CN114212678B - Intelligent segment grabbing device and intelligent grabbing method thereof - Google Patents
Intelligent segment grabbing device and intelligent grabbing method thereof Download PDFInfo
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- CN114212678B CN114212678B CN202111430318.XA CN202111430318A CN114212678B CN 114212678 B CN114212678 B CN 114212678B CN 202111430318 A CN202111430318 A CN 202111430318A CN 114212678 B CN114212678 B CN 114212678B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0237—Multiple lifting units; More than one suction area
- B66C1/025—Divided cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/08—Runners; Runner bearings
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Abstract
The invention discloses an intelligent segment grabbing device and an intelligent segment grabbing method, and solves the problem that segment transportation efficiency is low in the prior art. The invention discloses an intelligent duct piece grabbing device which comprises a main frame body, wherein a main control machine is arranged on the main frame body, a lifting mechanism is arranged at the lower part of the main frame body, a grabbing head and a rotating mechanism for driving the grabbing head to rotate are arranged at the lower part of the lifting mechanism, a laser radar positioning device is arranged on the grabbing head, and the laser radar positioning device, the rotating mechanism and the lifting mechanism are all electrically connected with the main control machine. According to the grabbing head disclosed by the invention, the spiral grabbing hand is adopted to take and place the pipe piece, the grabbing position is identified based on the laser radar sensor, the servo motor drives the grabbing hand to quickly grab the pipe piece, the grabbing hand in the grabbing device is simple and compact in structure and reliable in movement, the energy loss in the transfer process can be effectively reduced, and the pipe piece can be grabbed efficiently.
Description
Technical Field
The invention relates to the technical field of tunnel segment transportation, in particular to an intelligent segment grabbing device and an intelligent grabbing method thereof.
Background
With the rapid development of domestic economy, a large number of people are rushing into cities, and the pressure of public transportation is increasing day by day. In this context, the development of urban rail public transportation is favored by more and more planners. The shield method is used as a common mode for underground pipeline construction; the method has the advantages of high precision, fast progress, small influence on daily operation of the city and the surrounding environment and the like, and is widely applied.
The shield method comprises the following construction processes: the shield machine forebody and the segment support tunnel prevent collapse; and the front end blade of the shield tunneling machine advances to tunnel gradually. After a certain distance of tunneling, the segment conveyor starts to convey the segments to the designated working position of the segment feeding machine; the segment is finally conveyed to the front part of the tunnel by a segment feeding machine; the segment mounting machine is used for mounting segments; and (5) splicing the segments by constructors. After splicing, the shield tunneling machine tunnels forward for a fixed distance, and the steps are repeatedly executed; and finally, finishing the whole construction flow.
In the whole process of shield construction, duct piece transportation is an important link in one step. However, the problems that the duct piece cannot be efficiently grabbed and stably transported in the process still exist at present; in the aspect of segment grabbing, manual operation is still mainly adopted during engineering construction, so that the segment grabbing efficiency is low, the construction process is influenced, great potential safety hazards exist, and casualties are easily caused; in the aspect of section of jurisdiction transportation, it is less to adopt safety protection in the engineering construction, and the section of jurisdiction phenomenon of swaying easily appears when transporting the section of jurisdiction not only can cause the section of jurisdiction to damage to influence the normal use of section of jurisdiction, reduce the efficiency of construction, still can cause great influence to the safety during the construction, unable effectual assurance constructor's self safety. Therefore, a transport device is urgently needed in the engineering construction at present to meet the requirements of efficient grabbing and stable transportation.
Disclosure of Invention
Aiming at the defects in the background art, the invention provides an intelligent segment grabbing device and an intelligent segment grabbing method, and solves the problem of low segment conveying efficiency in the prior art.
The technical scheme of the invention is realized as follows: the utility model provides an intelligent section of jurisdiction grabbing device, includes the body frame body, is equipped with the main control computer on the body frame body, and the lower part of the body frame body is equipped with elevating system, and elevating system's lower part is equipped with and snatchs head and drive and snatchs first pivoted rotary mechanism, snatch overhead laser radar positioner that is equipped with, laser radar positioner, rotary mechanism and elevating system all are connected with the main control computer electricity.
The lifting mechanism comprises a connecting plate and lifting arm sets which are symmetrically arranged, the connecting plate is connected with a lifting driving device arranged on the main frame body through the lifting arm sets, the grabbing head is arranged on the lower portion of the connecting plate, and the rotating mechanism is arranged on the upper portion of the connecting plate.
The lift arm group is including left lift arm and the right lift arm that the symmetry set up, and left lift arm and right lift arm all include crank arm and connecting rod, and the one end of crank arm is articulated with the connecting rod, the other end is connected with lift drive's output, the lower extreme of connecting rod articulates on the connecting plate.
The lifting driving device comprises a first motor and a transmission shaft which are fixed on the main frame body, the transmission shaft is connected with the first motor through a transmission mechanism, and the crank arm is fixed on the transmission shaft.
The lifting mechanism further comprises a vertical guide mechanism, the vertical guide mechanism comprises vertical guide rails symmetrically arranged on the main frame body and guide wheels arranged on one side of the connecting plate, and the guide wheels are matched with the vertical guide rails.
The main frame body is provided with at least one distance measuring sensor corresponding to the connecting plate; the main frame body is provided with a traveling mechanism, and the traveling mechanism comprises a left traveling wheel group and a right traveling wheel group which are symmetrically arranged.
The gripping head comprises a main sleeve arranged at the lower part of the lifting mechanism, the upper part of the main sleeve is connected with the rotating mechanism, a gripping screw rod is connected with the internal thread of the main sleeve, the grabbing screw is connected with a driver arranged on the outer wall of the main sleeve, the laser radar positioning device is arranged on the grabbing screw, the main sleeve is provided with an auxiliary grabbing mechanism, and the laser radar positioning device is a laser radar sensor.
The driver comprises a second motor arranged on the main sleeve, the second motor is fixed on the outer wall of the main sleeve through a small support, the output end of the second motor is connected with a driving worm rotatably arranged on the small support, a notch is formed in the outer wall of the main sleeve, and the grabbing screw is meshed with the driving worm through the notch. The auxiliary grabbing mechanism comprises supports symmetrically arranged on the outer wall of the main sleeve, an auxiliary oil cylinder is arranged on the lower portion of each support frame, and a vacuum sucker is hinged to the telescopic end of each auxiliary oil cylinder.
The rotating mechanism comprises a transmission column I and a transmission column II which are rotatably connected to the lifting mechanism, the lower portion of the transmission column is fixedly connected with the main sleeve, the upper portion of the transmission column is connected with the transmission column II through a transmission piece I, and the transmission column II is connected with a third motor fixed on the lifting mechanism through a transmission piece II.
The intelligent grasping method of the intelligent segment grasping device is characterized in that: the method comprises the following steps:
step 1: the intelligent segment grabbing device moves towards the segment storage direction under the action of the travelling mechanism, the laser radar positioning device on the grabbing head scans the lower area, the scanning information is transmitted to the background management system through the main control computer for analysis, and the segment grabbing position of the grabbing head is determined;
step 2: the grabbing head of the lifting arm group of the lifting mechanism is driven to move downwards, meanwhile, the laser radar positioning device is used for monitoring the descending distance in real time, and when the descending distance is within a preset safe descending range, the lifting mechanism stops moving; the grabbing head is screwed into a preset grabbing position of the duct piece, and meanwhile, the laser radar positioning device monitors the distance of the grabbing head screwed into the duct piece in real time, so that the damage to the duct piece in grabbing is prevented;
and step 3: the lifting mechanism lifts the duct piece to a safe distance through the lifting arm group, the ultrasonic sensor detects the lifting distance in the lifting process, and when the lifting distance is within a preset safe height range, the lifting mechanism stops moving; the rotating mechanism drives the grabbing head to start to move, so that the duct piece rotates 90 degrees along the direction vertical to the track direction; then the walking mechanism starts to move towards the direction of the sheet feeder until the preset position for assembling the duct pieces is reached;
and 4, step 4: the lifting mechanism lowers the duct piece to a preset conveying position of the duct piece feeding machine through the lifting arm group, and then the grabbing head releases the duct piece to finish duct piece conveying;
and 5: the lifting mechanism lifts the grabbing head to an initial state, the travelling mechanism transports the grabbing head backwards to a preset grabbing position of the segment, and the rotating mechanism rotates the grabbing head anticlockwise by 90 degrees to the initial position; and (5) repeating the steps 1 to 4, and continuously conveying the tube sheets.
The specific steps for determining the segment grabbing position of the grabbing head (B) in the step 1 are as follows:
s1.1: scanning the duct piece below by using a laser radar positioning device;
s1.2: when the rear edge of the duct piece is scanned, calculating the distance between the center of the radar and the edge of the duct piece; the specific calculation is as follows: and if the point A is taken as a candidate edge extraction point and the point cloud picture is divided into k neighborhoods, the edge feature is S a The expression is as follows:
l in the formula (1) a Is the average density of the point A,
point a is the density of the adjacent area;
h in formula (2) a The density of the point A is taken as m is the number of candidate edge extraction points;
and in the formula (2)
In the formula (3), a is the three-dimensional coordinate of the point A, a i Three-dimensional coordinates of adjacent points A;
given κ, κ = S βa +S γa
Wherein, S βa As edge features S a Mean value of S γa As edge features S a The standard deviation of (a) is determined,
when L is a <When k is needed, the point is an edge extraction point;
s1.3: l = d + L, wherein L is the distance from the laser radar to the center of the segment grabbing position; d is the distance from the rear edge of the segment to the center of the segment grabbing position; l is the position from the laser radar sensor to the back edge of the duct piece; and then reach the section of jurisdiction at this moment and snatch the distance between the screw rod, confirmed promptly that snatchs head (B) and snatched the section of jurisdiction position.
According to the grabbing head, the spiral grabbing hand is adopted to take and place the pipe piece, the grabbing position is identified based on the laser radar sensor, the servo motor drives the grabbing hand to grab the pipe piece quickly, the grabbing hand in the grabbing device is simple and compact in structure and reliable in movement, energy loss in the transmission process can be effectively reduced, and meanwhile, the auxiliary grabbing mechanism is matched to achieve efficient and safe grabbing of the pipe piece. The rotating mechanism adopts a worm and gear mechanism, the lifting device adopts a crank lifting device, and safety problems such as duct piece collision, personnel injury and the like caused by swinging of duct pieces in the transportation process can be effectively prevented on the basis of self-locking performance of the worm and gear and rigid motion of the crank mechanism, so that the stability and the safety in transportation are ensured; meanwhile, data generated in the transportation process are stored in a background database through an intelligent gateway device based on PLC control, the background analyzes and learns the data, the transportation process is continuously optimized, and time ratio is improved, so that the transportation efficiency is improved. The invention has ingenious structural design, can realize high-efficiency grabbing, safe transportation and intelligent optimization during duct piece transportation, changes a transmission duct piece lifting mode, is a great innovation for duct piece transportation in tunnel construction, and has higher popularization value.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a right side view of the gripper head and rotation mechanism;
FIG. 3 is an axial schematic view of the travel mechanism and lift mechanism;
FIG. 4 is a bottom view of the travel mechanism and lift mechanism;
FIG. 5 is a flow chart of the lidar positioning apparatus identification principle;
FIG. 6 is a schematic diagram of a data transmission process according to the present invention;
FIG. 7 is a flowchart of the present invention's controllable APP.
FIG. 8 is a schematic diagram of the identification range of the lidar positioning apparatus of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art based on the embodiments of the present invention without inventive step, are within the scope of the present invention.
As shown in fig. 1, embodiment 1 provides an intelligent segment gripping device, which includes a main frame body 1, a main control computer 2 is disposed on the main frame body 1, the main control computer 2 is a control center of the gripping device, and can be controlled by a PLC to control the lifting of a lifting mechanism, the rotation of a gripping head, the gripping of a segment and the rotation of a rotating mechanism. The lower part of the main frame body 1 is provided with a lifting mechanism A, the lower part of the lifting mechanism is provided with a grabbing head B and a rotating mechanism C for driving the grabbing head B to rotate, and the grabbing head B carries out vertical lifting action under the action of the lifting mechanism; under the action of the rotating mechanism, the grabbing head rotates. The grabbing head B is provided with a laser radar positioning device, and the grabbing head can quickly and accurately grab the duct piece through the identification of the laser radar positioning device, so that the grabbing efficiency is improved. Laser radar positioner, rotary mechanism C and elevating system A all are connected with the main control computer 2 electricity, form closed-loop control, realize that the pipe piece is snatched in intellectuality.
The control device of the whole device comprises a main control machine 2 and a background management system; the main control machine 2 sends the motion instruction to a PLC controller, and the transportation process is completed by controlling servo motors on different devices; in the transportation process, the ultrasonic sensor and the ultrasonic sensor transmit monitoring data to the main control computer through the communication module and the main control computer 2 reports the monitoring data to the background database through the intelligent gateway device; the background management system realizes intelligent control and intelligent monitoring of the segment erector on the one hand based on a deep learning algorithm, and on the other hand can optimize the transportation process and improve the time ratio through the analysis of data, so that the transportation efficiency can be continuously improved in the transportation process.
Further, elevating system A includes two sets of lift arm groups 4 that connecting plate 3 and symmetry set up, and the lift arm group adopts crank mechanism, compares in electric block hoisting device, and crank hoisting device adopts rigid structure to go up and down and can make the section of jurisdiction transportation more stable. The connecting plate 3 is connected with a lifting driving device 5 arranged on the main frame body 1 through a lifting arm group 4, and under the action of the lifting driving device, a lifting arm of the lifting arm group moves up and down to drive the grabbing head to move up and down stably. The grabbing head B is arranged on the lower portion of the connecting plate 3, and the rotating mechanism C is arranged on the upper portion of the connecting plate 3.
A crank mechanism is adopted in the lifting mechanism to lift the duct piece; compared with an electric hoist lifting device, the crank lifting device adopts a rigid structure to lift so that duct piece transportation is more stable; for example: in the stage from rest to initial movement of the duct piece, if the electric hoist lifting device is used, the duct piece can swing when the duct piece starts to move due to the large inertia impact force of the duct piece, and the phenomenon can cause the problems of accidental collision of the duct piece, injury of workers and the like; if use crank lifting mechanism because its structure be rigid connection, can slow down the impact force when going up and down and make the section of jurisdiction promote more safe and reliable to the influence that the section of jurisdiction promoted.
As shown in fig. 3, in embodiment 2, the segment gripping device comprises an intelligent segment gripping device, wherein the lifting arm set comprises a left lifting arm 41 and a right lifting arm 42 which are symmetrically arranged, that is, the device comprises two left lifting arms 41 and two right lifting arms 42; a left lifting arm 41 and a right lifting arm 42 constitute a set of lifting arm group, are located the both sides of connecting plate respectively, and the lifting fit through different lifting arms not only can realize the promotion operation to snatching the head, still can be used to snatch the regulation of head inclination angle, realizes just nimble the snatching fast to the section of jurisdiction of different positions. In this embodiment, each of the left lifting arm 41 and the right lifting arm 42 includes a crank arm 4-1 and a connecting rod 4-2, one end of the crank arm 4-1 is hinged to the connecting rod 4-2 through a pin, and the other end is connected to an output end of the lifting driving device 5, and in this embodiment, two lifting driving devices are adopted to respectively provide power for the left lifting arm 41 and the right lifting arm 42. The crank drives the connecting plate to move up and down through the connecting rod under the action of the lifting driving device, and then the vertical movement of the grabbing head is realized. The lower end of the connecting rod 4-2 is hinged on the connecting plate 3. Can slow down the impact force and make the section of jurisdiction promote safe and reliable to the influence that the section of jurisdiction promoted when going up and down. The lifting driving device 5 comprises a first motor 5-1 and a transmission shaft 5-2 which are fixed on the main frame body 1, and the first motor and the transmission shaft of the other lifting driving device are respectively denoted by 5-3 and 5-4. The transmission shaft 5-2 is connected with the first motor 5-1 through a transmission mechanism, wherein the transmission mechanism can adopt gear transmission, and the crank arm 4-1 is fixed on the transmission shaft 5-2. The first motor, the second motor and the third motor can adopt servo motors. Under the effect of first motor, the transmission shaft drives the crank arm and rotates, drives through the connecting rod and snatchs the head up-and-down motion. The servo motor and the crank mechanism are symmetrically arranged, so that the gravity center position of the conveyor can be vertically distributed with the center position of the lifting device during walking, the stability of the duct piece during transportation is improved, and potential safety hazards are reduced.
Further, the lifting mechanism A further comprises a vertical guide mechanism 6, the vertical guide mechanism 6 comprises two vertical guide rails 6-1 symmetrically arranged on the main frame body 1 and guide wheels 6-2 arranged on one side of the connecting plate 3, and the guide wheels 6-2 are matched with the vertical guide rails 6-1. Under the effect of leading wheel and vertical guide rail, the restraint connecting plate only can move in vertical direction, improves and promotes stability. The other structure is the same as embodiment 1.
As shown in fig. 4, in embodiment 3, an intelligent segment grasping device is different from that in embodiment 2: in this embodiment, the main frame body 1 is provided with at least one distance measuring sensor 7 corresponding to the connecting plate 3, and the height of the grabbing head is adjusted by measuring the lifting distance of the connecting plate, so that the lifting safety is ensured. The main frame body 1 is provided with a traveling mechanism, and the traveling mechanism comprises a left traveling wheel group 8 and a right traveling wheel group 9 which are symmetrically arranged. The left traveling wheel group 8 and the right traveling wheel group 9 are respectively arranged at two sides of the main frame body and are respectively represented by 8-1, 8-2, 9-1 and 9-2, and are driven by a motor 26 to drive the whole grabbing device to move.
Further, the grabbing head B comprises a main sleeve 10 arranged at the lower part of the lifting mechanism A, the upper part of the main sleeve 10 is connected with the rotating mechanism C, and the rotating mechanism provides power for rotating the main sleeve. The internal thread of main sleeve 10 is connected with snatchs screw rod 11, snatchs screw rod 11 and is connected with the driver that sets up on main sleeve 10 outer wall, and the driver provides snatchs screw rod pivoted power. Specifically, the method comprises the following steps: the driver is including setting up second motor 12 on main sleeve 10, second motor 12 is fixed on main sleeve 10's outer wall through little support 13, the output of second motor 12 with rotate the initiative worm 14 that sets up on little support 13 and be connected, the notch has been seted up on the main sleeve 10 outer wall, it meshes with initiative worm 14 through the notch to snatch screw rod 11, under the effect of second motor, the initiative worm rotates, the drive snatchs the screw rod up-and-down motion in main sleeve, when needs snatch the section of jurisdiction, the lower part screw in section of jurisdiction reservation of snatching the screw rod in the screw hole 101, screw rod and main sleeve screw thread locking, stabilize to snatching to the section of jurisdiction. Laser radar positioner sets up on snatching screw rod 11, and laser radar positioner is laser radar sensor 20. Ultrasonic sensor is located the center department that snatchs the screw rod, under ultrasonic sensor's effect, can detect the position of screw on the pipe piece fast, realizes the accurate cooperation that snatchs screw rod and screw hole, improves and snatchs efficiency. The laser radar has the advantages of high resolution, strong anti-interference capability, no influence of light and the like, so that the laser radar can still normally work even under complex conditions, and can be quickly and accurately positioned to a segment grabbing position; compared to the visual recognition system, first: the environment requirement is low by using laser radar for identification, normal work can be still performed even in a low-light environment, and meanwhile, the use space can be reduced in arrangement; secondly, the method comprises the following steps: the laser radar is used for identifying the object with higher accuracy, and the accuracy can be improved. After the position of the threaded hole is identified, the servo motor starts to rotate, and the grasping screw rod is driven by the driving worm to pick and place the duct piece; under the condition of meeting the requirement of grabbing the pipe piece, the gripper device has simple structure, small number of parts and compact structure; can be more swift, reduce power loss, improve the clearance in the aspect of control, the accurate location of cooperation ultrasonic sensor can realize quick and accurate snatching to the section of jurisdiction.
As shown in fig. 2, in order to improve the stability of the grasping head in grasping the segment, an auxiliary grasping mechanism is provided on the main sleeve 10. Specifically, the auxiliary grabbing mechanism comprises supports 23 symmetrically arranged on the outer wall of the main sleeve 10, an auxiliary oil cylinder 21 is arranged on the lower portion of each support 23, and a vacuum suction cup 22 is hinged to the telescopic end of each auxiliary oil cylinder 21. The vacuum sucker 22 is driven by the auxiliary oil cylinder 21 to be close to the surface of the segment, so that a vacuum environment is formed to lift the segment. The process is as follows: after the driving worm tightly grasps the duct piece, the vacuum chuck starts to work to play an auxiliary role. Meanwhile, different grabbing processes are provided for different duct pieces. Need not use vacuum chuck when wedge section of jurisdiction, do so and can make the conveyer can both snatch to the different grade type section of jurisdiction, improve the application scope of section of jurisdiction conveyer.
Preferably, the rotating mechanism C comprises a transmission column i 15 and a transmission column ii 16 which are rotatably connected to the connecting plate 3 of the lifting mechanism a, the lower part of the transmission column 15 is fixedly connected with the main sleeve 10, the upper part of the transmission column is connected with the transmission column ii 16 through a transmission part i 17, the transmission part i 17 adopts gear pair transmission, and the transmission column ii 16 is connected with a third motor 19 fixed on the lifting mechanism a through a transmission part ii 18. And the transmission part II adopts a worm gear mechanism. The worm starts to rotate under the driving of the servo motor, so that the worm drives the turbine and the driving cylindrical gear coaxial with the turbine to start to rotate; the driving cylindrical gear transmits rotation to the driven cylindrical gear through gear engagement; the driven cylindrical gear and the grabbing device main rack are coaxially arranged, so that the duct piece starts to rotate under the driving of the rotating device; the device uses a worm gear to carry out transmission; the movement of the segment is self-locking, so that on one hand, the main control machine can more accurately control the rotation angle of the segment in the rotation process of the segment; the reduction of the angle error can enable the duct piece to be more convenient and fast when being placed to the conveying position of the duct piece feeding machine and also provide a fast foundation for splicing the duct pieces; the overall construction efficiency is improved; on the other hand, the rotation angle is controlled by using the worm gear device, so that the swinging of the duct piece caused by accidental rotation can be effectively prevented; in the whole transportation process, as the space occupied by the duct pieces is large, the duct pieces can not be normally used due to the collision of the duct pieces easily caused by the swinging condition, so that the construction efficiency is influenced; meanwhile, the safety of constructors is greatly influenced; the worm gear mechanism is used to effectively reduce the situation and improve the safety of the duct piece during transportation.
Embodiment 4, a method for intelligently grasping an intelligent segment grasping device as in embodiment 3, comprising: the method comprises the following steps:
step 1: the intelligent segment grabbing device moves towards the segment storage direction under the action of the travelling mechanism, the laser radar positioning device on the grabbing head B scans the lower area, the scanning information is transmitted to the background management system through the main control computer for analysis, and the segment grabbing position of the grabbing head B is determined; the control equipment controls each link in the transportation process through the PLC, reports the data generated in the transportation process to the database, is convenient for the backstage and the staff to analyze the data, and then better knows the state of the segment in the transportation process.
Step 2: the grabbing head B is driven by the lifting arm group 4 of the lifting mechanism A to move downwards, meanwhile, the laser radar positioning device monitors the descending distance in real time, and when the descending distance is within a preset safe descending range, the lifting mechanism A stops moving; a grabbing screw of the grabbing head B is screwed into a preset grabbing position of the duct piece, and meanwhile, the laser radar positioning device monitors the screwing distance of the grabbing screw of the grabbing head B into the duct piece in real time, so that damage to the duct piece in grabbing is prevented; before the grabbing screw 11 is screwed in, an auxiliary oil cylinder of the auxiliary grabbing mechanism moves downwards until the vacuum suction disc contacts the outer wall of the segment to perform adsorption.
And 3, step 3: the lifting mechanism A lifts the duct piece to a safe distance through the lifting arm group 4, the ultrasonic sensor 7 detects the lifting distance in the lifting process, and when the lifting distance is within a preset safe height range, the lifting mechanism A stops moving; the rotating mechanism C drives the grabbing head B to start to move, so that the duct piece rotates 90 degrees along the direction vertical to the track; and then the travelling mechanism starts to move towards the direction of the sheet feeder until the preset position for assembling the duct pieces is reached.
And 4, step 4: elevating system A transfers the section of jurisdiction to feeding machine predetermined transport position through lift armset 4, and the supplementary hydro-cylinder that supplementary snatched the mechanism withdraws, then snatchs head B's the screw rod release section of jurisdiction, accomplishes the section of jurisdiction and transports.
And 5: the lifting mechanism A lifts the grabbing head B to an initial state, the travelling mechanism transports the grabbing head B backwards to a preset grabbing position of the segment, and the rotating mechanism C rotates the grabbing head B anticlockwise by 90 degrees to the initial position; and (5) repeating the steps 1 to 4, and continuously conveying the tube sheets.
The first step is specifically as follows: as shown in fig. 5, the travelling mechanism moves to the segment storage position under the control of the main control computer, and simultaneously the laser radar starts to continuously scan downwards and transmits the cloud point image to the background system through the main control computer; the system scans the edge characteristics of the point cloud picture to obtain the position of the back edge of the duct piece; further calculating to obtain the distance between the laser radar and the rear edge of the segment (namely the distance between the center of the grabbing screw and the rear edge of the segment); because the predetermined grabbing position of section of jurisdiction and section of jurisdiction border position distance are known, can derive from this and snatch screw rod central point and put along position distance behind the section of jurisdiction, the main control computer can make the grabbing screw rod move to the section of jurisdiction and snatch directly over the position through applying fixed revolution to running gear servo motor.
It is known that in the edge point extraction process, points with larger curvature are more likely to be edge points; and combining the density characteristics of the points to obtain the edge region points when the distance between the query point and the adjacent points is smaller, or else, the edge region points are non-edge region points. The specific steps for determining the segment grabbing position of the grabbing head (B) are as follows, as shown in FIG. 8:
s1.1: scanning the duct piece below by using a laser radar positioning device;
S1.2：when the rear edge of the duct piece is scanned, calculating the distance between the center of the radar and the edge of the duct piece; the specific calculation is as follows: and if the point A is taken as a candidate edge extraction point and the point cloud picture is divided into k neighborhoods, the edge feature is S a The expression is as follows:
l in the formula (1) a As the average density of the a points, it can be derived using a fitting method,
point a is the density of the adjacent area;
h in the formula (2) a The density of the point A is taken as m is the number of candidate edge extraction points;
and in the formula (2)
In the formula (3), a is the three-dimensional coordinate of the point A, a i Three-dimensional coordinates of adjacent points A;
given κ, κ = S βa +S γa
Wherein, S βa As edge features S a Mean value of S γa As edge features S a The standard deviation of (a) is determined,
when L is a <When k is needed, the point is an edge extraction point; so as to obtain the edge characteristics of the segmentIn the aspect of calculation, all feature points are not required to be processed; only the rear edge characteristics of the duct piece are obtained; therefore, the segment grabbing position can be obtained as fast as possible on the premise of meeting grabbing requirements.
S1.3: l = d + L, wherein L is the distance from the laser radar to the center of the segment grabbing position; d is the distance from the rear edge of the segment to the center of the segment grabbing position; l is the position from the laser radar sensor to the back edge of the duct piece; and then reach the section of jurisdiction grabbing position this moment and snatch the distance between the screw rod, confirmed promptly and snatched first (B) and snatched section of jurisdiction position.
The second step is specifically as follows: the second step is divided into a descending step and a grabbing step;
the descending steps are as follows: two groups of servo motors of the lifting device start to operate to drive the grabbing device to move towards the right lower side, and meanwhile, the ultrasonic sensor measures the distance; when the distance between the gripper follower and the duct piece is within a preset safe lifting range, the lifting device stops moving;
the grabbing steps are as follows: after the safe distance is determined by the ultrasonic sensor, the main control machine issues a grabbing instruction, and the servo motor starts to rotate positively to drive the grabbing hand driving piece to start rotating; the gripper driven piece is driven to be screwed out downwards based on spiral meshing, and then the gripper and the inner wall thread of the reserved gripping position of the duct piece are meshed to start gripping. Meanwhile, the inner wall of the main rack is provided with a fixed lead, so that the situation that the gripper cannot grip due to accidental falling can be prevented; the grabbing head has a simple structure, so that the master control machine can better control grabbing commands and improve transmission efficiency, and quick grabbing is realized;
the third step is specifically as follows: the third step is mainly divided into a lifting step, a rotating step and a walking step;
the lifting steps are as follows: the main control machine gives a lifting instruction to the lifting device, the servo motor of the lifting device starts to rotate forwards, the crank lifting mechanism starts to lift the duct piece upwards, and the ultrasonic sensor transmits a signal downwards; when the distance is within the safe lifting range, the main control machine sends a stopping instruction; the servo motor stops rotating, and the ultrasonic sensor stops working;
the rotating steps are as follows: the main control machine sends a rotation instruction, and a servo motor of the rotating device starts to operate, so that the duct piece rotates 90 degrees clockwise; the length direction of the pipe piece is perpendicular to the length direction of the tunnel. Stopping the rotation command, and stopping the movement of the servo motor; the worm gear has self-locking property, so that the segment can be effectively prevented from rotating accidentally, and the rotating accuracy and the transportation safety are ensured;
the walking steps are as follows: the main control machine gives a motion instruction to the traveling device, and the traveling device servo motor rotates positively to drive the duct piece and the conveyor to travel towards the construction direction. The segment storage position and the initial construction position can be measured, and the tunneling path of the shield tunneling machine is fixed every time; the distance value required by each segment transportation is an arithmetic progression; therefore, constructors only need to input an initial numerical value and a fixed tunneling distance at the backstage, and the walking step can be completed.
The fourth step is specifically as follows: the main control machine gives an instruction to the lifting device, and the servo motor of the lifting device starts to rotate reversely to stably place the duct piece at the appointed conveying position of the duct piece feeding machine. The main control machine controls the gripping device, and the servo motor starts to reversely rotate to drive the gripper follower to move upwards to separate from the segment;
the fifth step is specifically as follows: the first substep: the servo motor of the lifting device rotates forwards to lift the connecting plate and the grabbing device to the height of the initial state of the fourth step; the second substep is: the servo motor of the walking device reversely rotates to drive the conveyer to walk in the opposite direction and return to the segment storage position; and a last step: the servo motor of the rotating device rotates reversely to rotate the rotating device anticlockwise by 90 degrees to an initial angle.
The invention adopts PLC to realize the control and transmission of each link in design as shown in figures 6 and 7; based on the flexibility and the programmability of the PLC, the circuit arrangement of the invention can be simpler and easier to operate; meanwhile, automatic construction can be realized in the transportation process; the data communication between the PLC and the database is realized through the intelligent gateway, so that the data can be completely stored in the database for analysis and optimization of a management system, and meanwhile, the intelligent gateway can better help constructors to operate the conveyor. Meanwhile, the possible conditions during construction are fully considered during the design of the device, and prevention and detection facilities are arranged, so that the effects of efficient grabbing and safe transportation of the conveyer can be realized in the process;
the method comprises the following specific steps: in the grabbing device, an ultrasonic sensor is arranged in the center of the spiral driven piece. The sensor plays a key role in positioning the hand grip; the ultrasonic wave has strong environmental interference resistance and is not influenced by substances such as dust and the like, so that the ultrasonic sensor can still normally work even in a complex construction environment, and can be quickly and accurately positioned to a preset segment grabbing position;
the gripper head works on the principle of spiral engagement. Structurally, the mechanism has only two components and reliable movement, and is easy to operate and realize. Energy loss can be reduced in the transmission process, so that the gripper can quickly and accurately realize the gripping function under the control of the main control machine; meanwhile, the cost for maintaining and repairing the machine is lower in the later period; an ultrasonic sensor is added to identify the segment grabbing position, so that the grabbing accuracy is improved, the labor cost is effectively reduced, and the working efficiency is improved; meanwhile, the requirements of rapidity and accuracy in the grabbing process are met, and automatic grabbing of the duct piece is achieved.
In the lifting process, the conveyor adopts a crank structure to lift the duct piece; an electric hoist lifting device is mostly adopted in the traditional construction; compared with an electric hoist lifting device, the crank lifting device adopts rigid connection, so that the stable state of the duct piece during transportation is more favorably kept.
The section of jurisdiction is by static to beginning motion and section of jurisdiction transporting to two stages of feeding machine, the condition such as can appear swaing can cause colliding with of section of jurisdiction and constructor's injury, and then influences efficiency of construction and construction safety, adopts crank hoisting device then can reduce the emergence of this kind of condition greatly for the section of jurisdiction transportation has more the security.
The segment storage angle is perpendicular to the angle required by segment construction, so that the segment needs to be rotated by 90 degrees to a specified direction in the transportation process; if the step is not completed in the transportation stage, the next step of splicing the segments cannot be normally carried out; meanwhile, the angle control is also required to be very accurate, so that the workload in the assembling stage is reduced; therefore, the combination of the worm gear mechanism and the gear set mechanism is adopted to meet the rotation requirement.
Compared with a gear set mechanism, the worm gear has self-locking property; the control of the precision in the aspect of rotation can be more excellent, and the rotation error is reduced; meanwhile, the problem of construction accidents such as casualties caused by accidental rotation of the duct piece in the transportation process can be prevented, so that the safety of the duct piece conveyor during working is improved, the construction environment in the current stage is improved, and the duct piece is transported safely.
This cargo airplane not only possesses the advantage that high efficiency was snatched and the safety transportation when carrying the section of jurisdiction, and it still has intelligent characteristics: in the whole duct piece transporting process, the master control machine sorts and reports the data transmitted by the sensors through the communication module and the construction information of each step to the database; the background management platform adjusts the transportation process on the one hand by processing and analyzing the information, for example: the allocation of time in each step in the transportation process is optimized, so that the transportation time is shortened and the construction efficiency is improved on the premise of ensuring the safety and the reliability in the transportation process. On the other hand, the working state of the duct piece during transportation is mapped based on the information in the database, so that the working personnel can better know the construction state of the transporter to regulate and control in real time, and the normal operation of the transportation process is ensured. Meanwhile, the background can monitor data in real time, when the monitored data exceed a preset data range, the background can sound an alarm and suspend the transportation process, and a worker can continue to check the device to find the reason.
Based on the analysis of the database, the invention is expected to realize the advance perception of unknown events through a large amount of data analysis in the transportation process. Besides the management platform analyzing the data, the operator can also check and analyze the data through the APP. In a background system, a controllable application based on Windows and Android is established to realize low-delay data transmission through WiFi 6. All data stored in the background are checked by an operator; meanwhile, any optimization and analysis of the system by the management platform are allowed by operators; thereby ensuring the safety in the transportation process.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides an intelligent section of jurisdiction grabbing device which characterized in that: the device comprises a main frame body (1), wherein a main control machine (2) is arranged on the main frame body (1), a lifting mechanism (A) is arranged at the lower part of the main frame body (1), a grabbing head (B) and a rotating mechanism (C) for driving the grabbing head (B) to rotate are arranged at the lower part of the lifting mechanism, a laser radar positioning device is arranged on the grabbing head (B), and the laser radar positioning device, the rotating mechanism (C) and the lifting mechanism (A) are electrically connected with the main control machine (2);
the grabbing head (B) comprises a main sleeve (10) arranged at the lower part of the lifting mechanism (A), the upper part of the main sleeve (10) is connected with the rotating mechanism (C), a grabbing screw (11) is connected with the inner thread of the main sleeve (10), the grabbing screw (11) is connected with a driver arranged on the outer wall of the main sleeve (10), a laser radar positioning device is arranged on the grabbing screw (11), an auxiliary grabbing mechanism is arranged on the main sleeve (10), and the laser radar positioning device is a laser radar sensor (20);
the driver comprises a second motor (12) arranged on the main sleeve (10), the second motor (12) is fixed on the outer wall of the main sleeve (10) through a small support (13), the output end of the second motor (12) is connected with a driving worm (14) rotatably arranged on the small support (13), a notch is formed in the outer wall of the main sleeve (10), and the grabbing screw (11) is meshed with the driving worm (14) through the notch; the auxiliary grabbing mechanism comprises supporting frames (23) symmetrically arranged on the outer wall of the main sleeve (10), an auxiliary oil cylinder (21) is arranged at the lower part of each supporting frame (23), and a vacuum sucker (22) is hinged to the telescopic end of each auxiliary oil cylinder (21);
the rotating mechanism (C) comprises a transmission column I (15) and a transmission column II (16) which are rotatably connected to the lifting mechanism (A), the lower portion of the transmission column I (15) is fixedly connected with the main sleeve (10), the upper portion of the transmission column I (15) is connected with the transmission column II (16) through a transmission piece I (17), and the transmission column II (16) is connected with a third motor (19) fixed to the lifting mechanism (A) through a transmission piece II (18).
2. The intelligent segment grabbing device of claim 1, wherein: the lifting mechanism (A) comprises a connecting plate (3) and lifting arm groups (4) which are symmetrically arranged, the connecting plate (3) is connected with a lifting driving device (5) arranged on the main frame body (1) through the lifting arm groups (4), the grabbing head (B) is arranged on the lower portion of the connecting plate (3), and the rotating mechanism (C) is arranged on the upper portion of the connecting plate (3).
3. The intelligent segment grabbing device of claim 2, wherein: the lifting arm group comprises a left lifting arm (41) and a right lifting arm (42) which are symmetrically arranged, the left lifting arm (41) and the right lifting arm (42) respectively comprise a crank arm (4-1) and a connecting rod (4-2), one end of the crank arm (4-1) is hinged to the connecting rod (4-2), the other end of the crank arm is connected with the output end of the lifting driving device (5), and the lower end of the connecting rod (4-2) is hinged to the connecting plate (3).
4. The intelligent segment grasping device according to claim 3, wherein: the lifting driving device (5) comprises a first motor (5-1) and a transmission shaft (5-2) which are fixed on the main frame body (1), the transmission shaft (5-2) is connected with the first motor (5-1) through a transmission mechanism, and the crank arm (4-1) is fixed on the transmission shaft (5-2).
5. The intelligent segment grabbing device according to any one of claims 2 to 4, characterized in that: the lifting mechanism (A) further comprises a vertical guide mechanism (6), the vertical guide mechanism (6) comprises vertical guide rails (6-1) symmetrically arranged on the main frame body (1) and guide wheels (6-2) arranged on one side of the connecting plate (3), and the guide wheels (6-2) are matched with the vertical guide rails (6-1).
6. The intelligent segment grabbing device of claim 5, wherein: at least one distance measuring sensor (7) corresponding to the connecting plate (3) is arranged on the main frame body (1), and the distance measuring sensor (7) adopts an ultrasonic sensor; the main frame body (1) is provided with a traveling mechanism, and the traveling mechanism comprises a left traveling wheel group (8) and a right traveling wheel group (9) which are symmetrically arranged.
7. An intelligent grasping method of the intelligent segment grasping apparatus according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
step 1: the intelligent segment grabbing device moves towards the segment storage direction under the action of the travelling mechanism, the laser radar positioning device on the grabbing head (B) scans the lower area, the scanning information is transmitted to the background management system through the main control computer for analysis, and the position of the grabbing head (B) for grabbing the segment is determined;
and 2, step: the grabbing head (B) is driven to move downwards by the lifting arm group (4) of the lifting mechanism (A), meanwhile, the laser radar positioning device monitors the descending distance in real time, and the lifting mechanism (A) stops moving when the descending distance is within a preset safe descending range; the grabbing head (B) is screwed into a preset grabbing position of the duct piece, and meanwhile, the laser radar positioning device monitors the screwing distance of the grabbing head (B) into the duct piece in real time, so that damage to the duct piece in grabbing is prevented;
and step 3: the lifting mechanism (A) lifts the duct piece to a safe distance through the lifting arm group (4), the ultrasonic sensor detects the lifting distance in the lifting process, and when the lifting distance is within a preset safe height range, the lifting mechanism (A) stops moving; the rotating mechanism (C) drives the grabbing head (B) to start to move, so that the duct piece rotates 90 degrees to be vertical to the track direction; then the walking mechanism starts to move towards the direction of the sheet feeder until the preset position for assembling the duct pieces is reached;
and 4, step 4: the lifting mechanism (A) lowers the duct piece to a preset conveying position of the duct piece feeding machine through the lifting arm group (4), and then the grabbing head (B) releases the duct piece to finish duct piece conveying;
and 5: the lifting mechanism (A) lifts the grabbing head (B) to an initial state, the travelling mechanism transports the grabbing head backwards to a preset grabbing position of the segment, and the rotating mechanism (C) rotates the grabbing head (B) anticlockwise by 90 degrees to the initial position; and (5) repeating the steps 1 to 4, and continuously conveying the tube sheets.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104373139A (en) * | 2014-10-31 | 2015-02-25 | 徐工集团凯宫重工南京有限公司 | Pipe piece hoist system for shield machine |
| CN205370602U (en) * | 2016-03-09 | 2016-07-06 | 中铁工程装备集团有限公司 | Section of jurisdiction loop wheel machine compensating beam that adapts to multiple section of jurisdiction diameter |
| CN110963441A (en) * | 2019-12-12 | 2020-04-07 | 天津贝林思模具有限公司 | Lifting device for die machining |
| CN113184678A (en) * | 2021-06-08 | 2021-07-30 | 北京建工土木工程有限公司 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
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2021
- 2021-11-29 CN CN202111430318.XA patent/CN114212678B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104373139A (en) * | 2014-10-31 | 2015-02-25 | 徐工集团凯宫重工南京有限公司 | Pipe piece hoist system for shield machine |
| CN205370602U (en) * | 2016-03-09 | 2016-07-06 | 中铁工程装备集团有限公司 | Section of jurisdiction loop wheel machine compensating beam that adapts to multiple section of jurisdiction diameter |
| CN110963441A (en) * | 2019-12-12 | 2020-04-07 | 天津贝林思模具有限公司 | Lifting device for die machining |
| CN113184678A (en) * | 2021-06-08 | 2021-07-30 | 北京建工土木工程有限公司 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
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