Tunnel lagging jack testing device

Abstract

The utility model discloses a tunnel arching machine testing device, which comprises a first adapter plate, a second adapter plate, a third adapter plate, a telescopic rod, a translation guide plate, a camera mounting bracket, a binocular camera, a first R-axis rotary sliding table, a second R-axis rotary sliding table, a third R-axis rotary sliding table, a fourth R-axis rotary sliding table and a fifth R-axis rotary sliding table. According to the utility model, motions of pitching, rolling, yawing and the like of the tunnel arching machine can be simulated through the rotary motion of the R-axis rotary sliding table; by adjusting the position of the telescopic rod in the translation guide plate, the telescopic motion of the large arm of the tunnel arch frame machine can be simulated. According to the utility model, various motion states of the tunnel arching machine can be simulated, a visual guidance test is carried out, accumulated errors are reduced, and the problem that the field tunnel arching machine is inconvenient to debug is solved.

Description

Technical Field

[0001] The utility model belongs to the field of device simulation, and particularly relates to a test device for a tunnel arch frame machine. Background Art

[0002] A tunnel arch frame machine is a special equipment for tunnel construction, with a harsh operating environment and a high risk factor. By using 3D vision to guide the tunnel arch frame machine, unmanned operation can be achieved in a harsh environment, which is of great significance for the health of workers and the safety of the project.

[0003] The structure of the tunnel arch frame machine is mainly composed of sheet metal parts, and there are certain errors in components such as assembly, sensors, and motion systems. The problem of cumulative errors leads to a relatively large transformation matrix from the coordinate system of the carriage rotation joint obtained by hand-eye calibration to the pixel coordinate system of the binocular camera, and the end operation point cannot move along the path guided by vision. Since the tunnel arch frame machine occupies a large area, it is extremely inconvenient to conduct a comprehensive inspection and debugging on site. Therefore, a test platform with the same motion form as the tunnel arch frame machine is needed to simulate the motion state of the tunnel arch frame machine and conduct vision guidance tests to solve the problem of inconvenient debugging of the on-site tunnel arch frame machine. Summary of the Utility Model

[0004] The utility model aims at the deficiencies of the prior art and provides a test device for a tunnel arch frame machine, which can simulate the motion state of the tunnel arch frame machine and solve the problem of inconvenient debugging of the on-site tunnel arch frame machine.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A test device for a tunnel arch frame machine includes a first adapter plate, a second adapter plate, a third adapter plate, a telescopic rod, a translation guide plate, a camera mounting bracket, a binocular camera, a first R-axis rotary stage, a second R-axis rotary stage, a third R-axis rotary stage, a fourth R-axis rotary stage, and a fifth R-axis rotary stage;

[0007] The first R-axis rotary stage is installed under the first table surface of the first adapter plate, and the second R-axis rotary stage is installed on the second table surface. The first table surface and the second table surface of the first adapter plate are perpendicular;

[0008] The translation guide plate is installed on the second R-axis rotary stage;

[0009] The telescopic rod has a Z-shaped structure. The first section of the telescopic rod is arranged in the groove of the translation guide plate, and the cross-sectional area of the groove of the translation guide plate is larger than the cross-sectional area of the first section of the telescopic rod; the fourth R-axis rotary stage is installed on the third section of the telescopic rod;

[0010] The fourth R-axis rotary table is connected to the lower part of the first tabletop of the third adapter plate. The fifth R-axis rotary table is installed on the second tabletop of the third adapter plate. The first tabletop and the second tabletop of the third adapter plate are perpendicular to each other.

[0011] The fifth R-axis rotary table is connected to the lower part of the first tabletop of the second adapter plate. The third R-axis rotary table is installed on the second tabletop of the second adapter plate. The first tabletop and the second tabletop of the second adapter plate are perpendicular to each other.

[0012] The camera mounting bracket is installed on the third R-axis rotary table, and the binocular camera is fixed by the camera mounting bracket.

[0013] The tunnel arch erector test device of the present utility model can simulate the pitching, rolling, yawing and other movements of the tunnel arch erector through the rotational movement of the R-axis rotary table. The first R-axis rotary table can achieve yaw movement, the second R-axis rotary table can achieve pitching movement, the third R-axis rotary table can achieve rolling movement, the fourth R-axis rotary table can achieve pitching movement, and the fifth R-axis rotary table can achieve yaw movement. By adjusting the position of the telescopic rod in the translation guide plate, the telescopic movement of the boom of the tunnel arch erector can be simulated.

[0014] The tunnel arch erector test device of the present utility model can simulate various motion states of the tunnel arch erector, conduct visual guidance tests, reduce cumulative errors, and solve the problem of inconvenient on-site debugging of the tunnel arch erector.

[0015] Further, millimeter-scale graduations are provided on the first section of the telescopic rod, which can effectively control the translation length of the telescopic rod and improve the accuracy of simulating the telescopic movement of the boom of the tunnel arch erector.

[0016] Further, a plurality of screw holes are provided at the bottom of the groove of the translation guide plate, and screws are installed in the screw holes. After the telescopic rod moves to a position, the screws are tightened, and the end face of the screw abuts against the telescopic rod to fix it, which improves the stability of simulating the telescopic movement of the boom of the tunnel arch erector.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] The tunnel arch erector test device of the present utility model can simulate various motion states of the tunnel arch erector, conduct visual guidance tests, reduce cumulative errors, and solve the problem of inconvenient on-site debugging of the tunnel arch erector. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the tunnel arch erector test device of the present utility model;

[0020] Figure 2 It is a left view of the tunnel arch erector test device of the present utility model;

[0021] Figure 3 This is the simulation model of the test device for the tunnel arch frame machine of the present utility model.

[0022] In the figure: 1 - the first R-axis rotary slide, 2 - the first adapter plate, 3 - the telescopic rod, 4 - the translation guide plate, 41 - the screw, 5 - the second R-axis rotary slide, 6 - the second adapter plate, 7 - the third R-axis rotary slide, 8 - the camera mounting bracket, 9 - the binocular camera, 10 - the fourth R-axis rotary slide, 11 - the fifth R-axis rotary slide, 12 - the third adapter plate. Specific embodiments

[0023] The present utility model will be described in detail below with reference to the drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. For the convenience of narration, words such as "upper", "lower", "left", and "right" hereinafter only indicate the same directions as the upper, lower, left, and right directions of the drawings themselves, and do not limit the structure.

[0024] Embodiment

[0025] As Figure 1 、 Figure 2 , a test device for a tunnel arch frame machine in this embodiment includes a first adapter plate 2, a second adapter plate 6, a third adapter plate 12, a telescopic rod 3, a translation guide plate 4, a camera mounting bracket 8, a binocular camera 9, a first R-axis rotary slide 1, a second R-axis rotary slide 5, a third R-axis rotary slide 7, a fourth R-axis rotary slide 10, and a fifth R-axis rotary slide 11;

[0026] The first R-axis rotary slide 1 is installed under the first table surface of the first adapter plate 2, and the second R-axis rotary slide 5 is installed on the second table surface. The first table surface and the second table surface of the first adapter plate 2 are perpendicular;

[0027] The translation guide plate 4 is installed on the second R-axis rotary slide 5;

[0028] The telescopic rod 3 has a Z-shaped structure. The first section of the telescopic rod 3 is arranged in the groove of the translation guide plate 4, and the cross-sectional area of the groove of the translation guide plate 4 is larger than the cross-sectional area of the first section of the telescopic rod 3; the fourth R-axis rotary slide 10 is installed on the third section of the telescopic rod 3;

[0029] The fourth R-axis rotary slide 10 is connected to the lower part of the first table surface of the third adapter plate 12, and the fifth R-axis rotary slide 11 is installed on the second table surface of the third adapter plate 12. The first table surface and the second table surface of the third adapter plate 12 are perpendicular;

[0030] The fifth R-axis rotary slide 11 is connected to the lower part of the first tabletop of the second adapter plate 6, and the third R-axis rotary slide 7 is installed on the second tabletop of the second adapter plate 6; the first tabletop and the second tabletop of the second adapter plate 6 are perpendicular;

[0031] The camera mounting bracket 8 is installed on the third R-axis rotary slide 7, and the binocular camera 9 is fixed to the camera mounting bracket 8.

[0032] The tunnel arch erector test device can achieve multi-degree-of-freedom motions such as telescoping, pitching, rolling, and yawing. Among them, the first R-axis rotary slide can achieve rotational motion around the Z-axis (yaw motion), the second R-axis rotary slide can achieve rotational motion around the X-axis (pitching motion); the third R-axis rotary slide can achieve rotational motion around the Y-axis (rolling motion); the fourth R-axis rotary slide can achieve rotational motion around the X-axis (pitching motion); the fifth R-axis rotary slide can achieve rotational motion around the Z-axis (yaw motion). The pitching, rolling, and yawing motions of the tunnel arch erector are simulated through the rotational motions of the R-axis rotary slides.

[0033] The translation guide plate is used to limit the motion direction of the telescopic rod. Four screws are installed at the bottom of its groove. When the screws are tightened, the end faces of the screws press against the telescopic rod to fix it. The surface of the first section of the telescopic rod is marked with millimeter-sized scales by laser marking. By manually moving the telescopic rod to the required position and then tightening the screws, the effective control of the translation length of the telescopic rod is achieved, simulating the telescopic motion of the boom of the tunnel arch erector.

[0034] The upper and lower surfaces of the first section of the telescopic rod are in close contact with the translation guide plate, the left side surface is in contact with the tabletop of the second R-axis rotary slide, and there is a certain gap between the right side surface and the translation guide plate to facilitate the movement of the telescopic rod. The four screws on the translation guide plate are screwed together and moved to the left, and the end faces of the screws can apply a stress to the right side surface of the telescopic rod, so that the telescopic rod is completely in a constrained state.

[0035] The R-axis rotary slide is a standard part, and the R-axis rotary slide mainly includes a worktable surface, a base, a differential head, locking screws, coarse-fine adjustment switching screws, crossed roller bearings, etc. After loosening the coarse-fine switching screws, the worktable surface can be manually adjusted roughly by 360°; after locking the coarse-fine switching screws, the worktable surface can be finely adjusted with the differential head. When adjusted to the required position, the locking screws can be used to fix the tabletop. The outer circle of the worktable surface is marked with scales, each grid of the disc is 1°, and the base is equipped with a scale vernier. By adding the values of the disc and the scale vernier, the angular position of the tabletop of the R-axis rotary slide at this time can be obtained.

[0036] Simulation Model of Tunnel Bracket Machine Test Device: The DH coordinate system of the tunnel bracket machine test device is established using the SDH expression method of robot kinematics. Among them, joint 1 corresponds to the first R-axis rotary stage, joint 2 corresponds to the second R-axis rotary stage, joint 3 corresponds to the telescopic rod, joint 4 corresponds to the fourth R-axis rotary stage, joint 5 corresponds to the fifth R-axis rotary stage, and joint 6 corresponds to the third R-axis rotary stage. Figure 3 It is the simulation model of the tunnel bracket machine test device. Table 1 is the DH parameter table of the tunnel bracket machine test device simulation model. The joint parameters include link length a, link rotation angle α, link offset d, and joint angle θ.

[0037] Table 1 DH Parameter Table of Tunnel Bracket Machine Test Device Simulation Model

[0038] joint a α d θ 1 0 π / 2 120 π / 2 2 0 π / 2 0 π / 2 3 0 -π / 2 300 0 4 0 π / 2 0 π / 2 5 0 -π / 2 89 π / 2 6 0 0 56 0

[0039] The general form of the homogeneous transformation matrix can be obtained through the DH parameter table for calculating the transformation matrix between every two adjacent joints. Under different state parameters (rotation angle and translation length) of joints 1 to 6, the positions and postures of each joint are obtained through forward kinematics solution. The transformation matrices of different joint coordinate systems in the model are measured by Creo software and compared with the forward kinematic solution results. The consistency of the transformation matrices between different joints indicates the correctness of the establishment of the DH table. Forward kinematics solution: Determine the homogeneous transformation matrix according to the DH parameter table; multiply these matrices in the joint order to obtain the total transformation matrix from the first joint coordinate system to the sixth joint coordinate system; extract the position and posture information from the total transformation matrix.

[0040]

[0041] By changing the different state parameters (rotation angle and translation length) of joints 1 to 6, various working states of the tunnel bracket machine can be simulated; at the same time, a parametric model of the tunnel bracket machine test device is established using the SDH expression method. According to the state parameters and homogeneous transformation matrix, the positions and postures of each joint can be calculated by forward kinematics, which is convenient for carrying out relevant tests such as hand-eye calibration and camera parameter calibration.

[0042] The tunnel bracket machine test device of the present utility model can simulate various motion states of the tunnel bracket machine, conduct visual guidance tests, reduce cumulative errors, and solve the problem of inconvenient debugging of the on-site tunnel bracket machine.

[0043] The content clarified in the above embodiments should be understood that these embodiments are only used to illustrate the present utility model more clearly, rather than to limit the scope of the present utility model. After reading the present utility model, various equivalent forms of modification of these embodiments by those skilled in the art all fall within the scope defined by the appended claims of the present utility model.

Claims

1. A tunnel arch machine test device, characterized in that: It comprises a first adapter plate (2), a second adapter plate (6), a third adapter plate (12), a telescopic rod (3), a translation guide plate (4), a camera mounting bracket (8), a binocular camera (9), a first R-axis rotating slide (1), a second R-axis rotating slide (5), a third R-axis rotating slide (7), a fourth R-axis rotating slide (10), and a fifth R-axis rotating slide (11); The first R-axis rotating slide (1) is installed on the lower part of the first table surface of the first adapter plate (2), and the second R-axis rotating slide (5) is installed on the second table surface, and the first table surface and the second table surface of the first adapter plate (2) are perpendicular; The translation guide plate (4) is installed on the second R-axis rotation slide (5); The telescopic rod (3) is in a B-shaped structure; the first section of the telescopic rod (3) is arranged in a groove of the translation guide plate (4); the cross-sectional area of ​​the groove of the translation guide plate (4) is larger than the cross-sectional area of ​​the first section of the telescopic rod (3); the fourth R-axis rotating slide (10) is installed on the third section of the telescopic rod (3); The fourth R-axis rotating slide (10) is connected to the lower part of the first table surface of the third adapter plate (12), the fifth R-axis rotating slide (11) is installed on the second table surface of the third adapter plate (12), and the first table surface and the second table surface of the third adapter plate (12) are perpendicular; The fifth R-axis rotating slide (11) is connected to the lower part of the first table surface of the second adapter plate (6), and the third R-axis rotating slide (7) is installed on the second table surface of the second adapter plate (6); the first table surface and the second table surface of the second adapter plate (6) are perpendicular; The camera mounting bracket (8) is mounted on the third R-axis rotating slide (7), and the camera mounting bracket (8) fixes the binocular camera (9).

2. The tunnel arch machine test device according to claim 1, characterized in that: The first section of the telescopic rod (3) is provided with millimeter size scales.

3. The tunnel arch machine test device according to claim 1, characterized in that: A plurality of screw holes are arranged at the bottom of the groove of the translation guide plate (4), and screws (41) are installed in the screw holes.

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