CN112537719B - GIS pipeline automatic butt joint device based on visual positioning and working method thereof - Google Patents
GIS pipeline automatic butt joint device based on visual positioning and working method thereof Download PDFInfo
- Publication number
- CN112537719B CN112537719B CN202011193946.6A CN202011193946A CN112537719B CN 112537719 B CN112537719 B CN 112537719B CN 202011193946 A CN202011193946 A CN 202011193946A CN 112537719 B CN112537719 B CN 112537719B
- Authority
- CN
- China
- Prior art keywords
- pipeline
- butt joint
- visual positioning
- target
- docking
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
Abstract
The invention discloses a GIS pipeline automatic butt joint device based on visual positioning and a working method thereof, and relates to the field of pipeline butt joint construction. Traditional GIS pipeline butt joint is hoist pipeline section for the hoist, and the mode through manual observation, oral transmission goes on, and work load is big, and the butt joint is inefficient. The device comprises a device mounting frame fixedly connected with a crane boom, a docking mechanism for spatial multi-degree-of-freedom adjustment, a balance mechanism for keeping the docking mechanism vertically downward, a clamping mechanism for grabbing a docking pipeline, a swing mechanism for horizontally rotating the clamping mechanism, a visual positioning device for acquiring the relative spatial poses of a target pipeline and the docking pipeline and a control device, wherein the balance mechanism, the docking mechanism, the clamping mechanism, the swing mechanism and the visual positioning device are all connected to the control device. Through manual work and automatic control operation, realize the accurate butt joint of pipeline, promote the operating efficiency of pipeline butt joint, reduce manual operation volume, promote the operation security.
Description
Technical Field
The invention relates to the field of pipeline butt joint construction, in particular to a GIS pipeline automatic butt joint device based on visual positioning and a working method thereof.
Background
Traditional GIS pipeline butt joint is for the hoist to hoist pipeline section, and the staff is through observing, and the parallel port head conveys and realizes the coarse tune for the hoist driver, and the position that is fit for installing is pushed away to pipeline section by many workman's resultant force again, and the hoist driver has the vision blind area to ground and following part, and needs several workman to participate in, and the cooperation is butt joint, extravagant manpower, and there is the information deviation in staff and driver oral communication, and the butt joint work efficiency is low, and the job site condition is complicated, and is poor to constructor's safety guarantee.
Disclosure of Invention
The technical problem to be solved and the technical task to be solved by the invention are to perfect and improve the prior technical scheme, and provide a GIS pipeline automatic butt joint device based on visual positioning and a working method thereof, so as to improve the operation efficiency of pipeline butt joint. Therefore, the invention adopts the following technical scheme.
The GIS pipeline automatic butt joint device based on visual positioning comprises a device mounting frame, a butt joint mechanism, a balance mechanism, a clamping mechanism, a swing mechanism, a visual positioning device and a control device, wherein the device mounting frame is used for being connected and fixed with the front end of a suspension arm of a crane, the butt joint mechanism is used for adjusting the space multi-degree of freedom of a space, the balance mechanism is used for enabling the butt joint mechanism to keep a vertically downward direction, the clamping mechanism is used for grabbing a butt joint pipeline, the swing mechanism is used for adjusting the posture of the clamping mechanism, the visual positioning device is used for acquiring the relative space posture of a target pipeline and the butt joint pipeline, the balance mechanism is connected to the lower portion of the device mounting frame, the swing mechanism is connected to the lower portion of the balance mechanism, the butt joint mechanism is arranged below the swing mechanism, the clamping mechanism is arranged below the butt joint mechanism, the visual positioning device is arranged on the butt joint pipeline, the visual sensing direction of the visual positioning device is the target pipeline, and the balance mechanism, the swing mechanism is used for adjusting the position of the clamping mechanism, The docking mechanism, the clamping mechanism, the slewing mechanism and the vision positioning device are all connected to the control device. Under the control of the control device, the device can conveniently clamp the butt joint pipeline through the clamping mechanism, realize the accurate attitude adjustment of vertical angle through the balance mechanism, realize the accurate attitude adjustment of horizontal rotation angle through the rotation mechanism, realize the accurate local pose adjustment of the clamping mechanism through the butt joint mechanism, and make the butt joint pipeline carry out the accurate measurement location for the target pipeline through the visual positioning device, through manual work and automatic control operation, effectively realize the accurate butt joint of butt joint pipeline and target pipeline, the operating efficiency of the pipeline butt joint is effectively improved, the manual operation amount is reduced, and the operation safety is improved.
As a preferable technical means: the balance mechanism comprises a rotary mechanism connecting seat, a bearing frame arranged on the rotary mechanism connecting seat and a balance oil cylinder arranged on the bearing frame, the upper end of the bearing frame is rotatably connected with the device mounting frame, and the extending end and the fixed end of the balance oil cylinder are respectively rotatably connected on the bearing frame and the device mounting frame so as to drive the bearing frame to rotate vertically around the upper end of the bearing frame. This structure has effectively realized accurate vertical angle attitude adjustment.
As a preferable technical means: the rotary mechanism comprises a rotary supporting table, a motor and a speed reducer, the rotary supporting table is connected and fixed below the balance mechanism, a combination of the motor and the speed reducer is connected and fixed on the rotary supporting table, the rotary supporting table is horizontally and rotatably connected with the upper part of the butt joint mechanism, and the speed reducer is connected and driven with the butt joint mechanism to drive the butt joint mechanism to horizontally rotate. The structure effectively realizes the accurate horizontal rotation angle posture adjustment.
As a preferable technical means: the butt joint mechanism comprises a butt joint mechanism rotating seat, a clamping mechanism connecting seat and a plurality of pose adjusting oil cylinders, wherein the upper ends of the pose adjusting oil cylinders are connected with an upper fixing block arranged on the butt joint mechanism rotating seat through a spherical hinge structure, and the lower ends of the pose adjusting oil cylinders are connected with a lower fixing block arranged on the clamping mechanism connecting seat through a spherical hinge structure. The structure can effectively adjust the poses of multiple degrees of freedom, and realize the accurate control and adjustment of the clamping mechanism in the height direction to multiple degrees of freedom and small size.
As a preferable technical means: the clamping mechanism comprises a fixed clamping jaw assembly, a movable clamping jaw assembly and a driving oil cylinder, the upper end of the fixed clamping jaw assembly is connected and fixed on a clamping mechanism connecting seat, the upper end of the movable clamping jaw assembly is rotatably connected on the clamping mechanism connecting seat, a driving oil cylinder connecting support is arranged on the side surface of the clamping mechanism connecting seat, the extending end of the driving oil cylinder is rotatably connected with the movable clamping jaw assembly, and the fixed end of the driving oil cylinder is rotatably connected with the driving oil cylinder connecting support. The pipeline can be effectively clamped.
As a preferable technical means: the bearing frame be symmetrical structure, be equipped with 2-4 fixed connection portion between the lower extreme of bearing frame and the rotation mechanism connecting seat, be equipped with 2 rotatable coupling portion between the upper end of bearing frame and the device mounting bracket, the end that stretches out of balancing cylinder rotationally connect in bearing frame one side middle part, drive the bearing frame through balancing cylinder and rotate around the rotatable coupling portion of the upper end of bearing frame. The connecting structure is firm, stable and reliable.
As a preferable technical means: the total number of the position and orientation adjusting oil cylinders is 6, the number of the upper fixing blocks is 3, the upper fixing blocks are uniformly distributed around the center of the rotary seat of the butting mechanism, the number of the lower fixing blocks is 3 respectively, the lower fixing blocks are uniformly distributed around the center of the connecting seat of the clamping mechanism, and the upper fixing blocks and the lower fixing blocks are arranged in a staggered mode in the overlooking direction, so that the adjacent position and orientation adjusting oil cylinders are arranged in a V shape. Through 6 position appearance adjusting oil cylinders, the position appearance small-size adjustment of 6 degrees of freedom can be effectively realized.
As a preferable technical means: the swing mechanism connecting seat is provided with a tilt angle sensor which is electrically connected with the control device. The inclination angle measurement and feedback between the clamping mechanism and the horizontal plane can be effectively realized, and the automatic leveling can be realized through the control device.
As a preferable technical means: the fixed jaw assembly comprises 2 identical fixed grippers which are independently connected and fixed to the clamping mechanism connecting seat, and the 2 fixed grippers are connected into a whole through a connecting rod; the movable clamping jaw assembly comprises 2 identical movable grippers which are independently and rotatably connected to the clamping mechanism connecting seat, the 2 movable grippers are integrally connected through a connecting rod, and the extending end of the driving oil cylinder is rotatably connected with the connecting rod connected with the 2 movable grippers. 2 fixed tongs that connect an organic whole through the connecting rod and 2 movable tongs that the connecting rod connects an organic whole, it is firm reliable to grab the pipeline stably.
The working method of the GIS pipeline automatic butt joint device based on visual positioning comprises the following steps:
1) the automatic butt joint device is adjusted to the clamping position of the butt joint pipeline through the crane operation control, the clamping mechanism is controlled by the control device to clamp the butt joint pipeline, and the visual positioning device is installed on the butt joint pipeline;
2) controlling the crane to adjust the position of the butt joint pipeline, so that the distance between the butt joint pipeline and the target pipeline is 200-500 mm;
3) the inclination angle sensor feeds back the inclination angle between the clamping mechanism and the horizontal ground, and the control device controls the balance mechanism to drive the balance oil cylinder to level the butting mechanism and keep static;
4) the axial lines of the butt-joint pipelines and the target pipeline are adjusted in a manual mode, so that the radial dislocation size of the single side of the outer circles of the flanges of the two pipelines is not more than 20 mm;
5) carrying out automatic butt joint, wherein a visual positioning device is responsible for acquiring and resolving the space postures and positions of a target pipeline and a butt joint pipeline, sending the target value to a control device, the control device resolving to obtain a target displacement value of an oil cylinder, controlling the suspension arm and each oil cylinder of the automatic butt joint device to act, accurately moving the butt joint pipeline to a position 15-25mm away from the target pipeline in a butt joint mode, dismantling the visual positioning device, and connecting adjacent flanges of the butt joint pipeline and the target pipeline by using bolts by constructors;
6) and controlling the butt joint pipeline to slowly move forwards in the axis direction until the butt joint pipeline is completely butted with the target pipeline in a manual mode, simultaneously screwing the bolt, and loosening the clamping mechanism after screwing the bolt. The method has the advantages of simple principle, reliability, convenience in operation, capability of effectively improving the pipeline butt joint efficiency and improving the safety of butt joint operation, and compared with the traditional butt joint method, the method is smaller in workload and lower in labor intensity.
As a preferable technical means: the rotary supporting table is connected and fixed below the rotary mechanism connecting seat, and the butt joint mechanism rotary seat is rotatably connected with the rotary supporting table. Effectively realize the connection of balance mechanism and rotation mechanism, rotation mechanism and docking mechanism.
As a preferable technical means: the motor adopts a servo motor, and the speed reducer adopts a planetary speed reducer. And the accurate transmission control is convenient to realize.
As a preferable technical means: the device mounting frame is connected with the front end of the crane boom through bolts or welding, and the device mounting frame and the bearing frame are of frame structures. The connecting structure is simple and firm, the cost is low, the frame structure is firm and reliable, and the manufacturing cost is low.
As a preferable technical means: 2 rotatable coupling portions between bearing frame and the device mounting bracket be hinge structure, 2-4 fixed coupling portions between bearing frame and the rotation mechanism connecting seat be welded structure. The hinge structure can realize firm and reliable rotatable function, has firm and reliable welding connection and low cost, and is particularly suitable for components which do not need to be disassembled.
As a preferable technical means: the grabbing surfaces of the movable grabbing hand and the fixed grabbing hand are provided with anti-skidding grabbing teeth. Through the anti-skidding grabbing teeth, the clamping contact area of the grabbing hand on the pipeline can be effectively reduced, the contact pressure and the friction force are larger, the pipeline can be better clamped, and the pipeline is prevented from falling off.
As a preferable technical means: the visual positioning device comprises a depth camera and a camera fixing seat, the depth camera is connected and fixed on the camera fixing seat, a flange connecting hole is formed in the camera fixing seat, the depth camera is connected with a camera controller, a camera controller is arranged on the control device, and the depth camera is connected with the camera controller through a wired or wireless connection. The fixed depth camera is connected through the flange connecting hole, the depth camera is controlled through the camera controller, and position measurement and data feedback of the butt joint pipeline relative to the target pipeline can be effectively achieved.
Has the beneficial effects that: through manual and automatic control operation, vertical angle, horizontal rotation angle and multi-degree-of-freedom pose adjustment can be effectively realized, accurate butt joint of a butt joint pipeline and a target pipeline is realized, the pipeline butt joint operation efficiency is effectively improved, the manual operation amount is reduced, the operation safety is improved, the principle is simple, the method is reliable, the operation is convenient, and compared with the traditional butt joint method, the method is smaller in workload, lower in labor intensity and higher in safety.
Drawings
FIG. 1 is a schematic view of the pipe hoisting butt joint of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic view of the position of the slewing mechanism of the present invention.
Fig. 4 is a schematic view of the pipe translation distance recognition in the present invention.
FIG. 5 is a schematic view of the yaw angle and pitch angle recognition of the rotation of the flange hole attitude in the present invention.
Fig. 6 is a schematic view illustrating the rotation angle recognition of the flange hole according to the present invention.
In the figure: 1-a suspension arm; 2-a device mounting rack; 3-a balancing mechanism; 4-a docking mechanism; 5-a gripping mechanism; 6-a visual positioning device; 7-butting pipelines; 8-target pipeline; 9-a slewing mechanism; 10-a tilt sensor; 301-rotating mechanism connecting seat; 302-a load-bearing frame; 303-balance oil cylinder; 304-a fixed connection; 305-a rotatable connection; 401-docking mechanism turret; 402-gripping mechanism connecting seat; 403-pose adjusting oil cylinder; 404-fixing the block; 405-lower fixed block; 501-fixing a jaw assembly; 502-a movable jaw assembly; 503-driving oil cylinder; 504-driving oil cylinder connecting bracket; 901-a rotary support table; 902-a reducer; 903-motor.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
As shown in fig. 1-3, the automatic docking device for GIS pipeline based on visual positioning comprises a device mounting frame 2 for connecting and fixing with the front end of a boom 1 of a crane, a docking mechanism 4 for adjusting spatial multiple degrees of freedom, a balance mechanism 3 for keeping the docking mechanism 4 vertically downward, a clamping mechanism 5 for clamping a docking pipeline 7, a swing mechanism 9 for adjusting the posture of the clamping mechanism 5, a visual positioning device 6 for acquiring the relative spatial posture of a target pipeline 8 and the docking pipeline 7, and a control device for realizing system control, wherein the balance mechanism 3 is connected below the device mounting frame 2, the swing mechanism 9 is connected below the balance mechanism 3, the docking mechanism 4 is arranged below the swing mechanism 9, the clamping mechanism 5 is arranged below the docking mechanism 4, the visual positioning device 6 is arranged on the docking pipeline 7, and the visual sensing direction thereof is the target pipeline 8, the balance mechanism 3, the butt joint mechanism 4, the clamping mechanism 5, the rotary mechanism 9 and the visual positioning device 6 are all connected to the control device.
Under the control of the control device, the device can conveniently clamp the butt joint pipeline 7 through the clamping mechanism 5, realize the accurate posture adjustment of a vertical angle through the balance mechanism 3, realize the accurate posture adjustment of a horizontal rotation angle through the rotation mechanism 9, realize the accurate local posture adjustment of the clamping mechanism 5 through the butt joint mechanism 4, accurately measure and position the butt joint pipeline 7 relative to the target pipeline 8 through the visual positioning device 6, and effectively realize the accurate butt joint of the butt joint pipeline 7 and the target pipeline 8 through manual and automatic control operation.
In order to realize accurate vertical angle posture adjustment, the balance mechanism 3 comprises a swing mechanism connecting seat 301, a bearing frame 302 arranged on the swing mechanism connecting seat 301 and a balance oil cylinder 303 arranged on the bearing frame 302, the upper end of the bearing frame 302 is rotatably connected with the device mounting frame 2, and the extending end and the fixed end of the balance oil cylinder 303 are respectively rotatably connected on the bearing frame 302 and the device mounting frame 2 so as to drive the bearing frame 302 to vertically rotate around the upper end of the bearing frame 302. This structure has effectively realized accurate vertical angle attitude adjustment.
In order to realize accurate horizontal rotation angle posture adjustment, the rotation mechanism 9 comprises a rotation support table 901, a motor 903 and a speed reducer 902, the rotation support table 901 is connected and fixed below the balance mechanism 3, a combination of the motor 903 and the speed reducer 902 is connected and fixed on the rotation support table 901, the rotation support table 901 is horizontally and rotatably connected with the upper part of the docking mechanism 4, and the speed reducer 902 is connected and driven with the docking mechanism 4 to drive the docking mechanism 4 to horizontally rotate. The structure effectively realizes the accurate horizontal rotation angle posture adjustment.
In order to realize poses with multiple degrees of freedom, the docking mechanism 4 comprises a docking mechanism rotary seat 401, a clamping mechanism connecting seat 402 and multiple pose adjusting oil cylinders 403, the upper ends of the pose adjusting oil cylinders 403 are connected with an upper fixed block 404 arranged on the docking mechanism rotary seat 401 through spherical hinge structures, and the lower ends of the pose adjusting oil cylinders 403 are connected with a lower fixed block 405 arranged on the clamping mechanism connecting seat 402 through spherical hinge structures. The structure can effectively adjust the poses of multiple degrees of freedom, and realize the accurate control and adjustment of the clamping mechanism 5 in the height direction to multiple degrees of freedom and small size.
In order to clamp a pipeline, the clamping mechanism 5 comprises a fixed jaw assembly 501, a movable jaw assembly 502 and a driving oil cylinder 503, the upper end of the fixed jaw assembly 501 is fixedly connected to the clamping mechanism connecting seat 402, the upper end of the movable jaw assembly 502 is rotatably connected to the clamping mechanism connecting seat 402, a driving oil cylinder connecting support 504 is arranged on the side surface of the clamping mechanism connecting seat 402, the extending end of the driving oil cylinder 503 is rotatably connected with the movable jaw assembly 502, and the fixed end of the driving oil cylinder 503 is rotatably connected with the driving oil cylinder connecting support 504. The pipeline can be effectively clamped.
In order to realize a firm and reliable connection structure, in this example, the bearing frame 302 is a symmetrical structure, 4 fixed connection portions 304 are arranged between the lower end of the bearing frame 302 and the rotating mechanism connecting seat 301, 2 rotatable connection portions 305 are arranged between the upper end of the bearing frame 302 and the device mounting frame 2, the extending end of the balancing cylinder 303 is rotatably connected to the middle portion of one side of the bearing frame 302, and the bearing frame 302 is driven to rotate around the rotatable connection portions 305 on the upper end of the bearing frame 302 by the balancing cylinder 303. The connecting structure is firm, stable and reliable.
In order to realize the measurement and feedback of the inclination angle between the clamping mechanism 5 and the horizontal plane, an inclination angle sensor 10 is arranged on the rotating mechanism connecting seat 301, and the inclination angle sensor 10 is electrically connected with the control device. The measurement and feedback of the inclination angle between the clamping mechanism 5 and the horizontal plane can be effectively realized, so that the automatic leveling can be realized through the control device.
In order to stably and reliably grip the pipeline, the fixed jaw assembly 501 includes 2 identical fixed jaws independently connected and fixed to the gripping mechanism connecting seat 402, and the 2 fixed jaws are integrally connected by a connecting rod; the movable claw assembly 502 comprises 2 identical movable claws which are independently and rotatably connected to the clamping mechanism connecting seat 402, the 2 movable claws are integrally connected through connecting rods, and the extending end of the driving oil cylinder 503 is rotatably connected with the connecting rods connected with the 2 movable claws. Connect integrative 2 fixed tongs and 2 movable tongs of connecting rod connection an organic whole through the connecting rod, it is stable firm reliable to snatch the pipeline.
In order to realize the connection of the balance mechanism 3, the rotating mechanism 9 and the docking mechanism 4, the rotating support platform 901 is connected and fixed below the rotating mechanism connecting seat 301, and the docking mechanism rotating seat 401 is rotatably connected with the rotating support platform 901. The connection of the balance mechanism 3 and the swing mechanism 9, and the connection of the swing mechanism 9 and the butt joint mechanism 4 are effectively realized.
In order to reduce the cost, the device mounting frame 2 and the bearing frame 302 are both frame structures. The frame structure is firm and reliable, and the manufacturing cost is low.
In order to better clamp the pipeline, the grabbing surfaces of the movable grabbing hand and the fixed grabbing hand are provided with anti-skidding grabbing teeth. Through the anti-skidding grabbing teeth, the clamping contact area of the grabbing hand on the pipeline can be effectively reduced, the contact pressure and the friction force are larger, the pipeline can be better clamped, and the pipeline is prevented from falling off.
In order to realize position measurement and data feedback of the butt joint pipeline 7 relative to the target pipeline 8, the visual positioning device 6 comprises a depth camera and a camera fixing seat, the depth camera is connected and fixed on the camera fixing seat, a flange connecting hole is formed in the camera fixing seat, the depth camera is connected with a camera controller, a camera controller is arranged on the control device, and the depth camera is connected with the camera controller in a wired or wireless mode. The fixed depth camera is connected through the flange connecting hole, the depth camera is controlled through the camera controller, and position measurement and data feedback of the butt joint pipeline 7 relative to the target pipeline 8 can be effectively achieved.
The working method of the GIS pipeline automatic butt joint device based on visual positioning comprises the following steps:
1) the crane is adjusted to a proper position through rotation and pitching of the suspension arm 1, signals are sent to the control device through the operation of a hand wheel, the rotation of the rotation mechanism 9 and the telescopic action of the clamping oil cylinder are controlled, the clamping mechanism 5 is enabled to clamp the butt joint pipeline 7, and then the visual positioning device 6 is installed on a flange hole at the front end of the butt joint pipeline 7;
2) the position of the butt joint pipeline 7 is adjusted through the rotation of the crane and the pitching of the suspension arm 1, so that the distance between the butt joint pipeline 7 and the target pipeline 8 is 300 mm;
3) the inclination angle of the clamping mechanism 5 and the horizontal ground is fed back through the inclination angle sensor 10, the control device controls the balance mechanism 3, and the balance oil cylinder 303 is driven to level the butting mechanism 4, so that the butting mechanism is only stressed by a vertical downward force within a certain error range and keeps static;
4) switching the butt joint mode into manual butt joint, and adjusting the axes of the butt joint pipeline 7 and the target pipeline 8 through a hand wheel to ensure that the radial dislocation size of the single side of the flange excircles of the two pipelines is not more than 20 mm;
5) switching the butt joint mode to an automatic butt joint mode, acquiring and resolving the space postures and positions of a target pipeline 8 and a butt joint pipeline 7 by the visual positioning device 6, sending the target value to the control device, resolving by the control device to obtain a target displacement value of the oil cylinder, controlling the actions of the suspension arm 1 and each oil cylinder of the automatic butt joint device, precisely moving the butt joint pipeline 7 to butt joint to a position 20mm away from the target pipeline 8, dismantling the visual positioning device 6, and connecting the butt joint pipeline 7 and adjacent flanges of the target pipeline 8 by using bolts by constructors;
6) and switching to a manual butt joint mode, controlling the butt joint pipeline 7 to slowly move forwards in the axis direction until the butt joint pipeline is completely butted with the target pipeline 8, simultaneously screwing the bolt, and loosening the clamping mechanism after screwing the bolt.
The pipeline butt joint method has the advantages that the pipeline butt joint is effectively realized, the principle is simple, the method is reliable, the operation is convenient, the pipeline butt joint efficiency can be effectively improved, the safety of butt joint operation is improved, and compared with the traditional butt joint method, the method is smaller in workload and lower in labor intensity.
In this example, the number of the posture adjusting cylinders 403 is 6, the number of the upper fixing blocks 404 is 3, the upper fixing blocks are uniformly distributed around the center of the rotary base 401 of the docking mechanism, the number of the lower fixing blocks 405 is 3, the upper fixing blocks 404 are uniformly distributed around the center of the connecting base 402 of the gripping mechanism, and the upper fixing blocks 404 and the lower fixing blocks 405 are arranged in a staggered manner in the overlooking direction, so that the adjacent posture adjusting cylinders 403 are arranged in a V shape. The pose small-size adjustment with 6 degrees of freedom can be effectively realized through the 6 pose adjusting oil cylinders 403.
In this example, the motor 903 is a servo motor, and the reducer 902 is a planetary reducer. And the precise transmission control is convenient to realize.
In this example, the device mounting frame 2 is connected to the front end of the crane boom 1 by bolts, or may be welded instead. The connecting structure is simple and firm, and the cost is low.
In this example, 2 rotatable connecting portions 305 between the bearing frame 302 and the device mounting frame 2 are hinged structures, and 4 fixed connecting portions 304 between the bearing frame 302 and the swing mechanism connecting seat 301 are welded structures. The hinge structure can realize firm and reliable rotatable function, has firm and reliable welding connection and low cost, and is particularly suitable for components which do not need to be disassembled.
The visual positioning device 6 acquires relative spatial poses of the target pipeline 8 and the butt joint pipeline 7, wherein the relative spatial poses comprise X offset, Y offset, Z offset, an X corner, a Y corner and a Z corner.
When the depth camera is installed, the butt joint pipeline 7 is fixed firstly, one flange hole of the butt joint pipeline 7 is ensured to be positioned right above the section of the pipeline, the flange hole is used as a mark positioning hole, the depth camera is installed on the side of the mark positioning hole, the depth camera is ensured to be parallel to the mark positioning hole, and the center of the camera is aligned to the mark positioning hole.
When the vision positioning device 6 obtains and solves the space postures and positions of the target pipeline 8 and the butt joint pipeline 7, the intelligent alignment vision system in the control device performs vision identification and measurement, and the steps are as follows: firstly, a depth camera shoots a target pipeline 8 and transmits image data to an intelligent alignment vision system; then, the intelligent alignment vision system performs edge detection and depth recognition on the target pipeline 8 image to realize the recognition of the target pipeline; and finally, the intelligent alignment vision system realizes measurement and identification of the pipeline translation distance of the target pipeline 8, the yaw angle and the pitch angle of the posture rotation of the flange hole and the rotation angle of the flange hole.
The intelligent alignment vision system respectively collects RGB images and RGBD images by using a depth camera, and introduces different identification modules of the intelligent alignment vision system to complete identification.
The measurement of parameters such as horizontal offset distance, pose rotation angle and the like of the target pipeline 8 by the depth camera comprises 1 moving the target pipeline 8 in the horizontal and up-and-down directions, namely X offset, Y offset and Z offset, 2 moving the target pipeline 8 in the pose pitching and yawing directions, namely Y corner and Z corner, and 3 rotating the target pipeline 8 along the X-axis direction, namely X corner, and achieving the approximate alignment of the pipelines through the three movements.
The parameters needing to be identified by the intelligent alignment vision system comprise the translation distance of the pipeline, the yaw angle and the pitch angle of the posture rotation of the flange hole and the rotation angle of the flange hole.
As shown in fig. 4, in identifying the distance of the pipe translation, the position center point of the target pipe 8 in the camera of the depth camera can be identified, and the deviation of the position of the target pipe 8 itself can be obtained by measuring the deviation of the center point of the target pipe 8 in the field of view of the camera. The center point of the position of the target pipeline 8 can be found by identifying the circular surface of the pipeline, determining the position of the circular circumscribed square, and calculating to obtain the circular position.
As shown in fig. 5, when identifying the yaw angle and the pitch angle of the posture rotation of the flange hole, a triangle is obtained by measuring the distances between two points in the horizontal direction of the cross section of the target pipeline 8 and the camera of the depth camera, and the triangle is solved, so as to obtain the yaw angle of the pipeline. Similarly, a triangle is obtained by measuring the distance between two points in the vertical direction of the cross section of the target pipeline 8 and the camera, and the triangle is solved, so that the pitch angle of the pipeline is obtained.
As shown in fig. 6, when the rotation angle of the flange hole is identified, the rotation angle of the pipeline in the X-axis direction is calculated by the distance from the center position in the camera view field of the candidate mark positioning hole to be aligned by the depth camera.
The identification of the image requires edge detection of the image, the edge condition of the image is detected according to the change of the edge pixel of the image, actually, an algorithm for solving the gradient of the image pixel is used, the convolution processing is carried out on the image by using a filtered kernel function, if the change of 0 to 1 is obtained, an edge is considered to be found, and the specific edge detection comprises the following steps:
s1 graying the image;
s2), this smoothing process may be performed on the image with a gaussian filter;
s3) after the processing is finished, a sobel filter is added for edge detection, and after the edge detection is finished, an edge filtering algorithm can be added for the whole periphery once again to prevent recognition errors.
The ResNet network is used, convolution and capsules are combined to better extract features of different empty forms in the position relation, the generalization capability of the model is improved, small objects can be identified in a finer granularity mode, the higher precision of training data of the same magnitude is achieved according to millimeter-scale features, and high-efficiency analysis results are obtained by combining different Feature acquisition methods.
The capsule network is a new type of deep neural network architecture that is capable of processing visual information in the same way as the brain, meaning that it can identify logical and hierarchical relationships between features. This characteristic is in sharp contrast to convolutional neural networks. Convolutional neural networks are one of the most widely used neural networks, but they fail to take into account important spatial relationships between simple and complex features, resulting in high error rates and frequent misclassification.
For a typical image recognition task, the capsule network ensures 50% higher accuracy by reducing errors, and does not require as much training sample data.
The defects of different forms of the product are accumulated through a large amount of training data, the differentiation of different defects with fine granularity is an objective requirement, a large amount of real data of different types of flange holes are accumulated aiming at a business scene, and a support is formed for the learning optimization of the model.
The rapid training of a large amount of training data is trained in parallel and converged, and due to the accumulation of data volume, a large and deep model has huge parameters to be trained, so that the method is very necessary for selecting a proper training method to realize rapid convergence.
The intelligent measurement and identification device is automatically butted through non-contact type intelligent measurement and identification, and an observer and an observed person can not be damaged, so that the reliability of the device is improved, the labor intensity of workers at the same line is reduced, the operation cost of a production enterprise is greatly reduced, the production cost of a product is reduced, and the market competitiveness is realized.
The automatic docking device for GIS pipelines based on visual positioning and the working method thereof shown in fig. 1-6 are specific embodiments of the present invention, have embodied the outstanding substantive features and significant progress of the present invention, and can be modified equivalently in shape, structure and the like according to the practical use requirements and with the teaching of the present invention, all of which are within the protection scope of the present solution.
Claims (10)
1. Automatic interfacing apparatus of GIS pipeline based on visual positioning, its characterized in that: comprises a device mounting frame (2) used for being connected and fixed with the front end of a suspension arm (1) of a crane, a docking mechanism (4) used for adjusting spatial multiple degrees of freedom, a balance mechanism (3) used for keeping the docking mechanism (4) vertically downward, a clamping mechanism (5) used for grabbing a docking pipeline (7), a swing mechanism (9) used for adjusting the posture of the clamping mechanism (5), a visual positioning device (6) used for acquiring the relative spatial posture of a target pipeline (8) and the docking pipeline (7) and a control device used for realizing system control, wherein the balance mechanism (3) is connected below the device mounting frame (2), the swing mechanism (9) is connected below the balance mechanism (3), the docking mechanism (4) is arranged below the swing mechanism (9), the clamping mechanism (5) is arranged below the docking mechanism (4), the visual positioning device (6) is arranged on the butt joint pipeline (7), the visual sensing direction of the visual positioning device is a target pipeline (8), and the balance mechanism (3), the butt joint mechanism (4), the clamping mechanism (5), the rotating mechanism (9) and the visual positioning device (6) are all connected to the control device;
under the control of a control device, clamping of a butt joint pipeline (7) is achieved through a clamping mechanism (5), accurate posture adjustment of a vertical angle is achieved through a balance mechanism (3), accurate posture adjustment of a horizontal rotation angle is achieved through a rotation mechanism (9), accurate local posture adjustment of the clamping mechanism (5) is achieved through a butt joint mechanism (4), the butt joint pipeline (7) is accurately measured and positioned relative to a target pipeline (8) through a visual positioning device (6), and accurate butt joint of the butt joint pipeline (7) and the target pipeline (8) is achieved;
when automatic butt joint is carried out, the visual positioning device (6) is responsible for acquiring and resolving the space postures and positions of a target pipeline (8) and a butt joint pipeline (7), the target value is sent to the control device, the control device resolves to obtain a target displacement value of an oil cylinder, the suspension arm (1) and each oil cylinder of the automatic butt joint device are controlled to act, the butt joint pipeline (7) is precisely moved and butt-jointed to a position 15-25mm away from the target pipeline (8), the visual positioning device (6) is dismantled, and a constructor connects adjacent flanges of the butt joint pipeline (7) and the target pipeline (8) through bolts;
when the depth camera is installed, the butt joint pipeline (7) is fixed firstly, one flange hole of the butt joint pipeline (7) is ensured to be positioned right above the section of the pipeline, the flange hole is used as a mark positioning hole, the depth camera is installed on the side of the mark positioning hole, the depth camera is ensured to be parallel to the mark positioning hole, and the center of the camera is aligned to the mark positioning hole;
when the visual positioning device (6) acquires the space postures and positions of the calculation target pipeline (8) and the butt joint pipeline (7), the intelligent alignment visual system in the control device performs visual identification and measurement, and the steps are as follows: firstly, a depth camera shoots a target pipeline (8) and transmits image data to an intelligent alignment vision system; then, the intelligent alignment vision system carries out edge detection and depth recognition on the image of the target pipeline (8) to realize the recognition of the target pipeline; finally, the intelligent alignment vision system measures and identifies the pipeline translation distance of the target pipeline (8), the yaw angle and the pitch angle of the posture rotation of the flange hole and the rotation angle of the flange hole;
parameters needing to be identified by the intelligent alignment vision system comprise the translation distance of the pipeline, the yaw angle and the pitch angle of the posture rotation of the flange hole and the rotation angle of the flange hole;
when the translation distance of the pipeline is identified, the central point of the position of a target pipeline (8) in a camera of the depth camera is identified, and the deviation of the position of the target pipeline (8) is obtained by measuring the deviation of the central point of the target pipeline (8) in the visual field of the camera; the central point of the position of the target pipeline (8) is searched, the position of a round external square is determined by identifying the circular surface of the pipeline, and the round position is obtained by calculation;
when a yaw angle and a pitch angle of the posture rotation of the flange hole are recognized, a triangle is obtained by measuring the distance between two points in the horizontal direction of the section of the target pipeline (8) and a camera of a depth camera, and the triangle is solved, so that the yaw angle of the pipeline is obtained; similarly, a triangle is obtained by measuring the distance between two points in the vertical direction of the section of the target pipeline (8) and the camera, and the pitch angle of the pipeline is obtained by solving the triangle;
when the rotation angle of the flange hole is identified, the rotation angle of the pipeline is calculated according to the distance of the candidate mark positioning holes to be aligned, which are deviated from the center position in the camera view field, by the depth camera.
2. The automatic docking device for GIS pipelines based on visual positioning according to claim 1, characterized in that: balance mechanism (3) including rotation mechanism connecting seat (301), locate bearing frame (302) above rotation mechanism connecting seat (301) and locate balance cylinder (303) on bearing frame (302), the upper end of bearing frame (302) and device mounting bracket (2) between rotate and be connected, balance cylinder (303) stretch out the end and the stiff end and connect respectively on bearing frame (302) and device mounting bracket (2) with rotating to the vertical upper end that centers on bearing frame (302) of drive bearing frame (302) is rotatory.
3. The automatic docking device for GIS pipelines based on visual positioning according to claim 1, characterized in that: the rotary mechanism (9) comprises a rotary support platform (901), a motor (903) and a speed reducer (902);
the rotary supporting platform (901) is fixedly connected below the balance mechanism (3), a combination of the motor (903) and the speed reducer (902) is fixedly connected to the rotary supporting platform (901), the rotary supporting platform (901) is horizontally and rotatably connected with the upper portion of the docking mechanism (4), and the speed reducer (902) is connected with the docking mechanism (4) for transmission so as to drive the docking mechanism (4) to horizontally rotate.
4. The automatic docking device for GIS pipelines based on visual positioning according to claim 1, characterized in that: the butt joint mechanism (4) comprises a butt joint mechanism rotary seat (401), a clamping mechanism connecting seat (402) and a plurality of pose adjusting oil cylinders (403), the upper ends of the pose adjusting oil cylinders (403) are connected with an upper fixing block (404) arranged on the butt joint mechanism rotary seat (401) through a spherical hinge structure, and the lower ends of the pose adjusting oil cylinders (403) are connected with a lower fixing block (405) arranged on the clamping mechanism connecting seat (402) through a spherical hinge structure.
5. The GIS pipeline automatic docking device based on visual positioning as claimed in claim 4, wherein: the clamping mechanism (5) comprises a fixed jaw assembly (501), a movable jaw assembly (502) and a driving oil cylinder (503), the upper end of the fixed jaw assembly (501) is connected and fixed on the clamping mechanism connecting seat (402), the upper end of the movable jaw assembly (502) is rotationally connected to the clamping mechanism connecting seat (402), the side face of the clamping mechanism connecting seat (402) is provided with a driving oil cylinder connecting support (504), the extending end of the driving oil cylinder (503) is rotationally connected with the movable jaw assembly (502), and the fixed end of the driving oil cylinder (503) is rotationally connected with the driving oil cylinder connecting support (504).
6. The automatic docking device for GIS pipelines based on visual positioning according to claim 2, characterized in that: bearing frame (302) be symmetrical structure, be equipped with 2-4 fixed connection portion (304) between the lower extreme of bearing frame (302) and rotation mechanism connecting seat (301), be equipped with 2 rotation connecting portion (305) between the upper end of bearing frame (302) and device mounting bracket (2), the end that stretches out of balancing cylinder (303) connect in bearing frame (302) one side middle part with rotating, it is rotatory around rotation connecting portion (305) of the upper end of bearing frame (302) through balancing cylinder (303) drive bearing frame (302).
7. The GIS pipeline automatic docking device based on visual positioning as claimed in claim 4, wherein: the lifting mechanism is characterized in that the number of the pose adjusting oil cylinders (403) is 6, the number of the upper fixing blocks (404) is 3, the upper fixing blocks are uniformly distributed around the center of the butt joint mechanism rotary seat (401), the number of the lower fixing blocks (405) is 3 respectively, the upper fixing blocks are uniformly distributed around the center of the clamping mechanism connecting seat (402), and the upper fixing blocks (404) and the lower fixing blocks (405) are arranged in a staggered mode in the overlooking direction, so that the adjacent pose adjusting oil cylinders (403) are arranged in a V shape.
8. The automatic docking device for GIS pipelines based on visual positioning according to claim 2, characterized in that: the swing mechanism connecting seat (301) is provided with a tilt angle sensor (10), and the tilt angle sensor (10) is electrically connected with the control device.
9. The GIS pipeline automatic docking device based on visual positioning as claimed in claim 5, wherein: the fixed jaw assembly (501) comprises 2 identical fixed grippers which are independently connected and fixed to the clamping mechanism connecting seat (402), and the 2 fixed grippers are connected into a whole through a connecting rod; the movable jaw assembly (502) comprises 2 identical movable grippers which are independently and rotatably connected to the clamping mechanism connecting seat (402), the 2 movable grippers are integrally connected through a connecting rod, and the extending end of the driving oil cylinder (503) is rotatably connected with the connecting rod connected with the 2 movable grippers.
10. The working method of the GIS pipeline automatic docking device based on visual positioning according to any one of claims 1 to 9 is characterized by comprising the following steps:
1) the automatic butt joint device is adjusted to the clamping position of the butt joint pipeline (7) through the crane operation control, the clamping mechanism (5) is controlled by the control device to clamp the butt joint pipeline (7), and the visual positioning device (6) is installed on the butt joint pipeline (7);
2) controlling the crane to adjust the position of the butt joint pipeline (7) to ensure that the distance between the butt joint pipeline (7) and the target pipeline (8) is 200 mm and 500 mm;
3) an inclination angle sensor (10) feeds back the inclination angle between the clamping mechanism (5) and the horizontal ground, and a control device controls the balance mechanism (3) to drive the balance oil cylinder (303) to level the butt joint mechanism (4) and keep static;
4) the axial lines of the butt joint pipeline (7) and the target pipeline (8) are adjusted in a manual mode, so that the radial dislocation size of the single side of the flange excircles of the two pipelines is not more than 20 mm;
5) carrying out automatic butt joint, wherein a visual positioning device (6) is responsible for acquiring and resolving the space postures and positions of a target pipeline (8) and a butt joint pipeline (7), sending the target value to a control device, the control device resolving to obtain a target displacement value of an oil cylinder, controlling the actions of each oil cylinder of a suspension arm (1) and the automatic butt joint device, precisely moving and butt-jointing the butt joint pipeline (7) to a position which is 15-25mm away from the target pipeline (8), dismantling the visual positioning device (6), and connecting adjacent flanges of the butt joint pipeline (7) and the target pipeline (8) by using bolts by constructors;
6) and controlling the butt joint pipeline (7) to slowly move forwards in the axis direction until the butt joint pipeline is completely butted with the target pipeline (8) in a manual mode, simultaneously screwing the bolt, and loosening the clamping mechanism after screwing the bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193946.6A CN112537719B (en) | 2020-10-30 | 2020-10-30 | GIS pipeline automatic butt joint device based on visual positioning and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011193946.6A CN112537719B (en) | 2020-10-30 | 2020-10-30 | GIS pipeline automatic butt joint device based on visual positioning and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112537719A CN112537719A (en) | 2021-03-23 |
| CN112537719B true CN112537719B (en) | 2022-06-17 |
Family
ID=75013663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011193946.6A Active CN112537719B (en) | 2020-10-30 | 2020-10-30 | GIS pipeline automatic butt joint device based on visual positioning and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112537719B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113860151A (en) * | 2021-10-19 | 2021-12-31 | 国网河南省电力公司新安县供电公司 | Electric pole hoisting device for electric power construction |
| CN114434404A (en) * | 2021-12-03 | 2022-05-06 | 浙江省送变电工程有限公司 | GIS pipeline butt joint device and using method thereof |
| WO2024079679A1 (en) * | 2022-10-14 | 2024-04-18 | Enel Green Power S.P.A. | Gripping head for a pre-assembled array of photovoltaic panels and method of installation of said pre-assembled array |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6280119B1 (en) * | 1998-06-19 | 2001-08-28 | Ryan Incorporated Eastern | Apparatus and method for placing and engaging elongate workpieces |
| CN103596871A (en) * | 2011-02-17 | 2014-02-19 | 勒瓦利工业公司 | Position adjustable grapple attachment |
| CN103702920A (en) * | 2011-05-26 | 2014-04-02 | 勒瓦利工业公司 | An attachment for making up or breaking out pipe |
| CN106885514A (en) * | 2017-02-28 | 2017-06-23 | 西南科技大学 | A kind of Deep Water Drilling Riser automatic butt position and posture detection method based on machine vision |
| CN210313173U (en) * | 2019-08-15 | 2020-04-14 | 丁明 | Hoist and mount clamping device for construction |
| CN111115471A (en) * | 2020-02-15 | 2020-05-08 | 长沙中联恒通机械有限公司 | Vision system, front crane and automatic box grabbing control method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050135915A1 (en) * | 2003-12-05 | 2005-06-23 | Charlie Hall | Pipe-handling boom and method of use thereof |
-
2020
- 2020-10-30 CN CN202011193946.6A patent/CN112537719B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6280119B1 (en) * | 1998-06-19 | 2001-08-28 | Ryan Incorporated Eastern | Apparatus and method for placing and engaging elongate workpieces |
| CN103596871A (en) * | 2011-02-17 | 2014-02-19 | 勒瓦利工业公司 | Position adjustable grapple attachment |
| CN103702920A (en) * | 2011-05-26 | 2014-04-02 | 勒瓦利工业公司 | An attachment for making up or breaking out pipe |
| CN106885514A (en) * | 2017-02-28 | 2017-06-23 | 西南科技大学 | A kind of Deep Water Drilling Riser automatic butt position and posture detection method based on machine vision |
| CN210313173U (en) * | 2019-08-15 | 2020-04-14 | 丁明 | Hoist and mount clamping device for construction |
| CN111115471A (en) * | 2020-02-15 | 2020-05-08 | 长沙中联恒通机械有限公司 | Vision system, front crane and automatic box grabbing control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112537719A (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112537719B (en) | GIS pipeline automatic butt joint device based on visual positioning and working method thereof | |
| US10661397B2 (en) | Position adjustable grapple attachment | |
| CN107243622B (en) | Series parallel type moves heavily loaded foundry robot | |
| CN112573355B (en) | Multipurpose GIS pipeline automatic butt joint device | |
| CN111300481B (en) | Robot grabbing pose correction method based on vision and laser sensor | |
| CN213865002U (en) | GIS pipeline automatic butt joint device based on visual positioning | |
| CN207013711U (en) | Series parallel type may move heavily loaded foundry robot | |
| CN109849017A (en) | A kind of transformer substation robot hangs dismounting ground wire control system and control method | |
| JP2023133088A (en) | Mobile flexible measurement system and measurement method for large complex component | |
| CN109176517A (en) | Series connection industrial robot link parameters scaling method based on the constraint of end name point | |
| CN108344693A (en) | A kind of oil conservater thin board welding seam unfitness of butt joint vision measurement device and method | |
| CN114434404A (en) | GIS pipeline butt joint device and using method thereof | |
| CN213865001U (en) | Multipurpose GIS pipeline automatic butt joint device | |
| CN209793724U (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN212330878U (en) | Angle-adjustable pipeline assembling robot | |
| CN214365866U (en) | Illumination and camera shooting follow-up system of drill jumbo and drill jumbo | |
| CN115256399A (en) | Low-freedom-degree target searching and reaching control method for moving mechanical arm | |
| CN111889951A (en) | Angle-adjustable pipeline assembly robot and pipeline assembly angle adjusting method | |
| CN114922179A (en) | Side-clamping type hydraulic pile driver pose monitoring system and pose inverse solution method thereof | |
| CN114963992A (en) | Box girder end structure size detection device | |
| CN114888501A (en) | Teaching-free programming building component welding device and method based on three-dimensional reconstruction | |
| KR100814832B1 (en) | Mechanical equipment to cloth an armor stone on harbor surface in the underwater | |
| CN116175035B (en) | Intelligent welding method for steel structure high-altitude welding robot based on deep learning | |
| EP3943883B1 (en) | Apparatus and method for measuring vehicle alignment | |
| CN110640729B (en) | Intelligent double-arm hydraulic hoisting robot for mine and control method thereof |
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 |