CN109555543A - A kind of section of jurisdiction conveys automatically and identifying system - Google Patents
A kind of section of jurisdiction conveys automatically and identifying system Download PDFInfo
- Publication number
- CN109555543A CN109555543A CN201910104207.6A CN201910104207A CN109555543A CN 109555543 A CN109555543 A CN 109555543A CN 201910104207 A CN201910104207 A CN 201910104207A CN 109555543 A CN109555543 A CN 109555543A
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- Prior art keywords
- jurisdiction
- section
- laser
- laser rangefinder
- identifying system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
- E21D11/406—Placing endless lining elements, e.g. from reels
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control And Safety Of Cranes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
It is conveyed automatically the invention discloses a kind of section of jurisdiction and identifying system, handling apparatus including detection device and for being hoisted to section of jurisdiction below detection device, handling apparatus has the detection plane that can be connected in the intrados of section of jurisdiction, detecting has mark point in plane, mark point is for characterizing point of the micro-adjusting center relative to section of jurisdiction after face duct piece assembling machine grasping pipe piece；Detection device includes depth camera and is fixedly installed in conplane first laser rangefinder, second laser rangefinder and third laser range finder, first laser rangefinder is located at the left front direction of depth camera, second laser rangefinder is located at the right front of depth camera to third laser range finder is located at behind the right side of depth camera or left back direction.The section of jurisdiction conveys automatically and identifying system, is transported section of jurisdiction to the lower section of detection device by handling apparatus, can get the final position in section of jurisdiction, posture according to detection device.And then the proficiency of operator is no longer dependent on when duct piece assembling machine grasping pipe piece.
Description
Technical field
The present invention relates to Boring Machine Technique fields, convey automatically more specifically to a kind of section of jurisdiction and identifying system.
Background technique
In development machine field, concrete support, precast reinforced coagulation are typically necessary after unstable hard rock tunnel molding
Native section of jurisdiction is common Scheme Choice.Conveying, crawl, assembly of section of jurisdiction etc. require manual operation substantially, and automation aspect is very
It is related to less.In the actual operation process, when especially manually manipulating duct piece assembling machine grasping pipe piece, skilled operation degree is to as received basis
Amount and working efficiency influence very big.
At present there are two types of the grasp modes of main section of jurisdiction, one is the crawl of mechanical single hole, another kind is vacuum chuck crawl.
In the crawl of mechanical single hole, operator needs to be aligned section of jurisdiction crawl bolt and gripping head, and after adjusting vernier angle, can
Carry out section of jurisdiction crawl.In vacuum chuck crawl, because sucker disk is larger, operator can not directly be aligned sucker bolt and pipe
Piece cooperates taper hole, can only pass through external auxiliary device (such as laser) indirect addressing.Above two section of jurisdiction grasp mode, especially
Sucker mode, it is more demanding to the proficiency of operator itself etc., and in the case where operation error, strong influence equipment
And the service life of section of jurisdiction.
It is current in conclusion how to efficiently solve the problems such as section of jurisdiction crawl is high to the proficiency requirement of operator
Those skilled in the art's problem to be solved.
Summary of the invention
In view of this, being conveyed automatically the purpose of the present invention is to provide a kind of section of jurisdiction and identifying system, the section of jurisdiction are automatically defeated
It send and the design of the structure of identifying system can efficiently solve section of jurisdiction crawl to the demanding problem of the proficiency of operator.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of section of jurisdiction conveys automatically and identifying system, including detection device and for section of jurisdiction to be hoisted to the detection device
The handling apparatus of lower section, the handling apparatus have the detection plane that can be connected in the section of jurisdiction intrados, the detection
There is mark point in plane, the mark point for characterize face duct piece assembling machine grab behind the section of jurisdiction micro-adjusting center relative to
The point of the section of jurisdiction；The detection device includes depth camera and is fixedly installed in conplane first laser rangefinder, the
Dual-laser rangefinder and third laser range finder, the first laser rangefinder are located at the left front direction of the depth camera, institute
It states second laser rangefinder and is located at the right front of the depth camera to the third laser range finder is located at the depth camera
The right side after or left back direction.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the first laser rangefinder, the second laser survey
Distance meter and the third laser range finder correspond to three angles distribution of isosceles right triangle, and the depth camera is located at described etc.
The bottom edge midpoint of waist right angled triangle.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the detection device further includes for fixing the depth
Spend the mounting plate of camera, the first laser rangefinder, the second laser rangefinder and the third laser range finder.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the mounting plate include square mounting portion, it is described
First laser rangefinder, the second laser rangefinder and the third laser range finder are located at three of the square
On angle.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the detection device further include be located at the depth phase
Machine rear is used for the 4th laser range finder positioned to the section of jurisdiction.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the handling apparatus include and the first laser survey
The controller that distance meter, second laser rangefinder, third laser range finder and the 4th laser range finder are all connected with, the controller are used
Described in the control when the first laser rangefinder or the second laser rangefinder detect the range information of the section of jurisdiction
Loop wheel machine low-speed forward is controlled when the 4th laser range finder detects the range information of the section of jurisdiction before the loop wheel machine stops
Into.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, further include the supporting table for being used to support the section of jurisdiction, institute
The lower section that supporting table is located at the detection device is stated, the controller is also used to detect in the 4th laser range finder described
The loop wheel machine decline is controlled when the range information of section of jurisdiction so that the section of jurisdiction to be placed in the supporting table.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the handling apparatus includes for adsorbing the true of section of jurisdiction
Suction disk, the top surface of the vacuum chuck are the detection plane, and bottom surface is for adsorbing the section of jurisdiction, and the vacuum chuck
Top surface is connected with the loop wheel machine for slinging and moving the vacuum chuck, and the bottom surface of the vacuum chuck has locating piece, institute
Stating locating piece has for the location hole for grabbing bolt cooperation or the vacuum chuck with single built-in fitting section of jurisdiction intrados
Bottom surface is connected with the guide of the taper positioning hole for being inserted into double location hole sections of jurisdiction.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the locating piece is embedded in the vacuum chuck, institute
The bottom surface for stating locating piece is concordant with the bottom surface of the vacuum chuck, and the bottom surface of the vacuum chuck is also connected with removable institute
State guide.
Preferably, above-mentioned section of jurisdiction convey automatically and identifying system in, the vacuum chuck have vacuum cavity and with it is described
Vacuum cavity is connected to the vacuum pump for vacuumizing the vacuum cavity.
Section of jurisdiction provided by the invention conveys automatically and identifying system includes detection device and handling apparatus.Wherein, handling fills
It sets for section of jurisdiction to be hoisted to below detection device, and there is the detection plane that can be connected in the intrados of section of jurisdiction, detection is flat
There is mark point, mark point has for micro-adjusting center after characterizing face duct piece assembling machine grasping pipe piece relative to section of jurisdiction on face
Point.Detection device includes depth camera and is fixedly installed in same plane first laser rangefinder, second laser rangefinder and the
Three laser range finders, first laser rangefinder is located at the left front direction of depth camera, second laser rangefinder is located at depth camera
Right front to third laser range finder is located at behind the right side of depth camera or left back direction.
It is conveyed automatically using section of jurisdiction provided by the invention and identifying system, section of jurisdiction is transported to detection by handling apparatus and is filled
The lower section set, so that the detection plane being connected in the intrados of section of jurisdiction is opposite with detection device.By duct piece assembling machine grasping pipe piece
Point characteristic point as section of jurisdiction of the micro-adjusting center relative to section of jurisdiction afterwards, and making marks on detecting plane, i.e. mark point, section of jurisdiction around
The posture of posture, that is, handling apparatus detection plane of characteristic point.First laser rangefinder, second laser rangefinder and third swash
The position of optar is respectively as measurement point, then according to first laser rangefinder, second laser rangefinder and third Laser Measuring
The characteristic point coordinate and each measurement point that the measurement point that distance meter is shown to the distance of detection plane, depth camera is shown are flat in space
Two-dimensional coordinate in face can get the final position in section of jurisdiction, posture.And then it can be according to section of jurisdiction when duct piece assembling machine grasping pipe piece
Pose is adjusted automatically to grab, and without being manually aligned, and then is no longer dependent on the proficiency of operator.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is conveyed automatically for the section of jurisdiction of a specific embodiment of the invention and the structural schematic diagram of identifying system；
Fig. 2 is the overlooking structure diagram of Fig. 1；
Fig. 3 is that automatic sensing enters identification region schematic diagram；
Fig. 4 is that automatic sensing halts schematic diagram；
Fig. 5 is the structural schematic diagram of detection device；
Fig. 6 is a kind of structural schematic diagram of vacuum chuck；
Fig. 7 is the schematic diagram that vacuum chuck shown in fig. 6 adsorbs section of jurisdiction；
Fig. 8 is the structural schematic diagram of another vacuum chuck；
Fig. 9 is the schematic diagram that vacuum chuck shown in Fig. 8 adsorbs section of jurisdiction；
Figure 10 is that section of jurisdiction identifies schematic diagram.
It is marked in attached drawing as follows:
Detection device 1, handling apparatus 2, section of jurisdiction 3, single built-in fitting section of jurisdiction 4 grab bolt 5, double location hole sections of jurisdiction 6, label
Point D；
First laser rangefinder 101, second laser rangefinder 102, third laser range finder 103, the 4th laser range finder
104, depth camera 105, mounting plate 106；
Loop wheel machine 201, vacuum cavity 202, locating piece 203, guide 204, vacuum pump 205, vacuum chuck 206, detection
Plane 207.
Specific embodiment
It is conveyed automatically the embodiment of the invention discloses a kind of section of jurisdiction and identifying system, automatic conveying section of jurisdiction simultaneously identifies section of jurisdiction position
Appearance, in order to which duct piece assembling machine automatically grabs section of jurisdiction.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-Fig. 2 and Figure 10 are please referred to, Fig. 1 is conveyed automatically for the section of jurisdiction of a specific embodiment of the invention and identifying system
Structural schematic diagram；Fig. 2 is the overlooking structure diagram of Fig. 1；Figure 10 is that section of jurisdiction identifies schematic diagram.
Section of jurisdiction provided by the invention conveys automatically and identifying system includes detection device 1 and handling apparatus 2.
Wherein, handling apparatus 2 can be connected in section of jurisdiction 3 for section of jurisdiction 3 to be hoisted to 1 lower section of detection device, and is had
Detection plane 207 in cambered surface.Namely in the state that handling apparatus 2 slings section of jurisdiction 3, detection plane 207 is connected to pipe
In the intrados of piece 3, and then the pose of the state response section of jurisdiction 3 by detection plane 207.Detecting has label in plane 207
Point D, mark point D have for characterizing point of the micro-adjusting center relative to section of jurisdiction 3 after face duct piece assembling machine grasping pipe piece 3.Also
It is point characteristic point as section of jurisdiction 3 of the micro-adjusting center relative to section of jurisdiction 3 after duct piece assembling machine grasping pipe piece 3, that is, mark point
D.Preferably, mark point D is located at the center of detection plane 207, and detection plane 207 is symmetrical about mark point D.
Detection device 1 includes that depth camera 105 swashs with same plane first laser rangefinder 101, second is fixedly installed in
Optar 102 and third laser range finder 103.Namely first laser rangefinder 101, second laser rangefinder 102 and
The corresponding measurement point of three laser range finder 103 is in the same plane, first laser rangefinder 101, second laser rangefinder 102
The position i.e. measurement point that respective place can be measured with third laser range finder 103 extremely detects the distance of plane 207, that is, such as
Shown in Figure 10, measurement point A, measurement point B and measurement point C are respectively to the length of A ', B ', C ' in the detection plane 207 of three's face
Degree.First laser rangefinder 101, second laser rangefinder 102 and third laser range finder 103 are by measuring respective measurement point
To the distance of detection plane 207, in conjunction with the coordinate of the mark point D of the measurement of depth camera 105 and each measurement point in space plane
Interior two-dimensional coordinate, to characterize 3 pose of section of jurisdiction.Detection device 1 can be specifically fixed on pedestal.Specific depth camera 105 is right
The position answered can be denoted as E.
First laser rangefinder 101 is located at the left front direction of depth camera 105, second laser rangefinder 102 is located at depth
The right front of camera 105 is to third laser range finder 103 is located at behind the right side of depth camera 105 or left back direction.And then pass through three
The distance of the measurement point that person measures respectively to detection plane 207 can reflect the pose of section of jurisdiction 3.
Background program can set duct piece assembling machine items drive system parameters by 3 pose parameter of section of jurisdiction, duct piece assembling machine
The route grasping pipe piece 3 that grabbing device is then set according to relevant parameter, handling apparatus 2, which can return to, continues handling.
It is conveyed automatically using section of jurisdiction provided by the invention and identifying system, by handling apparatus 2 by the transport of section of jurisdiction 3 to detecting
The lower section of device 1, so that the detection plane 207 being connected in 3 intrados of section of jurisdiction and detection device 1 are opposite.By duct piece assembling machine
The characteristic point put as section of jurisdiction 3 of the micro-adjusting center relative to section of jurisdiction 3 after grasping pipe piece 3, and make marks in detection plane 207,
That is mark point D, posture of the section of jurisdiction 3 around the detection plane 207 of posture, that is, handling apparatus 2 of characteristic point.First laser rangefinder
101, the position of second laser rangefinder 102 and third laser range finder 103 is as measurement point, then according to first laser rangefinder
101, the measurement point that second laser rangefinder 102 and third laser range finder 103 are shown extremely detects distance, the depth of plane 207
Two-dimensional coordinate of the mark point coordinate and each measurement point that camera 105 is shown in space plane can get the final position in section of jurisdiction 3
It sets, posture.And then can be adjusted automatically according to the pose of section of jurisdiction 3 when duct piece assembling machine grasping pipe piece 3 to grab, without artificial
It is aligned, and then is no longer dependent on the proficiency of operator.
Specifically, the corresponding isosceles of first laser rangefinder 101, second laser rangefinder 102 and third laser range finder 103
Three angles of right angled triangle are distributed, and depth camera 105 is located at the bottom edge midpoint of isosceles right triangle.Then first laser ranging
The distance of instrument 101, second laser rangefinder 102 and third laser range finder 103 to depth camera 105 is equal, consequently facilitating
The pose of section of jurisdiction 3 is obtained according to the distance of the coordinate of three measurement points and detected measurement point to detection plane 207.Specifically
, specific location of the mark point D on section of jurisdiction 3 can be randomly provided, when section of jurisdiction 3 is transported to below detection device, depth camera
105 direct measurement markers point D are flat relative to the range information and relative two dimensional of plane (such as mounting plate 106) where measurement point
The position mark point D can be obtained in areal coordinate.Detect 207 upper point A ' of plane, B ' and C ', i.e. measurement point A, measurement point B and measurement point
The two-dimensional parameter of the subpoint of C, with first laser rangefinder 101, second laser rangefinder 102 and third laser range finder 103
Two-dimensional surface parameter it is identical.Rangefinder can measure detection 207 upper point of plane relative to the distance parameter in coordinate, finally may be used
Obtain the coordinate deflection parameter of detection plane 207.I.e. the morpheme of section of jurisdiction 3 is available.
Further, detection device 1 further includes swashing for constant depth camera 105, first laser rangefinder 101, second
The mounting plate 106 of optar 102 and third laser range finder 103.For the ease of the installation of each component, mounting plate 106 is set,
Depth camera 105, first laser rangefinder 101, second laser rangefinder 102 and third laser range finder 103 are fixed respectively
Installation and transfer on mounting plate 106, and then convenient for whole detection device 1 etc..Preferably, mounting plate 106 includes square
Mounting portion, first laser rangefinder 101, second laser rangefinder 102 and third laser range finder 103 are located at square
Three angles on, then depth camera 105 can be located at square center.Mounting plate 106 can be fixedly connected with pedestal.
Specifically, detection device 1 further includes the 4th Laser Measuring for being used to position section of jurisdiction 3 positioned at 105 rear of depth camera
Distance meter 104.Namely increase a measurement point H, is i.e. is measurement point H at the 4th laser range finder 104.By in detection device 1
Rear be arranged the 4th laser range finder 104, then the shift position of section of jurisdiction 3 can be known by the 4th laser range finder 104.Such as
It sets the 4th laser range finder 104 to and mark point D to 3 outer end of section of jurisdiction at a distance from 105 front-rear direction of depth camera
It is equidistant, then when the 4th laser range finder 104 detects the distance signal at 3 edge of section of jurisdiction, then shows that 3 edge of section of jurisdiction is mobile
To opposite with the 4th laser range finder 104, then herein depth camera 105 in front-rear position with mark point D face.
Further, handling apparatus 2 includes and first laser rangefinder 101, second laser rangefinder 102, third laser
The controller that rangefinder 103 and the 4th laser range finder 104 are all connected with, controller are used in first laser rangefinder 101 or the
Dual-laser rangefinder 102 controls 201 low-speed forward of loop wheel machine, in the 4th laser range finder 104 when detecting the range information of section of jurisdiction 3
Detect that loop wheel machine 201 is controlled when the range information of section of jurisdiction 3 to halt.It should be noted that low-speed forward herein refers to loop wheel machine
201 reduce forward speed, and specific velocity magnitude can be set as needed, be not especially limited herein.Fig. 3-4 is please referred to, Fig. 3 is
Automatic sensing enters identification region schematic diagram；Fig. 4 is that automatic sensing halts schematic diagram.Pass through first laser rangefinder 101
Or when identification region of 102 automatic sensing of second laser rangefinder to section of jurisdiction 3 into 1 lower section of detection device, controller control is hung
Machine 201 slows down, and then when 104 automatic sensing of the 4th laser range finder to section of jurisdiction 3 moves in place, controller controls loop wheel machine 201
It halts, and then can be realized the Automatic Control of transmission process.
It further, further include the supporting table for being used to support section of jurisdiction 3, supporting table is located at the lower section of the detection device 1, control
Device processed is also used to control the decline of loop wheel machine 201 when the 4th laser range finder 104 detects the range information of section of jurisdiction 3 with by section of jurisdiction 3
It is placed in supporting table.Specifically, supporting table can be assembled section of jurisdiction ring.When being detected, first by the section of jurisdiction of handling 3
It puts down.Position after section of jurisdiction 3 is put down is that duct piece assembling machine needs 3 position of section of jurisdiction that grabs.After the completion of detection, loop wheel machine 201
It leaves.
On the basis of the various embodiments described above, handling apparatus 2 includes the vacuum chuck 206 for adsorbing section of jurisdiction 3, and vacuum is inhaled
The top surface of disk 206 is detection plane 207, and bottom surface is for adsorbing section of jurisdiction 3, and the top surface of vacuum chuck 206 is connected with for will be true
The loop wheel machine 201 that suction disk 206 is sling and moved, the bottom surface of vacuum chuck 206 have locating piece 203, and locating piece 203, which has, to be used for
The bottom surface of the location hole or vacuum chuck 206 that cooperate with the crawl bolt 5 of single 4 intrados of built-in fitting section of jurisdiction, which is connected with, to be used for
It is inserted into the guide 204 of the taper positioning hole of double location hole sections of jurisdiction 6.By using the top surface of vacuum chuck 206 as detection
Plane 207, i.e. vacuum chuck 206 double as section of jurisdiction specific identification device.And for single built-in fitting section of jurisdiction 4 and double location hole sections of jurisdiction 6
Corresponding vacuum chuck 206 can be respectively set, for single built-in fitting section of jurisdiction 4, please refer to Fig. 6-7, Fig. 6 is a kind of vacuum chuck
206 structural schematic diagram；Fig. 7 is the schematic diagram that vacuum chuck 206 shown in fig. 6 adsorbs section of jurisdiction 3.The bottom surface of vacuum chuck 206
With locating piece 203, there is location hole on locating piece 203, location hole can be with the crawl bolt of single 4 intrados of built-in fitting section of jurisdiction
5 cooperations, handling apparatus 2 are cooperated by the guidance of location hole and crawl bolt 5, fall into single 4 intrados of built-in fitting section of jurisdiction, then very
Single built-in fitting section of jurisdiction 4 is adsorbed in the starting of suction disk 206, and then drives section of jurisdiction 3 mobile by loop wheel machine 201.
For double location hole sections of jurisdiction 6, Fig. 8-9 is please referred to, Fig. 8 is the structural schematic diagram of another vacuum chuck 206；Fig. 9
The schematic diagram of section of jurisdiction 3 is adsorbed for vacuum chuck 206 shown in Fig. 8.The bottom surface of vacuum chuck 206 is fixedly connected with guide
204, guide 204 is inserted into the taper positioning hole of double location hole sections of jurisdiction 6, and then handling apparatus 2 passes through guide
The guidance of the 204 taper location holes included with double location hole sections of jurisdiction 6 are inserted into, which cooperates, to be adjusted, and the inner arc of double location hole sections of jurisdiction 6 is fallen within
Double location hole sections of jurisdiction 6 are adsorbed in face, the then starting of vacuum chuck 206, and then drive section of jurisdiction 3 mobile by loop wheel machine 201.By upper
The setting of two kinds of vacuum chucks 206 is stated, so that the section of jurisdiction conveys automatically and identifying system is to single hole grasping pipe piece 4, diplopore sucker
Bolt section of jurisdiction 6 is general.
Specifically, locating piece 203 is embedded in vacuum chuck 206, the bottom surface of locating piece 203 and the bottom of vacuum chuck 206
Face is concordant, and the bottom surface of vacuum chuck 206 is also connected with removable guide 204.By by guide 204 and vacuum
Dismountable connection of sucker 206 can be not connected to guide then when the vacuum chuck 206 is used for single built-in fitting section of jurisdiction 4
204, section of jurisdiction 3 is carried out by the guidance cooperation of locating piece 203 and crawl bolt 5 and is adsorbed.And when the vacuum chuck 206 is for double fixed
When the hole section of jurisdiction 6 of position, then guide 204 can be connected to the bottom surface of vacuum chuck 206, then can pass through guide 204
Guidance cooperation with taper location hole carries out section of jurisdiction 3 and adsorbs.So set, same vacuum chuck 206 both can be used for it is single pre-buried
Part section of jurisdiction 4 can also be suitable for double location hole sections of jurisdiction 6 by connection guide 204.
Further, vacuum chuck 206 has vacuum cavity 202 and is connected to vacuum cavity 202 for by vacuum cavity
202 vacuum pumps 205 vacuumized.The cavity that vacuum cavity 202 surrounds between 206 bottom surface of vacuum chuck and top surface, vacuum pump
205 are connected to vacuum cavity 202, and then work as handling apparatus 2 and cooperated by the guidance of location hole and crawl bolt 5, and it is pre- to fall into list
Gas in vacuum cavity 202 is extracted in 4 intrados of embedded part section of jurisdiction, the then starting of vacuum pump 205, forms vacuum for single built-in fitting section of jurisdiction
4 absorption, and then drive the movement of section of jurisdiction 3 or handling apparatus 2 to pass through guide 204 and double location hole sections of jurisdiction by loop wheel machine 201
The guidance of 6 included taper location holes cooperates adjustment, falls within the intrados of double location hole sections of jurisdiction 6, and the then starting of vacuum pump 205 is taken out
Gas in vacuum cavity 202 is taken, vacuum is formed and adsorbs double location hole sections of jurisdiction 6.
To sum up, section of jurisdiction provided by the present application conveys automatically and identifying system, the structure of handling apparatus 2 are cooperated using pin hole
Convenient for positioning, the scope of application includes single built-in fitting section of jurisdiction 4, diplopore positioning section of jurisdiction 6；The program conveys automatically, automatic identification, can one
Key operation；Detection device 1 forms simply, only includes laser range finder and depth measurement camera.Meanwhile crawl can be effectively improved
The quality of section of jurisdiction 3, and make operation easier；The program can be used as a part of duct piece assembling machine integrated automation, to final
Section of jurisdiction intelligent splicing provide reference；The program efficiently uses handling apparatus 2, does not increase equipment mechanism additionally；The program can fit
Section of jurisdiction 6 is positioned for single built-in fitting section of jurisdiction 4, diplopore, it is applied widely.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of section of jurisdiction conveys automatically and identifying system, which is characterized in that including detection device and for section of jurisdiction to be hoisted to institute
The handling apparatus below detection device is stated, the handling apparatus has the detection that can be connected in the section of jurisdiction intrados flat
Face, has mark point in the detection plane, the mark point for characterize face duct piece assembling machine grab it is micro- behind the section of jurisdiction
Point of the tune center relative to the section of jurisdiction；The detection device includes that depth camera swashs with being fixedly installed in conplane first
Optar, second laser rangefinder and third laser range finder, the first laser rangefinder are located at the depth camera
Left front direction, the second laser rangefinder are located at the right front of the depth camera to the third laser range finder is located at
Behind the right side of the depth camera or left back direction.
2. section of jurisdiction according to claim 1 conveys automatically and identifying system, which is characterized in that the first laser ranging
Instrument, the second laser rangefinder and the third laser range finder correspond to three angles distribution of isosceles right triangle, described
Depth camera is located at the bottom edge midpoint of the isosceles right triangle.
3. section of jurisdiction according to claim 2 conveys automatically and identifying system, which is characterized in that the detection device further includes
For fixing the depth camera, the first laser rangefinder, the second laser rangefinder and the third laser ranging
The mounting plate of instrument.
4. section of jurisdiction according to claim 3 conveys automatically and identifying system, which is characterized in that the mounting plate includes pros
The mounting portion of shape, the first laser rangefinder, the second laser rangefinder and the third laser range finder are located at
On three angles of the square.
5. section of jurisdiction according to claim 1 conveys automatically and identifying system, which is characterized in that the detection device further includes
The 4th laser range finder positioned to the section of jurisdiction is used for positioned at the depth camera rear.
6. section of jurisdiction according to claim 5 conveys automatically and identifying system, which is characterized in that the handling apparatus include with
The control that the first laser rangefinder, second laser rangefinder, third laser range finder and the 4th laser range finder are all connected with
Device, the controller are used to detect the distance of the section of jurisdiction in the first laser rangefinder or the second laser rangefinder
The loop wheel machine low-speed forward, the control when the 4th laser range finder detects the range information of the section of jurisdiction are controlled when information
The loop wheel machine halts.
7. section of jurisdiction according to claim 6 conveys automatically and identifying system, which is characterized in that further include be used to support it is described
The supporting table of section of jurisdiction, the supporting table are located at the lower section of the detection device, and the controller is also used in the 4th laser
Rangefinder controls the loop wheel machine decline so that the section of jurisdiction is placed in the supporting table when detecting the range information of the section of jurisdiction
On.
8. section of jurisdiction according to claim 1-7 conveys automatically and identifying system, which is characterized in that the handling dress
It sets including the vacuum chuck for adsorbing section of jurisdiction, the top surface of the vacuum chuck is the detection plane, and bottom surface is for adsorbing institute
Section of jurisdiction is stated, and the top surface of the vacuum chuck is connected with the loop wheel machine for slinging and moving the vacuum chuck, the vacuum
The bottom surface of sucker has locating piece, and the locating piece has for determining with what the crawl bolt of single built-in fitting section of jurisdiction intrados cooperated
The guidance that position hole or the bottom surface of the vacuum chuck are connected with the taper positioning hole for being inserted into double location hole sections of jurisdiction is inserted
Pin.
9. section of jurisdiction according to claim 8 conveys automatically and identifying system, which is characterized in that the locating piece is embedded in institute
It states in vacuum chuck, the bottom surface of the locating piece is concordant with the bottom surface of the vacuum chuck, and the bottom surface of the vacuum chuck is also
It is connected with the removable guide.
10. section of jurisdiction according to claim 8 conveys automatically and identifying system, which is characterized in that the vacuum chuck has
Vacuum cavity and the vacuum pump for vacuumizing the vacuum cavity is connected to the vacuum cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104207.6A CN109555543B (en) | 2019-02-01 | 2019-02-01 | Automatic conveying and identifying system for duct pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104207.6A CN109555543B (en) | 2019-02-01 | 2019-02-01 | Automatic conveying and identifying system for duct pieces |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109555543A true CN109555543A (en) | 2019-04-02 |
| CN109555543B CN109555543B (en) | 2024-03-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460851A (en) * | 2021-06-02 | 2021-10-01 | 天津大学 | Automatic segment grabbing and transporting system and method based on monocular vision and laser |
| CN115390089A (en) * | 2022-08-29 | 2022-11-25 | 中铁工程装备集团有限公司 | Segment attitude detection and hoisting method and system, segment hoisting device and industrial personal computer |
| CN119305654A (en) * | 2024-11-04 | 2025-01-14 | 江苏长腾汽车焊装设备有限公司 | Cabin assembly hoisting and transfer system and hoisting positioning and transfer method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460851A (en) * | 2021-06-02 | 2021-10-01 | 天津大学 | Automatic segment grabbing and transporting system and method based on monocular vision and laser |
| CN113460851B (en) * | 2021-06-02 | 2023-03-10 | 天津大学 | Segment automatic grabbing and transporting system and method based on monocular vision and laser |
| CN115390089A (en) * | 2022-08-29 | 2022-11-25 | 中铁工程装备集团有限公司 | Segment attitude detection and hoisting method and system, segment hoisting device and industrial personal computer |
| CN115390089B (en) * | 2022-08-29 | 2025-01-28 | 中铁工程装备集团有限公司 | Segment posture detection and lifting method and system, segment lifting device and industrial control computer |
| CN119305654A (en) * | 2024-11-04 | 2025-01-14 | 江苏长腾汽车焊装设备有限公司 | Cabin assembly hoisting and transfer system and hoisting positioning and transfer method |
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