CN-117110633-B - Automatic detection equipment for soil mechanical composition

Abstract

The invention discloses automatic detection equipment for soil mechanical composition, which comprises a detection platform for bearing each execution assembly, wherein the detection platform is divided into two working areas by taking a linear module arranged on the surface of the detection platform as a central axis, a detection mechanical arm is positioned on one side of an object loading platform on the linear module, an object loading platform is arranged between the detection mechanical arm and the execution mechanical arm and used for containing a gravity meter, the object loading platform moves along the linear module along with the execution mechanical arm, a measuring cylinder placing station is arranged on the detection platform, the detection mechanical arm is used for collecting images of the gravity meter in the measuring cylinder, the execution mechanical arm is used for grabbing and placing stirring rods and the gravity meter and performing anthropomorphic stirring actions, and signal input ends of the detection mechanical arm, the execution mechanical arm and the linear module are connected with a signal output end of a control center. The invention realizes full-automatic soil mechanical composition measurement by adopting the cooperative motion of the detection mechanical arm and the execution mechanical arm.

Inventors

• ZHU AIBIN
• MA PEIFENG
• ZHANG BAOJUN
• BAO BINGSHENG
• Mao han

Assignees

• 西安交通大学

Dates

Publication Date

20260505

Application Date

20230817

Claims (4)

1. 1. The automatic detection equipment for the soil mechanical composition is characterized by comprising a detection platform (4) for bearing each execution component, wherein the detection platform (4) is divided into two working areas by taking a linear module (5) arranged on the surface of the detection platform as a central axis, a detection mechanical arm (1) is positioned on one side of an execution mechanical arm (2) of the linear module (5) on the object loading platform (3), the execution mechanical arm (2) is positioned on the other side of the linear module (5) on the object loading platform (3), the detection mechanical arm (1) and the execution mechanical arm (2) move along the linear module (5), the object loading platform (3) is arranged between the detection mechanical arm (1) and the execution mechanical arm (2), the object loading platform (3) is used for containing a gravimeter (7) and a stirring rod (8), the fact that the gravimeter (7) and the stirring rod (8) have accurate grabbing relative positions and postures relative to the execution mechanical arm (2) is guaranteed, the object loading platform (3) moves along the linear module (5) along with the execution mechanical arm (2), and the detection platform (4) is provided with a measuring cylinder placing station (9) for placing a measuring cylinder; The detection mechanical arm (1) is used for collecting images of the specific gravity meter (7) in the measuring cylinder (9) and reading scales of the specific gravity meter (7), and the execution mechanical arm (2) is used for grabbing and placing the stirring rod (8) and the specific gravity meter (7) and performing anthropomorphic stirring actions; The signal input ends of the detection mechanical arm (1), the execution mechanical arm (2) and the linear module (5) are connected with the signal output end of the control center (6); the detection mechanical arm (1) comprises a detection mechanical arm body (101), a door-shaped frame (102), a camera (103) and a reflecting mirror (104); The door-type frame (102) comprises a top cross beam and a vertical aluminum alloy piece with 45-degree bending, a circular groove with the same diameter as the flange at the tail end of the detection mechanical arm body (101) is formed in the center of the top cross beam, cameras (103) are adhered to the cross beam at the top of the door-type frame (102) and are symmetrically arranged, and reflectors (104) are arranged at the inner side of the 45-degree bending at the bottom of the door-type frame (102); The large atlas servo clamping jaw (202) is of a parallel two-finger structure, the two-finger structure has a displacement sensing function and a grip sensing function and is used for effectively guaranteeing stability of a gripping densimeter, the gripping densimeter is fixedly connected with a flange hole site at the tail end of the large atlas servo clamping jaw (202) through bolts, the gripping finger (203) is connected with the inner side of the large atlas servo clamping jaw (202), the inner side of the gripping finger (203) is provided with an arc notch structure, and the gripping finger is tightly matched with a densimeter (7) and a cylindrical rubber sleeve at the top end of a stirring rod (8); the linear module (5) comprises a baffle (501), a slide plate (502), a tank chain (503), a cross beam (504), a servo motor (505), a coupler (506) and a photoelectric switch (507), wherein the linear module (5) is used for providing position movement of two mechanical arms and a carrying platform and expanding the working range; The baffle (501) adopts rectangular sheet metal parts, tank chain cross section size rectangular grooves are formed in the center of the top, the tank chain (503) is used for limiting, the sliding plate (502) adopts rectangular sheet metal parts, four bolt holes matched with a mechanical arm base are formed in one side of the baffle, fixing holes matched with a servo motor are formed in the other side of the baffle, one side of the baffle, which is close to the mechanical arm base, is fixedly connected with the tank chain (503), the sliding plate (502) can linearly move along with the tank chain (503), the cross beam (504) is used for supporting the sliding plate (502) to linearly move, the servo motor (505) is fixedly connected with the coupler (506) and used for realizing servo driving of the sliding plate (502), the photoelectric switch (507) is arranged at the bottom of the cross beam (504), and whether an object exists or not is judged through transmitting and receiving optical signals, so that automatic control of the sliding plate (502) is realized.
2. 2. The automatic detection device for soil mechanical composition according to claim 1, wherein the camera (103) collects the images of the score line and the liquid column of the densitometer (7), performs histogram equalization on the collected images, increases the dynamic range of the pixel gray values, then performs threshold segmentation on the OTSU region, removes background interference by using the edge image obtained by the canny operator while keeping the scale image clear, performs scale training of the densitometer by using a neural network learning model, continuously adjusts model parameters, evaluates and optimizes the model, performs scale reading on the new densitometer image by using the model after the training, and transmits the read data to a computer according to the number of a graduated cylinder to establish a data file for facilitating the later processing and analysis.
3. 3. The automatic detection equipment for the soil mechanical composition according to claim 1, wherein the control center (6) comprises an alarm (601), a control panel (602), a display (603) and a control cabinet (604), the control cabinet (604) comprises an industrial personal computer and a PLC, a power line of the industrial personal computer is connected to a power socket, the PLC is connected with the industrial personal computer through a serial port for data transmission and communication, and the alarm (601), the control panel (602) and the display (603) are connected with a PLC power supply for supplying power to the industrial personal computer and then are connected with the industrial personal computer through an I/O module of the PLC for exchanging external information.
4. 4. An automatic soil mechanical composition detection device according to claim 1, wherein the control center (6) implements system action planning, data storage, scram alarm operation processing and man-machine interaction.

Description

Automatic detection equipment for soil mechanical composition Technical Field The invention relates to the technical field of robot automatic operation, in particular to automatic detection equipment for soil mechanical composition. Background Soil mechanical composition determination technology is an important technology for analyzing soil samples. The existing measuring methods for measuring the mechanical composition of the soil mainly comprise a suction pipe method, a gravimeter method, a laser method and the like. The suction pipe rule is to separate soil particles with different diameters according to the particle size by utilizing the sedimentation rule of soil particles in still water, collect, dry and weigh the soil particles, and calculate the content percentage of each level of particles. The specific gravity meter method utilizes a seed soil specific gravity meter to observe the change of the specific gravity of the soil suspension, then calculates the size and the content of soil particles at each level according to Stokes' law, draws a particle size distribution curve, obtains the particle content, and determines the soil texture. The suction tube method and the gravimeter method are mainly performed manually at present, and have complex operation and poor reliability. The automatic detection robot for the soil mechanical composition based on the laser method is rapid in measurement, but has larger deviation and insufficient accuracy in measuring soil samples with higher content of sticky particles (reference to comparative research on measuring the soil mechanical composition by a laser particle sizer and a straw method-taking chestnut-lime soil with different degradation degrees as an example). Therefore, the prior art is difficult to meet the requirements of the soil detection of the three-purpose engineering on the important requirements and indexes such as simple operation, quick measurement, high precision and the like, and development of a new technical approach is needed to meet the requirements of the three-purpose engineering. Disclosure of Invention In order to overcome the defects in the prior art, the invention aims to provide automatic detection equipment for the soil mechanical composition, which is used for realizing full-automatic soil mechanical composition measurement by adopting the cooperative motion of a detection mechanical arm and an execution mechanical arm to replace manual actions such as target grabbing, placing, stirring, detecting and the like. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The automatic detection equipment for the soil mechanical composition comprises a detection platform for bearing each execution assembly, wherein the detection platform is divided into two working areas by taking a linear module arranged on the surface of the detection platform as a central axis, a detection mechanical arm is positioned on one side of an object loading platform on the linear module, an execution mechanical arm is positioned on the other side of the object loading platform on the linear module, the detection mechanical arm and the execution mechanical arm move along the linear module, an object loading platform is arranged between the detection mechanical arm and the execution mechanical arm and is used for containing a densimeter and a stirring rod, and the densimeter and the stirring rod are guaranteed to have accurate grabbing relative positions and postures relative to the execution mechanical arm; The detection mechanical arm is used for collecting images of the specific gravity meter in the measuring cylinder and reading scales of the specific gravity meter, and the execution mechanical arm is used for grabbing and placing the stirring rod and the specific gravity meter and performing anthropomorphic stirring action; and signal input ends of the detection mechanical arm, the execution mechanical arm and the linear module are connected with a signal output end of the control center. The detection mechanical arm comprises a detection mechanical arm body, a door-shaped frame, a camera and a reflecting mirror, and is positioned on one side of the loading platform of the linear module; the door-shaped frame comprises a top cross beam and a vertical aluminum alloy piece with 45-degree bending, wherein a circular groove with the same diameter as the flange at the tail end of the detection mechanical arm body is formed in the center of the top cross beam, cameras are pasted on the cross beam at the top of the door-shaped frame and are symmetrically arranged, a reflector is arranged on the 45-degree bending inner side of the bottom of the door-shaped frame, and when the densimeter is arranged at the vertical position inside the door-shaped frame, the scale indication of the densimeter can be reflected into the cameras from two directions, so that the scale of the densimeter 7 can be accurately collected. Further,