CN113048927A - Mechanical system and method for measuring sizes of tunnel duct piece and duct piece mold - Google Patents
Mechanical system and method for measuring sizes of tunnel duct piece and duct piece mold Download PDFInfo
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- CN113048927A CN113048927A CN202110170041.5A CN202110170041A CN113048927A CN 113048927 A CN113048927 A CN 113048927A CN 202110170041 A CN202110170041 A CN 202110170041A CN 113048927 A CN113048927 A CN 113048927A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 238000004513 sizing Methods 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 25
- 238000010276 construction Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
Abstract
A mechanical system and a measuring method for measuring sizes of tunnel segments and segment molds relate to the field of track construction. The hardware part comprises a truss main body, a moving frame main body arranged on the top surface of the truss main body, a target arranged in the truss main body, an electric control cabinet arranged outside the truss main body and a segment trolley arranged in the truss main body; the mechanical coordinate system comprises an X axis, a Y axis, a Z axis and an X1 axis. The whole body of the motion frame body is L-shaped and comprises a pair of longitudinal rods, a pair of vertical rods connected to the front ends of the longitudinal rods, an upper transverse rod connected between the vertical rods, a first inclined supporting rod connected between the longitudinal rods and the vertical rods and a second inclined supporting rod connected between the upper transverse rod and the vertical rods. The invention solves the problems that the traditional tunnel shield segment detection method has low detection efficiency and low detection precision, the detection result is related to the proficiency of detection personnel, the detection quality is difficult to ensure, and a large amount of manpower is consumed.
Description
Technical Field
The invention relates to the field of track construction, in particular to a mechanical system and a measuring method for measuring sizes of tunnel segments and segment molds.
Background
In recent years, with the rapid development of high-speed railways and urban rail traffic in China, the production requirements of basic components are more and more large, tunnel shield segments are one of main basic components, and are produced by prefabricating and molding in one step through industrial templates. In order to ensure the quality during the construction period of the rail transit and the safety during the operation and maintenance period, China sets corresponding national standard and industry standard CJJT 164-2011 shield tunnel segment quality detection technical standard TBT 3353-2014 railway tunnel reinforced concrete segments, wherein the specified segment outline dimension is a main control detection item. The traditional tunnel shield segment detection method generally adopts vernier calipers, steel tape measures and the like, has low detection efficiency and low detection precision, the detection result is related to the proficiency of detection personnel, the detection quality is difficult to ensure, and a large amount of manpower is consumed; the traditional detection method is difficult to meet the higher and higher production requirements and detection requirements. The measurement of large-scale work pieces can be generally realized by utilizing a scanner, a tracker and the like, but a measurement system for complex-shaped work pieces such as tunnel segments and segment molds does not exist at present.
Disclosure of Invention
The invention aims to provide a mechanical system and a measurement method for measuring the sizes of tunnel segments and segment molds, and solves the problems that the traditional tunnel shield segment detection method is low in detection efficiency and detection precision, detection results are related to proficiency of detection personnel, detection quality is difficult to guarantee, and a large amount of manpower is consumed.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical system for measuring the dimensions of a tunnel segment and a segment mold comprises a hardware part and a software part.
The hardware part comprises a truss main body, a moving frame main body arranged on the top surface of the truss main body, a target arranged on one side of the truss main body in the longitudinal direction, an electric control cabinet arranged at one corner outside the truss main body and a segment trolley arranged in the truss main body; the mechanical coordinate system comprises an X axis, a Y axis, a Z axis and an X1 axis.
The whole motion frame main part is L shape, including a pair of vertical pole that the level set up, connect perpendicularly at a pair of vertical pole front end a pair of vertical pole, the level set up connect the last horizontal pole between a pair of montant top, connect the first diagonal brace between vertical pole and montant and connect the second diagonal brace between last horizontal pole and montant.
Further preferred technical solution: the truss main body comprises two groups of struts which are symmetrically arranged and a rectangular frame connected between the top surfaces of the two groups of struts.
The rectangular frame comprises two long side rods connected between the top surfaces of the same group of supporting columns and two short side rods connected between the top surfaces of the two groups of supporting columns.
Further preferred technical solution: two synchronous Y-axis linear modules are mounted on the top surfaces of two long side rods of the rectangular frame of the truss main body and connected through a Y-axis coupler, and the Y-axis linear modules are driven through a matched Y-axis servo motor and a matched Y-axis speed reducer.
The Y-axis linear module is connected with a Y-axis fixing plate.
Further preferred technical solution: the X-axis linear module is driven by the X-axis servo motor and the X-axis speed reducer which are matched with each other.
The X-axis linear module is connected with an X-axis fixing plate.
Further preferred technical solution: a pair of longitudinal rods of the motion frame main body is slidably arranged on two synchronous Y-axis linear modules through a Y-axis fixing plate; two ends of a lower cross rod of an X axis of the system are connected to a Y axis fixing plate, and the motion frame main body and the lower cross rod synchronously move on the Y axis linear module.
Further preferred technical solution: and the Z-axis linear module is vertically arranged and is driven by a matched Z-axis servo motor and a matched Z-axis speed reducer.
Be equipped with Z axle fixed plate on the sharp module of Z axle, install the arm on the Z axle fixed plate, the bottom of arm is connected with data acquisition sensor through the flange joint pole.
Further preferred technical solution: the top surface of the upper cross bar of the motion frame main body is connected with an X1-axis linear module along the length direction, and the X1-axis linear module is driven by a matched X1-axis servo motor and an X1-axis speed reducer.
The X1 axis fixing plate is connected to the X1 axis linear module, and the tracker is connected to the X1 axis fixing plate.
Further preferred technical solution: a PLC control program, an Ethernet switch, a servo controller and a power supply are arranged in the electric control cabinet; the electric control cabinet is provided with a power switch and an emergency stop button.
Further preferred technical solution: the software part of the system comprises a main system operation program, a motion path of each workpiece, a mechanical arm program and a segment trolley operation program.
The measuring method of the mechanical system for measuring the sizes of the tunnel segment and the segment mold comprises the following steps:
step one, positioning a workpiece: the automatic positioning and transportation of the duct piece are realized by utilizing the customized duct piece trolley, and the positioning of the duct piece mould is realized through mechanical gears by utilizing the fixed connection characteristics of the mould table and the duct piece mould.
Step two, coordinate system calibration: and calibrating a user coordinate system by utilizing three corner points of the customized segment trolley, and establishing an association relation among a mechanical coordinate system, the user coordinate system and a measurement coordinate system.
Firstly, calibrating parameters of a mechanical coordinate system, including servo parameters, linear module parameters and the like.
b, calibrating a user coordinate system by using the segment trolley, accurately calibrating the positions of three points of a rectangular coordinate system O, X, Y by using the segment trolley when the segment trolley leaves a factory, establishing a right-hand coordinate system by using the point O as an original point and upwards as the positive direction of a Z axis, controlling the X axis and the Y axis to move to O, X, Y points, and automatically calculating conversion parameters of a mechanical coordinate system and the user coordinate system so as to finish the calibration of the user coordinate system.
c, then measuring O, X, Y the three-dimensional coordinates of the three points, converting the measurement coordinate system to be consistent with the user coordinate system.
And d, establishing an incidence relation among a mechanical coordinate system, a user coordinate system and a measurement coordinate system, and completing coordinate system calibration.
Step three, path debugging and operation: teaching and debugging the data acquisition path of each duct piece and each duct piece mold, and directly calling the operation path according to the type and the model of a workpiece during automatic operation to finish data scanning.
The method comprises the steps of a, teaching and debugging each type of tunnel segment and segment mold, mainly taking an X, Y, Z, X1 axis of a system, debugging a data acquisition operation path of each type of workpiece by combining fine actions of a mechanical arm, storing the operation path in a PLC control program, and directly calling a corresponding operation path according to the type and the model of the workpiece during operation every time.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
x, Y, Z three-direction movement axes of the integrated system of the invention; the mechanical arm is arranged on the base of the Z axis, and the data acquisition sensor is arranged on the mechanical arm, so that data of any position can be freely and flexibly acquired within the movement range of the truss main body.
2, the X1 external shaft is integrated on the top of the truss main body and used for carrying the tracker, so that the tracking in a wider range can be realized, and the tracker can be prevented from being shielded.
3, the invention can meet the data acquisition requirements of various workpieces with the workpiece size smaller than the movement range of the truss main body and more complex shapes, and is particularly suitable for the size measurement of tunnel segments and segment molds.
Drawings
Fig. 1 is a first perspective view of the mechanical system for tunnel segment and segment mold sizing of the present invention.
Fig. 2 is a second perspective view of the mechanical system for tunnel segment and segment mold sizing of the present invention.
Fig. 3 is a perspective view three of the mechanical system for tunnel segment and segment mold sizing of the present invention.
Fig. 4 is a plan view of the mechanical system of the present invention for tunnel segment and segment mold sizing.
Fig. 5 is a front elevation view of the mechanical system of the present invention for tunnel segment and segment mold sizing.
Fig. 6 is a side elevational view of the mechanical system of the present invention for tunnel segment and segment mold sizing.
FIG. 7 is a schematic view of the Y-axis coupler of the present invention.
Fig. 8 is a schematic view of the moving frame body, Y-axis and X-axis of the present invention.
Fig. 9 is a schematic view of the moving frame body and Z-axis of the present invention.
Fig. 10 is a schematic view of a robotic arm and data acquisition sensor of the present invention.
Fig. 11 is a schematic of a target of the present invention.
Fig. 12 is a schematic view of a target point mount of the present invention.
Reference numerals: 1-truss body, 2-motion frame body, 3-Y axis, 4-X axis, 5-Z axis, 6-X1 axis, 7-mechanical arm, 8-electrical control cabinet, 9-target, 10-segment trolley, 11-data acquisition sensor, 12-tracker, and the like,
1.1-pillar, 1.2-rectangular frame, 1.3-base plate, 1.4-triangular support plate, 2.1-vertical rod, 2.2-vertical rod, 2.3-upper cross rod, 2.4-first diagonal rod, 2.5-second diagonal rod, 3.1-Y axis linear module, 3.2-Y axis fixed plate, 3.3-Y axis coupler, 4.1-lower cross rod, 4.2-X axis linear module, 5.1-Z axis linear module, 6.1-X1 axis linear module, 9.1-target positioning point support, 9.2-target point base.
Detailed Description
Embodiments referring to fig. 1 to 6, a mechanical system and method for measuring dimensions of a tunnel segment and segment mold.
The mechanical system for measuring the sizes of the tunnel segment and the segment mold comprises a hardware part and a software part;
the hardware part comprises a truss main body 1, a moving frame main body 2 arranged on the top surface of the truss main body 1, a target 9 arranged on one side of the truss main body 1 along the length direction, an electric control cabinet 8 arranged at one corner outside the truss main body 1 and a segment trolley 10 arranged in the truss main body 1; also included is a machine coordinate system including a system X-axis, a system Y-axis, a system Z-axis, and a system X1-axis.
The truss comprises a truss main body 1 and a truss frame, wherein the truss main body 1 comprises two groups of supporting columns 1.1 which are symmetrically arranged and a rectangular frame 1.2 connected between the top surfaces of the two groups of supporting columns 1.1; a base plate 1.3 is welded on the bottom surface of the pillar 1.1, and a triangular support plate 1.4 is welded between the base plate 1.3 and the pillar 1.1 for reinforcement; each group of the supporting columns comprises three supporting columns 1.1 which are arranged at intervals; the rectangular frame 1.2 comprises two long side rods connected between the top surfaces of the same group of struts and two short side rods connected between the top surfaces of the two groups of struts; the truss body 1 is formed by welding H-shaped steel.
The whole body of the motion frame body 2 is L-shaped and comprises a pair of horizontal longitudinal rods 2.1, a pair of vertical rods 2.2 vertically connected to the front ends of the pair of longitudinal rods 2.1, an upper transverse rod 2.3 horizontally connected between the top ends of the pair of vertical rods 2.2, a first inclined stay bar 2.4 connected between the longitudinal rods 2.1 and the vertical rods 2.2 and a second inclined stay bar 2.5 connected between the upper transverse rod 2.3 and the vertical rods 2.2; the motion frame body 2 is made of aluminum alloy.
The motion frame body 2 is used for carrying an X1 axis linear module, an X axis linear module and a Z axis linear module; the moving frame body 2 can move integrally along the Y-axis linear module 3.1 in the direction of the two long side rods of the rectangular frame 1.2 of the truss body 1.
Referring to fig. 8, a lower cross bar 4.1 is vertically connected between two synchronous Y-axis linear modules 3.1 of an X-axis 4, the front side surface of the lower cross bar 4.1 is connected with an X-axis linear module 4.2 along the length direction, the X-axis linear module 4.2 is driven by a matched X-axis servo motor and an X-axis reducer, and the middle lower cross bar 4.1, the X-axis linear module 4.2, the X-axis servo motor and the X-axis reducer jointly form an X-axis of a mechanical coordinate system.
The X-axis linear module 4.2 is connected with an X-axis fixing plate; each component in the X axis is electrically connected to the electrical control cabinet 8.
Referring to fig. 7, two synchronous Y-axis linear modules 3.1 are mounted on the top surfaces of two long side rods of a rectangular frame 1.2 of a truss main body 1 of a Y-axis 3, the two Y-axis linear modules 3.1 are connected through a Y-axis coupler 3.3, and the Y-axis linear module 3.1 is driven by a matched Y-axis servo motor and a Y-axis speed reducer; the middle Y-axis linear module 3.1, the Y-axis servo motor and the Y-axis reducer jointly form a Y axis of a mechanical coordinate system.
A Y-axis fixing plate 3.2 is connected to the Y-axis linear module 3.1; each component in the Y axis is electrically connected with the electric control cabinet 8.
A pair of longitudinal rods 2.1 of the motion frame main body 2 are slidably arranged on two synchronous Y-axis linear modules 3.1 through Y-axis fixing plates 3.2; two ends of a lower cross rod 4.1 of an X shaft 4 of the system are connected to a Y shaft fixing plate 3.2 and synchronously move on a Y shaft linear module 3.1 along with a moving frame main body 2.
The X1 axle 6, the top surface of the upper horizontal pole 2.3 of the motion frame body 2 is connected with an X1 axle straight line module 6.1 along the length direction, and the X1 axle straight line module 6.1 is driven by the matched X1 axle servomotor and X1 axle reducer, the X1 axle straight line module 6.1, the X1 axle servomotor and the X1 axle reducer jointly form the X1 axle of the mechanical coordinate system.
An X1 shaft fixing plate is connected to the X1 shaft linear module 6.1, and a tracker 12 is connected to the X1 shaft fixing plate; each component of the X1 shaft is electrically connected to the electrical control cabinet 8.
Referring to fig. 9, a Z-axis linear module 5.1 is vertically arranged on the Z-axis 5 and the X-axis linear module 4.2 through an X-axis fixing plate, the Z-axis linear module 5.1 is driven by a matched Z-axis servo motor and a Z-axis reducer, and the Z-axis linear module 5.1, the Z-axis servo motor and the Z-axis reducer jointly form a Z-axis of a mechanical coordinate system.
Referring to fig. 10, a Z-axis fixing plate is arranged on the Z-axis linear module 5.1, a mechanical arm 7 is mounted on the Z-axis fixing plate, the bottom end of the mechanical arm 7 is connected with a data acquisition sensor 11 through a flange connecting rod, and the data acquisition sensor 11 is a scanner or an industrial camera; and each component in the Z axis is electrically connected with the electric control cabinet 8.
The electric control cabinet 8, the electric control cabinet 8 is internally provided with PLC control programs, Ethernet switches, servo controllers, power supplies and other electric components; the electric control cabinet 8 is provided with a power switch and an emergency stop button.
A PLC control program: saving a mechanical coordinate system; saving the motion path taught by the system; communicating with upper computer software, wherein the communication comprises receiving instructions and sending feedback signals; and the multi-axis servo and mechanical arm is connected and communicated with the servo module and the mechanical arm to control the multi-axis servo and mechanical arm to move.
The PLC control program is a novel industrial control device of a generation formed by introducing a microelectronic technology, a computer technology, an automatic control technology and a communication technology on the basis of a traditional sequence controller, and aims to replace sequential control functions of a relay, execution logic, timing, counting and the like and establish a flexible remote control system; the method has the characteristics of strong universality, convenience in use, wide application range, high reliability, strong anti-interference capability, simple programming and the like.
As shown in fig. 11 and 12, the target 9 comprises a target location point mount 9.1 and a target point mount 9.2.
Other accessory structures include tracker mounts, scanner transfer flanges, cable troughs, and drag chains, among others.
According to the invention, a PLC control program, a multi-axis servo, a small-sized cooperative mechanical arm, a customized tool and the like are adopted, a set of mechanical system specially suitable for measuring the sizes of the tunnel segment and the segment mold is integrated, the mechanical system can carry sensors such as a tracker, a scanner and an industrial camera, and automatic data acquisition is realized in the motion range of the truss main body.
The invention integrates an X axis, a Y axis, a Z axis, a mechanical arm, a PLC control program, an automatic positioning segment trolley and the like, and meets the requirements of automatic and efficient measurement data acquisition of tunnel segments and segment molds.
The invention belongs to the combination of the field of industrial measurement and the field of mechanical automation, and is mainly applied to the production quality management of a tunnel segment prefabricating field and the size measurement of a tunnel segment and a segment mold during the construction and construction period of the rail transit industry.
The software part of the system mainly comprises a main system operation program, a motion path of each workpiece, a mechanical arm program and a segment trolley operation program.
And the system runs a main program, is deployed in a PLC control program and is responsible for input and output communication with an upper computer and overall flow control.
The motion path of each workpiece is stored in a PLC control program and comprises an identification ID of the workpiece, a point position sequence of axial motion, a communication signal with the mechanical arm and the like.
And the mechanical arm program is deployed in a controller of the mechanical arm and comprises the sequence of the motion point bits of the mechanical arm and input and output communication of a PLC main program.
And the segment trolley running program is deployed in the PLC control program and comprises a segment automatic adjusting program and an automatic running program.
The invention discloses a measuring method of a mechanical system for measuring the sizes of tunnel segments and segment molds, which comprises the following steps:
data acquisition of the workpiece is completed by a PLC control program through a truss main body, a multi-axis servo and a mechanical arm and carrying a data sensor.
Step one, positioning a workpiece: the automatic positioning and transportation of the duct piece are realized by utilizing the customized duct piece trolley, and the positioning of the duct piece mould is realized through mechanical gears by utilizing the fixed connection characteristics of the mould table and the duct piece mould.
Step two, coordinate system calibration: and calibrating a user coordinate system by utilizing three corner points of the customized segment trolley, and establishing an association relation among a mechanical coordinate system, the user coordinate system and a measurement coordinate system.
Step three, path debugging and operation: teaching and debugging the data acquisition path of each duct piece and each duct piece mold, and directly calling the operation path according to the type and the model of a workpiece during automatic operation to finish data scanning.
The workpiece positioning method comprises the following steps:
1, measure to the tunnel section of jurisdiction, a customization design automatic positioning section of jurisdiction dolly for the section of jurisdiction location.
2, at first place the section of jurisdiction roughly on the section of jurisdiction dolly, select the section of jurisdiction model again, the section of jurisdiction dolly is according to the relative position of teaching position automatic adjustment section of jurisdiction and section of jurisdiction dolly, guarantees that the position of every kind of section of jurisdiction is unanimous with the teaching position of this section of jurisdiction, then the section of jurisdiction dolly with section of jurisdiction automatic transportation to fixed detection station.
3, to section of jurisdiction mould measurement, because mould platform is together fixed with the mould, consequently place the mould platform on the track, artifical propelling movement to detecting the station, just can realize the location through fixed mechanical gear.
Coordinate system calibration method:
firstly, calibrating parameters of a mechanical coordinate system, including servo parameters, linear guide rail parameters, linear module parameters and the like.
And 2, calibrating a user coordinate system by using the segment trolley, accurately calibrating the positions of three points of a rectangular coordinate system O, X, Y by using the segment trolley when the segment trolley leaves a factory, establishing a right-hand coordinate system by using the point O as an original point and upwards as the positive direction of a Z axis, controlling the X axis and the Y axis to move to O, X, Y points, and automatically calculating conversion parameters of a mechanical coordinate system and the user coordinate system so as to finish the calibration of the user coordinate system.
3, and then measuring O, X, Y the three-dimensional coordinates of the three points, converting the measurement coordinate system to be consistent with the user coordinate system.
And 4, establishing an incidence relation among a mechanical coordinate system, a user coordinate system and a measurement coordinate system, and completing coordinate system calibration.
Debugging a running path: teaching and debugging are carried out on tunnel segments and segment molds of each type, an X, Y, Z, X1 shaft is taken as a main axis, the data acquisition operation path of each workpiece is debugged by combining the fine action of a mechanical arm, the operation path is saved in a PLC control program, and the corresponding operation path is directly called according to the type and the model of the workpiece during operation every time.
The operation flow of the invention is as follows:
for a tunnel segment, manually placing the tunnel segment on a segment trolley, selecting a segment model on a control panel of the segment trolley, automatically adjusting the segment to a teaching position, and automatically transporting the segment to a fixed detection station; to section of jurisdiction mould, directly place mould platform and mould on the track wholly, artifical propelling movement to fixed gear.
And 2, starting the mechanical system, resetting the mechanical system to a mechanical origin, enabling the system to be in a preparation state, monitoring an input signal in real time, calling a teaching path of a workpiece to be detected by a PLC main program after receiving the input signal of the upper computer, controlling an X axis, a Y axis, a Z axis, an X1 axis and a mechanical arm, driving a sensor to complete workpiece scanning, sending an output signal to the upper computer by the mechanical system, and resetting the mechanical origin.
3, the complete scanning path is completed by matching the X axis, the Y axis, the Z axis and the X1 axis with the mechanical arm, the PLC main program directly controls the X axis, the Y axis, the Z axis and the X1 axis to complete axial movement, complex and fine actions are completed by the mechanical arm, and the PLC main program communicates with the mechanical arm program to realize the movement control of the mechanical arm and complete the cooperative operation of the axial direction and the mechanical arm.
The specific installation implementation process of the invention comprises the following steps:
1, hardware installation: the system installation position is implemented strictly according to a design drawing; sequentially installing a truss main body, a moving truss main body, a multi-axis servo module, a mechanical arm, a drag chain routing, a target mark bracket, a target mark point, an electric control cabinet and the like; the vertical precision of the truss main body installation is better than 1mm, and the horizontal precision is better than 3 mm; the vertical precision and the horizontal precision of the multi-axis servo linear guide rail are both superior to 1mm, and the included angle precision of an X axis and a Y axis is superior to 0.05 degrees.
2, positioning the workpiece: aiming at tunnel segment measurement, an automatic positioning segment trolley is designed in a customized mode and used for segment positioning; firstly, roughly placing the duct pieces on a duct piece trolley, then selecting the model of the duct pieces, automatically adjusting the relative positions of the duct pieces and the duct piece trolley by the duct piece trolley according to the teaching positions, ensuring that the position of each duct piece is consistent with the teaching position of the duct piece, and then automatically transporting the duct pieces to a fixed detection station by the duct piece trolley; to section of jurisdiction mould measurement, because mould platform and mould are fixed together, consequently place the mould platform on the track, artifical propelling movement to detecting the station, just can realize the location through fixed mechanical gear.
3, coordinate system calibration: firstly, calibrating parameters of a mechanical coordinate system, including servo parameters, linear guide rail parameters and the like; then, a user coordinate system is calibrated by using the segment trolley, the positions of three points of a rectangular coordinate system O, X, Y are accurately calibrated by the segment trolley when the segment trolley leaves a factory, a right-hand coordinate system is established by taking the point O as the original point and taking the upward direction as the positive direction of the Z axis, the X axis and the Y axis are controlled to move to O, X, Y points, and conversion parameters of a mechanical coordinate system and the user coordinate system are automatically calculated, so that the calibration of the user coordinate system is completed; then measuring O, X, Y three-dimensional coordinates, and converting the measuring coordinate system to be consistent with the user coordinate system; therefore, the incidence relation among the mechanical coordinate system, the user coordinate system and the measurement coordinate system is established, and the coordinate system calibration is completed.
4, debugging the running path: teaching and debugging are carried out on tunnel segments and segment molds of each type, an X, Y, Z, X1 shaft is taken as a main axis, the data acquisition operation path of each workpiece is debugged by combining the fine action of a mechanical arm, the operation path is stored in a PLC, and the corresponding operation path is directly called according to the type and the model of the workpiece during operation every time.
5, programming a PLC main program: saving a mechanical coordinate system, saving a motion path taught by the system, and determining a communication signal with an upper computer; and the multi-axis servo and mechanical arm is connected and communicated with the servo module and the mechanical arm to control the multi-axis servo and mechanical arm to move.
6, writing a mechanical arm program and a segment trolley program: and saving the taught motion path of the mechanical arm, and determining a communication signal with a PLC main program.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A mechanical system for tunnel segment and section of jurisdiction mould size measurement, its characterized in that: comprises a hardware part and a software part;
the hardware part comprises a truss main body (1), a moving frame main body (2) arranged on the top surface of the truss main body (1), a target (9) arranged on one side of the truss main body (1) along the length direction, an electric control cabinet (8) arranged at one corner outside the truss main body (1) and a segment trolley (10) arranged in the truss main body (1); the device also comprises a mechanical coordinate system, wherein the mechanical coordinate system comprises an X axis, a Y axis, a Z axis and an X1 axis;
the whole motion frame main part (2) is L-shaped, including a pair of vertical pole (2.1) that the level set up, connect perpendicularly at a pair of montant (2.2) of a pair of vertical pole (2.1) front end, the level sets up last horizontal pole (2.3) of connecting between a pair of montant (2.2) top, connect first diagonal brace (2.4) between vertical pole (2.1) and montant (2.2) and connect second diagonal brace (2.5) between last horizontal pole (2.3) and montant (2.2).
2. The mechanical system for tunnel segment and segment mold sizing of claim 1, wherein: the truss main body (1) comprises two groups of struts (1.1) which are symmetrically arranged and a rectangular frame (1.2) connected between the top surfaces of the two groups of struts (1.1);
the rectangular frame (1.2) comprises two long side rods connected between the top surfaces of the same group of the supporting columns and two short side rods connected between the top surfaces of the two groups of the supporting columns.
3. The mechanical system for tunnel segment and segment mold sizing of claim 2, wherein: the truss structure comprises a Y-axis (3), two synchronous Y-axis linear modules (3.1) are mounted on the top surfaces of two long side rods of a rectangular frame (1.2) of a truss main body (1), the two Y-axis linear modules (3.1) are connected through a Y-axis coupler (3.3), and the Y-axis linear modules (3.1) are driven through a matched Y-axis servo motor and a Y-axis speed reducer;
the Y-axis linear module (3.1) is connected with a Y-axis fixing plate (3.2).
4. The mechanical system for tunnel segment and segment mold sizing of claim 3, wherein: the X-axis linear module (4.2) is driven by a matched X-axis servo motor and an X-axis speed reducer;
the X-axis linear module (4.2) is connected with an X-axis fixing plate.
5. The mechanical system for tunnel segment and segment mold sizing of claim 4, wherein: a pair of longitudinal rods (2.1) of the motion frame main body (2) is slidably arranged on two synchronous Y-axis linear modules (3.1) through a Y-axis fixing plate (3.2); two ends of a lower cross rod (4.1) of an X shaft (4) of the system are connected to a Y shaft fixing plate (3.2), and a motion frame main body (2) and the lower cross rod (4.1) synchronously move on the Y shaft linear module (3.1).
6. The mechanical system for tunnel segment and segment mold sizing of claim 4, wherein: the X-axis linear module (4.2) is connected with a vertically arranged Z-axis linear module (5.1) through an X-axis fixing plate, and the Z-axis linear module (5.1) is driven by a matched Z-axis servo motor and a Z-axis speed reducer;
be equipped with Z axle fixed plate on Z axle straight line module (5.1), install arm (7) on the Z axle fixed plate, the bottom of arm (7) is connected with data acquisition sensor (11) through the flange joint pole.
7. The mechanical system for tunnel segment and segment mold sizing of claim 1, wherein: the top surface of an upper transverse rod (2.3) of the motion frame body (2) is connected with an X1-axis linear module (6.1) along the length direction, and the X1-axis linear module (6.1) is driven by a matched X1-axis servo motor and an X1-axis speed reducer;
an X1 axis fixing plate is connected to the X1 axis linear module (6.1), and a tracker (12) is connected to the X1 axis fixing plate.
8. The mechanical system for tunnel segment and segment mold sizing of claim 1, wherein: a PLC control program, an Ethernet switch, a servo controller and a power supply are arranged in the electric control cabinet (8); the electric control cabinet (8) is provided with a power switch and an emergency stop button.
9. The mechanical system for tunnel segment and segment mold sizing of claim 1, wherein: the software part of the system comprises a main system operation program, a motion path of each workpiece, a mechanical arm program and a segment trolley operation program.
10. The method of measuring a mechanical system for tunnel segment and segment mold sizing of any of claims 1 to 9, characterized by the steps of:
step one, positioning a workpiece: the automatic positioning and transportation of the duct piece are realized by utilizing a customized duct piece trolley, and the positioning of the duct piece mould is realized by utilizing the fixed connection characteristic of a mould table and a duct piece mould through a mechanical gear;
step two, coordinate system calibration: calibrating a user coordinate system by using three corner points of the customized segment trolley, and establishing an association relation among a mechanical coordinate system, the user coordinate system and a measurement coordinate system;
(a) firstly, calibrating parameters of a mechanical coordinate system, including servo parameters, linear module parameters and the like;
(b) then, a user coordinate system is calibrated by using the segment trolley, the positions of three points of a rectangular coordinate system O, X, Y are accurately calibrated by the segment trolley when the segment trolley leaves a factory, a right-hand coordinate system is established by taking the point O as the original point and taking the upward direction as the positive direction of a Z axis, the X axis and the Y axis are controlled to move to O, X, Y points, and conversion parameters of a mechanical coordinate system and the user coordinate system are automatically calculated, so that the calibration of the user coordinate system is completed;
(c) then measuring O, X, Y three-dimensional coordinates, and converting the measuring coordinate system to be consistent with the user coordinate system;
(d) thereby establishing the incidence relation among a mechanical coordinate system, a user coordinate system and a measurement coordinate system and completing the calibration of the coordinate system;
step three, path debugging and operation: teaching and debugging a data acquisition path of each duct piece and each duct piece mould, and directly calling a running path according to the type and the model of a workpiece during automatic running to finish data scanning;
(a) teaching and debugging are carried out on tunnel segments and segment molds of each type, an X, Y, Z, X1 shaft of the system is taken as a main axis, a data acquisition operation path of each workpiece is debugged by combining fine actions of a mechanical arm, the operation path is saved in a PLC control program, and the corresponding operation path is directly called according to the types and models of the workpieces during operation every time.
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