CN207297030U - A kind of section of jurisdiction automatic identification positioner - Google Patents
A kind of section of jurisdiction automatic identification positioner Download PDFInfo
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- CN207297030U CN207297030U CN201721227224.1U CN201721227224U CN207297030U CN 207297030 U CN207297030 U CN 207297030U CN 201721227224 U CN201721227224 U CN 201721227224U CN 207297030 U CN207297030 U CN 207297030U
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- section
- jurisdiction
- range unit
- automatic identification
- auxiliary locator
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Abstract
The utility model provides a kind of section of jurisdiction automatic identification positioner, including duct piece assembling machine and the auxiliary locator that is arranged on section of jurisdiction.Auxiliary locator is equipped with the first range unit of section of jurisdiction centre of location point, set point and the position coordinates for measuring section of jurisdiction centre of location point and set point.The second range unit is equipped with duct piece assembling machine, for measuring the position coordinates of point corresponding with the second range unit.Further include processing unit, for calculating the deflection angle of the relatively vertical reference axis in section of jurisdiction according to the position coordinates of set point and section of jurisdiction centre of location point and for calculating the deflection angle of the relatively transverse reference axis in section of jurisdiction and longitudinal coordinate axle respectively according to the position coordinates of point corresponding with the second range unit on auxiliary locator, so as to obtain the three-dimensional identification parameter of section of jurisdiction.Realize that section of jurisdiction automatic identification positions by range unit and processing unit, accuracy of identification and assembled efficiency can be effectively improved, so as to accelerate constructing tunnel efficiency.
Description
Technical field
The utility model belongs to Boring Machine Technique field, and in particular to a kind of section of jurisdiction automatic identification positioner.
Background technology
Critical component of the duct piece assembling machine as development machine, the speed of its segment assembly are largely influenced with efficiency
The progress of constructing tunnel.In work progress, assembled hand generally manually controls duct piece assembling machine remote controller buttons or rocking bar
The posture grasping pipe piece of grabbing device is adjusted, is then transferred to target location segment assembly.Therefore, duct piece assembling machine grasping pipe piece
Time length, so as to cause pipe sheet assembling efficiency low.
Utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies of the prior art and provide a kind of section of jurisdiction automatic identification to determine
Position device, can automatic identification positioning section of jurisdiction, so as to improve pipe sheet assembling efficiency, and then accelerate Tunnel Construction Schedule.
In order to solve the above-mentioned technical problem, the utility model proposes technical solution be：
A kind of section of jurisdiction automatic identification positioner, including duct piece assembling machine, duct piece assembling machine include horizontal joist and tool
There is the gripping head of micro-adjusting center.Section of jurisdiction automatic identification positioner further includes the auxiliary locator being arranged on section of jurisdiction, auxiliary
Positioner is equipped with the section of jurisdiction centre of location point overlapped with micro-adjusting center during gripping head grasping pipe piece and for calculating section of jurisdiction
The set point of the deflection angle of relatively vertical reference axis.Have on auxiliary locator equipped with the first range unit, for measurement pipe
Piece centre of location point is relative to the vertical distance of the initial micro-adjusting center of gripping head, lateral separation, fore-and-aft distance and set point phase
Lateral separation, fore-and-aft distance for the initial micro-adjusting center of gripping head.The second range unit is equipped with joist, for measuring
On auxiliary locator point corresponding with the second range unit relative to the initial micro-adjusting center of gripping head vertical distance, transverse direction
Distance and fore-and-aft distance.Section of jurisdiction automatic identification positioner further includes processing unit, for according in set point and section of jurisdiction positioning
The position coordinates of heart point calculate the relatively vertical reference axis in section of jurisdiction deflection angle and for according on auxiliary locator with the
The position coordinates of the corresponding point of two range units calculates the deflection angle of the relatively transverse reference axis in section of jurisdiction and longitudinal coordinate axle respectively,
So as to obtain the three-dimensional identification parameter of section of jurisdiction.
Automatic identification positioner in section of jurisdiction according to the present utility model, by being arranged on joist and auxiliary locator
Range unit and the three-dimensional parameter of processing unit automatic identification section of jurisdiction, therefore avoid in the prior art due to controlling section of jurisdiction manually
Assembling machine remote controller buttons or rocking bar adjust the posture grasping pipe piece of gripping head and cause section of jurisdiction recognition time length to cause section of jurisdiction to be grabbed
The problem of taking the time long, so as to improve pipe sheet assembling efficiency, and then accelerates Tunnel Construction Schedule.Also, by setting auxiliary fixed
Position device, can simplify the calculating process of processing unit.
For above-mentioned technical proposal, the further improvement that can be also discussed below.
Automatic identification positioner in section of jurisdiction according to the present utility model, it is preferable that fixing device is also equipped with joist,
Second range unit is arranged on the securing means.Arrange that the second range unit can ensure the second survey by setting fixing device
Install convenient and accurate positioning away from device are stablized.
Specifically, in one preferred embodiment, auxiliary locator has forms what is coordinated with section of jurisdiction inner surface
Part, and auxiliary locator includes the first plane and the second plane.On first plane and auxiliary locator with section of jurisdiction
Surface forms the part connection coordinated.Section of jurisdiction centre of location point and set point are located in the second plane.First plane and second flat
Face is connected by two inclined-planes being oppositely arranged.Auxiliary locator is formed with section of jurisdiction inner surface to be coordinated, and can ensure that auxiliary is fixed
Position device and section of jurisdiction stable connection are firm, so as to improve the stability and accuracy of section of jurisdiction positioning.
It is preferably carried out at one in mode, point corresponding with the second range unit is 3 on auxiliary locator.Auxiliary
Point corresponding with the second range unit is arranged to 3 on positioner, both can guarantee that in processing unit calculating process, has accurately identified
The three-dimensional parameter of section of jurisdiction, while simplify calculating process as much as possible and save cost.
It is preferably carried out at one in mode, the first range unit includes first laser rangefinder and the vertical transmitting of laser
Instrument, first laser rangefinder are arranged at the centre of location point of section of jurisdiction, and the vertical transmitter of laser is arranged at set point.
It is preferably carried out at one in mode, the second range unit includes second laser rangefinder and laser induced target, auxiliary
Point corresponding with the second range unit on positioner is helped to be correspondingly arranged with second laser rangefinder.
Using laser range finder and laser induced target as survey tool, since laser range finder is light-weight, small, behaviour
It is fast and accurate to make simple speed, so may insure that section of jurisdiction automatic identification positioning device structure is simple, production cost is low, and can
To further improve section of jurisdiction recognition efficiency, and then improve pipe sheet assembling efficiency.
Using laser range finder and laser induced target as survey tool, since laser range finder is light-weight, small, behaviour
It is fast and accurate to make simple speed, so may insure that section of jurisdiction automatic identification positioning device structure is simple, production cost is low, and can
To further improve section of jurisdiction recognition efficiency, and then improve pipe sheet assembling efficiency.
Compared with prior art, the utility model has the advantage of：Realize section of jurisdiction certainly by range unit and processing unit
Dynamic identification positioning, can effectively improve accuracy of identification and assembled efficiency, so as to accelerate constructing tunnel efficiency.
Brief description of the drawings
The utility model will be hereinafter described in more detail based on embodiment and refer to the attached drawing.Wherein：
Fig. 1 schematically illustrates the structure of the section of jurisdiction automatic identification equipment of the utility model embodiment；
Fig. 2 schematically illustrates the section of jurisdiction identification positioning principle of the section of jurisdiction automatic identification equipment of the utility model embodiment.
In the accompanying drawings, identical component uses identical reference numeral.Attached drawing is not drawn according to actual ratio.
Embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments, but is not therefore limited
The scope of protection of the utility model processed.
Fig. 1 schematically illustrates the structure of the section of jurisdiction automatic identification positioner 10 of the utility model embodiment, Fig. 2 signals
Property show the utility model embodiment section of jurisdiction automatic identification equipment section of jurisdiction identification positioning principle.As depicted in figs. 1 and 2,
The section of jurisdiction automatic identification positioner 10 of the utility model embodiment includes duct piece assembling machine, and duct piece assembling machine includes horizontal support
Beam and the gripping head with micro-adjusting center.Section of jurisdiction automatic identification positioner 10 further includes the auxiliary positioning being arranged on section of jurisdiction 1
Device 2, auxiliary locator 2 be equipped with the section of jurisdiction centre of location point D that is overlapped with micro-adjusting center during gripping head grasping pipe piece 1 and
Set point E for the deflection angle for calculating the relatively vertical reference axis in section of jurisdiction.Have on auxiliary locator 2 and filled equipped with the first ranging
3 are put, for measuring vertical distance, lateral separation, longitudinal direction of the section of jurisdiction centre of location point D relative to the initial micro-adjusting center of gripping head
Lateral separation, the fore-and-aft distance of distance and set point E.The second range unit 4 is equipped with joist, for measuring auxiliary positioning
Vertical distance, transverse direction on device 2 with 4 corresponding point A, B, C of the second range unit relative to the initial micro-adjusting center of gripping head
Distance and fore-and-aft distance.Section of jurisdiction automatic identification positioner 10 further includes processing unit, for being determined according to set point E and section of jurisdiction
The position coordinates of position central point D calculates the deflection angle of the relatively vertical reference axis in section of jurisdiction 1 and for according to auxiliary locator
1 relatively transverse reference axis of section of jurisdiction is calculated respectively with the position coordinates of the second range unit 4 corresponding point A, B, C on 2 and longitudinal direction is sat
The deflection angle of parameter, so as to obtain the three-dimensional identification parameter of section of jurisdiction.Preferably, auxiliary locator 2 have with section of jurisdiction 1
Surface forms the part 21 coordinated, and auxiliary locator 2 includes the first plane 22 and the second plane 23, the first plane 22 and
The part 21 coordinated is formed on auxiliary locator 2 with 1 inner surface of section of jurisdiction to be connected.Section of jurisdiction centre of location point D and the first set point E
In the second plane 23, the first plane 22 and the second plane 23 are connected by two inclined-planes 24 being oppositely arranged.This practicality is new
The section of jurisdiction automatic identification positioner of type embodiment, passes through the range unit being arranged on joist and auxiliary locator and processing
The three-dimensional parameter of unit automatic identification section of jurisdiction, thus avoid in the prior art due to manually control duct piece assembling machine remote controler by
The problem of button or rocking bar adjust the posture grasping pipe piece of gripping head and cause section of jurisdiction recognition time length to cause the section of jurisdiction crawl time long,
So as to improve pipe sheet assembling efficiency, and then accelerate Tunnel Construction Schedule.Also, by setting auxiliary locator, it can simplify
The calculating process of processing unit.Auxiliary locator is formed with section of jurisdiction inner surface to be coordinated, and can ensure auxiliary locator and pipe
Piece stable connection is firm, so as to improve the stability and accuracy of section of jurisdiction positioning.On auxiliary locator 2 with the second range unit
Corresponding point is arranged to 3, both can guarantee that in processing unit calculating process, accurately identifies the three-dimensional parameter of section of jurisdiction, while to the greatest extent may be used
Can the simplified calculating process in ground and saving cost.The section of jurisdiction automatic identification positioner 10 of the utility model embodiment, it is preferable that
Fixing device 5 is also equipped with joist, the second range unit 4 is arranged in fixing device 5.Arranged by setting fixing device
Second range unit can ensure that the install convenient of the second range unit and accurate positioning are stablized.
As depicted in figs. 1 and 2, it is preferably carried out at one in mode, the first range unit 3 includes first laser rangefinder
31 and the vertical transmitter 32 of laser, first laser rangefinder 31 be arranged at the centre of location point D of section of jurisdiction, the vertical transmitter of laser
32 are arranged at set point E.Second range unit 4 includes second laser rangefinder 41 and laser induced target 42, auxiliary positioning dress
Point A, B, C and second laser rangefinder 41 corresponding with the second range unit is put to be correspondingly arranged.
Using laser range finder and laser induced target as survey tool, since laser range finder is light-weight, small, behaviour
It is fast and accurate to make simple speed, so may insure that section of jurisdiction automatic identification positioning device structure is simple, production cost is low, and can
To further improve section of jurisdiction recognition efficiency, and then improve pipe sheet assembling efficiency.
As depicted in figs. 1 and 2, the application method of the section of jurisdiction automatic identification positioner of the utility model embodiment, including：
Step 1: section of jurisdiction centre of location point D is obtained relative in the initial fine setting of gripping head using the first range unit 3 described above
The vertical distance of the heart, lateral separation, the set point of fore-and-aft distance and the deflection angle for calculating the relatively vertical reference axis in section of jurisdiction
The lateral separation of E, fore-and-aft distance.Step 2: using on second range unit 4 measurement auxiliary locator 2 described above with
Second range unit, 4 corresponding point A, B, C is relative to the vertical distance of the initial micro-adjusting center of gripping head, lateral separation and indulges
To distance.Step 3: using processing unit described above according to set point E and the position coordinates meter of section of jurisdiction centre of location point D
Calculate the deflection angle of the relatively vertical reference axis in section of jurisdiction 1 and according to corresponding with the second range unit 4 on auxiliary locator 2
The position coordinates of point A, B, C calculate the deflection angle of 1 relatively transverse reference axis of section of jurisdiction and longitudinal coordinate axle respectively, so as to obtain pipe
The three-dimensional identification parameter of piece.The section of jurisdiction automatic identification localization method of the utility model embodiment, by being arranged on joist and auxiliary
Help the range unit on positioner and the three-dimensional parameter of processing unit automatic identification section of jurisdiction, thus avoid in the prior art by
When the posture grasping pipe piece of control duct piece assembling machine remote controller buttons manually or rocking bar adjustment gripping head causes section of jurisdiction to identify
Between long the problem of causing the section of jurisdiction crawl time long, so as to improve pipe sheet assembling efficiency, and then accelerate Tunnel Construction Schedule.Also,
By setting auxiliary locator, the calculating process of processing unit can be simplified.
Specifically, as depicted in figs. 1 and 2, the user of the section of jurisdiction automatic identification positioner of the utility model embodiment
Method, the initial micro-adjusting center of gripping head is set to the origin O of world standard rectangular coordinate system by processing unit, by being arranged in and managing
The first laser rangefinder 31 on auxiliary locator 2 that piece 1 connects launches range laser to laser target 42, calculates section of jurisdiction
The coordinate value of Z-directions of the centre of location point D relative to the micro-adjusting center of gripping head in world's level right angle coordinate system, by
The coordinate value of X, Y both direction of the section of jurisdiction centre of location point D ' obtained on laser target 42 calculates section of jurisdiction centre of location point D phases
For the coordinate value of X, Y both direction of the initial micro-adjusting center in world's level right angle coordinate system of gripping head.Processing unit
Laser is launched to laser target 42 by the vertical transmitter 32 of the laser being arranged on auxiliary locator 2, is crossed in laser target 42
The coordinate value of X, Y both direction of the set point E ' of upper acquisition calculates initial micro-adjusting centers of the set point E relative to gripping head
The coordinate value of X, Y both direction in world's level right angle coordinate system.Processing unit by be arranged in fixing device 5 three
A second laser rangefinder 41 launch point A corresponding with second laser rangefinder 41 on range laser to auxiliary locator 2,
B, at C, set point A, B, C on auxiliary locator 2 are calculated relative to the initial micro-adjusting center of gripping head in world standard
The coordinate value of Z-direction in rectangular coordinate system, by laser target 42 A ', B ', C ' places obtain auxiliary locator 2 on
The coordinate value of second set point A, B, C calculates point A, B, C phase corresponding with second laser rangefinder 41 on auxiliary locator 2
For the coordinate value of X, Y both direction of the initial micro-adjusting center in world's level right angle coordinate system of gripping head.Processing unit
According to the position coordinates of set point E and section of jurisdiction centre of location point D calculate the relatively vertical reference axis in section of jurisdiction 1 deflection angle and
1 phase of section of jurisdiction is calculated according to the position coordinates of point A, B, C corresponding with second laser rangefinder 41 on auxiliary locator 2 respectively
To the deflection angle of transverse coordinate axis and longitudinal coordinate axle, so as to obtain the three-dimensional identification parameter of section of jurisdiction.
According to above-described embodiment, it is seen that the section of jurisdiction automatic positioning identification device that the utility model is related to, passes through range unit
Section of jurisdiction automatic identification positioning is realized with processing unit, accuracy of identification and assembled efficiency can be effectively improved, so as to accelerate tunnel
Construction efficiency.
Although the present utility model has been described by reference to the preferred embodiments, but the model of the utility model is not being departed from
In the case of enclosing, various improvement can be carried out to it and component therein can be replaced with equivalent.Especially, as long as not depositing
In structural conflict, items technical characteristic mentioned in the various embodiments can be combined in any way.The utility model
It is not limited to specific embodiment disclosed herein, but all technical solutions including falling within the scope of the appended claims.
Claims (6)
1. a kind of section of jurisdiction automatic identification positioner, including duct piece assembling machine, the duct piece assembling machine include horizontal joist and
Gripping head with micro-adjusting center, it is characterised in that
The section of jurisdiction automatic identification positioner further includes the auxiliary locator being arranged on section of jurisdiction, the auxiliary locator
It is equipped with the section of jurisdiction centre of location point and opposite for calculating section of jurisdiction overlapped with the micro-adjusting center during gripping head grasping pipe piece
The set point of the deflection angle of vertical reference axis；
The auxiliary locator is equipped with the first range unit, is grabbed for measuring the section of jurisdiction centre of location point relative to described
Vertical distance, lateral separation, fore-and-aft distance and the set point of the initial micro-adjusting center of head are taken relative to the gripping head
The lateral separation of initial micro-adjusting center, fore-and-aft distance；
The second range unit is equipped with the joist, for measure on the auxiliary locator with second range unit
Corresponding point relative to the initial micro-adjusting center of the gripping head vertical distance, lateral separation and fore-and-aft distance；
The section of jurisdiction automatic identification positioner further includes processing unit, for according in the set point and section of jurisdiction positioning
The position coordinates of heart point calculates the deflection angle of the relatively vertical reference axis in section of jurisdiction and for according to the auxiliary locator
The position coordinates of point corresponding with second range unit calculates the relatively transverse reference axis in section of jurisdiction and longitudinal coordinate axle respectively
Deflection angle, so as to obtain the three-dimensional identification parameter of section of jurisdiction.
2. automatic identification positioner in section of jurisdiction according to claim 1, it is characterised in that be also equipped with the joist
Fixing device, second range unit are arranged in the fixing device.
3. automatic identification positioner in section of jurisdiction according to claim 1 or 2, it is characterised in that the auxiliary locator
With the part that cooperation is formed with section of jurisdiction inner surface, and the auxiliary locator includes the first plane and the second plane；Institute
The first plane is stated to be connected with the part for forming cooperation with section of jurisdiction inner surface；The section of jurisdiction centre of location point and the set point
In second plane；First plane is connected with second plane by two inclined-planes being oppositely arranged.
4. automatic identification positioner in section of jurisdiction according to claim 1 or 2, it is characterised in that the auxiliary locator
Upper point corresponding with second range unit is 3.
5. automatic identification positioner in section of jurisdiction according to claim 1 or 2, it is characterised in that first range unit
Including first laser rangefinder and the vertical transmitter of laser, the first laser rangefinder is arranged in the section of jurisdiction centre of location point
Place, the vertical transmitter of laser are arranged at the set point.
6. automatic identification positioner in section of jurisdiction according to claim 1 or 2, it is characterised in that second range unit
Including second laser rangefinder and laser induced target, on the auxiliary locator point corresponding with second range unit with
The second laser rangefinder is correspondingly arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721227224.1U CN207297030U (en) | 2017-09-22 | 2017-09-22 | A kind of section of jurisdiction automatic identification positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721227224.1U CN207297030U (en) | 2017-09-22 | 2017-09-22 | A kind of section of jurisdiction automatic identification positioner |
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| Publication Number | Publication Date |
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| CN207297030U true CN207297030U (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721227224.1U Active CN207297030U (en) | 2017-09-22 | 2017-09-22 | A kind of section of jurisdiction automatic identification positioner |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882215A (en) * | 2019-04-04 | 2019-06-14 | 中国铁建重工集团有限公司 | A kind of automatic grasping system of duct piece assembling machine and automatically grab method |
-
2017
- 2017-09-22 CN CN201721227224.1U patent/CN207297030U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882215A (en) * | 2019-04-04 | 2019-06-14 | 中国铁建重工集团有限公司 | A kind of automatic grasping system of duct piece assembling machine and automatically grab method |
| CN109882215B (en) * | 2019-04-04 | 2020-06-30 | 中国铁建重工集团股份有限公司 | Automatic grabbing system and automatic grabbing method of pipe piece assembling machine |
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Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Hunan Province Patentee after: China Railway Construction Heavy Industry Group Co., Ltd. Address before: 410100 88 East seven road, Changsha economic and Technological Development Zone, Hunan Patentee before: China Railway Construction Heavy Industry Co.,Ltd. |