Gantry long-stroke walking deviation correcting device based on laser ranging

Abstract

The utility model provides a gantry long-stroke walking deviation rectifying device based on laser ranging, which is characterized in that two parallel gantry operation tracks are arranged on a track foundation, a gantry main body is bridged on the gantry operation tracks through walking wheels below two ends, and a driving mechanism on the gantry main body drives the gantry main body to walk; an industrial laser range finder is arranged at one end of the gantry operation track, a laser reflecting plate matched with the industrial laser range finder is arranged on the gantry body, the control system conducts deviation rectification on walking of the gantry body after analysis and comparison, and the height and the angle of the industrial laser range finder and the height and the angle of the laser reflecting plate are adjustable. The problems that in the operation process of a gantry mechanism, deviation, long-distance accumulated walking errors and asynchronous operation of the two ends are prone to occurring are solved, and the problem that environment interference possibly exists in a laser ranging unit is solved.

Description

Technical Field

[0001] The utility model relates to the field of gantry mechanism rectification, in particular to a long-stroke walking rectification device for a gantry based on laser ranging. Background Art

[0002] A gantry mechanism generally consists of a main beam, walking wheels, a driving device, and a control system. The control system controls the driving device to drive the walking wheels to move at a set speed and distance. During operation, there is generally no closed-loop feedback. Due to the influence of factors such as the assembly accuracy of the mechanism and the installation accuracy of the track, during actual operation, the gantry mechanism is prone to phenomena such as deviation, long-distance cumulative walking error, and asynchronous operation at both ends. In more serious cases, it may cause the gantry to jam during walking, leading to safety accidents.

[0003] Laser ranging technology monitors the walking position of the gantry device in real time and compares it with the preset walking path. When a deviation is detected between the actual position and the preset path, the system will automatically adjust the walking direction or speed of the gantry device to ensure that the device can move accurately along the predetermined trajectory.

[0004] In actual use, there may be situations where the light is not good or there are objects blocking between the laser emitting unit and the reflecting unit, and the installation accuracy of the track of the gantry mechanism will also affect the overall measurement accuracy of the device. Therefore, it is urgent to propose a long-stroke walking rectification device for a gantry based on laser ranging to improve the synchronism of the gantry movement and ensure the safe and stable operation of the gantry. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide a long-stroke walking rectification device for a gantry based on laser ranging, which solves the problems that the gantry mechanism is prone to deviation, long-distance cumulative walking error, and asynchronous operation at both ends during operation, and the problem that the laser ranging unit may be affected by the environment.

[0006] To solve the above technical problems, the technical solution adopted by the utility model is: a long-stroke walking rectification device for a gantry based on laser ranging. There are two parallel gantry running tracks on the track foundation. The gantry main body is bridged on the gantry running tracks through the walking wheels at both ends. The driving mechanism on the gantry main body drives the gantry main body to walk. An industrial laser rangefinder is arranged at one end of the gantry running track, and a laser reflector adapted to the industrial laser rangefinder is arranged on the gantry main body. After analysis and comparison by the control system, the walking of the gantry main body is rectified.

[0007] In a preferred solution, two parallel transmission racks are symmetrically arranged on the side surface of the gantry running track. A servo motor is arranged on the gantry main body, and its output shaft is connected to a driving gear. The driving gear meshes with the transmission rack, and the servo motor drives the gantry main body to walk along the gantry running track.

[0008] In a preferred embodiment, two industrial laser rangefinders are symmetrically arranged in the extending direction of the gantry running track, and the laser emission directions thereof are parallel to the gantry running track. Two laser reflectors are symmetrically arranged at both ends of the gantry main body, and the reflection planes of the laser reflectors face the two industrial laser rangefinders respectively.

[0009] In a preferred embodiment, a hydraulic cylinder is further arranged below the industrial laser rangefinder. An installation platform is arranged at the top end of the piston rod of the hydraulic cylinder, and the industrial laser rangefinder is arranged on the installation platform.

[0010] In a preferred embodiment, a slider is arranged on the back side of the laser reflector, and a vertical slide rail is arranged on the front side of the gantry main body. The laser reflector is slidably connected to the front side of the gantry main body through the slider.

[0011] In a preferred embodiment, the length of the slide rail is adapted to the stroke of the piston rod of the hydraulic cylinder, and when the slider slides to the lowermost end of the slide rail, a gap is left between the lower end of the laser reflector and the upper surface of the gantry running track.

[0012] In a preferred embodiment, a locking bolt is arranged on one side of the slider. The lower end of the locking bolt passes through the slider and abuts against the slide rail to lock the slider at the target height.

[0013] In a preferred embodiment, the back side of the laser reflector is connected to the slider through a universal joint, so that the laser reflector can rotate with the slider as the pivot point.

[0014] In a preferred embodiment, the structure of the universal joint is as follows: both the first bracket and the second bracket are U-shaped structures. The lower end of the U-shaped structure of the first bracket is connected to the slider, and its upper end is rotatably connected to the upper end of the second bracket through a cross shaft. The lower end of the second bracket is connected to the back side of the laser reflector.

[0015] In a preferred embodiment, the deviation correction device further includes a control system for information transmission with the industrial laser rangefinder, which is used to receive and process the real-time running speed and running distance of the gantry main body;

[0016] An electrical cabinet for information transmission with the industrial laser rangefinder and the control system is further arranged on the gantry main body. The electrical cabinet is electrically connected to the servo motor and is used to control the movement of the gantry main body.

[0017] The utility model provides a gantry long - stroke walking deviation correction device based on laser ranging. The gantry main body is bridged on the gantry running track through walking wheels below both ends. The servo motor on the gantry main body drives the gantry main body to walk through the meshing driving gear and transmission rack. Two industrial laser rangefinders in the extending direction of the gantry running track respectively emit laser towards the laser reflector on the gantry main body to obtain the real - time walking distances at both ends. After the control system analyzes and compares, it controls the electrical cabinet to correct the walking of the gantry main body. The laser rangefinders and the laser reflectors synchronously adjust the height to the light or avoid obstacles, and rotate the laser reflector to the best reflection direction, solving the problems that the gantry mechanism is prone to running deviation, long - distance cumulative walking error, and non - synchronous running at both ends during operation, and the problem that the laser ranging unit may be interfered by the environment. Brief Description of the Drawings

[0018] The following further describes the present utility model in conjunction with the drawings and embodiments:

[0019] Figure 1 It is a schematic plan view of the installation of the gantry track and industrial laser rangefinder of the present utility model;

[0020] Figure 2 It is a schematic diagram of the gantry running structure of the present utility model;

[0021] Figure 3 It is a schematic layout diagram of the laser measurement device of the present utility model;

[0022] Figure 4 It is an axonometric structure diagram of the layout of the laser measurement device of the present utility model;

[0023] Figure 5 It is a structural diagram of the installation of the industrial laser rangefinder of the present utility model;

[0024] Figure 6 It is a side view of the connection structure of the laser reflector of the present utility model;

[0025] Figure 7 It is an axonometric diagram of the connection structure between the slider and the universal joint of the present utility model;

[0026] Figure 8 It is an axonometric structure diagram of the explosion mode of the universal joint of the present utility model.

[0027] In the figure: track foundation 1; gantry running track 2; transmission rack 3; industrial laser rangefinder 4; driving gear 5; servo motor 6; walking wheel 7; gantry main body 8; electrical cabinet 9; control system 10; laser reflector 11; slider 1101; slide rail 1102; locking bolt 1103; hydraulic cylinder 12; installation platform 1201; universal joint 13; first bracket 1301; second bracket 1302; cross shaft 1303. Detailed Embodiment

[0028] Embodiment 1

[0029] As Figures 1 - 8 shown, a gantry long - stroke walking deviation correction device based on laser ranging is provided. There are two parallel gantry running tracks 2 on the track foundation 1. The gantry main body 8 is bridged on the gantry running tracks 2 through the walking wheels 7 below both ends. The driving mechanism on the gantry main body 8 drives the gantry main body 8 to walk. An industrial laser rangefinder 4 is provided at one end of the gantry running track 2. A laser reflector 11 adapted to the industrial laser rangefinder 4 is provided on the gantry main body 8. After analysis and comparison by the control system 10, the walking of the gantry main body 8 is corrected.

[0030] In a preferred embodiment, two parallel transmission racks 3 are symmetrically provided on the side surface of the gantry running track 2. A servo motor 6 is provided on the gantry main body 8. Its output shaft is connected to a driving gear 5. The driving gear 5 meshes with the transmission rack 3. The servo motor 6 drives the gantry main body 8 to walk along the gantry running track 2.

[0031] In a preferred embodiment, two industrial laser rangefinders 4 are symmetrically provided in the extending direction of the gantry running track 2. Their laser emission directions are parallel to the gantry running track 2. Two laser reflectors 11 are symmetrically provided at both ends of the gantry main body 8. The reflection planes of the laser reflectors 11 face the two industrial laser rangefinders 4 respectively.

[0032] In a preferred embodiment, a hydraulic cylinder 12 is further provided below the industrial laser rangefinder 4. The top end of the piston rod of the hydraulic cylinder 12 is provided with an installation platform 1201. The industrial laser rangefinder 4 is arranged on the installation platform 1201.

[0033] The height of the industrial laser rangefinder 4 can be adjusted up and down so as to adjust to a position where there is no obstruction or the light is better on its laser emission path.

[0034] In a preferred embodiment, a slider 1101 is provided on the back side of the laser reflector 11. A vertical slide rail 1102 is provided on the front side of the gantry main body 8. The laser reflector 11 is slidably connected to the front side of the gantry main body 8 through the slider 1101.

[0035] The laser reflector 11 can be adjusted to a position where there is no obstruction or the light is better on the laser reflection path corresponding to the industrial laser rangefinder 4.

[0036] In a preferred embodiment, the length of the slide rail 1102 is adapted to the stroke of the piston rod of the hydraulic cylinder 12. And when the slider 1101 slides to the lowermost end of the slide rail 1102, there is a gap between the lower end of the laser reflector 11 and the upper surface of the gantry running track 2.

[0037] Avoid interference with the operation of the gantry main body 8 during the adjustment of the laser reflector 11.

[0038] In a preferred embodiment, a locking bolt 1103 is provided on one side of the slider 1101. The lower end of the locking bolt 1103 passes through the slider 1101 and abuts against the slide rail 1102 to lock the slider 1101 at the target height.

[0039] In a preferred embodiment, the back side of the laser reflector 11 is connected to the slider 1101 through a universal joint 13, enabling the laser reflector 11 to rotate about the slider 1101 as a pivot point.

[0040] In a preferred embodiment, the structure of the universal joint 13 is as follows: both the first bracket 1301 and the second bracket 1302 are U-shaped structures. The lower end of the U-shaped structure of the first bracket 1301 is connected to the slider 1101, and its upper end is rotatably connected to the upper end of the second bracket 1302 through a cross shaft 1303. The lower end of the second bracket 1302 is connected to the back side of the laser reflector 11.

[0041] When there are installation errors in the gantry running track 2, or due to thermal expansion and contraction, or when the gantry main body 8 is under operating pressure variation, by adjusting the angle of the universal joint 13, the orientation of the laser reflector 11 is made to face directly the emission direction of the industrial laser rangefinder 4.

[0042] In a preferred embodiment, the rectification device further includes a control system 10 for information transmission with the industrial laser rangefinder 4, which is used to receive and process the real-time running speed and running distance of the gantry main body 8.

[0043] An electrical cabinet 9 for information transmission with the industrial laser rangefinder 4 and the control system 10 is also provided on the gantry main body 8. The electrical cabinet 9 is electrically connected to the servo motor 6 and is used to control the movement of the gantry main body 8.

[0044] Specifically, the gantry main body 8 rolls on the gantry running track 2 by means of the walking wheels 7 at both ends. The servo motor 6 on the gantry main body 8 drives the gantry main body 8 to move through the meshing drive gear 5 and the transmission rack 3. The hydraulic cylinder 12 at the lower end of the industrial laser rangefinder 4 and the slider 1101 on the back side of the laser reflector 11 are synchronously adjusted to make them at the same height. The universal joint 13 is adjusted to rotate the laser reflector 11 to the optimal reflection angle. The industrial laser rangefinder 4 calculates the real-time walking distances at both ends of the gantry and transmits them to the control system 10 for comparison with the servo parameters of the gantry operation to determine whether there is any deviation or walking error in the gantry. When the deviation exceeds the specified value, the servo motors 6 on both sides of the gantry are controlled to move through the electrical cabinet 9.

[0045] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A gantry long-travel walking deviation correction device based on laser ranging, characterized by: Two parallel gantry running tracks (2) are arranged on the track foundation (1); a gantry body (8) is bridged on the gantry running tracks (2) via running wheels (7) at the two ends; a driving mechanism on the gantry body (8) drives the gantry body (8) to move; an industrial laser rangefinder (4) is arranged at one end of the gantry running track (2); a laser reflection plate (11) adapted to the industrial laser rangefinder (4) is arranged on the gantry body (8); and a control system (10) corrects the movement of the gantry body (8) after analysis and comparison.

2. According to claim 1, a gantry long-stroke walking correction device based on laser ranging is characterized in that: Two parallel transmission racks (3) are symmetrically arranged on the side of the gantry running track (2); a servo motor (6) is arranged on the gantry body (8); an output shaft of the servo motor (6) is connected to a driving gear (5); the driving gear (5) is meshed with the transmission rack (3); and the servo motor (6) drives the gantry body (8) to move along the gantry running track (2).

3. According to the laser ranging-based gantry long-travel walking deviation correction device of claim 1, it is characterized by: Two industrial laser rangefinders (4) are symmetrically arranged in the extension direction of the gantry running track (2), and the laser emission directions of the two industrial laser rangefinders (4) are parallel to the gantry running track (2). Two laser reflection plates (11) are symmetrically arranged at both ends of the gantry body (8), and the reflection planes of the laser reflection plates (11) are respectively facing the two industrial laser rangefinders (4).

4. According to the laser ranging-based gantry long-travel walking deviation correction device of claim 1, it is characterized by: A hydraulic cylinder (12) is also provided below the industrial laser rangefinder (4), a mounting platform (1201) is provided at the top end of the piston rod of the hydraulic cylinder (12), and the industrial laser rangefinder (4) is arranged on the mounting platform (1201).

5. According to claim 1, a gantry long-travel walking deviation correction device based on laser ranging is characterized in that: A sliding block (1101) is provided on the back side of the laser reflection plate (11), a vertical sliding rail (1102) is provided on the front side of the gantry body (8), and the laser reflection plate (11) is slidably connected to the front side of the gantry body (8) via the sliding block (1101).

6. According to claim 5, a gantry long-travel walking deviation correction device based on laser ranging is characterized in that: The length of the slide rail (1102) is compatible with the stroke of the piston rod of the hydraulic cylinder (12), and when the slider (1101) slides to the lowermost end of the slide rail (1102), a gap is left between the lower end of the laser reflection plate (11) and the upper surface of the gantry running track (2).

7. According to claim 5, a gantry long-travel walking deviation correction device based on laser ranging is characterized in that: A locking bolt (1103) is provided on one side of the slider (1101), and the lower end of the locking bolt (1103) passes through the slider (1101) and abuts against the slide rail (1102), thereby locking the slider (1101) at a target height.

8. According to claim 5, a gantry long-travel walking deviation correction device based on laser ranging is characterized in that: The back side of the laser reflection plate (11) is connected to the slider (1101) via a universal joint (13), so that the laser reflection plate (11) can rotate with the slider (1101) as an axis point.

9. According to claim 8, a gantry long-travel walking deviation correction device based on laser ranging is characterized in that: The structure of the universal joint (13) is as follows: the first bracket (1301) and the second bracket (1302) are both U-shaped structures; the lower end of the U-shaped structure of the first bracket (1301) is connected to the slider (1101); the upper end thereof is rotatably connected to the upper end of the second bracket (1302) via a cross shaft (1303); and the lower end of the second bracket (1302) is connected to the back side of the laser reflection plate (11).

10. According to the laser ranging-based gantry long-travel walking deviation correction device of claim 1, it is characterized by: The deviation correction device also includes a control system (10) for transmitting information with the industrial laser rangefinder (4), and for receiving and processing the real-time running speed and running distance of the gantry body (8); An electrical cabinet (9) for transmitting information with the industrial laser rangefinder (4) and the control system (10) is also provided on the gantry body (8); the electrical cabinet (9) is electrically connected to the servo motor (6) and is used to control the movement of the gantry body (8).

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