Method for using an intelligent guiding device for a foundation model test

Abstract

The application relates to a method for using an intelligent guiding device for a foundation model test, which comprises the following steps: installing a laser positioning system on a fixed support; leveling a level base through a leveling knob; moving a foundation model to be below three laser displacement sensors through a mechanical arm gripper; obtaining a vertical angle and an adjustment direction which need to be adjusted by the mechanical arm according to the data of the three laser displacement sensors; limiting the foundation model, installing the foundation model, and correcting the verticality of the foundation model according to the data of the three laser displacement sensors by the mechanical arm. The application has the beneficial effects that: a horizontal plane can be determined after leveling, calibration and zero adjustment, the initial state height verticality before foundation installation can be realized through cooperation of the mechanical arm gripper, the verticality of the foundation during the foundation installation process can be reflected in real time, and the foundation model posture is adjusted by the mechanical arm gripper according to the readings of the laser displacement sensors to ensure that the verticality is within the allowable error range during the foundation installation process.

Description

[0001] This application is a divisional application of the invention patent application with application number CN202410052068.8, application date January 12, 2024, entitled "An intelligent guiding device and method for basic model testing". Technical Field

[0002] This invention belongs to the field of geotechnical engineering technology, and in particular relates to a method for using an intelligent guiding device for basic model testing. Background Technology

[0003] With the vigorous development of infrastructure construction in my country, there are more and more construction projects such as railways, bridges, docks and artificial islands. The foundation treatment is an extremely important part of the entire project construction.

[0004] However, due to the diversity of the working environment of foundations, the complexity of their interactions, and the emergence of new installation methods, the calculation methods and related construction technologies for foundation installation still need improvement. Methods for studying the installation mechanism of foundations through on-site measurements often suffer from problems such as complex processes, long cycles, and high material and human resource consumption. Therefore, compared to on-site measurements, indoor scaled-down model tests offer advantages such as lower initial economic costs, ease of operation, and flexible and controllable conditions, reducing costs in the preliminary research stage. This is of great significance both for studying improvements to existing construction methods and for verifying the feasibility of new installation methods.

[0005] To more realistically reflect the installation mechanism of the foundation, an installation guide device is often needed for indoor model tests to achieve vertical installation of the foundation. Existing guide devices generally only provide simple positioning for the foundation installation, often resulting in inconsistent initial installation angles, excessive influence of the guide device on the installation process, and unknown foundation offset during installation, thus affecting the accuracy of model test data.

[0006] Therefore, there is an urgent need to design an intelligent guiding device that can detect the verticality of the foundation in real time and dynamically correct its deviation, so as to solve this technical problem and provide ideas for guiding the installation of the foundation in actual construction. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for using an intelligent guidance device for basic model experiments.

[0008] This intelligent guiding device for basic model testing includes: a robotic arm gripper, a fixed support, and a laser positioning system. The laser positioning system is fixed on the fixed support, and the robotic arm gripper is mounted on the robotic arm for clamping and limiting the basic model.

[0009] The laser positioning system includes a triangular base, a leveling base rotatably connected to the bottom of the triangular base, a leveling bubble fixed to the edge of the leveling base, and leveling knobs located below the three corners of the triangular base to adjust the levelness of the leveling base. Three laser displacement sensors are symmetrically arranged around the bottom of the leveling base.

[0010] The robotic arm gripper includes a bidirectional tap and a control gear. The two bidirectional taps are at an angle to each other. Each bidirectional tap has a gripping arm connected to its two ends by a slider. The ends of the two bidirectional taps are connected to the control gear by a transmission gear. When the control gear rotates, the four gripping arms on the two bidirectional taps separate or come together. The base model is inserted into the space formed by the four gripping arms. The lasers from the three laser displacement sensors all shine on the top surface of the base model.

[0011] Preferably, the threads at both ends of the bidirectional tap are opposite. When the control gear rotates, the sliders at both ends of the bidirectional tap move synchronously towards or away from each other. A fixing groove is provided on the slider, and one end of the clamping arm is inserted into the fixing groove.

[0012] Preferably, there is a height difference between the two bidirectional taps, specifically, the clamping arms on the two bidirectional taps are staggered in height.

[0013] Preferably, a flange ring is provided below the triangular base, and the leveling base is rotatably connected to the triangular base through the flange ring. The leveling knob adjusts the distance from the corresponding point of the flange ring to the triangular base through the threaded rod.

[0014] Preferably, the fixed support has a rod one at the bottom, a rod two is vertically installed on the rod one, a rod three is horizontally installed on the rod two, and a laser positioning system is installed below the rod three.

[0015] The method of using this intelligent guidance device for basic model experiments includes the following steps:

[0016] Step 1: Place the fixed support on the test platform, and then install the laser positioning system on the fixed support;

[0017] Step 2: Level the leveling base using the leveling knob;

[0018] Step 3: Rotate the control gear to make the four gripping arms simultaneously close and grip the base model; the robotic arm gripper moves the base model directly below the laser displacement sensor;

[0019] Step 4: The robotic arm determines the required vertical angle adjustment based on data from the three laser displacement sensors. Adjust the orientation and verticality of the model foundation until the readings of the three laser displacement sensors are consistent.

[0020] Step 5: While keeping the readings of the three laser displacement sensors consistent, control the robotic arm gripper to descend to the bottom of the foundation model and contact the surface of the test soil, and zero the three laser displacement sensors;

[0021] Step 6: Rotate the control gear to separate the four gripping arms, forming a limit on the base model; install the base model, and the robotic arm corrects the verticality based on the data from the three laser displacement sensors.

[0022] Preferably, in step one, the distance from the laser displacement sensor to the top surface of the base model in subsequent steps is determined by adjusting the height of the laser positioning system, thereby determining the range of the laser displacement sensor. The smaller the distance from the laser displacement sensor to the top surface of the base model, the smaller the range of the laser displacement sensor.

[0023] Preferably, in step four, the displacement data from the three laser displacement sensors are sorted and categorized into variables from smallest to largest. , and In the middle, three laser displacement sensors are connected to form an equilateral triangle to output... The midline of the equilateral triangle of the laser displacement sensor is used as the reference axis;

[0024] The vertical angle that the robotic arm gripper needs to be adjusted for

[0025]

[0026] Where m is the distance between adjacent laser displacement sensors;

[0027] Adjust the angle between the direction and the reference axis as follows:

[0028] .

[0030] Preferably, in step six, the robotic arm gripper and the base model descend synchronously, and the displacement data from the three laser displacement sensors are sorted in real time, from smallest to largest, and assigned to variables. , and In the middle, its descent distance

[0031]

[0032] Then, using the same method as in step four, calculate the vertical angle that the robotic arm gripper needs to be adjusted. and the angle between the adjustment axis and the reference axis .

[0033] Preferably, the maximum allowable deflection angle of the robotic arm gripper is set as follows: When the vertical angle needs to be adjusted First, the robotic arm gripper is moved horizontally, and the distance 'a' of the horizontal movement of the robotic arm gripper is...

[0034]

[0035] Where h is the height of the model base; after the robotic arm gripper moves horizontally, the vertical angle that needs to be adjusted is recalculated. , .

[0036] The beneficial effects of this invention are:

[0037] 1) This invention can be applied to model installation tests related to foundation installation, especially barrel or pile foundations. Compared with general guiding devices, this device adds a laser positioning system. The laser positioning system includes three laser displacement sensors. After completing the leveling, calibration and zeroing work, a horizontal plane can be determined. With the help of the robotic arm gripper, the initial height of the foundation can be made vertical before the foundation is installed. At the same time, it can reflect the verticality of the foundation in real time during the foundation installation process.

[0038] 2) This invention can switch between two modes of the robotic arm gripper: clamping state and limiting state, by adjusting the control gear. When the robotic arm gripper is in the clamping state, the posture of the basic model can be controlled according to the reading of the laser displacement sensor, so as to ensure that the basic model is in a highly vertical state before the foundation is installed. When the robotic arm gripper is in the limiting state, the posture of the basic model can be adjusted according to the reading of the laser displacement sensor to ensure that the verticality is within the allowable error range during the foundation installation process.

[0039] 3) In this invention, the robotic arm gripper adopts a design of controlling multiple transmission units with a single drive unit, thereby realizing the synchronous and coaxial opening or closing of multiple gripping arms through a single drive unit. A control gear simultaneously controls a total of four gripping arms on two bidirectional taps, thereby enabling high-precision verticality control of the basic model.

[0040] 4) The slider in the gripper of the robotic arm in this invention is provided with a slot, so it can be adapted to foundations of different diameters simply by changing the gripping arm, making it easy to operate.

[0041] 5) In this invention, the laser positioning system can achieve a horizontal state for the part below the flange ring by adjusting the leveling knob in conjunction with the leveling bubble. This leveling device makes it easy and quick to adjust the laser positioning system to a horizontal state in different model test scenarios, and has strong applicability.

[0042] 6) The fixed support in this invention includes three mutually perpendicular rods. By adjusting the connection position of the three rods and the laser positioning system, the spatial position of the laser displacement sensor can be controlled, thereby avoiding the situation where the laser displacement sensor exceeds its range during the sinking process of the foundation model. Attached Figure Description

[0043] Figure 1 Top view of the robotic arm gripper provided by the present invention;

[0044] Figure 2 This is a front view of the laser positioning system and fixed support provided by the present invention;

[0045] Figure 3 A top view of the laser positioning system and fixed support provided by the present invention;

[0046] Figure 4 This is a schematic diagram of the gripping state of the robotic arm gripper provided by the present invention;

[0047] Figure 5 This is a schematic diagram of the limiting state of the robotic arm gripper provided by the present invention.

[0048] Explanation of reference numerals in the attached drawings: 1. Mechanical arm gripper; 1-1. Mounting body; 1-2. Clamping arm; 1-2-1. Clamping arm one; 1-2-2. Clamping arm two; 1-2-3. Clamping arm three; 1-2-4. Slider; 1-3. Slot; 1-4. Double tap; 1-5. Transmission gear; 1-6. Control gear; 1-7. Connecting ring; 1-8. Fixed support; 2. Rod one; 2-2. Rod two; 2-3. Triangular connector; 2-4. Fastening component; 2-5. Bolt; 2-6. Laser positioning system; 3. Triangular base; 3-1. Leveling knob; 3-2. Flange ring; 3-3. Leveling base; 3-4. Leveling bubble; 3-5. Laser displacement sensor; 3-6. Basic model; 4. Detailed Implementation

[0049] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that those skilled in the art can make several modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0050] Example 1

[0051] As one example, such as Figure 2 and Figure 3 As shown, this intelligent guiding device for basic model testing includes: a robotic arm gripper 1, a fixed support 2, and a laser positioning system 3, which is fixed to the fixed support 2 to fix and adjust the spatial position of the laser positioning system 3.

[0052] Specifically, the bottom of the fixed support 2 is provided with a rod 2-1. Both ends of the rod 2-1 are fixed by fastening components 2-5. The rod 2-1 is provided with a sliding groove. The rod 2-2 is slidably installed on the rod 2-1. The rod 2-2 is set vertically and its bottom end is fixed to the rod 2-1 by a triangular connector 2-4. The rod 2-2 is also provided with a sliding groove. The rod 3-3 is fixed at a certain height on the rod 2-2 and then fixed. The rod 3-3 extends horizontally but is perpendicular to the rod 2-1.

[0053] The bottom surface of rod 2-3 is also provided with a sliding groove, and the laser positioning system 3 is slidably installed under rod 2-3.

[0054] The laser positioning system 3 includes a triangular base 3-1, with a leveling base 3-4 rotatably connected below the triangular base 3-1. Specifically, a flange ring 3-3 is provided below the triangular base 3-1, and the leveling base 3-4 is rotatably connected to the triangular base 3-1 through the flange ring 3-3. A leveling bubble 3-5 is fixed to the edge of the leveling base 3-4. Leveling knobs 3-2 are respectively provided below the three corners of the triangular base 3-1. The three laser displacement sensors 3-6 are evenly fixed to the bottom of the leveling base 3-4 and are vertically aligned with the bottom surface of the leveling base 3-4. The centers of the three laser displacement sensors 3-6 can be connected to form an equilateral triangle with a side length of m. When the readings of the three laser displacement sensors are the same, a plane parallel to the leveling base 3-4 can be identified.

[0055] The leveling knob 3-2 adjusts the distance from the corresponding point of the flange ring 3-3 to the triangular seat 3-1 via the threaded rod, and by rotating the leveling base 3-4, the leveling bubble 3-5 can detect the levelness of different positions of the ring upward, thereby adjusting the levelness of the leveling base 3-4.

[0056] Three laser displacement sensors 3-6 are symmetrically arranged in a circumferential direction below the leveling base 3-4;

[0057] The robotic arm gripper 1 is mounted on the robotic arm for clamping and limiting the base model 4. The top surface of the base model 4 is flat and perpendicular to the axis of the base model 4 to ensure that the laser positioning system 3 can accurately reflect the verticality of the base model 4. The robotic arm gripper 1 clamps the base model 4 and moves it directly below the laser positioning system 3 so that the lasers from the three laser displacement sensors 3-6 all irradiate the top surface of the base model 4.

[0058] Example 2

[0059] As one example, such as Figure 1 As shown, this second embodiment proposes a more specific intelligent guiding device for basic model experiments based on the first embodiment.

[0060] The robotic arm gripper 1 includes a bidirectional tap 1-5 and a control gear 1-7. The two bidirectional taps 1-5 are at an angle to each other. Each end of the bidirectional tap 1-5 is connected to a gripping arm 1-2 via a slider 1-3. A fixing groove is provided on the slider 1-3, and one end of the gripping arm 1-2 is inserted into the fixing groove.

[0061] The ends of the two bidirectional taps 1-5 are connected to the control gear 1-7 via transmission gears 1-6. The threads at both ends of the bidirectional taps 1-5 are opposite. When the control gear 1-7 rotates, the sliders 1-3 at both ends of the bidirectional taps 1-5 move synchronously towards or away from each other. The four clamping arms 1-2 on the two bidirectional taps 1-5 separate or converge. The base model 4 is inserted into the space formed by the four clamping arms 1-2. When the four clamping arms 1-2 converge to be equal to the outer diameter of the base model 4, ... Figure 4 As shown, the basic model 4 is held by the robotic arm gripper 1. When the four gripping arms 1-2 slightly separate, a small gap is formed between the basic model 4 and the gripping arms 1-2, allowing the basic model 4 to move axially. The robotic arm gripper 1 acts as a limit, as shown. Figure 5 As shown.

[0062] There is a height difference between the two bidirectional taps 1-5. Specifically, the clamping arms 1-2 on the two bidirectional taps 1-5 are staggered in height. Among the four clamping arms 1-2, clamping arm one 1-2-1 and clamping arm two 1-2-2 are located on the same plane, and clamping arm three 1-2-3 and clamping arm 1-2-4 are located on the same plane. When they are closed inward, they can form a complete circle.

[0063] The inner diameter of the circle matches the outer diameter of the base model 4, and the base model 4 with different diameters can be matched by changing the clamping arms 1-2.

[0064] It should be noted that the parts in this embodiment that are the same as or similar to those in Embodiment 1 can be referred to each other, and will not be repeated in this application.

[0065] Example 3

[0066] As another embodiment, this third embodiment, based on embodiments one and two, proposes a method for using this intelligent guidance device for basic model experiments, including the following steps:

[0067] Step 1: Place the fixed support 2 on the test platform, then install the laser positioning system 3 on the fixed support 2 and fix it with bolts on the triangular base 3-1. Adjust the laser displacement sensor 3-6 to the designated test area. By adjusting the height of the laser positioning system 3, determine the distance from the laser displacement sensor 3-6 to the top surface of the base model 4 in subsequent steps, and thus determine the range of the laser displacement sensor 3-6. The smaller the distance from the laser displacement sensor 3-6 to the top surface of the base model 4, the smaller the range of the laser displacement sensor 3-6. The horizontal height of the laser displacement sensor 3-6 can be adjusted by adjusting the position of rod 3-2-3 on rod 2-2, thereby ensuring that the range of the laser displacement sensor 3-6 is within the required range for the test.

[0068] Step 2: Level the leveling base 3-4 using the leveling knob 3-2. First, rotate the leveling base 3-4 so that the level bubble 3-5 is parallel to one of the base edges of the triangular base 3-1. Adjust the two leveling knobs 3-2 on this base edge to center the level bubble 3-5. After completing the above operation, rotate the leveling base 3-4 90° and adjust the other leveling knob 3-2 to center the level bubble 3-5. At this point, the structure below the connecting flange 3-3 should be horizontal. If, after completing the leveling, the laser is not accurately irradiating the designated test area, the laser positioning system 3 needs to be fine-tuned, and the leveling process should be repeated.

[0069] Step 3: Rotate the control gears 1-7 to make the four gripping arms 1-2 simultaneously close and grip the basic model 4; the robotic arm gripper 1 moves the basic model 4 directly below the laser displacement sensor 3-6;

[0070] Step 4: At this point, the initial verticality of the model foundation is adjusted using a robotic arm in conjunction with an external computer and a robotic arm control program. The robotic arm control program uses data transmitted from the three laser displacement sensors 3-6 to calculate the required vertical angle α and direction of adjustment for the robotic arm gripper 1. This data is then converted into action commands and transmitted to the robotic arm as electrical signals, thus adjusting the verticality of the model foundation 4. When the readings from the three laser displacement sensors 3-6 are consistent, the model foundation 4 can be considered to be in a highly vertical state.

[0071] Step 5: While keeping the readings of the three laser displacement sensors 3-6 consistent, control the robotic arm gripper 1 to slowly descend until the bottom of the foundation model 4 contacts the surface of the test soil. At this point, the robotic arm stops descending. Perform a zeroing operation on the three laser displacement sensors 3-6 in the computer, which is regarded as the zero point of displacement in this test.

[0072] Step Six: Correcting the verticality of the base model 4 during installation: The motor rotates to control gear 1-7 to slightly open the clamping arm 1-2, putting the robotic arm gripper 1 in a limited position. The base model 4 begins installation. During installation, three laser displacement sensors 3-6 transmit their data to an external computer in real time. The robotic arm control program processes the data, determines the data that needs adjustment, and converts the data into action commands, which are then transmitted to the robotic arm as electrical signals. This enables the robotic arm gripper 1 to descend synchronously with the base model 4. Dynamic correction is performed for any displacement of the base model 4 that exceeds the allowable deflection angle during installation, in order to maintain the vertical installation of the base model 4 and minimize the impact of external factors on the installation.

[0073] Example 4

[0074] As another embodiment, this fourth embodiment, based on the third embodiment, proposes a method in which the vertical angle that needs to be adjusted is... The specific calculation method for adjusting the direction is as follows:

[0075] The displacement data from the three laser displacement sensors 3-6 were sorted and grouped into variables from smallest to largest. , and In the middle, three laser displacement sensors 3-6 are connected to form an equilateral triangle to output... The equilateral triangle midline of the laser displacement sensor 3-6 is used as the reference axis;

[0076] The vertical angle that needs to be adjusted for robotic arm gripper 1 for

[0077]

[0078] Where m is the distance between adjacent laser displacement sensors 3-6;

[0079] Adjust the angle between the direction and the reference axis as follows:

[0080]

[0081] Based on the obtained robotic arm gripper 1 and Adjust the verticality of the model foundation 4 until the readings of the three laser displacement sensors 3-6 are consistent.

[0082] In step six, the robotic arm gripper 1 and the basic model 4 descend synchronously, and the displacement data of the three laser displacement sensors 3-6 are sorted in real time and assigned to variables from smallest to largest. , and In step five, since the three laser displacement sensors 3-6 have been zeroed, the descent distance of the robotic arm gripper 1 and the basic model 4 in step six is...

[0083]

[0084] The vertical angle that the robotic arm gripper 1 needs to be adjusted is calculated in real time using the same method as in step four. and the angle between the adjustment axis and the reference axis .

[0085] In steps four and six, the vertical angle of the robotic arm gripper 1 needs to be adjusted. If the angle is too large, set the maximum allowable deflection angle of the robotic arm gripper 1 to [value missing]. When the vertical angle needs to be adjusted First, the robotic arm gripper 1 is moved horizontally, and the distance 'a' that the robotic arm gripper 1 moves horizontally is...

[0086]

[0087] Where h is the height of model base 4; after the robotic arm gripper 1 moves horizontally by 'a', the vertical angle that needs to be adjusted is recalculated. And adjust the direction, and correct the deviation of the model base 4 by using the robotic arm gripper 1.

[0088] It should be noted that the parts in this embodiment that are the same as or similar to those in Embodiment 3 can be referred to each other, and will not be repeated in this application.

[0089] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

Claims

1. A method for using an intelligent guidance device for basic model experiments, characterized in that, An intelligent guiding device for basic model testing, the device comprising: a robotic arm gripper, a fixed support, and a laser positioning system, wherein the laser positioning system is fixed on the fixed support, and the robotic arm gripper is mounted on the robotic arm for clamping and limiting the basic model; the method includes the following steps: Step 1: Place the fixed support on the test platform, and then install the laser positioning system on the fixed support; Step 2: Level the leveling base using the leveling knob; Step 3: Rotate the control gear to make the four gripping arms simultaneously close and grip the base model; the robotic arm gripper moves the base model directly below the laser displacement sensor; Step 4: The robotic arm determines the required vertical angle adjustment based on data from the three laser displacement sensors. Adjust the orientation and verticality of the model foundation until the readings of the three laser displacement sensors are consistent. Step 5: While keeping the readings of the three laser displacement sensors consistent, control the robotic arm gripper to descend to the bottom of the foundation model and contact the surface of the test soil, and zero the three laser displacement sensors; Step 6: Rotate the control gear to separate the four gripping arms, forming a limit on the base model; install the base model, and the robotic arm corrects the verticality based on the data from the three laser displacement sensors.

2. The method of using the intelligent guidance device for basic model testing according to claim 1, characterized in that, The laser positioning system includes a triangular base, a leveling base rotatably connected to the bottom of the triangular base, a leveling bubble fixed to the edge of the leveling base, and leveling knobs located below the three corners of the triangular base to adjust the levelness of the leveling base. Three laser displacement sensors are symmetrically arranged around the bottom of the leveling base. The robotic arm gripper includes a bidirectional tap and a control gear. The two bidirectional taps are at an angle to each other. Each bidirectional tap has a gripping arm connected to its two ends by a slider. The ends of the two bidirectional taps are connected to the control gear by a transmission gear. When the control gear rotates, the four gripping arms on the two bidirectional taps separate or come together. The base model is inserted into the space formed by the four gripping arms. The lasers from the three laser displacement sensors all shine on the top surface of the base model.

3. The method of using the intelligent guiding device for basic model testing according to claim 2, characterized in that, The threads at both ends of the bidirectional tap are opposite. When the control gear rotates, the sliders at both ends of the bidirectional tap move synchronously towards or away from each other. The sliders are provided with fixed grooves, and one end of the clamping arm is inserted into the fixed groove.

4. The method of using the intelligent guidance device for basic model testing according to claim 3, characterized in that, There is a height difference between the two bidirectional taps, specifically, the clamping arms on the two bidirectional taps are staggered in height.

5. The method of using the intelligent guidance device for basic model testing according to claim 2, characterized in that, A flange ring is provided below the triangular base. The leveling base is connected to the triangular base by rotating the flange ring. The leveling knob adjusts the distance from the corresponding point of the flange ring to the triangular base through the threaded rod.

6. The method of using the intelligent guidance device for basic model testing according to claim 2, characterized in that, The fixed support has a rod one at the bottom, a rod two is vertically installed on the rod one, a rod three is horizontally installed on the rod two, and a laser positioning system is installed below the rod three.

7. The method of using the intelligent guidance device for basic model testing according to claim 1, characterized in that, In step one, by adjusting the height of the laser positioning system, the distance from the laser displacement sensor to the top surface of the base model in subsequent steps is determined, which in turn determines the range of the laser displacement sensor. The smaller the distance from the laser displacement sensor to the top surface of the base model, the smaller the range of the laser displacement sensor.

8. The method of using the intelligent guidance device for basic model testing according to claim 1, characterized in that, In step four, the displacement data from the three laser displacement sensors are sorted and categorized into variables from smallest to largest. , and In the middle, three laser displacement sensors are connected to form an equilateral triangle to output... The midline of the equilateral triangle of the laser displacement sensor is used as the reference axis; The vertical angle that the robotic arm gripper needs to be adjusted for ， Where m is the distance between adjacent laser displacement sensors; Adjust the angle between the direction and the reference axis as follows: 。 9. The method of using the intelligent guidance device for basic model testing according to claim 8, characterized in that, In step six, the robotic arm gripper and the base model descend synchronously, and the displacement data from the three laser displacement sensors are sorted in real time, from smallest to largest, and assigned to variables. , and In the middle, its descent distance ， Then, using the same method as in step four, calculate the vertical angle that the robotic arm gripper needs to be adjusted. and the angle between the adjustment axis and the reference axis .

10. The method of using the intelligent guidance device for basic model testing according to claim 9, characterized in that, Set the maximum allowable deflection angle of the robotic arm gripper to When the vertical angle needs to be adjusted First, the robotic arm gripper is moved horizontally, and the distance 'a' of the horizontal movement of the robotic arm gripper is... ， Where h is the height of the model base; after the robotic arm gripper moves horizontally, the vertical angle that needs to be adjusted is recalculated. , .

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