CN111091480B - Positioning method of pouring equipment - Google Patents
Positioning method of pouring equipment Download PDFInfo
- Publication number
- CN111091480B CN111091480B CN202010008876.6A CN202010008876A CN111091480B CN 111091480 B CN111091480 B CN 111091480B CN 202010008876 A CN202010008876 A CN 202010008876A CN 111091480 B CN111091480 B CN 111091480B
- Authority
- CN
- China
- Prior art keywords
- teaching
- equipment
- main arm
- initial
- pouring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 238000012937 correction Methods 0.000 claims abstract description 5
- 238000005266 casting Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 3
- 239000004567 concrete Substances 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000011376 self-consolidating concrete Substances 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Architecture (AREA)
- Human Resources & Organizations (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Economics (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a positioning method of pouring equipment, which comprises the steps of inputting teaching point coordinates, a main arm rotation angle and an auxiliary arm rotation angle through teaching, so that an intersecting circle is set to determine equipment initial center point coordinates, solving equipment final center point coordinates and main arm initial angles through the equipment initial center point coordinates, finally solving main arm initial angles, carrying out angle compensation correction on a control system, converting a coordinate system established by the control system into a measurement coordinate system, and controlling the pouring equipment to carry out automatic hole searching and automatic pouring according to an input bin number, so that the positioning precision of the pouring equipment reaches a millimeter level, the accuracy requirement of automatic hole searching of the control system is met, the automation degree of concrete pouring is improved, and the production efficiency is improved.
Description
Technical Field
The invention is used in the field of intelligent pouring equipment, and particularly relates to a positioning method of pouring equipment.
Background
Self-compacting concrete refers to concrete that is capable of flowing, compacting under its own weight and does not require additional vibration. With the gradual maturation of submarine tunnel technology in China and the continuous application of self-compacting concrete in practical engineering, the submarine tunnel in China is mostly built by adopting a steel shell intelligent immersed tube which is provided with a plurality of sections of tube joints, and the steel shell intelligent tube joints are provided with a sandwich structure, namely, self-compacting concrete is filled in inner and outer steel plates. In order to ensure the rationality of structural stress, a large number of longitudinal and transverse partition plates and rib plates are arranged between the inner steel plate and the outer steel plate of the immersed tube, the tube sections are divided into a plurality of independent grids connected with each other, and the grids are automatically searched and poured by intelligent pouring equipment, so that the important measure for ensuring the pouring quality of self-compacting concrete is realized.
The automatic positioning of the equipment is the premise that the intelligent pouring equipment realizes automatic hole searching, the general positioning adopts GPS positioning, the GPS positioning precision is generally in the order of meters, the hole searching precision requirement of the intelligent pouring equipment in the construction project cannot be met, the existing UWB positioning technology in the market can only achieve the centimeter precision, and the use requirement cannot be met.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a positioning method of pouring equipment, which can calculate the coordinates of the center point of the pouring equipment and the initial angle of a main arm, ensure that the positioning accuracy of the pouring equipment reaches the millimeter level and improve the production efficiency.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, a positioning method of pouring equipment includes
Step one: teaching and inputting data, controlling a terminal pipe of pouring equipment to teach any 3 bin pouring holes, and inputting teaching point coordinates, a main arm rotation angle theta and an auxiliary arm rotation angle of the pouring equipment by a control systemThe teaching point coordinates are coordinates of a bin pouring hole, the main arm rotation angle theta is an included angle between the initial position of the main arm of the pouring equipment and the position of the main arm during teaching, and the auxiliary arm rotation angle +.>The included angle between the position of the main arm and the position of the auxiliary arm of the pouring equipment during teaching is formed;
step two: determining initial center point coordinates of equipment, firstly setting intersecting circles, wherein the intersecting circles take the teaching points as circle centers, take the distance between any point in the coverage range of a main arm and an auxiliary arm and the circle centers as radiuses, set points formed by intersecting the intersecting circles as intersecting points, and select 3 intersecting point coordinates as the initial center point coordinates of the equipment respectively;
step three: solving the final center point coordinates of the equipment, wherein the triangle center of gravity point formed by the 3 initial center point coordinates of the equipment is set as the final center point coordinates of the equipment;
step four: solving the initial angle of a main arm, wherein 3 initial center point coordinates of the equipment form 3 teaching connecting lines with corresponding straight lines connected with teaching points respectively, the included angle between the teaching connecting lines and the X axis of measurement coordinates forms a first initial angle alpha, a second initial angle beta is formed between the teaching connecting lines and the main arm, and the initial angle theta of the main arm is equal to the first initial angle alpha 0 The difference value is the sum of the corresponding first initial angle alpha, the main arm rotation angle and the second initial angle beta;
step five: solving a main arm initialization angle, wherein the main arm initialization angle is an average value of 3 main arm initialization angles;
step six: the control system performs angle compensation correction according to the initialization of the main arm and converts the established coordinate system into a measurement coordinate system;
step seven: inputting a designated bin number, and driving the tail end pipe to be positioned to a bin pouring hole by the control system to pour.
With reference to the first aspect, in certain implementation manners of the first aspect, during the teaching of the first step, the equipment chassis is in a horizontal state.
With reference to the first aspect and the foregoing implementation manners, in certain implementation manners of the first aspect, a measurement error of the coordinates of the pouring hole must not exceed 2mm.
With reference to the first aspect and the foregoing implementation manners, in some implementation manners of the first aspect, during the teaching of the first step, a rotation angle of the auxiliary armNo greater than 180 deg..
With reference to the first aspect and the foregoing implementation manner, in some implementation manners of the first aspect, in a second step, 3 intersection point coordinates that are closest to each other are selected as initial center point coordinates of the device.
One of the above technical solutions has at least one of the following advantages or beneficial effects: the teaching point coordinates, the main arm rotation angle and the auxiliary arm rotation angle are input through teaching, so that an intersecting circle is set to determine the equipment initial center point coordinates, the equipment final center point coordinates and the main arm initial angle are solved through the equipment initial center point coordinates, the main arm initial angle is finally solved, the angle compensation correction is carried out on a control system, a coordinate system established by the control system is converted into a measurement coordinate system, the positioning precision of the pouring equipment reaches millimeter level, the precision requirement of automatic hole searching of the control system is met, the automatic hole searching and automatic pouring of the pouring equipment can be controlled according to the input bin numbers, the automation degree of concrete pouring is improved, and the production efficiency is improved.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic illustration of a teach point A in accordance with one embodiment of the present invention;
FIG. 2 is a schematic illustration of a teaching point B according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a teaching point C according to an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of the intersecting circles shown in FIGS. 1-3;
FIG. 5 is a schematic diagram of the initial center point coordinates and final center point coordinates of the device of one embodiment shown in FIGS. 1-4;
fig. 6 is a schematic view of a casting apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the present invention, if directions (up, down, left, right, front and rear) are described, they are merely for convenience of description of the technical solution of the present invention, and do not indicate or imply that the technical features must be in a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, "a plurality of" means one or more, and "a plurality of" means two or more, and "greater than", "less than", "exceeding", etc. are understood to not include the present number; "above", "below", "within" and the like are understood to include this number. In the description of the present invention, the description of "first" and "second" if any is used solely for the purpose of distinguishing between technical features and not necessarily for the purpose of indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the present invention, unless clearly defined otherwise, terms such as "disposed," "mounted," "connected," and the like should be construed broadly and may be connected directly or indirectly through an intermediate medium, for example; the connecting device can be fixedly connected, detachably connected and integrally formed; can be mechanically connected, electrically connected or capable of communicating with each other; may be a communication between two elements or an interaction between two elements. The specific meaning of the words in the invention can be reasonably determined by a person skilled in the art in combination with the specific content of the technical solution.
Referring to fig. 1 to 6, an embodiment of the present invention provides a positioning method of a pouring apparatus, including the steps of: teaching and inputting data, wherein the teaching is performed on any 3 bin pouring holes through manually controlling an end pipe of pouring equipment by a servo control system, and the control system inputs teaching point coordinates, a main arm rotation angle theta and an auxiliary arm rotation angle of the pouring equipmentThe coordinates of the teaching points are the coordinates of the casting holes of the bin, the measurement error of the coordinates of the casting holes cannot exceed the range of 2mm, and the accuracy of the coordinates of the teaching points is guaranteed, so that the accuracy of positioning of the casting equipment is guaranteed, the main arm rotation angle theta is the included angle between the initial position of the main arm of the casting equipment and the position of the main arm during teaching, and the auxiliary arm rotation angle theta is the included angle between the initial position of the main arm of the casting equipment and the position of the main arm during teachingDegree->For the included angle between the main arm position and the auxiliary arm position of pouring equipment during teaching, the rotation angle of the auxiliary arm is controlled during teaching>Not more than 180 DEG, it can be ensured that only one auxiliary arm rotation angle is present at one teaching point>Thereby reducing the computational burden of the servo system. The teaching process needs to ensure that the equipment chassis is in a horizontal state, so that the lengths of the main arm and the auxiliary arm are kept consistent before and after teaching of a plurality of teaching points, the situation that the length of the main arm is different before and after the length of the auxiliary arm in the teaching process is avoided, and therefore deviation between the final center point coordinate of the equipment obtained by each teaching point and the actual center point coordinate of the pouring equipment is avoided, and the accuracy requirement of automatic hole searching is ensured.
In the teaching process, the more the number of the teaching points is, the higher the self-positioning precision of the obtained equipment is, the longer the required time is, so that the automatic positioning efficiency is affected. Referring to fig. 1 to 3, teaching is performed by a three-point teaching method, namely, teaching is performed by controlling a tail end pipe of pouring equipment to be aligned with any three bin pouring holes A, B, C through a servo system, the precision requirement of automatic hole searching of the system can be met, the positioning precision of the pouring equipment is guaranteed to reach the millimeter level, the fastest automatic positioning effect is achieved under the condition that the precision requirement is met, and the production efficiency is improved. In the teaching process, the servo control system respectively records and stores the main arm rotation angle theta and the auxiliary arm rotation angle of the teaching pointAnd the main arm rotation angle of the point A corresponds to the teaching point coordinate and is theta 1 The rotation angle of the auxiliary arm is +.>The teaching point is A (x 1 ,y 1 ) The main arm rotation angle of the point B is theta 2 The rotation angle of the auxiliary arm is +.>Teaching point B (x) 2 ,y 2 ) The main arm rotation angle of the point C is theta 3 The rotation angle of the auxiliary arm is +.>Teaching point is C (x 3 ,y 3 )。
Referring to fig. 4, in step two, the initial center point coordinates of the device are determined according to the principle of the intersecting circle method, an intersecting circle is first set, the intersecting circle uses the teaching point as the center of a circle, the distance between any point in the coverage range of the main arm and the auxiliary arm and the center of the circle is used as the radius, and the teaching point a (x 1 ,y 1 ) As the center of the intersecting circle A, AO 1 As the radius of the intersecting circle a, B (x 2 ,y 2 ) As the center of the intersecting circle B, BO 2 As the radius of the intersecting circle B, C (x 3 ,y 3 ) As the center of the intersecting circle C, CO 3 As the radius of the intersecting circle C, where O 1 、O 2 、O 3 The teaching method is any point in the coverage range of the main arm and the auxiliary arm during teaching. The point formed by the intersection of the intersecting circles is set as an intersecting point, two intersecting points can be formed by the intersection of every two circles, and the servo system solves the intersecting point coordinate of the intersecting circle A, B, C according to the relation between the geometric relation and the coordinate, wherein the length of the main arm is a, the length of the auxiliary arm is b, and the method can be used for obtaining:
thereby obtaining 6 intersecting point coordinates O formed by the intersecting circle A, the intersecting circle B and the intersecting circle C 1 (x 01 ,y 01 )、O' 1 (x' 01 ,y' 01 )、O' 2 (x' 02 ,y' 02 )、O 3 (x 03 ,y 03 )、O' 3 (x' 03 ,y' 03 ) Wherein the 3 coordinates of the intersecting points closest to each other are the coordinates of the center point closest to the actual pouring equipment, the system automatically performs comparison and screening, and eliminates the 3 intersecting points O 'of the intersecting points farther away from each other' 1 (x' 01 ,y' 01 )、O' 2 (x' 02 ,y' 02 )、O' 3 (x' 03 ,y' 03 ) Selecting 3 intersecting points O with the nearest coordinates 1 (x 01 ,y 01 )、/>O 3 (x 03 ,y 03 ) As the initial center point coordinate of the equipment, the final center point coordinate of the equipment calculated later is guaranteed to be closest to the actual center point of the pouring equipment, so that the automatic positioning accuracy is guaranteed.
Referring to fig. 5, in step 3, the final center point coordinates of the device are solved according to the triangle barycenter method, and the triangle barycenter point formed by the 3 initial center point coordinates of the device is set as the final center point coordinates of the device, and the triangle barycenter is the intersection point of three central lines of the triangle. In the rectangular plane coordinate system, the coordinate of the center of gravity is the arithmetic average value of the vertex coordinates, and the coordinate of the center point of the triangle is x 0 ＝(x 01 +x 02 +x 03 )/3，y 0 ＝(y 01 +y 02 +y 03 ) 3, so the final center point coordinates of the device are: o ((x) 01 +x 02 +x 03 )/3，(y 01 +y 02 +y 03 ) And 3) the positioning coordinates of the pouring equipment can be obtained, the millimeter-level positioning precision can be achieved, and the precision requirement of automatic hole searching of the pouring equipment is met.
Referring to fig. 1 to 4, the main arm initial angle θ is solved in step four 0 The coordinates of the initial center point of the 3 devices respectively form 3 teaching connecting lines with the straight lines connected with the corresponding teaching points, correspondingly, the coordinates O of the initial center point of the devices 1 (x 01 ,y 01 ) And teaching point A (x 1 ,y 1 ) Joined to form AO 1 Teaching connecting line and equipment initial center point coordinateAnd teaching point B (x 2 ,y 2 ) Joined to form BO 2 Teaching connecting line and equipment initial center point coordinate O 3 (x 03 ,y 03 ) And teaching point C (x 3 ,y 3 ) Are connected to form CO 3 Teaching connection line, wherein O in FIGS. 1-3 1 、O 2 And O 3 The position label of (2) is only used for illustrating the relation between the initial center point coordinate of the equipment and the teaching point, and cannot be understood as the actual center point coordinate of the pouring equipment in A, B, C three-point teaching. The included angle between the teaching connecting line and the X axis of the measurement coordinate forms a first initial angle alpha, a second initial angle beta is formed between the teaching connecting line and the main arm, and the initial angle theta of the main arm 0 The difference value is the sum of the corresponding first initial angle alpha and the main arm rotation angle and the second initial angle beta. Correspondingly, AO 1 The included angle between the teaching connecting line and the X axis of the measurement coordinate forms a first initial angle alpha 1 Forming a second initial angle beta with the main arm 1 Initial angle θ of main arm 01 ＝α 1 -β 1 -θ 1 ；BO 2 The included angle between the teaching connecting line and the X axis of the measurement coordinate forms a first initial angle alpha 2 Forming a second initial angle beta with the main arm 2 Initial angle θ of main arm 02 ＝α 2 -β 2 -θ 2 ；CO 3 The included angle between the teaching connecting line and the X axis of the measurement coordinate forms a first initial angle alpha 3 Forming a second initial angle beta with the main arm 3 Initial angle θ of main arm 03 ＝α 3 -β 3 -θ 3 。
Specifically, according to the initial center point coordinates O of the device 1 (x 01 ,y 01 ) A teaching point A (x 1 ,y 1 ). Wherein c 1 Is AO (AO) 1 Teaching the length of the connecting line according to the cosine lawβ 1 ＝sec -1 [(a 2 +c 1 2 -b 2 )/2ac 1 ]According to teaching points A (x 1 ,y 1 ) And a device initial center point O 1 (x 01 ,y 01 ) Has alpha 1 ＝tan -1 [(y 1 -y 01 )/(x 1 -x 01 )]Therefore, the initial angle θ of the main arm corresponding to the teaching point A can be determined 01 ＝α 1 -β 1 -θ 1 。
Similarly, according to the initial center point coordinates of the equipmentSelect teaching point B (x 2 ,y 2 ). Wherein c 2 For BO 2 Teaching the length of the connection line, according to the cosine law, there is +.>According to teaching points B (x 2 ,y 2 ) And the device initial center point->With alpha 2 ＝tan -1 [(y 2 -y 02 )/(x 2 -x 02 )]Therefore, the initial angle θ of the main arm corresponding to the teaching point B can be determined 02 ＝α 2 -β 2 -θ 2 。
Similarly, according to the initial center point coordinate O of the equipment 3 (x 03 ,y 03 ) A teaching point C (x 3 ,y 3 ). Wherein c 3 Is CO 3 Teaching the length of the connecting line according to the cosine lawAccording to teaching points C (x 3 ,y 3 ) And a device initial center point O 3 (x 03 ,y 03 ) With alpha 3 ＝tan -1 [(y 3 -y 03 )/(x 3 -x 03 )]Therefore, the initial angle theta of the main arm corresponding to the teaching point B can be obtained 03 ＝α 3 -β 3 -θ 3
In step five, the main arm initialization angle θ 'is solved' 0 Main arm initialization angle θ' 0 Is the average value of the initial angles of 3 main arms, which is calculated by three-point average value, namely theta' 0 ＝(θ 01 +θ 02 +θ 03 ) 3, find θ' 0 ＝((α 1 +α 2 +α 3 )-(β 1 +β 2 +β 3 )-(θ 1 +θ 2 +θ 3 ))/3。
Through step six, the control system initializes the angle theta according to the main arm 0 ' Compensation correction is performed to obtain the final center point coordinate O ((x) 01 +x 02 +x 03 )/3，(y 01 +y 02 +y 03 ) And 3) substituting the positioning accuracy into a measurement coordinate system to finish the millimeter-level automatic positioning accuracy of the pouring equipment.
After the automatic positioning is finished, the control system can accurately calculate the spatial distance relation between the pouring equipment and the bin pouring holes according to the bin numbers appointed by input in the step seven, namely, the terminal pipe can be driven to be positioned to the bin pouring holes for pouring according to the optimal route, the automatic hole searching and automatic pouring tasks are finished, and the automation degree and the working efficiency of concrete pouring are improved. The bin numbers can be manually input according to actual construction conditions or the pouring equipment is controlled to perform pouring work according to bin numbers preset in the control system in advance, so that each numerical control process works continuously, labor intensity is reduced, and production efficiency is improved.
Referring to fig. 6, in some embodiments, the casting apparatus includes a main arm 8, a sub-arm 10, a main arm swing mechanism 5, a sub-arm swing mechanism 9, a walking and lifting mechanism 1, a chassis housing 2, a lateral pump pipe 7, and a vertical pump pipe 4. Wherein, horizontal pump line 7 sets up along the length direction of main arm 8 and auxiliary arm 10 respectively, vertical pump line 4 sets up in stand 3, chassis housing 2 is connected with main arm slewing mechanism 5 through the stand, main arm slewing mechanism 5 is connected and can control the rotation of main arm 8 with main arm 8, the one end of main arm 8 is equipped with weight box 6 to keep pouring equipment self equilibrium, auxiliary arm slewing mechanism 9 establishes between main arm 8 and auxiliary arm 10, can control the rotation of auxiliary arm 10, thereby drive the terminal pipe 11 of horizontal pump line 7 terminal and fix a position to pouring the hole. Referring to fig. 6, the walking and lifting mechanism 1 is arranged below the chassis housing 2, and can drive the whole pouring device to move so as to lift or walk, so that the pouring hole is better and faster positioned, finally, after the concrete is transported to the vertical pump pipe 4 through the connecting pipe 12 outside the pouring device, the concrete is transported through the transverse pump pipe 7, and then, the pouring quality of the self-compacting concrete is ensured by aligning the tail end pipe 11 with the pouring hole of the bin.
The present invention is, of course, not limited to the above-described embodiments, and one skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, which are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (5)
1. A positioning method of pouring equipment is characterized by comprising the following steps: comprising
Step one: teaching and inputting data, controlling a terminal pipe of pouring equipment to teach any 3 bin pouring holes, and inputting teaching point coordinates, a main arm rotation angle theta and an auxiliary arm rotation angle of the pouring equipment by a control systemThe teaching point coordinates are coordinates of a bin pouring hole, the main arm rotation angle theta is an included angle between the initial position of the main arm of the pouring equipment and the position of the main arm during teaching, and the auxiliary arm rotation angle +.>The included angle between the position of the main arm and the position of the auxiliary arm of the pouring equipment during teaching is formed;
step two: determining equipment initial center point coordinates, firstly setting intersecting circles, wherein the intersecting circles respectively take the teaching points as circle centers and the distances between the teaching points and the equipment initial center points as radiuses, the points formed by intersecting the intersecting circles are set as intersecting points, and 3 intersecting point coordinates are selected to be respectively used as the equipment initial center point coordinates;
step three: solving the final center point coordinates of the equipment, wherein the triangle center of gravity point formed by the 3 initial center point coordinates of the equipment is set as the final center point coordinates of the equipment;
step four: solving the initial angle theta of the main arm 0 The coordinates of the initial center points of the 3 devices respectively form 3 teaching connecting lines with corresponding straight lines connected with the teaching points, the included angles between the teaching connecting lines and the X axis of the measurement coordinates form a first initial angle alpha, a second initial angle beta is formed between the teaching connecting lines and the main arm, and the initial angle theta of the main arm is equal to the first initial angle beta 0 The difference value is the sum of the corresponding first initial angle alpha, the main arm rotation angle and the second initial angle beta;
step five: solving the main arm initialization angle theta 0 ' the main arm initializes an angle theta 0 ' is an average of 3 initial angles of the main arm;
step six: the control system performs angle compensation correction according to the initialization of the main arm and converts the established coordinate system into a measurement coordinate system;
step seven: inputting a designated bin number, and driving the tail end pipe to be positioned to a bin pouring hole by the control system to pour.
2. The positioning method of a casting apparatus according to claim 1, wherein: in the teaching process of the first step, the equipment chassis is in a horizontal state.
3. The positioning method of a casting apparatus according to claim 1, wherein: the measurement error of the pouring hole coordinates must not exceed 2mm.
4. A method of positioning a casting apparatus according to any one of claims 1 to 3, wherein: in the teaching process of the first step, the rotation angle of the auxiliary armNo greater than 180 deg..
5. A method of positioning a casting apparatus according to any one of claims 1 to 3, wherein: in the second step, 3 intersecting point coordinates closest to each other are selected as the initial center point coordinates of the device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010008876.6A CN111091480B (en) | 2020-01-06 | 2020-01-06 | Positioning method of pouring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010008876.6A CN111091480B (en) | 2020-01-06 | 2020-01-06 | Positioning method of pouring equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111091480A CN111091480A (en) | 2020-05-01 |
| CN111091480B true CN111091480B (en) | 2023-08-04 |
Family
ID=70399928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010008876.6A Active CN111091480B (en) | 2020-01-06 | 2020-01-06 | Positioning method of pouring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111091480B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6145306A (en) * | 1984-08-09 | 1986-03-05 | Kobe Steel Ltd | Control system of multi-joint robot |
| JPS61133409A (en) * | 1984-12-03 | 1986-06-20 | Nachi Fujikoshi Corp | Automatic correction system of robot constant |
| JP2013059815A (en) * | 2011-09-12 | 2013-04-04 | Denso Wave Inc | Positioning posture interpolation method and control device for robot |
| CN103558868A (en) * | 2013-10-31 | 2014-02-05 | 中联重科股份有限公司 | Nozzle injection angle control equipment and method for concrete injection machine and engineering machinery |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| CN108994827A (en) * | 2018-05-04 | 2018-12-14 | 武汉理工大学 | A kind of robot measurement-system of processing scanner coordinate system automatic calibration method |
| CN110497391A (en) * | 2019-09-04 | 2019-11-26 | 湖南三一快而居住宅工业有限公司 | Mechanical arm teaching method and mechanical arm teaching apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100591880C (en) * | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | Intelligent cantilever crane control device |
-
2020
- 2020-01-06 CN CN202010008876.6A patent/CN111091480B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6145306A (en) * | 1984-08-09 | 1986-03-05 | Kobe Steel Ltd | Control system of multi-joint robot |
| JPS61133409A (en) * | 1984-12-03 | 1986-06-20 | Nachi Fujikoshi Corp | Automatic correction system of robot constant |
| JP2013059815A (en) * | 2011-09-12 | 2013-04-04 | Denso Wave Inc | Positioning posture interpolation method and control device for robot |
| CN103558868A (en) * | 2013-10-31 | 2014-02-05 | 中联重科股份有限公司 | Nozzle injection angle control equipment and method for concrete injection machine and engineering machinery |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| CN108994827A (en) * | 2018-05-04 | 2018-12-14 | 武汉理工大学 | A kind of robot measurement-system of processing scanner coordinate system automatic calibration method |
| CN110497391A (en) * | 2019-09-04 | 2019-11-26 | 湖南三一快而居住宅工业有限公司 | Mechanical arm teaching method and mechanical arm teaching apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111091480A (en) | 2020-05-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103114732B (en) | Cast steel penetration pipe node space positioning method | |
| CN108316363A (en) | Foundation Pit automatic monitoring system and method | |
| CN104101326A (en) | Automatic measurement method and apparatus for shield attitude based on spatial geometry analysis | |
| CN110773730A (en) | Automatic pouring manipulator and pouring method | |
| CN102023005B (en) | Real-time verticality adjusting system of support column and verticality adjusting method thereof | |
| CN111091480B (en) | Positioning method of pouring equipment | |
| CN112962831A (en) | Robot-based rapid installation method for cast-in-place formwork of inner wall | |
| CN115824043A (en) | High-precision detection system and method for box bottom structure | |
| CN113043236B (en) | Pipeline is to mouthful takeover and is measured marking off intelligent device | |
| CN113653504A (en) | Intermediate wall for use in tunnel, installation apparatus and installation method thereof | |
| CN219080090U (en) | Hydraulic climbing formwork monitoring and posture adjusting device | |
| CN113309014A (en) | Automatic hanging basket positioning and construction method based on Windows system and total station | |
| CN110375650B (en) | Arch posture measuring method and system | |
| CN110284706B (en) | Construction method of internal mold support system for ultra-large wind tunnel diffusion section | |
| CN117071912A (en) | Automatic hoisting and positioning method and system for prefabricated building components | |
| CN110482420A (en) | A kind of floating crane truss-type cantilever crane integral constructing method | |
| CN216112480U (en) | High-precision pipeline pushing system | |
| CN103482042B (en) | A kind of deep water comb shape slideway cross beam construction method of installation | |
| CN108611982A (en) | A kind of Thin-wall Hollow Pier template alignment control localization method | |
| CN115075307A (en) | Immersed tunnel pipe section sinking butt joint space positioning monitoring system and method | |
| CN108868821A (en) | The localization method and positioning device of lining trolley template | |
| CN103541545A (en) | Method for mounting and controlling large arc structure template and vertical centring device thereof | |
| CN113895584A (en) | Stern casting installation method of large roll-on roll-off | |
| CN110923385A (en) | Accurate installation method of bustle pipe | |
| CN215949503U (en) | Two lining steel bar protective layers in big section highway tunnel location assistor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |