed further includes a third driving member, one end of the third driving member is pivotally connected to the mounting base, and the other end of the third driving member is pivotally connected to the base, and the third driving member is configured to drive the base to pivot.

In some embodiments, the visual recognition component includes a visual sensor for capturing a visual signal and a controller for receiving and transmitting the visual signal.

In some embodiments, the visual recognition assembly further comprises an automatic washer coupled to the visual sensor to wash the visual sensor.

In some embodiments, the fine adjustment assembly includes a first fine adjustment seat and a second fine adjustment seat, the first fine adjustment seat can adjust the position of the simulation drilling rig along a first direction, the second fine adjustment seat can adjust the position of the simulation drilling rig along a second direction, the first direction is parallel to the width direction of the simulation roadway, and the second direction is parallel to the length direction of the simulation roadway.

In some embodiments, the fine adjustment assembly further comprises a control system coupled to the first and second fine adjustment seats, respectively, to control movement of the first and second fine adjustment seats.

In some embodiments, the control system is an electro-hydraulic proportional servo system.

In some embodiments, the power assembly is a mobile pump station.

Drawings

Fig. 1 is a schematic structural diagram of a positioning test stand according to an embodiment of the present invention.

Fig. 2 is a top view of the positioning test stand of fig. 1.

Figure 3 is a schematic diagram of the construction of the large arm assembly of figure 1.

Fig. 4 is a schematic structural view of the simulation boom of fig. 1.

Fig. 5 is a schematic diagram of the control system of fig. 1.

Reference numerals:

the device comprises a mounting platform 1, a large arm component 2, a base 21, a rotary vertical shaft 22, a simulation large arm 23, a first driving part 24, a second driving part 25, a simulation drill rig 26, a visual recognition component 3, a fine adjustment component 4, a power component 5, a simulation roadway 6, a roadway rack 61, a steel belt 62, a mounting seat 7 and a third driving part 8.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A positioning test stand according to an embodiment of the present invention is described below with reference to fig. 1 to 5.

The positioning test bed comprises a mounting platform 1, a large arm assembly 2, a visual identification assembly 3, a fine adjustment assembly 4 and a power assembly 5.

The big arm component 2 comprises a base 21, a simulation big arm 23, a first driving piece 24, a second driving piece 25 and a simulation drill frame 26, wherein the base 21 is connected with the mounting platform 1, one end of the simulation big arm 23 is pivoted on the base 21, the other end of the simulation big arm 23 is pivoted with the simulation drill frame 26, the first end of the first driving piece 24 is connected with the base 21, the second end of the first driving piece 24 is connected with the simulation big arm 23, the first driving piece 24 can drive the simulation big arm 23 to pivot, the first end of the second driving piece 25 is connected with the simulation big arm 23, the second end of the second driving piece 25 is connected with the simulation drill frame 26, the second driving piece 25 is used for driving the simulation drill frame 26 to pivot, the visual identification component 3 is connected with the big arm component 2, the visual identification component 3 can automatically find and identify the position of a steel belt hole and calculate the position coordinate information of the steel belt hole, the fine adjustment component 4 is arranged on the big arm component 2 and connected with the visual component, the fine adjustment component 4 receives the position coordinate information output by the visual recognition component 3 and adjusts the position of the large arm component 2 according to the position coordinate information, and the power component 5 is connected with the large arm component 2 and the fine adjustment component 4 to provide power.

As shown in fig. 1-4, a base 21 is connected to the mounting platform 1, the base 21 is connected to the rear end of the simulation boom 23, a first driving member 24 is connected to the lower portion of the rear end of the simulation boom 23, a simulation drill frame 26 is connected to the front end of the simulation boom 23, the first driving member 24 is a lift cylinder which lifts the simulation boom 23 in the up-down direction so as to control the position change of the simulation drill frame 26 in the up-down direction, a second driving member 25 is connected between the front end of the simulation boom 23 and the simulation drill frame 26, the second driving member 25 is a left-right swing cylinder, the simulation drill frame 26 swings in the left-right direction by the driving of the left-right swing cylinder, a visual recognition assembly 3 is further provided on the simulation drill frame 26, the target steel band hole is automatically searched and positioned by the visual recognition assembly 3, the searched steel band hole is positioned at the same time, the position coordinate of the steel band hole is determined, the position coordinate information is sent to the fine adjustment component 4, the simulation drill frame 26 is further adjusted through the fine adjustment component 4, the simulation drill frame 26 can correctly correspond to the position of the steel belt hole, the full-automatic hole aligning action of the simulation big arm 23 is completed, and meanwhile, the simulation drill frame 26 and the visual identification component 3 can be subjected to vibration testing through the up-and-down swinging of the simulation big arm 23.

According to the positioning test bed provided by the embodiment of the invention, the coarse adjustment system and the fine adjustment system are adopted to realize the accurate positioning of the large arm of the drilling rig, manual auxiliary adjustment is not needed, the automation degree of underground equipment is improved, and the positioning test bed has the characteristics of high reaction speed and high control accuracy.

In some embodiments, the positioning test bed further includes a simulation tunnel 6, the simulation tunnel 6 is connected to the mounting platform 1, the simulation tunnel 6 includes a tunnel rack 61, a steel strip 62, a steel wire mesh (not shown in the figure) and a covering curtain (not shown in the figure), the steel strip 62 is disposed on the tunnel rack 61, the steel wire mesh and the covering curtain are both connected to the steel strip 62, and the steel strip hole is disposed on the steel strip 62.

Still be equipped with simulation tunnel 6 in mounting platform 1's top, simulation tunnel 6 constructs the tunnel inner space size through tunnel rack 61, is equipped with steel band 62, wire net and covers the curtain on tunnel rack 61, further simulates the light environment in the real tunnel, improves the experimental reality degree to simulating big arm 23, verifies the degree of automation of simulating big arm 23 better.

In some embodiments, the positioning test bench further includes a mounting base 7, the mounting base 7 is connected to the mounting platform 1, the base 21 includes a rotating vertical shaft 22, the mounting base 7 is provided with a mounting lug (not shown), and the rotating vertical shaft 22 is inserted into the mounting lug so as to pivot the base 21 and the mounting base 7.

As shown in fig. 1 and 2, the mounting platform 1 is further connected with a mounting base 7, the mounting base 7 protrudes upwards, two mounting lugs are arranged on the front side surface of the mounting base 7, a rotary vertical shaft 22 is arranged on the base 21, and the rotary vertical shaft 22 extends in the vertical direction and penetrates through the mounting lugs, so that the base 21 is connected to the mounting base 7, the abrasion of the base 21 during pivoting is reduced, and the service life of the simulation large arm 23 is prolonged.

In some embodiments, the positioning test bench further includes a third driving member 8, one end of the third driving member 8 is pivotally connected to the mounting base 7, the other end of the third driving member 8 is pivotally connected to the base 21, and the third driving member 8 is configured to drive the base 21 to pivot.

As shown in fig. 2, the mounting base 7 is connected with a third driving member 8, the third driving member 8 is a telescopic cylinder, a telescopic end of the telescopic cylinder is connected with the base 21, a fixed end of the telescopic cylinder is connected with the mounting base 7, and the base 21 is driven to pivot around the vertical rotating shaft 22 by the telescopic cylinder, so that the simulation of the left-right swing of the boom 23 is realized.

In some embodiments, the visual recognition component 3 includes a visual sensor (not shown) for capturing a visual signal and a controller (not shown) for receiving and transmitting the visual signal.

The vision sensor is a camera, the position information of the steel belt holes is captured through the vision recognition of the positions of the steel belt holes by the camera, the position information is transmitted to the controller, the controller judges the positions of the steel belt holes through the received position information, a control signal is output to the simulation big arm 23, the simulation big arm 23 is controlled to move, the position adjustment of the simulation drill frame 26 is completed, and automatic recognition and accurate action are achieved.

In some embodiments, the visual recognition assembly 3 further comprises an automatic washer (not shown) connected to the visual sensor to wash the visual sensor.

The roadway environment is abominable, has dust and sewage, for the visual information receiving effect who guarantees the camera, is provided with self-cleaning ware around the camera, carries out self-cleaning to the camera, and self-cleaning ware is automatic water jet equipment, uses the clear water to wash the camera, prevents that the dust from influencing the visual information seizure of camera, has improved positioning accuracy.

In some embodiments, the fine adjustment assembly 4 includes a first fine adjustment seat (not shown) capable of adjusting the position of the simulation jig 26 in a first direction, and a second fine adjustment seat (not shown) capable of adjusting the position of the simulation jig 26 in a second direction, the first direction being parallel to the width direction of the simulation tunnel 6, and the second direction being parallel to the length direction of the simulation tunnel 6.

As shown in fig. 3, the simulation boom 26 swings in the left-right direction through the first fine adjustment seat, the simulation boom 26 adjusts the position in the front-rear direction through the second fine adjustment seat, and the position of the simulation boom 26 moves more accurately through the fine adjustment of the first fine adjustment seat and the second fine adjustment seat, so that the positioning accuracy is improved, the positioning time is shortened, and the operation efficiency is improved.

In some embodiments, the fine adjustment assembly 4 further comprises a control system (not shown) connected to the first fine adjustment seat and the second fine adjustment seat, respectively, to control the movement of the first fine adjustment seat and the second fine adjustment seat. The control system makes a decision according to the information acquired by the visual sensor and sends a control instruction, so that the action purpose of the execution element is stronger, and the blindness of the preset parameters of the program is avoided.

In some embodiments, the control system is an electro-hydraulic proportional servo system.

As shown in FIG. 5, the control system mainly adopts an electro-hydraulic proportional servo system, and the electro-hydraulic servo valve and the electro-hydraulic servo cylinder are selected according to the use scheme, so that the accurate and punctual action of each joint of the large arm positioning mechanism can be ensured, and the large arm positioning mechanism has the characteristics of higher reaction speed and higher control accuracy.

In some embodiments, the power assembly 5 is a mobile pump station. The power assembly 5 provides power for the large arm assembly 2 and the fine adjustment assembly 4, and in order to ensure the sufficiency and timeliness of power supply, a movable pump station is adopted for power supply, and the device has the characteristics of strong power and high precision.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.