Self-adaptive leveling system and measuring robot

Abstract

The utility model belongs to the technical field of geotechnical measurement, and particularly relates to a self-adaptive leveling system and a detection robot provided with the self-adaptive leveling system. The displacement of a moving part is controlled through inclination angle data returned by the measuring device and an industrial personal computer in a closed-loop mode, the pitching angle of the measuring device is rapidly leveled by driving the swing rod to rotate through horizontal movement of the push rod, and the left-right swing angle is rapidly leveled through rotation of the push rod, so that the real-time performance, stability and efficiency of calibration are greatly improved; the method is suitable for various engineering measurement scenes.

Description

Technical Field

[0001] The utility model belongs to the technical field of geotechnical measurement, and specifically discloses an adaptive leveling system and a measuring robot equipped with the adaptive leveling system. Background Art

[0002] The deformation monitoring system of measuring robots is widely used in high-precision deformation monitoring of water engineering dams and slopes. Major projects such as the Three Gorges, Baihetan, Wudongde, Xiluodu, and South-to-North Water Diversion have all built deformation monitoring systems for measuring robots. The measuring robot needs to maintain a horizontal state to achieve high-precision measurement.

[0003] In the prior art, the level adjustment of the measuring device can be performed at four points with the help of a level meter. Whether it is manual or automatic, it is necessary to calibrate each point multiple times, and after the adjustment is in place, four positions need to be locked, resulting in low efficiency. How to use the parameters measured by the measuring device to quickly and adaptively calibrate the base level is a technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0004] In order to solve the technical problems listed in the background technology, the utility model provides an adaptive leveling system and a measuring robot using the adaptive leveling system. The specific technical solution is as follows:

[0005] An adaptive leveling system comprises: an inclination measuring device, an industrial computer, a platform, an adjustment mechanism and a support, wherein the inclination measuring device is placed flat on the platform, the platform is fixedly connected to the moving parts in the adjustment mechanism, the industrial computer is electrically connected to the inclination measuring device and the adjustment mechanism respectively, the adjustment mechanism comprises a rocker arm in the vertical direction, a horizontally arranged push rod and a drive seat capable of driving the push rod to axially extend and retract, the shell of the drive seat is fixed on the support, the lens optical axis of the inclination measuring device and the axis center line of the push rod are located in the same plane, the upper end of the rocker arm is fixed to the lower bottom of the platform, the middle part of the rocker arm and the support are hinged to the A axis, the lower end of the rocker arm and the push rod are hinged to the B axis, and the A axis and the B axis are both horizontally arranged and kept parallel.

[0006] Preferably, the driving seat can also drive the push rod to rotate around the axis.

[0007] To keep the platform truly level, it is necessary to rotate the platform around two orthogonal axes respectively. In general, when the requirements are not high, only the pitch angle adjustment is required, and there is no need to drive the push rod to rotate around the axis.

[0008] Preferably, a servo motor for driving the push rod is provided in the driving seat.

[0009] Preferably, a hydraulic cylinder for driving the push rod is provided in the driving seat.

[0010] The servo motor can accurately limit the step length of movement and stop moving the moment it reaches the position. There will be no subtle fluctuations caused by the impact inertia of the flowing liquid. However, in the measurement scenario of precise calibration, it needs to be locked after adjustment. This is because there is a contact gap at the tooth top of the gear in the transmission part, and the moving parts have space to move under the action of external force.

[0011] Movement accomplished using hydraulics does not require an additional locking mechanism due to the self-locking mechanism of the hydraulic oil. Of course, having an additional locking mechanism is safer.

[0012] The utility model also provides a measuring robot which is equipped with any one of the above-mentioned forms of adaptive leveling systems.

[0013] Preferably, the measuring robot further comprises a locking mechanism for limiting rotation after leveling.

[0014] Compared with the existing technology, this measuring robot can measure geotechnical data while adaptively adjusting the base level through the industrial computer-driven adjustment mechanism according to the obtained inclination data. It is a two-in-one machine, and the real-time, stability and efficiency of calibration are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram showing the structure of a measuring robot in an embodiment of the utility model;

[0016] In the figure: 1. Communication data line; 2. Industrial computer; 3. Measuring device; 4. A-axis; 5. Rocker; 6. B-axis; 7. Servo motor; 8. C-axis; 9. Adjustment mechanism. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on this embodiment, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Refer to the attached manual Figure 1As shown, an embodiment of a measuring robot is provided, wherein the measuring components of the measuring robot include the inclination measuring device 3, and the measuring robot also includes other components of the adaptive leveling system, so it is also an embodiment of the adaptive leveling system. Specifically, the structure of this embodiment includes: an inclination measuring device 3, an industrial computer 2, a platform, an adjustment mechanism 9 and a support. The inclination measuring device 3 is placed flat on the platform, and the platform is fixedly connected to the moving parts in the adjustment mechanism. The adjustment mechanism includes a rocker arm 5 in the vertical direction, a horizontally arranged push rod and a driving seat that can drive the push rod to axially extend and retract and rotate around the axis. The shell of the driving seat is fixed on the support, and the interior includes a servo motor 7 that provides driving energy. The industrial computer 2 is connected to the inclination measuring device 3 and the servo motor 7 through a communication data line 1 respectively. The lens optical axis of the inclination measuring device 3 and the axis of the push rod are located in the same plane. The upper end of the rocker arm 5 is fixed to the lower bottom of the platform, the middle part of the rocker arm 5 is hinged to the support at the A axis 4, the lower end of the rocker arm 5 is hinged to the push rod at the B axis 6, the A axis 4 and the B axis 6 are both horizontally arranged and kept parallel, and the driving end of the servo motor 7 for driving the push rod to rotate is hinged to the C axis 8 with the push rod.

[0019] The industrial computer in the device of this application is a conventional component for controlling motion, and the operation details of using it for leveling are as follows:

[0020] The industrial computer 2 sends a command to read the electronic bubble state to the inclination measuring device 3 through the GeoCOM automatic interface: %R1Q,2033:\r\n, and then receives the electronic bubble state data returned by the inclination measuring device 3: %R1P,0,0:RC,dL,dT\r\n, where dL is the longitudinal offset and dT is the lateral offset;

[0021] The industrial computer 2 calculates the axial displacement and rotation angle of the push rod according to the read electronic bubble offset, and realizes the adjustment by sending adjustment instructions to the longitudinal and transverse servo motors 7. The driving end of the servo motor 7 used for longitudinal adjustment drives the push rod to move along its axial direction, forcing the rocker arm 5 to rotate a certain angle to reduce the pitch angle of the platform; and the servo motor 7 used for transverse adjustment drives the push rod to rotate around its own axis through the C-axis 8, forcing the rocker arm 5 to rotate a certain angle around the axis to reduce the roll angle of the platform; multiple half-stroke adjustments can be used to gradually reduce the inclination angle of the platform relative to the horizontal plane to make the platform level.

[0022] When the read electronic bubble offset reaches the set offset range, the adjustment stops and the locking mechanism is activated to keep the platform in a horizontal state during the measurement process.

[0023] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An adaptive leveling system, comprising: An inclination measuring device, an industrial computer, a platform, an adjustment mechanism and a support, wherein the inclination measuring device is placed flat on the platform, the platform is fixedly connected to the moving parts in the adjustment mechanism, the industrial computer is electrically connected to the inclination measuring device and the adjustment mechanism respectively, and is characterized in that the adjustment mechanism includes a rocker arm in the vertical direction, a horizontally arranged push rod and a drive seat that can drive the push rod to axially extend and retract, the shell of the drive seat is fixed on the support, the lens optical axis of the inclination measuring device and the axis center line of the push rod are located in the same plane, the upper end of the rocker arm is fixed to the lower bottom of the platform, the middle part of the rocker arm is hinged to the support at the A axis, the lower end of the rocker arm is hinged to the B axis with the push rod, and the A axis and the B axis are both horizontally arranged and kept parallel.

2. An adaptive leveling system according to claim 1, characterized in that: The driving seat can also drive the push rod to rotate around the axis.

3. An adaptive leveling system as claimed in claim 2, characterized in that: A servo motor for driving the push rod is arranged in the driving seat.

4. An adaptive leveling system as claimed in claim 2, characterized in that: A hydraulic cylinder for driving the push rod is arranged in the driving seat.

5. A measuring robot, characterized in that: The measuring robot is equipped with an adaptive leveling system according to any one of claims 1-4.

6. A measuring robot as claimed in claim 5, characterized in that: The measuring robot further comprises a locking mechanism for limiting rotation after leveling.

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