Study On Automatic Adjustment System Of Laser Attitude Angle For Track Detection Robot Of Lifting Machinery

In recent years,with the development of intelligent and automation technology,researchers at home and abroad have begun to adopt mobile robot technology instead of the traditional manual method for automatic detection of hoisting machinery tracks.When the gantry orbit detection robot automatically detects the difference in the track height,the attitude angles of the laser emitter and the laser imaging plate on it have a great influence on the detection accuracy.At present,the laser attitude angle adjustment is affected by the change of the vehicle speed and the unequal factors of the track surface,which cannot meet the requirements of the automatic detection of the gantry machinery track.To this end,this paper combines the specific requirements of hoisting machinery track detection,and studies the laser attitude angle automatic adjustment system of hoisting machinery orbit detection robot,which provides the technical basis and guarantee for the development and application of hoisting machinery orbit detection robot.The efficiency and accuracy of mechanical orbit detection is of great significance.The main research contents and results are as follows:(1)Overall design and performance analysis of laser attitude angle automatic adjustment system.According to the technical requirements of hoisting machinery track detection,the automatic detection method of gantry machinery track and the overall scheme of the system are studied.The overall structure of the trajectory detection robot core device orbit detection robot is designed.According to the automatic detection requirements of track height difference,analysis The overall scheme of the laser attitude angle automatic adjustment system of the orbit detection robot and the performance indicators to be achieved are analyzed.The structure,size and weight range,motion range,accuracy index and control method of the automatic adjustment turntable are analyzed.(2)Research on the transmission performance of the rotary attitude automatic adjustment of the laser attitude angle.Firstly,according to the theory of space meshing transmission,the mathematical model of the worm and worm gear of the core component of the automatic adjustment turntable is established,and the size parameters of the worm and worm gear are calculated and verified.Secondly,the worm and worm gear meshing transmission is used according to the obtaineddimensional parameters.The process simulation simulates the influence of the three factors of the worm and worm gear center distance error,the intermediate plane error and the axis intersection error on the transmission accuracy.It is concluded that the axial angle error has the greatest influence on the transmission precision,and the intermediate plane error is the second,the center distance.The error has the least influence;then,the finite element analysis software is used to analyze the stress in the worm and worm gear transmission process.The simulation results show that the designed worm and worm gear transmission performance meets the expected requirements.Finally,based on the finite element analysis software,the laser attitude angle The automatic adjustment turntable performs modal analysis and stationarity analysis during the gantry orbit detection robot operation,and obtains the natural frequency and amplitude of the 5th order before the turntable.The simulation results show that the motor excitation from the inside of the turntable does not affect the vibration.,from the surface of the track is not smooth Unit does not affect the structural stability of vibration excitation of the turntable,the turntable having automatic adjustment good resistance.(3)Research on the control method of the laser attitude angle automatic adjustment turntable.Firstly,according to the laser attitude angle,the working environment of the turntable is automatically adjusted,and the working mode of the automatic adjustment turntable is analyzed.Based on the automatic control theory,the mathematical model of the automatic adjustment turntable servo control system is established.Secondly,in order to improve the control performance of the automatic adjustment turntable,the classic PID control,based on simulink simulation software,simulates the performance of the control system.The results show that under the classical PID control,the stability and output error of the system do not meet the expected control requirements.Then,for this problem,the application of synovial variable structure control Based on the exponential approach law,the synovial variable structure controller is designed and the corresponding simulink simulation model is built.The unit step and sinusoidal response performance simulation analysis is carried out.The results show that the synovial deformation structure is better.Fast response and lower output error,meeting the rapid response of the automatic adjustment turntable control response,and better resisting external interference.(4)The software and hardware of the laser attitude angle automatic adjustment system are designed,and the track detection robot and the laser attitude angleautomatic adjustment test platform are built.The laser attitude angle automatic adjustment performance test was carried out on the standard gantry track.The result analysis showed that the laser attitude angle adjustment time under the synovial variable structure control was 0.11 s faster than the PID control,and the maximum overshoot was reduced by 2.1 %.And the motion is stable;when the detecting robot walks at the maximum speed on the hoisting machine track,the error of the automatic adjustment is kept within 0.2°.The laser attitude angle automatic adjustment system can meet the adjustment requirements of the hoisting machinery track detection and achieve better expected results.