Automatic mold gripping method and device for intelligent robot for building component

Abstract

The invention relates to the field of building, in particular to an automatic mold gripping method and device for an intelligent robot for a building component. The robot comprises a walking module, an ascending-and-descending module, a gripping module and a control module. The mold gripping method comprises the following steps that 1, the control module transmits a command to the walking module,and the walking module moves to a preset first position in the vertical direction and then stops; and 2, the control module transmits a command to the ascending-and-descending module, the ascending-and-descending module drives the gripping module to descend from an initial first height to a second height position where the building component is located, and after the gripping module is in the right place, the ascending-and-descending module stops. The automatic mold gripping device is reasonable in structural design; the device is different from a traditional bridge crane in that the device isarranged above a building component production line; compared with the bridge crane, the mounting height and the equipment self weight are greatly lowered; manual driving operation is not needed; a mold on the production line can be automatically gripped; and intelligent automated control over the gripping action, on the production line, of the building component is achieved.

Description

technical field [0001] The invention relates to the construction field, in particular to a method and device for an intelligent robot automatic mold grasping of a building component. Background technique [0002] At present, the product size and external length of concrete prefabricated piles are generally more than 15 meters, and its own mass is relatively large, generally reaching more than 6 tons. Generally, bridge cranes are used as equipment for molds, but the current bridge cranes have a large volume and mass. The weight of bridge cranes is generally about 30 tons. The structural bearing requirements of the installation plant are high, the cost of related equipment is high, the overall equipment investment is large, and the running speed of the bridge crane can reach more than 100 m / min. The bridge crane is in the process of lifting products or steel molds. It needs to start and brake frequently, but because of its own large inertia, it causes serious mechanical wear,...

AI Technical Summary

Problems solved by technology

[0002] At present, the product size and external length of concrete prefabricated piles are generally more than 15 meters, and its own mass is relatively large, generally reaching more than 6 tons. Generally, bridge cranes are used as equipment for molds, but the current bridge cranes have a large volume and mass. The weight of bridge cranes is generally about 30 tons. The structural bearing requirements of the installation plant are high, the cost of related equipment is high, the overall equipment investment is large, and the running speed of the bridge crane can reach more than 100 m / min. The bridge crane is in the process of lifting products or steel molds. It needs to start and brake frequently, but because of its own large inertia, it causes serious mechanical wear, and the lifting products or steel molds will also have a large swing. There are many potential safety hazards due to the large interaction force; and because the bridge crane is a special equipment, the installation, use and maintenance of the bridge crane must be carried out under the safety monitoring of the relevant departments, and the grasping of the mold by the bridge crane is also very important. The driving operation is mainly carried out by the operator, and the corresponding driver must also hold the corresponding on-the-job operation certificate for the special type of work. The technical proficiency, responsibility and stability of the operator seriously restrict the production efficiency, production safety and product quality. Overall, overhead cranes are expensive to use, cumbersome to operate and low in efficiency, which has seriously affected and restricted the production and operation of enterprises.

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