CN206111183U - Segment erector space gesture measuring device and shield construct machine with inertial sensor - Google Patents
Segment erector space gesture measuring device and shield construct machine with inertial sensor Download PDFInfo
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- CN206111183U CN206111183U CN201621041831.4U CN201621041831U CN206111183U CN 206111183 U CN206111183 U CN 206111183U CN 201621041831 U CN201621041831 U CN 201621041831U CN 206111183 U CN206111183 U CN 206111183U
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- inertial sensor
- assembling machine
- duct piece
- piece assembling
- spatial attitude
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Abstract
The utility model discloses a segment erector space gesture measuring device and shield construct machine with inertial sensor. Segment erector space gesture measuring device includes inertial sensor module, data processing module and wireless transmission module. The inertial sensor module is used for surveying the angle of pitch, beat angle and the rotation angle that the machine was assembled to the buret piece. Data processing module is used for handling segment erector's space attitude information to it changes data to obtain the section of jurisdiction gesture. Wireless transmission module includes wireless transmitter and wireless receiver, and wireless transmitter is connected with inertial sensor module electricity, and wireless receiver is connected with the data processing module electricity. According to the utility model discloses a have inertial sensor's segment erector space gesture measuring device, an appearance is assembled to the section of jurisdiction can real -time detection, and installs simple to operate, high, small, the cost reduction of measurement accuracy.
Description
Technical field
The utility model is related to the spatial movement detection means of shield pipe sheet assembling machine attitude, has more particularly, to one kind
The duct piece assembling machine spatial attitude measurement apparatus of inertial sensor and shield machine.
Background technology
Duct piece assembling machine is part important in shield-tunneling construction.At present, pipe sheet assembling operation is moist, hotter and narrow
Shield working environment space in installed, and the visual range of workmen is limited in space, work exchange
Affected by such as noise etc.In addition, relying solely on the level of skill of workmen, splicing accuracy and assembled speed all can
There is larger fluctuation, it is difficult to ensure that the quality of pipe sheet assembling and process control.Especially since the assembled positioning of section of jurisdiction is to lean on
Artificial crawl and chisel cuts installation, and the breakage of section of jurisdiction happens occasionally, and causes the torsional deformation of tunnel leak and section of jurisdiction ring.And
Now artificial technical merit is uneven and labour is subject to the shortage of age and quantity to have influence on the matter of shield-tunneling construction
Amount.It is therefore desirable to the motion to assembling machine carries out accurate detection.
But, it is more now using assembling machine driver part because there are duct piece assembling machine multiple frees degree to move
Stroke measuring.For example, the detection of elevating movement：Crawled section of jurisdiction and the relative position between tubulature piece have been by inspection
The stroke realization of shield machine thrust oil cylinder is surveyed, its luffing angle will also be based on the angle of section of jurisdiction rotary position detection and carry out space
Geometric operation is obtained.The detection of beat motion：By the beat motion detection of segment assembly adopt with elevating movement detection
Technical method.Roll the detection of fine setting motion：By the rolling fine setting motion that section of jurisdiction is realized to rotary encoder detection.However,
Stroke sensor can only measure displacement, and the measurement to assembling machine angle remains a need for carrying out conversion process, it is difficult to ensure certainty of measurement.
In addition, rotary encoder is difficult to ensure that required precision in actual installation, if these detection datas are not accurate enough, input is also needed
Data processing is carried out in computer.
So, during pipe sheet assembling, it is necessary to using install it is easier, can direct detection and certainty of measurement it is higher
Spatial attitude detection sensor, realizes being accurately positioned for pipe sheet assembling, so as to ensure the safe and reliable and high-quality of assembling construction
Amount.
Utility model content
The application is intended to one of technical problem present at least prior art.For this purpose, the utility model is aimed to provide
A kind of duct piece assembling machine spatial attitude measurement apparatus with inertial sensor, with solve pipe sheet assembling accuracy of detection it is relatively low, peace
The problems such as filling big difficulty, data transfer and process loaded down with trivial details.
Another purpose of the present utility model is to provide a kind of with above-mentioned duct piece assembling machine spatial attitude measurement apparatus
Shield machine.
According to the duct piece assembling machine spatial attitude measurement apparatus with inertial sensor of the present utility model, including：Inertia
Sensor assembly, the spatial attitude that the inertial sensor module is suitable to be connected with duct piece assembling machine to measure duct piece assembling machine is believed
Breath, the spatial attitude information of the duct piece assembling machine includes the angle of pitch, deflection angle and the anglec of rotation of duct piece assembling machine；Data processing
Module, the data processing module is used to be processed the spatial attitude information of the duct piece assembling machine to obtain the section of jurisdiction
Assembling machine attitudes vibration data；Wireless transport module, the wireless transport module includes wireless launcher and wireless receiver, institute
State wireless launcher to electrically connect with the inertial sensor module to launch the spatial attitude information of the duct piece assembling machine, it is described
Wireless receiver receives the spatial attitude information of the duct piece assembling machine that the wireless launcher sends, the wireless receiver
Electrically connect with the data processing module with by the spatial attitude information transfer of the duct piece assembling machine to the data processing mould
Block.
According to the duct piece assembling machine spatial attitude measurement apparatus with inertial sensor of the utility model embodiment, because
The traditional travel displacement of inertial sensor module replacement and encoder measurement and positioning have been used, and using wireless transport module logarithm
According to being wirelessly transferred so that pipe sheet assembling pose can real-time detection, and device is easy for installation, certainty of measurement is high, small volume,
Cost is reduced.
In certain embodiments, the inertial sensor module includes：Three-dimensional accelerometer.
Specifically, the inertial sensor module includes：Gyroscope.
Further, the gyroscope is three, and three gyroscopes are orthogonally set.
Further, three gyroscopes are respectively fixedly connected with three sensitive axes of the three-dimensional accelerometer.
Alternatively, the gyroscope is light pricker gyroscope.
Specifically, the inertial sensor module is suitable to be connected with the clamping device of duct piece assembling machine, the clamping device
For clamping section of jurisdiction.
According to shield machine of the present utility model, including according to the spelling of the section of jurisdiction with inertial sensor described in the utility model
Installation spatial attitude measurement apparatus.
The shield machine of the utility model embodiment, in construction, construction quality can get a promotion.
Additional aspect of the present utility model and advantage will be set forth in part in the description, partly will be from explained below
In become obvious, or by it is of the present utility model practice recognize.
Description of the drawings
Of the present utility model above-mentioned and/or additional aspect and advantage will from the description with reference to accompanying drawings below to embodiment
Become obvious and easy to understand, wherein：
Fig. 1 is the duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to the utility model embodiment
Structured flowchart.
Reference：
Duct piece assembling machine spatial attitude measurement apparatus 10,
Inertial sensor module 1, wireless transport module 2, wireless launcher 201, wireless receiver 202, data processing mould
Block 3,
Duct piece assembling machine 20, controller 30.
Specific embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein ad initio
Same or similar element is represented to same or similar label eventually or the element with same or like function.Below by ginseng
The embodiment for examining Description of Drawings is exemplary, it is intended to for explaining the utility model, and it is not intended that to the utility model
Restriction.
The duct piece assembling machine space appearance with inertial sensor according to the utility model embodiment is described below with reference to Fig. 1
State measurement apparatus 10.
According to the duct piece assembling machine spatial attitude measurement apparatus 10 with inertial sensor of the utility model embodiment, such as
Shown in Fig. 1, including：Inertial sensor module 1, data processing module 3 and wireless transport module 2.
Inertial sensor module 1 is suitable to be connected with duct piece assembling machine 20 to measure the spatial attitude information of duct piece assembling machine,
The spatial attitude information of duct piece assembling machine includes the angle of pitch, deflection angle and the anglec of rotation of duct piece assembling machine.Data processing module 3 is used
Processed in the spatial attitude information by duct piece assembling machine, to obtain duct piece assembling machine attitudes vibration data.It is wirelessly transferred mould
Block 2 includes wireless launcher 201 and wireless receiver 202, and wireless launcher 201 electrically connects to send out with inertial sensor module 1
The spatial attitude information of duct piece assembling machine is penetrated, wireless receiver 202 receives the sky of the duct piece assembling machine that wireless launcher 201 sends
Between attitude information, wireless receiver 202 electrically connects with by the spatial attitude information transfer of duct piece assembling machine with data processing module 3
To data processing module 3.
Here, inertial sensor module 1 at least can detect the angle of pitch, deflection angle and the anglec of rotation of duct piece assembling machine, inertia
Sensor assembly 1 has gyroscope principle, and device uses the inertial sensor module 1 with gyroscope principle, it may be determined that pipe
The spatial attitude of piece, and the spatial attitude change of section of jurisdiction can be in real time measured, and the detection part of device is installed and is also convenient for.
Spell in shape machine, after section of jurisdiction is by the gripping apparatus grips of duct piece assembling machine 20, with the operation of clamping device in section of jurisdiction
Rotate, incline etc..Inertial sensor module 1 is suitable to be connected with duct piece assembling machine 20, and for example inertial sensor module 1 can be with pipe
The clamping device of piece assembling machine 20 is rigidly connected, or inertial sensor module 1 can be bonded to the clamping of duct piece assembling machine 20
Near device, so as to obtain the attitude information of section of jurisdiction by clamping device.
It is relative pipe sheet assembling is obtained using reliable and stable wireless transport module 2 in the utility model embodiment
After the rotation attitude information of initial position, will be from inertial sensor module 1 by the wireless launcher 201 of wireless transport module 2
The information that place obtains changes into wireless data signal to send, and by the wireless receiver 202 of wireless transport module 2 signal is received
Afterwards, in being transferred to data processing module 3, wireless transport module 2 can be wirelessly transferred in real time to detection data.So, it is convenient
The transmitting of data detection signal, can be without connecting electric wire, side between inertial sensor module 1 and data processing module 3
Device installation.
In the utility model embodiment, using data processing module 3, for carrying out data processing, to pipe sheet assembling phase
The data changed to the rotation attitude of initial position, carry out signal effectively identification and analyze.Alternatively, data processing module 3 can
For signal transacting, denoising, filtering, fusion can be carried out and calculated, so as to draw the pose and speed letter of pipe sheet assembling process
Breath.Alternatively, data processing module 3 can be so that on the controller 30 in attended operation room, such data processing module 3 can be by data
The result drawn after process is transmitted to controller 30, be easy to the storage of the section of jurisdiction spatial attitude information of controller 30 pairs, record,
Analysis etc..
According to the duct piece assembling machine spatial attitude measurement apparatus 10 with inertial sensor of the utility model embodiment, because
It is the travel displacement and encoder measurement and positioning for having used the replacement of inertial sensor module 1 traditional, and using wireless transport module 2
Data are wirelessly transferred so that pipe sheet assembling pose can real-time detection, and device is easy for installation, certainty of measurement is high, body
Product is little, cost is reduced.
In the utility model embodiment, inertial sensor module 1 can include three-dimensional accelerometer and gyroscope, gyro
Instrument can be three, and three gyroscopes are orthogonally set.In addition, three gyroscopes can be respectively fixedly connected with three-dimensional accelerometer
Three sensitive axes on.
In a specific embodiment, inertial sensor module 1 can be used to the movement state information of real-time detection assembling machine
Property sensor assembly 1 is by three-dimensional accelerometer and is connected in light pricker gyroscope mutually orthogonal in its three sensitive axes and constitutes, be used to
Property sensor assembly 1 can measure the reference frame of inertial sensor module 1 relative to earth inertial coordinates system motion angle speed
Degree and acceleration.
Inertial sensor module 1 adopts gyroscope rule, i.e., by three attitude angles for obtaining gyroscope measurement in real time, i.e.,
By measuring azimuth, the angle of pitch and roll angle come the bearing data of direct detection assembling machine attitude, pitch angle data and rotation
The change of angle data, with reference to three-dimensional rectangular coordinate conversion, obtains the accurate measurement of assembling machine angle.
In the specific embodiment, the wireless launcher 201 of wireless transport module 2 sends to be examined from inertial sensor module 1
The data-signal for measuring, wireless receiver 202 receives the signal that wireless launcher 201 sends.Data processing module 3 is main by counting
According to processor group into, can to transmit come data message carry out denoising, filtering, fusion and calculating, draw pipe sheet assembling process
Pose and velocity information.
Certainly, for those of ordinary skills, can be being entered according to the technical scheme of the utility model embodiment
Row equivalent or change, such as realize the utility model embodiment purpose sensor and processor chips to replace using other
Above-mentioned respective element, for example, light pricker gyroscope can be replaced by lasergyro etc..
By the combination of above three module, the rotation attitude change of pipe sheet assembling can be in real time obtained, and can be according to detection
The attitudes vibration for going out further improves pipe sheet assembling positional precision, so as to improve construction quality.
According to the shield machine of the utility model embodiment, including according to the utility model embodiment with inertial sensor
The duct piece assembling machine spatial attitude measurement apparatus 10 of module 1.
As a result of the above-mentioned duct piece assembling machine spatial attitude measurement apparatus 10 with inertial sensor module 1, so as to
The shield machine of the utility model embodiment construction quality in construction can get a promotion.
In description of the present utility model, unless otherwise clearly defined and limited, term " installation ", " connection ", " Gu
It is fixed " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be managed with concrete condition
Solve concrete meaning of the above-mentioned term in the utility model.
In the description of this specification, the description of reference term " embodiment ", " example " etc. mean to combine the embodiment or
Specific features, structure, material or the feature that example is described is contained at least one embodiment of the present utility model or example.
In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.And, description
Specific features, structure, material or feature can in an appropriate manner be tied in any one or more embodiments or example
Close.
While there has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that：
In the case of without departing from principle of the present utility model and objective various changes, modification, replacement can be carried out to these embodiments
And modification, scope of the present utility model limits by claim and its equivalent.
Claims (8)
1. a kind of duct piece assembling machine spatial attitude measurement apparatus with inertial sensor, it is characterised in that include：
Inertial sensor module, the inertial sensor module is suitable to be connected to measure the sky of duct piece assembling machine with duct piece assembling machine
Between attitude information, the spatial attitude information of the duct piece assembling machine includes the angle of pitch, deflection angle and the anglec of rotation of duct piece assembling machine；
Data processing module, the data processing module be used for by the spatial attitude information of the duct piece assembling machine processed with
Obtain the duct piece assembling machine attitudes vibration data；
Wireless transport module, the wireless transport module includes wireless launcher and wireless receiver, the wireless launcher with
The inertial sensor module is electrically connected to launch the spatial attitude information of the duct piece assembling machine, and the wireless receiver is received
The spatial attitude information of the duct piece assembling machine that the wireless launcher sends, the wireless receiver and the data processing
Module electrical connection with by the spatial attitude information transfer of the duct piece assembling machine to the data processing module.
2. duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to claim 1, its feature exists
In the inertial sensor module includes：Three-dimensional accelerometer.
3. duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to claim 2, its feature exists
In the inertial sensor module includes：Gyroscope.
4. duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to claim 3, its feature exists
In the gyroscope is three, and three gyroscopes are orthogonally set.
5. duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to claim 4, its feature exists
In three gyroscopes are respectively fixedly connected with three sensitive axes of the three-dimensional accelerometer.
6. duct piece assembling machine spatial attitude measurement apparatus with inertial sensor according to claim 3, its feature exists
In the gyroscope is light pricker gyroscope.
7. the measurement of the duct piece assembling machine spatial attitude with inertial sensor according to any one of claim 1-6 is filled
Put, it is characterised in that the inertial sensor module is suitable to be connected with the clamping device of duct piece assembling machine, the clamping device is used
In clamping section of jurisdiction.
8. a kind of shield machine, it is characterised in that include according to any one of claim 1-7 with inertial sensor
Duct piece assembling machine spatial attitude measurement apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621041831.4U CN206111183U (en) | 2016-09-07 | 2016-09-07 | Segment erector space gesture measuring device and shield construct machine with inertial sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621041831.4U CN206111183U (en) | 2016-09-07 | 2016-09-07 | Segment erector space gesture measuring device and shield construct machine with inertial sensor |
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| Publication Number | Publication Date |
|---|---|
| CN206111183U true CN206111183U (en) | 2017-04-19 |
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ID=58519497
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621041831.4U Active CN206111183U (en) | 2016-09-07 | 2016-09-07 | Segment erector space gesture measuring device and shield construct machine with inertial sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
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2016
- 2016-09-07 CN CN201621041831.4U patent/CN206111183U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
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