CN109882215A - A kind of automatic grasping system of duct piece assembling machine and automatically grab method - Google Patents
A kind of automatic grasping system of duct piece assembling machine and automatically grab method Download PDFInfo
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- CN109882215A CN109882215A CN201910271271.3A CN201910271271A CN109882215A CN 109882215 A CN109882215 A CN 109882215A CN 201910271271 A CN201910271271 A CN 201910271271A CN 109882215 A CN109882215 A CN 109882215A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 44
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- 239000012530 fluid Substances 0.000 claims abstract description 15
- 230000007423 decrease Effects 0.000 claims description 10
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- 238000004873 anchoring Methods 0.000 claims description 2
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- 239000010721 machine oil Substances 0.000 claims 1
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- 230000000903 blocking effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of automatic grasping system of duct piece assembling machine and automatically grab method, section of jurisdiction alignment sensor is provided on the two symmetrical support bar seats of duct piece assembling machine, it is respectively arranged with discount bolt alignment sensor along the opening both sides of the edge of grip block, discount bolt is installed to level detection sensor in discount sleeve；Section of jurisdiction alignment sensor, discount bolt alignment sensor and discount bolt to level detection sensor respectively with pipe sheet assembling mechatronics, and section of jurisdiction alignment sensor, discount bolt alignment sensor and discount bolt to level detection sensor be respectively one or more of touch sensor, distance measuring sensor, killing fluid additive or changing sensor.The automatic grasping system and method visibility it is low, it is complicated it is severe, block and the environmental conditions such as dark under can be used, and precision is higher；Control program is easily realized, error compensation may be implemented, reduce the requirement of trajectory planning, further promotes crawl precision.
Description
Technical field
The present invention relates to shield machine technical field, more specifically to a kind of automatic grasping system of duct piece assembling machine,
Further relate to a kind of duct piece assembling machine automatically grabs method.
Background technique
Duct piece assembling machine is one of important subsystem of shield machine, after the distance of one section of jurisdiction ring of shield driving, section of jurisdiction
Assembling machine is by the assembled cyclization of prefabricated concrete pipe sheet, as the supporting in tunnel and the supporting point of shield machine anterior shield.In assembled mistake
Then Cheng Zhong, first duct piece assembling machine pass through axial translation, circumferential rotation from grasping pipe piece on the Gilled tube transporting carriage at shield machine rear
Turn that section of jurisdiction is carried out coarse positioning with radial expansion, then pose adjustment is carried out by rolling, pitching and deflection and is accurately positioned with realizing.
However, shield pipe sheet assembling machine is needed by master worker using human eye when grasping pipe piece to pipe at present
Piece bolt and crawl platform are positioned, and not only precision is low for this positioning method, but also seriously affects speed of application.Also there is portion
Researcher is divided to attempt to carry out positioning crawl to section of jurisdiction using vision system, however in actual condition, journey is visualized in tunnel
Spend lower, in addition complex environment, situations such as blocking and is dark, visual sensor is it is possible that noise is excessive, resolution ratio decline
Or even situations such as loss of learning, eventually lead to the failure of crawl task.
It is current this field skill in conclusion how to efficiently solve the problems such as section of jurisdiction crawl positioning accuracy is low, difficulty is big
Art personnel's problem to be solved.
Summary of the invention
In view of this, the first purpose of this invention is to provide a kind of automatic grasping system of duct piece assembling machine, it should be certainly
The structure design of dynamic grasping system can efficiently solve the section of jurisdiction crawl problem that positioning accuracy is low, difficulty is big, and of the invention the
What two purposes were to provide a kind of duct piece assembling machine using above-mentioned automatic grasping system automatically grabs method.
In order to reach above-mentioned first purpose, the invention provides the following technical scheme:
A kind of automatic grasping system of duct piece assembling machine, including duct piece assembling machine, the duct piece assembling machine include being connected to
The grip block of weight lifting pincers lower section is used to support the support bar seat of the grip block and the discount for acting on section of jurisdiction discount bolt
Sleeve；The section of jurisdiction alignment sensor for positioning to the section of jurisdiction, the grip block are provided on two symmetrical support bar seats
Front end there is opening, the width of the opening is by close to one end of the discount sleeve to one end of the separate discount sleeve
It is gradually increased, and is passed along the discount bolt positioning that the opening both sides of the edge are separately provided for positioning the discount bolt
Sensor；It is equipped in the discount sleeve for detecting the discount bolt of the discount bolt in place to level detection sensor；
The section of jurisdiction alignment sensor, the discount bolt alignment sensor and the discount bolt are to level detection sensor
Respectively with the pipe sheet assembling mechatronics, and the section of jurisdiction alignment sensor, the discount bolt alignment sensor and described
Discount bolt to level detection sensor be respectively in touch sensor, distance measuring sensor, killing fluid additive or changing sensor
It is one or more.
Preferably, in above-mentioned automatic grasping system, the both sides of the edge of the opening are to arc convex among the opening
Shape, the discount bolt alignment sensor extend along the opening both sides of the edge in corresponding arc respectively.
Preferably, in above-mentioned automatic grasping system, the discount bolt alignment sensor is piezoresistive tactile sensor, institute
It is killing fluid additive that discount bolt, which is stated, to level detection sensor, and the section of jurisdiction alignment sensor is that contacting feeling sensor or ranging pass
Sensor.
Preferably, in above-mentioned automatic grasping system, the distance measuring sensor is laser range sensor.
Preferably, in above-mentioned automatic grasping system, the lift cylinder of the duct piece assembling machine is used in the discount bolt
The discount bolt is carried out when detecting that the discount bolt fully enters in the discount sleeve to level detection sensor pre-
Tightly, so that the support bar seat compresses the section of jurisdiction, and the section of jurisdiction is grabbed.
The automatic grasping system of duct piece assembling machine provided by the invention includes duct piece assembling machine, and duct piece assembling machine includes connection
The grip block of lower section is clamped in weight lifting, is used to support the support bar seat of grip block and the discount set for acting on section of jurisdiction discount bolt
Cylinder, the front end of grip block have an opening, the width of opening by close to one end of discount sleeve to one end of separate discount sleeve by
It is cumulative big.The section of jurisdiction alignment sensor for positioning to section of jurisdiction is provided on two symmetrical support bar seats, along opening for grip block
Mouth both sides of the edge are separately provided for the discount bolt alignment sensor of make-up hook bolt positioning, and installation is useful in discount sleeve
In the discount bolt of detection discount bolt in place to level detection sensor；Section of jurisdiction alignment sensor, discount bolt alignment sensor
With discount bolt to level detection sensor respectively with pipe sheet assembling mechatronics, and section of jurisdiction alignment sensor, discount bolt position
Sensor and discount bolt are respectively that touch sensor, distance measuring sensor, killing fluid additive or deformation pass to level detection sensor
One or more of sensor.
Using the automatic grasping system of duct piece assembling machine provided by the invention, when assembling machine is close to section of jurisdiction, support bar seat with
Section of jurisdiction contact, obtains section of jurisdiction location information using the section of jurisdiction alignment sensor on support bar seat, the section of jurisdiction on two support bar seats
Alignment sensor, which detects, stops decline when contacting with the section of jurisdiction.Moving assembling machine in X direction makes grip block close to discount
Bolt obtains the phase of discount bolt with discount sleeve using the discount bolt alignment sensor being mounted in grip block open edge
To position, the position of grip block in the Y direction is adjusted, is aligned discount bolt in the X-axis direction with discount sleeve.In X direction
Mobile assembling machine makes discount bolt enter discount sleeve, and moving process is also easy to produce deviation due to vibration etc., when discount bolt
When touching the discount bolt alignment sensor in grip block open edge, it is fixed that the information that system can use feedback carries out again
Position planning path.Ensure that discount bolt has completely passed into level detection sensor using the discount bolt in discount sleeve
Discount sleeve.It is pre-tightened finally by lift cylinder make-up hook bolt, compresses support bar seat and section of jurisdiction, complete to the automatic of section of jurisdiction
Crawl.
To sum up, the automatic grasping system is to strong environmental adaptability, visibility it is low, it is complicated it is severe, block and dark
Etc. can be used under environmental conditions, and precision is higher；By the way that discount bolt alignment sensor is arranged in opening both sides of the edge, use
Bilateral touching control, control program is easily realized, error compensation may be implemented, reduce the requirement of trajectory planning, is further promoted and is grabbed
Take precision.
In order to reach above-mentioned second purpose, the invention provides the following technical scheme:
A kind of duct piece assembling machine automatically grabs method, using described in any item automatic grasping systems as above, including with
Lower step:
S1: duct piece assembling machine declines along Z-direction close to section of jurisdiction until the section of jurisdiction alignment sensor on two support bar seats detects
To stopping decline when being contacted with the section of jurisdiction；
S2: the duct piece assembling machine, to moving, connects if discount bolt alignment sensor is not detected with discount bolt along X
Touching, then the duct piece assembling machine lifts along Z axis and readjusts the position of grip block Yu the section of jurisdiction, then return step S1；
If discount bolt alignment sensor detect with the discount threaded bolt contacts, execute subsequent step；
S4: the discount bolt alignment sensor feeds back the range information of contact point to center line；
S5: the duct piece assembling machine moves respective distance along Y-direction according to the range information；
S6: the duct piece assembling machine is buckled if the discount bolt alignment sensor is detected with described again along X to moving
Hook bolt contacts, then return step S4；Otherwise the duct piece assembling machine is along X to moving until discount bolt is to level detection sensor
It detects and stops movement when the discount bolt enters discount sleeve；
S7: the duct piece assembling machine promotes the discount bolt.
Preferably, above-mentioned to automatically grab in method, after the step S7, further includes:
S8: detecting whether the support bar seat compresses with the section of jurisdiction, if otherwise exporting the alerting signal overhauled.
Preferably, above-mentioned to automatically grab in method, the alerting signal that the output is overhauled specifically includes output and excludes
The alerting signal that tunnel construction environment influences.
Preferably, above-mentioned to automatically grab in method, the discount bolt alignment sensor is piezoresistive tactile sensor, institute
It is killing fluid additive that discount bolt, which is stated, to level detection sensor, and the section of jurisdiction alignment sensor is that contacting feeling sensor or ranging pass
Sensor；
If then the discount bolt alignment sensor be not detected with discount threaded bolt contacts, if the specially described pressure resistance type
Touch sensor does not trigger；
If the discount bolt alignment sensor detect with the discount threaded bolt contacts, if specially pressure resistance type touching
Feel that sensor is triggered；
The discount bolt detects that the discount bolt enters discount sleeve to level detection sensor, the specially described pressure
Feel that sensor is triggered.
Preferably, above-mentioned to automatically grab in method, the distance measuring sensor is laser range sensor.
Method is automatically grabbed using duct piece assembling machine provided by the invention, it is automatic described in any of the above-described as using
Grasping system, thus whole beneficial effects with above-mentioned automatic grasping system.It is to strong environmental adaptability, in visibility
It is low, complicated it is severe, block and the environmental conditions such as dark under can be used, and precision is higher；By being arranged in opening both sides of the edge
Discount bolt alignment sensor is controlled using bilateral touching, and control program is easily realized, error compensation may be implemented, and reduces track
The requirement of planning further promotes crawl precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the automatic grasping system of the duct piece assembling machine of a specific embodiment of the invention；
Fig. 2 is the partial enlargement diagram of Fig. 1；
Fig. 3 is the elevational schematic view of Fig. 2；
Fig. 4 is the flow diagram for automatically grabbing method of the duct piece assembling machine of a specific embodiment of the invention.
It is marked in attached drawing as follows:
1- joist, 2- reversing frame, 3- lift cylinder, 4- weight lifting pincers, 5- positioning identification system, 6- discount bolt, the section of jurisdiction 7-；
41- weight lifting tong arm, 42- discount sleeve, 43- grip block, 44- support bar seat, the section of jurisdiction 51- alignment sensor, 52- discount bolt are fixed
Level sensor, 53- discount bolt to level detection sensor.
Specific embodiment
The embodiment of the invention discloses a kind of automatic grasping systems of duct piece assembling machine, to strong environmental adaptability.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-Fig. 3 is please referred to, Fig. 1 is the whole of the automatic grasping system of the duct piece assembling machine of a specific embodiment of the invention
Body structural schematic diagram；Fig. 2 is the partial enlargement diagram of Fig. 1；Fig. 3 is the elevational schematic view of Fig. 2.
In a specific embodiment, the automatic grasping system of duct piece assembling machine provided by the invention includes duct piece assembling machine
With positioning identification system 5.
Wherein, duct piece assembling machine structure can refer to the prior art, be not especially limited herein.Specifically, duct piece assembling machine
Including joist 1, reversing frame 2, lift cylinder 3 and weight lifting pincers 4.Weight lifting pincers 4 have weight lifting tong arm 41.The 4 lower section connection of weight lifting pincers
There is grip block 43, further includes buckleing for the support bar seat 44 for being used to support grip block 43 and the discount bolt 6 for acting on section of jurisdiction 7
Headgear cylinder 42.Support bar seat 44 it is pairs of be symmetrically distributed in 42 two sides of discount sleeve.
The front end of grip block 43 has opening, and the width of opening is by close to one end of discount sleeve 42 to separate discount sleeve
42 one end is gradually increased, and increases the range of search of make-up hook bolt 6 by the setting of opening.Preferably, the two sides of opening
Edge is to arc convex among opening, then discount bolt alignment sensor 52 extends along opening both sides of the edge in correspondence respectively
Arc.Namely as shown in Figure 3, it is in horn-like for being open, and one side edge is in the arc convex to the other side, that is, both sides of the edge
It is opposite intermediate convex to opening.While the range of search for increasing make-up hook bolt 6 is arranged by arc, closer to discount
The local change in size of sleeve 42 is more slow, so that the detection accuracy of make-up hook bolt 6 is higher, in order to preferably plan that section of jurisdiction is spelled
The movement routine of installation.
Positioning identification system 5 include section of jurisdiction alignment sensor 51, discount bolt alignment sensor 52 and discount bolt in place
Detection sensor 53.Section of jurisdiction alignment sensor 51, discount bolt alignment sensor 52 and discount bolt are to level detection sensor 53
Respectively with pipe sheet assembling mechatronics, and then duct piece assembling machine can according to three feed back signal control itself movement.Section of jurisdiction is fixed
Level sensor 51 is set on two symmetrical support bar seats 44, and for positioning to section of jurisdiction 7, two sections of jurisdiction of symmetrically finger herein are positioned
Sensor 51 is symmetrical in Y-direction about discount sleeve 42.Duct piece assembling machine declines along Z-direction close to section of jurisdiction 7 until two supports
Section of jurisdiction alignment sensor 51 on item seat 44, which detects, stops decline when contacting with section of jurisdiction 7.Specific section of jurisdiction alignment sensor
51 can use contacting feeling sensor or distance measuring sensor.Using contacting feeling sensor or distance measuring sensor, detection accuracy is not
It is influenced by environment visibility, precision is higher, and safe and reliable.
Discount bolt alignment sensor 52 is respectively set along the opening both sides of the edge of grip block 43, is used for make-up hook bolt 6
Positioning.Discount bolt is installed in discount sleeve 42 to level detection sensor 53, for detecting discount bolt 6, to ensure discount
Bolt 6 fully enters discount sleeve 42.
Duct piece assembling machine declines along Z-direction close to section of jurisdiction 7 until the section of jurisdiction alignment sensor 51 on two support bar seats 44 is examined
Measure when being contacted with section of jurisdiction 7 stop decline after, duct piece assembling machine along X to moving, if discount bolt alignment sensor 52 is not examined
It measures and is contacted with discount bolt 6, then duct piece assembling machine is lifted along Z axis, then readjusts the position of duct piece assembling machine and section of jurisdiction 7
It sets；It is contacted if discount bolt alignment sensor 52 is detected with discount bolt 6, the feedback contact of discount bolt alignment sensor 52
It puts to the range information of center line；Duct piece assembling machine is moved to centerline along Y-direction according to range information；Duct piece assembling machine is again
Along X to moving, contacted if discount bolt alignment sensor 52 is detected with discount bolt 6, duct piece assembling machine is according to range information
Centerline is moved to along Y-direction；Otherwise duct piece assembling machine is along X to moving until discount bolt is detected to level detection sensor 53
Discount bolt 6 stops movement when entering discount sleeve 42.
Specifically, discount bolt alignment sensor 52 is piezoresistive tactile sensor, discount bolt to level detection sensor
53 be killing fluid additive.Piezoresistive tactile sensor and killing fluid additive, detection accuracy are not influenced by environment visibility,
Precision is higher, and safe and reliable.As needed, section of jurisdiction alignment sensor 51, discount bolt alignment sensor 52 and discount bolt
Similar pressure sensor or changing sensor substitution can also be acted on using with touch sensor to level detection sensor 53, i.e.,
Section of jurisdiction alignment sensor 51, discount bolt alignment sensor 52 and discount bolt to level detection sensor 53 be respectively tactile sensing
One or more of device, distance measuring sensor, pressure sensor or changing sensor.Specific distance measuring sensor can be laser
Distance measuring sensor, precision are higher.
Using the automatic grasping system of duct piece assembling machine provided by the invention, when assembling machine is close to section of jurisdiction 7, support bar seat 44
It is contacted with section of jurisdiction 7,7 location information of section of jurisdiction is obtained using the section of jurisdiction alignment sensor 51 on support bar seat 44, when two support bar seats
Section of jurisdiction alignment sensor 51 on 44, which detects, stops decline when contacting with section of jurisdiction 7.Moving assembling machine in X direction makes grip block
43 obtain discount spiral shell close to discount bolt 6, using the discount bolt alignment sensor 52 being mounted in 43 open edge of grip block
The relative position of bolt 6 and discount sleeve 42, the position of adjustment grip block 43 in the Y direction, makes discount bolt 6 and discount sleeve 42
It is aligned in the X-axis direction.Moving assembling machine in X direction makes discount bolt 6 enter discount sleeve 42, and moving process is due to vibration etc.
Reason is also easy to produce deviation, when discount bolt 6 touches the discount bolt alignment sensor 52 in 43 open edge of grip block, is
The information that system can use feedback carries out repositioning planning path.It is examined in place using the discount bolt in discount sleeve 42
Surveying sensor 53 ensures that discount bolt 6 has completely passed into discount sleeve 42.It is pre- finally by 3 make-up hook bolt 6 of lift cylinder
Tightly, support bar seat 44 and section of jurisdiction 7 are compressed, automatically grabbing to section of jurisdiction 7 is completed.
To sum up, the automatic grasping system is to strong environmental adaptability, visibility it is low, it is complicated it is severe, block and dark
Etc. can be used under environmental conditions；By the way that discount bolt alignment sensor 52 is arranged in opening both sides of the edge, using bilateral touching
Control, control program is easily realized, error compensation may be implemented, reduce the requirement of trajectory planning.
Further, the lift cylinder 3 of duct piece assembling machine is buckled for detecting in discount bolt to level detection sensor 53
Make-up hook bolt 6 is pre-tightened when hook bolt 6 fully enters in discount sleeve 42, so that support bar seat 44 compresses section of jurisdiction 7, and will
Section of jurisdiction 7 grabs.Namely by the detection of discount bolt to 53 make-up hook bolt of level detection sensor, 6 position, to ensure discount
Bolt 6 has fully entered discount sleeve 42, and then section of jurisdiction 7 is grabbed.
Method is automatically grabbed the invention also discloses a kind of duct piece assembling machine, using any one in the various embodiments described above
Automatic grasping system, comprising the following steps:
S1: duct piece assembling machine declines along Z-direction close to section of jurisdiction 7 until the section of jurisdiction alignment sensor 51 on two support bar seats 44 is equal
It detects and stops decline when contacting with section of jurisdiction 7；
It should be noted that section of jurisdiction alignment sensor 51 herein is detected and is contacted with section of jurisdiction 7, it has both included that section of jurisdiction positioning passes
Sensor 51 directly triggers activation signal when being contact sensor, detects when being also distance measuring sensor including section of jurisdiction alignment sensor 51
To distance be zero pressure to show to contact with section of jurisdiction 7 or when section of jurisdiction alignment sensor 51 is killing fluid additive detects
It is contacted with showing to contact with section of jurisdiction 7 etc. to characterize indirectly by the acquisition of other parameters with section of jurisdiction 7 greater than zero.
S2: duct piece assembling machine, to moving, connects if discount bolt alignment sensor 52 is not detected with discount bolt 6 along X
Touching, then duct piece assembling machine lifts along Z axis and readjusts the position of grip block 43 Yu section of jurisdiction 7, then return step S1；If discount
Bolt alignment sensor 52 is detected to be contacted with discount bolt 6, then executes subsequent step；
Before this automatically grabs method, duct piece assembling machine, which is first moved to above section of jurisdiction 7, reaches initial position, duct piece assembling machine
It is detected by the section of jurisdiction alignment sensor 51 that initial position drops on two support bar seats 44 when being contacted with section of jurisdiction 7, is then managed
Piece assembling machine along X to moving, by the setting of initial position so that duct piece assembling machine can be located at discount after accurately falling into place
In the detection range of bolt alignment sensor 52.And then in duct piece assembling machine along X to discount bolt alignment sensor 52 when moving
It can be detected and contacted with discount bolt 6.If since the factors such as decline process excursions cause discount bolt alignment sensor 52 equal
It is not detected when being contacted with discount bolt 6, then duct piece assembling machine lifts along Z axis and readjusts the position of grip block 43 Yu section of jurisdiction 7
Then return step S1 is set, and executes subsequent step, to guarantee the triggering of discount bolt alignment sensor 52.
It is in the intermediate convex arc of opening that discount bolt alignment sensor 52 can specifically extend along opening both sides of the edge respectively
Shape, the full-size that curved opening specifically can be set is 300mm, and the corresponding touching range in initial position is usually in 200mm
Within, then discount bolt alignment sensor 52 can be triggered substantially to moving along X after duct piece assembling machine declines for the first time.
S4: discount bolt alignment sensor 52 feeds back the range information of contact point to center line；
It should be noted that center line herein refers to the center line of opening, center line and 42 face of discount sleeve, that is,
When discount bolt 6 is moved on center line, then discount sleeve 42 can be inserted into for discount bolt 6 by moving along center line.
S5: duct piece assembling machine moves respective distance along Y-direction according to range information；
Discount bolt alignment sensor 52 feeds back the range information of contact point to center line, and such as distance is a, then pipe sheet assembling
Machine moves the distance of a according to range information along Y-direction, i.e., respective distance herein refers to mobile distance value phase corresponding with range information
Same distance.
S6: duct piece assembling machine connects if discount bolt alignment sensor 52 is detected with discount bolt 6 again along X to moving
It touches, then return step S4；Otherwise duct piece assembling machine is along X to moving until discount bolt to level detection sensor 53 detects discount
Bolt 6 stops movement when entering discount sleeve 42；
Duct piece assembling machine moves respective distance along Y-direction according to range information, is theoretically movable to centerline, then manages
Piece assembling machine again along X to move can make discount bolt 6 enter discount sleeve 42, when duct piece assembling machine along X to move due to
When the reasons such as vibration are also easy to produce deviation, then it can be collided again with open edge, so that discount bolt alignment sensor 52 detects
It is contacted with discount bolt 6, then again returns to step S4 again according to the information planning path of feedback.Until discount bolt is examined in place
When surveying sensor 53 and detecting that discount bolt 6 enters discount sleeve 42, show discount bolt 6 in place, duct piece assembling machine
Stop movement.
S7: duct piece assembling machine promotes discount bolt 6.
Discount bolt 6 in place after, pre-tightened by 3 make-up hook bolt 6 of lift cylinder, compress support bar seat 44 and section of jurisdiction 7,
Complete automatically grabbing to section of jurisdiction 7.
The duct piece assembling machine automatically grabs method, is due to using any automatically grab in the various embodiments described above
System, thus whole beneficial effects with above-mentioned automatic grasping system.It is low, multiple in visibility to strong environmental adaptability
It is miscellaneous it is severe, block and the environmental conditions such as dark under can be used, and precision is higher；By the way that discount spiral shell is arranged in opening both sides of the edge
Anchoring level sensor 52 is controlled using bilateral touching, and control program is easily realized, error compensation may be implemented, and reduces trajectory planning
Requirement, further promoted crawl precision.
Further, after step S7, further includes:
S8: whether detection support bar seat 44 compresses with section of jurisdiction 7, if otherwise exporting the alerting signal overhauled.
Then relevant staff can take measures to overhaul rapidly according to alerting signal.Specifically, alerting signal can be with
For sound-light alarm, voice prompting etc., it is not especially limited herein.
Specifically, exporting the alerting signal overhauled in above-mentioned steps S8 and specifically including output exclusion constructing tunnel ring
The alerting signal that border influences.After then excluding the influence of work environment, automatic grasping system homing returns to step S1 progress
It automatically grabs.
In the above embodiments, discount bolt alignment sensor 52 is piezoresistive tactile sensor, and discount bolt is in place
Detection sensor 53 is killing fluid additive, and section of jurisdiction alignment sensor 51 is contacting feeling sensor or distance measuring sensor；If then discount
Bolt alignment sensor 52 is not detected to be contacted with discount bolt 6, if specially piezoresistive tactile sensor does not trigger；If
Discount bolt alignment sensor 52 is detected to be contacted with discount bolt 6, if specially piezoresistive tactile sensor is triggered；Discount
Bolt detects that discount bolt 6 enters discount sleeve 42 to level detection sensor 53, and specially killing fluid additive is triggered.Specifically
, distance measuring sensor is laser range sensor.Piezoresistive tactile sensor, killing fluid additive and contacting feeling sensor and ranging
Sensor, detection accuracy are not influenced by environment visibility, and precision is higher, and safe and reliable.
To sum up, the automatic grasping system and method for provided by the invention assembling machine, using relatively reliable tactile sensing
Device, killing fluid additive, changing sensor or distance measuring sensor carry out positioning crawl to section of jurisdiction 7；Visibility is low, complicated evil
It is bad, block and the environmental conditions such as dark under can be used；It is controlled by bilateral touching, control program is easily realized, may be implemented to miss
Difference compensation, reduces the requirement of trajectory planning；Control program is easily realized, is required worker's proficiency lower；It is high-efficient, and safety can
It leans on.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of automatic grasping system of duct piece assembling machine, including duct piece assembling machine, the duct piece assembling machine includes being connected to act
The grip block of lower section is clamped again, is used to support the support bar seat of the grip block and the discount set for acting on section of jurisdiction discount bolt
Cylinder；It is characterized in that, being provided with the section of jurisdiction alignment sensor for positioning to the section of jurisdiction, institute on two symmetrical support bar seats
The front end for stating grip block has opening, and the width of the opening is by close to one end of the discount sleeve to the separate discount set
One end of cylinder is gradually increased, and is separately provided for the discount spiral shell positioned to the discount bolt along the opening both sides of the edge
Anchoring level sensor；It is equipped in the discount sleeve and detects biography in place for detecting the discount bolt of the discount bolt in place
Sensor；
The section of jurisdiction alignment sensor, the discount bolt alignment sensor and the discount bolt are distinguished to level detection sensor
With the pipe sheet assembling mechatronics, and the section of jurisdiction alignment sensor, the discount bolt alignment sensor and the discount
Bolt to level detection sensor be respectively one of touch sensor, distance measuring sensor, killing fluid additive or changing sensor
Or it is a variety of.
2. automatic grasping system according to claim 1, which is characterized in that the both sides of the edge of the opening are to described
The intermediate convex arc of opening, the discount bolt alignment sensor extend along the opening both sides of the edge in corresponding arc respectively.
3. automatic grasping system according to claim 1, which is characterized in that the discount bolt alignment sensor is pressure drag
Formula touch sensor, the discount bolt to level detection sensor are killing fluid additive, and the section of jurisdiction alignment sensor is contact
Feel sensor or distance measuring sensor.
4. automatic grasping system according to claim 3, which is characterized in that the distance measuring sensor is laser ranging sensing
Device.
5. automatic grasping system according to claim 1-4, which is characterized in that the promotion of the duct piece assembling machine
Oil cylinder is used to detect that the discount bolt fully enters in the discount sleeve to level detection sensor in the discount bolt
When the discount bolt is pre-tightened so that the support bar seat compresses the section of jurisdiction, and the section of jurisdiction is grabbed.
6. a kind of duct piece assembling machine automatically grabs method, which is characterized in that use is as described in any one in claim 1-5 certainly
Dynamic grasping system, comprising the following steps:
S1: duct piece assembling machine along Z-direction decline close to section of jurisdiction until two support bar seats on section of jurisdiction alignment sensor detect with
Stop decline when the section of jurisdiction contacts；
S2: the duct piece assembling machine along X to moving, if discount bolt alignment sensor be not detected with discount threaded bolt contacts,
Then the duct piece assembling machine lifts along Z axis and readjusts the position of grip block Yu the section of jurisdiction, then return step S1；If button
Hook bolt alignment sensor detect with the discount threaded bolt contacts, then execute subsequent step；
S4: the discount bolt alignment sensor feeds back the range information of contact point to center line；
S5: the duct piece assembling machine moves respective distance along Y-direction according to the range information；
S6: the duct piece assembling machine is again along X to moving, if the discount bolt alignment sensor detects and the discount spiral shell
Bolt touches, then return step S4；Otherwise the duct piece assembling machine along X to move until discount bolt to level detection sensor detection
Stop movement when entering discount sleeve to the discount bolt；
S7: the duct piece assembling machine promotes the discount bolt.
7. according to claim 6 automatically grab method, which is characterized in that after the step S7, further includes:
S8: detecting whether the support bar seat compresses with the section of jurisdiction, if otherwise exporting the alerting signal overhauled.
8. according to claim 7 automatically grab method, which is characterized in that the alerting signal tool that the output is overhauled
Body includes that output excludes the alerting signal that tunnel construction environment influences.
9. automatically grabbing method according to claim 6-8 is described in any item, which is characterized in that the discount bolt orientation sensing
Device is piezoresistive tactile sensor, and the discount bolt to level detection sensor is killing fluid additive, the section of jurisdiction orientation sensing
Device is contacting feeling sensor or distance measuring sensor；
If then the discount bolt alignment sensor be not detected with discount threaded bolt contacts, if the specially described pressure resistance type tactile
Sensor does not trigger；
If the discount bolt alignment sensor detect with the discount threaded bolt contacts, if specially the pressure resistance type tactile passes
Sensor is triggered；
The discount bolt detects that the discount bolt enters discount sleeve to level detection sensor, and the specially described pressure sensation passes
Sensor is triggered.
10. according to claim 9 automatically grab method, which is characterized in that the distance measuring sensor is laser ranging biography
Sensor.
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| CN201910271271.3A CN109882215B (en) | 2019-04-04 | 2019-04-04 | Automatic grabbing system and automatic grabbing method of pipe piece assembling machine |
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| CN109882215B (en) | 2020-06-30 |
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