CN214323378U - Three-dimensional scanning workstation of robot - Google Patents
Three-dimensional scanning workstation of robot Download PDFInfo
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- CN214323378U CN214323378U CN202023223077.5U CN202023223077U CN214323378U CN 214323378 U CN214323378 U CN 214323378U CN 202023223077 U CN202023223077 U CN 202023223077U CN 214323378 U CN214323378 U CN 214323378U
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Abstract
The utility model relates to a shield constructs measurement technical field of section of jurisdiction, in particular to three-dimensional scanning workstation of robot. The gantry type scanning device comprises a longitudinal moving mechanism, a gantry frame, a two-dimensional driving mechanism I, a two-dimensional driving mechanism II, a mechanical arm, a scanner data receiving end and a curved surface supporting seat, wherein the gantry frame stretches across two sides of the curved surface supporting seat, the bottoms of two ends of the gantry frame are connected with the longitudinal moving mechanism, and the longitudinal moving mechanism can drive the gantry frame to move longitudinally; the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are arranged on two sides of the top of the gantry frame, the mechanical arm is arranged on the two-dimensional driving mechanism I, and the scanner is arranged at the execution tail end of the mechanical arm and used for scanning a to-be-detected piece placed on the curved surface supporting seat; and the scanner data receiving end is arranged on the two-dimensional driving mechanism II and is used for receiving scanning information sent by the scanner. The utility model discloses realize carrying out automatic scanning at two positions to the shield constructs the section of jurisdiction, the operation precision is high, fast, improves work efficiency.
Description
Technical Field
The utility model relates to a shield constructs measurement technical field of section of jurisdiction, in particular to three-dimensional scanning workstation of robot.
Background
In the shield tunnel construction, the precision requirement of a lining structure segment mould reaches +/-0.4 mm, the precision requirement of a concrete segment reaches +/-1 mm, the precision requirement of a tunnel assembly structure reaches +/-3 mm, and the precision of a shield segment determines the quality of shield tunnel assembly. And in the production of major diameter shield tunnel section of jurisdiction, shield constructs the section of jurisdiction arc length and becomes longer, makes the steel sheet material require to improve, and the machining precision degree of difficulty increases, and the leading cause is: firstly, the arc length is increased, the steel plate has high flexibility, the accuracy is guaranteed by increasing the thickness of the steel plate, the vibration effect of concrete is reduced, the service life of a steel structure is influenced by increasing the vibration force to guarantee the vibration effect of the concrete, and the requirement on the material of the steel plate needs to be improved; secondly, the size is increased, the accumulated error of steel plate processing is increased, the requirement on industrial numerical control equipment for steel plate processing is also increased, and the manufacturing difficulty is increased.
The section of jurisdiction in major diameter shield tunnel produces the fracture when can take place the tunnel and assemble because the precision can not reach the requirement, falls the angle scheduling problem, threatens tunnel structure waterproof system, and the urgent need is controlled the production precision of section of jurisdiction to avoid the emergence of this type of problem.
The production of the duct piece basically adopts a manual physical measurement mode of an inside micrometer, the width and the thickness can only be checked manually, the arc length cannot be measured accurately, and the full size inspection is difficult to realize; at present, a laser tracker (manual mode, import equipment) is also adopted to carry out full-size inspection on finished products of a die and a duct piece, but about 1 hour is needed for measuring one duct piece, and meanwhile, the measurement cost is high, and full inspection cannot be realized. In the aspect of optical automatic measurement of shield segments, the mature experience which can be referenced is almost unavailable.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a three-dimensional scanning workstation of robot to solve current shield and construct the section of jurisdiction measuring mode and can't reach comprehensive detection, and measure the higher problem of expense.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot three-dimensional scanning workstation comprises a longitudinal moving mechanism, a gantry frame, a two-dimensional driving mechanism I, a two-dimensional driving mechanism II, a mechanical arm, a scanner data receiving end and a curved surface supporting seat, wherein the gantry frame stretches across two sides of the curved surface supporting seat, the bottoms of two ends of the gantry frame are connected with the longitudinal moving mechanism, and the longitudinal moving mechanism can drive the gantry frame to move longitudinally;
the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the top of the gantry frame, the mechanical arm is arranged on the two-dimensional driving mechanism I, and the scanner is arranged at the execution tail end of the mechanical arm and used for scanning a to-be-detected piece placed on the curved surface supporting seat;
and the scanner data receiving end is arranged on the two-dimensional driving mechanism II and is used for receiving scanning information sent by the scanner.
The longitudinal moving mechanism comprises a first guide rail, a second guide rail, a first linear driving mechanism, a second linear driving mechanism and two longitudinal driving plates, wherein the first guide rail and the second guide rail are arranged on two sides of the curved surface supporting seat in parallel;
the first linear driving mechanism is arranged between the first guide rail and one longitudinal driving plate, and the second linear driving mechanism is arranged between the second guide rail and the other longitudinal driving plate; the first linear driving mechanism and the second linear driving mechanism synchronously drive the gantry frame to slide along the first guide rail and the second guide rail.
The gantry frame comprises two upright posts and a cross beam connected to the tops of the two upright posts; the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the cross beam.
Two-dimensional actuating mechanism I includes horizontal rectilinear movement module I and lifting module I, wherein horizontal movement module I set up in on the crossbeam, lifting module I with horizontal rectilinear movement module I is connected, the arm is installed lifting module I's lower extreme.
The two-dimensional driving mechanism II comprises a transverse linear moving module II and a lifting module II, wherein the transverse linear moving module II is arranged on the cross beam, and the lifting module II is connected with the transverse linear moving module II.
And the lower end of the lifting module II is provided with a rotating disc, and the rotating disc is connected with the data receiving end of the scanner through a connecting support.
The curved surface bearing seat comprises a base and three support columns arranged on the base, wherein one support column is arranged at one end of the base, and the other two support columns are arranged at the other end of the base.
The curved surface supporting seat comprises a front side curved surface supporting seat and a rear side curved surface supporting seat, and the mounting directions of the front side curved surface supporting seat and the rear side curved surface supporting seat are opposite.
The utility model has the advantages and beneficial effects that:
the utility model discloses realize that the robot carries out automatic scanning at two positions to all faces of shield structure section of jurisdiction, the running accuracy is high, fast, improves work efficiency greatly. The control system is sensitive and reliable, has low failure rate and is convenient to operate and maintain.
The utility model is used for realize with robot coordinated movement, the scanner is within C-TRACK scanning range all the time. The robot and the sliding table are continuously used for a plurality of years, the repeated positioning precision is not lower than 0.5m, and the movement position and the posture of the mechanical arm meet the detection requirement of the shield segment.
Drawings
Fig. 1 is one of axonometric views of a three-dimensional scanning workstation of a robot according to the present invention;
FIG. 2 is an enlarged view taken at I in FIG. 1;
fig. 3 is a second perspective view of a three-dimensional scanning workstation of a robot according to the present invention;
FIG. 4 is an enlarged view taken at II in FIG. 3;
fig. 5 is an enlarged view of fig. 3 at point iii.
In the figure: the device comprises a first guide rail 1, a second guide rail 2, a lifting module II 3, a longitudinal driving plate 4, a longitudinal driving controller 5, a guardrail 6, a column 7, a beam 8, a lifting module I9, a mechanical arm 10, a scanner 11, a rear shield tunnel segment 12, a front shield tunnel segment 13, a front curved surface bearing seat 14, a rear curved surface bearing seat 15, a rotating disc 17, a scanner data receiving end 18, a connecting support 19, a transverse linear movement module I and a transverse linear movement module II 21.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-4, the utility model provides a three-dimensional scanning workstation of robot, including longitudinal movement mechanism, gantry frame, two-dimensional actuating mechanism I, two-dimensional actuating mechanism II, arm 10, scanner 11, scanner data receiving terminal 18 and curved surface bearing seat, wherein gantry frame stretches over the both sides of curved surface bearing seat, and gantry frame's both ends bottom is connected with longitudinal movement mechanism, and longitudinal movement mechanism can drive gantry frame along longitudinal movement; the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the top of the gantry frame, the mechanical arm 10 is arranged on the two-dimensional driving mechanism I, and the scanner 11 is arranged at the execution tail end of the mechanical arm 10 and used for scanning a to-be-detected piece placed on the curved surface supporting seat; the scanner data receiving end 18 is disposed on the two-dimensional driving mechanism ii, and is configured to receive scanning information sent by the scanner 11.
In this embodiment, the gantry frame includes two columns 7 and a beam 8 connected to the tops of the two columns 7; the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the cross beam 8.
As shown in fig. 1-2, in the embodiment of the present invention, the longitudinal moving mechanism includes a first guide rail 1, a second guide rail 2, a first linear driving mechanism, a second linear driving mechanism and two longitudinal driving plates 4, wherein the first guide rail 1 and the second guide rail 2 are disposed at two sides of the curved surface supporting seat in parallel, the two longitudinal driving plates 4 are slidably connected with the first guide rail 1 and the second guide rail 2, and the bottoms of two columns 7 of the gantry frame are connected with the two longitudinal driving plates 4 respectively; the first linear driving mechanism is arranged between the first guide rail 1 and one longitudinal driving plate 4, and the second linear driving mechanism is arranged between the second guide rail 2 and the other longitudinal driving plate 4; the first linear driving mechanism and the second linear driving mechanism synchronously drive the gantry frame to slide along the first guide rail 1 and the second guide rail 2, namely to move along the X direction.
In this embodiment, the first linear driving mechanism and the second linear driving mechanism are driven by a rack and pinion mechanism. And the two longitudinal driving plates 4 are respectively provided with a longitudinal driving controller 5 for controlling the gear rack mechanism. The longitudinal driving plate 4 on one side is provided with a guardrail 6 and an escalator.
As shown in fig. 1, in the embodiment of the utility model, two-dimensional actuating mechanism I includes horizontal rectilinear movement module I20 and lifting module I9, and wherein horizontal rectilinear movement module I20 sets up in one side of crossbeam 8, and lifting module I9 is connected with horizontal rectilinear movement module I20, and the lower extreme at lifting module I9 is installed to arm 10. The mechanical arm 10 is driven by the transverse linear moving module I20 and the lifting module I9 to move transversely (Y direction) and Z direction.
The two-dimensional driving mechanism II comprises a transverse linear moving module II 21 and a lifting module II 3, wherein the transverse linear moving module II 21 is arranged on the other side of the cross beam 8, the lifting module II 3 is connected with the transverse linear moving module II 21, and the lower end of the lifting module II 3 is connected with a scanner data receiving end 18 through a rotating disc 17.
Further, as shown in fig. 3 and 5, the scanner data receiving terminal 18 is connected to the rotating disk 17 via a connecting bracket 19. The scanner data receiving end 18 is driven by the transverse linear moving module ii 21 and the lifting module ii 3 to move transversely (Y direction) and Z direction, so as to be within the scanning area of the scanner 11.
Specifically, the transverse linear movement module I20, the lifting module I9, the transverse linear movement module II 21 and the lifting module II 3 are driven by a servo motor, a speed reducer and a gear-rack pair, and a heavy guide rail sliding block is used as a linear motion pair. The robotic arm 10 is a six-degree-of-freedom industrial robot, preferably a type SR20A robot manufactured by shenyangtong robot automation ltd, and the scanner 11 employs a three-dimensional laser scanner. The rotating disc 17 is driven by a servo motor, a speed reducer and a gear-ring pair, and the output end of the rotating disc 17 is connected with a scanner data receiving end 18 through a connecting support 19 and can be manually adjusted and connected.
As shown in fig. 1, in the embodiment of the present invention, the curved surface supporting seat includes a base and three supporting pillars disposed on the base, one of the supporting pillars is disposed at one end of the base, and the other two supporting pillars are disposed at the other end of the base.
Specifically, the curved surface bearing block comprises a front curved surface bearing block 14 and a rear curved surface bearing block 15, and the installation directions of the front curved surface bearing block 14 and the rear curved surface bearing block 15 are opposite.
The utility model discloses a three-dimensional scanning workstation of robot, install 3D scanning equipment on reaching six terminal robot tong of robot, work piece sequence number reading equipment is still installed to the tong, the robot drives 3D scanning equipment scanning work piece, hang the slip table upside down simultaneously, guarantee that 3D scanning equipment remains throughout within C-TRACK (optics dynamic tracking system)'s scanning range, when having solved manual scanning, many times adjustment C-TRACK position leads to the scanning inefficiency, the whole system has realized the automatic scanning of work piece, pass the scanning information of work piece on the PC controller simultaneously.
The control system of the robot three-dimensional scanning workstation of the utility model has manual and automatic operation modes, and when the control system is in the manual mode, an operator can start and stop a single actuating mechanism; in the automatic mode, the operation of the system is controlled according to the signals detected by the sensors, and the two operation modes can be switched by the operation of the selection switch. The control system is provided with a manual emergency stop button, and the equipment cuts off an output execution power supply in emergency, so that the personnel safety of the equipment is ensured.
The communication and control contents of the control system are as follows:
and 1, the RFID equipment is communicated with a PC (personal computer), and the type of the shield segment is identified and control information is sent to the robot.
2. The robot and the communication are carried out through the shape-wound I/O conversion module, and the robot controls the start, stop and other functions of the shape-wound scanner;
and 3, the PC communicates and transmits the scanning file to the designated path of the working PC of the first party.
The flow field of the robot in the 3D scanning working process is as follows
1. The robot establishes a workpiece coordinate system and a robot user coordinate system, and the shape creating equipment establishes the same coordinate system;
2. manually operating a teaching or off-line simulating a group of scanning programs, wherein six outer surfaces of the outer part of the rear shield tunnel segment 12 (except the contact part of the rear shield tunnel segment 12 and the rear curved surface supporting structure 15) are simulated;
3. and (3) starting the PC, executing RFID code scanning operation by the robot, and performing a first group of scanning by the robot according to the coordinate values provided by the PC at the first place until six outer surfaces outside the rear shield tunnel segment 12 (except the contact part between the rear shield tunnel segment 12 and the rear curved surface supporting structure 15) are scanned.
4. If a certain group of data has errors, the robot provides position coordinate values according to the first-party PC, and the robot scans the data with errors again.
5. The method comprises the steps of hoisting a rear shield tunnel segment 12 to a front curved surface supporting seat 14, finishing RFID code scanning operation by a robot, scanning four right-angle sides of the shield tunnel segment by the robot, calculating bolt holes of each component of the shield tunnel segment and coordinates and rotation angle values of a rail supporting platform under a robot user coordinate system by a PC (personal computer), scanning by the robot according to the coordinates and the rotation angle values, scanning by the robot according to the next group until the contact part of the rear shield tunnel segment 12 and a rear curved surface supporting structure 15 is scanned, and repeating the working process of a second plate.
And the two groups of scanning are fitted by a control system to obtain a complete shield segment three-dimensional point cloud digital model.
The utility model discloses realize that the robot carries out automatic scanning at two positions to all faces of shield structure section of jurisdiction, the running accuracy is high, fast, improves work efficiency greatly. The control system is sensitive and reliable, has low failure rate and is convenient to operate and maintain. The robot is used for realizing coordinated movement with the robot, and the scanner is always within the C-TRACK scanning range. The repeated positioning precision of the robot and the sliding table is not less than 0.5m after continuous use for many years, and the movement position and the posture of the mechanical arm meet the detection requirement of the shield segment.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (8)
1. A robot three-dimensional scanning workstation is characterized by comprising a longitudinal moving mechanism, a gantry frame, a two-dimensional driving mechanism I, a two-dimensional driving mechanism II, a mechanical arm (10), a scanner (11), a scanner data receiving end (18) and a curved surface supporting seat, wherein the gantry frame stretches across two sides of the curved surface supporting seat, the bottoms of two ends of the gantry frame are connected with the longitudinal moving mechanism, and the longitudinal moving mechanism can drive the gantry frame to move longitudinally;
the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the top of the gantry frame, the mechanical arm (10) is installed on the two-dimensional driving mechanism I, and the scanner (11) is arranged at the execution tail end of the mechanical arm (10) and used for scanning a piece to be measured placed on the curved surface supporting seat;
and the scanner data receiving end (18) is arranged on the two-dimensional driving mechanism II and is used for receiving scanning information sent by the scanner (11).
2. The robot three-dimensional scanning workstation according to claim 1, wherein the longitudinal moving mechanism comprises a first guide rail (1), a second guide rail (2), a first linear driving mechanism, a second linear driving mechanism and two longitudinal driving plates (4), wherein the first guide rail (1) and the second guide rail (2) are arranged on two sides of the curved surface supporting seat in parallel, the two longitudinal driving plates (4) are respectively connected with the first guide rail (1) and the second guide rail (2) in a sliding manner, and the bottoms of two sides of the gantry frame are respectively connected with the two longitudinal driving plates (4);
the first linear driving mechanism is arranged between the first guide rail (1) and one longitudinal driving plate (4), and the second linear driving mechanism is arranged between the second guide rail (2) and the other longitudinal driving plate (4); the first linear driving mechanism and the second linear driving mechanism synchronously drive the gantry frame to slide along the first guide rail (1) and the second guide rail (2).
3. The robotic three-dimensional scanning workstation of claim 1, wherein the gantry frame comprises two uprights (7) and a cross beam (8) connected at the top of the two uprights (7); the two-dimensional driving mechanism I and the two-dimensional driving mechanism II are respectively arranged on two sides of the cross beam (8).
4. The robotic three-dimensional scanning workstation of claim 3, wherein the two-dimensional driving mechanism I comprises a transverse linear movement module I (20) and a lifting module I (9), wherein the transverse linear movement module I (20) is arranged on the cross beam (8), the lifting module I (9) is connected with the transverse linear movement module I (20), and the mechanical arm (10) is arranged at the lower end of the lifting module I (9).
5. The robotic three-dimensional scanning workstation of claim 3, wherein the two-dimensional driving mechanism II comprises a transverse linear motion module II (21) and a lifting module II (3), wherein the transverse linear motion module II (21) is arranged on the cross beam (8), and the lifting module II (3) is connected with the transverse linear motion module II (21).
6. The robot three-dimensional scanning workstation according to claim 5, characterized in that the lower end of the lifting module II (3) is provided with a rotating disc (17), and the rotating disc (17) is connected with the scanner data receiving end (18) through a connecting bracket (19).
7. The robotic three-dimensional scanning workstation of claim 1, wherein the curved support base comprises a base and three support posts disposed on the base, wherein one support post is disposed at one end of the base and the other two support posts are mounted at the other end of the base.
8. The robotic three-dimensional scanning workstation of claim 7, wherein the curved surface bearing blocks comprise a front curved surface bearing block (14) and a rear curved surface bearing block (15), the front curved surface bearing block (14) and the rear curved surface bearing block (15) being mounted in opposite directions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023223077.5U CN214323378U (en) | 2020-12-28 | 2020-12-28 | Three-dimensional scanning workstation of robot |
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| CN202023223077.5U CN214323378U (en) | 2020-12-28 | 2020-12-28 | Three-dimensional scanning workstation of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023056661A1 (en) * | 2021-10-09 | 2023-04-13 | 南京智欧智能技术研究院有限公司 | Multi-direction-based scanning apparatus, system and scanning method and use thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023056661A1 (en) * | 2021-10-09 | 2023-04-13 | 南京智欧智能技术研究院有限公司 | Multi-direction-based scanning apparatus, system and scanning method and use thereof |
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