CN112278011A - Robot device and comprehensive detection method for comprehensive inspection of crane rails - Google Patents
Robot device and comprehensive detection method for comprehensive inspection of crane rails Download PDFInfo
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- CN112278011A CN112278011A CN202011328658.7A CN202011328658A CN112278011A CN 112278011 A CN112278011 A CN 112278011A CN 202011328658 A CN202011328658 A CN 202011328658A CN 112278011 A CN112278011 A CN 112278011A
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- 238000003825 pressing Methods 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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Abstract
本发明涉及用于起重机轨道综合检测的机器人装置及综合检测方法，属于起重机轨道检测技术领域。所述装置包括激光发射部、光靶平台以及控制终端；激光发射部包括安装在起重机轨道上沿水平方向发射激光束的激光发射器；光靶平台包括沿起重机轨道移动的平台车以及安装在平台车外端面的控制平台车移动的控制部、用于接收激光发射器的激光束的光靶和激光测距组件；激光测距组件沿水平方向朝另一个起重机轨道发射激光束；激光发射部和光靶平台安装在其中一个起重机轨道上，在平行的另一个起重机轨道上设置接受激光测距组件发射的激光束的跟随光靶小车。通过建立起重机轨道空间坐标系的方式，对各项参数进行检测。
The invention relates to a robot device and a comprehensive detection method for comprehensive detection of crane rails, and belongs to the technical field of crane rail detection. The device includes a laser emitting part, a light target platform and a control terminal; the laser emitting part includes a laser transmitter installed on a crane track to emit a laser beam in a horizontal direction; the light target platform includes a platform car moving along the crane track and a The control part on the outer end face of the car that controls the movement of the platform car, the light target for receiving the laser beam of the laser transmitter, and the laser ranging assembly; the laser ranging assembly emits a laser beam toward another crane rail in the horizontal direction; the laser emitting part and the light The target platform is installed on one of the crane rails, and the following light target trolley that receives the laser beam emitted by the laser ranging component is arranged on the other parallel crane rail. Various parameters are detected by establishing the crane track space coordinate system.
Description
Technical Field
The invention relates to a robot device for comprehensive detection of a crane rail and a comprehensive detection method, and belongs to the technical field of crane rail detection.
Background
With the development of economy, the number of large-scale equipment of the hoisting machinery is increased continuously, the span and the size of an operation track of the equipment are correspondingly enlarged, and large and small trolley tracks of the hoisting machinery are one of important factors influencing the safe operation risk of the crane. When the crane works for a period of time, the tracks of the large and small cranes of the crane deform, so that the crane is difficult to operate and the track gnawing phenomenon is generated in severe cases. Meanwhile, the crane often under heavy load working conditions is easily influenced by factors such as ground settlement and the like, and the track deforms to different degrees in the horizontal or vertical direction, so that the detection of relevant parameters of the track must be kept in the manufacturing, mounting and using stages of the crane to ensure the safe operation of the hoisting machinery.
The measurement of the relevant parameters of the large and small crane tracks still generally adopts the measuring equipment such as a steel tape, a tower ruler, a laser theodolite and the like to carry out the full-track length section-by-section marking measurement. However, the above measuring tool is greatly affected by environmental changes, and the measuring accuracy is difficult to guarantee. Particularly, as the length and the span of the crane track are continuously increased, the measuring precision is low, the labor intensity is high and the safety is poor.
The current automatic detection of crane rails also includes the following categories: (1) detecting based on a total station; (2) detecting by adopting a machine vision technology; (3) and a detection mode combining laser and a sensor is adopted.
The manual detection in the detection of the crane track has the problems of low efficiency, inconvenient operation, poor safety and the like; although the method for detecting by adopting the total station improves the detection precision, the method has the defects of single measurement function, need of detecting personnel to perform real-time operation on the track, poor safety, higher requirement on the operating personnel, heavy equipment and poor portability; the detection by adopting a machine vision technology is suitable for the detection of the track with smaller span, and the detection of the track with large span can not meet the requirement; the detection mode combining laser and sensor is the main method for detecting the crane rail in recent years, but the performance aspects of flexibility, precision, automation degree and the like of the detection equipment are also greatly insufficient and need to be improved.
Disclosure of Invention
The invention aims to provide a robot device for comprehensive detection of a crane rail and a comprehensive detection method.
In order to achieve the purpose, the invention adopts the technical scheme that:
a robot device for comprehensive detection of a crane track comprises a laser emitting part, a light target platform and a control terminal; the laser emitting part comprises a laser emitter which is arranged on the crane track and emits laser beams along the horizontal direction; the light target platform comprises a platform car moving along the crane track, a control part which is arranged on the outer end surface of the platform car and used for controlling the platform car to move, a light target used for receiving laser beams and a laser ranging assembly; the laser emitting part and the light target platform are arranged on one crane track, and the following light target trolley is arranged on the other parallel crane track.
The technical scheme of the invention is further improved as follows: the crane track is a track in the horizontal direction.
The technical scheme of the invention is further improved as follows: the end surface of the platform car, which is mounted with the crane rail, is provided with a driving wheel and a pinch roller; the driving wheel rolls along the outer end face of the web plate of the crane track; the pressing wheels are oppositely arranged on two side faces of a web plate of the crane track and roll along the side faces of the web plate.
The technical scheme of the invention is further improved as follows: the laser emitting part also comprises a bracket used for being installed on the crane track, and the laser emitter is fixedly arranged at the outer end of the bracket.
The technical scheme of the invention is further improved as follows: the light target is arranged on the position adjusting frame and is fixed on the platform car through the position adjusting frame.
The technical scheme of the invention is further improved as follows: the position adjusting frame comprises a Y-axis platform and a Z-axis platform which are arranged vertically, and a Y-axis lead screw driven by a Y-axis motor is arranged in the Y-axis platform; the lower end of the Z-axis platform is arranged on the Y-axis lead screw to form a lead screw pair, and a Z-axis lead screw driven by a Z-axis motor is arranged in the Z-axis platform; the optical target platform is arranged on the Z-axis screw rod to form a screw rod pair.
The technical scheme of the invention is further improved as follows: one end of the platform truck is provided with an anti-collision block; the light target is arranged at one end, close to the laser emitting part, of the platform truck, and the anti-collision block is arranged at the front end of the advancing direction when the platform truck moves.
The technical scheme of the invention is further improved as follows: the diameter of the laser beam is less than or equal to 8 mm.
A comprehensive detection method for a crane track uses a robot device for the comprehensive detection of the crane track; the detection method is as follows,
1) mounting the calibrated laser emitting part and the light target platform on one crane track, and mounting the following light target trolley on the other crane track;
2) the laser emitting part emits laser beams, interface setting parameters of the terminal control equipment control the motion of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional motion of the light target in the space;
3) the light target platform starts to move horizontally from the origin of a coordinate system, the control part sends a signal to control the platform car to move, the light target receives a laser beam, the space coordinate of the crane track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track following the light target car is collected through the laser ranging assembly;
4) and in the moving process of the light target platform, the control part transmits the collected crane track space coordinate information to the terminal control equipment, and analyzes the straightness, smoothness, rail surface inclination angle of the crane track, and the rail gauge, rail gauge deviation and elevation deviation parameters of the two tracks by establishing a space model of the crane track, so as to complete the detection of the crane track parameters.
Due to the adoption of the technical scheme, the invention has the following technical effects:
the crane track key parameter detection device is designed, and the light target module is innovatively designed, so that the light target module can automatically detect the position of a light spot and move in a small range in space, the straightness and the inclination angle of a track can be accurately measured, and the automation degree of track detection is improved.
The invention provides a method for detecting various parameters of the elevator track by establishing the space coordinate system of the elevator track, and the detection precision is more accurate.
Compared with the existing crane track parameter detection mode, the device provided by the invention automatically identifies the laser spot position and carries out spatial displacement through the light target module, so that the light spot is always kept on the light target, the phenomenon that the spot position deviates from the light target due to large track deviation in the moving process to cause invalid or no data acquisition is avoided, the detection range of parameters such as track smoothness and perpendicularity is enlarged, and the convenience and the automation degree of the instrument use are improved.
The detection device has the advantages of good flexibility, high precision and convenient control; the comprehensive collection and detection of the parameters of each position of the crane rail can be ensured.
Drawings
FIG. 1 is a schematic of the present invention;
FIG. 2 is a schematic view of the moving portion of the dolly of the invention;
FIG. 3 is a schematic view of the position adjustment bracket of the present invention;
FIG. 4 is a schematic view of the light-following target cart of the present invention;
the device comprises a control part 1, a control part 2, an anti-collision block 3, a light target 4, a laser ranging assembly 5, a platform truck 6, a position adjusting frame 7, a driving wheel 8, a pinch roller 9, a following light target trolley 10, a support 11, a laser emitter 12, a Z-axis motor 13, a Z-axis lead screw 14, a Z-axis platform 15, a Y-axis motor 16, a Y-axis lead screw 17, a Y-axis platform 18 and a crane track.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention discloses a robot device for comprehensively detecting a crane rail and a method for detecting the crane rail by using the same. The crane rail 18 is typically a structure similar to a T-rail or train rail, and the device is mounted on the crane rail for inspection.
As shown in fig. 1, 2 and 3, the device comprises a laser emitting part, an optical target platform and a control terminal. The laser emitting part is fixedly arranged on the crane track and used for generating laser beams. The laser emitting part mainly comprises a laser emitter 11 which is arranged on the crane rail and emits laser beams along the horizontal direction, and the laser emitter 11 is usually arranged on the crane rail 18 through a bracket 10. Therefore, the laser emitting part includes a bracket 10 for mounting on the crane rail 18 and a laser emitter 11 fixedly provided at an outer end of the bracket 10. During inspection, the crane rail 18 is usually leveled; correspondingly, the laser transmitter 11 emits a laser beam in the horizontal direction. The control terminal controls the device, mainly controls the movement of the light target platform.
Another functional part of the device is a light target platform, which, as shown in fig. 1, comprises a dolly 5 moving along a crane rail 18 and a control part 1 controlling the movement of the dolly 5. The control part 1 is arranged on the outer end face of the platform truck 5. The dolly 5 is similar to a trolley capable of walking, and the control part 1 also has a driving function. Functional components are also arranged on the platform truck 5, and mainly comprise a light target 3 for receiving the laser beam of the laser emitter 11 and a laser ranging assembly 4. The light target 3 is used for receiving laser beams emitted by a laser generator 11, and the laser emitted by the laser generator 11 is along the extension direction of the crane rail 18. The laser ranging assembly 4 is actually a transmitter capable of emitting laser light with ranging functionality. The laser ranging assembly 4 emits a laser beam in a horizontal direction towards the other crane rail 18. The laser emitting part and the light target platform are arranged on one crane rail 18 at intervals; meanwhile, a following light target trolley 9 is arranged on the other parallel crane track 18 and is used for receiving the laser beam emitted by the laser ranging assembly 4. The light-target following trolley 9 comprises a trolley part and a light target, and the light target is arranged on the trolley and receives laser beams emitted by the laser ranging assembly. The following light target trolley 9 moves along with the movement of the laser ranging assembly 4 during the working process. The arrangement of the following light target trolley 9 can realize the detection of the track gauge, the track gauge deviation and the elevation deviation between two crane tracks of teammates.
The platform truck 5 of the present invention is mounted on the crane rail 18 and can be stably moved along the crane rail 18. As shown in fig. 2, a driving wheel 7 and a pressing wheel 8 are arranged on the lower end face of the platform truck 5, wherein the driving wheel 7 rolls along the outer end face of the web of the crane rail 18; the pinch rollers 8 are arranged in pairs, are respectively oppositely arranged on two sides of the web plate of the crane rail 18 and roll along the side of the web plate. Generally, one driving wheel 7 and two pressing wheels form one set, and multiple sets may be provided.
In a specific implementation, preferably, a position adjusting frame for mounting the light target 3 is provided on the flatcar 5, and the light target 3 is mounted on the position adjusting frame 6. The light target 3 is fixed on the platform truck 5 through the position adjusting frame, and the position of the light target 3 can be adjusted by the position adjusting frame, so that the laser beam emitted by the laser emitter 11 can be accurately irradiated on the light target 3. As shown in fig. 3, the position adjusting frame 6 includes a Y-axis stage 17 and a Z-axis stage 14 which are disposed perpendicularly to each other. The Y-axis table 17 is fixed to the end surface of the cart 5, and the Y-axis table 17 is horizontally disposed and a Y-axis screw 16 driven by a Y-axis motor 15 is provided inside. The lower end of the Z-axis platform 14 is arranged on a Y-axis lead screw 16, the Y-axis lead screw 16 and the Y-axis lead screw 16 form a lead screw pair, and the Z-axis platform 14 can be driven to horizontally move by rotating. Similarly, a Z-axis screw 13 driven by a Z-axis motor 12 is arranged in the Z-axis platform 14, the optical target platform is arranged on the Z-axis screw 13, the Z-axis screw 13 and the optical target platform form a screw pair, and the Z-axis screw 13 drives the optical target platform to move up and down. The position adjusting frame realizes the position adjustment of the light target platform. The control terminal controls the position adjusting frame 6, and the Y-axis motor 15 and the Z-axis motor 12 receive control signals of the control terminal.
The detection device of the present invention preferably has an anti-collision block 2 provided at one end of the dolly 5 for protecting functional parts on the dolly 5. The light target 3 and the anti-collision block 2 are arranged at two ends of the platform truck 5. As shown in fig. 1, the light target 3 is provided at one end of the dolly 5 near the laser emitting portion, and the anti-collision block 2 is provided at the front end in the advancing direction when the dolly 5 moves.
When the laser tracking device is used, the laser emitting part is fixed on a crane track, and the light target platform and the following light target trolley respectively move along one crane track. When the laser detection device starts to work, the light target platform is close to the laser emitting part, the light target platform is gradually far away from the laser emitting part after the laser detection device starts to work, and laser emitted by the laser emitting part irradiates on the light target platform all the time in the detection process.
When the invention is used for measurement, the spot diameter of the laser beam is controlled to be less than or equal to 8mm, and is controlled to be 6-8mm generally.
The invention also discloses a comprehensive detection method of the crane track, which uses the robot device for the comprehensive detection of the crane track. Firstly, fixing a laser transmitter at one end of a track to be measured, installing a platform truck carrying a light target platform on the same track, recording the space position of the trolley through the space three-dimensional motion of the light target to establish a space coordinate system, automatically running the platform truck under a set program, collecting space data in the running process, and obtaining parameters such as track straightness, smoothness, track surface inclination angle and the like through the space position relation between the light target and the track and through space coordinate transformation; in the operation process of the light target platform, the following light target trolley arranged on the other track simultaneously moves along with the light target, the laser ranging module on the light target platform shoots on the light target of the following light target trolley, and the acquired data is subjected to coordinate transformation to obtain parameters such as the track gauge, the track gauge deviation, the elevation deviation and the like of the two tracks.
The specific detection method is as follows,
1) and mounting the calibrated laser emitting part and the light target platform on one crane track, and mounting the following light target trolley on the other crane track. The laser beam emitting part is fixedly arranged at one end of a track to be measured, and the platform truck with the light target platform is arranged on the same track. The laser beam requires high collimation precision and small spot diameter, and can meet the requirement of measuring the length range of the crane track.
2) And the laser emitting part emits laser beams, and the control terminal is used for controlling the detection device. Parameters are set on an interface of the control terminal to control the motion of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional motion of the light target in the space.
3) The light target platform starts to move horizontally from the origin of a coordinate system, the control part sends a signal to control the platform car to move, the light target receives a laser beam, the space coordinate of the crane track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track following the light target car is collected through the laser ranging assembly;
4) and in the moving process of the light target platform, the control part transmits the collected crane track space coordinate information to the terminal control equipment, and analyzes the straightness, smoothness, rail surface inclination angle of the crane track, and the rail gauge, rail gauge deviation and elevation deviation parameters of the two tracks by establishing a space model of the crane track, so as to complete the detection of the crane track parameters.
The detection method comprises the steps of establishing a space coordinate system through the space three-dimensional motion record trolley space position of the light target, automatically operating the platform trolley under a set program, collecting space data in the operation process, and obtaining parameters such as track straightness, smoothness, track surface inclination angle and the like through space coordinate transformation through the space position relation between the light target and the track; in the operation process of the light target platform, the following light target trolley arranged on the other track simultaneously moves along with the light target, the laser ranging module on the light target platform shoots on the light target of the following light target trolley, and the acquired data is subjected to coordinate transformation to obtain parameters such as the track gauge, the track gauge deviation, the elevation deviation and the like of the two tracks. The invention has high detection efficiency.
The invention relates to a brand-new robot device for comprehensive detection of a crane track, which can be used for carrying out device on key parameters of the crane track and carrying out innovative design on a light target module, so that the light target module can automatically detect the position of a light spot and move in a small range in space, can accurately measure the straightness and the inclination angle of the track, and improves the automation degree of track detection.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A robot device for crane track integrated detection which characterized in that: the device comprises a laser emitting part, an optical target platform and a control terminal; the laser emitting part comprises a laser emitter (11) which is arranged on the crane track (18) and emits laser beams along the horizontal direction; the light target platform comprises a platform truck (5) moving along a crane rail (18), a control part (1) which is arranged on the outer end surface of the platform truck (5) and used for controlling the platform truck (5) to move, a light target (3) used for receiving laser beams of the laser emitter (11) and a laser ranging assembly (4); the laser ranging assembly (4) emits a laser beam towards the other crane track (18) along the horizontal direction; the laser emitting part and the light target platform are arranged on one crane track (18), and a following light target trolley (9) for receiving the laser beam emitted by the laser ranging assembly (4) is arranged on the other parallel crane track (18).
2. The robot apparatus for crane rail comprehensive inspection according to claim 1, characterized in that: the crane rail (18) is a rail in the horizontal direction.
3. The robot apparatus for crane rail comprehensive inspection according to claim 2, characterized in that: the end surfaces of the platform car (5) and the crane rail (18) are provided with a driving wheel (7) and a pinch roller (8); the driving wheel (7) rolls along the outer end face of the web plate of the crane rail (18); the pressing wheels (8) are oppositely arranged on two side faces of a web plate of the crane rail (18) and roll along the side faces of the web plate.
4. The robot apparatus for crane rail comprehensive inspection according to claim 1, characterized in that: the laser emitting part also comprises a support (10) which is used for being installed on the crane rail (18), and the laser emitter (11) is fixedly arranged at the outer end of the support (10).
5. The robot apparatus for crane rail comprehensive inspection according to claim 1, characterized in that: the light target (3) is arranged on the position adjusting frame and is fixed on the platform truck (5) through the position adjusting frame.
6. The robotic device for integrated inspection of crane rails according to claim 5, characterized in that: the position adjusting frame comprises a Y-axis platform (17) and a Z-axis platform (14) which are arranged vertically, and a Y-axis lead screw (16) driven by a Y-axis motor (15) is arranged in the Y-axis platform (17); the lower end of a Z-axis platform (14) is arranged on a Y-axis lead screw (16) to form a lead screw pair, and a Z-axis lead screw (13) driven by a Z-axis motor (12) is arranged in the Z-axis platform (14); the optical target platform is arranged on a Z-axis lead screw (13) to form a lead screw pair.
7. The robot apparatus for crane rail comprehensive inspection according to claim 1, characterized in that: an anti-collision block (2) is arranged at one end of the platform truck (5); the light target (3) is arranged at one end, close to the laser emitting part, of the platform truck (5), and the anti-collision block (2) is arranged at the front end of the advancing direction when the platform truck (5) moves.
8. The robot device for the comprehensive detection of the crane rail as claimed in any one of claims 1 to 7, wherein: the diameter of the laser beam is less than or equal to 8 mm.
9. A comprehensive detection method for a crane track is characterized by comprising the following steps: the use of the robot device for the comprehensive detection of the crane rail as claimed in any one of claims 1 to 8; the detection method is as follows,
1) the laser emitting part and the light target platform after calibration are arranged on one crane track, and the following light target trolley is arranged on the other crane track;
2) the laser emitting part emits laser beams, interface setting parameters of the terminal control equipment control the motion of the light target platform, and a three-dimensional coordinate system of the elevator track is established through the three-dimensional motion of the light target in the space;
3) the light target platform starts to move horizontally from the origin of a coordinate system, the control part sends a signal to control the platform car to move, the light target receives a laser beam, the space coordinate of the crane track is obtained by analyzing the spot information of the laser beam on the light target, and the space coordinate of the opposite side track following the light target car is collected through the laser ranging assembly;
4) and in the moving process of the light target platform, the control part transmits the collected crane track space coordinate information to the terminal control equipment, and analyzes the straightness, smoothness, rail surface inclination angle of the crane track, and the rail gauge, rail gauge deviation and elevation deviation parameters of the two tracks by establishing a space model of the crane track, so as to complete the detection of the crane track parameters.
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| CN115043289A (en) * | 2022-07-01 | 2022-09-13 | 日立电梯（中国）有限公司 | Novel elevator guide rail installation precision testing method |
| CN115507744A (en) * | 2022-08-02 | 2022-12-23 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measurement device |
| CN115507744B (en) * | 2022-08-02 | 2023-09-15 | 中国船舶重工集团公司第七一三研究所 | Marine equipment guide rail precision measuring device |
| CN119779200A (en) * | 2024-12-19 | 2025-04-08 | 浙江威肯特智能机械有限公司 | Linear guide rail flatness detection device |
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