Automatic anchor cable tensioning equipment

Abstract

The present invention relates to the technical field of anchor cables, and discloses automatic anchor cable tensioning equipment, including a mechanical arm system, an operating system, a slewing mechanism and a walking mechanism, wherein the mechanical arm system includes a mechanical arm, a visual recognition system and a cutting system, and the mechanical arm, the visual recognition system, the cutting system, the walking mechanism and the slewing mechanism are respectively connected to the operating system; the walking mechanism and the slewing mechanism complete the position and direction movement work, when it is necessary to grasp or install an object, the operating system controls the mechanical arm to reach the approximate position of the object, and the visual recognition system recognizes the object and cooperates with the mechanical arm to complete the work of grasping or installing the object; the visual recognition system, the cutting system and the gripper simultaneously complete the work of grasping and cutting the object.

Description

Technical Field

[0001] The invention patent relates to the technical field of anchor cables, and specifically, to an automatic anchor cable tensioning device. Background Art

[0002] Prestressed anchor cables are commonly used support structures in the field of civil engineering, especially in slope and foundation pit support, and are often used in combination with other structures, such as cast-in-place piles, lattice beams, etc. Applying prestress through anchor cables can significantly improve the stress state of the rock and soil on the surface of the slope and improve the safety of the surface rock and soil. On the other hand, it can connect the rock and soil on the surface of the slope with the internal rock and soil, enhance the integrity of the slope, and avoid the occurrence of sliding bodies. Ensuring sufficient prestress is the key to achieving these goals.

[0003] In the existing construction technology, before the anchor cable is tensioned, it is necessary to manually cut and grind the steel strand, manually install the anchor and clip, and manually install the jack for tensioning. The cutting of the steel strand, the installation of the anchor and clip have problems such as inadequate installation, non-standard installation and low installation efficiency. At the same time, during the anchor cable tensioning construction, it is necessary to manually read the tensioning force value and manually judge the tensioning parameters. Therefore, the current anchor cable tensioning construction is manually operated, which has problems such as non-standard operation and safety hazards. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic anchor cable tensioning device, aiming to solve the problem of improving the automation level and construction efficiency of anchor cable construction in the prior art.

[0005] The present invention is implemented as follows: the automatic anchor cable tensioning equipment includes a mechanical arm system, an operating system, a rotating mechanism and a walking mechanism. The mechanical arm system includes a mechanical arm, a visual recognition system and a cutting system. The mechanical arm, the visual recognition system, the cutting system, the walking mechanism and the rotating mechanism are respectively connected to the operating system.

[0006] Furthermore, the operating system includes a data terminal system and an anchor grabbing module. The anchor grabbing module, the rotating mechanism, the walking mechanism and the visual recognition system are respectively connected to the data terminal system. The visual recognition system is arranged at the front end of the robotic arm. The robotic arm is provided with a gripper for grabbing objects. The robotic arm and the rotating mechanism are docked.

[0007] Furthermore, the operating system includes an anchor cable cutting module, the cutting module includes a cutting device, the cutting device is arranged at the outer end of the instrument arm, and the data terminal system is docked with the anchor cable cutting module.

[0008] Furthermore, the operating system includes a pad installation module, an anchor installation module and a clip installation module, and the pad installation module, the anchor installation module and the clip installation module are respectively arranged to be docked with the data terminal system.

[0009] Furthermore, a pad grasping portion is provided at the upper end of the pad plate, which can be recognized by the visual system and can be grasped by a gripper; an anchor grasping portion is provided at the upper end of the anchor, which can be recognized by the visual system and can be grasped by a gripper; a clamping claw portion is provided at the upper end of the clip, which can be recognized by the visual system and can be grasped by a gripper.

[0010] Furthermore, the operating system includes an anchor cable installation module and a jack installation module, and the anchor cable installation module and the jack installation module are respectively connected to the data terminal system.

[0011] Furthermore, the operating system includes a displacement sensing mechanism, the displacement sensing mechanism includes a displacement sensor and a pressure sensor, a jack control module is provided inside the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected to the data terminal system.

[0012] Furthermore, the slewing mechanism is provided at the upper end of the walking mechanism, a mechanical arm is provided at the side end of the slewing mechanism, an operating room is provided at the upper end of the slewing mechanism, and the operating system is installed in the operating room.

[0013] Furthermore, a gripper and a visual recognition system are provided at the front end of the robotic arm, and the gripper and the visual recognition system are arranged correspondingly. The cutting device includes a cutting arm, and the robotic arm forms a cutting storage groove. The cutting arm and the cutting storage groove are arranged at the side end of the robotic arm. The cutting arm is much longer than the gripper. When not in use, the cutting arm is placed in the cutting storage groove.

[0014] Furthermore, the mechanical arm is provided with a drilling arm and a screw installation arm for drilling holes, and the drilling arm and the screw installation arm are respectively connected to the data terminal system. Compared with the prior art, the automatic anchor cable tensioning equipment provided by the present invention has a mechanical arm, a visual recognition system, a cutting system, a walking mechanism and a slewing mechanism respectively connected to an operating system; the operating system controls the walking mechanism to complete the forward and backward or left and right walking work, the slewing mechanism is located at the upper end of the walking mechanism, the slewing mechanism is used to change the direction, the mechanical arm is arranged at the side end of the slewing mechanism, and the mechanical arm rotates with the rotation of the slewing mechanism; when it is necessary to grab or install an object, the operating system controls the mechanical arm to reach the approximate position of the object, the visual recognition system recognizes the object and cooperates with the mechanical arm to complete the work of grabbing or installing the object; the visual recognition system, the cutting device and the gripper simultaneously complete the work of grabbing and cutting the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a circuit structure layout diagram of the anchor cable automatic tensioning equipment provided by the present invention;

[0016] Figure 2 It is a schematic diagram of the automatic anchor cable tensioning device provided by the present invention;

[0017] Figure 3 It is a flow chart of anchor cable grabbing provided by the present invention;

[0018] Figure 4 It is the anchor cable cutting flow chart provided by the present invention;

[0019] Figure 5 It is a flow chart of the installation of the pad provided by the present invention;

[0020] Figure 6 It is a flow chart of anchor installation provided by the present invention;

[0021] Figure 7 is a flow chart of the installation of the clip provided by the present invention;

[0022] Figure 8 It is a flow chart of jack installation provided by the present invention;

[0023] Fig. 9 It is a schematic diagram of the gripper provided by the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0026] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0027] Reference Figure 1-9 The figure shows a preferred embodiment of the present invention.

[0028] The automatic anchor cable tensioning equipment includes a mechanical arm system, an operating system, a slewing mechanism 2 and a walking mechanism 3. The mechanical arm system includes a mechanical arm 1, a visual recognition system 5 and a cutting system. The mechanical arm 1, the visual recognition system 5, the cutting system, the walking mechanism 3 and the slewing mechanism 2 are respectively connected to the operating system.

[0029] The walking mechanism 3 is used for walking forward and backward or left and right, and the slewing mechanism 2 is used for rotating direction. The robot arm 1 is set on the slewing mechanism 2, and the robot arm 1 rotates with the rotation of the slewing mechanism 2; the front end of the robot arm 1 has a visual recognition system 5 and a gripper, and the visual recognition system 5 can recognize objects according to the approximate outline and size. The gripper is used to grab objects. The side end of the robot arm 1 is provided with a cutting system, and the cutting system includes a cutting device 4. The cutting device 4 is used to cut objects. When not in use, the cutting device 4 is embedded in the interior of the robot arm 1. When the robot arm 1 is to be used, the cutting device 4 is unfolded from the inside of the robot arm 1.

[0030] The walking mechanism 3 and the rotating mechanism 2 complete the position and direction movement work. When it is necessary to grab or install an object, the operating system controls the robot arm 1 to reach the approximate position of the object, and the visual recognition system 5 recognizes the object and cooperates with the gripper to complete the task of grabbing or installing the object; the visual recognition system 5, the cutting device 4 and the gripper simultaneously complete the task of grabbing and cutting the object.

[0031] The operating system includes a data terminal system and an anchor cable grabbing module. The anchor cable grabbing module, the rotating system, the walking mechanism 3 and the visual recognition system 5 are respectively connected to the data terminal system. The visual recognition system 5 is arranged at the front end of the robotic arm 1. The robotic arm 1 is provided with a gripper for grabbing objects. The robotic arm 1 and the rotating mechanism 2 are docked.

[0032] The staff manually uses the data terminal system to control the walking mechanism 3 to walk, adjusts the rotating mechanism to the appropriate direction, and finally controls the robotic arm 1 to adjust to the vicinity of the anchor cable. The staff clicks the anchor cable grabbing instruction. The anchor cable grabbing module stores the basic characteristic data of the anchor cable. The anchor cable grabbing module feeds back the anchor cable information to the data terminal system. The data terminal system controls the visual recognition system 5 to automatically identify the anchor cable and feeds back to the data terminal system. The staff confirms, and the data terminal system controls the robotic arm 1 to automatically move to the gripper to automatically grab the anchor cable. Generally, the gripper grabs the middle part of the anchor cable.

[0033] The visual recognition system 5 includes a plurality of visual acquisition modules, which are arranged in an active connection with the data terminal system. A plurality of visual acquisition modules are arranged on the mechanical arm 1, so that different directions of vision can be acquired, and if the acquisition of the target object fails, the direction of the visual acquisition module can be rotated. The data terminal system includes an alarm module. When the visual acquisition module acquires an object, it is fed back to the data terminal system for confirmation. The data terminal system controls the alarm module to emit a sound or light alarm. The staff confirms that there is no problem with the object, and the staff operates the gripper to work; or the visual recognition system can automatically cooperate with the mechanical arm. The staff determines that there is no problem with the automatic grasping and presses the automatic grasping button, and the visual recognition system automatically cooperates with the gripper to work.

[0034] The gripper includes an inner support part 8 and an outer fixing part 9. Air pressure passes through the inner support part 8, and the outer fixing part 9 grabs the object. Air pressure passes through the inner support part 8, and some objects with smooth surfaces are grabbed by the adsorption force of air pressure. When the object grabbed by the gripper is to be installed on the wall, the outer fixing part 9 is released, and the inner support part 8 presses the object against the wall, or grabs the object by adsorption force. The operating system includes an anchor cable cutting module, and the cutting module includes a cutting device 4. The cutting device 4 is arranged at the outer end of the instrument arm, and the data terminal system is docked with the anchor cable cutting module and the cutting device 4 respectively.

[0035] First, use the anchor cable grabbing module to grab the anchor cable, and the staff clicks the anchor cable cutting instruction. The anchor cable grabbing module feeds back the anchor cable cutting information to the data terminal system. The data terminal system controls the visual recognition system 5 to automatically identify the anchor cable. The staff confirms, and the data terminal system calculates the length of the anchor cable. The staff inputs the length to be cut, and the data terminal system controls the cutting device 4 to cut the anchor cable.

[0036] The operating system includes a pad installation module, an anchor installation module and a clip installation module, which are respectively connected to the data terminal system in a docking arrangement.

[0037] A pad grasping portion is provided at the upper end of the pad plate, which can be recognized by the visual system and can be grasped by a gripper; an anchor grasping portion is provided at the upper end of the anchor, which can be recognized by the visual system and can be grasped by a gripper; a clamping claw portion is provided at the upper end of the clip, which can be recognized by the visual system and can be grasped by a gripper.

[0038] The reinforcement area for pad installation is marked with reinforcement points in advance. The staff first clicks the pad installation command, and the pad installation module feeds back information to the data terminal system. The data terminal system controls the visual recognition system 5 to identify the pad. The data terminal system controls the robotic arm 1 to adjust the angle to grab the pad. A special arch gripper is made at the upper end of the pad to grab the pad end. The visual recognition then identifies the reinforcement mark point, adjusts the angle, places the gasket at the marked place and fixes it.

[0039] There are pad marking points on both sides of the pad. The staff first clicks the command for anchor installation. The anchor installation module feeds back information to the data terminal system control. The data terminal system controls the visual recognition system 5 to identify the pad. The upper end of the anchor is provided with an arch gripper to identify and grasp the anchor gripper. The data terminal system controls the mechanical arm 1 to adjust the angle to grasp the anchor gripper. The visual recognition then identifies the pad marking points, adjusts the angle, places the anchor at the marked place and fixes it.

[0040] The anchor is provided with a limit hole. The staff first clicks the command for clip installation. The clip installation module feeds back information to the data terminal system control. The data terminal system controls the visual recognition system 5 to identify the clip. The upper end of the clip is provided with an arch gripper to identify and grasp the claw part. The data terminal system controls the robot arm 1 to adjust the angle to grasp the claw part. The visual recognition then identifies the limit hole, adjusts the angle, and places the clip inside the limit hole.

[0041] The operating system comprises an anchor cable installation module and a jack installation module, and the anchor cable installation module and the jack installation module are respectively connected to the data terminal system.

[0042] According to the above introduction, the data terminal system controls the gripper of the robot arm 1 to grab the anchor cable. The staff first places the anchor cable near the anchor. The staff clicks the anchor cable installation instruction. The visual recognition system 5 identifies the anchor hole on the anchor and the edge of the anchor cable, and automatically adjusts the anchor cable to move to the vicinity of the anchor hole. The anchor hole and the anchor cable are adjusted to be placed in a straight line. After the adjustment, feedback is given to the data terminal system for confirmation. The staff confirms. If there is a problem, the staff adjusts the robot arm 1 again and presses the anchor cable placement instruction again until the anchor hole and the anchor cable are adjusted to be placed in a straight line. Press the confirmation placement instruction to place the anchor cable inside the anchor hole.

[0043] The staff first clicks on the command for jack installation, and the jack installation module feeds back information to the data terminal system. The data terminal system controls the visual recognition system 5 to identify the jack. The upper end of the jack is provided with an arch gripper for identifying and grasping the top grasping part. The data terminal system controls the mechanical arm 1 to adjust the angle to grasp the top grasping part, and the staff manually operates the mechanical arm 1 to rotate near the outer end of the anchor cable.

[0044] The operating system comprises a displacement sensing mechanism, which comprises a displacement sensor and a pressure sensor. A jack control module is arranged inside the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected to a data terminal system.

[0045] First, place the displacement sensor mechanism and jack, and reset the displacement sensor and pressure sensor data to zero before work. During the process of the jack pressurized anchor cable tensioning, the displacement sensor detects the displacement data of the anchor cable, and the pressure sensor detects the pressure data between the anchor cable and the jack. The displacement data and pressure data are fed back to the data terminal system; the jack control module has preset tensioning parameters, and it works according to the preset parameters if there is no problem. If the pressure data or tensioning data is abnormal, the staff operates the data terminal to modify the tensioning parameters of the jack control module, and the tension is automatically released after it is in place. At the same time, the data terminal system outputs and saves the displacement data and tensioning process data in a chart on the computer hub.

[0046] A slewing mechanism is provided at the upper end of the walking mechanism 3, a mechanical arm 1 is provided at the side end of the slewing mechanism, an operating room is provided at the upper end of the slewing mechanism, and an operating system is installed in the operating room.

[0047] The walking mechanism 3 is located at the bottom and is used for walking forward and backward or left and right. The slewing mechanism is arranged at the upper end of the walking mechanism 3. The slewing mechanism 2 is used for rotating direction. The robot arm 1 is arranged on the slewing mechanism 2. The robot arm 1 rotates with the rotation of the slewing mechanism 2. The staff works in the operation room, which is located above the slewing mechanism 2 and rotates with the rotation of the slewing mechanism 2.

[0048] Infrared sensing modules are arranged around the outer ends of the walking mechanism, and the infrared sensing modules are electrically connected to the data terminal system. When the infrared sensing modules detect human movement around, they are fed back to the data terminal system, and the data terminal system controls the alarm module to alarm.

[0049] A gripper and a visual recognition system 5 are provided at the front end of the robotic arm 1. The gripper and the visual recognition system 5 are arranged correspondingly. The cutting device 4 includes a cutting arm 5. The robotic arm 1 forms a cutting storage groove. The cutting arm 5 and the cutting storage groove are arranged at the side end of the robotic arm 1. The cutting arm 5 is much longer than the gripper. When not in use, the cutting arm 5 is placed in the cutting storage groove.

[0050] The gripper and visual recognition system 5 is arranged at the front end of the robot arm 1 for identifying objects and grabbing items. The cutting arm 5 is arranged at the side end of the robot arm 1. The side end of the cutting arm 5 is provided with a cutting storage groove. When not in use, the cutting arm 5 is placed in the cutting storage groove.

[0051] The mechanical arm 1 is provided with a drilling arm 6 and a screw installation arm 7 for drilling holes, and the drilling arm 6 and the screw installation arm 7 are respectively connected to the data terminal system.

[0052] When the pads and anchors are installed, screws are needed to fix them. After the pads and anchors are placed in the corresponding areas, the staff operates the data terminal system to execute the fixing instructions, the visual recognition system 5 identifies the punching area, the drilling arm 6 drills holes, and then the screw installation arm 7 uses screws to fix the area that needs to be fixed.

[0053] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. Anchor cable automatic tensioning equipment, characterized in that: It includes a robotic arm system, an operating system, a slewing mechanism and a walking mechanism, wherein the robotic arm system includes a robotic arm, a visual recognition system and a cutting system, and the robotic arm, the visual recognition system, the cutting system, the walking mechanism and the slewing mechanism are respectively connected to the operating system; The operating system includes a data terminal system and an anchor cable grabbing module. The anchor cable grabbing module, the slewing mechanism, the walking mechanism and the visual recognition system are respectively connected to the data terminal system. The visual recognition system is arranged at the front end of the mechanical arm. The mechanical arm is provided with a gripper, which is used to grab an object. The mechanical arm and the slewing mechanism are arranged in a docking manner. The visual recognition system includes a plurality of visual acquisition modules, which are movably connected to the data terminal system; a plurality of the visual acquisition modules are arranged on the mechanical arm to acquire visual images in different directions, and when the acquisition of the target object fails, the direction of the visual acquisition module is rotated; The operating system includes an anchor cable cutting module, the anchor cable cutting module includes a cutting device, the cutting device is arranged at the outer end of the mechanical arm, and the data terminal system is docked with the anchor cable cutting module and the cutting device respectively; The front end of the robotic arm is provided with a gripper and a visual recognition system, and the gripper and the visual recognition system are arranged correspondingly. The cutting device includes a cutting arm, and the robotic arm forms a cutting storage groove. The cutting arm and the cutting storage groove are arranged at the side end of the robotic arm. The cutting arm is much longer than the gripper. When not in use, the cutting arm is placed in the cutting storage groove.

2. The automatic anchor cable tensioning device according to claim 1, characterized in that: The operating system includes a pad installation module, an anchor installation module and a clip installation module, and the pad installation module, the anchor installation module and the clip installation module are respectively arranged to be docked with the data terminal system.

3. The automatic anchor cable tensioning device according to claim 1, characterized in that: The operating system comprises an anchor cable installation module and a jack installation module, and the anchor cable installation module and the jack installation module are respectively connected to the data terminal system.

4. The automatic anchor cable tensioning device according to claim 3, characterized in that: The operating system includes a displacement sensing mechanism, which includes a displacement sensor and a pressure sensor. A jack control module is arranged inside the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected to the data terminal system.

5. The automatic anchor cable tensioning device according to any one of claims 1 to 4, characterized in that: The slewing mechanism is disposed at the upper end of the walking mechanism, a mechanical arm is disposed at the side end of the slewing mechanism, an operating room is disposed at the upper end of the slewing mechanism, and the operating system is installed in the operating room.

6. The automatic anchor cable tensioning device according to any one of claims 1 to 4, characterized in that: The mechanical arm is provided with a drilling arm and a screw installation arm for drilling holes, and the drilling arm and the screw installation arm are respectively connected to the data terminal system.

Images