CN109555543B - Automatic conveying and identifying system for duct pieces - Google Patents
Automatic conveying and identifying system for duct pieces Download PDFInfo
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- CN109555543B CN109555543B CN201910104207.6A CN201910104207A CN109555543B CN 109555543 B CN109555543 B CN 109555543B CN 201910104207 A CN201910104207 A CN 201910104207A CN 109555543 B CN109555543 B CN 109555543B
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- 238000001514 detection method Methods 0.000 claims abstract description 56
- 238000009826 distribution Methods 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 239000004567 concrete Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
- E21D11/406—Placing endless lining elements, e.g. from reels
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Geochemistry & Mineralogy (AREA)
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- Control And Safety Of Cranes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an automatic duct piece conveying and identifying system, which comprises a detection device and a lifting device, wherein the lifting device is used for lifting duct pieces below the detection device, the lifting device is provided with a detection plane which can be connected in an intrados of the duct pieces, the detection plane is provided with a mark point, and the mark point is used for representing a point of a fine adjustment center relative to the duct pieces after the duct pieces are gripped by a duct piece splicing machine; the detection device comprises a depth camera and a first laser range finder, a second laser range finder and a third laser range finder which are fixedly arranged on the same plane, wherein the first laser range finder is positioned in the left front direction of the depth camera, the second laser range finder is positioned in the right front direction of the depth camera, and the third laser range finder is positioned in the right rear or left rear direction of the depth camera. According to the automatic duct piece conveying and identifying system, duct pieces are conveyed to the lower part of the detection device through the lifting device, and the final position and the final gesture of the duct pieces can be obtained according to the detection device. And the segment erector is not dependent on the proficiency of operators when grabbing the segments.
Description
Technical Field
The invention relates to the technical field of heading machines, in particular to an automatic conveying and identifying system for segments.
Background
In the field of heading machines, concrete support is generally required after an unstable hard rock tunnel is formed, and precast reinforced concrete segments are a common scheme choice. The conveying, grabbing, assembling and the like of the duct pieces basically need manual operation, and the automation aspect rarely involves. In the actual operation process, especially when the segment splicing machine is manually operated to grasp the segment, the operation proficiency greatly affects the working quality and the working efficiency.
At present, two main duct piece grabbing modes are adopted, one is mechanical single-hole grabbing, and the other is vacuum chuck grabbing. When mechanical single-hole grabbing is performed, an operator needs to grab a bolt and a grabbing head for Ji Guanpian, and after the fine adjustment angle is adjusted, the operator can grab the duct piece. When the vacuum chuck grabs, because the chuck surface is larger, operators cannot directly align the chuck bolts and duct piece matching taper holes, and can only indirectly position through external auxiliary devices (such as laser and the like). The two pipe piece grabbing modes, particularly the sucking disc mode, have higher requirements on the proficiency of operators, and the service life of equipment and pipe pieces is greatly influenced under the condition of misoperation.
In summary, how to effectively solve the problems of high requirements of segment grabbing on the proficiency of operators and the like is a problem that needs to be solved by the current technicians in the field.
Disclosure of Invention
Therefore, the invention aims to provide an automatic duct piece conveying and identifying system, and the structural design of the automatic duct piece conveying and identifying system can effectively solve the problem that the duct piece grabbing has high requirements on the proficiency of operators.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the automatic duct piece conveying and identifying system comprises a detecting device and a lifting device, wherein the lifting device is used for lifting duct pieces below the detecting device, the lifting device is provided with a detecting plane which can be connected into an intrados of the duct pieces, the detecting plane is provided with a marking point, and the marking point is used for representing a point of a fine adjustment center relative to the duct pieces after the duct pieces are gripped by a duct piece assembling machine; the detection device comprises a depth camera, a first laser range finder, a second laser range finder and a third laser range finder, wherein the first laser range finder, the second laser range finder and the third laser range finder are fixedly arranged on the same plane, the first laser range finder is positioned in the left front direction of the depth camera, the second laser range finder is positioned in the right front direction of the depth camera, and the third laser range finder is positioned in the right rear or left rear direction of the depth camera.
Preferably, in the automatic duct piece conveying and identifying system, the first laser distance meter, the second laser distance meter and the third laser distance meter correspond to three angular distributions of an isosceles right triangle, and the depth camera is located at the midpoint of the bottom edge of the isosceles right triangle.
Preferably, in the automatic conveying and identifying system for duct pieces, the detecting device further comprises a mounting plate for fixing the depth camera, the first laser range finder, the second laser range finder and the third laser range finder.
Preferably, in the automatic duct piece conveying and identifying system, the mounting plate comprises a square mounting portion, and the first laser range finder, the second laser range finder and the third laser range finder are respectively located at three corners of the square.
Preferably, in the automatic duct piece conveying and identifying system, the detecting device further comprises a fourth laser range finder located behind the depth camera and used for locating the duct piece.
Preferably, in the automatic conveying and identifying system for the pipe piece, the lifting device comprises a controller connected with the first laser range finder, the second laser range finder, the third laser range finder and the fourth laser range finder, and the controller is used for controlling the crane to advance at a low speed when the first laser range finder or the second laser range finder detects the distance information of the pipe piece and controlling the crane to stop advancing when the fourth laser range finder detects the distance information of the pipe piece.
Preferably, in the automatic duct piece conveying and identifying system, the automatic duct piece conveying and identifying system further comprises a supporting table for supporting the duct piece, wherein the supporting table is located below the detecting device, and the controller is further used for controlling the crane to descend when the fourth laser range finder detects distance information of the duct piece so as to place the duct piece on the supporting table.
Preferably, in the automatic conveying and identifying system for the pipe piece, the lifting device comprises a vacuum chuck for adsorbing the pipe piece, the top surface of the vacuum chuck is the detection plane, the bottom surface is used for adsorbing the pipe piece, the top surface of the vacuum chuck is connected with a crane for lifting and moving the vacuum chuck, the bottom surface of the vacuum chuck is provided with a positioning block, the positioning block is provided with a positioning hole matched with a grabbing bolt of an intrados surface of the pipe piece of the single embedded part, or the bottom surface of the vacuum chuck is connected with a guide bolt used for being inserted into a conical positioning hole of the double positioning Kong Guanpian.
Preferably, in the automatic duct piece conveying and identifying system, the positioning block is embedded in the vacuum chuck, the bottom surface of the positioning block is flush with the bottom surface of the vacuum chuck, and the bottom surface of the vacuum chuck is also connected with the detachable guide bolt.
Preferably, in the automatic duct piece conveying and identifying system, the vacuum chuck is provided with a vacuum cavity and a vacuum pump communicated with the vacuum cavity and used for vacuumizing the vacuum cavity.
The automatic duct piece conveying and identifying system provided by the invention comprises a detecting device and a lifting device. The lifting device is used for lifting the pipe piece to the lower part of the detection device and is provided with a detection plane which can be connected to the intrados of the pipe piece, the detection plane is provided with a mark point, and the mark point is provided with a point for representing the fine adjustment center relative to the pipe piece after the pipe piece is grabbed by the pipe piece assembling machine. The detection device comprises a depth camera and a first laser range finder, a second laser range finder and a third laser range finder which are fixedly arranged on the same plane, wherein the first laser range finder is positioned in the left front direction of the depth camera, the second laser range finder is positioned in the right front direction of the depth camera, and the third laser range finder is positioned in the right rear or left rear direction of the depth camera.
By applying the automatic duct piece conveying and identifying system provided by the invention, the duct piece is conveyed to the lower part of the detecting device through the lifting device, so that the detecting plane connected in the intrados of the duct piece is opposite to the detecting device. And taking the point of the fine adjustment center relative to the pipe piece after the pipe piece is grasped by the pipe piece assembling machine as a characteristic point of the pipe piece, and marking on a detection plane, namely marking the point, wherein the gesture of the pipe piece around the characteristic point is the gesture of the detection plane of the lifting device. The positions of the first laser range finder, the second laser range finder and the third laser range finder are respectively used as measuring points, and the final position and the final gesture of the duct piece can be obtained according to the distance from the measuring points displayed by the first laser range finder, the second laser range finder and the third laser range finder to a detection plane, the characteristic point coordinates displayed by the depth camera and the two-dimensional coordinates of each measuring point in the space plane. And then can adjust in order to snatch according to the position appearance automation of section of jurisdiction when the section of jurisdiction kludge snatches the section of jurisdiction, need not the manual work and aligns, and then no longer rely on operating personnel's proficiency.
Drawings
In order to more clearly illustrate the embodiments of the invention 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 invention, 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 schematic view of an automatic segment conveying and recognizing system according to an embodiment of the present invention;
FIG. 2 is a schematic top view of FIG. 1;
FIG. 3 is a schematic diagram of an auto-induction entry identification area;
FIG. 4 is a schematic diagram of auto-sensing stop progression;
FIG. 5 is a schematic diagram of the structure of the detecting device;
FIG. 6 is a schematic view of a vacuum chuck;
FIG. 7 is a schematic view of the vacuum chuck suction tube sheet shown in FIG. 6;
FIG. 8 is a schematic view of another vacuum chuck;
FIG. 9 is a schematic view of the vacuum chuck suction tube sheet shown in FIG. 8;
fig. 10 is a schematic diagram of segment identification.
The figures are marked as follows:
the device comprises a detection device 1, a lifting device 2, a duct piece 3, a single embedded part duct piece 4, a grabbing bolt 5, double positioning Kong Guanpian and a marking point D;
a first laser range finder 101, a second laser range finder 102, a third laser range finder 103, a fourth laser range finder 104, a depth camera 105 and a mounting plate 106;
crane 201, vacuum cavity 202, locating block 203, guide pin 204, vacuum pump 205, vacuum chuck 206, detection plane 207.
Detailed Description
The embodiment of the invention discloses an automatic duct piece conveying and recognizing system which is used for automatically conveying duct pieces and recognizing the positions and postures of the duct pieces so as to facilitate automatic grabbing of the duct pieces by a duct piece assembling machine.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2 and fig. 10, fig. 1 is a schematic structural diagram of an automatic duct piece conveying and identifying system according to an embodiment of the present invention; FIG. 2 is a schematic top view of FIG. 1; fig. 10 is a schematic diagram of segment identification.
The invention provides an automatic duct piece conveying and identifying system which comprises a detecting device 1 and a lifting device 2.
Wherein, overhead hoist 2 is used for handling the section of jurisdiction 3 to detection device 1 below, and has the detection plane 207 that can connect in the intrados of section of jurisdiction 3. That is, in a state where the handling device 2 lifts up the segment 3, the detection plane 207 is connected in the intrados of the segment 3, and the posture of the segment 3 is further reflected by the state of the detection plane 207. The detection plane 207 has a marking point D with a point for characterizing the fine adjustment center relative to the segment 3 after grasping the segment 3 against the segment assembler. That is, the point of the fine adjustment center relative to the segment 3 after the segment assembler grabs the segment 3 is used as the characteristic point of the segment 3, that is, the marking point D. Preferably, the marking point D is located in the center of the detection plane 207, and the detection plane 207 is symmetrical with respect to the marking point D.
The detection device 1 comprises a depth camera 105 and a first laser range finder 101, a second laser range finder 102 and a third laser range finder 103 which are fixedly arranged on the same plane. That is, the measuring points corresponding to the first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103 are located in the same plane, and the first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103 can measure the respective positions, that is, the distances from the measuring points to the detection plane 207, that is, as shown in fig. 10, the measuring points a, B and C are respectively to the lengths of a ', B ' and C ' on the detection plane 207 opposite to each other. The first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103 are used for representing the pose of the segment 3 by measuring the distance between the respective measuring points and the detection plane 207 and combining the coordinates of the marking point D measured by the depth camera 105 and the two-dimensional coordinates of each measuring point in the space plane. The detection device 1 may in particular be fixed to a base frame. The location corresponding to a particular depth camera 105 may be denoted as E.
The first laser rangefinder 101 is located in the front left direction of the depth camera 105, the second laser rangefinder 102 is located in the front right direction of the depth camera 105, and the third laser rangefinder 103 is located in the rear right or rear left direction of the depth camera 105. And the pose of the segment 3 can be reflected by the distances from the measuring points to the detecting plane 207, which are respectively measured by the three measuring points.
The background program can set all driving system parameters of the duct piece splicing machine according to the pose parameters of the duct piece 3, the grabbing device of the duct piece splicing machine grabs the duct piece 3 according to the routes set by the corresponding parameters, and the lifting device 2 can return to continue lifting.
By using the automatic duct piece conveying and identifying system provided by the invention, the duct piece 3 is conveyed to the lower part of the detection device 1 through the lifting device 2, so that the detection plane 207 connected in the intrados of the duct piece 3 is opposite to the detection device 1. The point of the fine adjustment center relative to the pipe piece 3 after the pipe piece assembly machine grabs the pipe piece 3 is used as a characteristic point of the pipe piece 3, a mark is made on the detection plane 207, namely a mark point D, and the gesture of the pipe piece 3 around the characteristic point is the gesture of the detection plane 207 of the lifting device 2. The positions of the first laser range finder 101, the second laser range finder 102 and the third laser range finder 103 are used as measurement points, and the final position and the final gesture of the segment 3 can be obtained according to the distances from the measurement points displayed by the first laser range finder 101, the second laser range finder 102 and the third laser range finder 103 to the detection plane 207, the coordinates of the marking points displayed by the depth camera 105 and the two-dimensional coordinates of the measurement points in the space plane. And then can adjust in order to snatch according to the position appearance automation of section of jurisdiction 3 when the section of jurisdiction kludge snatches section of jurisdiction 3, need not the manual work and aligns, and then no longer rely on operating personnel's proficiency.
Specifically, the first laser rangefinder 101, the second laser rangefinder 102, and the third laser rangefinder 103 correspond to three angular distributions of an isosceles right triangle, and the depth camera 105 is located at a midpoint of a base of the isosceles right triangle. The distances from the first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103 to the depth camera 105 are equal, so that the pose of the segment 3 can be conveniently obtained according to the coordinates of three measuring points and the distance from the measuring point obtained by detection to the detection plane 207. Specifically, the specific position of the marking point D on the segment 3 may be set randomly, and when the segment 3 is transported to the lower side of the detection device, the depth camera 105 directly measures the distance information of the marking point D relative to the plane (such as the mounting plate 106) where the measuring point is located, and the position of the marking point D relative to the two-dimensional plane coordinate, so as to obtain the position of the marking point D. The two-dimensional parameters of points a ', B ' and C ', i.e. the projection points of measurement point a, measurement point B and measurement point C, above the detection plane 207 are identical to the two-dimensional plane parameters of the first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103. The range finder can measure the distance parameter of the point on the detection plane 207 relative to the coordinate, and finally the coordinate deflection parameter of the detection plane 207 can be obtained. I.e. the shape and position of the tube sheet 3 can be obtained.
Further, the detection device 1 further comprises a mounting plate 106 for fixing the depth camera 105, the first laser rangefinder 101, the second laser rangefinder 102 and the third laser rangefinder 103. In order to facilitate the installation of the components, an installation plate 106 is provided, and the depth camera 105, the first laser range finder 101, the second laser range finder 102 and the third laser range finder 103 are respectively fixed on the installation plate 106, so that the installation, the transfer and the like of the whole detection device 1 are facilitated. Preferably, the mounting plate 106 includes a square mounting portion, and the first, second and third laser rangefinders 101, 102 and 103 are respectively located at three corners of the square, so that the depth camera 105 may be located at the center of the square. The mounting plate 106 may be fixedly coupled to the base.
Specifically, the inspection device 1 further includes a fourth laser rangefinder 104 positioned behind the depth camera 105 for positioning the tile 3. I.e. a measurement point H is added, i.e. at the fourth laser rangefinder 104. By providing the fourth laser distance meter 104 behind the detection device 1, the moving position of the segment 3 can be known by the fourth laser distance meter 104. If the distance between the fourth laser rangefinder 104 and the depth camera 105 in the front-rear direction is set to be equal to the distance from the marking point D to the outer end of the segment 3, when the fourth laser rangefinder 104 detects a distance signal of the edge of the segment 3, it indicates that the edge of the segment 3 moves to be opposite to the fourth laser rangefinder 104, and the depth camera 105 is opposite to the marking point D at the front-rear position.
Further, the overhead hoist 2 includes a controller connected to each of the first laser rangefinder 101, the second laser rangefinder 102, the third laser rangefinder 103, and the fourth laser rangefinder 104, the controller being configured to control the crane 201 to advance at a low speed when the first laser rangefinder 101 or the second laser rangefinder 102 detects the distance information of the segment 3, and to control the crane 201 to stop advancing when the fourth laser rangefinder 104 detects the distance information of the segment 3. The low-speed traveling means that the traveling speed of the crane 201 is reduced, and the specific speed may be set as required, and is not particularly limited herein. Referring to fig. 3-4, fig. 3 is a schematic diagram illustrating automatic induction entering an identification area; FIG. 4 is a schematic diagram of auto-sensing stop progression. When the first laser range finder 101 or the second laser range finder 102 automatically senses that the pipe piece 3 enters the identification area below the detection device 1, the controller controls the crane 201 to decelerate, and when the fourth laser range finder 104 automatically senses that the pipe piece 3 moves in place, the controller controls the crane 201 to stop advancing, and then full-automatic control of the conveying process can be achieved.
Further, the device further comprises a supporting table for supporting the pipe piece 3, the supporting table is located below the detecting device 1, and the controller is further used for controlling the crane 201 to descend to place the pipe piece 3 on the supporting table when the fourth laser range finder 104 detects the distance information of the pipe piece 3. Specifically, the support table may be an assembled segment ring. When the detection is carried out, the lifted pipe piece 3 is firstly put down. The position of the segment 3 after being put down is the segment 3 position that the segment assembler needs to grasp. After the detection is completed, the crane 201 is moved away.
On the basis of the above embodiments, the lifting device 2 includes a vacuum chuck 206 for adsorbing the pipe piece 3, the top surface of the vacuum chuck 206 is a detection plane 207, the bottom surface is used for adsorbing the pipe piece 3, the top surface of the vacuum chuck 206 is connected with a crane 201 for lifting and moving the vacuum chuck 206, the bottom surface of the vacuum chuck 206 is provided with a positioning block 203, the positioning block 203 is provided with a positioning hole for being matched with the grabbing bolt 5 of the intrados of the single embedded pipe piece 4, or the bottom surface of the vacuum chuck 206 is connected with a guide pin 204 for being inserted into the conical positioning hole of the double positioning hole pipe piece 6. By using the top surface of the vacuum chuck 206 as the detection plane 207, i.e., the vacuum chuck 206 doubles as a segment feature recognition device. And for the single embedded part pipe piece 4 and the double positioning hole pipe piece 6, corresponding vacuum chucks 206 can be respectively arranged, and for the single embedded part pipe piece 4, please refer to fig. 6-7, fig. 6 is a schematic structural diagram of a vacuum chuck 206; fig. 7 is a schematic view of the vacuum chuck 206 shown in fig. 6 sucking the tube sheet 3. The bottom surface of vacuum chuck 206 has locating piece 203, has the locating hole on the locating piece 203, and the locating hole can cooperate with the snatch bolt 5 of single built-in fitting section of jurisdiction 4 intrados, and overhead hoist 2 falls into single built-in fitting section of jurisdiction 4 intrados through the guide cooperation of locating hole with snatch bolt 5, then vacuum chuck 206 starts to adsorb single built-in fitting section of jurisdiction 4, and then drives section of jurisdiction 3 through loop wheel machine 201 and remove.
For the double positioning Kong Guanpian 6, please refer to fig. 8-9, fig. 8 is a schematic diagram of another vacuum chuck 206; fig. 9 is a schematic view of the vacuum chuck 206 shown in fig. 8 sucking the tube sheet 3. The bottom surface fixedly connected with guide bolt 204 of vacuum chuck 206, guide bolt 204 can insert in the toper locating hole of two locating hole section of jurisdictions 6, and then overhead hoist 2 passes through guide bolt 204 and inserts the guide cooperation adjustment of the toper locating hole of two locating hole section of jurisdictions 6 from the area, falls in the intrados of two locating hole section of jurisdictions 6, and then vacuum chuck 206 starts to adsorb two location Kong Guanpian 6, and then drives section of jurisdiction 3 through loop wheel machine 201 and remove. Through the arrangement of the two vacuum chucks 206, the automatic pipe piece conveying and identifying system is universal for the single-hole grabbing pipe piece 4 and the double-hole chuck bolt pipe piece 6.
Specifically, the positioning block 203 is embedded in the vacuum chuck 206, the bottom surface of the positioning block 203 is flush with the bottom surface of the vacuum chuck 206, and the bottom surface of the vacuum chuck 206 is further connected with a detachable guide pin 204. By detachably connecting the guide pin 204 with the vacuum chuck 206, when the vacuum chuck 206 is used for a single embedded part pipe piece 4, the guide pin 204 can be not connected, and the pipe piece 3 is adsorbed by guiding and matching the positioning block 203 with the grabbing bolt 5. When the vacuum chuck 206 is used for the double positioning hole duct piece 6, the guide pin 204 can be connected to the bottom surface of the vacuum chuck 206, and the duct piece 3 can be absorbed through the guide fit of the guide pin 204 and the conical positioning hole. So configured, the same vacuum chuck 206 can be used for both single embedment segments 4 and dual locating hole segments 6 by connecting guide pins 204.
Further, the vacuum chuck 206 has a vacuum chamber 202 and a vacuum pump 205 communicating with the vacuum chamber 202 for evacuating the vacuum chamber 202. The vacuum cavity 202 is a cavity enclosed between the bottom surface and the top surface of the vacuum chuck 206, the vacuum pump 205 is communicated with the vacuum cavity 202, then when the lifting device 2 is matched with the guide of the grabbing bolt 5 through the positioning hole, the lifting device falls into the intrados of the single embedded part pipe piece 4, then the vacuum pump 205 starts to pump gas in the vacuum cavity 202 to form vacuum so as to adsorb the single embedded part pipe piece 4, and then the lifting device 201 drives the pipe piece 3 to move, or the lifting device 2 is matched and adjusted with the guide of the conical positioning hole of the double positioning hole pipe piece 6 through the guide bolt 204, falls into the intrados of the double positioning hole pipe piece 6, then the vacuum pump 205 starts to pump gas in the vacuum cavity 202 so as to form vacuum so as to adsorb the double positioning Kong Guanpian 6.
In summary, the automatic duct piece conveying and identifying system provided by the application has the advantages that the structure of the lifting device 2 is matched with the pin holes so as to be convenient to position, and the application range comprises the single embedded duct piece 4 and the double-hole positioning duct piece 6; the proposal can automatically convey and automatically identify, and can be operated by one key; the detection device 1 is simple in composition and only comprises a laser range finder and a depth measuring camera. Meanwhile, the quality of grabbing the duct piece 3 can be effectively improved, and the operation is simpler and more convenient; the scheme can be used as a part of the integral automation of the segment splicing machine, and provides a reference for the intelligent splicing of the final segment; the proposal effectively utilizes the lifting device 2 without adding additional equipment mechanisms; the scheme is applicable to single embedded part duct pieces 4 and double-hole positioning duct pieces 6, and has wide application range.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The automatic duct piece conveying and identifying system is characterized by comprising a detecting device and a lifting device, wherein the lifting device is used for lifting duct pieces below the detecting device and is provided with a detecting plane which can be connected into an intrados of the duct pieces, the detecting plane is provided with a marking point, and the marking point is used for representing a point, opposite to a duct piece assembling machine, of a fine adjustment center relative to the duct pieces after the duct pieces are grabbed; the detection device comprises a depth camera, a first laser range finder, a second laser range finder and a third laser range finder, wherein the first laser range finder, the second laser range finder and the third laser range finder are fixedly arranged on the same plane, the first laser range finder is positioned in the left front direction of the depth camera, the second laser range finder is positioned in the right front direction of the depth camera, and the third laser range finder is positioned in the right rear or left rear direction of the depth camera;
the lifting device comprises a vacuum chuck for adsorbing the pipe piece, the top surface of the vacuum chuck is the detection plane, the bottom surface of the vacuum chuck is used for adsorbing the pipe piece, the top surface of the vacuum chuck is connected with a crane for lifting and moving the vacuum chuck, the bottom surface of the vacuum chuck is provided with a positioning block, the positioning block is provided with a positioning hole matched with a grabbing bolt of the intrados of the pipe piece of the single embedded part, or the bottom surface of the vacuum chuck is connected with a guide bolt for being inserted into a conical positioning hole of the double positioning Kong Guanpian;
the positions of the first laser range finder, the second laser range finder and the third laser range finder are respectively used as measuring points, and the final position and the final gesture of the duct piece are obtained according to the distances from the measuring points displayed by the first laser range finder, the second laser range finder and the third laser range finder to the top surface of the vacuum chuck, the mark point coordinates displayed by the depth camera and the two-dimensional coordinates of each measuring point in the space plane.
2. The automatic duct piece conveying and identifying system according to claim 1, wherein the first, second and third laser rangefinders correspond to three angular distributions of an isosceles right triangle, and the depth camera is located at a midpoint of a base of the isosceles right triangle.
3. The automated pipe conveying and recognition system of claim 2, wherein the detection device further comprises mounting plates for securing the depth camera, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder.
4. The automatic duct piece conveying and identifying system according to claim 3, wherein the mounting plate comprises a square mounting portion, and the first, second and third laser rangefinders are located at three corners of the square, respectively.
5. The automated pipe handling and identification system of claim 1, wherein the detection device further comprises a fourth laser rangefinder positioned behind the depth camera for locating the pipe.
6. The automated pipe handling and identification system of claim 5, wherein the overhead hoist comprises a controller connected to each of the first, second, third, and fourth laser rangefinders, the controller configured to control the crane to advance at a low speed when the first or second laser rangefinder detects distance information for the pipe and to control the crane to stop advancing when the fourth laser rangefinder detects distance information for the pipe.
7. The automated pipe segment handling and identification system of claim 6, further comprising a support table for supporting the pipe segment, the support table being positioned below the detection device, the controller further configured to control the crane to descend to place the pipe segment on the support table when the fourth laser rangefinder detects distance information for the pipe segment.
8. The automatic duct piece conveying and identifying system according to any one of claims 1 to 7, wherein the positioning block is embedded in the vacuum chuck, the bottom surface of the positioning block is flush with the bottom surface of the vacuum chuck, and the bottom surface of the vacuum chuck is further connected with the detachable guide pin.
9. The automatic duct piece conveying and identifying system according to claim 8, wherein the vacuum chuck has a vacuum cavity and a vacuum pump in communication with the vacuum cavity for evacuating the vacuum cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104207.6A CN109555543B (en) | 2019-02-01 | 2019-02-01 | Automatic conveying and identifying system for duct pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104207.6A CN109555543B (en) | 2019-02-01 | 2019-02-01 | Automatic conveying and identifying system for duct pieces |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109555543A CN109555543A (en) | 2019-04-02 |
| CN109555543B true CN109555543B (en) | 2024-03-29 |
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| CN113460851B (en) * | 2021-06-02 | 2023-03-10 | 天津大学 | Segment automatic grabbing and transporting system and method based on monocular vision and laser |
| CN115390089A (en) * | 2022-08-29 | 2022-11-25 | 中铁工程装备集团有限公司 | Segment attitude detection and hoisting method and system, segment hoisting device and industrial personal computer |
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