CN111535381A - Automatic slotting system and method for tunnel drainage channel - Google Patents
Automatic slotting system and method for tunnel drainage channel Download PDFInfo
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- CN111535381A CN111535381A CN202010399159.0A CN202010399159A CN111535381A CN 111535381 A CN111535381 A CN 111535381A CN 202010399159 A CN202010399159 A CN 202010399159A CN 111535381 A CN111535381 A CN 111535381A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
- E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
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- Mechanical Engineering (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses an automatic slotting system for a tunnel drainage channel, which comprises a generator, a railway flat car, an industrial robot, a slotting device, a robot fixing device, a scanning device, a positioning device and a control subsystem, wherein the whole system is arranged on the railway flat car and is convenient for moving operation. The positioning device marks the operation range of the industrial robot, the tractor is used for towing the railway flatbed to enable the operation surface to be grooved to be located in the operation range of the industrial robot, the control subsystem automatically generates a grooving track according to the data of the operation surface to be grooved, which is obtained by scanning of the scanning device, the control subsystem controls the industrial robot to move according to the grooving track and drives the grooving device to move, and the grooving device performs grooving according to the grooving track. The grooving machine can quickly and efficiently complete grooving operation, reduces the labor intensity of workers, and also ensures the safety of the operators.
Description
Technical Field
The invention relates to the technical field of slotting systems, in particular to an automatic slotting system and method for a tunnel drainage channel.
Background
The railway construction of China develops rapidly, and with the increasing of railway construction projects, it is very important to effectively improve the quality of the railway projects. Due to the fact that the landforms of all parts of China are complex, railway construction difficulty is high, and meanwhile the railway tunnel seepage is influenced by a plurality of factors such as complex geological conditions, and the like, the railway damage of mountain railways is the most common railway damage. The leakage water of the tunnel can cause the problems of the reduction of the supporting capability of the lining, the failure of communication lighting equipment due to the corrosion of running water and the like, not only can increase the railway operation and maintenance cost, but also can influence the safety of railway line transportation.
For the problem of water leakage in the tunnel, a blocking and draining combined method is generally adopted for treatment at present. Besides grouting and plugging, an inverted trapezoidal groove is formed in a water seepage area, a PVC water-permeable blind pipe is buried and fixed in the inverted trapezoidal groove, and filling and waterproof treatment are carried out between the groove and the PVC pipe. At present, in railway construction, the method of manual excavation is mostly adopted for arranging the drainage channel. Because the tunnel dome is higher, can only carry out the construction with the help of the scaffold, and the railway still takes on daily transportation task, so the engineering time is very restricted, and manual grooving speed is slow in addition, so the efficiency of construction is very low, can't satisfy the operation demand. And on the other hand, the slotting operation environment is severe, the dust pollution is serious, the operation danger is high, and certain harm is caused to the personal health of the operators.
Disclosure of Invention
The invention aims to: aiming at the problems of low efficiency and dangerous construction in the prior art, the automatic slotting system for the tunnel drainage channel is provided, and the system can control the industrial robot to automatically slot according to a slotting track generated by information of a working face to be slotted, which is obtained according to system scanning.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic slotting system for a tunnel drainage channel comprises a railway flat car, a generator, a robot fixing device, a slotting device, an industrial robot and a control subsystem;
the generator, the control subsystem and the industrial robot are all arranged on the railway flat car, wherein the industrial robot is fixed on the railway flat car through the robot fixing device; the slotting device is arranged on a tail end flange of the industrial robot through a flange plate; one end of the grooving device, which is far away from the industrial robot, is provided with a grooving cutter with a multi-piece structure;
a first control signal output end of the control subsystem is connected with a control signal input end of the industrial robot so as to control the industrial robot to drive the slotting device to move; and a second control signal output end of the control subsystem is connected with a control signal input end of the slotting device and is used for controlling the slotting device to slot the working surface to be slotted in the tunnel.
As a preferred scheme of the present invention, the control subsystem includes an upper computer control system, an electrical control system, and a robot control system, the upper computer control system is connected to the electrical control system and the robot control system, respectively, a control signal output end of the robot control system is the first control signal output end, and a control signal output end of the electrical control system is the second control signal output end.
As a preferred scheme of the present invention, the automatic slotting system further includes a scanning device, the scanning device is detachably mounted on the slotting device, an information output end of the scanning device is connected to an information input end of the electrical control system, a scanning signal input end of the scanning device is connected to a scanning signal output end of the electrical control system, the scanning device scans to-be-slotted operation face information according to a scanning signal output by the electrical control system and transmits the information back to the electrical control system, the electrical control system transmits the operation face information to the upper computer control system, the upper computer control system generates a slotting track according to the operation face information and transmits the slotting track to the robot control system, a control signal output end of the robot control system outputs a first control signal to control the industrial robot to move according to the slotting track, the upper computer control system also transmits the slotting track to the electrical control system, and a control signal output end of the electrical control system outputs a second control signal to control the slotting device to slot according to the slotting track.
As a preferable aspect of the present invention, the grooving apparatus further includes:
the driving signal input end of the motor is connected with the driving signal output end of the electrical control system, and the motor is connected with the slotting cutter and is used for driving the slotting cutter;
the signal input end of the constant force floating control device is connected with the signal output end of the electrical control system, and the constant force floating control device is connected with the slotting cutter and is used for keeping the slotting force of the slotting cutter constant within a certain range in the slotting process.
As a preferred scheme of the present invention, the automatic slotting system further includes an attitude sensor, the attitude sensor is disposed on the slotting device, an attitude signal output end of the attitude sensor is connected to an attitude signal input end of the electrical control system, and the attitude sensor detects a movement attitude of the slotting device in real time and transmits the movement attitude to the electrical control system.
As a preferred scheme of the invention, the upper computer control system comprises an upper computer and a human-computer interaction touch display screen;
the upper computer is used for generating the slotting track and a user control interface;
the human-computer interaction touch display screen is used for displaying the user control interface and realizing human-computer interaction, and comprises the steps of starting, stopping, scramming of the automatic slotting system, selecting operation functions and setting related parameters, browsing slotting tracks in advance and executing pre-walking track operation of the robot.
As a preferable scheme of the present invention, the robot fixing device includes a robot mounting bracket and a robot fixing bottom plate, the robot mounting bracket is fixedly connected to the railway flatbed, the robot fixing bottom plate is disposed on the robot bracket, and the industrial robot is horizontally fixed on the robot bracket through the robot fixing plate.
As a preferable scheme of the present invention, the automatic slotting system further includes a positioning device disposed on the robot support, and a positioning signal input end of the positioning device is connected to a positioning signal output end of the electrical control system, and is configured to mark an operation range of the industrial robot according to a positioning signal output by the electrical control system.
As a preferable aspect of the present invention, the automatic slotting and loading system further includes:
the temperature-reducing and dust-removing device is arranged on the railway flat car, a temperature-reducing and dust-removing signal input end of the temperature-reducing and dust-removing device is connected with a temperature-reducing and dust-removing signal output end of the electrical control system, and the temperature-reducing and dust-removing device is used for reducing the temperature and removing dust for the slotting cutter;
the protection device comprises a waterproof and dustproof device of the industrial robot, guard railways around the railway flat car, infrared sensors and an alarm device, wherein the infrared sensors and the alarm device are arranged around the guard railways, and the alarm signal output ends of the infrared sensors and the alarm device are connected with the alarm signal input end of the electrical control system.
The invention also discloses an automatic slotting method for the tunnel drainage channel, which adopts the automatic slotting system and comprises the following steps:
s1, the railway flatbed is pulled to the inside of the tunnel by a tractor, the electric control system outputs a positioning signal, the positioning device is controlled to mark the working range of the industrial robot, the tractor is dragged according to the working range marked by the marking line of the positioning device, the working surface to be grooved is positioned in the working range of the industrial robot, and the railway flatbed is locked;
s2, arranging a protection device, keeping the protection device in a working state, and sending a light warning signal;
s3, setting a slotting type through an upper computer control system, outputting a scanning signal by the electrical control system, controlling a scanning device to scan a working face to be slotted, acquiring curve data of the working face to be slotted, transmitting the curve data to the electrical control system, transmitting the curve data of the working face to be slotted to the upper computer control system by the electrical control system, generating a slotting curve model by the upper computer control system, and further automatically generating a slotting track;
s4, previewing the slotting track by the upper computer control system, controlling the industrial robot to execute track pre-cutting movement by a user control interface of the upper computer control system, judging whether the operation track meets an expected track, if not, modifying the slotting track by the upper computer control system, or controlling the scanning device to scan again by the electric control system, and regenerating the slotting track by the upper computer control system until the slotting track meets the expected track;
s5, after the slotting track conforms to an expected track, the upper computer control system transmits the slotting track to the robot control system, a control signal output end of the robot control system outputs a first control signal to control the industrial robot to move according to the slotting track, the upper computer control system also transmits the slotting track to the electrical control system, and a control signal output end of the electrical control system outputs a second control signal to control the slotting device to slot according to the slotting track until the slotting operation is finished;
when the protection device detects that people enter or an emergency occurs, the emergency stop operation is executed through a man-machine interaction touch display screen of the upper computer control system;
when the slotting operation is started, the electric control system outputs a dust removal signal to control the cooling and dust removal device to cool and remove dust for a slotting cutter of the slotting device until the slotting operation is finished.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the automatic slotting system is arranged on the railway flat car and can move according to operation requirements, the slotting device is arranged on a flange plate at the tail end of an industrial robot, the control subsystem drives the slotting to execute slotting operation by controlling the movement of the industrial robot, and the diameter size of blades and the number of the blades in the slotting tool can be selected and configured according to the width and the depth of slotting by virtue of the multi-piece structure of the slotting tool in the slotting device, so that various slotting requirements are met.
2. The control subsystem controls the scanning device to collect image data of the operation surface to be grooved, the image data is processed by the control subsystem to generate a grooving track, if the grooving track does not accord with an expected track, the grooving track can be modified through a human-computer interface of the control subsystem, or the scanning device can rescan the operation surface to be grooved, the grooving track conforming to the expected track is regenerated, the control subsystem controls the grooving robot to execute grooving operation according to the grooving track, and the accuracy of the grooving operation is guaranteed.
3. The constant force floating control device is arranged in the slotting device of the slotting robot, the control subsystem is used for controlling the action of the slotting cutter of the slotting device, the gesture sensor arranged on the slotting device is combined for detecting the motion gesture of the slotting device in real time, constant force operation is guaranteed when the height difference exists in a certain range on the operation surfaces at different positions, and the consistency of slotting can be effectively guaranteed.
4. According to the invention, the industrial robot of the slotting robot is provided with the waterproof and dustproof device, so that the slotting operation of the industrial robot is protected from interference, the protective devices such as the protective fence, the infrared sensor and the alarm device are arranged around the railway flatbed, when personnel enter an operation area or an unexpected situation occurs, the infrared sensor and the alarm device of the protective device give an alarm, and the emergency stop operation can be executed through the control subsystem, so that the safety of the slotting operation is ensured.
5. Utilize current ripe industrial robot, can adapt to the industrial robot of different manufacturers, operation process is simple, easy, convenient and high-efficient, can effectively alleviate workman intensity of labour, and economic benefits is outstanding, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a block diagram of the architecture of the present invention.
Fig. 3 is a schematic view of an automated grooving system during a grooving operation.
FIG. 4 is a flow chart of the automatic grooving method of the present invention.
Icon: 1-a railway flatbed; 2-an industrial robot; 3-a robot mounting bracket; 4-robot fixing plate; 5-slotting cutter, 6-slotting device; 7-a scanning device; 8-operation room; 9-a generator; 10-an electrical control system; 11-a robot control system; 12-an upper computer control system; 13-a positioning device; and 14-a water storage tank.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1 and 2, an automatic grooving system for a tunnel drainage channel comprises a railway flat car 1, an industrial robot 2, a grooving device 6, a generator 9, a robot fixing device, a control subsystem, a scanning device 7 and a positioning device 13, wherein the control subsystem comprises an upper computer control system, an electrical control system 10 and a robot control system 11, and the generator 9, the industrial robot 2, the upper computer control system 12, the robot control system 11, the electrical control system 10 and the positioning device 13 are all fixed on the railway flat car 1.
The automatic slotting system further comprises an attitude sensor, a cooling and dedusting device and a protection device. The attitude sensor of this embodiment sets up on fluting device 6, with electrical control system 10 is connected, is used for real-time detection fluting device 6's motion gesture, the attitude sensor with constant force floating installation combined action guarantees that fluting power keeps the constant force at the fluting operation in-process. This embodiment adopts the mode that water drenches to do slotting cutter 5 cooling dust removal, cooling dust collector includes water storage tank 14, immersible pump and water pipe, the immersible pump is placed in the water storage tank, water piping connection the immersible pump with slotting cutter 5.
The protection device comprises an industrial robot's waterproof and dustproof device, a protective guard, infrared sensors and corresponding alarm devices arranged around the protective guard, wherein the infrared sensors and the alarm devices are connected with the electrical control system 10 and used for monitoring the surrounding environment in the grooving process. When the system is in a grooving operation state, the warning function is achieved by utilizing lamplight. When the protection device detects that people enter the automatic slotting system unintentionally or other emergencies generate an alarm signal, the upper computer control system 12 controls the automatic slotting system to enter an emergency stop state so as to avoid safety accidents.
The system is characterized in that the industrial robot 2 can adopt six-degree-of-freedom industrial robots of different manufacturers, and the robot control system 11 is a robot control cabinet, is a device matched with the industrial robot 2 for controlling the motion of the industrial robot 2. And the relevant parameters of the industrial robot 2 reasonably select the arm length according to the type and the working distance of the working tunnel. Considering the specific operation environment, the industrial robot 2 needs to be protected by the whole body, and in this embodiment, a method of putting an acid and alkali resistant protective clothing on the outside of the industrial robot 2 is adopted. The generator 9 is used for supplying power to the automatic slotting system. Robot fixing device includes machine installing support 3 and robot fixed plate 4, robot installing support 3 closely fixes through the bolt on the railway flatbed 1, 3 sides are equipped with on the robot installing support robot fixed plate 4, robot fixed plate 4 closely fixes through the screw on the robot installing support 3, industrial robot 2 is in through fixing bolt horizontal fixed mounting on robot fixed plate 4.
The scanning device 7 is installed on the shell of the slotting device 6 through a detachable quick-change connector and can be taken down after scanning is finished, the scanning device 7 comprises a servo motor and a laser sensor, and the scanning device 7 is connected with the electric control system 10 and used for scanning a working face to be slotted.
The slotting device 6 is connected with the electrical control system 10 and used for completing slotting operation, the slotting device 6 is installed on a flange plate at the tail end of the industrial robot 2 through a flange plate, and the slotting device 6 comprises a slotting cutter 5, a constant force floating control device and a slotting motor. The signal input end of the constant force floating device is connected with the signal output end of the electrical control system 10, and the constant force floating control device is connected with the slotting cutter 5 and is used for keeping the slotting force of the slotting cutter 5 constant within a certain range in the slotting process.
The positioning device 13 is arranged on the robot mounting bracket 3 and used for marking the working range of the industrial robot 2, and before starting to execute a slotting task, the electrical control system 10 outputs a positioning signal and controls the positioning device 13 to mark the working range of the industrial robot. In this embodiment, the positioning devices 13 are positioned by laser, and two positioning devices 13 are arranged on the robot mounting bracket 3 and are arranged on the surface facing the operation surface to be grooved, and one positioning device is arranged on the left and the right. So that the railway flatbed 1 can be conveniently pulled to the position to be grooved by a tractor, and the working surface to be grooved is positioned within the two laser marking lines.
The electrical control system 10 is in signal connection with the scanning device 7, the slotting device 6 and the upper computer control system 12 respectively, the electrical control system 10 is also in signal connection with the robot control system 11 through the upper computer control system 12, the electrical control system 10 is used for outputting scanning signals to control the scanning device 7 to scan a working surface to be slotted, the electrical control system 10 transmits the scanning information to the upper computer control system 12 after obtaining the returned scanning information, the upper computer control system 12 is used for establishing a relevant curve model of the working surface to be slotted according to relevant data of the working surface to be slotted obtained by the scanning device 7, automatically generates a slotting track and transmits the slotting track to the robot control system 11, a control signal output end of the robot control system 11 outputs a first control signal to control the industrial robot 2 to move according to the slotting track, the upper computer control system 12 further transmits the slotting track to the electrical control system 10, and a control signal output end of the electrical control system 10 outputs a second control signal to control the slotting device 6 to execute slotting operation according to the slotting track.
The electrical control system 10 comprises a PLC controller and a frequency converter, wherein the PLC controller is used for controlling the operation of the slotting device 6, the scanning device 7, the positioning device 13, the cooling and dust removing device and the protection device; the frequency converter is used for controlling the slotting motor.
The upper computer control system 12 comprises an upper computer and a man-machine interaction touch display screen, and the upper computer is used for generating a user control interface of the whole system and generating the slotting track. The man-machine interaction touch display screen is used for realizing man-machine interaction, and besides basic starting/stopping, sudden stopping and other general operations, the man-machine interaction touch display screen also comprises selection of operation functions, setting of relevant parameters such as slotting types and the like, and can also browse slotting curves in advance and execute pre-walking track operation of the industrial robot 2.
The upper computer control system 12, the electrical control system 10 and the robot control system 11 for controlling the industrial robot 2 are all arranged in the operating room 8, so that concrete dregs are prevented from splashing and falling to cause damage.
Referring to fig. 3 and 4, when the automatic grooving system is used for automatic grooving, the automatic grooving method comprises the following steps:
s1, determining the operation range, and locking the railway flat car 1 on the operation surface to be grooved: the electric control system 10 outputs the positioning signal, controls the positioning device 13 to mark the operation range corresponding to the industrial robot 2, utilizes the tractor to draw the railway flatbed 1 to the area to be grooved, enables the operation surface to be grooved to be in the operation range of the industrial robot 2, and locks the position of the railway flatbed.
S2, arranging the protection device after the position of the protection device is determined, starting the infrared sensor and the alarm device of the protection device, and sending out a light warning signal.
S3, setting grooving parameters and scanning a working surface to generate a grooving track: the man-machine interaction touch display screen is used for setting slotting parameters, the scanning device 7 is controlled by scanning signals output by the electrical control system 10 to carry out laser scanning on the working face to be slotted, the electrical control system 10 transmits curve data of the working face to be slotted to the upper computer control system 12 after acquiring the curve data of the working face to be slotted, the upper computer control system 12 generates a slotting curve model by using the curve data of the working face to be slotted, and then further generates a slotting track.
S4, judging whether the slotting track conforms to the expected track: after receiving the slotting track, the electrical control system 10 can preview the slotting track through the human-computer interaction interface, controls the industrial robot 2 to execute track pre-cutting movement by using the user control interface, judges whether the slotting track conforms to an expected track, and if not, can partially correct the track through the human-computer interface of the upper computer control system 12, and can also select to restart the scanning device 7 for scanning to generate a new slotting track.
S5, executing slotting operation according to the slotting track: until the slotting track generated by the upper computer control system 12 conforms to an expected track, the upper computer control system 12 transmits the slotting track to the robot control system 11, the robot control system 11 controls the industrial robot 2 to move according to the slotting track, the upper computer control system 12 also transmits the slotting track to the electrical control system 10, and the electrical control system controls the slotting device 6 to execute slotting operation according to the slotting track until the slotting operation is finished.
In the process of slotting operation, if the protection device detects that someone enters or an emergency occurs, the man-machine interaction touch screen of the upper computer control system 12 is used for executing emergency stop operation.
When the grooving operation is executed, the electric control system 10 controls the temperature-reducing and dust-removing device to start working, and in the grooving operation process, the grooving tool 5 of the grooving device 6 is cooled and removed with dust, that is, the grooving tool 5 is sprayed with water all the time until the grooving operation is finished.
The embodiment shows that the grooving machine can control the industrial robot to perform grooving operation, avoids the danger of manual grooving, can keep constant force operation, ensures the grooving consistency, and has the advantages of simple operation, high efficiency, outstanding economic benefit and strong practicability.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic slotting system for a tunnel drainage channel is characterized by comprising a railway flat car (1), a generator (9), a robot fixing device, a slotting device (6), an industrial robot (2) and a control subsystem;
the generator (9), the control subsystem and the industrial robot (2) are arranged on the railway flat car (1), wherein the industrial robot (2) is fixed on the railway flat car (1) through the robot fixing device; the slotting device (6) is arranged on a tail end flange of the industrial robot (2) through a flange plate; one end of the grooving device (6) far away from the industrial robot (2) is provided with a grooving cutter (5) with a multi-piece structure;
a first control signal output end of the control subsystem is connected with a control signal input end of the industrial robot (2) so as to control the industrial robot (2) to drive the slotting device (6) to move; and a second control signal output end of the control subsystem is connected with a control signal input end of the slotting device (6) and is used for controlling the slotting device (6) to slot the working face to be slotted in the tunnel.
2. The automatic slotting system according to claim 1, wherein the control subsystem comprises an upper computer control system (12), an electrical control system (10) and a robot control system (11), the upper computer control system (12) is respectively connected with the electrical control system (10) and the robot control system (11), a control signal output end of the robot control system (11) is the first control signal output end, and a control signal output end of the electrical control system (10) is the second control signal output end.
3. The automatic grooving system of claim 2, further comprising a scanning device (7), wherein the scanning device (7) is detachably mounted on the grooving device (6), an information output end of the scanning device (7) is connected with an information input end of the electrical control system (10), a scanning signal input end of the scanning device (7) is connected with a scanning signal output end of the electrical control system (10), the scanning device (7) scans information of a work surface to be grooved according to a scanning signal output by the electrical control system (10) and transmits the information back to the electrical control system (10), the electrical control system (10) transmits the information of the work surface to the upper computer control system (12), and the upper computer control system (12) generates a grooving track according to the information of the work surface, and the slotting track is transmitted to the robot control system (11), a control signal output end of the robot control system (11) outputs a first control signal to control the industrial robot (2) to move according to the slotting track, the upper computer control system (12) also transmits the slotting track to the electrical control system (10), and a control signal output end of the electrical control system (10) outputs a second control signal to control the slotting device (6) to slot according to the slotting track.
4. The automated grooving system of claim 2, wherein the grooving apparatus (6) further comprises:
the driving signal input end of the motor is connected with the driving signal output end of the electrical control system (10), and the motor is connected with the slotting cutter (5) and used for driving the slotting cutter (5);
the signal input end of the constant force floating control device is connected with the signal output end of the electric control system (10), and the constant force floating control device is connected with the slotting cutter (5) and used for keeping the slotting force of the slotting cutter (5) constant within a certain range in the slotting process.
5. The automatic slotting system according to claim 3, further comprising an attitude sensor arranged on the slotting device (6), wherein an attitude signal output end of the attitude sensor is connected with an attitude signal input end of the electrical control system (10), and the attitude sensor detects the motion attitude of the slotting device (6) in real time and transmits the motion attitude to the electrical control system (10).
6. The automatic slotting system of claim 2, wherein the upper computer control system comprises an upper computer and a human-computer interaction touch display screen;
the upper computer is used for generating the slotting track and a user control interface;
the human-computer interaction touch display screen is used for displaying the user control interface and realizing human-computer interaction, and comprises the steps of starting, stopping, scramming of the automatic slotting system, selecting operation functions and setting related parameters, browsing slotting tracks in advance and executing pre-walking track operation of the robot.
7. The automated slotting system according to claim 2, wherein the robot fixing device comprises a robot mounting bracket (3) and a robot fixing bottom plate (4), the robot mounting bracket (3) is fixedly connected on the railway flat car (1), the robot fixing bottom plate (4) is arranged on the robot bracket, and the industrial robot (2) is horizontally fixed on the robot bracket through the robot fixing plate.
8. The automated grooving system of claim 7, further comprising a positioning device (13) disposed on the robot support, wherein a positioning signal input of the positioning device (13) is connected to a positioning signal output of the electrical control system (10) for indicating the working range of the industrial robot (2) based on the positioning signal output by the electrical control system (10).
9. The automated slotting system of claim 2, further comprising:
the temperature-reducing and dust-removing device is arranged on the railway flat car (1), a temperature-reducing and dust-removing signal input end of the temperature-reducing and dust-removing device is connected with a temperature-reducing and dust-removing signal output end of the electrical control system (10), and the temperature-reducing and dust-removing device is used for reducing the temperature and removing dust of the slotting cutter (5);
the protection device comprises a waterproof and dustproof device of the industrial robot (2), a protective guard around the railway flat car (1), an infrared sensor and an alarm device, wherein the infrared sensor and the alarm device are arranged around the protective guard, and an alarm signal output end of the infrared sensor and an alarm signal output end of the alarm device are connected with an alarm signal input end of the electrical control system (10).
10. An automatic grooving method for a tunnel drainage channel using the automatic grooving system of any one of claims 1 to 9, comprising the steps of:
s1, the railway flatbed (1) is pulled to the inside of the tunnel by a tractor, the electric control system (10) outputs a positioning signal, the positioning device (13) is controlled to mark the working range of the industrial robot (2), the tractor is dragged according to the working range marked by the marking line of the positioning device (13), the working surface to be grooved is positioned in the working range of the industrial robot (2), and the railway flatbed (1) is locked;
s2, arranging a protection device, keeping the protection device in a working state, and sending a light warning signal;
s3, setting a slotting type through an upper computer control system (12), outputting a scanning signal by the electrical control system (10), controlling a scanning device (7) to scan a working surface to be slotted, acquiring curve data of the working surface to be slotted, transmitting the curve data to the electrical control system (10), transmitting the curve data of the working surface to be slotted to the upper computer control system (12) by the electrical control system (10), generating a slotting curve model by the upper computer control system (12), and further automatically generating a slotting track;
s4, previewing the slotting track by using the upper computer control system (12), controlling the industrial robot (2) to execute track pre-cutting movement by using a user control interface of the upper computer control system (12), judging whether the operation track meets an expected track, modifying the slotting track by using the upper computer control system (12) if the operation track does not meet the expected track, or controlling the scanning device (7) to scan again by using the electric control system (10), and regenerating the slotting track by using the upper computer control system (12) until the slotting track meets the expected track;
s5, after the slotting track conforms to an expected track, the upper computer control system (12) transmits the slotting track to the robot control system (11), a control signal output end of the robot control system (11) outputs a first control signal to control the industrial robot (2) to move according to the slotting track, the upper computer control system (12) also transmits the slotting track to the electrical control system (10), and a control signal output end of the electrical control system (10) outputs a second control signal to control the slotting device (6) to slot according to the slotting track until the slotting operation is finished;
when the protection device detects that people enter or an emergency occurs, the emergency stop operation is executed through a human-computer interaction touch display screen of the upper computer control system (12);
when the slotting operation is started, the electrical control system (10) outputs a dust removal signal to control the cooling and dust removal device to cool and remove dust for the slotting cutter (5) of the slotting device (6) until the slotting operation is finished.
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| CN202010399159.0A CN111535381A (en) | 2020-05-12 | 2020-05-12 | Automatic slotting system and method for tunnel drainage channel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112281963A (en) * | 2020-11-04 | 2021-01-29 | 钱学彪 | Drainage ditch excavating device for railway bridge and operation method thereof |
| CN113700488A (en) * | 2021-09-15 | 2021-11-26 | 中铁二局集团有限公司 | Automatic tunnel slotting system and emergency processing method |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN115157394A (en) * | 2022-08-17 | 2022-10-11 | 沈阳昂霄软件技术开发有限公司 | Floor heating grooving automatic robot and route automatic planning method |
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2020
- 2020-05-12 CN CN202010399159.0A patent/CN111535381A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112281963A (en) * | 2020-11-04 | 2021-01-29 | 钱学彪 | Drainage ditch excavating device for railway bridge and operation method thereof |
| CN113700488A (en) * | 2021-09-15 | 2021-11-26 | 中铁二局集团有限公司 | Automatic tunnel slotting system and emergency processing method |
| CN114750303A (en) * | 2022-06-15 | 2022-07-15 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN114750303B (en) * | 2022-06-15 | 2022-11-04 | 中建安装集团有限公司 | Drilling system and drilling method for urban rail transit engineering construction |
| CN115157394A (en) * | 2022-08-17 | 2022-10-11 | 沈阳昂霄软件技术开发有限公司 | Floor heating grooving automatic robot and route automatic planning method |
| CN115157394B (en) * | 2022-08-17 | 2024-01-30 | 沈阳昂霄软件技术开发有限公司 | Floor heating slotting automatic robot and route automatic planning method |
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