Positioning posture adjusting and detecting mechanism for tunnel arc-shaped piece assembling machine

Abstract

The utility model discloses a positioning posture adjusting and detecting mechanism for a tunnel arc-shaped piece erector, which moves to a position below an arc-shaped piece to be installed and fixed along with a jacking platform when in use, and the relative position of the positioning posture adjusting and detecting mechanism is set as an original position. Then, under the driving of the linear action mechanism, the detection photoelectricity is moved to the position below the installed arc-shaped piece along with the photoelectricity installation movable plate to conduct position reference detection, and then the detection photoelectricity is moved back to the original position below the arc-shaped piece to be installed; if yes, the jacking platform can be controlled to adjust the position of the to-be-mounted arc-shaped piece and splice the to-be-mounted arc-shaped piece with the mounted arc-shaped piece in cooperation with a computer system A total station is replaced in the assembling process of the to-be-installed arc-shaped piece, the project cost is greatly reduced, meanwhile, the total station does not need to be carried for positioning, positioning inspection is all concentrated on the assembling machine, the operation mode is simple, and the installation efficiency of the arc-shaped piece is high through cooperation.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel installation equipment, in particular to a positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine. Background Art

[0002] In tunnel construction, there is currently an automatic arc-shaped component assembly equipment. Different photoelectric and distance detection photoelectric devices are installed at various positions on the assembly frame. During the process of the assembly machine walking and lifting the arc-shaped components for assembly, the machine can position itself and the arc-shaped components, and dock with the assembled front arc-shaped components for assembly. The three-dimensional posture of the installed arc-shaped components and the arc-shaped components to be installed is scanned by the total station, and the relative position relationship between the two adjacent arc-shaped components is calculated, and the relative position relationship is transmitted to the control system of the arc-shaped component automatic assembly machine. After that, the arc-shaped component automatic assembly machine adjusts the position and posture of the arc-shaped components to be installed to achieve automatic splicing. The total station of this installation positioning system is relatively expensive, and a specially made moving trolley is required to carry the total station for motion assembly. Overall, the operation method is complicated and the efficiency is not high.

[0003] Therefore, it is necessary to develop a positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to design a positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine in order to solve the above-mentioned problem.

[0005] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0006] A positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine includes two groups of sub-positioning posture adjustment detection mechanisms, and each group of sub-positioning posture adjustment detection mechanisms includes:

[0007] Linear actuating mechanism; two linear actuating mechanisms of the two sets of sub-positioning posture adjustment and detection mechanisms are respectively installed on both sides of the jacking and installation platform of the arc-shaped component assembly machine, and the two sides are arranged oppositely, and the actuating direction of the linear actuating mechanism is the length direction of the railway track;

[0008] Photoelectric mounting movable plate; the first end of the photoelectric mounting movable plate is connected to the action end of the linear actuating mechanism;

[0009] Two horizontal detection photoelectrics; the four horizontal detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms are all irradiated upward on the top plane of the inner cavity of the arc-shaped part to form a detection plane;

[0010] Left and right distance detection photoelectrics; the two left and right distance detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms respectively illuminate the two side walls of the inner cavity of the arc-shaped member outward, and respectively detect the distance between the two left and right distance detection photoelectrics and the inner sides of the two vertical plates of the arc-shaped member;

[0011] The horizontal detection photoelectric and the left and right distance detection photoelectric are installed on the photoelectric installation movable plate and are arranged near the second end of the photoelectric installation movable plate; the connection line between the two left and right distance detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms is perpendicular to the length direction of the railway track; initially, the arc-shaped component assembly machine lifting installation platform, the horizontal detection photoelectric, and the left and right distance detection photoelectric are all placed under the arc-shaped component to be installed. When working, driven by the linear actuating mechanism, the horizontal detection photoelectric and the left and right distance detection photoelectric are moved to the bottom of the previous installed arc-shaped component for installation position reference detection.

[0012] Specifically, the linear actuation mechanism includes a servo motor, a screw, a nut, and a linear guide. The servo motor is set in a fixed position, the rotating shaft of the servo motor is connected to the first end of the screw, the nut is threadedly connected to the screw, one side of the nut is connected to the inner side of the optoelectronic installation movable plate, and the linear guide includes a guide rail and a slider. The guide rail is set in a fixed position, the slider is slidably matched with the guide rail, and the slider is connected to the inner side of the optoelectronic installation movable plate of the linear guide.

[0013] Furthermore, the positioning posture adjustment detection mechanism also includes a mounting plate, the servo motor and the guide rail are fixedly mounted on a first side of the mounting plate, and the second side of the mounting plate is mounted on one side of the jacking mounting platform of the arc-shaped component assembly machine.

[0014] Furthermore, the linear actuating mechanism also includes two bearing seats and two bearings. The two bearings are respectively installed in the two bearing seats. The two bearings are respectively sleeved on both ends of the screw. The two bearing seats are fixedly installed on the mounting plate.

[0015] Preferably, in a group of sub-positioning posture adjustment detection mechanisms, the left and right distance detection photoelectric is placed in the middle of the two horizontal detection photoelectrics. Initially, the left and right distance detection photoelectric is placed in the middle of one side of the arc-shaped component assembly machine's lifting and installation platform.

[0016] Preferably, the horizontal detection photoelectric devices and the left-right distance detection photoelectric devices in the two groups of sub-positioning posture adjustment detection mechanisms are symmetrically distributed based on the vertical central axis of the lifting and installation platform of the arc-shaped component assembly machine.

[0017] The beneficial effects of the utility model are:

[0018] When in use, the present application moves with the jacking platform to the bottom of the arc-shaped part to be installed and fixed, and approaches the middle for detection, and its relative position is set to the original position. Then, driven by the linear motion mechanism, the detection photoelectric device is moved together with the photoelectric installation movable plate to the bottom of the installed arc-shaped part for position reference detection, and then moved back to the original position under the arc-shaped part to be installed. By detecting the relative position and posture of the two arc-shaped parts, the jacking platform can be controlled by the computer system to adjust the position of the arc-shaped part to be installed and splice the installed arc-shaped part. The present application replaces the total station in the process of assembling the arc-shaped part to be installed, which greatly reduces the project cost. At the same time, there is no need to transport the total station for positioning, and all positioning checks are concentrated on the assembling machine. Only the detection photoelectric device can realize the positioning detection of the arc-shaped part. The operation is simple, and the coordination makes the installation efficiency of the arc-shaped part high. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the working status structure of this application;

[0020] Figure 2 This is a schematic diagram of the non-working state structure of this application;

[0021] Figure 3 A top view of the application;

[0022] Figure 4 This is a schematic diagram of the structure of the optoelectronic installation movable plate in this application;

[0023] Figure 5 It is a schematic diagram of the structure of the linear guide in this application;

[0024] Figure 6 This is a schematic diagram of the working scenario for this application;

[0025] In the figure: 1-horizontal detection photoelectric, 2-left and right distance detection photoelectric, 3-photoelectric installation movable plate, 4-screw, 5-servo motor, 6-linear guide, 61-guide, 62-slider, 7-arc-shaped component assembly machine lifting installation platform, 8-mounting plate, 9-bearing seat, 10-nut, 11-arc-shaped component to be installed, 12-arc-shaped component installed, 13-top plane, 14-vertical plate. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present utility model, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use, or are directions or positional relationships that are usually understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present utility model.

[0030] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings.

[0033] like Figure 1-6 As shown, the positioning posture adjustment detection mechanism for the tunnel arc-shaped component assembly machine includes two groups of sub-positioning posture adjustment detection mechanisms arranged on two opposite sides of the arc-shaped component assembly machine jacking installation platform 7, and each group of sub-positioning posture adjustment detection mechanisms includes:

[0034] Mounting plate 8;

[0035] Linear actuating mechanism; two linear actuating mechanisms of the two sets of sub-positioning posture adjustment and detection mechanisms are respectively mounted on the second sides of the mounting plate 8 on both sides of the arc-shaped piece assembly machine jacking and mounting platform 7 (the second side of the mounting plate 8 is fixedly mounted on one side of the arc-shaped piece assembly machine jacking and mounting platform 7), and the two sides of the arc-shaped piece assembly machine jacking and mounting platform 7 are arranged opposite to each other, and the actuating direction of the linear actuating mechanism is the length direction of the railway track;

[0036] Photovoltaic installation activity board 3;

[0037] Two horizontal detection photoelectrics 1; the four horizontal detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms are all irradiated upward on the top plane 13 of the inner cavity of the arc-shaped part. The detection principle of two points in a line and four points forming a detection plane can determine the horizontal position and posture parameters of the installed arc-shaped part and the arc-shaped part to be installed. The installed arc-shaped part is used as a reference to adjust the horizontal position and posture of the arc-shaped part to be installed and then spliced ​​with the installed arc-shaped part; the horizontal detection photoelectric adopts the German SICK OD2 model high-precision distance detection photoelectric;

[0038] Left and right distance detection photoelectric 2; the two left and right distance detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms respectively illuminate the two side walls of the inner cavity of the arc-shaped part to the outside, and respectively detect the distance between the two left and right distance detection photoelectrics and the inner sides of the two vertical plates 14 of the arc-shaped part; according to the principle of two points, one line and one center, the left and right distance of the installed arc-shaped part is used as a reference to adjust the left and right distance of the arc-shaped part to be installed for splicing; the horizontal detection photoelectric 1 and the left and right distance detection photoelectric 2 are installed on the photoelectric installation movable plate 3, and are arranged close to the second end of the photoelectric installation movable plate 3; the connection line between the two left and right distance detection photoelectrics 2 in the two groups of sub-positioning posture adjustment detection mechanisms is perpendicular to the length direction of the railway track; initially, the arc-shaped part assembly machine lifting installation platform 7, the horizontal detection photoelectric 1, and the left and right distance detection photoelectric 2 are all placed under the arc-shaped part 11 to be installed. When working, driven by the linear actuator mechanism, the horizontal detection photoelectric 1 and the left and right distance detection photoelectric 2 move to the bottom of the previous installed arc-shaped part 12 for installation position reference detection;

[0039] like Figure 4-5As shown, the linear actuation mechanism includes a servo motor 5, a screw rod 4, a nut 10, a linear guide rail 6, two bearing seats 9, and two bearings. The servo motor 5 is fixedly arranged, the rotating shaft of the servo motor 5 is connected to the first end of the screw rod 4, the nut 10 is threadedly connected to the screw rod 4, one side of the nut 10 is connected to the inner side of the first end of the photoelectric installation movable plate 3, and the linear guide rail 6 includes a guide rail 61 and a slider 62. The guide rail 61 is fixedly arranged, the slider 62 is slidably matched with the guide rail 61, and the slider 62 is connected to the inner side of the photoelectric installation movable plate 3 of the linear guide rail 6. The two bearings are respectively installed in the two bearing seats 9, and the two bearings are respectively mounted on the two ends of the screw rod 4. The servo motor 5, the guide rail 61, and the two bearing seats 9 are all fixedly installed on the first side of the mounting plate 8. The working principle of the linear actuator mechanism is: the servo motor 5 drives the screw 4 to rotate. Since the circumferential rotation of the nut 10 is restricted and under the action of the linear guide 6, the nut 10 can only move forward and backward after the screw 4 rotates. The nut 10 drives the displacement of the photoelectric mounting movable plate 3 connected to it and the horizontal detection photoelectric 1 and the left and right distance detection photoelectric 2 installed on the photoelectric mounting movable plate 3.

[0040] In a set of sub-positioning posture adjustment detection mechanisms, the left and right distance detection photoelectrics are placed in the middle of the two horizontal detection photoelectrics, and the left and right distance detection photoelectrics are 450mm away from the two horizontal detection photoelectrics; initially, the left and right distance detection photoelectrics are placed in the middle of one side of the arc-shaped parts assembly machine's lifting and installation platform.

[0041] The horizontal detection photoelectric and left-right distance detection photoelectric in the two groups of sub-positioning posture adjustment detection mechanisms are symmetrically distributed based on the vertical central axis of the arc-shaped component assembly machine jacking installation platform. And it is preferred that the two horizontal detection photoelectric in one group of sub-positioning posture adjustment detection mechanisms are irradiated upward at positions close to the two side edges of the arc-shaped component, which is conducive to improving the horizontal detection accuracy.

[0042] In some embodiments, the linear actuating mechanism may also be selected as an electric cylinder, a pneumatic cylinder, a linear motor, etc.

[0043] In the present application, the two left and right distance detection photoelectric devices 2 in the two groups of sub-positioning posture adjustment detection mechanisms are combined to detect the centering position of the arc-shaped member to be installed; the two horizontal detection photoelectric devices 1 in the two groups of sub-positioning posture adjustment detection mechanisms are used to detect the horizontal position of the arc-shaped member to be installed; when working, the detection photoelectric device is first located below the arc-shaped member to be installed to detect its relative position; then the detection photoelectric device is moved as a whole to the bottom of the installed arc-shaped member through the linear actuation mechanism to detect its relative position (such as Figure 6 As shown, the installed arc-shaped part is a partial cross-section); and then moved back to the bottom of the arc-shaped part to be installed, and according to the accurate relative position and posture of the installed arc-shaped part detected, the lifting installation platform of the assembly machine is controlled by the computer system to adjust the position and posture of the arc-shaped part to be assembled, and then docked and installed with the installed arc-shaped part.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine, characterized in that: It includes two groups of sub-positioning posture adjustment detection mechanisms, and each group of sub-positioning posture adjustment detection mechanisms includes: Linear actuating mechanism; two linear actuating mechanisms of the two sets of sub-positioning posture adjustment and detection mechanisms are respectively installed on both sides of the jacking and installation platform of the arc-shaped component assembly machine, and the two sides are arranged oppositely, and the actuating direction of the linear actuating mechanism is the length direction of the railway track; Photoelectric mounting movable plate; the first end of the photoelectric mounting movable plate is connected to the action end of the linear actuating mechanism; Two horizontal detection photoelectrics; the four horizontal detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms are all irradiated upward on the top plane of the inner cavity of the arc-shaped part to form a detection plane; Left and right distance detection photoelectrics; the two left and right distance detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms respectively illuminate the two side walls of the inner cavity of the arc-shaped member outward, and respectively detect the distance between the two left and right distance detection photoelectrics and the inner sides of the two vertical plates of the arc-shaped member; The horizontal detection photoelectric and the left and right distance detection photoelectric are installed on the photoelectric installation movable plate and are arranged near the second end of the photoelectric installation movable plate; the connection line between the two left and right distance detection photoelectrics in the two groups of sub-positioning posture adjustment detection mechanisms is perpendicular to the length direction of the railway track; initially, the arc-shaped component assembly machine lifting installation platform, the horizontal detection photoelectric, and the left and right distance detection photoelectric are all placed under the arc-shaped component to be installed. When working, driven by the linear actuating mechanism, the horizontal detection photoelectric and the left and right distance detection photoelectric are moved to the bottom of the previous installed arc-shaped component for installation position reference detection.

2. The positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine according to claim 1, characterized in that: The linear actuation mechanism includes a servo motor, a screw, a nut, and a linear guide. The servo motor is set in a fixed position, the rotating shaft of the servo motor is connected to the first end of the screw, the nut is threadedly connected to the screw, one side of the nut is connected to the inner side of the optoelectronic installation movable plate, and the linear guide includes a guide rail and a slider. The guide rail is set in a fixed position, the slider is slidably matched with the guide rail, and the slider is connected to the inner side of the linear guide optoelectronic installation movable plate.

3. The positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine according to claim 2, characterized in that: The positioning posture adjustment detection mechanism also includes a mounting plate, the servo motor and the guide rail are fixedly mounted on a first side of the mounting plate, and the second side of the mounting plate is mounted on one side of the jacking mounting platform of the arc-shaped component assembly machine.

4. The positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine according to claim 3, characterized in that: The linear actuator also includes two bearing seats and two bearings. The two bearings are respectively installed in the two bearing seats. The two bearings are respectively sleeved on both ends of the screw. The two bearing seats are fixedly installed on the mounting plate.

5. The positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine according to claim 1, characterized in that: In a set of sub-positioning posture adjustment detection mechanisms, the left and right distance detection photoelectric is placed in the middle of the two horizontal detection photoelectrics. Initially, the left and right distance detection photoelectric is placed in the middle of one side of the arc-shaped parts assembly machine's lifting installation platform.

6. The positioning posture adjustment detection mechanism for a tunnel arc-shaped component assembly machine according to claim 1, characterized in that: The horizontal detection photoelectric and left-right distance detection photoelectric in the two groups of sub-positioning posture adjustment detection mechanisms are symmetrically distributed based on the vertical center axis of the arc-shaped component assembly machine's lifting and installation platform.

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