CN117781946A - Guide rail straightness detection robot and detection method - Google Patents
Guide rail straightness detection robot and detection method Download PDFInfo
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- CN117781946A CN117781946A CN202311727048.8A CN202311727048A CN117781946A CN 117781946 A CN117781946 A CN 117781946A CN 202311727048 A CN202311727048 A CN 202311727048A CN 117781946 A CN117781946 A CN 117781946A
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Abstract
The utility model provides a guide rail straightness detection robot and a detection method, wherein a travelling mechanism is arranged on a guide rail and is provided with a triaxial acceleration sensor; the longitudinal swing arm is rotationally connected with the travelling mechanism through a rotating shaft, and a detection shaft of the angle sensor is connected with the rotating shaft; the transverse swing arm is rotatably arranged at one end of the longitudinal swing arm far away from the travelling mechanism; the measuring wheel is arranged on the longitudinal swing arm and the transverse swing arm, one end of the linear displacement sensor is rotationally connected with the longitudinal swing arm, and the other end of the linear displacement sensor is rotationally connected with the transverse swing arm. Through setting up triaxial acceleration sensor to feedback guide rail point position coordinate, can judge the whole linearity of guide rail, angle sensor and linear displacement sensor can feed back vertical swing arm's fluctuation and the fluctuation of two measuring wheels, thereby judge guide rail top surface fluctuation situation, but this detection robot has the advantage of continuous detection guide rail like this, and its detection efficiency is high, the detection precision is high simultaneously, and it is more convenient to use.
Description
Technical Field
The utility model relates to the technical field of guide rail detection, in particular to a guide rail straightness detection robot and a detection method.
Background
Current lifting devices, for facilitating the transfer of materials, are usually mounted on a guide rail or a carrier, wherein for the lifting device disposed on the guide rail, good displacement stability needs to be ensured to ensure the operation safety of the lifting device. The straightness of the guide rail is an important parameter affecting the movement stability of the hoisting equipment, so that the straightness of the guide rail needs to be detected.
The utility model patent with the prior authority bulletin number of CN218329909U provides a crane guide rail detection device, which comprises a standard guide rail and a detection guide rail, wherein a comparison mechanism is arranged at the top of the standard guide rail, and the top of the detection guide rail is in sliding connection with a detection mechanism.
According to the technical scheme, the detection mechanism drives the infrared emitter to displace, the infrared emitter irradiates the contrast plate on the contrast mechanism, and the linear state of the guide rail is determined by judging the irradiation track;
however, in the above detection method, the detection distance is short, and this is limited by the length of the control board, so that only a part of the guide rail can be detected, resulting in low detection efficiency.
Disclosure of Invention
In view of the above, the utility model provides a detection robot and a detection method capable of continuously detecting the straightness of a guide rail, so as to solve the problems of short detection distance, long time consumption and low precision of the existing guide rail detection mechanism.
The technical scheme of the utility model is realized as follows:
on one hand, the utility model provides a guide rail straightness detection robot and a detection method, wherein the guide rail straightness detection robot comprises a running mechanism, the running mechanism is arranged on a guide rail and is provided with a triaxial acceleration sensor;
the device also comprises a longitudinal swing arm, a rotating shaft, an angle sensor, a transverse swing arm, a measuring wheel and a linear displacement sensor, wherein,
the longitudinal swing arm is rotationally connected with the travelling mechanism through a rotating shaft, the longitudinal swing arm is relatively fixed with the rotating shaft, and the rotating axis of the rotating shaft is perpendicular to the length direction of the guide rail;
the angle sensor is arranged on the travelling mechanism, and a detection shaft of the angle sensor is connected with the rotating shaft;
the two transverse swing arms are rotatably arranged at one end of the longitudinal swing arm far away from the travelling mechanism;
the measuring wheel is arranged at one end of the longitudinal swing arm far away from the travelling mechanism and one end of the two transverse swing arms respectively, when the measuring wheel abuts against the guide rail, the rotation axis of the transverse swing arm is parallel to the length direction of the guide rail, and one end of the longitudinal swing arm far away from the travelling mechanism is inclined towards the guide rail;
the two linear displacement sensors are arranged on the rotation plane of the transverse swing arm, one end of each of the two linear displacement sensors is rotationally connected with the longitudinal swing arm, and the other end of each of the two linear displacement sensors is rotationally connected with one transverse swing arm.
On the basis of the technical proposal, the laser device also preferably comprises a first laser, a reflecting mirror and a first laser target, wherein,
the first laser is arranged on the longitudinal swing arm;
the reflecting mirror is arranged on the travelling mechanism and is used for reflecting the output light of the first laser so as to form an angle-shaped light path;
the first laser target is arranged on the travelling mechanism and is provided with photosensitive elements arranged in an array and used for receiving light reflected by the reflecting mirror.
On the basis of the technical scheme, the guide rail is preferably provided with a disassembling plate, wherein the disassembling plate is detachably arranged on the traveling mechanism and is perpendicular to the top surface of the guide rail;
one end of the longitudinal swing arm, which faces the travelling mechanism, is rotationally connected with the dismounting plate through a rotating shaft;
the angle sensor is arranged on the disassembling plate.
On the basis of the technical proposal, the reflector and the first laser target are preferably arranged on one surface of the disassembly and assembly plate far away from the travelling mechanism, wherein,
one end of the reflecting mirror, which is far away from the guide rail, is inclined towards the travelling mechanism;
the first laser target is located one side of the reflector far away from the guide rail, and the target surface of the first laser target and the reflector are arranged in an included angle shape, and the included angle is an acute angle.
On the basis of the technical proposal, the utility model preferably also comprises a bracket, wherein the bracket comprises a bracket body, a limiting plate and a positioning bolt,
the frame body is detachably connected with the longitudinal swing arm, and the first laser is arranged on the frame body;
one end of the limiting plate is connected with the frame body, and the other end of the limiting plate is far away from the frame body;
the locating bolt is in threaded connection with one end, far away from the frame body, of the limiting plate, and the locating bolt abuts against the frame body.
On the basis of the technical proposal, the laser device also preferably comprises a second laser and a second laser target, wherein,
the second laser is arranged on the travelling mechanism, and the ray direction of the second laser is parallel to the length direction of the guide rail;
the second laser target is arranged at the end part of the guide rail, corresponds to the second laser, and is provided with photosensitive elements arranged in an array.
On the basis of the technical scheme, the laser target laser device preferably further comprises a carrier, wherein the carrier is detachably connected with the end part of the guide rail, and the second laser target is arranged on the carrier.
On the basis of the technical proposal, the carrier preferably comprises an end plate, a clamping plate, a sliding rail and a driving piece, wherein,
the end plate is positioned at the end part of the guide rail, and the guide rail is perpendicular to the end plate;
the clamping plates are arranged in two, one clamping plate is arranged on each of two sides of the guide rail, and the clamping plates penetrate through the end plates;
the sliding rail is detachably arranged on one side of the end plate, which is far away from the guide rail, and the two clamping plates are in sliding connection with the sliding rail;
the driving piece is used for driving the two clamping plates to be relatively close to or separated from each other.
On the basis of the technical proposal, preferably, the travelling mechanism comprises a main body, a clamping body, a driving wheel, a side wheel and an anti-overturning clamping jaw, wherein,
the main body is positioned on the guide rail;
the driving wheel is rotatably arranged on the main body and abuts against the rail head of the guide rail;
at least two clamping bodies are oppositely arranged on the main body, side wheels are rotatably arranged on the two clamping bodies, and the clamping bodies are used for driving the side wheels to displace so as to clamp two rail waists of the guide rail;
at least two anti-overturning clamping jaws are oppositely arranged on the main body and used for selectively clamping the guide rail.
On the other hand, the utility model provides a detection method using the guide rail straightness detection robot, which comprises the following steps:
s1, arranging a travelling mechanism on a guide rail, and adjusting a longitudinal swing arm to enable a measuring wheel to prop against the top surface of the guide rail;
s2, resetting and resetting the triaxial acceleration sensor, the angle sensor and the linear displacement sensor, setting the travelling mode of the travelling mechanism as a step, recording the step time as t1 and the stop time as t2, wherein the step distance is a;
s3, in the advancing process, the angle sensor feeds back and detects the angle change, the linear displacement sensor feeds back and shifts the change, the first laser target and the second laser target feed back and receives the light position change, so that a coordinate curve graph of the angle change, the shift change and the light receiving position change is obtained, and in time t2, the triaxial acceleration sensor feeds back the coordinate of a X, Y, Z axis once;
s4, detecting coordinate points fed back by the triaxial acceleration sensor, wherein the points are in line so as to obtain a linear model in a three-dimensional space, and therefore the straightness of the guide rail is judged;
s5, calibrating a coordinate graph drawn by the angle sensor, the linear displacement sensor, the first laser target and the second laser target detection result to acquire the specific deviation position of the guide rail.
Compared with the prior art, the guide rail straightness detection robot and the detection method have the following beneficial effects:
(1) The three-axis acceleration sensor is arranged to feed back point coordinates, so that the integral linearity of the guide rail can be judged, the angle sensor and the linear displacement sensor can feed back the up-and-down fluctuation of the longitudinal swing arm and the fluctuation of the two measuring wheels, and the fluctuation condition of the top surface of the guide rail can be judged;
(2) The first laser and the first laser target are respectively arranged on the longitudinal swing arm and the travelling mechanism, so that when the longitudinal swing arm fluctuates, the swing change of the longitudinal swing arm can be better judged through the light receiving change of the first laser target, thereby being beneficial to improving the detection effect;
(3) By arranging the second laser and the second laser target, when the travelling mechanism is displaced, the error position of the guide rail can be further accurately judged by utilizing the light receiving change of the second laser target, and the guide rail can be adjusted subsequently;
(4) The disassembly plate is arranged on the travelling mechanism, and the longitudinal swing arm, the angle sensor, the reflecting mirror and the first laser target are connected to the disassembly plate, so that the components can be disassembled together by disassembling the disassembly plate, the components can be stored independently conveniently, and the structural precision is guaranteed;
(5) Through setting up the carrier, it is convenient with the tip of second laser target installation to the second laser instrument on the cooperation running gear detects, thereby has improved the convenience of dismouting when this device uses.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a rail straightness detection robot of the present utility model;
fig. 2 is a front view of the guide rail straightness detection robot of the present utility model;
FIG. 3 is a side view of the rail straightness detection robot of the present utility model;
fig. 4 is a perspective view of a connecting structure of a longitudinal swing arm and a transverse swing arm of the guide rail straightness detection robot of the present utility model;
FIG. 5 is a front view of a connecting structure of a longitudinal swing arm and a transverse swing arm of the guide rail straightness detection robot of the present utility model;
FIG. 6 is a side view of a connecting structure of a longitudinal swing arm and a transverse swing arm of the guide rail straightness detection robot of the present utility model;
FIG. 7 is a perspective view of a carriage and a second target of the rail straightness detection robot of the present utility model;
FIG. 8 is a side view of a carriage and a second target of the rail straightness detection robot of the present utility model;
FIG. 9 is a second perspective view of a carriage and a second target of the rail straightness detection robot of the present utility model;
fig. 10 is a perspective view of a running mechanism of the rail straightness detection robot of the present utility model;
FIG. 11 is a perspective view showing an application state of the rail straightness detection robot of the present utility model;
FIG. 12 is a side view showing an application state of the rail straightness detection robot of the present utility model;
in the figure: 1. a walking mechanism; 101. a main body; 102. a clamping body; 103. a driving wheel; 104. a side wheel; 105. anti-tipping clamping jaw; 2. a longitudinal swing arm; 3. a rotating shaft; 4. an angle sensor; 5. a transverse swing arm; 6. a measuring wheel; 7. a linear displacement sensor; 8. a first laser; 9. a reflecting mirror; 10. a first laser target; 11. disassembling the plate; 12. a bracket; 121. a frame body; 122. a limiting plate; 123. positioning bolts; 13. a second laser; 14. a second laser target; 15. a carrier; 151. an end plate; 152. a clamping plate; 153. a slide rail; 154. a driving member; 1541. a bearing support; 1542. a poking plate; 1543. a screw rod; 1544. a hand wheel; 100. and a guide rail.
Detailed Description
The following description of the embodiments of the present utility model will clearly and fully describe the technical aspects of the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.
As shown in fig. 1 to 12, the guide rail straightness detection robot of the present utility model includes a running mechanism 1, a longitudinal swing arm 2, a rotating shaft 3, an angle sensor 4, a transverse swing arm 5, a measuring wheel 6, a linear displacement sensor 7, a first laser 8, a reflecting mirror 9, a first laser target 10, a dismounting plate 11, a bracket 12, a second laser 13, a second laser target 14 and a carrier 15, which are used for straightness detection of a guide rail 100.
As shown in fig. 11 and 12, the traveling mechanism 1 is provided on the guide rail 100, and the traveling mechanism 1 is mounted with a triaxial acceleration sensor;
according to the structure, the travelling mechanism 1 is used for enabling the detection robot to travel along the guide rail 100, X, Y and Z-axis coordinates of the position of the detection robot are fed back by means of the three-axis acceleration sensor, a plurality of space coordinates are generated when the robot travels along the guide rail 100, the robot is attached to the guide rail 100 to travel, and therefore after the detection robot travels along the guide rail 100, the generated space coordinates are connected in series, a line diagram of the guide rail 100 can be obtained, and the specific condition of the guide rail 100 can be known.
As shown in fig. 10, the running mechanism 1 comprises a main body 101, a clamping body 102, a driving wheel 103, side wheels 104 and an anti-overturning clamping jaw 105, wherein the main body 101 is positioned on a guide rail 100; the driving wheel 103 is rotatably arranged on the main body 101, and the driving wheel 103 abuts against the rail head of the guide rail 100; at least two clamping bodies 102 are oppositely arranged on the main body 101, side wheels 104 are rotatably arranged on the two clamping bodies 102, and the clamping bodies 102 are used for driving the side wheels 104 to displace so as to clamp two rail waists of the guide rail 100; at least two anti-toppling clamping jaws 105 are oppositely arranged on the main body 101 and are used for selectively clamping the guide rail 100;
in the above-described structure, the main body 101 is abutted against the rail head of the guide rail 100 by the driving wheel 103, and the side wheel 104 is abutted against the rail web of the guide rail 100, so that the traveling mechanism 1 can travel along the guide rail 100 in a centered manner, and the anti-overturning clamping jaw 105 is not directly abutted against the guide rail 100, and can be clamped onto the guide rail 100 only when the deviation of the detection robot is excessive, so that anti-overturning is realized. Specifically, the clamping body 102 may be connected to the main body 101 in a variety of displaceable manners, such as an electric push rod, so as to implement a relative displacement between the clamping body 102 and the main body 101, so as to drive the side wheels 104 to clamp or separate from the web of the guide rail 100.
As shown in fig. 4 to 6, the longitudinal swing arm 2 is rotatably connected with the travelling mechanism 1 through a rotating shaft 3, the longitudinal swing arm 2 is relatively fixed with the rotating shaft 3, and the rotating axis of the rotating shaft 3 is perpendicular to the length direction of the guide rail 100; the angle sensor 4 is arranged on the travelling mechanism 1, and a detection shaft of the angle sensor 4 is connected with the rotating shaft 3; two transverse swing arms 5 are arranged, and the two transverse swing arms 5 are rotatably arranged at one end of the longitudinal swing arm 2 far away from the travelling mechanism 1; the measuring wheel 6 is respectively arranged at one end of the longitudinal swing arm 2 far away from the travelling mechanism 1 and on the two transverse swing arms 5, when the measuring wheel 6 abuts against the guide rail 100, the rotation axis of the transverse swing arm 5 is parallel to the length direction of the guide rail 100, and one end of the longitudinal swing arm 2 far away from the travelling mechanism 1 is inclined towards the guide rail 100; the two linear displacement sensors 7 are arranged, the linear displacement sensors 7 are arranged on the rotation plane of the transverse swing arm 5, one end of each of the two linear displacement sensors 7 is rotationally connected with the longitudinal swing arm 2, and the other end of each of the two linear displacement sensors 7 is rotationally connected with one transverse swing arm 5;
according to the structure, one end of the longitudinal swing arm 2 is rotationally connected with the travelling mechanism 1 through the rotating shaft 3, and the other end of the longitudinal swing arm 2 is propped against the top surface of the guide rail 100 through the measuring wheel 6, and as the rotating shaft 3 is relatively fixed with the longitudinal swing arm 2, when the top surface of the guide rail 100 is uneven, the longitudinal swing arm 2 swings up and down to drive the rotating shaft 3 to rotate, at the moment, the rotation of the rotating shaft 3 can be detected through the angle sensor 4, and the fluctuation variation of the rail surface can be further judged through the angular displacement;
further, by arranging two lateral swing arms 5 on the longitudinal swing arm 2, and installing measuring wheels 6 on the two lateral swing arms 5, the surface change of the guide rail 100 can be specifically determined, the guide rail 100 can be divided into a left rail surface, a middle rail surface and a right rail surface along the width direction, the middle rail surface is a part corresponding to the rail web of the guide rail 100, the rail surfaces extend along the length direction of the guide rail 100, the measuring wheels 6 on the two lateral swing arms 5 are propped against the left rail surface, the other one is propped against the right rail surface, and the measuring wheels 6 on the longitudinal swing arm 2 are propped against the middle rail surface, and then the travelling mechanism 1 travels;
as described above, since the longitudinal swing arm 2 and the lateral swing arm 5 are connected by the linear displacement sensor 7, the linear displacement sensor 7 expands and contracts when the longitudinal swing arm 2 swings, and if the displacement amounts of the two linear displacement sensors 7 connected to the longitudinal swing arm 2 and the lateral swing arm 5 are the same, it is necessary to correct the guide rail 100 to ensure the straightness of the guide rail 100 by indicating that the guide rail 100 has a deformation in the height direction at the middle rail surface portion, and if the values of the two linear displacement sensors 7 are unchanged, it is necessary to indicate that the entire rail surface of the guide rail 100 has a deformation in the height direction, and similarly, if the values detected by the angle sensor 4 do not change, and the values of any one of the linear displacement sensors 7 change, it is indicated that the rail surface at the side portion has a deformation, or a breakage defect.
As shown in fig. 4 to 6, the first laser 8 is provided on the longitudinal swing arm 2; the reflecting mirror 9 is arranged on the travelling mechanism 1, and the reflecting mirror 9 is used for reflecting the output light of the first laser 8 so as to form an angle-shaped light path; the first laser target 10 is arranged on the travelling mechanism 1, and the first laser target 10 is provided with photosensitive elements arranged in an array and used for receiving the light reflected by the reflecting mirror 9;
in the above-described configuration, since the angle sensor 4 is a detection reference of the detection means, it is important that if damage occurs, detection is not performed, and a laser detection means is provided for sufficiently securing the detection reliability.
Specifically, when the travelling mechanism 1 travels, if the longitudinal swing arm 2 swings, one of the longitudinal swing arm 2 can be detected by the angle sensor 4; secondly, the first laser 8 is driven to displace, at this time, the swing amplitude of the longitudinal swing arm 2 can be known by means of the change of the light receiving position on the first laser target 10, and when the corresponding relation between the detection value of the angle sensor 4 and the displacement distance of the light receiving position of the laser is measured, for example, when the detection value of the angle sensor 4 is X1, the displacement distance of the light receiving position of the laser is X2, so that the conversion of the detection values of the angle sensor 4 and the laser detection is realized, and then the conversion corresponds to the deformation amplitude of the rail surface of the guide rail 100. This fully guarantees the reliability of this inspection robot.
As shown in fig. 6, the dismounting plate 11 is detachably arranged on the travelling mechanism 1, and the dismounting plate 11 is perpendicular to the top surface of the guide rail 100; one end of the longitudinal swing arm 2 facing the travelling mechanism 1 is rotationally connected with the disassembling plate 11 through a rotating shaft 3; the angle sensor 4 is arranged on the disassembling plate 11;
as the above structure, since the angle sensor 4 and the linear displacement sensor 7 are adopted in the detection robot, the precision of the structure needs to be ensured, and the longitudinal swing arm 2 is connected with the travelling mechanism 1 through the dismounting plate 11, after the dismounting plate 11 is dismounted, the longitudinal swing arm 2, the rotating shaft 3, the angle sensor 4, the transverse swing arm 5, the measuring wheel 6 and the linear displacement sensor 7 can be integrally taken down, so that the detection robot is convenient to store independently, thereby avoiding damage and ensuring the structure precision.
Further, the reflecting mirror 9 and the first laser target 10 are both arranged on one surface of the disassembling plate 11 far away from the travelling mechanism 1, wherein one end of the reflecting mirror 9 far away from the guide rail 100 is inclined towards the travelling mechanism 1; the first laser target 10 is positioned on one side of the reflecting mirror 9 far away from the guide rail 100, and the target surface of the first laser target 10 and the reflecting mirror 9 are arranged in an included angle shape, and the included angle is an acute angle;
the arrangement of the structure also facilitates the disassembly and storage of the reflecting mirror 9 and the first laser target 10 so as to ensure the precision. Specifically, in order to reduce the volume of the detection portion, the reflecting mirror 9 and the first laser target 10 are disposed in an angle shape, so that the first laser target 10 can receive the light reflected by the reflecting mirror 9 very small, which is beneficial to ensuring the compactness of the structure.
As shown in fig. 3, the bracket 12 comprises a bracket body 121, a limiting plate 122 and a positioning bolt 123, wherein the bracket body 121 is detachably connected with the longitudinal swing arm 2, and the first laser 8 is arranged on the bracket body 121; one end of the limiting plate 122 is connected with the frame body 121, and the other end of the limiting plate 122 is far away from the frame body 121; the positioning bolt 123 is in threaded connection with one end of the limiting plate 122, which is far away from the frame body 121, and the positioning bolt 123 abuts against the frame body 121;
the structure is that the support 12 is used for bearing the first laser 8, and the linear displacement sensor 7 and the first laser 8 are connected through wires, so that the limiting plate 122 and the positioning bolt 123 are arranged, when the wires are connected, a wire harness passes through the middle holes of the limiting plate 122 and the frame 121, the wire harness can be limited by the frame 121, the limiting plate 122 and the positioning bolt 123, when the wires are required to be overhauled, the wire harness is not required to be plugged and unplugged, the positioning bolt 123 is removed, the wire harness is taken out for overhauling, and the convenience of maintenance is improved.
As shown in fig. 12, the second laser 13 is disposed on the running gear 1, and the ray direction of the second laser 13 is parallel to the length direction of the guide rail 100; the second laser targets 14 are arranged at the end parts of the guide rails 100, the second laser targets 14 correspond to the second lasers 13, and the second laser targets 14 are provided with photosensitive elements arranged in an array;
in order to more intuitively observe the straightness change of the guide rail 100, the travelling mechanism 1 is provided with the second laser 13, and the end part of the guide rail 100 is provided with the second laser target 14, so when the travelling mechanism 1 is displaced, if the straightness of the guide rail 100 is changed, the light receiving position of the second laser target 14 is changed, the guide rail 100 is not required to be corrected like slight error, the coordinate division can be performed on the photosensitive elements of the second laser target 14, the photosensitive elements are arranged in a circular ring array, the ring collar is provided with a plurality of rings of photosensitive elements, the safety threshold is arranged in the ring, the warning threshold is arranged outside the ring, the photosensitive elements in the ring detect light receiving, the light receiving is ignored, the photosensitive elements outside the ring detect light receiving, the warning is sent, and the guide rail 100 point position corresponding to the travelling mechanism 1 is prompted to need to be corrected, the displacement distance of the travelling mechanism 1 can be synchronously assisted to judge, and the guide rail error point position is corrected according to the distance. Further, a spraying mechanism, such as an automatic paint spraying device, is arranged on the travelling mechanism 1, and the spraying mechanism sprays a section of spraying mark with an error on the guide rail 100 when the error of the guide rail 100 causes a warning, so that the subsequent correction is convenient;
in the above detection method, as the travelling mechanism 1 is far away from the second laser target 14, the light of the second laser 13 can be greatly displaced due to the tiny deviation of the guide rail, so that when the light sensitivity of the second laser target 14 is in a circular array, the safety threshold should be gradually increased as the travelling mechanism 1 is far away from the second laser target 14.
As shown in fig. 7 to 9, the carriage 15 is detachably connected to the end of the guide rail 100, and the second laser target 14 is provided on the carriage 15;
in order to facilitate the mounting of the second laser target 14, as in the above-described structure, a carriage 15 detachably attachable to the guide rail 100 is provided for assembling the second laser target 14 to the end of the guide rail 100.
Specifically, the carrier 15 includes an end plate 151, a clamping plate 152, a sliding rail 153, and a driving member 154, wherein the end plate 151 is located at an end of the guide rail 100, and the guide rail 100 is perpendicular to the end plate 151; two clamping plates 152 are arranged, one clamping plate 152 is arranged on each side of the guide rail 100, and the clamping plates 152 penetrate through the end plates 151; the sliding rail 153 is detachably arranged on one side of the end plate 151 away from the guide rail 100, and the two clamping plates 152 are in sliding connection with the sliding rail 153; the driving member 154 is used for driving the two clamping plates 152 to relatively approach or separate;
in the above structure, the carrier 15 is used for connecting the guide rail 100, the guide rail 100 is generally composed of three parts of a rail head, a rail web and a rail bottom, the clamping plates 152 in the carrier 15 are used for clamping the rail web, specifically, when in installation, the two clamping plates 152 are arranged at two sides of the rail web, the end plates 151 are abutted against the end parts of the guide rail 100, and then the driving piece 154 drives the two clamping plates 152 to displace so as to clamp the rail web, thus the installation of the second laser target 14 is completed;
in the above structure, the clamping plate 152 penetrates through the end plate 151 and then is slidably connected with the sliding rail 153, and the sliding rail 153 is of a detachable structure, so that the shapes of rail waists are different due to different types of the sliding rails 100, and at the moment, the sliding rail 153 can be detached firstly, and then the clamping plate 152 is removed for mold changing, so that the carrier 15 can be adapted to the sliding rails 100 of different types;
as shown in fig. 9, the driving member 154 includes a bearing support 1541, a pulling plate 1542 and a screw rod 1543, wherein the bearing support 1541 and the pulling plate 1542 are linearly arranged on one surface of the end plate 151 far away from the guide rail 100 along the displacement direction of the clamping plate 152, the pulling plate 1542 is respectively arranged on two sides of the bearing support 1541, the end part of the pulling plate 1542 is clamped with a part of the clamping plate 152 penetrating through the end plate 151, the screw rod 1543 is rotationally connected with the bearing support 1541, meanwhile, the two ends of the screw rod 1543 are provided with positive and negative wires, and the positive and negative wires are respectively in threaded connection with one pulling plate 1542, so that when the screw rod 1543 rotates, the clamping plate 152 can be driven to displace, thereby realizing clamping or unclamping of the rail web of the guide rail 100. Further, a hand wheel 1544 may be provided for rotation of the screw 1543.
The detection method for the guide rail straightness detection robot comprises the following steps:
s1, placing a travelling mechanism 1 on a guide rail 100, and adjusting a longitudinal swing arm 2 to enable a measuring wheel 6 to prop against the top surface of the guide rail 100;
s2, resetting and resetting the triaxial acceleration sensor, the angle sensor 4 and the linear displacement sensor 7, setting the travelling mode of the travelling mechanism 1 as a step, recording the step time as t1 and stopping time as t2, wherein the step distance is a;
s3, in the advancing process, the angle sensor 4 feeds back and detects the angle change, the linear displacement sensor 7 feeds back and shifts the position change, the first laser target 10 and the second laser target 14 feed back and receives the position change, so that a coordinate curve graph of the angle change, the shift change and the position change is obtained, and in the time t2, the triaxial acceleration sensor feeds back the coordinate of the X, Y, Z axis once;
s4, detecting coordinate points fed back by the triaxial acceleration sensor, wherein the points are in line so as to obtain a linear model in a three-dimensional space, and therefore the straightness of the guide rail 100 is judged;
and S5, calibrating a coordinate graph drawn by detection results of the angle sensor 4, the linear displacement sensor 7, the first laser target 10 and the second laser target 14 to acquire the specific deviation position of the guide rail 100.
Specifically, in step S3, the abscissa of the coordinate graph of the angle change is time, the ordinate is the angle change value detected by the angle sensor 4, the abscissa of the coordinate graph of the displacement change is time, the ordinate is the displacement expansion and contraction amount detected by the linear displacement sensor 7, and the abscissa of the coordinate graph of the light receiving position change is time, and the ordinate is the light receiving coordinate change fed back by the laser target photosensitive element.
The running mechanism 1 is arranged on the guide rail 100, a stepping running mode is set, a stepping distance a is set, meanwhile, the running time of each time is recorded as t1, t1 is the used time of the running mechanism 1 running distance a, and after the running time of t1, the stop time t2 is executed;
specifically, in step S4, when the three-axis acceleration sensor detects, the X-axis is set as the length direction of the guide rail 100, the Y-axis is set as the width direction of the guide rail 100, the Z-axis is set as the height direction of the guide rail 100, and when the three-axis acceleration sensor specifically detects, the three-axis acceleration sensor feeds back a coordinate parameter once every time the detection robot walks a distance, and along with the travel of the detection robot along the length direction of the guide rail 100, the X-axis parameter is regularly and steadily increased under the condition that the guide rail 100 has stable form and good straightness, and the Y-axis parameter and the Z-axis parameter should be unchanged or remain within a certain installation error parameter range, and if the form of the guide rail 100 has an error, the Y-axis parameter and the Z-axis parameter can change or exceed a preset installation error parameter range; for example, the three-axis coordinate should be x0.z0.y0, along with the first walking of the robot, the coordinate should be updated to xa.z0.y0, and then x2a.z0.y0, which sequentially increases, but if the coordinate parameters Z and Y are not 0, the deviation of the guide rail is described, and at this time, the error of the guide rail 100 can be obtained by detecting the coordinate parameters fed back by the three-axis acceleration sensor; meanwhile, since the detection robot feeds back a plurality of coordinates in a plurality of t2 times when in operation, the three-dimensional linear state of the guide rail 100 can be obtained by connecting coordinate points in series.
In the time t1, the angle sensor 4 feeds back and detects the angle change, the cross coordinate system is defined, the horizontal axis is the time, namely the sum of a plurality of t1, the angle is the vertical axis, the angle is 0 DEG when the measuring wheel 6 is arranged to abut against the top surface of the guide rail 100, if the top surface of the guide rail 100 is convex, the angle changes to the positive direction, if the top surface of the guide rail 100 is concave, the angle changes to the negative direction, a group of detected values are 1, -1, -3, 2 and 2, the detected values are brought into the cross coordinate system, and thus, the angle change is waveform change on the cross coordinate system along with the time;
in synchronization, the linear displacement sensor 7 feeds back the displacement change, the horizontal axis is time, namely the sum of a plurality of t1, the displacement stroke is the vertical axis, the detection initiation is set, the linear displacement sensor 7 is reset and cleared, the linear displacement sensor 7 is contracted when the top surface of the guide rail 100 is protruded, the linear displacement sensor 7 is extended when the top surface of the guide rail 100 is recessed, the contraction exceeds a zero point and a negative value when the linear displacement sensor 7 is extended, and extends to exceed a zero point and a positive value, so that the stroke change of the linear displacement sensor 7 is waveform change on a cross coordinate system along with the time and the change of the positive and negative values;
in the synchronous detection initial stage, the point position of the photosensitive element arranged on the first laser target 10 in the array for receiving the light of the first laser 8 is zero, and as the first laser 8 swings along with the longitudinal swing arm 2, the laser point position changes to be a straight line to define the coordinate of the photosensitive element of the first laser 8, and the photosensitive element initially irradiated by the laser is zero, for example, the linear array of the photosensitive element can be sequentially provided with the coordinates of 3, 2, 1, 0, -1, -2 and 3, so that different coordinate points can be continuously obtained along with the swing of the first laser 8, and the swing state of the first laser 8 can be changed in a waveform on a cross coordinate system along with the time; the second piece of laser 13 and the second laser target 14 are the same;
in this way, with the continuous change of the above parameters, the specific state of the guide rail 100 can be precisely measured by the waveform chart finally presented in the cross coordinate system.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.
Claims (10)
1. The guide rail straightness detection robot comprises a travelling mechanism (1), wherein the travelling mechanism (1) is arranged on a guide rail (100), and a triaxial acceleration sensor is mounted on the travelling mechanism (1);
the method is characterized in that: the device also comprises a longitudinal swing arm (2), a rotating shaft (3), an angle sensor (4), a transverse swing arm (5), a measuring wheel (6) and a linear displacement sensor (7), wherein,
the longitudinal swing arm (2) is rotationally connected with the travelling mechanism (1) through the rotating shaft (3), the longitudinal swing arm (2) is relatively fixed with the rotating shaft (3), and the rotating axis of the rotating shaft (3) is perpendicular to the length direction of the guide rail (100);
the angle sensor (4) is arranged on the travelling mechanism (1), and a detection shaft of the angle sensor (4) is connected with the rotating shaft (3);
the two transverse swing arms (5) are arranged, and the two transverse swing arms (5) are rotatably arranged at one end of the longitudinal swing arm (2) far away from the travelling mechanism (1);
the measuring wheel (6) is respectively arranged at one end of the longitudinal swing arm (2) far away from the travelling mechanism (1) and on two transverse swing arms (5), when the measuring wheel (6) abuts against the guide rail (100), the rotation axis of the transverse swing arm (5) is parallel to the length direction of the guide rail (100), and one end of the longitudinal swing arm (2) far away from the travelling mechanism (1) is inclined towards the guide rail (100);
the linear displacement sensors (7) are arranged in two, the linear displacement sensors (7) are arranged on the rotation plane of the transverse swing arm (5), one end of each linear displacement sensor (7) is rotationally connected with the longitudinal swing arm (2), and the other end of each linear displacement sensor (7) is rotationally connected with one transverse swing arm (5).
2. The guide rail straightness detection robot as set forth in claim 1, wherein: also comprises a first laser (8), a reflecting mirror (9) and a first laser target (10), wherein,
the first laser (8) is arranged on the longitudinal swing arm (2);
the reflecting mirror (9) is arranged on the travelling mechanism (1), and the reflecting mirror (9) is used for reflecting the output light of the first laser (8) so as to form an angle-shaped light path;
the first laser target (10) is arranged on the travelling mechanism (1), and the first laser target (10) is provided with photosensitive elements arranged in an array and used for receiving light rays reflected by the reflecting mirror (9).
3. The guide rail straightness detection robot as claimed in claim 2, wherein: the device further comprises a disassembling plate (11), wherein the disassembling plate (11) is detachably arranged on the travelling mechanism (1), and the disassembling plate (11) is perpendicular to the top surface of the guide rail (100);
one end of the longitudinal swing arm (2) facing the travelling mechanism (1) is rotationally connected with the dismounting plate (11) through the rotating shaft (3);
the angle sensor (4) is arranged on the dismounting plate (11).
4. The guide rail straightness detection robot as claimed in claim 3, wherein: the reflecting mirror (9) and the first laser target (10) are arranged on one surface of the dismounting plate (11) far away from the travelling mechanism (1), wherein,
one end of the reflecting mirror (9) far away from the guide rail (100) is inclined towards the travelling mechanism (1);
the first laser target (10) is located on one side, far away from the guide rail (100), of the reflecting mirror (9), and the target surface of the first laser target (10) is arranged in an included angle mode with the reflecting mirror (9), and the included angle is an acute angle.
5. The rail straightness detection robot as claimed in claim 4, wherein: the device also comprises a bracket (12), wherein the bracket (12) comprises a bracket body (121), a limiting plate (122) and a positioning bolt (123),
the frame body (121) is detachably connected with the longitudinal swing arm (2), and the first laser (8) is arranged on the frame body (121);
one end of the limiting plate (122) is connected with the frame body (121), and the other end of the limiting plate (122) is far away from the frame body (121);
the positioning bolt (123) is in threaded connection with one end, far away from the frame body (121), of the limiting plate (122), and the positioning bolt (123) abuts against the frame body (121).
6. The rail straightness detection robot as claimed in claim 4, wherein: also comprises a second laser (13) and a second laser target (14), wherein,
the second laser (13) is arranged on the travelling mechanism (1), and the ray direction of the second laser (13) is parallel to the length direction of the guide rail (100);
the second laser targets (14) are arranged at the end parts of the guide rails (1001), the second laser targets (14) correspond to the second lasers (13), and the second laser targets (14) are provided with photosensitive elements arranged in an array.
7. The rail straightness detection robot as claimed in claim 6, wherein: the laser device further comprises a carrier (15), wherein the carrier (15) is detachably connected with the end part of the guide rail (100), and the second laser target (14) is arranged on the carrier (15).
8. The rail straightness detection robot as claimed in claim 7, wherein: the carrier (15) comprises an end plate (151), a clamping plate (152), a sliding rail (153) and a driving piece (154), wherein,
the end plate (151) is positioned at the end of the guide rail (100), and the guide rail (100) is perpendicular to the end plate (151);
the clamping plates (152) are arranged at two sides of the guide rail (100), one clamping plate (152) is arranged at each side, and the clamping plates (152) penetrate through the end plates (151);
the sliding rail (153) is detachably arranged on one side, far away from the guide rail (100), of the end plate (151), and the two clamping plates (152) are in sliding connection with the sliding rail (153);
the driving member (154) is used for driving the two clamping plates (152) to be relatively close to or separated from each other.
9. The guide rail straightness detection robot according to any one of claims 1 to 8, wherein: the travelling mechanism (1) comprises a main body (101), a clamping body (102), a driving wheel (103), side wheels (104) and anti-overturning clamping jaws (105), wherein,
-said body (101) is located on said guide rail (100);
the driving wheel (103) is rotatably arranged on the main body (101), and the driving wheel (103) abuts against the rail head of the guide rail (100);
at least two clamping bodies (102) are oppositely arranged on the main body (101), the side wheels (104) are rotatably arranged on the two clamping bodies (102), and the clamping bodies (102) are used for driving the side wheels (104) to displace so as to clamp the rail waist of the guide rail (100);
at least two anti-overturning clamping jaws (105) are oppositely arranged on the main body (101) and are used for selectively clamping the guide rail (100).
10. A detection method using the guide rail straightness detection robot according to claim 6, comprising the steps of:
s1, placing the travelling mechanism (1) on the guide rail (100) and adjusting the longitudinal swing arm (2) so that the measuring wheel (6) abuts against the top surface of the guide rail (100);
s2, resetting and resetting the triaxial acceleration sensor, the angle sensor (4) and the linear displacement sensor (7), setting the travelling mode of the travelling mechanism (1) as a step, recording the step time as t1 and the stop time as t2, wherein the step distance is a;
s3, in the advancing process, the angle sensor (4) feeds back and detects the angle change, the linear displacement sensor (7) feeds back and shifts the change, the first laser target (10) and the second laser target (14) feed back and receives the light position change in order to obtain a coordinate curve graph of the angle change, the shift change and the light receiving position change, and in the time t2, the triaxial acceleration sensor feeds back the coordinate of a X, Y, Z axis once;
s4, detecting coordinate points fed back by the triaxial acceleration sensor, wherein the points are in line so as to obtain a linear model in a three-dimensional space, and judging the straightness of the guide rail (100);
s5, calibrating a coordinate graph drawn by detection results of the angle sensor (4), the linear displacement sensor (7), the first laser target (10) and the second laser target (14) so as to obtain a specific deviation position of the guide rail (100).
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