Automatic detection device for three-dimensional information of segment steel die

Abstract

The utility model discloses an automatic detection device for three-dimensional information of a segment steel die, which belongs to the technical field of automatic detection devices and comprises a production line track, a transport trolley and a steel structure frame are arranged on the production line track, a fixed support is connected onto the steel structure frame, an optical tracker is connected onto the fixed support, and the segment steel die is positioned on the transport trolley; the moving assembly is connected to the steel structure frame; the visual monitoring unit comprises a rotating part and a structured light 3D camera, the structured light 3D camera is connected to the rotating part, and the rotating part is connected to the moving assembly. According to the utility model, the structured light 3D camera can move in the direction and adjust the angle, the self-luminous tracker is arranged on the structured light 3D camera, and the optical tracker can capture the position information of the tracker as long as the optical tracker can shoot any one or more luminous surfaces of the tracker. And automatic acquisition and high-precision detection of three-dimensional information of the inner cavity of the large-size steel mold are realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic detection devices, and in particular relates to a device for automatically detecting three-dimensional information of a pipe segment steel mold. Background Art

[0002] Precast segments are primarily used in tunneling projects, particularly in subway shield tunnel construction. Precast segment construction technology offers high efficiency and a wide range of applications. Precast segments are primarily manufactured using high-precision steel molds, which are then poured into concrete. The production process utilizes multiple molds in a fully automated assembly line, requiring high standards for dimensional tolerance, accuracy, and consistency.

[0003] To ensure the production quality of the pipe segments, the shape and dimensional accuracy of the inner cavity of the steel mold need to be inspected and monitored during the production process. However, due to the large size of the steel mold (usually approximately 5 meters long, 2 meters wide, 0.6 meters thick, and with a curved inner mold), conventional laser trackers can meet the needs of fast measurement and high precision, but require testers to manually place measurement points, resulting in extremely low detection efficiency and prone to human errors, which cannot meet the requirements of assembly line operations. Other three-coordinate detection methods are limited in the number of detection points and cannot meet the requirements. The large-scale robotic arm plus ground rail solution has high testing costs, extremely high requirements for the operating environment, and is difficult to maintain. Utility Model Content

[0004] The purpose of this utility model is to solve the problem that the existing steel mold is large in size (usually about 5 meters long, 2 meters wide, 0.6 meters thick, and has a curved inner mold). Conventional laser trackers can meet the needs of fast measurement and high precision, but require testers to manually place measurement points, the detection efficiency is extremely low, and it is easy to produce human errors, which cannot meet the requirements of assembly line operations. Other three-coordinate detection methods are limited in the detection points and cannot meet the requirements. The large-scale robotic arm plus ground rail solution has high testing costs, extremely high requirements for the use environment, and is difficult to maintain. Therefore, a three-dimensional information automatic detection device for pipe segment steel molds is proposed.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a device for automatically detecting three-dimensional information of a segment steel mold, comprising:

[0006] A production line track, on which a transport trolley and a steel structure frame are arranged, a fixed bracket is connected to the steel structure frame, an optical tracker is connected to the fixed bracket, and a segment steel mold is positioned on the transport trolley;

[0007] a mobile assembly connected to the steel structural frame;

[0008] The visual monitoring unit comprises a rotating component and a structured light 3D camera, wherein the structured light 3D camera is connected to the rotating component, and the rotating component is connected to the moving component.

[0009] As a further description of the above technical solution:

[0010] The moving assembly includes an X-axis linear motor, a Y-axis linear motor and a Z-axis arm. The X-axis linear motor is connected to the top of the steel structure frame, the Y-axis linear motor is connected to the X-axis linear motor, and the Z-axis arm is connected to the Y-axis linear motor.

[0011] As a further description of the above technical solution:

[0012] The cross section of the fixing bracket is V-shaped, with both ends located outside the X-axis linear motor, and the optical tracker is located in the middle of the fixing bracket.

[0013] As a further description of the above technical solution:

[0014] The structured light 3D camera is provided with a self-luminous tracker, and the self-luminous tracker is provided with a plurality of infrared light emitting points.

[0015] As a further description of the above technical solution:

[0016] A camera connecting plate is provided on the rotating component, and the structured light 3D camera is connected to the camera connecting plate.

[0017] As a further description of the above technical solution:

[0018] The rotating component includes a plurality of hollow rotating motors and a plurality of L-shaped connecting plates. The plurality of L-shaped connecting plates are connected through the hollow rotating motor, and the hollow rotating motor at the top is connected to the Z-axis arm.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0020] In the present invention, a transport trolley and a steel structure frame are arranged on the production line track, the pipe segment steel mold is placed on the transport trolley, a mobile component that can move in the X / Y / Z axes is arranged on the steel structure frame, and a rotating component is arranged at the tail of the mobile component. The structured light 3D camera is connected to the rotating component via a camera connecting plate, and the optical tracker is connected to the steel structure frame via a fixed bracket, so that the structured light 3D camera can not only move in direction but also adjust the angle. At the same time, a self-luminous tracker is arranged on the structured light 3D camera. The self-luminous tracker has 7 light-emitting surfaces, each of which has 4 infrared light emission points. The shape formed by the 4 infrared light emission points in each surface is different. The optical tracker can capture the position of the light-emitting points and distinguish the corresponding light-emitting surfaces based on the shape characteristics of each of the 4 infrared light emission points. As long as the optical tracker can capture any one or more light-emitting surfaces of the tracker, it can capture the position information of the tracker itself, realizing automatic collection and high-precision detection of 3D information of the inner cavity of large-sized steel molds, greatly reducing the difficulty of system installation and debugging, lowering the requirements for the use environment, and reducing the maintenance requirements of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A three-dimensional automatic detection device for segment steel mold three-dimensional information Figure 1 .

[0023] Figure 2 A three-dimensional automatic detection device for segment steel mold three-dimensional information Figure 2 .

[0024] Figure 3 A three-dimensional automatic detection device for segment steel mold three-dimensional information Figure 3 .

[0025] Figure 4 A three-dimensional automatic detection device for segment steel mold three-dimensional information Figure 4 .

[0026] Figure 5 for Figure 1 Enlarged view of point A in the middle.

[0027] Legend:

[0028] 1 - production line track; 2 - transport trolley; 3 - steel structure frame; 4 - fixed support; 5 - optical tracker; 6 - segment steel mold; 7 - moving assembly; 71 - X-axis linear motor; 72 - Y-axis linear motor; 73 - Z-axis arm; 8 - visual monitoring unit; 81 - rotating part; 811 - hollow rotating motor; 812 - L-shaped connecting plate; 82 - structured light 3D camera; 9 - self-luminous tracker; 10 - infrared light emitting point; 11 - camera connecting plate. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0030] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0032] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0033] In the description of the embodiments of the present application, it should be noted that the terms "upper", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0035] See also Figure 1-5 The utility model provides a technical solution: a device for automatically detecting three-dimensional information of a segment steel mold, comprising:

[0036] Production line track 1, on which a transport trolley 2 and a steel structure frame 3 are installed, a fixed bracket 4 is connected to the steel structure frame 3, an optical tracker 5 is connected to the fixed bracket 4, and a segment steel mold 6 is positioned on the transport trolley 2;

[0037] A moving assembly 7 connected to the steel structure frame 3;

[0038] The visual monitoring unit 8 includes a rotating component 81 and a structured light 3D camera 82 . The structured light 3D camera is connected to the rotating component 81 , and the rotating component 81 is connected to the moving component 7 .

[0039] The moving assembly 7 includes an X-axis linear motor 71, a Y-axis linear motor 72, and a Z-axis arm 73. The X-axis linear motor 71 is connected to the top of the steel structure frame 3, the Y-axis linear motor 72 is connected to the X-axis linear motor 71, and the Z-axis arm 73 is connected to the Y-axis linear motor 72. Adjustment of the X / Y / Z axis directions is achieved.

[0040] The fixing bracket 4 has a V-shaped cross section, with both ends located outside the X-axis linear motor 71 , and the optical tracker 5 is located in the middle of the fixing bracket 4 .

[0041] The structured light 3D camera 82 is provided with a self-luminous tracker 9 , and the self-luminous tracker 9 is provided with a plurality of infrared light emitting points 10 .

[0042] The rotating component 81 is provided with a camera connecting plate 11 , and the structured light 3D camera 82 is connected to the camera connecting plate 11 .

[0043] The rotating component 81 includes several hollow rotating motors 811 and several L-shaped connecting plates 812. The L-shaped connecting plates 812 are connected by the hollow rotating motors 811. The top hollow rotating motor 811 is connected to the Z-axis arm 73 to achieve the adjustment of the X / Y / Z axis rotation angle.

[0044] Working principle: by setting the transport trolley and steel structure frame on the production line track, the pipe piece steel mold is placed on the transport trolley, the moving assembly that can move in X / Y / Z axis is set on the steel structure frame, the rotating part is set at the tail of the moving assembly, the structured light 3D camera is connected on the rotating part through the camera connecting plate, the optical tracker is connected on the steel structure frame through the fixed support, so that the structured light 3D camera can not only move in direction but also adjust the angle, at the same time, the self-luminous tracker is set on the structured light 3D camera, the self-luminous tracker has 7 luminous surfaces, each luminous surface has 4 infrared light emitting points, the shape formed by the 4 infrared light emitting points in each surface is different, the optical tracker can capture the position of the light emitting point, and according to the shape characteristics of the 4 infrared light emitting points, the corresponding luminous surface is distinguished, as long as the optical tracker can shoot any one or more luminous surfaces of the tracker, the position information of the tracker itself can be captured, the automatic collection and high-precision detection of the three-dimensional information in the large-size steel mold cavity are realized, the installation and debugging difficulty of the system is greatly reduced, the requirement for the use environment is reduced, and the maintenance requirement for the system is reduced.

[0045] The above is only the preferred specific implementation mode of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An automatic detection device for three-dimensional information of segment steel mold, characterized in that: include: A production line track, on which a transport trolley and a steel structure frame are arranged, a fixed bracket is connected to the steel structure frame, an optical tracker is connected to the fixed bracket, and a segment steel mold is positioned on the transport trolley; a mobile assembly connected to the steel structural frame; The visual monitoring unit comprises a rotating component and a structured light 3D camera, wherein the structured light 3D camera is connected to the rotating component, and the rotating component is connected to the moving component.

2. The automatic detection device for three-dimensional information of segment steel mold according to claim 1 is characterized in that: The moving assembly includes an X-axis linear motor, a Y-axis linear motor and a Z-axis arm. The X-axis linear motor is connected to the top of the steel structure frame, the Y-axis linear motor is connected to the X-axis linear motor, and the Z-axis arm is connected to the Y-axis linear motor.

3. The automatic detection device for three-dimensional information of segment steel mold according to claim 2 is characterized in that: The cross section of the fixing bracket is V-shaped, with both ends located outside the X-axis linear motor, and the optical tracker is located in the middle of the fixing bracket.

4. The automatic detection device for three-dimensional information of a segment steel mold according to claim 1 is characterized in that: The structured light 3D camera is provided with a self-luminous tracker, and the self-luminous tracker is provided with a plurality of infrared light emitting points.

5. The automatic detection device for three-dimensional information of segment steel mold according to claim 4 is characterized in that: A camera connecting plate is provided on the rotating component, and the structured light 3D camera is connected to the camera connecting plate.

6. The automatic detection device for three-dimensional information of segment steel mold according to claim 2, characterized in that: The rotating component includes a plurality of hollow rotating motors and a plurality of L-shaped connecting plates. The plurality of L-shaped connecting plates are connected through the hollow rotating motor, and the hollow rotating motor at the top is connected to the Z-axis arm.

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