CN203962001U - A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system - Google Patents
A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system Download PDFInfo
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- CN203962001U CN203962001U CN201320866404.XU CN201320866404U CN203962001U CN 203962001 U CN203962001 U CN 203962001U CN 201320866404 U CN201320866404 U CN 201320866404U CN 203962001 U CN203962001 U CN 203962001U
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Abstract
The utility model discloses a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system, comprise imaging device, image processing equipment, computer, PLC, control chip, electromagnetic valve, hydraulic actuator and sensor.The positioning precision of a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system that the utility model provides is high, low to light source requirements, even do not need additionally to arrange light source, its imaging device is easy for installation, and required installing space is little, in addition, this full-automatic control system can also improve speed of application, also can reduce construction total cost.
Description
Technical field
The utility model relates to duct piece assembling machine technical field, relates in particular to a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system.
Background technology
At present Domestic Shield machine pipe sheet assembling system is to adopt the mode of remote control to control executive system according to the observation of human eye, adopts this Segment assembling method to carry out that in assembled process, positioning precision is poor, speed of application is slower, causes construction total cost higher.In addition, the external light method of cutting that adopted is calculated the shield machine that carries out automatic pipe sheet assembling, the section of jurisdiction automatic assembling device of this shield machine utilizes light to cut method structure active vision technology and surveys position and the form of assembling section of jurisdiction, can cut on picture the location situation of having established section of jurisdiction that shows at light, clamping/the revolution of its assembling hoist and assembling location, can determine coarse localization and trickle location, this system adopts structured light active vision technology, therefore needing has specific lasing light emitter, three groups of laser instruments and one group of shooting unit need to be installed, cause inconvenience to installation, and requisite space is larger.
Summary of the invention
The technical problems to be solved in the utility model is, poor for pipe sheet assembling positioning precision in prior art, need to have specific lasing light emitter, inconvenience be installed and required installing space is large, speed of application is slow and the high above-mentioned defect of construction total cost, provide a kind of positioning precision high, to light source requirements low even do not need additionally to arrange light source, imaging device installing space easy for installation and required little, be of value to the shield pipe sheet assembling machine six degree of freedom full-automatic control system that improves speed of application and reduce construction total cost.
The utility model solves the technical scheme that its technical problem adopts: a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system, comprises imaging device, image processing equipment, computer, PLC, control chip, electromagnetic valve, hydraulic actuator and sensor;
Imaging device, makes a video recording for treating the inner surface area of segment assembly and the section of jurisdiction to be assembled region that contacts with segment assembly, at least obtains a some P in section of jurisdiction to be assembled inner surface area
3positional information, the region that contacts with segment assembly in section of jurisdiction to be assembled at least obtain two some P
1and P
2positional information, and by P
1, P
2and P
3positional information send to image processing equipment;
Image processing equipment, is receiving P
1, P
2and P
3positional information after, analyze P
1, P
2and P
3the gap of segment assembly seamed edge (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c), and by gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) send to computer;
Sensor, detect, and the positional information in shield machine feeds back to control chip by hydraulic actuator for the amount of exercise to hydraulic actuator and hydraulic actuator in the positional information of shield machine;
Computer, for the shield machine tomograph of pre-stored duct piece assembling machine present position, sensor successively the hydraulic actuator by control chip and PLC feedback at the positional information of shield machine, gap (the Δ l that image processing equipment sends
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) with sensor again by the positional information in shield machine after the hydraulic actuator coarse adjustment of control chip and PLC feedback; According to the shield machine tomograph of duct piece assembling machine present position and sensor, the positional information analysis of the hydraulic actuator by control chip and PLC feedback in shield machine obtains the trajectory planning information of coarse adjustment campaign and sends to PLC successively, according to gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) again estimate out the amount of exercise of hydraulic actuator and export to PLC by the positional information in shield machine after the hydraulic actuator coarse adjustment of control chip and PLC feedback with sensor;
PLC, after the trajectory planning information of the positional information of the hydraulic actuator of accepting sensor feedback in shield machine, coarse adjustment campaign, the hydraulic actuator coarse adjustment of sensor feedback shield machine positional information and the amount of exercise of hydraulic actuator and send out;
Electromagnetic valve, for driving hydraulic actuator;
Control chip is connected with sensor and PLC communication.
Improve as the one to technical scheme described in the utility model, hydraulic actuator comprises the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor, the second circumferential movement hydraulic motor, the first radial motion hydraulic jack, the second radial motion hydraulic fluid compressing cylinder, rolls hydraulic jack and oscillating hydraulic cylinder.
Improve as the one to technical scheme described in the utility model, electromagnetic valve comprises the first electromagnetic valve and the second electromagnetic valve for driving the first axially-movable hydraulic cylinder, for driving the 3rd electromagnetic valve and the 4th electromagnetic valve of the second axially-movable hydraulic cylinder, for driving the 5th electromagnetic valve and the 6th electromagnetic valve of the first axially-movable hydraulic motor, for driving the 7th electromagnetic valve and the 8th electromagnetic valve of the second circumferential movement hydraulic motor, for driving the 9th electromagnetic valve and the tenth electromagnetic valve of the first radial motion hydraulic jack, for driving the 11 electromagnetic valve and the 12 electromagnetic valve of the second radial motion hydraulic jack, roll the 13 electromagnetic valve of hydraulic jack and the 14 electromagnetic valve and for driving the 15 electromagnetic valve and the 16 electromagnetic valve of oscillating hydraulic cylinder for driving.
Improve as the one to technical scheme described in the utility model, sensor comprises the first displacement transducer, second displacement sensor, angular transducer, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer; The first displacement transducer, second displacement sensor, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer are respectively used to the stroke that detects the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack, the second radial motion hydraulic jack, rolls hydraulic jack and oscillating hydraulic cylinder, and angular transducer is for detection of the anglec of rotation of the first axially-movable hydraulic motor and the second axially-movable hydraulic motor.
Improve as the one to technical scheme described in the utility model, imaging device comprises 2 video cameras.
Improve as the one to technical scheme described in the utility model, in image processing equipment and PLC, be provided with clock circuit module.
In shield pipe sheet assembling machine six degree of freedom full-automatic control system described in the utility model, imaging device, 2 video cameras are arranged on the rotation disk body of duct piece assembling machine, in the time choosing camera lens, should be noted that the several respects such as the requirement that extends radially out stroke range, section of jurisdiction specification, precision that vision detection system detects position, section of jurisdiction and the gap to pipe sheet assembling of duct piece assembling machine.
In shield pipe sheet assembling machine six degree of freedom full-automatic control system described in the utility model, the motion of duct piece assembling machine comprises coarse adjustment campaign and fine setting motion, coarse adjustment campaign is taking the tomograph of shield machine as basis, obtain the movable space of duct piece assembling machine, computer is determined its position in shield machine according to the feedback signal of sensor, can obtain duct piece assembling machine axially-movable according to the assembled position of segment array system-computed, the general stroke of radial motion and circumferential movement is also made the planning of movement locus, ensure can not interfere with shield machine in coarse adjustment motion process, specific as follows:
The pre-stored shield machine tomograph that has duct piece assembling machine present position in step 1, computer;
Step 2, the first displacement transducer, second displacement sensor, triple motion sensor and the 4th displacement transducer detect respectively the position signalling of the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack and the second radial motion hydraulic jack, meanwhile, angular transducer detects the angle signal of the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, and the position signalling detecting and angle signal are transferred to computer by PLC;
Step 3, computer can be analyzed and obtain the position of current duct piece assembling machine in shield machine according to the angle signal of position signalling, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor of the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack and the second radial motion hydraulic jack that receive, computer is the positional information in shield machine according to shield machine tomograph and duct piece assembling machine, analyze the trajectory planning information that obtains coarse adjustment campaign, and this trajectory planning information is sent to PLC;
Step 4, the trajectory planning information that PLC sends according to computer, and by control chip, trajectory planning instruction is exported to the first electromagnetic valve, the second electromagnetic valve, the 3rd electromagnetic valve, the 4th electromagnetic valve, the 5th electromagnetic valve, the 6th electromagnetic valve, the 7th electromagnetic valve, the 8th electromagnetic valve, the 9th electromagnetic valve, the tenth electromagnetic valve, the 11 electromagnetic valve, the 12 electromagnetic valve, the 13 electromagnetic valve, the 14 electromagnetic valve, the 15 electromagnetic valve and the 16 electromagnetic valve, by above-mentioned each solenoid-driven the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor, the second circumferential movement hydraulic motor, the first radial motion hydraulic jack, the second radial motion hydraulic jack, rolling hydraulic jack and oscillating hydraulic cylinder moves to corresponding position or rotates to corresponding angle according to trajectory planning instruction,
Step 5, repeating step 2, if each executive component arrives corresponding position and angle according to the coarse adjustment movement locus of setting, coarse adjustment finishes; Otherwise, repeating step 3 and step 4.
After coarse adjustment campaign puts in place, start duct piece assembling machine to carry out fine tuning, concrete steps are as follows:
Step 1, utilize a wherein video camera to treat segment assembly inside and make a video recording, obtain at least one some P
3positional information, meanwhile, utilize an other video camera to treat segment assembly and make a video recording with the near zone that segment assembly contacts, at least obtain 2 P
1and P
2positional information, and by P
1, P
2and P
3this positional information of 3 sends to image processing equipment;
Step 2, utilize image processing equipment to P
1, P
2and P
3segment assembly seamed edge image carries out edge extracting, and analyzes acquisition P
1, P
2and P
3these 3 with the gap of segment assembly seamed edge (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c), and by gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) signal is transferred to computer;
If step 3 gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) within error range, this piece section of jurisdiction is installed and finished, and carries out the installation of next piece section of jurisdiction;
If gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) not within error range, computer is according to the position of duct piece assembling machine after coarse adjustment and gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) information, by setting up the Motion Controlling Model of six-freedom motion, estimate out the amount of exercise of each hydraulic actuator by this Motion Controlling Model, the anglec of rotation P of the amount of the being synchronized with the movement M of the first radial motion hydraulic jack and the second radial motion hydraulic jack and differential amount N, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, the first axially-movable hydraulic cylinder and the second axially-movable hydraulic cylinder stroke Q, roll the stroke R of hydraulic jack and the stroke S of oscillating hydraulic cylinder, and the amount of exercise of each hydraulic actuator is exported to PLC;
Step 4, amount of exercise and first displacement transducer of each hydraulic actuator that PLC sends according to computer, second displacement sensor, angular transducer, triple motion sensor, the 4th displacement transducer, the position signalling of the duct piece assembling machine after the coarse adjustment that the 5th displacement transducer and the 6th displacement transducer detect again, outputting analog signal and data signal are to the first radial motion hydraulic jack, the second radial motion hydraulic jack, the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, and to the first radial motion hydraulic jack, the second radial motion hydraulic jack, the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, speed and the amount of exercise of the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor are controlled, in addition, going back output digit signals controls to the direction of motion and the amount of exercise that roll hydraulic jack and oscillating hydraulic cylinder control inclination hydraulic jack and oscillating hydraulic cylinder,
Step 5, repeating step 1 and step 2, if gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) within error range, this piece is installed and finished, and carries out the installation of next piece section of jurisdiction;
If gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) still not within error range, continue repeating step 3 and 4.
In shield segment assembling six degree of freedom full-automatic control system described in the utility model, image processing equipment is often handled image one time, will send gap (Δ l one time to computer
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) testing result, computer once upgrades the movement instruction of each hydraulic actuator, until gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) meet engineering construction requirement, now, stop the motion of duct piece assembling machine.
In sum, in shield pipe sheet assembling machine six degree of freedom full-automatic control system described in the utility model, imaging device, image processing equipment and computer have been realized machine vision technique jointly, thereby be beneficial to machine vision technique duct piece assembling machine is carried out to Automatic Control, the positioning precision of machine vision technique is high, lower to light source requirements, on-the-spot lighting condition well even can additionally arrange light source, does not more need to arrange specific lasing light emitter.In addition, while imaging device being arranged on the rotation disk body of duct piece assembling machine, light cuts law technology relatively, easy for installation, and required installing space is little, can learn the particular location of each point on section of jurisdiction from image, makes the image that detects more directly perceived; In addition, adopt machine vision technique to carry out Automatic Control to duct piece assembling machine, also accelerated speed of application, and be conducive to reduce construction total cost.
In addition, in shield pipe sheet assembling machine six degree of freedom full-automatic control system described in the utility model, in image processing equipment and PLC, be provided with clock circuit module, such design be convenient to computer selecting mutually testing result in the same time control, be of value to the positioning precision that improves described shield pipe sheet assembling machine six degree of freedom full-automatic control system.
In the technical scheme described in the utility model, all being not specifically noted, all can be by adopting the conventional means in this area realize the technical program.
Therefore, the utility model provides a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system, the positioning precision of this full-automatic control system is high, low to light source requirements, even do not need additionally to arrange light source, its imaging device is easy for installation, and required installing space is little, in addition, this full-automatic control system can also improve speed of application, also can reduce construction total cost.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the theory diagram of the utility model shield pipe sheet assembling machine six degree of freedom full-automatic control system;
Fig. 2 is imaging device shooting schematic diagram;
Fig. 3 is pipe sheet assembling action flow chart;
In Fig. 2,1 is segment assembly, and 2 is section of jurisdiction to be assembled, P
1and P
2for contact with segment assembly two points in region of section of jurisdiction to be assembled, P
3for a point of section of jurisdiction to be assembled inner surface area.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
In the utility model preferred embodiment, a kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system, as shown in Figure 1, comprises imaging device, image processing equipment, computer, PLC, control chip, electromagnetic valve, hydraulic actuator and sensor; Imaging device, image processing equipment, computer, PLC and control chip are connected successively, and electromagnetic valve drives the motion of hydraulic actuator under the control of main control chip, sensor is for detection of amount of exercise and the positional information of hydraulic actuator in shield machine of hydraulic actuator, and the positional information in shield machine feeds back to control chip by hydraulic actuator.
Imaging device, makes a video recording for treating the inner surface area of segment assembly 2 and section of jurisdiction to be assembled 2 region that contacts with segment assembly 1, as shown in Figure 2, at least obtains a some P in section of jurisdiction to be assembled 2 inner surface area
3positional information, the region that contacts with segment assembly 1 in section of jurisdiction 2 to be assembled at least obtain two some P
1and P
2positional information, and by P
1, P
2and P
3positional information send to image processing equipment;
Image processing equipment, is receiving P
1, P
2and P
3positional information after, analyze P
1, P
2and P
3gap (the Δ l of segment assembly 1 seamed edge
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c), and by gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) send to computer;
Sensor, detect, and the positional information in shield machine feeds back to control chip by hydraulic actuator for the amount of exercise to hydraulic actuator and hydraulic actuator in the positional information of shield machine;
Computer, for the shield machine tomograph of pre-stored duct piece assembling machine present position, sensor successively the hydraulic actuator by control chip and PLC feedback at the positional information of shield machine, gap (the Δ l that image processing equipment sends
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) with sensor again by the positional information in shield machine after the hydraulic actuator coarse adjustment of control chip and PLC feedback; According to the shield machine tomograph of duct piece assembling machine present position and sensor, the positional information analysis of the hydraulic actuator by control chip and PLC feedback in shield machine obtains the trajectory planning information of coarse adjustment campaign and sends to PLC successively, according to gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) again estimate out the amount of exercise of hydraulic actuator and export to PLC by the positional information in shield machine after the hydraulic actuator coarse adjustment of control chip and PLC feedback with sensor;
PLC, after the trajectory planning information of the positional information of the hydraulic actuator of accepting sensor feedback in shield machine, coarse adjustment campaign, the hydraulic actuator coarse adjustment of sensor feedback shield machine positional information and the amount of exercise of hydraulic actuator and send out;
Electromagnetic valve, for driving hydraulic actuator;
Control chip is connected with sensor and PLC communication.
Wherein, hydraulic actuator comprises the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor, the second circumferential movement hydraulic motor, the first radial motion hydraulic jack, the second radial motion hydraulic fluid compressing cylinder, rolls hydraulic jack and oscillating hydraulic cylinder, electromagnetic valve comprises the first electromagnetic valve and the second electromagnetic valve for driving the first axially-movable hydraulic cylinder, for driving the 3rd electromagnetic valve and the 4th electromagnetic valve of the second axially-movable hydraulic cylinder, for driving the 5th electromagnetic valve and the 6th electromagnetic valve of the first axially-movable hydraulic motor, for driving the 7th electromagnetic valve and the 8th electromagnetic valve of the second circumferential movement hydraulic motor, for driving the 9th electromagnetic valve and the tenth electromagnetic valve of the first radial motion hydraulic jack, for driving the 11 electromagnetic valve and the 12 electromagnetic valve of the second radial motion hydraulic jack, roll the 13 electromagnetic valve of hydraulic jack and the 14 electromagnetic valve and for driving the 15 electromagnetic valve and the 16 electromagnetic valve of oscillating hydraulic cylinder for driving, sensor comprises the first displacement transducer, second displacement sensor, angular transducer, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer, the first displacement transducer, second displacement sensor, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer are respectively used to the stroke that detects the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack, the second radial motion hydraulic jack, rolls hydraulic jack and oscillating hydraulic cylinder, and angular transducer is for detection of the anglec of rotation of the first axially-movable hydraulic motor and the second axially-movable hydraulic motor.
Imaging device comprises 2 video cameras, and in image processing equipment and PLC, is provided with clock circuit module.
In the present embodiment, comprise 5 sections of jurisdiction, it is 25 that these 5 sections of jurisdiction are respectively a radian
ojacking block, two radians be 66.25
ocontiguous block and three radians be 67.5
ocalibrated bolck, and the section of jurisdiction external diameter of these 5 sections of jurisdiction is 6200mm, section of jurisdiction internal diameter is 5500mm, section of jurisdiction length is 1200mm; Duct piece assembling machine radial expansion length 1000mm, in the gap 1mm of assembled effect requirements section of jurisdiction, in faulting of slab ends 5mm.
2 video cameras are arranged on the rotation disk body on duct piece assembling machine, and the resolution ratio of 2 video cameras, higher than 1000 μ m/ pixels, can ensure that imaging device can reach 1mm to the positioning precision of section of jurisdiction.In addition, the requirement of camera lens partial parameters: field range be 600mm × 800mm and above, resolution ratio higher than 1000 μ m/ pixels, operating distance (before camera lens, the side of putting is to the distance of object) for more than 1500mm.Because section of jurisdiction size is larger, adopt two video cameras to treat respectively the inner surface area of segment assembly 2 and section of jurisdiction to be assembled 2 region that contacts with segment assembly 1 and make a video recording, obtain respectively P
3, P
1and P
2positional information.
Control chip adopts the ET200M of Siemens, PLC adopts Siemens S7-400, between computer and PLC, adopt RS485 serial ports to communicate, between computer and image processing equipment, carry out serial communication by RS485 interface, above-mentioned each sensor is connected with PLC by ET200M.
After duct piece assembling machine grasping pipe piece, start the six-freedom degree motion of duct piece assembling machine.Fig. 3 is pipe sheet assembling action flow chart, and as can be seen from Figure 3, six-freedom motion divides two stages: first carry out coarse adjustment campaign, after carry out fine tuning campaign, the process of coarse adjustment and fine tuning is specific as follows:
The coarse adjustment of 2 positions, section of jurisdiction to be assembled based on shield machine tomograph:
The pre-stored shield machine tomograph that has duct piece assembling machine present position in step 1, computer;
Step 2, the first displacement transducer, second displacement sensor, triple motion sensor and the 4th displacement transducer detect respectively the position signalling of the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack and the second radial motion hydraulic jack, meanwhile, angular transducer detects the angle signal of the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, and the position signalling detecting and angle signal are transferred to computer by PLC;
Step 3, computer can be analyzed and obtain the position of current duct piece assembling machine in shield machine according to the angle signal of position signalling, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor of the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack and the second radial motion hydraulic jack that receive, computer is the positional information in shield machine according to shield machine tomograph and duct piece assembling machine, analyze the trajectory planning information that obtains coarse adjustment campaign, and this trajectory planning information is sent to PLC;
Step 4, the trajectory planning information that PLC sends according to computer, and by ET200M, trajectory planning instruction is exported to the first electromagnetic valve, the second electromagnetic valve, the 3rd electromagnetic valve, the 4th electromagnetic valve, the 5th electromagnetic valve, the 6th electromagnetic valve, the 7th electromagnetic valve, the 8th electromagnetic valve, the 9th electromagnetic valve, the tenth electromagnetic valve, the 11 electromagnetic valve, the 12 electromagnetic valve, the 13 electromagnetic valve, the 14 electromagnetic valve, the 15 electromagnetic valve and the 16 electromagnetic valve, by above-mentioned each solenoid-driven the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor, the second circumferential movement hydraulic motor, the first radial motion hydraulic jack, the second radial motion hydraulic jack, rolling hydraulic jack and oscillating hydraulic cylinder moves to corresponding position or rotates to corresponding angle according to trajectory planning instruction,
Step 5, repeating step 2, if each hydraulic actuator arrives corresponding position and angle according to the coarse adjustment movement locus of setting, coarse adjustment finishes; Otherwise, repeating step 3 and step 4.
After coarse adjustment finishes, start to carry out fine tuning, concrete steps and process are as follows:
Step 1, utilize a wherein video camera to treat segment assembly 2 inside and make a video recording, obtain at least one some P
3positional information, meanwhile, utilize an other video camera to treat segment assembly 2 and make a video recording with the near zone that segment assembly 1 contacts, at least obtain 2 P
1and P
2positional information, and by P
1, P
2and P
3this positional information of 3 sends to image processing equipment;
Step 2, utilize image processing equipment to P
1, P
2and P
3segment assembly 1 seamed edge image carries out edge extracting, and analyzes acquisition P
1, P
2and P
3these 3 with gap (the Δ l of segment assembly 1 seamed edge
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c), and by gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) signal is transferred to computer;
If step 3 gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) within error range, this piece section of jurisdiction is installed and finished, and carries out the installation of next piece section of jurisdiction;
If gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) not within error range, computer is according to the position of duct piece assembling machine after coarse adjustment and gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) information, by setting up the Motion Controlling Model of six-freedom motion, estimate out the amount of exercise of each hydraulic actuator by this Motion Controlling Model, the anglec of rotation P of the amount of the being synchronized with the movement M of the first radial motion hydraulic jack and the second radial motion hydraulic jack and differential amount N, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, the first axially-movable hydraulic cylinder and the second axially-movable hydraulic cylinder stroke Q, roll the stroke R of hydraulic jack and the stroke S of oscillating hydraulic cylinder, and the amount of exercise of each hydraulic actuator is exported to PLC;
Step 4, amount of exercise and first displacement transducer of each hydraulic actuator that PLC sends according to computer, second displacement sensor, angular transducer, triple motion sensor, the 4th displacement transducer, the position signalling of the duct piece assembling machine after the coarse adjustment that the 5th displacement transducer and the 6th displacement transducer detect again, outputting analog signal and data signal are to the first radial motion hydraulic jack, the second radial motion hydraulic jack, the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor, and to the first radial motion hydraulic jack, the second radial motion hydraulic jack, the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, speed and the amount of exercise of the first circumferential movement hydraulic motor and the second circumferential movement hydraulic motor are controlled, in addition, going back output digit signals controls to the direction of motion and the amount of exercise that roll hydraulic jack and oscillating hydraulic cylinder control inclination hydraulic jack and oscillating hydraulic cylinder,
Step 5, repeating step 1 and step 2, if gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) within error range, this piece is installed and finished, and carries out the installation of next piece section of jurisdiction;
If gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) still not within error range, continue repeating step 3 and 4.
Imaging device, image processing equipment and computer in shield pipe sheet assembling machine six degree of freedom full-automatic control system in the present embodiment have been realized machine vision technique jointly, realize the Automatic Control to duct piece assembling machine, and positioning precision is high, lower to light source requirements, on-the-spot lighting condition is good, light source even can be additionally set, more not need to arrange specific lasing light emitter; In addition, the imaging device in the present embodiment is arranged on the rotation disk body of duct piece assembling machine, and light cuts law technology relatively, easy for installation, and required installing space is little, can learn the particular location of point on section of jurisdiction from image, make the image that detects more directly perceived; In addition, adopt machine vision technique to carry out Automatic Control to duct piece assembling machine, also accelerated speed of application, and be conducive to reduce construction total cost.
Claims (6)
1. a shield pipe sheet assembling machine six degree of freedom full-automatic control system, is characterized in that, comprises imaging device, image processing equipment, computer, PLC, control chip, electromagnetic valve, hydraulic actuator and sensor; Imaging device, image processing equipment, computer, PLC and control chip are connected successively;
Described imaging device, makes a video recording for treating the inner surface area of segment assembly and the section of jurisdiction to be assembled region that contacts with segment assembly, at least obtains a some P in section of jurisdiction to be assembled inner surface area
3positional information, the region that contacts with segment assembly in section of jurisdiction to be assembled at least obtain two some P
1and P
2positional information, and by described P
1, P
2and P
3positional information send to image processing equipment;
Described image processing equipment, is receiving described P
1, P
2and P
3positional information after, analyze described P
1, P
2and P
3the gap of segment assembly seamed edge (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c), and by described gap (Δ l
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) send to described computer;
Described sensor, detect, and the positional information in shield machine feeds back to described control chip by described hydraulic actuator for the amount of exercise to described hydraulic actuator and hydraulic actuator in the positional information of shield machine;
Described computer, for the shield machine tomograph of pre-stored duct piece assembling machine present position, sensor successively the hydraulic actuator by described control chip and PLC feedback at the positional information of shield machine, gap (the Δ l that image processing equipment sends
a, Δ l
b, Δ l
c) and the discrepancy in elevation (Δ h
a, Δ h
b, Δ h
c) positional information after the hydraulic actuator coarse adjustment of again feeding back by described control chip and PLC with sensor in shield machine;
Described PLC, after the trajectory planning information of the positional information of the hydraulic actuator of accepting described sensor feedback in shield machine, coarse adjustment campaign, the hydraulic actuator coarse adjustment of sensor feedback shield machine positional information and the amount of exercise of hydraulic actuator and send out;
Described electromagnetic valve, for driving described hydraulic actuator;
Described control chip is connected with described sensor and PLC communication.
2. shield pipe sheet assembling machine six degree of freedom full-automatic control system according to claim 1, it is characterized in that, described hydraulic actuator comprises the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first circumferential movement hydraulic motor, the second circumferential movement hydraulic motor, the first radial motion hydraulic jack, the second radial motion hydraulic fluid compressing cylinder, rolls hydraulic jack and oscillating hydraulic cylinder.
3. shield pipe sheet assembling machine six degree of freedom full-automatic control system according to claim 2, it is characterized in that, described electromagnetic valve comprises the first electromagnetic valve and the second electromagnetic valve for driving described the first axially-movable hydraulic cylinder, for driving the 3rd electromagnetic valve and the 4th electromagnetic valve of described the second axially-movable hydraulic cylinder, for driving the 5th electromagnetic valve and the 6th electromagnetic valve of described the first axially-movable hydraulic motor, for driving the 7th electromagnetic valve and the 8th electromagnetic valve of described the second circumferential movement hydraulic motor, for driving the 9th electromagnetic valve and the tenth electromagnetic valve of described the first radial motion hydraulic jack, for driving the 11 electromagnetic valve and the 12 electromagnetic valve of described the second radial motion hydraulic jack, for driving the 13 electromagnetic valve of described inclination hydraulic jack and the 14 electromagnetic valve and for driving the 15 electromagnetic valve and the 16 electromagnetic valve of described oscillating hydraulic cylinder.
4. according to the shield pipe sheet assembling machine six degree of freedom full-automatic control system described in any one in claim 1-3, it is characterized in that, described sensor comprises the first displacement transducer, second displacement sensor, angular transducer, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer; Described the first displacement transducer, second displacement sensor, triple motion sensor, the 4th displacement transducer, the 5th displacement transducer and the 6th displacement transducer are respectively used to the stroke that detects described the first axially-movable hydraulic cylinder, the second axially-movable hydraulic cylinder, the first radial motion hydraulic jack, the second radial motion hydraulic jack, rolls hydraulic jack and oscillating hydraulic cylinder, and described angular transducer is for detection of the anglec of rotation of described the first axially-movable hydraulic motor and the second axially-movable hydraulic motor.
5. shield pipe sheet assembling machine six degree of freedom full-automatic control system according to claim 1, is characterized in that, described imaging device comprises 2 video cameras.
6. shield pipe sheet assembling machine six degree of freedom full-automatic control system according to claim 1, is characterized in that, is provided with clock circuit module in described image processing equipment and PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320866404.XU CN203962001U (en) | 2013-12-26 | 2013-12-26 | A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320866404.XU CN203962001U (en) | 2013-12-26 | 2013-12-26 | A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system |
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| CN203962001U true CN203962001U (en) | 2014-11-26 |
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| CN201320866404.XU Withdrawn - After Issue CN203962001U (en) | 2013-12-26 | 2013-12-26 | A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104747213A (en) * | 2013-12-26 | 2015-07-01 | 江苏凯宫隧道机械有限公司 | Shield tunneling segment erector six-freedom-degree full automatic control system |
| CN105134224A (en) * | 2015-09-04 | 2015-12-09 | 上海市机械施工集团有限公司 | Control method for rectangular shield assembling machine |
| CN109891052A (en) * | 2016-10-04 | 2019-06-14 | 布伊古公共工程公司 | For automatic Picking and section of jurisdiction is laid with to form the device and method of tunnel-liner |
-
2013
- 2013-12-26 CN CN201320866404.XU patent/CN203962001U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104747213A (en) * | 2013-12-26 | 2015-07-01 | 江苏凯宫隧道机械有限公司 | Shield tunneling segment erector six-freedom-degree full automatic control system |
| CN105134224A (en) * | 2015-09-04 | 2015-12-09 | 上海市机械施工集团有限公司 | Control method for rectangular shield assembling machine |
| CN109891052A (en) * | 2016-10-04 | 2019-06-14 | 布伊古公共工程公司 | For automatic Picking and section of jurisdiction is laid with to form the device and method of tunnel-liner |
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