CPIII intelligent rod inserting robot and using method thereof

Abstract

The invention discloses a CPIII intelligent rod inserting robot and a using method thereof.The rod inserting robot comprises a walking system, a positioning navigation system, a control system, a data collecting system and a rod inserting system, the walking system is slidably connected to the upper side of a track, and the positioning navigation system, the control system and the rod inserting system are installed on the upper side of the walking system; and the control system is connected with the positioning navigation system and the rod inserting system. The walking system is controlled by the control system to move on the track, automatic rod insertion is achieved in cooperation with the rod insertion system, and the working efficiency can be greatly improved; and meanwhile, the real-time coordinates of the robot are obtained by combining a positioning navigation system and a data acquisition system, so that the accuracy and speed of inserted link measurement are effectively ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of railway track surveying and mapping equipment, and in particular to a CPIII intelligent rod-inserting robot and a method for using the robot. Background Art

[0002] In order to ensure the smoothness of the line and the comfort of passengers, high-speed railways must ensure that the geometry of the track meets the corresponding specifications. The premise of ensuring the overall geometry of the line is the fine-tuning of the track. At present, the track fine-tuning technology adopts the measurement method based on the CPIII control network. The CPIII control network adopts the method of free station intersection network for measurement. The CPIII control points are generally arranged as a pair every 60 meters. The measurement of the free measuring station uses 2 pairs of 6 sections of CPIII points as the measurement target for rear-view. Therefore, more pole-inserting personnel are required to meet the high-intensity measurement work. At the same time, more personnel are prone to block the prism line of sight. In order to ensure the accuracy of fine-tuning, it is often carried out at night when the temperature has little influence. Due to various factors such as poor visibility at night, easy fatigue of personnel, and large construction interference, the current CPIII track fine-tuning can usually only complete about 25 meters in one hour. Therefore, there is a huge room for efficiency improvement. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects and problems of low working efficiency of CPIII measurement and fine adjustment in the prior art, and to provide a CPIII intelligent rod-inserting robot with high working efficiency and a method for using the same.

[0004] To achieve the above objectives, the technical solution of the present invention is: a CPIII intelligent rod-inserting robot, comprising a walking system, a positioning and navigation system, a control system, a data acquisition system, and a rod-inserting system, wherein the walking system is slidably connected to the upper side of the track, the positioning and navigation system, the control system, and the rod-inserting system are respectively installed on the upper side of the walking system, and the control system is connected to the positioning and navigation system and the rod-inserting system;

[0005] The positioning and navigation system is used to obtain the three-dimensional coordinates of the walking system in the CPIII intelligent rod-inserting robot and send the three-dimensional coordinate values ​​to the control system;

[0006] The data acquisition system is used to send the data collected by each sensor in the data acquisition system to the control system through electrical signals;

[0007] The control system is used to control the movement of the walking system on the track according to program commands or instructions and the three-dimensional coordinate values ​​collected by the positioning and navigation system, and to control the rod insertion system to first clamp one end of the rod so that the other end is inserted or screwed into the CPIII embedded part, and then control the rod insertion system to clamp the prism and insert it into the exposed end of the rod, so as to complete the rod insertion operation. When the rod and prism are in place, the control system controls the total station to perform rear-view measurement of the prism according to the signal sent by the rod insertion system, thereby providing a benchmark for data collection for subsequent track fine-tuning operations.

[0008] The traveling system includes a folding frame, traveling wheels, and a traveling trolley. The folding frame spans over two tracks. The traveling wheels and the traveling trolley are respectively located at two ends of the folding frame. The traveling wheels are rotatably connected to the folding frame and rollingly connected to the upper side of one of the tracks. The traveling trolley is rotatably connected to the upper side of the other track.

[0009] The folding frame includes a main frame, a first frame, and a second frame, one side of the main frame is connected to the walking trolley, the other side of the main frame is connected to a threaded column, the first frame abuts the other side of the main frame and is provided with a mounting hole for the threaded column to pass through, a butterfly nut is threadedly connected to the threaded column, one end of the butterfly nut abuts the inner side wall of the first frame, the lower side of the first frame and the second frame are connected to each other by a hinge, and the upper sides of the first frame and the second frame are both installed with connecting columns, one of the connecting columns is rotatably connected with a rotating shaft, the outer circumferential surface of the rotating shaft is sleeved with a rotating rod, one end of the rotating rod passes through the other connecting column and is threadedly connected with a butterfly nut, and one end of the butterfly nut on the rotating rod abuts the outer side of the other connecting column.

[0010] The walking trolley includes a walking motor, a chassis, a front wheel, a rear wheel, a push-pull electromagnet, a driving bevel gear, and a driven bevel gear. The chassis is connected to one side of the main frame, and a handrail is connected to the upper side of the main frame. The front wheel and the rear wheel are rotatably connected to the lower side of the chassis in sequence. The data acquisition system includes an encoder, which is connected to one end face of the front wheel, and the other end face of the front wheel is connected to a connecting shaft. The driven bevel gear is connected to one end of the connecting shaft, and the driving bevel gear is meshed and connected to the driven bevel gear. The end face of the driving bevel gear is connected to a spline sleeve and a spline shaft. The walking motor is installed on the upper side of the chassis, and the output shaft of the walking motor is connected to a push-pull electromagnet after passing through the chassis. The lower side of the push-pull electromagnet is connected to a spline shaft, and the spline sleeve is matched and connected to the outer peripheral surface of the spline shaft. The push-pull electromagnet, the walking motor, and the encoder are connected to the control system.

[0011] The rod insertion system includes a base, a turntable, a drive motor, a vertical robotic arm, a horizontal robotic arm, and a manipulator. The base is installed on the upper side of the walking system, the turntable is rotatably connected to the upper side of the base, the drive motor is connected to the lower side of the base, and the output shaft passes through the base and is connected to the gear ring of the turntable. One end of the vertical robotic arm is connected to the upper end surface of the turntable. The data acquisition system includes a multi-axis sensor, which is installed at the center of the turntable. One end of the horizontal robotic arm is connected to the other end of the vertical robotic arm, and one end of the manipulator is connected to the other end of the horizontal robotic arm. The control system is connected to the drive motor, the multi-axis sensor, the horizontal robotic arm, the vertical robotic arm, and the manipulator.

[0012] The multi-axis sensor is used to measure the inclination angle and azimuth angle of the walking system and the turntable;

[0013] The manipulator is used to install and remove the plug rod and install and remove the prism;

[0014] The vertical robot arm and the horizontal robot arm are used to drive the robot arm to move so that the insertion rod is inserted into the CPIII embedded part and the prism is connected to the insertion rod to perform subsequent measurement work;

[0015] The control system is used to correct the coordinates of the manipulator according to the tilt angle, and control the manipulator, the vertical manipulator arm, the horizontal manipulator arm, and the driving motor to work respectively.

[0016] The vertical robotic arm includes a first connecting rod, a second connecting rod, a first triangular plate, a second triangular plate and a first electric push rod; the horizontal robotic arm includes a third connecting rod, a fourth connecting rod, a third triangular plate and a second electric push rod; the first triangular plate is connected to the upper side of the turntable; one end of the first connecting rod and the second connecting rod are respectively hinged to the first triangular plate; the other ends of the first connecting rod and the second connecting rod are respectively hinged to the second triangular plate; one end of the first electric push rod is hinged to the second connecting rod; the output end of the first electric push rod is hinged to the first connecting rod; one end of the third connecting rod and the fourth connecting rod are respectively hinged to the second triangular plate; the other ends of the third connecting rod and the fourth connecting rod are respectively hinged to the third triangular plate; one end of the second electric push rod is hinged to the third connecting rod; the output end of the second electric push rod is hinged to the fourth connecting rod; the robotic arm is installed on one side of the third triangular plate; the four hinge nodes of the vertical robotic arm are arranged in a parallelogram; and the four hinge nodes of the horizontal robotic arm are arranged in a parallelogram.

[0017] The manipulator includes a mounting seat, a servo electric cylinder, a push block, and a connecting seat. The mounting seat is connected to the other end of the horizontal robotic arm, the servo electric cylinder is installed on the mounting seat, and the connecting seat is installed on the servo electric cylinder. The output end of the servo electric cylinder passes through the connecting seat and is connected to the push block. The push block is a truncated cone structure that is narrow on the top and wide on the bottom. A plurality of connecting blocks are hinged on the connecting seat along the circumferential direction. One end of the plurality of connecting blocks abuts against the outer circumferential surface of the push block. The other ends of the plurality of connecting blocks are connected to patterned anti-slip claws. The plurality of anti-slip claws are used to clamp prisms and insertion rods. The servo electric cylinder is connected to the control system.

[0018] A visual positioning system is installed on the upper side of the mounting seat, and the visual positioning system is connected to the control system. The visual positioning system is used to scan the CPIII embedded part hole to assist the rod insertion system to achieve accurate positioning of the rod and prism.

[0019] The positioning and navigation system includes a power supply and an RTK mobile station receiver. The control system includes an operating system and an industrial computer. The power supply, the industrial computer and the RTK mobile station receiver are installed on the walking system. The power supply is connected to the industrial computer, and the RTK mobile station receiver is connected to the control system.

[0020] The RTK mobile station receiver is used to collect the real-time three-dimensional coordinates of the CPIII intelligent rod-inserting robot walking system;

[0021] The industrial computer is used to obtain instructions from the control system and control the actions of various components according to the instructions;

[0022] The control system is used to calculate the vertical distance and azimuth between the CPIII intelligent rod insertion robot and the CPIII embedded parts in real time through the industrial computer, guide the walking system to walk along the track to the closest distance to the CPIII control point, and then control the rod insertion system to perform the rod insertion operation.

[0023] A method for using a CPIII intelligent rod-inserting robot, the method comprising the following steps:

[0024] Step 1: The control system controls the walking system to move on the track, and the positioning and navigation system obtains the real-time coordinates of the rod-inserting robot and sends them to the control system. When the walking system travels to the closest distance to the CPIII control point, the control system controls the walking system to stop working;

[0025] Step 2: The control system controls the rod insertion system to work, and the rod insertion system clamps the rod and inserts or screws one end of the rod into the hole of the CPIII embedded part;

[0026] Step 3: The control system controls the rod insertion system to work, and the rod insertion system clamps the prism and connects it to the other end of the rod insertion;

[0027] Step 4. After the pole is inserted, the control system controls the automatic total station to automatically align the prism for rear-view measurement. After the measurement is completed, the control system re-controls the pole insertion system to rotate 180 degrees horizontally to complete the pole insertion operation on the other side of the track. After the measurement is completed, the travel system is controlled to move on the track to perform the pole insertion operation at the next CPIII control point until all target tasks are completed.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. In the CPIII intelligent rod-inserting robot and its use method of the present invention, since the three-dimensional coordinates of the CPIII control point are known, the purpose of the rod-inserting robot is to replace manual insertion or screwing of the rod and rear-view prism into the CPIII embedded part hole, and the walking system is controlled by the control system to move on the track, and the rod-inserting system is used to realize automatic rod insertion, which can greatly improve the work efficiency, reduce the number of rod-inserting personnel from 6 to 1, reduce nighttime construction interference and personal safety, and avoid the need to climb over the ballast of some ballasted tracks to damage the road appearance; at the same time, the positioning navigation system and the data acquisition system are combined to obtain the real-time coordinates of the robot, thereby effectively ensuring the accuracy and feedback speed of the rod-inserting measurement. Therefore, the present invention has high work efficiency and high accuracy.

[0030] 2. In a CPIII intelligent rod-inserting robot and its use method of the present invention, the walking trolley adopts an electric manual automatic separation dual drive mode, and the electromagnetic clutch formed by the push-pull electromagnet and the driving motor in series can force the spline sleeve to be connected with the spline shaft when the motor is powered on. When powered on, the movable iron core and the push rod move to generate thrust to drive the spline sleeve to move down and combine with the spline shaft, so that the power output of the motor is transmitted to the active bevel gear to force the torque to be transmitted. When the walking motor is powered off, the push-pull electromagnet is also powered off at the same time. At this time, the movable iron core and the push rod are automatically reset under the action of the reset spring to drive the spline sleeve to move up and separate from the spline shaft. At this time, the motor output spline shaft is disconnected from the active bevel gear, thereby completing the free switching between the automatic mode and the manual mode, so as to facilitate free selection according to the on-site conditions. Therefore, the present invention is easy to operate and has a high degree of automation.

[0031] 3. In the CPIII intelligent rod-inserting robot and its use method of the present invention, the real-time coordinates of the vehicle can be measured by the RTK mobile station receiver, and the distance and angle between the vehicle and the pre-inserted rod can be calculated in real time by the industrial computer, so as to guide the vehicle to walk to the closest distance to the CPIII control point, thereby facilitating the subsequent rod-inserting operation by the manipulator; the inclination angle of the vehicle can be measured by the multi-axis sensor in the middle of the turntable to obtain the spatial posture of the walking system body and the coordinate correction parameters of the manipulator. Due to factors such as equipment manufacturing errors and RTK differential positioning errors, the manipulator may not be able to completely align with the hole of the CPIII control point. At this time, the visual positioning system on the manipulator can be used to scan and guide the manipulator to accurately position, thereby improving the accuracy of the rod-inserting measurement. Therefore, the present invention has high accuracy and high intelligence.

[0032] 4. In a CPIII intelligent rod-inserting robot and a method of using the same, the rod-inserting system is configured to form an articulated parallelogram-link structure through a horizontal mechanical arm and a vertical mechanical arm, so that the rod-inserting system can be deformed freely. By utilizing the instability of a parallelogram and the stability of a triangle, an electric push rod is used to diagonally support the connecting rod to form a hypotenuse, and the parallelogram is divided into two variable trapezoids with a large difference in length between the upper and lower bases. At this time, the entire trapezoid will gradually approach a triangle, and then the trapezoid will have stability, so that the manipulator can work at any position within a 360-degree space with the maximum diameter of the manipulator. The turntable provides The horizontal robot arm can rotate 360 ​​degrees in space. The vertical robot arm can change the vertical inclination angle of the horizontal robot arm and its upper robot arm in the activity space to change the working height through its variable parallelogram structure. The horizontal robot arm can change the horizontal inclination angle of the robot arm in the activity space to change the horizontal distance through its variable parallelogram structure. The robot arm adopts the three-claw automatic centering clamping function to facilitate the coincidence of the clamped axis and the robot arm rotation axis for easy control. The pattern of the clamping claw can be inserted and pulled while rotating, and it also has good gripping force, so that the robot arm can have stable gripping force during straight insertion or rotation to ensure the working effect. Therefore, the present invention is flexible in operation and highly intelligent.

[0033] 5. In the CPIII intelligent rod-inserting robot and its use method of the present invention, the folding frame adopts the method of splicing three frames, and the model of the folding frame can be selected according to the width of the actual walking track to adapt to different track gauges and different working conditions. The storage space can be reduced by setting a folding hinge, so the present invention is easy to operate and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the use status of a CPIII intelligent rod-inserting robot in the present invention.

[0035] Figure 2 It is a structural schematic diagram of the insert rod and prism in the present invention.

[0036] Figure 3 It is a structural schematic diagram of a CPIII intelligent rod-inserting robot in the present invention.

[0037] Figure 4 It is a partial structural schematic diagram of the walking system in the present invention.

[0038] Figure 5 It is a structural schematic diagram of the folding frame of the present invention.

[0039] Figure 6 It is a structural schematic diagram of the main frame in the present invention.

[0040] Figure 7 It is a structural schematic diagram of the first frame in the present invention.

[0041] Figure 8 It is a structural schematic diagram of the walking trolley in the present invention.

[0042] Fig. 9 It is a structural schematic diagram of the spline sleeve and the spline shaft in the present invention.

[0043] Fig.10 It is a structural schematic diagram of the rod insertion system in the present invention.

[0044] Fig.11 It is a structural schematic diagram of the mechanical arm in the present invention.

[0045] Fig.12 It is a structural schematic diagram of the manipulator in the present invention.

[0046] Fig.13 It is a structural block diagram of the control system in the present invention.

[0047] In the figure: track 1, walking system 2, folding frame 21, main frame 211, first frame 212, second frame 213, threaded column 214, mounting hole 215, butterfly nut 216, hinge 217, connecting column 218, rotating rod 219, rotating shaft 210, walking wheel 22, walking trolley 23, walking motor 231, chassis 232, front wheel 233, rear wheel 234, push-pull electromagnet 235, active bevel gear 236, driven bevel gear 237, spline sleeve 238, spline shaft 239, connecting shaft 2310, handrail 24, positioning and navigation system 3, power supply 31, RTK mobile station receiver 32, control system 4, operation The operating system 41, the industrial computer 42, the data acquisition system 5, the encoder 51, the multi-axis sensor 52, the rod insertion system 6, the base 61, the turntable 62, the drive motor 63, the vertical robotic arm 64, the first connecting rod 641, the second connecting rod 642, the first triangular plate 643, the second triangular plate 644, the first electric push rod 645, the horizontal robotic arm 65, the third connecting rod 651, the fourth connecting rod 652, the third triangular plate 653, the second electric push rod 654, the robot 66, the mounting base 661, the servo cylinder 662, the push block 663, the connecting base 664, the connecting block 665, the anti-slip clamp 666, the visual positioning system 67, the prism 7, and the rod insertion 8. DETAILED DESCRIPTION

[0048] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0049] Embodiment 1:

[0050] See also Figures 1 to 13 A CPIII intelligent rod-inserting robot comprises a walking system 2, a positioning and navigation system 3, a control system 4, a data acquisition system 5, and a rod-inserting system 6. The walking system 2 is slidably connected to the upper side of the track 1, and the positioning and navigation system 3, the control system 4, and the rod-inserting system 6 are respectively installed on the upper side of the walking system 2, and the control system 4 is connected to the positioning and navigation system 3 and the rod-inserting system 6;

[0051] The positioning and navigation system 3 is used to obtain the three-dimensional coordinates of the walking system 2 in the CPIII intelligent rod-inserting robot and send the three-dimensional coordinate values ​​to the control system 4;

[0052] The data acquisition system 5 is used to send the data collected by each sensor in the data acquisition system 5 to the control system 4 via electrical signals;

[0053] The control system 4 is used to control the walking system 2 to move on the track 1 according to the program command or instruction and the three-dimensional coordinate value collected by the positioning and navigation system 3, and control the rod insertion system 6 to first clamp one end of the rod 8 so that the other end is inserted or screwed into the CPIII embedded part, and then control the rod insertion system 6 to clamp the prism 7 and insert it into the exposed end of the rod 8, so as to complete the rod insertion operation. When the rod 8 and the prism 7 are in place, the control system 4 controls the total station to perform rear-view measurement on the prism 7 according to the signal sent by the rod insertion system 6, so as to provide a reference for data collection for subsequent track fine-tuning operations;

[0054] A method for using a CPIII intelligent rod-inserting robot, the method comprising the following steps:

[0055] Step 1: The control system 4 controls the walking system 2 to move on the track 1, and the positioning navigation system 3 obtains the real-time coordinates of the rod-inserting robot and sends them to the control system 4. When the walking system 2 travels to the shortest distance of the CPIII control point, the control system 4 controls the walking system 2 to stop working;

[0056] Step 2: The control system 4 controls the insertion rod system 6 to work, and the insertion rod system 6 clamps the insertion rod 8 and inserts or screws one end of the insertion rod into the CPIII embedded part hole;

[0057] Step 3, the control system 4 controls the insertion rod system 6 to work, and the insertion rod system 6 clamps the prism 7 and connects the other end of the insertion rod 8;

[0058] Step 4. After the pole insertion is completed, the control system 4 controls the automatic total station to automatically align with the prism 7 for rear-view measurement. After the measurement is completed, the control system 4 re-controls the pole insertion system 6 to rotate horizontally 180 degrees to complete the pole insertion operation on the other side of the track 1. After the measurement is completed, the walking system 2 is controlled to move on the track 1 to perform the pole insertion operation of the next CPIII control point until all target tasks are completed.

[0059] Embodiment 2:

[0060] The basic content is the same as that of Example 1, except that:

[0061] The walking system 2 includes a folding frame 21, walking wheels 22, and a walking trolley 23. The folding frame 21 spans over the two tracks 1. The walking wheels 22 and the walking trolley 23 are respectively located at both ends of the folding frame 21. The walking wheels 22 are rotatably connected to the folding frame 21 and rollingly connected to the upper side of one of the tracks 1. The walking trolley 23 is rotatably connected to the upper side of the other track 1.

[0062] The folding frame 21 includes a main frame 211, a first frame 212, and a second frame 213. One side of the main frame 211 is connected to the walking trolley 23, and the other side of the main frame 211 is connected to a threaded column 214. The first frame 212 abuts against the other side of the main frame 211 and is provided with a mounting hole 215 for the threaded column 214 to pass through. A butterfly nut 216 is threadedly connected to the threaded column 214, and one end of the butterfly nut 216 abuts against the inner side wall of the first frame 212. The lower sides of the first frame 212 and the second frame 213 are connected to each other through hinges 217. The upper sides of the first frame 212 and the second frame 213 are both installed with connecting columns 218. A rotating shaft 210 is rotatably connected to one of the connecting columns 218. A rotating rod 219 is sleeved on the outer circumference of the rotating shaft 210. One end of the rotating rod 219 passes through the other connecting column 218 and is threadedly connected with a butterfly nut 216. One end of the butterfly nut 216 on the rotating rod 219 abuts against the outer side of the other connecting column 218.

[0063] The walking trolley 23 includes a walking motor 231, a base frame 232, a front wheel 233, a rear wheel 234, a push-pull electromagnet 235, a driving bevel gear 236, and a driven bevel gear 237. The base frame 232 is connected to one side of the main frame 211, and the upper side of the main frame 211 is connected to the handrail 24. The front wheel 233 and the rear wheel 234 are rotatably connected to the lower side of the base frame 232 in sequence. The data acquisition system 5 includes an encoder 51, and the encoder 51 is connected to one end face of the front wheel 233. The other end face of the front wheel 233 is connected to a connecting shaft 2310. The driven bevel gear 237 is connected to the At one end of the connecting shaft 2310, the active bevel gear 236 is meshedly connected to the driven bevel gear 237, and the end face of the active bevel gear 236 is connected with a spline sleeve 238 and a spline shaft 239. The travel motor 231 is installed on the upper side of the base frame 232, and the output shaft of the travel motor 231 passes through the base frame 232 and is connected to a push-pull electromagnet 235, and the lower side of the push-pull electromagnet 235 is connected with a spline shaft 239, and the spline sleeve 238 is cooperatively connected to the outer peripheral surface of the spline shaft 239. The push-pull electromagnet 235, the travel motor 231, and the encoder 51 are connected to the control system 4.

[0064] Embodiment 3:

[0065] The basic content is the same as that of Example 1, except that:

[0066] The rod insertion system 6 includes a base 61, a turntable 62, a drive motor 63, a vertical robot arm 64, a horizontal robot arm 65, and a manipulator 66. The base 61 is installed on the upper side of the walking system 2, and the turntable 62 is rotatably connected to the upper side of the base 61. The drive motor 63 is connected to the lower side of the base 61 and the output shaft passes through the base 61 and is connected to the gear ring of the turntable 62. One end of the vertical robot arm 64 is connected to the upper end surface of the turntable 62. The data acquisition system 5 includes a multi-axis sensor 52, and the multi-axis sensor 52 is installed at the center of the turntable 62. One end of the horizontal robot arm 65 is connected to the other end of the vertical robot arm 64, and one end of the manipulator 66 is connected to the other end of the horizontal robot arm 65. The control system 4 is connected to the drive motor 63, the multi-axis sensor 52, the horizontal robot arm 65, the vertical robot arm 64, and the manipulator 66.

[0067] The multi-axis sensor 52 is used to measure the inclination angle and azimuth angle of the walking system 2 and the turntable 62;

[0068] The manipulator 66 is used to install and remove the insertion rod 8 and install and remove the prism 7;

[0069] The vertical robot arm 64 and the horizontal robot arm 65 are used to drive the robot arm 66 to move so that the insertion rod 8 is inserted into the CPIII embedded part and the prism 7 is connected to the insertion rod 8 to perform subsequent measurement work;

[0070] The control system 4 is used to correct the coordinates of the manipulator 66 according to the tilt angle, and control the manipulator 66, the vertical manipulator 64, the horizontal manipulator 65, and the drive motor 63 to work respectively;

[0071] The vertical mechanical arm 64 includes a first connecting rod 641, a second connecting rod 642, a first triangular plate 643, a second triangular plate 644 and a first electric push rod 645, and the horizontal mechanical arm 65 includes a third connecting rod 651, a fourth connecting rod 652, a third triangular plate 653 and a second electric push rod 654. The first triangular plate 643 is connected to the upper side of the turntable, one end of the first connecting rod 641 and the second connecting rod 642 is respectively hinged to the first triangular plate 643, the other end of the first connecting rod 641 and the second connecting rod 642 is respectively hinged to the second triangular plate 644, one end of the first electric push rod 645 is hinged to the second connecting rod 642, and the The output end of the first electric push rod 645 is hinged to the first connecting rod 641, one end of the third connecting rod 651 and the fourth connecting rod 652 are respectively hinged to the second triangular plate 644, the other ends of the third connecting rod 651 and the fourth connecting rod 652 are respectively hinged to the third triangular plate 653, one end of the second electric push rod 654 is hinged to the third connecting rod 651, the output end of the second electric push rod 654 is hinged to the fourth connecting rod 652, the manipulator 66 is installed on one side of the third triangular plate 653, the four hinge nodes of the vertical manipulator 64 are arranged in a parallelogram, and the four hinge nodes of the horizontal manipulator 65 are arranged in a parallelogram;

[0072] The manipulator 66 includes a mounting seat 661, a servo electric cylinder 662, a push block 663, and a connecting seat 664. The mounting seat 661 is connected to the other end of the horizontal manipulator 65. The servo electric cylinder 662 is installed on the mounting seat 661. The connecting seat 664 is installed on the servo electric cylinder 662. The output end of the servo electric cylinder 662 passes through the connecting seat 664 and is connected to the push block 663. The push block 663 is a truncated cone structure that is narrow at the top and wide at the bottom. A plurality of connecting blocks 665 are hinged on the connecting seat 664 along the circumferential direction. One end of the plurality of connecting blocks 665 abuts against the outer circumferential surface of the push block 663. The other end of the plurality of connecting blocks 665 is connected to a patterned anti-slip clamp 666. The plurality of anti-slip clamps 666 are used to clamp the prism 7 and the insertion rod 8. The servo electric cylinder 662 is connected to the control system 4.

[0073] A visual positioning system 67 is installed on the upper side of the mounting seat 661. The visual positioning system 67 is connected to the control system 4. The visual positioning system 67 is used to scan the CPIII embedded part hole to assist the insertion rod system 6 to achieve accurate positioning of the insertion rod 8 and the prism 7.

[0074] Embodiment 4:

[0075] The basic content is the same as that of Example 1, except that:

[0076] The positioning and navigation system 3 includes a power supply 31 and an RTK mobile station receiver 32. The control system 4 includes an operating system 41 and an industrial computer 42. The power supply 31, the industrial computer 42 and the RTK mobile station receiver 32 are installed on the walking system 2. The power supply 31 is connected to the industrial computer 42. The RTK mobile station receiver 32 is connected to the control system 4.

[0077] The RTK mobile station receiver 32 is used to collect the real-time three-dimensional coordinates of the CPIII intelligent rod-inserting robot walking system 2;

[0078] The industrial computer 42 is used to obtain instructions from the control system 4 and control the actions of various components according to the instructions;

[0079] The control system 4 is used to calculate the vertical distance and azimuth between the CPIII intelligent rod insertion robot and the CPIII embedded parts in real time through the industrial computer 42, guide the walking system 2 to walk along the track 1 to the closest distance to the CPIII control point, and then control the rod insertion system 6 to perform the rod insertion operation.

Claims

1. A CPIII intelligent rod-inserting robot, characterized in that: The invention comprises a walking system (2), a positioning and navigation system (3), a control system (4), a data acquisition system (5), and a rod insertion system (6); the walking system (2) is slidably connected to the upper side of the track (1); the positioning and navigation system (3), the control system (4), and the rod insertion system (6) are respectively installed on the upper side of the walking system (2); and the control system (4) is connected to the positioning and navigation system (3) and the rod insertion system (6); The positioning and navigation system (3) is used to obtain the three-dimensional coordinates of the walking system (2) in the CPIII intelligent rod-inserting robot and send the three-dimensional coordinate values ​​to the control system (4); The data acquisition system (5) is used to send the data collected by each sensor in the data acquisition system (5) to the control system (4) via an electrical signal; The control system (4) is used to control the walking system (2) to move on the track (1) according to program commands or instructions and the three-dimensional coordinate values ​​collected by the positioning and navigation system (3), and to control the rod insertion system (6) to first clamp one end of the rod insertion system (8) so that the other end is inserted or screwed into the CPIII embedded part, and then control the rod insertion system (6) to clamp the prism (7) and insert it into the exposed end of the rod insertion system (8), thereby completing the rod insertion operation. When the rod insertion system (8) and the prism (7) are in place, the total station is controlled to perform rear-view measurement on the prism (7) according to the signal sent by the rod insertion system (6), thereby providing a reference for data collection for subsequent track fine-tuning operations.

2. A CPIII intelligent rod-inserting robot according to claim 1, characterized in that: The walking system (2) comprises a folding frame (21), walking wheels (22), and a walking trolley (23); the folding frame (21) spans over two rails (1); the walking wheels (22) and the walking trolley (23) are respectively located at two ends of the folding frame (21); the walking wheels (22) are rotatably connected to the folding frame (21) and rollingly connected to the upper side of one of the rails (1); and the walking trolley (23) is rotatably connected to the upper side of the other rail (1).

3. A CPIII intelligent rod-inserting robot according to claim 2, characterized in that: The folding frame (21) comprises a main frame (211), a first frame (212), and a second frame (213); one side of the main frame (211) is connected to the walking trolley (23); the other side of the main frame (211) is connected to a threaded column (214); the first frame (212) is abutted against the other side of the main frame (211) and is provided with a mounting hole (215) for the threaded column (214) to pass through; a butterfly nut (216) is threadedly connected to the threaded column (214); one end of the butterfly nut (216) is abutted against the inner side wall of the first frame (212); and the second frame (213) is abutted against the inner side wall of the first frame (212). The lower sides of the first frame (212) and the second frame (213) are connected to each other through hinges (217); the upper sides of the first frame (212) and the second frame (213) are both installed with connecting columns (218); a rotating shaft (210) is rotatably connected to one of the connecting columns (218); a rotating rod (219) is sleeved on the outer circumference of the rotating shaft (210); one end of the rotating rod (219) passes through the other connecting column (218) and is threadedly connected to a butterfly nut (216); one end of the butterfly nut (216) on the rotating rod (219) abuts against the outer side of the other connecting column (218).

4. A CPIII intelligent rod-inserting robot according to claim 3, characterized in that: The walking trolley (23) comprises a walking motor (231), a base frame (232), a front wheel (233), a rear wheel (234), a push-pull electromagnet (235), a driving bevel gear (236), and a driven bevel gear (237); the base frame (232) is connected to one side of the main frame (211); the upper side of the main frame (211) is connected to a handrail (24); the front wheel (233) and the rear wheel (234) are rotatably connected to the lower side of the base frame (232); the data acquisition system (5) comprises an encoder (51); the encoder (51) is connected to one end face of the front wheel (233); the other end face of the front wheel (233) is connected to a connecting shaft (2310); the driven bevel gear (237) is connected to the At one end of the connecting shaft (2310), the active bevel gear (236) is meshedly connected to the driven bevel gear (237); the end surface of the active bevel gear (236) is connected to a spline sleeve (238) and a spline shaft (239); the travel motor (231) is mounted on the upper side of the base frame (232); the output shaft of the travel motor (231) passes through the base frame (232) and is connected to a push-pull electromagnet (235); the lower side of the push-pull electromagnet (235) is connected to a spline shaft (239); the spline sleeve (238) is cooperatively connected to the outer peripheral surface of the spline shaft (239); the push-pull electromagnet (235), the travel motor (231), and the encoder (51) are connected to the control system (4).

5. The CPIII intelligent rod-inserting robot according to claim 1, characterized in that: The rod insertion system (6) comprises a base (61), a turntable (62), a drive motor (63), a vertical mechanical arm (64), a horizontal mechanical arm (65), and a manipulator (66); the base (61) is installed on the upper side of the walking system (2); the turntable (62) is rotatably connected to the upper side of the base (61); the drive motor (63) is connected to the lower side of the base (61) and the output shaft passes through the base (61) and is connected to the gear ring of the turntable (62); one end of the vertical mechanical arm (64) is connected to the The data acquisition system (5) comprises a multi-axis sensor (52) installed at the center of the turntable (62), one end of the horizontal robotic arm (65) is connected to the other end of the vertical robotic arm (64), one end of the robotic arm (66) is connected to the other end of the horizontal robotic arm (65), and the control system (4) is connected to the drive motor (63), the multi-axis sensor (52), the horizontal robotic arm (65), the vertical robotic arm (64), and the robotic arm (66); The multi-axis sensor (52) is used to measure the inclination angle and azimuth angle of the walking system (2) and the turntable (62); The manipulator (66) is used to install and remove the insertion rod (8) and install and remove the prism (7); The vertical mechanical arm (64) and the horizontal mechanical arm (65) are used to drive the mechanical hand (66) to move so that the insertion rod (8) is inserted into the CPIII embedded part and the prism (7) is connected to the insertion rod (8) to perform subsequent measurement work; The control system (4) is used to correct the coordinates of the manipulator (66) according to the tilt angle, and respectively control the manipulator (66), the vertical manipulator (64), the horizontal manipulator (65), and the drive motor (63) to work.

6. A CPIII intelligent rod-inserting robot according to claim 5, characterized in that: The vertical mechanical arm (64) includes a first connecting rod (641), a second connecting rod (642), a first triangular plate (643), a second triangular plate (644) and a first electric push rod (645); the horizontal mechanical arm (65) includes a third connecting rod (651), a fourth connecting rod (652), a third triangular plate (653) and a second electric push rod (654); the first triangular plate (643) is connected to the upper side of the turntable; one end of the first connecting rod (641) and the second connecting rod (642) are respectively hinged to the first triangular plate (643); the other ends of the first connecting rod (641) and the second connecting rod (642) are respectively hinged to the second triangular plate (644); one end of the first electric push rod (645) is hinged to the second connecting rod (642); ), the output end of the first electric push rod (645) is hinged to the first connecting rod (641), one end of the third connecting rod (651) and the fourth connecting rod (652) are respectively hinged to the second triangular plate (644), the other ends of the third connecting rod (651) and the fourth connecting rod (652) are respectively hinged to the third triangular plate (653), one end of the second electric push rod (654) is hinged to the third connecting rod (651), the output end of the second electric push rod (654) is hinged to the fourth connecting rod (652), the manipulator (66) is installed on one side of the third triangular plate (653), the four hinge nodes of the vertical manipulator (64) are arranged in a parallelogram, and the four hinge nodes of the horizontal manipulator (65) are arranged in a parallelogram.

7. The CPIII intelligent rod-inserting robot according to claim 5, characterized in that: The robot arm (66) comprises a mounting seat (661), a servo electric cylinder (662), a push block (663), and a connecting seat (664); the mounting seat (661) is connected to the other end of the horizontal robot arm (65); the servo electric cylinder (662) is mounted on the mounting seat (661); the connecting seat (664) is mounted on the servo electric cylinder (662); the output end of the servo electric cylinder (662) passes through the connecting seat (664) and is connected to the push block (663); The push block (663) is a truncated cone-shaped structure that is narrow at the top and wide at the bottom. A plurality of connection blocks (665) are hingedly connected to the connection seat (664) along the circumferential direction. One end of the plurality of connection blocks (665) abuts against the outer circumferential surface of the push block (663). The other end of the plurality of connection blocks (665) is connected to a patterned anti-slip clamp (666). The plurality of anti-slip clamps (666) are used to clamp the prism (7) and the insertion rod (8). The servo electric cylinder (662) is connected to the control system (4).

8. The CPIII intelligent rod-inserting robot according to claim 7, characterized in that: A visual positioning system (67) is installed on the upper side of the mounting seat (661). The visual positioning system (67) is connected to the control system (4). The visual positioning system (67) is used to scan the CPIII embedded part hole to assist the insertion rod system (6) to achieve accurate positioning of the insertion rod (8) and the prism (7).

9. The CPIII intelligent rod-inserting robot according to claim 2, characterized in that: The positioning navigation system (3) comprises a power supply (31) and an RTK mobile station receiver (32); the control system (4) comprises an operating system (41) and an industrial computer (42); the power supply (31), the industrial computer (42) and the RTK mobile station receiver (32) are installed on the walking system (2); the power supply (31) is connected to the industrial computer (42); the RTK mobile station receiver (32) is connected to the control system (4); The RTK mobile station receiver (32) is used to collect the real-time three-dimensional coordinates of the CPIII intelligent rod-inserting robot walking system (2); The industrial computer (42) is used to obtain instructions from the control system (4) and control the actions of various components according to the instructions; The control system (4) is used to calculate the vertical distance and azimuth between the CPIII intelligent rod insertion robot and the CPIII embedded part in real time through the industrial control computer (42), guide the walking system (2) to walk along the track (1) to the closest distance to the CPIII control point, and then control the rod insertion system (6) to perform the rod insertion operation.

10. A method for using the CPIII intelligent rod-inserting robot according to claim 1, characterized in that: The method of use comprises the following steps: Step 1: The control system (4) controls the walking system (2) to move on the track (1); the positioning and navigation system (3) obtains the real-time coordinates of the rod-inserting robot and sends them to the control system (4); when the walking system (2) travels to the shortest distance of the CPIII control point, the control system (4) controls the walking system (2) to stop working; Step 2: The control system (4) controls the insertion rod system (6) to work, and the insertion rod system (6) clamps the insertion rod (8) and inserts or screws one end of the insertion rod into the hole of the CPIII embedded part; Step 3, the control system (4) controls the insertion rod system (6) to work, and the insertion rod system (6) clamps the prism (7) and connects the other end of the insertion rod (8); Step 4: After the pole insertion is completed, the control system (4) controls the automatic total station to automatically align with the prism (7) for rear-view measurement. After the measurement is completed, the control system (4) re-controls the pole insertion system (6) to rotate horizontally 180 degrees to complete the pole insertion operation on the other side of the track (1). After the measurement is completed, the walking system (2) is controlled to move on the track (1) to perform the pole insertion operation of the next CPIII control point until all target tasks are completed.

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