CN111442942A - Serial-type segment assembling robot test device and simulation assembling method - Google Patents
Serial-type segment assembling robot test device and simulation assembling method Download PDFInfo
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- CN111442942A CN111442942A CN202010362534.4A CN202010362534A CN111442942A CN 111442942 A CN111442942 A CN 111442942A CN 202010362534 A CN202010362534 A CN 202010362534A CN 111442942 A CN111442942 A CN 111442942A
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- segment
- assembling
- robot
- assembling robot
- simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention discloses a serial segment assembling robot test device and a simulation assembling method, wherein the test device comprises a control console, a simulation hole wall and a power table, a truss arranged along the axial direction is arranged in the simulation hole wall, an assembling robot is movably arranged on the truss, a vacuum clamping jaw mechanism is arranged at the lower part of the assembling robot, and a segment conveying mechanism is arranged at one side of the simulation hole wall. The invention simulates the construction process of a tunnel by the simulation tunnel wall, the truss and the assembling robot, and the assembling robot flexibly assembles the duct piece by the vacuum clamping jaw mechanism, thereby providing accurate data support for actual construction. The assembling robot has the functions of automatically identifying, grabbing and positioning the duct pieces, can realize automatic assembling of the duct pieces, changes the traditional duct piece assembling mode, and theoretically realizes efficient and safe assembling of the duct pieces.
Description
Technical Field
The invention relates to the technical field of duct piece assembly, in particular to a serial duct piece assembly robot test device and a simulation assembly method.
Background
The assembled duct piece is a lining structure form commonly used for shield tunnels. In the shield tunnel construction process, segments are usually assembled into a ring by a segment erector carried by the shield machine. At present, most of segment erectors carried by full-face development machines are series-parallel mechanisms of a red-blue oil rod structure, have the advantage of large load capacity, but have large occupied space and less relative degree of freedom. The invention discloses a tandem type segment erector experimental device, which aims to simulate the working condition of assembling segments by a tandem type segment assembling robot.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a serial segment assembling robot test device and a simulation assembling method, which aim to solve the technical problems.
The technical scheme of the invention is realized as follows: the utility model provides a robot test device is assembled to tandem type section of jurisdiction, includes control cabinet, simulation hole wall and power bench, be equipped with the truss that sets up along the axial in the simulation hole wall, the activity is equipped with on the truss and assembles the robot, and the lower part of assembling the robot is equipped with vacuum clamping jaw mechanism, one side of simulation hole wall is equipped with section of jurisdiction transport mechanism.
The truss is including setting up the support at simulation hole wall both ends, and the fixed slide rail that is equipped with the symmetry and sets up on the support slides on the slide rail and is equipped with the slip table, and the slip table is connected with the slide rail through glide machanism, and the lower part of slip table is connected with the robot of assembling through slewing mechanism.
The sliding mechanism comprises a rack arranged on the sliding rail and a walking drive arranged on the sliding table, a gear is arranged on an output shaft of the walking drive, and the gear is meshed with the rack; the slewing mechanism is including setting up the rotary drive on the slip table, and rotary drive's output is supported through the gyration and is connected with the erector robot.
The output ends of the rotation drive and the walking drive are respectively provided with an angle encoder; and a light supplement lamp and an industrial camera are arranged at the lower part of the sliding table.
The assembly robot comprises a large arm, a folding arm and a small arm, the large arm is rotatably connected with a sliding table arranged on a truss in a sliding mode through a rotary support, the large arm is connected with the rotary support through a No. 1 joint swing oil cylinder, the upper portion of the folding arm is connected with the large arm through a No. 2 joint swing oil cylinder, the lower portion of the folding arm is connected with the small arm through a No. 3 joint swing oil cylinder, and a vacuum clamping jaw mechanism is connected with the small arm through a No. 4 joint swing oil cylinder.
The vacuum clamping jaw mechanism comprises a connecting plate seat, the connecting plate seat is connected with the small arm through a No. 4 joint swing oil cylinder, the lower portion of the connecting plate seat is provided with a hydraulic rotary drive, the output end of the hydraulic rotary drive is provided with a platform base, the lower portion of the platform base is provided with at least two parallel oil cylinders, and the lower portions of the parallel oil cylinders are provided with vacuum suckers.
The vacuum chuck is connected with the parallel oil cylinder through a ball hinge, a stroke sensor is arranged in the parallel oil cylinder, and an angle encoder is arranged at the output end of the hydraulic rotary drive.
The simulation hole wall comprises a support frame, an annular cylinder is arranged on the support frame, and the truss penetrates through the annular cylinder.
The segment conveying mechanism comprises a conveying track arranged on one side of the support frame, and a segment trolley used for carrying segments is arranged on the conveying track.
A simulation assembly method of a serial segment assembly robot test device comprises the following steps:
s1: placing the segments to be spliced on a segment trolley of a segment conveying mechanism;
s2: the duct piece trolley is transported to a designated position along the paved transportation track, so that the duct piece is positioned on the outer side of the simulated tunnel wall;
s3: the sliding table on the truss starts to move from an initial position, an assembling robot arranged on the sliding table is driven to move towards the duct piece, and the duct piece is accurately grabbed through a vacuum clamping jaw mechanism;
s4: after the assembling robot grabs the duct pieces, assembling the duct pieces on the simulation tunnel wall according to the position of the duct pieces which are set in advance;
s5: in step S4, the same ring pipe joint needs 5 pipe pieces to form, when the pipe pieces are assembled by the assembling robot, three pipe pieces on one side of the simulated hole wall are assembled firstly, then the pipe pieces are rotated by 180 degrees, the assembling robot assembles two pipe pieces on the other side, and the assembling of the ring pipe joint is completed.
In step S3, when the sliding table is at the initial position, the rotation support center of the assembly robot is used as the origin of the system base coordinate, so that the industrial camera disposed on the sliding table reaches above the segment, shoots the pose of the segment, and feeds back the signal to the console, which feeds back the coordinate information of the segment to the assembly robot, and controls the vacuum clamping jaw mechanism of the assembly robot to reach the interior of the pose of the segment to form vacuum, so that the vacuum clamping jaw mechanism can grasp the segment.
The invention simulates the construction process of a tunnel by the simulation tunnel wall, the truss and the assembling robot, and the assembling robot flexibly assembles the duct piece by the vacuum clamping jaw mechanism, thereby providing accurate data support for actual construction. The assembling robot has the functions of automatically identifying, grabbing and positioning the duct pieces, can realize automatic assembling of the duct pieces, changes the traditional duct piece assembling mode, and theoretically realizes efficient and safe assembling of the duct pieces. The invention is matched with a control system to realize the accurate control of the assembly robot, realize the fixed-point and positioning accurate assembly simulation of the pipe pieces, approach the actual construction working condition and improve the safety guarantee for the actual construction.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the truss structure of the present invention.
Fig. 3 is a schematic structural diagram of the assembling robot of the present invention.
Figure 4 is a schematic view of the vacuum clamping jaw mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, in embodiment 1, a tandem segment assembling robot testing device includes a console 1, a simulation tunnel wall 2 and a power station 6, wherein the console 1 is used for operating control software of a system, monitoring the operating state of the testing system, and communicating with a mechanical arm by a can bus; the simulated hole wall 2 comprises a support frame 201, an annular cylinder 202 is arranged on the support frame 201, the truss 3 penetrates through the annular cylinder 202, and the annular cylinder is in a cylinder shape and is close to the actual hole wall. The power table 6 comprises equipment such as a hydraulic pump, an oil tank, a valve group, a high-low voltage electric cabinet and the like, and provides electric power and hydraulic sources for elements such as an oil cylinder, a motor, a segment trolley, a control console and the like in the test device. The simulation tunnel wall 2 is internally provided with a truss 3 arranged along the axial direction, and the truss 3 provides axial movement support for the assembly robot. The assembly robot 4 is movably arranged on the truss 3, the assembly robot can rotate and lift, the lower part of the assembly robot 4 is provided with a vacuum clamping jaw mechanism, and the vacuum clamping jaw mechanism realizes quick and stable grabbing of the duct piece through vacuum adsorption. One side of simulation hole wall 2 is equipped with section of jurisdiction transport mechanism 5, section of jurisdiction transport mechanism 5 is equipped with the section of jurisdiction dolly 502 that is used for carrying section of jurisdiction 7 including setting up the transportation track 501 in support frame 201 one side of simulation hole wall 2 on the transportation track 501. The duct piece conveying mechanism is used for conveying duct pieces, and conveys the duct pieces to one side of the simulated hole wall, so that the assembly robot can conveniently grab the duct pieces.
Further, as shown in fig. 2, the truss 3 includes supports 301 disposed at two ends of the simulated hole wall 2, slide rails 302 symmetrically disposed are fixed on the supports 301, the slide rails 302 are disposed along the axial direction of the simulated hole wall, a sliding table 306 is slidably disposed on the slide rails 302, the sliding table 306 is connected with the slide rails 302 through a sliding mechanism, and the sliding table can move relative to the slide rails under the action of the sliding mechanism, so as to implement horizontal movement of the assembly robot. The lower part of the sliding table 306 is connected with an assembling robot 4 through a rotating mechanism, and the assembling robot is driven to rotate through the rotating mechanism, so that the full-ring assembling of the simulation hole wall is realized.
Preferably, the sliding mechanism comprises a rack 309 arranged on the sliding rail 302 and a walking drive 305 arranged on the sliding table 306, the walking drive adopts a motor or a motor, a gear 310 is arranged on an output shaft of the motor or the motor, and the gear 310 is meshed with the rack 309; the walking drive rotation drives the gear to rotate along the rack, drives the sliding table to move along the sliding rail, and drives the assembling robot to move. The rotating mechanism comprises a rotary drive 303 arranged on the sliding table 306, the rotary drive adopts a motor or a motor, and the output end of the rotary drive 303 is connected with the assembling robot 4 through a rotary support 401. The output end of the rotary drive 303 is connected with the rotary support through a coupler or a gear pair, the rotary drive 303 rotates to drive the assembling robot to rotate through the rotary support, the angle of the assembling robot in a vertical plane is adjusted, and the assembling robot moves more flexibly in the duct piece assembling process.
Further, the output ends of the rotation drive 303 and the walking drive 305 are both provided with an angle encoder 304; an angle encoder on the walking drive 305 transmits a data signal to a control console, and a controller in the control console can measure the moving distance of the sliding table through calculation. The angle encoder on the rotary drive 303 transmits data to the console, and a controller in the console can measure the rotation angle of the assembling robot through calculation so as to accurately control the position of the assembling robot. A light supplement lamp 308 and an industrial camera 307 are arranged at the lower part of the sliding table 306. The light filling lamp ensures that the shot picture of the industrial camera is clear. When the industrial camera snatchs the steel-pipe piece assembling the robot, carry out image acquisition, the section of jurisdiction dolly transports fixed position with the section of jurisdiction after, the slip table removes and makes the camera be located the section of jurisdiction top, and the camera shoots the section of jurisdiction position appearance, feeds back to arm 4 after calculating section of jurisdiction position appearance coordinate through control cabinet 1, and the arm snatchs the section of jurisdiction according to the section of jurisdiction coordinate that obtains.
As shown in fig. 3 and 4, in embodiment 2, the tandem segment assembling robot testing apparatus includes a large arm 403, a folding arm 405, and a small arm 407, where the large arm 403 is rotatably connected to a sliding table 306 slidably disposed on a truss 3 through a rotary support 401, and the rotary support rotates to drive the large arm to rotate. The large arm 403 is connected with the rotary support 401 through a No. 1 joint swing oil cylinder 402, and the No. 1 joint swing oil cylinder 402 rotates to drive the large arm to swing up and down relative to the rotary support; the upper portion of folding arm 405 is connected with big arm 403 through No. 2 joint swing hydro-cylinder 404, and No. 2 joint swing hydro-cylinder rotates and drives folding arm 405 luffing motion, and the lower part of folding arm 405 is connected with forearm 407 through No. 3 joint swing hydro-cylinder 406, and No. 3 joint swing hydro-cylinder rotates and drives forearm luffing motion, and vacuum clamping jaw mechanism is connected with forearm 407 through No. 4 joint swing hydro-cylinder 408. No. 4 joint swing hydro-cylinder rotates, drives the swing of vacuum clamping jaw mechanism, and 4 above-mentioned joint swing hydro-cylinders cooperate the action, realize assembling the anchor ring of section of jurisdiction. All be equipped with angle encoder in the 4 joint swing hydro-cylinders for detect and control its gyration angle, realize accurate control.
Further, the vacuum clamping jaw mechanism comprises a connecting plate seat 409, the connecting plate seat 409 is connected with the small arm 407 through a No. 4 joint swing oil cylinder 408, and the No. 4 joint swing oil cylinder rotates to drive the connecting plate seat to swing. The lower part of connecting plate seat 409 is equipped with hydraulic pressure swing drive 410, and hydraulic pressure swing drive 410 can adopt hydraulic motor, and hydraulic pressure swing drive 410's output is equipped with platform base 411, and hydraulic pressure swing drive rotates and drives the platform base and rotate, and the regulation of angle when realizing that vacuum clamping jaw mechanism presss from both sides and gets the section of jurisdiction is convenient for fix a point the location with the section of jurisdiction and snatchs. At least two parallel oil cylinders 412, preferably three parallel oil cylinders, are arranged at the lower part of the platform base 411, and a vacuum suction cup 413 is arranged at the lower part of the parallel oil cylinders 412. The vacuum chuck 413 is connected with the parallel oil cylinder 412 through a ball hinge, the three parallel oil cylinders form a three-degree-of-freedom parallel mechanism, and the posture of the vacuum chuck can be adjusted by adjusting the displacement of the three parallel oil cylinders. The parallel oil cylinder 412 is internally provided with a stroke sensor, so that the extension length can be conveniently adjusted, and the grabbing angle of the vacuum chuck can be adjusted. The output end of the hydraulic rotary drive 410 is provided with an angle encoder for detecting the control of the rotary angle of the vacuum chuck.
The other structure is the same as embodiment 1.
Example 3: a simulation assembling method of a tandem segment assembling robot testing apparatus as shown in example 2, comprising the steps of:
s1: placing the segments to be spliced on a segment trolley 502 of the segment conveying mechanism 5;
s2: the duct piece trolley is transported to a designated position along the paved transportation track 501, so that the duct piece is positioned on the outer side of the simulated hole wall 2, and a vacuum clamping jaw mechanism of the assembling robot can accurately clamp the duct piece conveniently;
s3: the sliding table 306 on the truss 3 starts to move from the initial position, the assembling robot 4 arranged on the sliding table 306 is driven to move towards the duct piece, and the duct piece is accurately grabbed through the vacuum clamping jaw mechanism; when the sliding table 306 is at an initial position, the rotation support center of the assembling robot 4 is used as the origin of a system base coordinate, so that the industrial camera 307 arranged on the sliding table 306 reaches the upper part of the duct piece, the pose of the duct piece is shot, a signal is fed back to the control table, the control table feeds back the coordinate information of the duct piece to the assembling robot 4, and the vacuum clamping jaw mechanism of the assembling robot 4 is controlled to reach the inside of the pose of the duct piece to form vacuum so as to enable the vacuum clamping jaw mechanism to tightly grasp the duct piece.
S4: after the assembling robot 4 grabs the duct pieces, assembling the duct pieces on the simulation tunnel wall according to the position of the duct pieces which are set in advance; the coordinates of the segment assembling positions are input into the control console before assembling, and the control console controls the assembling robot to move according to the corresponding coordinate positions, so that the assembling robot assembles the segments at the set positions.
S5: in step S4, the same ring segment needs 5 segments, and when the segment is assembled by the assembly robot 4, three segments on one side of the simulated hole wall are assembled, and one segment at the lower part of the simulated hole wall is assembled; then another two segments are assembled in sequence; then the assembling robot rotates 180 degrees, the assembling robot 4 assembles two pipe pieces on the other side, and one ring pipe joint assembling is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (11)
1. The utility model provides a robot test device is assembled to tandem type section of jurisdiction, includes control cabinet (1), simulation hole wall (2) and power platform (6), its characterized in that: be equipped with in simulation hole wall (2) truss (3) along the axial setting, the activity is equipped with on truss (3) assembles robot (4), and the lower part of assembling robot (4) is equipped with vacuum clamping jaw mechanism, one side of simulation hole wall (2) is equipped with section of jurisdiction transport mechanism (5).
2. The tandem segment assembling robot testing device of claim 1, wherein: truss (3) are including setting up support (301) at simulation hole wall (2) both ends, fixed slide rail (302) that are equipped with the symmetry and set up on support (301), and it is equipped with slip table (306) to slide on slide rail (302), and slip table (306) are connected with slide rail (302) through glide machanism, and the lower part of slip table (306) is connected with through slewing mechanism assembles robot (4).
3. The tandem segment assembling robot testing device of claim 2, wherein: the sliding mechanism comprises a rack (309) arranged on the sliding rail (302) and a walking drive (305) arranged on the sliding table (306), a gear (310) is arranged on an output shaft of the walking drive (305), and the gear (310) is meshed with the rack (309); the rotating mechanism comprises a rotary drive (303) arranged on the sliding table (306), and the output end of the rotary drive (303) is connected with the assembling robot (4) through a rotary support (401).
4. The tandem segment assembling robot testing device of claim 3, wherein: the output ends of the rotary drive (303) and the walking drive (305) are respectively provided with an angle encoder (304); and a light supplement lamp (308) and an industrial camera (307) are arranged at the lower part of the sliding table (306).
5. The tandem segment assembling robot testing device according to any one of claims 1 to 4, wherein: assemble robot (4) including big arm (403), folding arm (405) and forearm (407), big arm (403) are rotated with slip table (306) that the slip set up on truss (3) through gyration support (401) and are connected, big arm (403) are connected with gyration support (401) through No. 1 joint swing hydro-cylinder (402), the upper portion of folding arm (405) is connected with big arm (403) through No. 2 joint swing hydro-cylinder (404), the lower part of folding arm (405) is connected with forearm (407) through No. 3 joint swing hydro-cylinder (406), vacuum clamping jaw mechanism is connected with forearm (407) through No. 4 joint swing hydro-cylinder (408).
6. The tandem segment assembling robot testing device of claim 5, wherein: the vacuum clamping jaw mechanism comprises a connecting plate seat (409), the connecting plate seat (409) is connected with a small arm (407) through a No. 4 joint swing oil cylinder (408), a hydraulic rotary drive (410) is arranged on the lower portion of the connecting plate seat (409), a platform base (411) is arranged at the output end of the hydraulic rotary drive (410), at least two parallel oil cylinders (412) are arranged on the lower portion of the platform base (411), and a vacuum sucker (413) is arranged on the lower portion of each parallel oil cylinder (412).
7. The tandem segment assembling robot testing device of claim 6, wherein: the vacuum sucker (413) is connected with a parallel oil cylinder (412) through a ball hinge, a stroke sensor is arranged in the parallel oil cylinder (412), and an angle encoder is arranged at the output end of the hydraulic rotary drive (410).
8. The tandem type pipe assembling robot testing device according to claim 1 or 7, wherein: the simulation tunnel wall (2) comprises a support frame (201), an annular cylinder (202) is arranged on the support frame (201), and the truss (3) penetrates through the annular cylinder (202).
9. The tandem segment assembling robot testing device of claim 8, wherein: the segment conveying mechanism (5) comprises a conveying track (501) arranged on one side of the supporting frame (201), and a segment trolley (502) used for carrying a segment (7) is arranged on the conveying track (501).
10. A simulation assembly method of a serial segment assembly robot test device is characterized in that: the method comprises the following steps:
s1: placing the segments to be spliced on a segment trolley (502) of a segment conveying mechanism (5);
s2: the duct piece trolley is transported to a designated position along the paved transportation track (501), so that the duct piece is positioned on the outer side of the simulated tunnel wall (2);
s3: the sliding table (306) on the truss (3) moves from an initial position, the assembling robot (4) arranged on the sliding table (306) is driven to move towards the duct piece, and the duct piece is accurately grabbed through the vacuum clamping jaw mechanism;
s4: after grabbing the duct pieces, the assembling robot (4) assembles the duct pieces on the simulation tunnel wall according to the position of the duct pieces which are set in advance;
s5: in step S4, the same ring pipe joint needs 5 pipe pieces to form, when the pipe pieces are assembled by the assembling robot (4), three pipe pieces on one side of the simulated hole wall are assembled firstly, then the pipe pieces rotate 180 degrees, the assembling robot (4) assembles two pipe pieces on the other side, and the assembling of the ring pipe joint is completed.
11. The simulated assembly method of the tandem segment assembly robot test device according to claim 10, characterized in that: in the step S3, when the sliding table (306) is at the initial position, the rotation support center of the assembling robot (4) is used as the origin of a system base coordinate, an industrial camera (307) arranged on the sliding table (306) reaches the position above the segment, the position of the segment is shot, signals are fed back to the control table, the control table feeds back the coordinate information of the segment to the assembling robot (4), and the vacuum clamping jaw mechanism of the assembling robot (4) is controlled to reach the position inside the segment position to form vacuum so as to enable the vacuum clamping jaw mechanism to grasp the segment.
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| CN202010362534.4A CN111442942B (en) | 2020-04-30 | 2020-04-30 | Serial-type segment assembling robot test device and simulation assembling method |
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| CN202010362534.4A CN111442942B (en) | 2020-04-30 | 2020-04-30 | Serial-type segment assembling robot test device and simulation assembling method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113447253A (en) * | 2021-06-22 | 2021-09-28 | 上海隧道工程有限公司 | Dual-mode duct piece assembling test platform |
| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
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| CN113997289A (en) * | 2021-11-01 | 2022-02-01 | 苏州大学 | Mechanical arm for corrugated steel assembly and corrugated steel assembly method |
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| Publication number | Publication date |
|---|---|
| CN111442942B (en) | 2021-06-25 |
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