Robotic device and comprehensive detection method for crane rails

Abstract

The present invention relates to a robot device and a comprehensive detection method for comprehensive detection of crane tracks, and belongs to the technical field of crane track detection. The device includes a laser emitting unit, a light target platform, and a control terminal; the laser emitting unit includes a laser emitter installed on the crane track and emitting a laser beam in a horizontal direction; the light target platform includes a platform vehicle moving along the crane track and a control unit installed on the outer end surface of the platform vehicle to control the movement of the platform vehicle, a light target for receiving the laser beam of the laser emitter, and a laser ranging component; the laser ranging component emits a laser beam toward another crane track in a horizontal direction; the laser emitting unit and the light target platform are installed on one of the crane tracks, and a follower light target trolley for receiving the laser beam emitted by the laser ranging component is arranged on another parallel crane track. Various parameters are detected by establishing a crane track space coordinate system.

Description

Technical Field

[0001] The invention relates to a robot device and a comprehensive detection method for crane track comprehensive detection, belonging to the technical field of crane track detection. Background Art

[0002] With the development of economy, the number of large-scale lifting equipment is increasing, and the span and size of the equipment's running tracks are also expanding accordingly. The tracks of the crane's large and small trolleys are one of the important factors affecting the safe operation risk of the crane. After the crane has been working for a period of time, the crane's large and small trolley tracks will be deformed, causing difficulties in the operation of the crane, and in severe cases, the track gnawing phenomenon will occur. At the same time, cranes that are often in heavy-load conditions are easily affected by factors such as ground settlement, and the tracks will be deformed to varying degrees in the horizontal or vertical direction. Therefore, during the manufacturing, installation, and use stages of the crane, the relevant parameters of the track must be tested to ensure the safe operation of the lifting machinery.

[0003] The measurement of the parameters of crane tracks and trolleys is still generally carried out by measuring the entire track length section by section using measuring equipment such as steel tape measures, tower rulers, and laser theodolites. However, the above-mentioned measuring tools are greatly affected by environmental changes, and the measurement accuracy is difficult to guarantee. In particular, due to the continuous increase in the length and span of crane tracks, the measurement accuracy is low, the labor intensity is high, and the safety is poor.

[0004] Currently, automatic inspection of crane rails also includes the following categories: (1) inspection based on total station; (2) inspection using machine vision technology; (3) inspection using a combination of laser and sensor.

[0005] The inspection of crane tracks relies on manual inspection, which has problems such as low efficiency, inconvenient operation and poor safety. Although the method of using total station for inspection has improved the inspection accuracy, its disadvantages are that the measurement function is single and the inspection personnel need to perform real-time operation on the track, which is unsafe and has high requirements for operators. In addition, the equipment is heavy and has poor portability. The inspection using machine vision technology is suitable for the inspection of tracks with smaller spans, but cannot meet the requirements for the inspection of large tracks. The inspection method combining laser and sensor is the main method for crane track inspection in recent years, but there are also great deficiencies in the flexibility, accuracy and degree of automation of the inspection equipment, which need to be improved. Summary of the invention

[0006] The object of the present invention is to provide a robot device and a comprehensive detection method for crane rail comprehensive detection.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A robot device for comprehensive inspection of crane tracks comprises a laser emitting unit, a light target platform and a control terminal; the laser emitting unit comprises a laser emitter installed on the crane track and emitting a laser beam in a horizontal direction; the light target platform comprises a platform vehicle moving along the crane track, a control unit installed on the outer end surface of the platform vehicle and controlling the movement of the platform vehicle, a light target for receiving the laser beam and a laser ranging component; the laser emitting unit and the light target platform are installed on one of the crane tracks, and a follow-up light target trolley is arranged on another parallel crane track.

[0009] A further improvement of the technical solution of the present invention is that the crane track is a horizontal track.

[0010] A further improvement of the technical solution of the present invention is as follows: a driving wheel and a clamping wheel are arranged on the end face of the platform vehicle installed on the crane track; the driving wheel rolls along the outer end face of the web of the crane track; the clamping wheel is relatively arranged on the two side faces of the web of the crane track and rolls along the side faces of the web.

[0011] A further improvement of the technical solution of the present invention is that the laser emitting unit also includes a bracket for installation on the crane track, and the laser emitter is fixedly arranged at the outer end of the bracket.

[0012] A further improvement of the technical solution of the present invention is that the light target is installed on a position adjustment frame and is fixed on the platform vehicle through the position adjustment frame.

[0013] A further improvement of the technical solution of the present invention is as follows: the position adjustment frame includes a Y-axis platform and a Z-axis platform which are arranged perpendicular to each other, a Y-axis lead screw driven by a Y-axis motor is arranged in the Y-axis platform; the lower end of the Z-axis platform is installed on the Y-axis lead screw to form a lead screw pair, and a Z-axis lead screw driven by a Z-axis motor is arranged in the Z-axis platform; the light target platform is installed on the Z-axis lead screw to form a lead screw pair.

[0014] The further improvement of the technical solution of the present invention is: an anti-collision block is set at one end of the platform vehicle; the light target is set at one end of the platform vehicle close to the laser emitting part, and the anti-collision block is set at the front end of the platform vehicle in the forward direction when the platform vehicle moves.

[0015] A further improvement of the technical solution of the present invention is that the spot diameter of the laser beam is ≤8mm.

[0016] A crane rail comprehensive detection method, using a robot device for crane rail comprehensive detection; the detection method is as follows,

[0017] 1) Install the calibrated laser transmitter and light target platform on one of the crane tracks, and install the light target follower trolley on the other crane track;

[0018] 2) The laser emitting unit emits a laser beam, and the interface setting parameters of the terminal control device control the movement of the light target platform. The three-dimensional coordinate system of the elevator track is established through the three-dimensional movement of the light target in space;

[0019] 3) The light target platform starts to move horizontally from the origin of the coordinate system. The control unit sends a signal to control the movement of the platform vehicle. The light target receives the laser beam and obtains the spatial coordinates of the crane track by analyzing the spot information of the laser beam on the light target. The spatial coordinates of the light target trolley following the opposite track are collected through the laser ranging component.

[0020] 4) During the movement of the optical target platform, the control unit transmits the collected crane track spatial coordinate information to the terminal control device. By establishing a spatial model of the crane track, the straightness, smoothness, track surface inclination angle, and the gauge, gauge deviation and elevation deviation parameters of the two tracks are analyzed to complete the crane track parameter detection.

[0021] Due to the adoption of the above technical solution, the technical effects achieved by the present invention are as follows:

[0022] The present invention designs a set of key parameter detection devices for crane rails, and innovatively designs the light target module so that it can automatically detect the position of the light spot and move in a small range in space, and can accurately measure the straightness and inclination angle of the rail, thereby improving the degree of automation of rail detection.

[0023] The present invention proposes to detect various parameters of the elevator track by establishing an elevator track space coordinate system, and the detection accuracy is more accurate.

[0024] Compared with the existing crane track parameter detection method, the device described in the present invention automatically identifies the laser spot position through the light target module and performs spatial displacement, so that the light spot always remains on the light target, avoiding large track deviation during movement and causing the light spot position to deviate from the light target, resulting in invalid data collection or no data, increasing the detection range of parameters such as track smoothness and verticality, and improving the convenience and automation of the instrument.

[0025] The detection device of the present invention has good flexibility, high precision and is easy to control; it can ensure that the parameters of each position of the crane track are comprehensively collected and detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the present invention;

[0027] Figure 2 It is a schematic diagram of the moving part of the platform vehicle of the present invention;

[0028] Figure 3 It is a schematic diagram of the position adjustment frame of the present invention;

[0029] Figure 4 This is a schematic diagram of the light target following trolley of the present invention;

[0030] Among them, 1. control unit, 2. anti-collision block, 3. light target, 4. laser ranging component, 5. platform car, 6. position adjustment frame, 7. driving wheel, 8. clamping wheel, 9. follow-light target trolley, 10. bracket, 11. laser transmitter, 12. Z-axis motor, 13. Z-axis screw, 14. Z-axis platform, 15. Y-axis motor, 16. Y-axis screw, 17. Y-axis platform, 18. crane track. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0032] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The invention discloses a robot device for comprehensive detection of crane tracks and a method for detecting crane tracks using the robot device. The crane track 18 is usually a structure similar to a T-track or a train track, and the device is installed on the crane track for detection.

[0035] like Figure 1 , Figure 2 , Figure 3As shown, the device includes a laser emitting unit, a light target platform and a control terminal. Among them, the laser emitting unit is fixedly installed on the crane track and is used to generate a laser beam. The laser emitting unit mainly includes a laser emitter 11 installed on the crane track and emitting a laser beam in a horizontal direction. Usually, the laser emitter 11 is installed on the crane track 18 through a bracket 10. Therefore, the laser emitting unit includes a bracket 10 for installation on the crane track 18 and a laser emitter 11 fixedly arranged at the outer end of the bracket 10. During detection, the crane track 18 is usually in a horizontal state; correspondingly, the laser emitter 11 emits a laser beam in a horizontal direction. The control terminal controls the device, mainly controlling the movement of the light target platform.

[0036] Another functional part of the device is the optical target platform, such as Figure 1 As shown, the optical target platform includes a platform vehicle 5 that moves along the crane track 18 and a control unit 1 that controls the movement of the platform vehicle 5. The control unit 1 is installed on the outer end surface of the platform vehicle 5. The platform vehicle 5 is similar to a small vehicle that can walk, and the control unit 1 also has a driving function. Functional components are also arranged on the platform vehicle 5, mainly including an optical target 3 and a laser ranging component 4 for receiving the laser beam of the laser emitter 11. The optical target 3 is used to receive the laser beam emitted by the laser generator 11, and the laser emitted by the laser emitter 11 is along the extension direction of the crane track 18. The laser ranging component 4 is actually a transmitter that has a ranging function and can emit lasers. The laser ranging component 4 emits a laser beam toward another crane track 18 in the horizontal direction. The laser emitting unit and the optical target platform are installed at intervals on one of the crane tracks 18; at the same time, a follower optical target trolley 9 is arranged on another parallel crane track 18 to receive the laser beam emitted by the laser ranging component 4. The follower optical target trolley 9 includes a trolley part and an optical target, and the optical target is installed on the trolley to receive the laser beam emitted by the laser ranging component. The light target following trolley 9 moves with the movement of the laser ranging assembly 4 during operation. The setting of the light target following trolley 9 can detect the track gauge, track gauge deviation and elevation deviation between the two crane tracks of the teammates.

[0037] The platform vehicle 5 of the present invention is installed on the crane rail 18 and can stably move along the crane rail 18. Figure 2 As shown, a driving wheel 7 and a clamping wheel 8 are arranged on the lower end surface of the platform vehicle 5, wherein the driving wheel 7 rolls along the outer end surface of the web of the crane rail 18; the clamping wheels 8 are arranged in pairs, and are respectively arranged on two side surfaces of the web of the crane rail 18 opposite to each other and roll along the side surfaces of the web. Generally, one driving wheel 7 and two clamping wheels form a group, and multiple groups may be arranged.

[0038] In a specific implementation, preferably, a position adjustment frame for mounting the optical target 3 is provided on the platform vehicle 5, and the optical target 3 is mounted on the position adjustment frame 6. The optical target 3 is fixed on the platform vehicle 5 by the position adjustment frame, and the position adjustment frame can adjust the position of the optical target 3, so that the laser beam emitted by the laser emitter 11 can be accurately irradiated on the optical target 3. Figure 3 As shown, the position adjustment frame 6 includes a Y-axis platform 17 and a Z-axis platform 14 which are arranged perpendicular to each other. Among them, the Y-axis platform 17 is fixed on the end face of the platform vehicle 5, the Y-axis platform 17 is arranged horizontally and a Y-axis lead screw 16 driven by a Y-axis motor 15 is arranged inside. The lower end of the Z-axis platform 14 is mounted on the Y-axis lead screw 16, and the two form a lead screw pair. The rotation of the Y-axis lead screw 16 can drive the Z-axis platform 14 to move horizontally. Similarly, a Z-axis lead screw 13 driven by a Z-axis motor 12 is arranged inside the Z-axis platform 14, and the light target platform is mounted on the Z-axis lead screw 13, and the two form a lead screw pair. The Z-axis lead screw 13 drives the light target platform to move up and down. The position adjustment frame realizes the position adjustment of the light target platform. The control terminal controls the position adjustment frame 6, and the Y-axis motor 15 and the Z-axis motor 12 receive the control signal of the control terminal.

[0039] The detection device of the present invention preferably has an anti-collision block 2 at one end of the platform vehicle 5 to protect the functional components on the platform vehicle 5. The light target 3 and the anti-collision block 2 are arranged at both ends of the platform vehicle 5. Figure 1 As shown, the optical target 3 is arranged on one end of the platform vehicle 5 close to the laser emitting part, and the anti-collision block 2 is arranged at the front end of the platform vehicle 5 in the forward direction when the platform vehicle 5 moves.

[0040] When in use, the laser emitting unit is fixed on the crane track, and the light target platform and the follow-up light target trolley each move along a crane track. At the beginning, the light target platform is set close to the laser emitting unit. After starting to work, the light target platform gradually moves away from the laser emitting unit. During the detection process, the laser emitted by the laser emitting unit always irradiates the light target platform.

[0041] During measurement, the present invention preferably controls the spot diameter of the laser beam to be ≤8 mm, and usually controls it to be 6-8 mm.

[0042] The present invention also discloses a comprehensive detection method for crane tracks, which uses the above-mentioned robot device for comprehensive detection of crane tracks. First, a laser transmitter is fixed at one end of the track to be tested, and a platform vehicle carrying a light target platform is installed on the same track. The spatial position of the vehicle is recorded by the spatial three-dimensional movement of the light target to establish a spatial coordinate system. The platform vehicle automatically runs under the set program, and spatial data is collected during the operation. Through the spatial position relationship between the light target and the track, through spatial coordinate transformation, parameters such as track straightness, smoothness and track surface inclination angle can be obtained; during the operation of the light target platform, the follow-light target vehicle installed on the other track simultaneously follows the movement, and the laser ranging module on the light target platform hits the light target of the follow-light target vehicle, collects data for coordinate transformation, and obtains parameters such as the track gauge, track gauge deviation and elevation deviation of the two tracks.

[0043] The specific detection method is as follows:

[0044] 1) Install the calibrated laser emitter and light target platform on one of the crane tracks, and install the follow-up light target trolley on the other track of the crane. The laser beam emitter is fixedly installed at one end of the track to be measured, and the platform vehicle carrying the light target platform is installed on the same track. The laser beam requires high collimation accuracy and small spot diameter to meet the measurement of the crane track length range.

[0045] 2) The laser emitting unit emits a laser beam, and the control terminal is used to control the detection device. The parameters are set in the interface of the control terminal to control the movement of the light target platform, and the three-dimensional coordinate system of the elevator track is established through the three-dimensional movement of the light target in space.

[0046] 3) The light target platform starts to move horizontally from the origin of the coordinate system. The control unit sends a signal to control the movement of the platform vehicle. The light target receives the laser beam and obtains the spatial coordinates of the crane track by analyzing the spot information of the laser beam on the light target. The spatial coordinates of the light target trolley following the opposite track are collected through the laser ranging component.

[0047] 4) During the movement of the optical target platform, the control unit transmits the collected crane track spatial coordinate information to the terminal control device. By establishing a spatial model of the crane track, the straightness, smoothness, track surface inclination angle, and the gauge, gauge deviation and elevation deviation parameters of the two tracks are analyzed to complete the crane track parameter detection.

[0048] The above detection method records the spatial position of the trolley through the spatial three-dimensional movement of the light target to establish a spatial coordinate system. The platform car automatically runs under the set program, collects spatial data during the operation, and through the spatial position relationship between the light target and the track, through spatial coordinate transformation, the track straightness, smoothness and track surface inclination angle and other parameters can be obtained; during the operation of the light target platform, the follow-up light target trolley installed on the other track simultaneously follows the movement, and the laser ranging module on the light target platform hits the light target of the follow-up light target trolley, collects data for coordinate transformation, and obtains the track gauge, track gauge deviation and elevation deviation and other parameters of the two tracks. The detection efficiency of the present invention is high.

[0049] The present invention is a brand-new robot device for comprehensive inspection of crane tracks. It can measure the key parameters of crane tracks and innovatively design the light target module so that it can automatically detect the position of the light spot and move in a small range in space. It can accurately measure the straightness and inclination angle of the track, thereby improving the degree of automation of track inspection.

[0050] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot device for comprehensive inspection of crane tracks, characterized in that: The invention comprises a laser emitting unit, a light target platform and a control terminal; the laser emitting unit comprises a laser emitter (11) installed on a crane track (18) and emitting a laser beam in a horizontal direction; the light target platform comprises a platform vehicle (5) moving along the crane track (18), a control unit (1) installed on the outer end surface of the platform vehicle (5) and controlling the movement of the platform vehicle (5), a light target (3) for receiving the laser beam from the laser emitter (11) and a laser distance measuring component (4); the laser distance measuring component (4) moves in a horizontal direction toward another crane track (18) The laser beam is emitted; the laser emission unit and the light target platform are installed on one of the crane tracks (18); a follower light target trolley (9) for receiving the laser beam emitted by the laser ranging component (4) is arranged on another parallel crane track (18); the crane track (18) is a track in the horizontal direction; the position adjustment frame includes a Y-axis platform (17) and a Z-axis platform (14) arranged perpendicular to each other, a Y-axis lead screw (16) driven by a Y-axis motor (15) is arranged in the Y-axis platform (17); the lower end of the Z-axis platform (14) is installed A lead screw pair is formed on the Y-axis lead screw (16); a Z-axis lead screw (13) driven by a Z-axis motor (12) is arranged in the Z-axis platform (14); the optical target platform is mounted on the Z-axis lead screw (13) to form a lead screw pair; the optical target (3) is mounted on a position adjustment frame and is fixed to the platform vehicle (5) through the position adjustment frame; the crane track (18) is a horizontal track; a driving wheel (7) and a clamping wheel (8) are arranged on the end surface of the platform vehicle (5) mounted on the crane track (18); the driving wheel (7) is arranged along the outer end of the web of the crane track (18); The crane rail (18) is provided with a clamping wheel (8) which is arranged on two side surfaces of the web of the crane rail (18) and rolls along the side surfaces of the web; the laser emitting part further comprises a bracket (10) for being mounted on the crane rail (18), and the laser emitter (11) is fixedly arranged on the outer end of the bracket (10); an anti-collision block (2) is arranged at one end of the platform vehicle (5); the light target (3) is arranged at one end of the platform vehicle (5) close to the laser emitting part, and the anti-collision block (2) is arranged at the front end of the platform vehicle (5) in the forward direction when the platform vehicle (5) moves; the spot diameter of the laser beam is ≤8 mm; The detection method is as follows, 1) Install the calibrated laser transmitter and light target platform on one of the crane tracks, and install the light target follower trolley on the other track of the crane; 2) The laser emitting unit emits a laser beam, and the interface setting parameters of the terminal control device control the movement of the light target platform. The three-dimensional coordinate system of the crane track is established through the three-dimensional movement of the light target in space; 3) The light target platform starts to move horizontally from the origin of the coordinate system. The control unit sends a signal to control the movement of the platform vehicle. The light target receives the laser beam and obtains the spatial coordinates of the crane track by analyzing the spot information of the laser beam on the light target. The spatial coordinates of the light target trolley following the opposite track are collected through the laser ranging component. 4) During the movement of the optical target platform, the control unit transmits the collected crane track spatial coordinate information to the terminal control device. By establishing a spatial model of the crane track, the straightness, smoothness, track surface inclination angle, and the gauge, gauge deviation and elevation deviation parameters of the two tracks are analyzed to complete the crane track parameter detection.

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