Tunnel overhead line system davit installation method and device and installation equipment

Abstract

The invention provides a tunnel overhead line system davit mounting method, device and equipment, and relates to the technical field of tunnel overhead line system construction equipment.The tunnel overhead line system davit mounting method comprises the steps that S101, a gripper of a second mechanical arm is controlled to grab an overhead line system davit on the ground, and the second mechanical arm is controlled to move the grabbed overhead line system davit to a mounting position of the top of a tunnel; and S102, the first mechanical arm is controlled to act, the manned platform is moved to be close to the installation position, and therefore an operator can conduct installation operation on the overhead line system davit grabbed by the second mechanical arm with the help of the manned platform. Through cooperation of the two mechanical arms, the first mechanical arm and the second mechanical arm can cooperatively install the overhead line system davit, convenience and high efficiency are achieved, and less manual operation is needed.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel contact network construction equipment, and in particular to a tunnel contact network hanging column installation method, device and installation equipment. Background Art

[0002] The overhead contact network is the main structure of the railway electrification project. It is a special form of transmission line erected above the railway line to supply power to the electric locomotive. The overhead contact network is responsible for the important function of directly transmitting the electric energy obtained from the traction substation to the electric locomotive for use. Therefore, the quality and working condition of the overhead contact network will directly affect the transportation capacity of the electrified railway. In tunnel railway transportation, the overhead contact network pillars and suspenders are important components of the electrical equipment in the tunnel. The installation of the overhead contact network suspenders in the tunnel mainly relies on manual labor. The overhead contact network suspenders are manually transported to the installation position on the top of the tunnel and installed manually.

[0003] In the prior art, some engineering vehicles equipped with working arms are not well adapted to the installation of tunnel contact wire suspenders. The contact wire suspenders are installed at the curved top of the tunnel and need to be fixed with fasteners. Ordinary mechanical arms cannot simultaneously grab the contact wire suspenders and install the fasteners. In addition, for the existing installation equipment, the installation process of the tunnel contact wire suspenders still has a low level of automation and relies on the direct operation of the operators, which places high demands on the operators and involves heavy repetitive labor. Summary of the invention

[0004] The technical problem to be solved by the present application is to propose a tunnel contact network hanging column installation method, device and installation equipment in view of the above-mentioned deficiencies in the prior art.

[0005] A method for installing a tunnel contact network sling, the method for installing a tunnel contact network sling is applied to an installation device, the installation device has a first mechanical arm and a second mechanical arm; a manned platform is provided at the end of the first mechanical arm, and a gripper is provided at the end of the second mechanical arm; the method for installing a tunnel contact network sling comprises the following steps:

[0006] Step S101, controlling the gripper of the second manipulator to grab the overhead contact wire hanging column on the ground, and controlling the second manipulator to move the grabbed overhead contact wire hanging column to the installation position on the top of the tunnel;

[0007] Step S102, controlling the first robot arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging pole grasped by the second robot arm.

[0008] Optionally, in step S101, controlling the second mechanical arm to move it to an installation position on the top of the tunnel includes:

[0009] Using a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position, so as to irradiate a first light spot at the installation position to serve as an installation position mark;

[0010] The first light spot is identified and located, and according to the position marked by the first light spot, the second mechanical arm is controlled to move the contact network hanging column it grabs to the installation position on the top of the tunnel.

[0011] Optionally, in step S101, controlling the second mechanical arm to move it to an installation position on the top of the tunnel specifically includes:

[0012] Step S1011, using a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position on the top of the tunnel, so as to irradiate a first light spot of a first color at the installation position;

[0013] Step S1012, using a second light irradiation device at the end of the second mechanical arm to irradiate a second light spot of a second color on the top of the tunnel;

[0014] Step S1013, using the image acquisition device at the end of the second mechanical arm to acquire an image of the tunnel top, and identifying the first light spot and the second light spot in the image;

[0015] Step S1014, adjusting the irradiation angle of the second light irradiation device according to the image captured by the image capture device so that the first light spot and the second light spot coincide with each other;

[0016] Step S1015, measuring the distance between the gripper and the first light spot according to the irradiation angle of the second light irradiation device;

[0017] Step S1016, calculating the offset between the position of the gripper and the installation position according to the irradiation angle of the second light irradiation device and the distance between the gripper and the first light spot; and controlling the second robot arm to move according to the offset.

[0018] Optionally, the step S1014 specifically includes:

[0019] In the image captured by the image capture device, distinguishing and identifying the first light spot and the second light spot according to the color;

[0020] According to the relative position between the first light spot and the second light spot in the image, the irradiation angle of the second light irradiation device is controlled and adjusted to move the second light spot toward the first light spot until a superimposed light spot of a third color formed by the overlap of the second light spot and the first light spot is identified in the image.

[0021] Optionally, the step S1015 includes:

[0022] According to the irradiation angle of the second light irradiation device, a laser distance sensor is used to measure the distance between the gripper and the first light spot; the laser distance sensor and the second light irradiation device are integrated together, and its laser emission angle is consistent with the irradiation angle of the second light irradiation device.

[0023] Optionally, after step S1016, the method further includes the following steps:

[0024] Step S1017, controlling the movement of the second mechanical arm according to the angle sensor on the gripper, and adjusting the contact network hanging pole grasped by the gripper to a predetermined installation angle range.

[0025] Optionally, step S1017 includes:

[0026] Measuring the lateral position of the gripper in the tunnel;

[0027] According to the lateral position of the grabber in the tunnel, determine the installation angle range of the overhead contact wire suspender on the top of the arc-shaped tunnel;

[0028] The movement of the second mechanical arm is controlled according to the angle sensor on the gripper, and the contact network hanging column grasped by the gripper is adjusted to a predetermined installation angle range.

[0029] Optionally, in step S101, controlling the gripper of the second mechanical arm to grip the overhead contact wire suspender on the ground includes:

[0030] Using a first light irradiation device on the manned platform of the first robot arm to irradiate the overhead contact wire hanging pole to be grasped on the ground, irradiating a third light spot on the overhead contact wire hanging pole to be grasped;

[0031] The third light spot is identified and located, and according to the position marked by the third light spot, the second mechanical arm is controlled to move the gripper to the position of the corresponding contact network hanging column so as to grab the contact network hanging column.

[0032] On the other hand, the present application further provides a tunnel contact network sling installation device, which is applied to an installation device, and the installation device has a first mechanical arm and a second mechanical arm; a manned platform is provided at the end of the first mechanical arm, and a gripper is provided at the end of the second mechanical arm; the tunnel contact network sling installation device includes:

[0033] The first control module is used to control the gripper of the second mechanical arm to grab the contact wire hanging column on the ground, and control the second mechanical arm to move the grabbed contact wire hanging column to the installation position on the top of the tunnel;

[0034] The second control module is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging column grasped by the second robotic arm.

[0035] On the other hand, the present application further provides an installation device, the installation device comprising a first mechanical arm, a second mechanical arm, and a control device; a manned platform is provided at the end of the first mechanical arm, and a gripper is provided at the end of the second mechanical arm;

[0036] The control device is used to control the gripper of the second robotic arm to grab the contact network hanging pole on the ground, and control the second robotic arm to move the grabbed contact network hanging pole to the installation position on the top of the tunnel; and is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operating personnel can use the manned platform to install the contact network hanging pole grabbed by the second robotic arm.

[0037] The present application provides a method for installing a tunnel contact network column, which is applied to an installation device, wherein the installation device has a first mechanical arm and a second mechanical arm; a manned platform is provided at the end of the first mechanical arm. During installation, the control device controls the gripper of the second mechanical arm to grab the contact network column on the ground, and controls the second mechanical arm to move the grabbed contact network column to the installation position on the top of the tunnel, and controls the first mechanical arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network column grabbed by the second mechanical arm. Therefore, through the cooperation of the two mechanical arms, the first mechanical arm and the second mechanical arm can cooperate to install the contact network column, which is convenient and efficient, and requires less manual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the installation equipment in the embodiment of the present application.

[0039] Figure 2 It is one of the flow charts of the tunnel contact network hanging column installation method in the embodiment of the present application.

[0040] Figure 3 This is the second flow chart of the tunnel contact network hanging column installation method in the embodiment of the present application.

[0041] Figure 4 It is a schematic block diagram of a tunnel contact network suspender installation device in an embodiment of the present application.

[0042] Figure 5 It is a schematic diagram of the structure of the gripper in the embodiment of the present application.

[0043] Figure 6 It is another structural schematic diagram of the gripper in the embodiment of the present application. DETAILED DESCRIPTION

[0044] The following is the specific embodiment of the present application and in conjunction with the accompanying drawings, the technical scheme of the present application is further described, but the present application is not limited to these embodiments. In the following description, specific details such as specific configuration and assembly are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other.

[0046] The contact network hanger is installed on the curved top of the tunnel and needs to be fixed with fasteners. For the existing installation equipment, the level of automation in the installation process of the tunnel contact network hanger is still low, and it relies on the direct operation of the operators, which has high requirements for the operators and heavy repetitive labor.

[0047] The present application provides a tunnel contact network suspender installation method, which is applied to an installation device; the installation device has a first mechanical arm and a second mechanical arm; the end of the first mechanical arm is provided with a manned platform, and the end of the second mechanical arm is provided with a gripper. Figure 1 In the structure shown, the installation equipment includes a chassis 100, a first mechanical arm 200, and a second mechanical arm 300; wherein the chassis 100 can move; the first mechanical arm 200 is arranged on the chassis 100, and a manned platform 201 is arranged at the end thereof; the second mechanical arm 300 is arranged on the chassis 100, and a gripper 301 is arranged at the end thereof; the gripper 301 can grip the contact network sling P. The installation equipment can cooperate with the first mechanical arm 200 and the second mechanical arm 300 to install the contact network sling P.

[0048] refer to Figure 2 The tunnel contact network suspender installation method includes steps S101 and S102, through which the first mechanical arm 200 and the second mechanical arm 300 cooperate to install the contact network suspender P. The following is a detailed description with reference to the accompanying drawings.

[0049] Step S101, controlling the gripper of the second robot arm to grab the contact network hanging pole on the ground, and controlling the second robot arm to move the grabbed contact network hanging pole to the installation position on the top of the tunnel.

[0050] Step S102, controlling the first robotic arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging column grasped by the second robotic arm.

[0051] Specifically, in step S101, the control device controls the gripper of the second manipulator to grab the contact wire hanging column on the ground, and controls the second manipulator to move the grabbed contact wire hanging column to the installation position on the top of the tunnel. In step S102, the control device controls the gripper of the second manipulator to grab the contact wire hanging column on the ground, and controls the second manipulator to move the grabbed contact wire hanging column to the installation position on the top of the tunnel. Specifically, the operator can stand on the manned platform of the first manipulator; the second manipulator grabs the contact wire hanging column placed on the ground through the gripper at its end, and moves it to the predetermined installation position on the top of the tunnel. At this time, the first manipulator moves the operator on the manned platform close to the installation position, so that the operator can install fasteners on the contact wire hanging column to fix it on the top of the tunnel. In this way, the first manipulator and the second manipulator can cooperate to install the contact wire hanging column, and the installation operation is convenient and efficient, and less manual work is required.

[0052] In one embodiment of the present application, in step S101, the second robotic arm is controlled to move it to the installation position on the top of the tunnel, including: using a first light irradiation device on the manned platform of the first robotic arm to illuminate the installation position to illuminate a first light spot at the installation position to serve as an installation position mark; identifying and locating the first light spot, and according to the position marked by the first light spot, controlling the second robotic arm to move the contact network hanger it grabs to the installation position on the top of the tunnel.

[0053] Specifically, the first light irradiation device is arranged on the manned platform of the first mechanical arm, and the operator can operate the first light irradiation device on the manned platform so that the first light irradiation device irradiates the installation position. In a specific technical solution, the first light irradiation device can irradiate the installation position under the control of a preset program, and irradiate a first light spot at the installation position. The first light spot is used to mark the position of the installation position, and the control device can locate the first light spot through a sensor. In addition, the control device can control the second mechanical arm to move the contact network suspender it grabs to the installation position on the top of the tunnel according to the position marked by the first light spot.

[0054] In the embodiment of the present application, a first light irradiation device is provided on the manned platform of the first mechanical arm, and a second light irradiation device, an image acquisition device, and a laser ranging sensor are provided at the end of the second mechanical arm. Figure 3 In step S101, the second robotic arm is controlled to move it to the installation position on the top of the tunnel, specifically including steps S1011 to S1016.

[0055] Step S1011, using a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position on the top of the tunnel, so as to illuminate a first light spot of a first color at the installation position.

[0056] Step S1012: Use a second light irradiation device at the end of the second robot arm to irradiate a second light spot of a second color on the top of the tunnel.

[0057] Step S1013: Use the image acquisition device at the end of the second robotic arm to acquire an image of the tunnel top, and identify the first light spot and the second light spot in the image.

[0058] Step S1014: According to the image captured by the image capture device, the irradiation angle of the second light irradiation device is adjusted to make the first light spot coincide with the second light spot.

[0059] Step S1015, measuring the distance between the gripper and the first light spot according to the irradiation angle of the second light irradiation device.

[0060] Step S1016, calculating the offset between the position of the gripper and the installation position according to the irradiation angle of the second light irradiation device and the distance between the gripper and the first light spot; and controlling the second mechanical arm to move according to the offset.

[0061] In step S1011, a first light irradiation device is used on the manned platform of the first robot to irradiate the installation position on the top of the tunnel, so as to irradiate a first light spot at the installation position. The light emitted by the first light irradiation device is colored light, and the first light spot is a first color, and the specific color can be set according to the actual plan. The first light irradiation device can irradiate the installation position under the control of a pre-set program, and irradiate a first light spot at the installation position. The first light spot is used to mark the installation position, and the control device can locate the first light spot through a sensor.

[0062] In step S1012, the control device uses the second light irradiation device at the end of the second mechanical arm to irradiate a second light spot of a second color on the top of the tunnel. The light emitted by the second light irradiation device is colored light, and the second light spot is a second color, and the specific color can be set according to the actual plan. Here, the second light spot and the first light spot are set to different colors, which are used to cooperate with the image acquisition device to track the second light spot so as to locate the position of the first light spot.

[0063] In step S1013, the control device uses the image acquisition device at the end of the second mechanical arm to acquire an image of the top of the tunnel, and identifies the first light spot and the second light spot in the image. After the image acquisition, the first light spot and the second light spot in the image are identified. Here, since the first light spot and the second light spot are different colors, the control device can distinguish and identify the first light spot and the second light spot according to the color. In a technical solution, the first light spot and the second light spot can be set to different shapes to facilitate image recognition; further, the first light spot is set to a square and the second light spot is set to a circle.

[0064] In step S1014, the control device adjusts the irradiation angle of the second light irradiation device according to the image captured by the image acquisition device so that the first light spot and the second light spot coincide with each other. Before the adjustment, in the captured image, the first light spot and the second light spot are in a separated state, and the control device controls the irradiation angle of the second light irradiation device until the second light spot moves to the position of the first light spot. At this time, the irradiation angle of the second light irradiation device is completely aligned with the first light spot.

[0065] Furthermore, step S1014 specifically includes: in the image captured by the image acquisition device, distinguishing and identifying the first light spot and the second light spot according to color; according to the relative position between the first light spot and the second light spot in the image, controlling and adjusting the irradiation angle of the second light irradiation device to move the second light spot toward the direction close to the first light spot until a superimposed light spot of a third color formed by the overlap of the second light spot and the first light spot is recognized in the image.

[0066] Specifically, since the first light spot and the second light spot are different colors, the control device can distinguish and identify the first light spot and the second light spot according to the color. And, after the second light spot overlaps with the first light spot, it is converted into a third color. In the image captured by the image acquisition device, the control device distinguishes and identifies the first light spot and the second light spot according to the colors of the first light spot and the second light spot. Then, the control device controls and adjusts the irradiation angle of the second light irradiation device according to the relative position between the first light spot and the second light spot in the image so that the second light spot moves toward the direction close to the first light spot until a superimposed light spot of the third color formed by the overlap of the second light spot and the first light spot is recognized in the image. When the first light spot and the second light spot disappear, leaving only the superimposed light spot of the third color, the irradiation angle adjustment of the second light irradiation device is completed, and the control device determines the current angle value.

[0067] In step S1015, the control device measures the distance between the gripper and the first light spot according to the irradiation angle of the second light irradiation device. Since in the previous step, the irradiation angle of the second light irradiation device is completely aligned with the first light spot, the azimuth angle of the first light spot can be determined, and based on the azimuth angle, the distance measuring sensor measures the distance to obtain the distance between the gripper and the first light spot.

[0068] Further, step S1015 includes: according to the irradiation angle of the second light irradiation device, using a laser ranging sensor to measure the distance between the gripper and the first light spot; the laser ranging sensor and the second light irradiation device are integrated together, and its laser emission angle is consistent with the irradiation angle of the second light irradiation device.

[0069] Specifically, in this step, the laser distance sensor and the second light irradiation device are integrated together, and the laser emission angle is consistent with the irradiation angle of the second light irradiation device. When the irradiation angle of the second light irradiation device is completely aligned with the first light spot, the laser distance sensor is also aligned with the first light spot. At this time, the laser distance sensor can directly measure the distance between the gripper and the first light spot.

[0070] In step S1016, the control device calculates the offset between the position of the gripper and the installation position according to the irradiation angle of the second light irradiation device and the distance between the gripper and the first light spot; and controls the second mechanical arm to move according to the offset. The irradiation angle of the second light irradiation device is the azimuth of the movement, and the control device can determine the offset between the position of the gripper and the installation position according to the azimuth and the distance. Based on this offset, the control device can control the second mechanical arm to move the gripper and the contact network suspender it grabs to the installation position.

[0071] In one embodiment of the present application, after step S1016, the following step is further included: step S1017, controlling the movement of the second mechanical arm according to the angle sensor on the gripper, and adjusting the contact network hanging pole grasped by the gripper to a predetermined installation angle range.

[0072] It should be understood that the top of the tunnel is in an arc shape, and the installation surface of the contact network suspender has a certain angle. An angle sensor is set on the gripper, and the angle sensor can measure the angle of the gripper relative to the horizontal plane. The control device controls the movement of the second mechanical arm according to the angle sensor on the gripper, and adjusts the contact network suspender grasped by the gripper to a predetermined installation angle range.

[0073] Furthermore, step S1017 includes: measuring the lateral position of the gripper in the tunnel; determining the installation angle range of the contact wire hanging column on the top of the arc-shaped tunnel according to the lateral position of the gripper in the tunnel; controlling the movement of the second robotic arm according to the angle sensor on the gripper to adjust the contact wire hanging column grasped by the gripper to within a predetermined installation angle range.

[0074] After step S1016, the control device controls the second mechanical arm to move the gripper and the contact network pole grasped by the gripper to the installation position. In step S1017, the control device can measure the lateral position of the gripper in the tunnel through the distance measuring sensor, and calculate the angle of the installation surface at the installation position, that is, the installation angle, according to the lateral position. Then, the control device controls the second mechanical arm to move according to the angle sensor on the gripper, and adjusts the contact network pole grasped by the gripper to a predetermined installation angle range. Here, taking into account the errors of adjustment and measurement, an angle range can be generated according to the installation angle obtained by measurement and calculation.

[0075] In one embodiment of the present application, in step S101, the gripper of the second robotic arm is controlled to grab the contact network pole on the ground, including: using a first light irradiation device on the manned platform of the first robotic arm to illuminate the contact network pole to be grabbed on the ground, and irradiating a third light spot on the contact network pole to be grabbed; identifying and locating the third light spot, and according to the position marked by the third light spot, controlling the movement of the second robotic arm to move the gripper to the position of the corresponding contact network pole, so as to grab the contact network pole.

[0076] The first light irradiation device can irradiate the contact wire pole to be grasped on the ground under the control of a preset program, and irradiate a first light spot on the contact wire pole, and the first light spot is used to mark the position of the contact wire pole to be grasped, and the control device can locate the first light spot through a sensor. In addition, the control device can control the second mechanical arm to move the gripper to the position of the contact wire pole to be grasped according to the position marked by the first light spot.

[0077] Specifically, the above process can adopt a process similar to step S1011-step S1016, where the controller uses a first light irradiation device on the manned platform of the first robotic arm to irradiate the contact network pole on the ground, so as to irradiate a third light spot of the first color on the contact network pole to be grasped on the ground; uses a second light irradiation device at the end of the second robotic arm to irradiate a fourth light spot of the second color on the contact network pole; uses an image acquisition device at the end of the second robotic arm to capture an image of the contact network pole, and identifies the third light spot and the fourth light spot in the image; according to the image captured by the image acquisition device, adjusts the irradiation angle of the second light irradiation device so that the third light spot and the fourth light spot coincide; according to the irradiation angle of the second light irradiation device, measures the distance between the gripper and the third light spot; according to the irradiation angle of the second light irradiation device and the distance between the gripper and the third light spot, calculates the offset between the position of the gripper and the contact network pole; and controls the second robotic arm to move according to the offset, and moves the gripper to the position of the corresponding contact network pole, so as to grasp the contact network pole. For more detailed instructions, please refer to the instructions on steps S1011 to S1016, which will not be repeated here.

[0078] Figure 4 A tunnel contact network pole installation device provided in an embodiment of the present application is shown, which is applied to an installation device, and the installation device has a first robotic arm and a second robotic arm; a manned platform is provided at the end of the first robotic arm, and a gripper is provided at the end of the second robotic arm; the tunnel contact network pole installation device includes a first control module 401 and a second control module 402.

[0079] The first control module 401 is used to control the gripper of the second manipulator to grab the overhead contact wire hanging column on the ground, and control the second manipulator to move the grabbed overhead contact wire hanging column to the installation position on the top of the tunnel;

[0080] The second control module 402 is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging column grasped by the second robotic arm.

[0081] Based on the first control module 401 and the second control module 402, the control device controls the gripper of the second manipulator to grab the contact wire hanging column on the ground, and controls the second manipulator to move the grabbed contact wire hanging column to the installation position on the top of the tunnel. Further, the control device controls the gripper of the second manipulator to grab the contact wire hanging column on the ground, and controls the second manipulator to move the grabbed contact wire hanging column to the installation position on the top of the tunnel. Specifically, the operator can stand on the manned platform of the first manipulator; the second manipulator grabs the contact wire hanging column placed on the ground through the gripper at its end, and moves it to the predetermined installation position on the top of the tunnel. At this time, the first manipulator moves the operator on the manned platform close to the installation position, so that the operator can install fasteners on the contact wire hanging column to fix it on the top of the tunnel. In this way, the first manipulator and the second manipulator can cooperate to install the contact wire hanging column, and the installation operation is convenient and efficient, and less manual work is required.

[0082] In one embodiment of the present application, the first control module 401 is further used to: use a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position, so as to irradiate a first light spot at the installation position to serve as an installation position mark;

[0083] The first light spot is identified and located, and according to the position marked by the first light spot, the second mechanical arm is controlled to move the contact network hanging column it grabs to the installation position on the top of the tunnel.

[0084] In one embodiment of the present application, the first control module 401 includes:

[0085] A first irradiation unit is used to irradiate the installation position on the top of the tunnel using a first light irradiation device on the manned platform of the first robot arm, so as to irradiate a first light spot of a first color at the installation position;

[0086] A second irradiation unit, used for irradiating a second light spot of a second color on the top of the tunnel using a second light irradiation device at the end of the second mechanical arm;

[0087] an identification unit, used to collect an image of the tunnel top using an image acquisition device at the end of the second mechanical arm, and to identify the first light spot and the second light spot in the image;

[0088] An adjusting unit, configured to adjust an irradiation angle of the second light irradiation device so that the first light spot and the second light spot coincide with each other according to the image captured by the image capturing device;

[0089] a measuring unit, used to measure the distance between the gripper and the first light spot according to the irradiation angle of the second light irradiation device;

[0090] The control unit is used to calculate the offset between the position of the gripper and the installation position according to the irradiation angle of the second light irradiation device and the distance between the gripper and the first light spot; and control the second mechanical arm to move according to the offset.

[0091] In one embodiment of the present application, the adjustment unit is further used for:

[0092] In the image captured by the image capture device, distinguishing and identifying the first light spot and the second light spot according to the color;

[0093] According to the relative position between the first light spot and the second light spot in the image, the irradiation angle of the second light irradiation device is controlled and adjusted to move the second light spot toward the first light spot until a superimposed light spot of a third color formed by the overlap of the second light spot and the first light spot is identified in the image.

[0094] In one embodiment of the present application, the measuring unit is further used for:

[0095] According to the irradiation angle of the second light irradiation device, a laser distance sensor is used to measure the distance between the gripper and the first light spot; the laser distance sensor and the second light irradiation device are integrated together, and its laser emission angle is consistent with the irradiation angle of the second light irradiation device.

[0096] In one embodiment of the present application, the first control module 401 further includes: an angle adjustment unit, which is used to control the movement of the second robot arm according to the angle sensor on the gripper, and adjust the contact network hanging column grasped by the gripper to a predetermined installation angle range.

[0097] In one embodiment of the present application, the angle adjustment unit is further used for:

[0098] Measuring the lateral position of the gripper in the tunnel;

[0099] According to the lateral position of the grabber in the tunnel, determine the installation angle range of the overhead contact wire suspender on the top of the arc-shaped tunnel;

[0100] The movement of the second mechanical arm is controlled according to the angle sensor on the gripper, and the contact network hanging column grasped by the gripper is adjusted to a predetermined installation angle range.

[0101] In one embodiment of the present application, the first control module 401 is further used for:

[0102] Using a first light irradiation device on the manned platform of the first robot arm to irradiate the overhead contact wire hanging pole to be grasped on the ground, irradiating a third light spot on the overhead contact wire hanging pole to be grasped;

[0103] The third light spot is identified and located, and according to the position marked by the third light spot, the second mechanical arm is controlled to move the gripper to the position of the corresponding contact network hanging column so as to grab the contact network hanging column.

[0104] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0105] An embodiment of the present application also provides an installation device, which includes a first robotic arm, a second robotic arm, and a control device; a manned platform is provided at the end of the first robotic arm, and a gripper is provided at the end of the second robotic arm.

[0106] The control device is used to control the gripper of the second robotic arm to grab the contact network hanging column on the ground, and control the second robotic arm to move the grabbed contact network hanging column to the installation position on the top of the tunnel; and is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operating personnel can use the manned platform to install the contact network hanging column grabbed by the second robotic arm.

[0107] The installation device provided in this embodiment can be used to implement the tunnel contact network suspender installation method provided in the previous part. The relevant technical features can be applied to the installation device here.

[0108] In addition, the present application also provides a gripper suitable for grabbing a suspension column. Figure 5 and Figure 6 Provide specific instructions.

[0109] In the examples of this application, refer to Figure 5 and Figure 6The gripper includes a first connecting frame 10 and a movable frame 40; the movable frame 40 is connected to the first connecting frame 10 and can freely swing relative to the first connecting frame 10 in a limited range along the first direction; the movable frame 40 is arranged with a plurality of clamps 41 along the first direction, and the clamps 41 are used to grab the suspension column; the movable frame 40 is also arranged with a plurality of positioning blocks 42 along the first direction; when the plurality of positioning blocks 42 are in contact with the suspension column at the same time, the plurality of clamps 41 can grab the suspension column at the same time. When the gripper grabs the suspension column, in the first direction x, the movable frame 40 can swing relative to the first connecting frame 10 within a certain range, and when the movable frame 40 moves downward and approaches the suspension column placed on the ground, the positioning blocks 42 on the movable frame 40 gradually come into contact with the suspension column, and with the adaptive angle adjustment of the movable frame 40, all the positioning blocks 42 on the movable frame 40 come into contact with the suspension column. At this time, the position of the movable frame 40 is adapted to the suspension column, and all the clamps 41 thereon can grab the suspension column at the same time. It should be understood that in this structure, the positioning block 42 is used to adjust the angle of the movable frame 40 to achieve angle positioning. After the angle positioning is completed, each clamping claw 41 on the movable frame reaches the correct grasping position.

[0110] Specifically, the gripper can be installed at the end of the mechanical arm, and is used to grab the contact network hanging column placed on the ground, and move it to the predetermined installation position on the top of the tunnel for installation. When grabbing the hanging column, the gripper moves to the top of the hanging column, so that the multiple clamps 41 and multiple positioning blocks 42 on the movable frame 40 are roughly aligned with the hanging column along the first direction. At this time, the clamps 41 are in an open state. As the mechanical arm drives the movable frame 40 downward to approach the hanging column, each positioning block 42 on the movable frame 40 gradually forms contact with the hanging column, and as the movable frame 40 is adjusted at an adaptive angle, all the positioning blocks 42 on the movable frame 40 form contact with the hanging column. At this time, the hanging column enters the clamping range of all the clamps 41, and multiple clamps 41 clamp different positions on the hanging column at the same time. Then, the mechanical arm drives the gripper to move to the predetermined installation position on the top of the tunnel. At the installation position, the installer can use the swing connection relationship between the movable frame 40 and the first connecting frame 10 to fine-tune the position of the hanging column, so that it is aligned with the corresponding installation structure, so as to facilitate the next step of installation and tightening. In a specific installation method, the installer can fine-tune the angle position of the movable frame 40 so that the mounting holes thereon are aligned with the mounting holes on the top of the tunnel, thereby facilitating the use of screw insertion. The above installation process uses a gripper to grab the hanging column. The gripper uses multiple clamps to grab different positions of the hanging column at the same time, and the grabbing is more stable and reliable. In addition, the gripper can allow the movable frame to be adaptively adjusted along the first direction during grabbing with the help of multiple positioning blocks, so that each clamp can reach the correct grabbing position to grab the hanging column. In addition, during installation, the installer can use the swing connection relationship between the movable frame 40 and the first connecting frame 10 to fine-tune the position of the hanging column, making the installation more convenient.

[0111] refer to Figure 5 and Figure 6 In one embodiment of the present application, a hinged connection a is provided between the movable frame 40 and the first connecting frame 10 to allow the movable frame 40 to swing freely relative to the first connecting frame 10; an adjusting screw for adjusting the swing range of the movable frame 40 is also provided on the movable frame 40 or the first connecting frame 10. Figure 5 and Figure 6 In the structure shown, a hinge relationship a is provided between the movable frame 40 and the first connecting frame 10 , and the movable frame 40 can be swung and adjusted relative to the first connecting frame 10 around the hinge relationship a, and the adjusting screw can adjust the swing range of the movable frame 40 .

[0112] Furthermore, a plurality of first adjusting screws 51 are provided on the first side of the hinge relationship a to apply a limit stop to the movable frame 40 on the first side of the hinge relationship; a plurality of second adjusting screws 52 are provided on the second side of the hinge relationship a to apply a limit stop to the movable frame 40 on the second side of the hinge relationship. Figure 5 In the structure shown, a first adjusting screw 51 and a second adjusting screw 52 are provided on both sides of the hinge relationship a along the first direction x. The adjusting screws on both sides can limit the rotation of the movable frame 40 from two directions so that it can only be fine-tuned within a limited range.

[0113] In one embodiment of the present application, a clamp 41 and a positioning block 42 are arranged on both sides of the connection position between the movable frame 40 and the first connecting frame 10, and the positioning block 42 is located on the outside away from the connection position, and the clamp 41 is located on the inside close to the connection position. Figure 5 and Figure 6 As shown, the two positioning blocks 42 are respectively located outside the two clamping jaws 41, and the clamping jaws 41 and the positioning blocks 42 on both sides are roughly symmetrically distributed on both sides of the connection position between the movable frame 40 and the first connecting frame 10. Such an arrangement makes the structure more balanced and compact.

[0114] In one embodiment of the present application, the clamp 41 includes a first clamp arm 411, a second clamp arm 412, and a driving element 413; wherein the first clamp arm 411 is installed on a movable frame and can rotate relative to the movable frame; the second clamp arm 412 is installed on the movable frame and can rotate relative to the movable frame; the driving element 413 is used to drive the first clamp arm 411 and the second clamp arm 412 to move relative to the movable frame so that the first clamp arm 411 and the second clamp arm 412 clamp the suspension column or release the suspension column. Specifically, when the clamp 41 clamps the hanging column, the driving element 413 drives the first clamp arm 411 and the second clamp arm 412 to move the first clamp arm 411 and the second clamp arm 412 closer to each other to clamp the hanging column located therebetween; when releasing, the driving element 413 drives the first clamp arm 411 and the second clamp arm 412 to move the first clamp arm 411 and the second clamp arm 412 away from each other, so that the first clamp arm 411 and the second clamp arm 412 are out of contact with the hanging column.

[0115] Furthermore, the first clamping block 414 is provided on the first clamping arm 411, and the first clamping block 414 is rotatably installed; the second clamping block 415 is provided on the second clamping arm 412, and the second clamping block 415 is rotatably installed; the second clamping block 415 is arranged opposite to the first clamping block 414; the driving element 413 can drive the first clamping arm 411 and the second clamping arm 412 to move, so that the first clamping block 414 and the second clamping block 415 are close to each other or away from each other, so as to clamp the hanging column or release the hanging column. Specifically, when the clamping jaw 41 clamps the hanging column, the first clamping block 414 and the second clamping block 415 can be attached to the side surface of the hanging column through adaptive adjustment, so as to realize automatic clamping of the hanging column, and the clamping of the hanging column is stable and reliable. Furthermore, the first clamping block 414 is hinged on the first clamping arm 411, and the first clamping block 414 can be freely rotated and adjusted around the hinge; the second clamping block 415 is hinged on the second clamping arm 412, and the second clamping block 415 can be freely rotated and adjusted around the hinge.

[0116] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0117] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, work, devices, components and / or combinations thereof.

[0118] The specific embodiments described herein are merely examples of the technical solutions of the present application. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the scope defined by the claims of the present application.

Claims

1. A method for installing a tunnel contact network suspender, characterized in that: The tunnel contact network sling installation method is applied to an installation device, the installation device has a first mechanical arm and a second mechanical arm; the end of the first mechanical arm is provided with a manned platform, and the end of the second mechanical arm is provided with a gripper; the tunnel contact network sling installation method comprises the steps of: Step S101, controlling the gripper of the second manipulator to grab the overhead contact wire hanging column on the ground, and controlling the second manipulator to move the grabbed overhead contact wire hanging column to the installation position on the top of the tunnel; Step S102, controlling the first robot arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging pole grasped by the second robot arm.

2. The method for installing a tunnel overhead contact wire suspender according to claim 1, characterized in that: In step S101, controlling the second mechanical arm to move it to the installation position on the top of the tunnel includes: Using a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position, so as to irradiate a first light spot at the installation position to serve as an installation position mark; The first light spot is identified and located, and according to the position marked by the first light spot, the second mechanical arm is controlled to move the contact network hanging column it grabs to the installation position on the top of the tunnel.

3. The method for installing a tunnel overhead contact wire suspender according to claim 2, characterized in that: In step S101, controlling the second robotic arm to move it to the installation position on the top of the tunnel specifically includes: Step S1011, using a first light irradiation device on the manned platform of the first robot arm to irradiate the installation position on the top of the tunnel, so as to irradiate a first light spot of a first color at the installation position; Step S1012, using a second light irradiation device at the end of the second mechanical arm to irradiate a second light spot of a second color on the top of the tunnel; Step S1013, using the image acquisition device at the end of the second mechanical arm to acquire an image of the tunnel top, and identifying the first light spot and the second light spot in the image; Step S1014, adjusting the irradiation angle of the second light irradiation device according to the image captured by the image capture device so that the first light spot and the second light spot coincide with each other; Step S1015, measuring the distance between the gripper and the first light spot according to the irradiation angle of the second light irradiation device; Step S1016, calculating the offset between the position of the gripper and the installation position according to the irradiation angle of the second light irradiation device and the distance between the gripper and the first light spot; and controlling the second robot arm to move according to the offset.

4. The method for installing a tunnel overhead contact network suspender according to claim 3, characterized in that: The step S1014 specifically includes: In the image captured by the image capture device, distinguishing and identifying the first light spot and the second light spot according to the color; According to the relative position between the first light spot and the second light spot in the image, the irradiation angle of the second light irradiation device is controlled and adjusted to move the second light spot toward the first light spot until a superimposed light spot of a third color formed by the overlap of the second light spot and the first light spot is identified in the image.

5. The method for installing a tunnel overhead contact wire suspender according to claim 3, characterized in that: The step S1015 includes: According to the irradiation angle of the second light irradiation device, a laser distance sensor is used to measure the distance between the gripper and the first light spot; the laser distance sensor and the second light irradiation device are integrated together, and its laser emission angle is consistent with the irradiation angle of the second light irradiation device.

6. The method for installing a tunnel overhead contact wire suspender according to claim 3, characterized in that: After step S1016, the method further includes the following steps: Step S1017, controlling the movement of the second mechanical arm according to the angle sensor on the gripper, and adjusting the contact network hanging pole grasped by the gripper to a predetermined installation angle range.

7. The method for installing a tunnel overhead contact wire suspender according to claim 6, characterized in that: Step S1017 includes: Measuring the lateral position of the gripper in the tunnel; According to the lateral position of the grabber in the tunnel, determine the installation angle range of the overhead contact wire suspender on the top of the arc-shaped tunnel; The movement of the second mechanical arm is controlled according to the angle sensor on the gripper, and the contact network hanging column grasped by the gripper is adjusted to a predetermined installation angle range.

8. The method for installing a tunnel overhead contact wire suspender according to claim 3, characterized in that: In step S101, controlling the gripper of the second mechanical arm to grab the overhead contact wire hanging pole on the ground includes: Using a first light irradiation device on the manned platform of the first robot arm to irradiate the overhead contact wire hanging pole to be grasped on the ground, irradiating a third light spot on the overhead contact wire hanging pole to be grasped; The third light spot is identified and located, and according to the position marked by the third light spot, the second mechanical arm is controlled to move the gripper to the position of the corresponding contact network hanging column so as to grab the contact network hanging column.

9. A tunnel contact network suspender installation device, characterized in that: The tunnel contact network suspender installation device is applied to an installation device, and the installation device has a first mechanical arm and a second mechanical arm; a manned platform is provided at the end of the first mechanical arm, and a gripper is provided at the end of the second mechanical arm; The tunnel contact network suspender installation device comprises: The first control module is used to control the gripper of the second mechanical arm to grab the contact wire hanging column on the ground, and control the second mechanical arm to move the grabbed contact wire hanging column to the installation position on the top of the tunnel; The second control module is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operator can use the manned platform to install the contact network hanging column grasped by the second robotic arm.

10. A mounting device, characterized in that: The installation device comprises a first mechanical arm, a second mechanical arm, and a control device; a manned platform is provided at the end of the first mechanical arm, and a gripper is provided at the end of the second mechanical arm; The control device is used to control the gripper of the second robotic arm to grab the contact network hanging pole on the ground, and control the second robotic arm to move the grabbed contact network hanging pole to the installation position on the top of the tunnel; and is used to control the movement of the first robotic arm to move the manned platform close to the installation position, so that the operating personnel can use the manned platform to install the contact network hanging pole grabbed by the second robotic arm.

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