CN118328982A - Inclinometer traction robot and inclinometer method using the same - Google Patents
Inclinometer traction robot and inclinometer method using the same Download PDFInfo
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- CN118328982A CN118328982A CN202410422561.4A CN202410422561A CN118328982A CN 118328982 A CN118328982 A CN 118328982A CN 202410422561 A CN202410422561 A CN 202410422561A CN 118328982 A CN118328982 A CN 118328982A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
本申请公开了一种测斜仪牵引机器人及应用其的测斜方法，测斜仪牵引机器人连接有无线测斜仪和牵引线；测斜仪牵引机器人包括：安装壳、主机控制装置、用于缠绕牵引线的卷线盘和用于控制卷线盘进行均匀收线和均匀放线的走线控制装置；安装壳的底部设有支撑架；主机控制装置、卷线盘和走线控制装置安装于安装壳；主机控制装置与无线测斜仪通信连接；主机控制装置连接有电动机，电动机与卷线盘连接；主机控制装置还连接有用于获取牵引线的走线长度和线端受力数据的传感器检测模块，主机控制装置用于根据传感器检测模块的走线长度和线端受力数据、对电动机的转动状态和转动步距的状态进行控制；本申请具有提高测斜效率的效果。
The present application discloses an inclinometer traction robot and an inclinometer method using the inclinometer traction robot. The inclinometer traction robot is connected with a wireless inclinometer and a traction line. The inclinometer traction robot comprises: a mounting shell, a host control device, a cable reel for winding the traction line, and a routing control device for controlling the cable reel to evenly wind up and evenly release the line. A support frame is provided at the bottom of the mounting shell. The host control device, the cable reel, and the routing control device are mounted on the mounting shell. The host control device is communicatively connected with the wireless inclinometer. The host control device is connected with a motor, which is connected with the cable reel. The host control device is also connected with a sensor detection module for obtaining the routing length and line end force data of the traction line. The host control device is used to control the rotation state and the rotation step state of the motor according to the routing length and line end force data of the sensor detection module. The present application has the effect of improving the inclinometer efficiency.
Description
Technical Field
The application relates to the technical field of inclinometry, in particular to a traction robot of an inclinometer and an inclinometry method using the same.
Background
Under the condition that the rock-soil structure of a large building structure such as a foundation pit, a dam, a side slope and the like is not stable enough or structural force is influenced by building construction operation, deep displacement monitoring is needed to be carried out on a target structural body so as to ensure operation safety and early warning in time; the conventional method is to vertically bury an inclinometer pipe in the soil body of a monitored object such as a foundation pit, a dam, a side slope and the like, and if the soil body is subjected to deep displacement, the inclinometer pipe can generate corresponding deformation along with the internal displacement of the soil body, so that the internal displacement condition of the soil body can be estimated by measuring the displacement of the inclinometer pipe.
The existing manual measurement mode is: marking the cables of the inclinometer at equal distance, firstly placing the inclinometer at the bottom of the inclinometer pipe, then gradually pulling upwards, stopping at intervals of a set distance (for example, 50 cm), waiting for the stability of inclinometer data by acquisition equipment on the inclinometer pipe, recording the data, and then straightening upwards until reaching a pipe orifice, wherein the inclinometer precision is greatly influenced by manual operation, and the inclinometer precision is uneven; therefore, there is a defect that the inclinometry efficiency is low, and there is room for improvement.
Disclosure of Invention
In order to improve the inclinometry efficiency, the application provides a traction robot of an inclinometer and an inclinometry method using the traction robot.
In a first aspect, the object of the application is achieved by the following technical scheme:
the inclinometer traction robot is connected with a wireless inclinometer and a traction wire; inclinometer traction robot includes: the device comprises a mounting shell, a host control device, a winding roll for winding the traction wire and a wire routing control device for controlling the winding roll to uniformly take up and uniformly pay off; the bottom of the mounting shell is provided with a supporting frame; the host control device, the winding roll and the wiring control device are arranged on the installation shell; the host control device is in communication connection with the wireless inclinometer; the host control device is connected with a motor, and the motor is connected with the winding roll; the host control device is also connected with a sensor detection module for acquiring the wiring length and the wire end stress data of the traction wire, and is used for controlling the rotation state and the rotation step length of the motor according to the wiring length and the wire end stress data of the sensor detection module.
By adopting the technical scheme, the application provides the traction robot which can automatically control the traction of the wireless inclinometer and the traction wire and uniformly retract and release the traction wire in the traction process, is beneficial to automatically and finely controlling the traction distance and the traction speed of the inclinometer in the inclinometer inclinometry process, and is beneficial to improving the inclinometry efficiency; specifically, during measurement, the traction robot is required to be opposite to the top of the inclinometer pipe which is embedded in the target structure in advance; the installation shell is an installation shell of the inclinometer traction robot, and the host control device is used for controlling the rotation state and the rotation step distance of the motor, namely the forward rotation paying-off speed, the reverse rotation paying-off speed and the motor paying-off speed of the motor; the winding roll is used for winding the traction wire, the motor is used for driving the winding roll to rotate so as to be convenient for winding and unwinding the traction wire, power is provided for winding and unwinding the traction wire, and resistance can also be provided for unwinding the traction wire (in the re-measurement process, the support frame is used for stably placing the traction robot above the inclinometer, so that the stress stability of the whole traction robot is guaranteed), and meanwhile, the traction efficiency of the inclinometer is improved, so that the management of the traction wire is efficiently completed; the wiring control device is used for guaranteeing that the traction wire is uniformly wound and unwound in the process of the journaling inclinometry operation of the traction wire and the host control device; in order to further ensure paying-off accuracy and taking-up accuracy, unnecessary measurement interference and noise generated by the wireless inclinometer in the traction process are reduced, the host control device is further connected with a sensor detection module for acquiring the wiring length of the traction wire and the stress data of the wire end, so that the traction speed of the traction robot and the control state of the inclinometer are conveniently detected, the inclinometer is suitable for inclinometer requirements under different traction speeds or different application scenes, the operation requirements of one person operating the inclinometer traction robot are met, and the inclinometer is favorable for efficiently completing inclinometry operation.
The present application is in a preferred example: the traction wire is a high-strength fiber wire; a clamping sleeve hole is formed in the bottom of the mounting shell; the support frame comprises a inclinometry sleeve and a support bracket, and the inclinometry sleeve and the support bracket are arranged on the installation shell at intervals; the inclinometer casing is matched with the clamping sleeve hole of the mounting shell, and the pipe wall of the inclinometer casing is provided with a guide block matched with the guide groove formed in the inclinometer casing.
By adopting the technical scheme, as the inclinometer in the related art is in a mode of being pulled by a power line, namely, the traction ropes in the prior art adopt cable wires, in order to improve the strength of the traction ropes made of cable wires, the diameters of the traction ropes are larger, and meanwhile, the problems of the wire coil coiling length, the traction motor power, the fixing and other factors in the related art include huge volume, heavy weight and complex installation, so that on a foundation pit site, some inclinometers cannot be installed due to space limitation, and in addition, the device is time-consuming and labor-consuming to move and install, thereby influencing the working efficiency and personnel investment; in order to further improve the traction efficiency of the inclinometer traction robot, the traction wire of the high-strength fiber wire is adopted, so that the traction robot which is small in size, portable, light in weight, easy to install and capable of automatically winding and unwinding is provided, the traction robot is favorable for meeting the use requirements of most application scenes, and the applicability of the traction robot is improved; the inclinometer sleeve and the support bracket are used for stably erecting the whole inclinometer traction robot right above the inclinometer pipe, thereby being beneficial to improving the stress stability of the traction robot in the process of winding and unwinding the traction wire.
The present application is in a preferred example: the wiring control device comprises a wire passing wheel, a reciprocating screw rod and a guide shaft; the wire passing wheel is coaxially sleeved with a driven rotating shaft, and a wire passing groove is formed in the circumferential direction of the wheel surface of the wire passing wheel; the reciprocating screw rod is parallel to the guide shaft, and the reciprocating screw rod, the guide shaft and the driven rotating shaft are all arranged in the installation shell; the guide shaft is connected with a wire pulling slide block in a sliding manner, the wire pulling slide block is in threaded connection with the reciprocating screw rod, and the wire pulling slide block is provided with a guide coil for a traction wire to pass through; the traction wire is abutted against the groove wall of the wire passing groove; the mounting shell is provided with a lead hole for the traction wire to pass through.
By adopting the technical scheme, the wire passing wheel, the driven rotating shaft and the wire pulling sliding block form a wire pulling device for pulling wires, the reciprocating screw rod is used for driving the wire pulling sliding block and the wire pulling coil to reciprocate on the left side and the right side of the reciprocating screw rod in the wire winding and unwinding process, so that the pulling wires can be uniformly wound and released (relative to the winding drum), and the guide shaft is used for providing a guide effect for the wire pulling sliding block; when the wire passing groove of the wire passing wheel and the traction wire have a certain cutting angle in practical application, when the wire passing wheel has vertical downward pulling force, the traction wire and the groove wall of the wire passing groove of the counting wheel have larger friction force due to the cutting angle, so that the wireless inclinometer is suspended at the appointed position of the inclinometer in the inclinometer inclinometry process, inclinometry data are acquired after the wireless inclinometer is stabilized, and the traction control of the inclinometer by the inclinometer traction robot is facilitated to be improved.
The present application is in a preferred example: the winding roll is also provided with a winding rotating shaft; the inclinometer traction robot further comprises a synchronous wheel and a synchronous belt; the synchronous wheel is coaxially sleeved on the reciprocating screw rod; the opposite ends of the synchronous belt are respectively sleeved on the synchronous wheel and the winding rotating shaft, and the winding rotating shaft is rotationally connected to the side wall of the installation shell.
By adopting the technical scheme, the winding roll is arranged in the installation shell through the winding rotating shaft; in order to improve the synchronous rate of the winding roll and the wire-walking control device and improve the control effect on the traction wire, the synchronous belt is arranged on the reciprocating screw rod of the wire-walking control device and the winding rotating shaft of the winding roll, the accurate synchronous motion between the winding rotating shaft of the winding roll and the reciprocating screw rod can be effectively ensured through the synchronous belt, the accurate control on the winding and unwinding process of the traction wire is facilitated, the noise and vibration of a traction robot of an inclinometer are reduced, the sliding and slipping phenomenon in the transmission process of the winding roll and the reciprocating screw rod is reduced through the synchronous belt and the synchronous wheel, the synchronous belt is small in structure, the installation structure is more stable, and the traction stability of the traction robot of the inclinometer is improved as a whole.
The present application is in a preferred example: the sensor detection module comprises a pressure sensor, a feeler lever rotating shaft and a torsion elastic piece; the pressure sensor is arranged on the inner side wall of the mounting shell; one end of the feeler lever is arranged on the hole wall of the lead hole, the other end of the feeler lever is connected with the feeler lever rotating shaft, and the side wall of the feeler lever is provided with a contact correspondingly adapted to the detection end of the pressure sensor; the trolley rod rotating shaft is rotationally connected with a limiting block arranged on the side wall of the installation shell; the torsion elastic piece is coaxially sleeved on the contact rod rotating shaft.
By adopting the technical scheme, the feeler lever, the contact and the torsion elastic piece are used for forming a torsion transmission structure, and the torsion sensing structure and the pressure sensor are used for forming a torsion sensing device so as to sense the tension of the traction wire in the process of winding and unwinding; the feeler lever is positioned at one end of the hole wall of the lead hole and is used for sensing torsion generated by the traction wire in the winding and unwinding process; because the wireless inclinometer is placed at the bottom in the inclinometer pipe, the pulling force of the pulling wire is reduced, the pressure sensor can measure the pressure through the touch feeling transmitted by the contact on the feeler lever and feed back to the host control device, and the sensor detection module can also effectively prevent the pulling wire from being in a loose state on the winding roll and even generating winding faults when the wireless inclinometer is placed at the bottom in the inclinometer pipe; therefore, the sensor detection module achieves the function of acquiring the line end stress data of the traction line.
The present application is in a preferred example: the mounting shell is provided with a wire passing ring block, the wire passing ring block is clamped on the hole wall of the lead hole, and the wire passing ring block is connected with the feeler lever; a pair of limiting plates are further arranged in the mounting shell, and the reciprocating screw rod, the guide shaft and the driven rotating shaft are connected with the two limiting plates; one of the limiting plates is provided with a communication hole; one end of the winding rotating shaft is connected with one of the limiting plates, and the other end of the winding rotating shaft penetrates through the communication hole to be connected with an output shaft of the motor.
By adopting the technical scheme, the end part of the feeler lever senses the pressure transmitted by the traction wire through the wire passing ring block, the wire passing ring block is used for providing a guiding function for the traction wire in the winding and unwinding process, and the reciprocating screw rod, the guiding shaft and the driven rotating shaft are arranged at the appointed position of the mounting shell in a limiting way through the two limiting plates; one end of the winding rotating shaft is rotationally connected with one limiting plate, and the other end of the winding rotating shaft passes through a communication hole of the other limiting plate to be connected with an output shaft of the motor; the motor can complete the actions of advancing, retreating, holding and the like, so that the winding rotating shaft is convenient to control through the output shaft, power is provided for winding the winding drum, and resistance can be provided for paying off.
The present application is in a preferred example: the host control device comprises a host circuit board; the sensor detection module further comprises a coaxial encoder, a GNSS RTK positioning module for positioning the current position and outputting real-time position data, a 4G communication module for carrying out interactive transmission on inclinometry data of the wireless inclinometer, and a wireless WIFI module for providing a wireless network; the GNSS RTK positioning module, the 4G communication module and the wireless inclinometer are all connected with the wireless WIFI module; the coaxial encoder is connected with the host circuit board, and the coaxial encoder is connected with the end part of the driven rotating shaft.
By adopting the technical scheme, the coaxial encoder is used for measuring the lifting and lowering length of the traction wire, further sensing the current position of the inclinometer pipe of the wireless inclinometer, feeding back to the host circuit board, and controlling the rotation state and the rotation step length state of the motor according to the received control instruction on the host circuit board; the host circuit board acquires the length information of the traction wire and the stress condition of the wire end by reading the sensing data of the coaxial encoder and the pressure sensor; the GNSS RTK positioning module acquires the accurate position of the current inclinometer traction robot through positioning position differential information required by positioning at different time points, and due to the uniqueness of the position of the inclinometer, the accuracy of the inclinometer is ensured, and meanwhile, the problems of crosstalk, missing measurement, re-measurement and the like caused by field misoperation are also prevented; the built-in 4G communication module can be directly connected with the monitoring platform, so that data tampering is prevented, and the authenticity and safety of the data are ensured; the host circuit board carries out data and control instruction interactive transmission with the wireless inclinometer and the intelligent terminal (the monitoring platform and/or the monitoring user terminal) through the wireless WIFI module, so that the intelligent and automatic inclinometry process can be realized.
The present application is in a preferred example: the host control device is connected with a monitoring user terminal in a communication way; the host control device also comprises a controllable panel provided with an operation button, wherein the controllable panel is provided with a liquid crystal display screen for displaying inclinometry data of the wireless inclinometer; the host circuit board comprises a driving circuit module for controlling the working state of an output shaft of the motor; the mounting shell is provided with a handle.
By adopting the technical scheme, the monitoring user terminal is a remote monitoring terminal, the controllable panel is used for displaying the inclinometry data of the wireless inclinometer, the driving circuit module is used for providing driving current for the operation of the motor, the controllable panel, the liquid crystal display screen, the host control circuit memory and the like, and the functions of man-machine interaction, data storage and calling are realized.
In a second aspect, the object of the present application is achieved by the following technical solutions:
an inclinometry method is applied to an inclinometer traction robot as described above; the inclinometry method comprises the following steps:
placing a inclinometer traction robot on the top of an inclinometer pipe to be tested, so that a traction wire drives a wireless inclinometer to be placed in the inclinometer pipe;
A host control device in the inclinometer traction robot acquires an externally input start-stop control instruction and a data interaction instruction;
The host control device acquires corresponding measurement times and set inclinometry distance based on the start-stop control instruction, controls a motor and a wiring control device to control a traction wire according to the measurement times and the set inclinometry distance, pauses the wireless inclinometer at a designated position in the inclinometer pipe every other set inclinometry distance from top to bottom or from bottom to top so as to acquire inclinometry data, and sends the inclinometry data to the host control device;
And the host control device outputs the inclinometry data to a preset monitoring user terminal according to the received data interaction instruction.
By adopting the technical scheme, the traction robot which can automatically control the traction of the wireless inclinometer and the traction wire and uniformly retract and release the traction wire in the traction process is adopted, so that the automatic fine control of the traction distance and the traction speed of the inclinometer in the inclinometer is facilitated, and the inclinometer efficiency is improved; meanwhile, the traction speed of the inclinometer traction robot and the control state of the inclinometer are detected, so that the inclinometer traction robot is suitable for inclinometry requirements under different traction speeds or different application scenes, and meets the operation requirement of one person for operating the inclinometer traction robot, and is favorable for efficiently completing inclinometry operation.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the application provides a traction robot which can automatically control the traction of a wireless inclinometer and a traction wire and uniformly retract and release the traction wire in the traction process, is beneficial to automatically and finely controlling the traction distance and the traction speed of the inclinometer in the inclinometer inclinometry process, and is beneficial to improving the inclinometry efficiency; specifically, during measurement, the traction robot is required to be opposite to the top of the inclinometer pipe which is embedded in the target structure in advance; the installation shell is an installation shell of the inclinometer traction robot, and the host control device is used for controlling the rotation state and the rotation step distance of the motor, namely the forward rotation paying-off speed, the reverse rotation paying-off speed and the motor paying-off speed of the motor; the winding roll is used for winding the traction wire, the motor is used for driving the winding roll to rotate so as to be convenient for winding and unwinding the traction wire, power is provided for winding and unwinding the traction wire, and resistance can also be provided for unwinding the traction wire (in the re-measurement process, the support frame is used for stably placing the traction robot above the inclinometer, so that the stress stability of the whole traction robot is guaranteed), and meanwhile, the traction efficiency of the inclinometer is improved, so that the management of the traction wire is efficiently completed; the wiring control device is used for guaranteeing that the traction wire is uniformly wound and unwound in the process of the journaling inclinometry operation of the traction wire and the host control device; in order to further ensure paying-off accuracy and taking-up accuracy, unnecessary measurement interference and noise generated by the wireless inclinometer in the traction process are reduced, the host control device is also connected with a sensor detection module for acquiring the wiring length of the traction wire and the stress data of the wire end, so that the traction speed of the traction robot and the control state of the inclinometer are conveniently detected, the method is suitable for the inclinometer requirements under different traction speeds or different application scenes, and the operation requirements of one person operating the inclinometer traction robot are met, thereby being beneficial to efficiently completing inclinometry operation;
2. because the inclinometer of the related art is all pulled by the power line, namely the traction ropes of the prior art all adopt the cable wires, in order to improve the strength of the traction ropes made of cable materials, the diameters of the traction ropes are also larger, and meanwhile, the problems of the wire coil coiling length, the traction motor power, the fixing and other factors in the related art include huge volume, heavy weight and complex installation, so that on a foundation pit site, some inclinometers cannot be installed due to space limitation, and in addition, the device is moved and installed, time and labor are wasted, and the working efficiency and personnel investment are influenced; in order to further improve the traction efficiency of the inclinometer traction robot, the traction wire of the high-strength fiber wire is adopted, so that the traction robot which is small in size, portable, light in weight, easy to install and capable of automatically winding and unwinding is provided, the traction robot is favorable for meeting the use requirements of most application scenes, and the applicability of the traction robot is improved; the inclinometer comprises an inclinometer casing, a supporting bracket, a traction robot, a support bracket, a control device and a control device, wherein the inclinometer casing and the support bracket are used for stably erecting the whole inclinometer traction robot right above an inclinometer pipe, so that the stress stability of the traction robot is improved in the process of winding and unwinding traction wires;
3. The wire passing wheel, the driven rotating shaft and the wire pulling sliding block form a wire pulling device for pulling wires, the reciprocating screw rod is used for driving the wire pulling sliding block and the wire pulling coil to reciprocate on the left side and the right side of the reciprocating screw rod in the wire winding and unwinding process, so that the pulling wires can be uniformly wound and released (relative to a winding roll), and the guide shaft is used for providing a guide effect for the wire pulling sliding block; when the wire passing groove of the wire passing wheel and the traction wire have a certain cutting angle in practical application, when the wire passing wheel has vertical downward pulling force, the traction wire and the groove wall of the wire passing groove of the counting wheel have larger friction force due to the cutting angle, so that the wireless inclinometer is suspended at the appointed position of the inclinometer in the inclinometer inclinometry process, inclinometry data are acquired after the wireless inclinometer is stabilized, and the traction control of the inclinometer by the inclinometer traction robot is facilitated to be improved.
Drawings
FIG. 1 is a block diagram of the overall installation of an inclinometer traction robot in an embodiment of the present application;
FIG. 2 is a cross-sectional view of the overall mounting structure from one of the viewing angles in an inclinometer traction robot in an embodiment of the present application;
FIG. 3 is a cross-sectional view of an overall mounting structure from another perspective in an inclinometer traction robot in an embodiment of the present application;
FIG. 4 is a side cross-sectional view of an inclinometer traction robot in an embodiment of the application;
FIG. 5 is a block diagram of the installation of the traction wires, the reels, and the wire routing control device in the inclinometer traction robot in an embodiment of the present application;
Fig. 6 is a schematic structural view (two views) of a traction wire, a winding reel, and a routing control device in a traction robot of an inclinometer according to an embodiment of the present application.
Reference numerals illustrate:
1. A traction wire; 2. a mounting shell; 21. a support frame; 211. a inclinometry sleeve; 2111. a guide block; 212. a support bracket; 22. a handle; 23. wire loop blocks; 24. a limiting plate; 3. a host control device; 31. a host circuit board; 32. a steerable panel; 4. a winding roll; 41. a winding shaft; 5. a wiring control device; 51. a wire passing wheel; 511. wire passing grooves; 52. a reciprocating screw rod; 53. a guide shaft; 54. a driven rotating shaft; 55. a wire pulling slide block; 551. a lead coil; 6. a motor; 7. a sensor detection module; 71. GNSSRTK positioning modules; 72. a 4G communication module; 73. a wireless WIFI module; 74. a coaxial encoder; 75. a pressure sensor; 76. a feeler lever; 761. a contact; 762. a limiting block; 77. a feeler lever rotating shaft; 8. a synchronizing wheel; 9. a synchronous belt.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
In an embodiment, referring to fig. 1 to 3, the present application discloses a inclinometer traction robot, wherein the inclinometer traction robot is connected with a wireless inclinometer (not shown in the figure) and a traction wire 1, and in the embodiment, the traction wire 1 is a high-strength fiber wire, such as a kevlar wire; compared with the cable with larger diameter in the prior art, the application adopts the high-strength fiber wire with small volume and lighter weight, which is beneficial to installing and fixing the traction robot during the inclinometry operation (the inclinometer tube in the prior art is not output in the figure).
Referring to fig. 1 to 3, the inclinometer traction robot includes a mounting case 2, a host control device 3, a winding drum 4 for winding a traction wire 1, and a wire routing control device 5 for controlling the winding drum 4 to perform uniform wire winding and uniform wire unwinding; the bottom of the installation shell 2 is provided with a supporting frame 21; the host control device 3, the winding roll 4 and the wiring control device 5 are arranged on the installation shell 2; the host control device 3 is in communication connection with the wireless inclinometer; the host control device 3 is connected with a motor 6, and the motor 6 is connected with the winding roll 4; the host control device 3 is also connected with a sensor detection module 7 for acquiring the wiring length and the wire end stress data of the traction wire 1, and the host control device 3 is used for controlling the rotation state and the rotation step length state of the motor 6 according to the wiring length and the wire end stress data of the sensor detection module 7; the traction speed and the inclinometer control state of the traction robot are conveniently detected, so that the inclinometer is suitable for inclinometry requirements under different traction speeds or different application scenes, the operation requirement of one person operating the inclinometer traction robot is met, and the inclinometry operation is facilitated to be completed with high efficiency.
Referring to fig. 1 to 3, the mounting case 2 is provided with a handle 22 to facilitate movement of the entire inclinometer; the bottom of the mounting shell 2 is provided with a clamping sleeve hole; the supporting frame 21 comprises an inclinometer sleeve 211 and a supporting bracket 212, and the inclinometer sleeve 211 and the supporting bracket 212 are arranged on the mounting shell 2 at intervals; a triangle stress structure is formed between the inclinometry sleeve 211 and the support bracket 212 so as to ensure the stress stability of the whole traction robot in the inclinometry process; the inclinometry sleeve 211 is matched with a clamping sleeve hole of the mounting shell 2; in the prior art, a guide groove is vertically formed in the inner side wall of a pipeline of the inclinometer pipe; the pipe wall of the inclinometer sleeve 211 is provided with a guide block 2111 which is used for being matched with a guide groove formed in the inclinometer pipe; the inclinometry sleeve 211 is fixed on the installation shell 2 and can be detached; in practical application, the inclinometer sleeve 211 with different specifications can be arranged, and the inclinometer sleeve 211 with different sizes is selected to be matched with the inclinometer pipes with different specifications, and the inclinometer pipes are provided with guide grooves to be matched with the guide blocks 2111 of the inclinometer sleeve 211, so that the traction robot is not easy to rotate in the process of pulling the traction wire 1, and the inclinometer precision and the stress stability of the traction robot are further improved.
Referring to fig. 2 to 4, the host control device 3 includes a host circuit board 31; the host control circuit 31 includes a memory; the sensor detection module 7 comprises a GNSS RTK positioning module 71 for positioning the current position and outputting real-time position data, a 4G communication module 72 for interactively transmitting inclinometry data of the wireless inclinometer, and a wireless WIFI module 73 for providing a wireless network; the GNSS RTK positioning module 71 is a positioning module based on the real-time dynamic measurement technology of the global navigation satellite system (GNSS is the global navigation satellite system (Global Navigation SATELLITE SYSTEM)), and the RTK is the real-time dynamic measurement technology (REALTIMEKINEMATIC); the GNSS RTK positioning module 71, the 4G communication module 72 and the wireless inclinometer are all connected with the wireless WIFI module 73; the main board 31 is used for controlling the rotation state and the rotation step of the motor 6; the GNSS RTK positioning module 71 obtains the accurate position of the current inclinometer traction robot through the positioning position differential information required by positioning at different time points, and due to the uniqueness of the position of the inclinometer, the accuracy of the inclinometer hole is ensured, and meanwhile, the problems of crosstalk, missing measurement, re-measurement and the like caused by field misoperation are also prevented; the built-in 4G communication module 72 can be directly connected with the monitoring platform in a butt joint way, so that data tampering is prevented, and the authenticity and safety of the data are ensured; the host circuit board 31 performs data and control instruction interaction transmission with the wireless inclinometer and the intelligent terminal (the monitoring platform and/or the monitoring user terminal) through the wireless WIFI module 73, so that the intelligent and automatic inclinometry process can be realized.
Referring to fig. 1, a monitoring user terminal (not shown in the figure) is communicatively connected to the host control device 3; the host control device 3 further comprises a controllable panel 32 provided with an operation button, wherein the controllable panel 32 is provided with a liquid crystal display screen for displaying inclinometry data of the wireless inclinometer; the main circuit board 31 includes a driving circuit module for controlling the operation state of the output shaft of the motor 6; the monitoring user terminal is a remote monitoring terminal, the controllable panel 32 is used for displaying inclinometry data of the wireless inclinometer, the driving circuit module is used for providing driving current for the operation of the motor 6, and the controllable panel 32, the liquid crystal display, the host control circuit, the memory and the like can realize the functions of man-machine interaction, data storage and calling.
Referring to fig. 4 to 6, the routing control device 5 includes a wire passing wheel 51, a reciprocating screw 52, and a guide shaft 53; the wire passing wheel 51 is coaxially sleeved with a driven rotating shaft 54, and a wire passing groove is formed in the circumferential direction of the wheel surface of the wire passing wheel 51; the reciprocating screw rod 52 is parallel to the guide shaft 53, and the reciprocating screw rod 52, the guide shaft 53 and the driven rotating shaft 54 are all arranged in the installation shell 2; the guide shaft 53 is slidably connected with a wire pulling slide block 55, the wire pulling slide block 55 is in threaded connection with the reciprocating screw rod 52, and the wire pulling slide block 55 is provided with a lead coil 551 for the traction wire 1 to pass through; the traction wire 1 is abutted against the groove wall of the wire passing groove; the installation shell 2 is provided with a lead hole for the traction wire 1 to pass through; the mounting shell 2 is provided with a wire passing ring block 23, the wire passing ring block 23 is clamped on the wall of the lead wire hole, and the wire passing ring block 23 is connected with the feeler lever 76; the end of the feeler lever 76 senses the pressure transmitted by the traction wire 1 through the wire passing ring block 23, and the wire passing ring block 23 is used for providing a guiding function for the traction wire 1 in the winding and unwinding process.
Referring to fig. 3, 5 and 6, the wire passing wheel 51, the driven rotating shaft 54 and the wire pulling sliding block 55 form a wire pulling device for pulling the traction wire 1, the reciprocating screw rod 52 is used for driving the wire pulling sliding block 55 and the wire pulling ring 551 to reciprocate on the left side and the right side of the reciprocating screw rod in the wire pulling and paying-off process, so that the traction wire 1 can be uniformly wound and released (relative to the winding roll 4), and the guide shaft 53 is used for providing a guide effect for the wire pulling sliding block 55; when the wire passing wheel is actually applied, a certain cutting angle exists between the wire passing groove of the wire passing wheel 51 and the traction wire 1, so that when the vertical downward pulling force exists, a larger friction force exists between the traction wire 1 and the wall of the wire passing groove of the counting wheel due to the existence of the cutting angle, and the wireless inclinometer is suspended at the appointed position of the inclinometer to suspend in the inclinometer inclinometry process, and the inclinometry data is acquired after the wireless inclinometer inclinometry process is stabilized, so that the traction control of the inclinometer traction robot on the wireless inclinometer is improved.
Referring to fig. 3, 5 and 6, the sensor detection module 7 further comprises a coaxial encoder 74; the coaxial encoder 74 is connected to the main board 31, and the coaxial encoder 74 is connected to an end of the driven shaft 54; the host circuit board 31 obtains the length information of the traction wire 1 and the stress condition of the wire end by reading the sensing data of the coaxial encoder 74 and the pressure sensor 75;
Referring to fig. 2 to 4, the winding reel 4 is further provided with a winding shaft 41; the inclinometer traction robot further comprises a synchronous wheel 8 and a synchronous belt 9; the synchronizing wheel 8 is coaxially sleeved on the reciprocating screw rod 52; the opposite ends of the synchronous belt 9 are respectively sleeved on the synchronous wheel 8 and the winding rotating shaft 41, and the winding rotating shaft 41 is rotatably connected to the side wall of the installation shell 2; the synchronous belt 9 can effectively ensure the accurate synchronous motion between the winding rotating shaft 41 of the winding roll 4 and the reciprocating screw rod 52, is favorable for accurately controlling the winding and unwinding process of the traction wire 1, is favorable for reducing the noise and vibration of the inclinometer traction robot, is favorable for reducing the sliding and slipping phenomenon in the transmission process of the winding roll 4 and the reciprocating screw rod 52 through the synchronous belt 9 and the synchronous wheel 8, has a small and exquisite structure, is more stable in mounting structure, and is favorable for integrally improving the traction stability of the inclinometer traction robot.
Referring to fig. 3 and 4, the sensor detection module 7 further includes a pressure sensor 75, a feeler lever 76, a feeler lever rotation shaft 77, and a torsion elastic member; the torsion elastic piece is a torsion spring; the pressure sensor 75 is mounted to the inner side wall of the mounting case 2; one end of the feeler lever 76 is arranged on the wall of the lead hole, the other end of the feeler lever 76 is connected with a feeler lever rotating shaft 77, and the side wall of the feeler lever 76 is provided with a contact 761 correspondingly adapted to the detection end of the pressure sensor 75; the feeler lever rotating shaft 77 is rotatably connected with a limiting block 762 arranged on the side wall of the mounting shell 2; the torsion elastic piece is coaxially sleeved on the contact rod rotating shaft 77; the contact rod 76, the contact 761 and the torsion elastic member are used for forming a torsion transmission structure, and the torsion sensing structure and the pressure sensor 75 are used for forming a torsion sensing device so as to sense the tension of the traction wire 1 in the process of winding and unwinding; the feeler lever 76 is positioned at one end of the hole wall of the lead hole and is used for sensing the torsion generated by the traction wire 1 in the winding and unwinding process; because the tension of the traction wire 1 is reduced when the wireless inclinometer is placed at the bottom in the inclinometer pipe, the pressure sensor 75 can measure the pressure through the touch sense transmitted by the contact 761 on the feeler lever 76 and feed back to the host control device 3, and the sensor detection module 7 can also effectively prevent paying off in an idle state, so that the traction wire 1 is in a loose state on the winding roll 4, and even the winding fault occurs; thereby the sensor detection module 7 realizes the function of acquiring the stress data of the wire end of the traction wire 1.
Referring to fig. 2 and 3, a pair of limiting plates 24 are further disposed in the installation housing 2, and the reciprocating screw rod 52, the guide shaft 53 and the driven rotating shaft 54 are connected with the two limiting plates 24; the limiting plate 24 near one side of the motor 6 is provided with a communication hole (not shown in the figure); one end of the winding shaft 41 is connected to one of the limiting plates 24, and the other end of the winding shaft 41 passes through the communication hole and is connected to the output shaft of the motor 6. The reciprocating screw rod 52, the guide shaft 53 and the driven rotating shaft 54 are mounted at a designated position of the mounting shell 2 in a limiting manner through two limiting plates 24; one end of the winding rotating shaft 41 is rotationally connected with one limiting plate 24, and the other end of the winding rotating shaft 41 passes through a communication hole of the other limiting plate 24 to be connected with an output shaft of the motor 6; the motor 6 can complete the actions of advancing, retreating, holding and the like, so that the winding rotating shaft 41 is conveniently controlled by the output shaft to provide power for winding the wire on the winding drum 4 and also provide resistance for paying out.
The implementation principle of the inclinometer traction robot provided by the embodiment of the application is as follows: the traction robot of the inclinometer, which can automatically control the traction of the wireless inclinometer and the traction wire 1 and uniformly retract and release the traction wire 1 in the traction process, is beneficial to automatically and finely controlling the traction distance and the traction speed of the inclinometer in the inclinometer inclinometry process, and is beneficial to improving the inclinometry efficiency; meanwhile, the traction speed of the inclinometer traction robot and the control state of the inclinometer are detected through a sensor detection module 7, and remote data interaction transmission is carried out after inclinometer data are obtained; the method is suitable for the inclinometry requirements under different traction speeds or different application scenes, meets the operation requirements of a traction robot of a human-operated inclinometer, and is favorable for efficiently completing inclinometry operation.
The application discloses an inclinometer method which is applied to an inclinometer traction robot as described above; the inclinometry method specifically comprises the following steps:
S10: placing a inclinometer traction robot on the top of an inclinometer pipe to be tested, so that a traction wire drives a wireless inclinometer to be placed in the inclinometer pipe;
S20: a host control device in the inclinometer traction robot acquires an externally input start-stop control instruction and a data interaction instruction;
S30: the host control device acquires corresponding measurement times and set inclinometry distance based on the start-stop control instruction, controls the motor and the wiring control device to control the traction wire according to the measurement times and the set inclinometry distance, pauses the wireless inclinometer at the designated position in the inclinometer pipe at intervals of the set inclinometry distance from top to bottom or from bottom to top so as to acquire inclinometry data, and sends the inclinometry data to the host control device;
s40: and the host control device outputs the inclinometry data to a preset monitoring user terminal according to the received data interaction instruction.
In the embodiment, a traction robot capable of automatically controlling traction of the wireless inclinometer and the traction wire and uniformly winding and unwinding the traction wire in the traction process is adopted, so that the automatic fine control of the traction distance and the traction speed of the inclinometer in the inclinometer is facilitated, and the inclinometry efficiency is improved; meanwhile, the traction speed of the inclinometer traction robot and the control state of the inclinometer are detected, so that the inclinometer traction robot is suitable for inclinometry requirements under different traction speeds or different application scenes, and meets the operation requirement of one person for operating the inclinometer traction robot, and is favorable for efficiently completing inclinometry operation.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme described in the foregoing embodiments can be modified or some of the features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
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| CN202410422561.4A CN118328982A (en) | 2024-04-09 | 2024-04-09 | Inclinometer traction robot and inclinometer method using the same |
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| CN202410422561.4A CN118328982A (en) | 2024-04-09 | 2024-04-09 | Inclinometer traction robot and inclinometer method using the same |
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Application publication date: 20240712 |