CN113696193B - Primary side blocking plate dismounting and mounting robot auxiliary positioning device and positioning method - Google Patents
Primary side blocking plate dismounting and mounting robot auxiliary positioning device and positioning method Download PDFInfo
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- CN113696193B CN113696193B CN202110883549.XA CN202110883549A CN113696193B CN 113696193 B CN113696193 B CN 113696193B CN 202110883549 A CN202110883549 A CN 202110883549A CN 113696193 B CN113696193 B CN 113696193B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
Abstract
A robot-assisted positioning device and a positioning method for disassembling and assembling a primary side blocking plate relate to the technical field of automatic maintenance of nuclear power stations. The robot auxiliary positioning device for disassembling and assembling the primary side plugging plate comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane. A positioning method of a primary side blocking plate dismounting robot is applied to an auxiliary positioning device of the primary side blocking plate dismounting robot. The working position of the primary side plugging plate dismounting robot during plugging plate operation can be calibrated conveniently, quickly and accurately, the primary side plugging plate dismounting robot can obtain a relatively larger moving range and operation space when the primary side plugging plate dismounting robot performs plugging plate operation at the working position, the operation difficulty of the primary side plugging plate dismounting robot is effectively reduced, and the universality of the primary side plugging plate dismounting robot is improved.
Description
Technical Field
The invention relates to the technical field of automatic maintenance of nuclear power stations, in particular to an auxiliary positioning device and a positioning method for a primary side blocking plate dismounting robot.
Background
As a safe, reliable, clean and efficient electric power energy source, nuclear power is a strategic key point of energy development in China. With the rapid development of the nuclear power industry and the expansion of the nuclear power market in China, the safety and the reliability of nuclear facilities are improved, the radiation dose of operators is reduced as much as possible, the working environment of the operators is improved, and the method is a subject to be solved urgently in the nuclear power industry in China. Because many maintenance areas in the nuclear power station belong to a special environment with high radioactivity, or because parts are densely arranged, personnel in many areas cannot reach, and various countries in the world develop a large number of intelligent, automatic and personnel remote control high-end special robot tools for the inspection, maintenance, cleaning and defect repair work of high-radioactivity equipment of the nuclear power station, so that the nuclear power robot industry is formed, and the operation reliability and economy of the nuclear power station are greatly improved.
During the overhaul of the nuclear power plant, the interior of the steam generator needs to be overhauled. Because steam generator passes through the trunk line and directly links to each other with reactor pressure vessel, in order to prevent that steam generator from once side foreign matter from getting into pressure vessel through the trunk line and producing destruction to reactor core fuel, need carry out interim shutoff to a return circuit trunk line, the closure plate that is used for the shutoff under this operating mode is called low water level closure plate. During nuclear power station overhaul and overhaul for the first time, steam generator's maintenance work is gone on when the reactor water storage, on the one hand, for preventing that steam generator from once inclining the foreign matter and getting into pressure vessel through the trunk line and producing the destruction to reactor core fuel, on the other hand, in order to bear water pressure and sealed needs, on the one hand again, for preventing that a return water from overflowing from steam generator's manhole, need carry out interim shutoff to a return water trunk line, the closure plate that is used for the shutoff under this operating mode is called high water level closure plate. The low water level blocking plate and the high water level blocking plate are called as a primary side blocking plate.
Patent document No. CN210677611 discloses a primary side blocking plate dismounting robot for performing blocking plate operation. The plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate and sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber (the water chamber is positioned at the lower end of the steam generator), installs the primary side plugging plate on a corresponding hole position and finally exits the water chamber through the manhole; 2. and the primary side plugging plate dismounting robot stretches into the inside of the water chamber through a manhole at the lower end of the water chamber, removes the primary side plugging plate on a corresponding hole site, and finally clamps the primary side plugging plate to exit from the inside of the water chamber through the manhole. The primary side plugging plate dismounting robot comprises a moving trolley, a first moving mechanism, a vertical lifting mechanism, a swing driving mechanism, a second moving mechanism and a tail end executing mechanism. The first moving mechanism is arranged on the moving trolley. The vertical lifting mechanism is associated with the first moving mechanism and is driven by the first moving mechanism to do horizontal reciprocating linear motion. The swing driving mechanism is respectively associated with the vertical lifting mechanism and the second moving mechanism, is driven by the vertical lifting mechanism to do vertical lifting motion, and drives the second moving mechanism to do arc-shaped track swing. The tail end executing mechanism is associated with the second moving mechanism and is driven by the second moving mechanism to do reciprocating linear motion.
When the primary side plugging plate dismounting robot works, the dismounting and mounting of the primary side plugging plate can be realized by the action of operating personnel controlling the dismounting and mounting robot outside the water chamber, the operation in the water chamber is not needed to be drilled, the labor intensity of the operating personnel is reduced, and the nuclear radiation of the operating personnel is effectively avoided.
When the primary side plugging plate dismounting robot is used for mounting/dismounting the low water level combined plugging plate, the mobile trolley needs to be controlled to move the dismounting robot to the lower part of the manhole of the water chamber, and then subsequent operation is executed. When the primary side plugging plate dismounting robot is used for mounting/dismounting the high water level plugging plate, the moving trolley needs to be controlled to move the dismounting robot to the position below the second manhole of the water chamber, and then subsequent operation is executed.
When the primary side plugging plate dismounting robot executes plugging plate operation (the plugging plate operation comprises mounting/dismounting of a low water level combined plugging plate and mounting/dismounting of a high water level combined plugging plate), the tail end execution mechanism needs to completely extend into a manhole or a second manhole. However, since the size of the end actuator is only slightly smaller than the manhole aperture and the second manhole aperture of the steam generator, the requirement for the working position of the primary side blocking plate dismounting robot is high, and subsequent operation can be facilitated only by determining the working position of the primary side blocking plate dismounting robot when the blocking plate operation is performed. Further, since the steam generators of the nuclear power plant are different in size and shape, a high demand is placed on the general usability of the primary side blocking plate attaching and detaching robot.
In summary, it is necessary to design a corresponding positioning device and method so that the primary side plugging plate dismounting robot can calibrate the working position conveniently, quickly and accurately when the primary side plugging plate dismounting robot performs plugging plate operation for steam generators of different sizes and shapes.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an auxiliary positioning device and a positioning method for a primary side plugging plate dismounting robot, which solve the problem that the working position cannot be effectively determined when the primary side plugging plate dismounting robot executes plugging plate operation.
The technical scheme of the invention is as follows: the robot auxiliary positioning device for disassembling and assembling the primary side plugging plate comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; universal wheels are arranged at the four corners of the lower end of the base; the turntable is arranged on the base and can rotate on the horizontal plane; the guide rail is fixedly arranged on the rotary table and is horizontally arranged, and the sliding seat is slidably arranged on the guide rail and can do reciprocating linear movement along the guide rail; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane.
The further technical scheme of the invention is as follows: the distance measuring assembly comprises a rotating plate, a laser distance measuring sensor A and a laser distance measuring sensor B; the rotating plate is rotatably connected to the upper end of the sliding seat through an angle adjusting piece; the laser ranging sensor A and the laser ranging sensor B are arranged at equal height and are arranged at two ends of the upper surface of the rotating plate at intervals.
The further technical scheme of the invention is as follows: setting the position of a laser ranging sensor A as a point a, the position of a laser ranging sensor B as a point B, and the line segment formed by connecting the points a and B as a point l ab The laser beam emitted by the laser ranging sensor A is a ray m, and the laser beam emitted by the laser ranging sensor B is a ray n;
then m is always parallel to n and m is always perpendicular to l ab N is always perpendicular to l ab 。
The further technical scheme of the invention is as follows: the distance between the laser ranging sensor A and the laser ranging sensor B is the line segment l ab Length of (l) ab The length of (2) is 299-301 mm.
The further technical scheme of the invention is as follows: the angle adjustment member comprises a hinge; one side of the hinge is connected with the upper end of the sliding seat, the other side of the hinge is connected with the lower surface of the rotating plate, and the rotating resistance of the hinge is not less than three times of the weight of the ranging assembly; when the rotating plate rotates through the hinge, the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
The further technical scheme of the invention is as follows: the angle adjusting piece also comprises an electric push rod; the shell of the electric push rod is hinged at the upper end of the sliding seat, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate; the piston rod of the electric push rod stretches and retracts to drive the rotating plate to rotate through the hinge, so that the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes.
The technical scheme of the invention is as follows: the primary side plugging plate dismounting robot positioning method is applied to an auxiliary positioning device of the primary side plugging plate dismounting robot and is used for calibrating a working position of the primary side plugging plate dismounting robot when plugging plate operation is executed, and when the primary side plugging plate dismounting robot is in the working position, a larger moving range and a larger operation space are provided compared with when the primary side plugging plate dismounting robot is in a non-working position;
the plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate, sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber, installs the primary side plugging plate on a corresponding hole position, and finally exits the water chamber through the manhole; 2. the primary side plugging plate dismounting robot extends into the water chamber through a manhole at the lower end of the water chamber, removes the primary side plugging plate on a corresponding hole position, and finally clamps the primary side plugging plate to exit from the inside of the water chamber through the manhole;
the water chamber comprises a shell; an inner cavity is arranged inside the shell; the lower end of the shell is provided with a manhole communicated to the inner cavity, and the manhole is provided with an annular plane at a hole opening close to one end of the outer side of the shell;
the positioning method comprises the following steps:
s01, determining the placing direction:
a. placing an auxiliary positioning device on the ground outside the water chamber, opening a laser ranging sensor A and a laser ranging sensor B, and preliminarily adjusting the orientation of the auxiliary positioning device and the angle of a rotating plate to enable rays m and n to strike an annular plane to form light spots p and q respectively;
b. setting the distance from a point a where the laser ranging sensor A is located to a light point p on the annular plane as x, and setting the distance from a point B where the laser ranging sensor B is located to a light point q on the annular plane as y; respectively reading a laser ranging sensor A and a laser ranging sensor B to obtain the numerical values of x and y; if x = y, entering step S02; if x is not equal to y, entering a step c;
c. setting the difference between x and y as z, and the straight line passing through points a and b as l 1 The straight line through the spots p, q is l 2 Straight line l 1 、l 2 Coplanar and forming an included angle beta; calculating an included angle beta according to the formula 1; formula 1:
then, the turntable is driven to rotate by an angle beta to make a straight line l 1 、l 2 Parallel to each other, while making x = y;
s02, determining a moving path:
a. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n are both hit on the ground, and two light spots formed on the ground after passing the rays m and n form a straight line l 3 ；
b. Driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n are irradiated on the annular plane; then, the sliding seat is pushed to move towards one end of the guide rail, so that the light spot formed by the ray m on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray m as c;
c. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line l 3 C, removing; then, marking the position of a light spot formed by the ray m as d;
d. driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n strike the annular plane again, and ensuring that a light spot formed by the rays m is superposed with the position c; then, the sliding seat is pushed to move to the other end of the guide rail, so that the light spot formed by the ray n on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray n as e;
e. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground againAnd ensures that the two spots formed by the rays m, n on the ground fall on a straight line l 3 The above step (1); then, marking the position of a light spot formed by the ray n as f;
f. the line segment formed by the connection line of the positions d and f is l df Making line segment l on the ground df Perpendicular bisector l 4 Perpendicular bisector l 4 The working position of the primary side plugging plate dismounting robot is positioned on the projection line of the center line of the manhole on the ground along the perpendicular bisector l 4 Moving the formed path;
in the step b and the step d, the edges are the outer edges of the annular plane or the inner edges of the annular plane;
s03, determining the working position:
drive auxiliary positioning device along perpendicular bisector l 4 And moving towards the direction close to the water chamber, adjusting the angle of the rotating plate in real time in the moving process to enable rays m and n to be always hit on the annular plane, simultaneously reading the distance s from the laser ranging sensor A or the laser ranging sensor B to the annular plane, and marking on the ground when the distance s is 1450mm, wherein the marked position is the working position of the primary side plugging plate dismounting robot.
Compared with the prior art, the invention has the following advantages: the calibration device can calibrate the working position of the primary side plugging plate dismounting robot when the plugging plate operation is executed conveniently, quickly and accurately, the primary side plugging plate dismounting robot can obtain a relatively larger moving range and an operation space when the plugging plate operation is executed at the working position, the operation difficulty of the primary side plugging plate dismounting robot is effectively reduced, and the universality of the primary side plugging plate dismounting robot is improved.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic diagram of the present invention from one perspective;
FIG. 2 is a schematic view of the present invention from another perspective;
FIG. 3 is a diagram illustrating the state of the positioning method S01 when the partial step a is finished;
FIG. 4 is a diagram illustrating the state of the positioning method S01 at the end of step c;
FIG. 5 is a diagram illustrating the positioning method S02 at the end of step a;
FIG. 6 is a diagram illustrating the positioning method S02 at the end of substep b;
FIG. 7 is a diagram illustrating the positioning method S02 at the end of substep c;
FIG. 8 is a diagram illustrating the positioning method S02 at the end of step d;
FIG. 9 is a diagram illustrating the positioning method S02 at the end of step e;
fig. 10 is a schematic diagram of the positioning method S02 at the end of substep f.
Detailed Description
Example 1:
as shown in fig. 1-2, the auxiliary positioning device for the primary side closure plate dismounting robot comprises a base 1, a turntable 2, a guide rail 3, a sliding seat 4, an angle adjusting part and a distance measuring component.
The distance measuring component is rotatably connected to the upper end of the sliding seat 4 through an angle adjusting piece and can rotate on a vertical plane. The ranging assembly includes a rotating plate 61, a laser ranging sensor a62 and a laser ranging sensor B63. The rotating plate 61 is rotatably connected to the upper end of the slide 4 through an angle adjusting member and can rotate in a vertical plane. The laser ranging sensor A62 and the laser ranging sensor B63 are arranged at the same height and are arranged at two ends of the upper surface of the rotating plate 61 at intervals. Setting the position of a laser ranging sensor A62 as a point a, the position of a laser ranging sensor B63 as a point B, and the line segment formed by connecting the points a and B as a point l ab The laser beam emitted by the laser range sensor a62 is a ray m, and the laser beam emitted by the laser range sensor B63 is a ray n. Then m is always parallel to n and m is always perpendicular to l ab N is always perpendicular to l ab 。
Preferably, the turntable 2 is a disc motor.
Preferably, the distance between the laser ranging sensor A62 and the laser ranging sensor B63 is the line segment l ab Length of (l) ab Has a length of 300mm.
Preferably, the angle adjustment member includes a hinge 51. One side of the hinge 51 is connected with the upper end of the sliding seat 4, the other side of the hinge 51 is connected with the lower surface of the rotating plate 61, and the rotating resistance of the hinge 51 is not lower than three times of the weight of the distance measuring assembly, so that the effect of stopping immediately after rotating is achieved. When the rotating plate 61 rotates through the hinge 51, an included angle formed between the light emitting direction of the laser ranging sensor a62 and the light emitting direction of the laser ranging sensor B63 and the horizontal plane is changed.
Preferably, the angle adjusting member further includes an electric push rod (not shown in the drawings). The shell of the electric push rod is hinged at the upper end of the sliding seat 4, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate 61. The piston rod of the electric push rod stretches and retracts to drive the rotating plate 61 to rotate, so that the included angle formed by the light emitting direction of the laser ranging sensor A62 and the light emitting direction of the laser ranging sensor B63 and the horizontal plane changes.
Briefly describing the working principle of the invention: as shown in fig. 3 to 10, the auxiliary positioning device of the primary-side plugging plate dismounting robot is used to calibrate a working position of the primary-side plugging plate dismounting robot when the plugging plate operation is performed, and when the primary-side plugging plate dismounting robot is in the working position, the primary-side plugging plate dismounting robot has a larger moving range and a larger operation space than when the primary-side plugging plate dismounting robot is in the non-working position.
The plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate, sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber, installs the primary side plugging plate on a corresponding hole position, and finally exits the water chamber through the manhole; 2. and the primary side plugging plate dismounting robot stretches into the inside of the water chamber through a manhole at the lower end of the water chamber, removes the primary side plugging plate on a corresponding hole site, and finally clamps the primary side plugging plate to exit from the inside of the water chamber through the manhole.
The water chamber comprises a shell; an inner cavity is arranged inside the shell; the lower end of the shell is provided with a manhole communicated to the inner cavity, and the manhole is provided with an annular plane at a hole opening close to one end of the outer side of the shell.
The positioning method comprises the following steps:
s01, determining the placing direction:
a. placing an auxiliary positioning device on the ground outside the water chamber, opening a laser ranging sensor A and a laser ranging sensor B, and preliminarily adjusting the orientation of the auxiliary positioning device and the angle of a rotating plate to enable rays m and n to strike an annular plane to form light spots p and q respectively;
b. setting the distance from a point a where the laser ranging sensor A is located to a light point p on the annular plane as x, and setting the distance from a point B where the laser ranging sensor B is located to a light point q on the annular plane as y; respectively reading a laser ranging sensor A and a laser ranging sensor B to obtain the values of x and y; if x = y, entering step S02; if x is not equal to y, entering a step c;
c. setting the difference between x and y as z, and the straight line passing through points a and b as l 1 The straight line through the spots p, q is l 2 Straight line l 1 、l 2 Coplanar and forming an included angle beta; calculating an included angle beta according to the formula 1; formula 1:
then, the turntable is driven to rotate by an angle beta, so that a straight line l is formed 1 、l 2 Parallel to each other, while x = y.
S02, determining a moving path:
a. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n are both hit on the ground, and two light spots formed on the ground after passing the rays m and n form a straight line l 3 ；
b. Driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n are irradiated on the annular plane; then, the sliding seat is pushed to move towards one end of the guide rail, so that the light spot formed by the ray m on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray m as c;
c. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line l 3 C, removing; then, marking the spot position formed by the ray m as d;
d. driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n strike the annular plane again, and ensuring that a light spot formed by the rays m is superposed with the position c; then, the sliding seat is pushed to move to the other end of the guide rail, so that the light spot formed by the ray n on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by a ray n as e;
e. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line l 3 The above step (1); then, marking the position of a light spot formed by the ray n as f;
f. the line segment formed by the connection line of the positions d and f is l df Making line segment l on the ground df Perpendicular bisector l 4 Perpendicular bisector l 4 Namely the center line of the manhole is the projection line on the ground, the working position of the primary side plugging plate dismounting robot is positioned along the perpendicular bisector l of the primary side plugging plate dismounting robot 4 Move along the formed path.
In this step, "edges" in the sub-steps b and d are both the outer edges of the annular plane, or both the inner edges of the annular plane.
S03, determining the working position:
drive auxiliary positioning device along perpendicular bisector l 4 And moving the water chamber in the direction close to the water chamber, adjusting the angle of the rotating plate in real time in the moving process to enable the rays m and n to always hit on the annular plane, simultaneously reading the distance s from the laser ranging sensor A or the laser ranging sensor B to the annular plane, and marking the distance s on the ground when the distance s is 1450mm, wherein the marked position is the working position of the primary side plugging plate dismounting robot.
Claims (2)
1. A positioning method of a robot for disassembling and assembling a primary side plugging plate is characterized by comprising the following steps: the auxiliary positioning device is applied to the primary side plugging plate dismounting robot and is used for calibrating the working position of the primary side plugging plate dismounting robot when the plugging plate operation is executed, and the primary side plugging plate dismounting robot has a larger moving range and a larger operation space when being in the working position than when being in the non-working position;
said oneThe auxiliary positioning device for the secondary side plugging plate dismounting robot comprises a base, a rotary table, a guide rail, a sliding seat, an angle adjusting piece and a distance measuring assembly; universal wheels are arranged at the four corners of the lower end of the base; the turntable is arranged on the base and can rotate on the horizontal plane; the guide rail is fixedly arranged on the rotary table and is horizontally arranged, and the sliding seat is slidably arranged on the guide rail and can do reciprocating linear movement along the guide rail; the distance measuring assembly is rotatably connected to the upper end of the sliding seat through the angle adjusting piece and can rotate on a vertical plane; the distance measuring assembly comprises a rotating plate, a laser distance measuring sensor A and a laser distance measuring sensor B; the rotating plate is rotatably connected to the upper end of the sliding seat through an angle adjusting piece; the laser ranging sensor A and the laser ranging sensor B are arranged at the same height and are arranged at two ends of the upper surface of the rotating plate at intervals; setting the position of the laser ranging sensor A as a point a, the position of the laser ranging sensor B as a point B, and the line segment formed by connecting the points a and B as a point B
The laser beam emitted by the laser ranging sensor A is a ray m, and the laser beam emitted by the laser ranging sensor B is a ray n; then m is always parallel to n and m is always perpendicular to n
N is always perpendicular to
(ii) a The distance between the laser ranging sensor A and the laser ranging sensor B is a line segment
The length of (a) of (b),
the length of (a) is 299 to 301mm; the angle adjusting piece comprises a hinge and an electric push rod; one side of the hinge is connected with the upper end of the sliding seat, the other side of the hinge is connected with the lower surface of the rotating plate, and the rotating resistance of the hinge is not less than three times of the weight of the ranging assembly; when the rotating plate rotates through the hinge, the laser ranging sensor is enabledThe included angle formed by the light emitting direction of the device A and the laser ranging sensor B and the horizontal plane is changed; the shell of the electric push rod is hinged at the upper end of the sliding seat, and the piston rod of the electric push rod is hinged at the center of the lower surface of the rotating plate; the piston rod of the electric push rod stretches and retracts to drive the rotating plate to rotate through the hinge, so that the included angle formed by the light emitting direction of the laser ranging sensor A and the light emitting direction of the laser ranging sensor B and the horizontal plane changes;
the plugging plate operation comprises the following two types: 1. the primary side plugging plate dismounting robot clamps the primary side plugging plate, sends the primary side plugging plate into the water chamber through a manhole at the lower end of the water chamber, installs the primary side plugging plate on a corresponding hole position, and finally exits the water chamber through the manhole; 2. the primary side blocking plate dismounting robot extends into the water chamber through a manhole at the lower end of the water chamber, dismounting the primary side blocking plate on a corresponding hole position, and clamping the primary side blocking plate to exit from the inside of the water chamber through the manhole;
the water chamber comprises a shell; an inner cavity is arranged inside the shell; the lower end of the shell is provided with a manhole communicated to the inner cavity, and the manhole is provided with an annular plane at a hole opening close to one end of the outer side of the shell;
the positioning method comprises the following steps:
s01, determining the placing direction:
a. placing an auxiliary positioning device on the ground outside the water chamber, opening a laser ranging sensor A and a laser ranging sensor B, and preliminarily adjusting the orientation of the auxiliary positioning device and the angle of a rotating plate to enable rays m and n to strike an annular plane to form light spots p and q respectively;
b. setting the distance from a point a where the laser ranging sensor A is located to a light point p on the annular plane as x, and setting the distance from a point B where the laser ranging sensor B is located to a light point q on the annular plane as y; respectively reading a laser ranging sensor A and a laser ranging sensor B to obtain the values of x and y; if x = y, entering step S02; if x is not equal to y, entering a step c;
c. the difference between x and y is set as z, and the straight line passing through points a and b is set as
The straight line passing through the spots p, q is
Straight line of
、
Coplanar and form an included angle beta; calculating an included angle beta according to the formula 1; formula 1:
(ii) a Then, the turntable is driven to rotate by an angle beta to make a straight line
、
Parallel to each other, while making x = y;
s02, determining a moving path:
a. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n are both hit on the ground, and two light spots formed on the ground by passing the rays m and n form a straight line
；
b. Driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n are irradiated on the annular plane; then, the sliding base is pushed to move towards one end of the guide rail, so that a light spot formed by the ray m on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by the ray m as c;
c. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line
The above step (1); then, marking the spot position formed by the ray m as d;
d. driving the rotating plate to rotate upwards for a certain angle, so that the rays m and n strike the annular plane again, and ensuring that a light spot formed by the rays m is superposed with the position c; then, the sliding seat is pushed to move to the other end of the guide rail, so that the light spot formed by the ray n on the annular plane moves to the edge of the annular plane; then, marking the position of a light spot formed by a ray n as e;
e. the rotating plate is driven to rotate downwards for a certain angle, so that the rays m and n hit the ground again, and two light spots formed by the rays m and n on the ground are ensured to fall on a straight line
The above step (1); then, marking the position of a light spot formed by the ray n as f;
f. the line segment formed by the connection line of the positions d and f is
Line segments are made on the ground
Perpendicular bisector (S)
Perpendicular bisector
The working position of the primary side plugging plate dismounting robot is positioned on the perpendicular bisector of the primary side plugging plate dismounting robot for the projection line of the center line of the manhole on the ground
Moving the formed path;
in this step, "edges" in the sub-steps b and d are both the outer edges of the annular plane, or both the inner edges of the annular plane.
2. The method of positioning a primary-side blocking plate dismounting robot of claim 1, further comprising: it also includes the step S03 following the step S02;
s03, determining the working position:
drive auxiliary positioning device along perpendicular bisector
And moving the water chamber in the direction close to the water chamber, adjusting the angle of the rotating plate in real time in the moving process to enable the rays m and n to always hit on the annular plane, simultaneously reading the distance s from the laser ranging sensor A or the laser ranging sensor B to the annular plane, and marking the distance s on the ground when the distance s is 1450mm, wherein the marked position is the working position of the primary side plugging plate dismounting robot.
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