CN115503845A - Self-walking device for precision measurement of guide rail of marine equipment - Google Patents
Self-walking device for precision measurement of guide rail of marine equipment Download PDFInfo
- Publication number
- CN115503845A CN115503845A CN202210923616.0A CN202210923616A CN115503845A CN 115503845 A CN115503845 A CN 115503845A CN 202210923616 A CN202210923616 A CN 202210923616A CN 115503845 A CN115503845 A CN 115503845A
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- guide rail
- self
- measurement
- measuring
- magnetic wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention belongs to the technical field of self-walking devices, and particularly relates to a self-walking device for precision measurement of a guide rail of marine equipment, which comprises a frame, adsorption magnetic wheel groups connected to two ends of the frame, a driving motor for driving the adsorption magnetic wheel groups to rotate and a measurement tool adjusting mechanism, wherein the measurement tool adjusting mechanism comprises a measurement tool, a sliding block connected to the measurement tool, a first sliding rail for sliding the sliding block and a second sliding rail connected to the frame and for sliding the first sliding rail, and the sliding directions of the first sliding rail and the sliding block are mutually vertical; the measuring tool stretches out of the measuring arm towards the direction of the guide rail. The invention is used for solving the technical problems that the guide rail needs to be manually climbed at present, the measurement time is long, the labor intensity is high, artificial measurement errors exist, and the accidental falling risk exists.
Description
Technical Field
The invention belongs to the technical field of self-walking devices, and particularly relates to a self-walking device for precision measurement of a guide rail of marine equipment.
Background
The marine facility is provided with a pair of vertically arranged guide rails for guiding and positioning. Due to the limitation of functions and conditions, the vertically arranged guide rail can generate micro displacement along with the deformation of the ship body, so that the precision of the guide rail needs to be measured regularly through a measuring instrument, and a basis is provided for the adjustment of the follow-up guide rail.
The existing precision measurement method depends on a measurer to climb along a guide rail in the vertical direction, a positioning tool is placed at an appointed height position, a measuring instrument is used for completing measurement, then the positioning tool is taken back and climbed to the next height position, and measurement is continued.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a self-walking device for precision measurement of a guide rail of marine equipment, which comprises an adsorption magnetic wheel group and a measurement tool adjusting mechanism, wherein the adsorption magnetic wheel group can realize adsorption and movement of a vehicle frame on the guide rail, and a measurement tool of the measurement tool adjusting mechanism can be abutted against the guide rail to mark the trend of the guide rail in the movement process of the vehicle frame along the guide rail, so that the technical problems that the guide rail needs to be manually climbed at present, the measurement time is long, the labor intensity is high, artificial measurement errors exist, and the accidental falling risk exists are solved.
In order to achieve the purpose, the technical scheme of the invention is as follows: a self-walking device for precision measurement of guide rails of marine equipment comprises a frame, adsorption magnetic wheel sets connected to two ends of the frame, a driving motor for driving the adsorption magnetic wheel sets to rotate and a measuring tool adjusting mechanism, wherein the measuring tool adjusting mechanism comprises a measuring tool, a sliding block connected to the measuring tool, a first sliding rail for sliding the sliding block and a second sliding rail connected to the frame and used for sliding the first sliding rail, and the sliding directions of the first sliding rail and the sliding block are perpendicular to each other; the measuring tool stretches out of the measuring arm towards the direction of the guide rail.
Preferably, the slider is driven by a stepper motor.
Preferably, the adsorption magnetic wheel set comprises a driving magnetic wheel and a driven magnetic wheel, and the driving magnetic wheel is driven by the driving motor.
Preferably, the driving magnetic wheel and the driven magnetic wheel are both connected to the frame through a transmission mechanism, the frame comprises a bearing assembly and a shaft, and the driving magnetic wheel is connected to the driving motor through a shaft.
Preferably, a control module is arranged in the frame and used for controlling the stepping motor and the driving motor.
Preferably, the self-walking device is further provided with a measuring platform for measuring the moving track of the measuring tool.
Preferably, the measuring platform comprises a three-dimensional coordinate measuring module connected to the end part of the guide rail and a laser target ball arranged on the measuring tool.
Preferably, the measuring platform further comprises a dynamic horizontal inclination measuring module group for determining a reference plane where the three-dimensional coordinate measuring module is located.
Preferably, the dynamic leveling inclination measuring module group includes a first dynamic leveling inclination measuring module and a second dynamic leveling inclination measuring module, and an installation bottom surface of the first dynamic leveling inclination measuring module and an installation top surface of the three-dimensional coordinate measuring module are in the same plane.
The technical scheme adopted by the invention has the beneficial effects that:
the frame is in three states of descending, climbing and keeping the height unchanged on the guide rail through magnetic adsorption and rotation of the magnetic wheels, the measuring tool of the measuring tool adjusting mechanism is abutted against the guide rail, the trend of the guide rail is marked in the process that the frame moves along the guide rail, the precision of the guide rail is adjusted, manual climbing of the guide rail is replaced, the measuring efficiency is improved, and the risk of accidental falling of measuring personnel is reduced. The adsorption magnetic wheel sets are arranged at the two ends of the frame and driven by the driving motor, so that the frame is kept unchanged in height, descends and climbs on the guide rail under the action of adsorption magnetic force and torque applied by the driving motor; through set up measurement frock guiding mechanism on the frame, including measuring frock, slider, first slide rail and second slide rail, the position of measuring frock can be realized adjusting in two perpendicular directions to the setting of first slide rail and second slide rail for measure the frock when necessary butt on the guide rail, measure the trend that frock characterization guide rail was measured to the in-process that the frame eye guide rail removed, accomplish the measurement of guide rail precision.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a self-walking device for measuring the precision of a guide rail of marine equipment in an operating state;
FIG. 2 is a schematic top view of an embodiment of a self-propelled device for measuring the accuracy of a guide rail of a marine facility;
FIG. 3 is a schematic view of an embodiment of a self-walking device for marine equipment rail accuracy measurement;
fig. 4 is a schematic view of a measuring tool adjusting mechanism of an embodiment of a self-walking device for precision measurement of a guide rail of marine equipment.
Wherein, in FIGS. 1-4, 100-self-propelled device, 200 guide rail; the method comprises the following steps of 1-a vehicle frame, 2-a measuring tool adjusting mechanism, 21-a measuring tool, 211-a measuring arm, 22-a sliding block, 23-a first sliding rail, 24-a second sliding rail, 3-an adsorption magnetic wheel set, 31-a driving magnetic wheel, 32-a driven magnetic wheel, 4-a driving motor, 5-a control module, 6-a power supply module and 7-a laser target ball.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and do not limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be noted that the guide rails on the ship are a pair of parallel guide rails, and the side of the guide rails close to each other is provided with a groove. The self-walking device 100 is adsorbed on the guide rail 200 through the adsorption magnetic wheel set 3, and the self-walking device 100 climbs and descends on the guide rail 200 through the driving of the adsorption magnetic wheel set 3 by the driving motor 4; the measuring tool 21 of the measuring tool adjusting mechanism 2 is provided with a measuring arm 211, and after the self-walking device 100 moves to a proper position on the guide rail 200, the measuring arm 211 is suspended into a groove on the guide rail 200 through the adjustment of the measuring tool adjusting mechanism 2, so that the precision of the guide rail 200 is measured.
The specific embodiment is as follows:
embodiment 1, as shown in fig. 1 to 4, a self-traveling device 100 for precision measurement of a guide rail of marine equipment includes a vehicle frame 1, an adsorption magnetic wheel group 3, a driving motor 4, and a measurement tool adjusting mechanism 2. The adsorption magnetic wheel set 3 is arranged at the left end and the right end of the frame 1, and the driving motor 4 is arranged in the frame 1 and used for driving the adsorption magnetic wheel set 3 to rotate.
In this embodiment, the adsorbing magnetic wheel set 3 selects the ndfeb magnet with strong attraction, and the magnetic attraction force F between the adsorbing magnetic wheel set 3 and the adsorbing plane B Supporting force F N （F B =F N ) Are all very large, the maximum static friction force F between the adsorption magnetic wheel group 3 and the adsorption plane is larger than the gravity (F = muF) N G), the self-walking device 100 is absorbed on a plane and does not fall by the static friction force f. When the self-walking device 100 is connected with the guide rail 200, the adsorption magnetic wheel set 3 is attached to the guide rail 200, the driving motor 4 is started and applies a moment to the adsorption magnetic wheel set 3 through magnetic adsorption, the moment enables the adsorption magnetic wheel set 3 not to roll, and the self-walking device 100 maintains a certain height on the guide rail 200 unchanged.
In this embodiment, the driving motor 4 is provided with a driver inside, and the driving data can be set by the driver, so that the driving motor 4 can drive the adsorption magnetic wheel set 3 to rotate while maintaining the torque. Therefore, the relative sliding between the adsorption magnetic wheel group 3 and the adsorption plane is avoided, and the driving motor 4 provides power output to enable the self-walking device 100 to ascend or descend. And after the self-walking device 100 reaches the designated height position, the driving motor 4 stops working, only the moment is maintained, and the self-walking device 100 is fixed at the designated position and keeps relatively static with the guide rail 200.
In this embodiment, the two measuring tool adjusting mechanisms 2 are respectively arranged at the left end and the right end of the top of the frame 1. The measuring tool adjusting mechanism 2 includes a measuring tool 21, a slider 22, a first slide rail 23, and a second slide rail 24. The second slide rail 24 is connected to the top of the frame 1 and extends in the front-rear direction. The first slide rail 23 is slidably connected to the second slide rail 24, and the first slide rail 23 extends in the left-right direction. The slider 22 is connected on first slide rail 23, drives the measurement frock 21 of connecting on slider 22 and moves about along first slide rail 23. A measuring arm 211 also projects over the measuring tool 21 in the direction of the respective guide rail 200. When the self-walking device 100 moves to a certain height on the guide rail 200 and keeps the height unchanged, the position of the measuring tool 21 is adjusted through the measuring tool adjusting mechanism 2, so that the measuring arm 211 is suspended in the groove on the guide rail 200 and attached to the inner wall, and the trend of the guide rail 200 can be represented through the measuring tool 21 in the process of moving the self-walking device 100 along the guide rail.
When the self-walking device for precision measurement of the guide rail of the marine equipment is used, the self-walking device 100 is ensured to maintain three states of constant height, descending and climbing on the track through the cooperation of the adsorption magnetic wheel set 3 and the driving motor 4; based on this, can replace artifical climbing guide rail 200 in order to accomplish the measurement to guide rail 200 from running gear 100, promote measurement of efficiency to reduce the risk that the measurement personnel accident falls. The top of the frame 1 is provided with a measuring tool adjusting mechanism 2, when the self-walking device 100 moves to a certain height on the guide rail 200 and keeps the height unchanged, the position of the measuring tool 21 is adjusted through the measuring tool adjusting mechanism 2, so that the measuring arm 211 is suspended in a groove on the guide rail 200 and attached to the inner wall, the measurement of the guide rail 200 is realized, the measuring arm 211 is retracted after the measurement is finished, and the measurement of the next point on the guide rail 200 is continued.
Further, the slider 22 is driven by a stepping motor (not shown in the drawings). In this embodiment, the stepping motor may be disposed on the first slide rail 23, and the driving slider 22 moves along the first slide rail 23.
In other embodiments, a step motor for driving the first slide rail is arranged on the frame, and the first slide rail is driven to move back and forth along the second slide rail, so that the position of the measuring tool can be adjusted more finely, and other structures are not repeated.
Further, the attracting magnetic wheel group 3 includes a driving magnetic wheel 31 and a driven magnetic wheel 32, and the two rows of magnetic wheels ensure the stability of the connection of the self-walking device 100 on the guide rail 200. The driving magnetic wheel 31 is connected with a driving motor 4 arranged in the frame 1, the driving magnetic wheel 31 is driven to rotate under the driving action of the driving motor 4, and the driving magnetic wheel 31 drives the driven magnetic wheel 32 to rotate.
Further, a transmission mechanism (not shown) is provided on the frame 1 for connecting the driving magnetic wheel 31 and the driven magnetic wheel 32. The drive mechanism includes a bearing assembly (not shown) and a shaft (not shown). For the driving magnetic wheel 31, a bearing assembly is arranged on the inner side wall of the frame 1, one end of a shaft is connected with the driving magnetic wheel 31, and the other end of the shaft penetrates through the bearing assembly and is connected with the driving motor 4. For the driven magnetic wheel 32, a bearing assembly is arranged on the inner side wall of the frame 1, one end of the shaft is connected with the driven magnetic wheel 32, and the other end of the shaft penetrates through the frame 1 to be connected with the bearing assembly.
Further, a control module 5 and a power module 6 are provided in the vehicle frame 1. The power module 6 supplies power, and the driving motor 4 and the stepping motor can be remotely controlled through the control module 5, so that the movement and measurement of the self-walking device 100 on the guide rail 200 can be remotely controlled.
Further, the self-walking device 100 is also provided with a measuring platform for measuring the moving track of the measuring tool 21 on the vehicle frame 1.
The measuring platform comprises a three-dimensional coordinate measuring module and a laser target ball 7. Laser target ball 7 sets up on measuring frock 21, moves the in-process and drives laser target ball 7 and remove from running gear 100, and then laser target ball 7 can characterize the trend of guide rail 200. When the laser three-dimensional coordinate measuring device is used, the three-dimensional coordinate measuring module is arranged at the end part of the guide rail 200, and the laser target ball 7 is matched with the three-dimensional coordinate measuring module on the measuring platform and used for reflecting a laser beam emitted by the three-dimensional coordinate measuring module 14, so that the position relation of the laser target ball 7 relative to the three-dimensional coordinate measuring module is obtained.
In this embodiment, the three-dimensional coordinate measuring module 14 may adopt a laser tracker, and can integrate advanced technologies such as a laser ranging technology, a photoelectric detection technology, a precision mechanical technology, a computer and control technology, and a modern numerical calculation theory to track a spatially moving target (target ball) and measure spatial three-dimensional coordinates of the target in real time.
Furthermore, the measuring platform also comprises a dynamic horizontal inclination measuring module group which is used for measuring the datum plane of the position where the three-dimensional coordinate measuring module is located.
Specifically, the dynamic horizontal inclination measurement module group comprises a first dynamic horizontal inclination measurement module and a second dynamic horizontal inclination measurement module. In this embodiment, the first dynamic horizontal inclination measurement module and the second dynamic horizontal inclination measurement module 15 both use a measurement device based on an inertial/satellite integrated navigation system, and can accurately measure the coordinate position of the point to be measured.
The installation bottom surface of the first dynamic horizontal inclination measurement module and the installation top surface of the three-dimensional coordinate measurement module are positioned on the same plane. The second dynamic horizontal inclination measurement module is arranged on the main reference platform of the ship where the guide rail 200 to be measured is located. Based on the method, the difference value of the included angles between two different positions of the ship and the ground horizontal plane can be precisely measured in real time to determine a measurement reference plane.
Through the cooperation of the state horizontal inclination measurement module group, the three-dimensional coordinate measurement module and the laser target ball, the guide rail installed on the ship can be conveniently measured.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the technical solution of the invention or to apply the concept and technical solution of the invention directly to other occasions without modification.
Claims (9)
1. A self-walking device for precision measurement of guide rails of marine equipment is characterized by comprising a frame, adsorption magnetic wheel sets connected to two ends of the frame, a driving motor for driving the adsorption magnetic wheel sets to rotate and a measurement tool adjusting mechanism, wherein the measurement tool adjusting mechanism comprises a measurement tool, a sliding block connected to the measurement tool, a first sliding rail for sliding the sliding block and a second sliding rail connected to the frame and used for sliding the first sliding rail, and the sliding directions of the first sliding rail and the sliding block are perpendicular to each other; the measuring tool stretches out of the measuring arm towards the direction of the guide rail.
2. The self-walking device for precision measurement of marine equipment guide rails according to claim 1, wherein the slide block is driven by a stepping motor.
3. The self-walking device for precision measurement of marine equipment guide rails according to claim 2, wherein the adsorption magnetic wheel set comprises a driving magnetic wheel and a driven magnetic wheel, and the driving magnetic wheel is driven by the driving motor.
4. The self-propelled device for marine equipment guide rail accuracy measurement of claim 3, wherein the driving magnetic wheel and the driven magnetic wheel are both connected to the frame through a transmission mechanism, the frame comprises a bearing assembly and a shaft, and the driving magnetic wheel is connected to the driving motor through the shaft.
5. The self-walking device for precision measurement of the guide rail of the marine equipment according to claim 4, wherein a control module is arranged in the frame and used for controlling the stepping motor and the driving motor.
6. The self-walking device for precision measurement of the guide rail of the marine equipment according to any one of claims 1-5, wherein the self-walking device is further provided with a measuring platform for measuring the moving track of the measuring tool.
7. The self-walking device for precision measurement of the guide rail of the marine equipment according to claim 6, wherein the measuring platform comprises a three-dimensional coordinate measuring module for connecting to the end of the guide rail and a laser target ball arranged on the measuring tool.
8. The self-propelled device for precision measurement of marine equipment guide rails according to claim 7, wherein the measuring platform further comprises a dynamic horizontal tilt measuring module group for determining a reference plane where the three-dimensional coordinate measuring module is located.
9. The self-propelled device for marine equipment guide rail accuracy measurement according to claim 8, wherein the dynamic horizontal inclination measuring module group comprises a first dynamic horizontal inclination measuring module and a second dynamic horizontal inclination measuring module, and a mounting bottom surface of the first dynamic horizontal inclination measuring module is in the same plane as a mounting top surface of the three-dimensional coordinate measuring module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210923616.0A CN115503845B (en) | 2022-08-02 | 2022-08-02 | Self-walking device for measuring precision of marine equipment guide rail |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210923616.0A CN115503845B (en) | 2022-08-02 | 2022-08-02 | Self-walking device for measuring precision of marine equipment guide rail |
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| CN115503845A true CN115503845A (en) | 2022-12-23 |
| CN115503845B CN115503845B (en) | 2023-09-05 |
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| CN115503845B (en) | 2023-09-05 |
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