Four-axis intelligent multi-pile cutting system

Abstract

This invention provides a four-axis intelligent multi-pile cutting system. A teach pendant enables control of the four-axis robot's pile cutting operation. The invention uses a teach pendant to input geometric and non-geometric data of the concrete cast-in-place piles, combining the pile cutter's BIM model with the BIM models of each pile head in a pile group. A positioning chip enables precise on-site positioning of the pile cutter. This invention, through a telescopic multi-pile cutting system, achieves long-distance and multi-directional pile cutting operations, significantly improving construction efficiency and realizing intelligent construction. By using the construction parameter values ​​attached to the pile head's BIM model, the system intelligently analyzes and evaluates the pressure required by the pile cutter during operation, providing stronger data support for pile cutting construction.

Description

Technical Field

[0001] This invention relates to a four-axis intelligent multi-pile cutting system. Background Technology

[0002] A pile cutter is a type of engineering machinery suitable for quickly removing pile heads in pile foundation engineering. It uses a power source to provide pressure to multiple hydraulic cylinders, which directly drive the chisel rod, simultaneously squeezing the pile body to cut off the pile head. Currently available simple hydraulic pile cutter devices require a large-tonnage (≥20T) crane to extract the pile head. Furthermore, these devices are large and cannot maintain a level position, leading to inaccurate positioning and tilted pile head sections. This necessitates further manual processing, resulting in high labor and machine costs, significant construction safety risks, and low levels of mechanization. Summary of the Invention

[0003] The purpose of this invention is to provide a four-axis intelligent multi-pile cutting system.

[0004] To address the above problems, this invention provides a four-axis intelligent multi-pile cutting system, comprising:

[0005] The positioning device installed on the annular pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter is used to collect the position information of the annular pile head in real time; the four-axis intelligent telescopic multi-pile cutting system includes: an annular pile head and a telescopic mechanism connected to the annular pile head.

[0006] The teach pendant installed in the driver's control room of the pile cutter is used to receive the position information of the ring-shaped pile head from the positioning device. Based on the position information of the ring-shaped pile head, the designated position of the pile cutter, the BIM model of the pile cutter, and the BIM model of each pile head in the pile group, the teach pendant moves the pile cutter to the designated position and controls the ring-shaped pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to perform pile cutting operations on each pile head in the pile group in a set order.

[0007] Furthermore, in the above system, the positioning device includes:

[0008] The positioning chip, image measuring instrument, and positioning data transmission device are installed on the annular pile head, and the positioning data transmission device is connected to the positioning chip, image measuring instrument, and teaching pendant, respectively.

[0009] Furthermore, in the above system, the teach pendant includes:

[0010] The system includes a display screen, a data receiving and transmitting antenna, and a data processing chip. The data processing chip is connected to both the display screen and the data receiving and transmitting antenna. The data receiving and transmitting antenna communicates with the positioning data transmission device and receives the position information of the annular pile head from the positioning data transmission device.

[0011] Furthermore, in the above system, the data receiving and transmitting antenna is used to acquire the BIM models of each pile location in the pile group on site and the pile cutting machine BIM model and import them into the teaching pendant.

[0012] The data processing chip is used to read the BIM models of each pile location in the pile group and the pile cutter BIM model. Based on the pile location BIM models and the pile cutter BIM models, the data processing chip calculates the movement guide route of the pile cutter and the preset position of the pile head and displays it on the display screen. After controlling the pile cutter to move to the designated position of the pile cutter according to the movement guide route, the chip controls the ring pile cutter head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to perform pile cutting operations on each pile head in the pile group within the coverage area in a set order.

[0013] Furthermore, in the above system, there are three image measuring instruments, which are arranged at 90-degree intervals.

[0014] Furthermore, in the above system, the number of positioning chips is three, with each positioning chip being disposed on the annular truncated pile head corresponding to the location of an image measuring instrument.

[0015] Furthermore, in the above system, the data processing chip is also used to evaluate the corresponding pressure value applied by the pile cutter based on the parameter value of the pile strength in the BIM model of each pile location, so as to obtain the evaluation pressure value, and control the pile cutter to cut each pile head based on the evaluation pressure value.

[0016] Compared with existing technologies, this invention enables the control of a four-axis robot for pile cutting operations via a teach pendant. This invention uses a teach pendant to input geometric and non-geometric data of the concrete cast-in-place piles, combining the BIM model of the pile cutter with the BIM models of each pile head in a pile group. This invention achieves precise on-site positioning of the pile cutter using a positioning chip. This invention, through a telescopic multi-pile cutting system, enables long-distance and multi-directional pile cutting operations, which is of great significance for improving construction efficiency and realizing intelligent construction. This invention uses the construction parameter values ​​attached to the pile head BIM model to intelligently analyze and evaluate the pressure required for the pile cutter during operation, providing stronger data support for pile cutting construction.

[0017] This invention pre-imports the site model and the four-axis pile-cutting robot equipment model into the teaching pendant, sets the pile-cutting construction operation plan in the teaching pendant, including the equipment location (the range of pile positions that can be covered by the telescopic ring-type hydraulic pile-cutting device should be considered), the pile-cutting sequence, etc., and evaluates the pile-cutting pressure value according to the actual site conditions, assisting in completing pile-cutting construction operations in various complex terrains, reducing construction safety risks, and improving construction efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the installation of a positioning chip on an annular truncated pile head according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a teach pendant structure according to an embodiment of the present invention;

[0020] Figure 3 This is a diagram showing the specific installation location of the positioning device on a pile cutter according to an embodiment of the present invention;

[0021] Figure 4 This is a construction operation diagram of a telescopic ring-disc hydraulic pile cutting system according to an embodiment of the present invention. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 4 As shown, the present invention provides a four-axis intelligent multi-pile cutting system, comprising:

[0024] The positioning device 9, installed on the annular pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter, is used to collect the position information of the annular pile head in real time; the four-axis intelligent telescopic multi-pile cutting system includes: an annular pile head, and a telescopic mechanism 10 connected to the annular pile head.

[0025] The teach pendant installed in the driver's control room of the pile cutter is used to receive the position information of the ring-shaped pile head from the positioning device. Based on the position information of the ring-shaped pile head, the designated position of the pile cutter, the BIM model of the pile cutter, and the BIM model of each pile head in the pile group, the teach pendant moves the pile cutter to the designated position and controls the ring-shaped pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to perform pile cutting operations on each pile head in the pile group in a set order.

[0026] Here, the system may include: a tracked mobile support system, a four-axis intelligent telescopic multi-pile cutting system, a pump station and hydraulic control center, a boom support system, a positioning device, and a teaching pendant, etc.

[0027] The pile group can be, for example, as follows: Figure 4The 12 piles shown can be controlled by the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to cut the 12 piles in a set order.

[0028] The designated position of the pile cutter ensures that the working range of the annular pile head of the telescopic multi-pile cutting system can cover all pile positions in the pile group.

[0029] Construction robots have a history of over a century, evolving through two generations: mechanical and hydraulic transmission. Modern robotic construction machinery is considered the third generation. Construction robots can be remotely controlled, automatically, and semi-automatically. Currently, the intelligent construction robots being developed on the market are primarily designed to adapt to the complex working environments of construction sites, integrating remote control and vision systems to achieve functions such as remote control and monitoring of the robot's construction operations. With the development of robot technology, highly reliable and efficient intelligent construction robots have entered the market and possess broad development and application prospects, actively promoting the digitalization, intelligentization, and industrialization of the construction industry.

[0030] BIM technology is a data-driven tool applied to engineering design, construction, and management. It integrates data and information models of buildings and applies them to all stages of the construction process. The information contained in a BIM model includes geometric information such as spatial dimensions, as well as non-geometric information such as component types, design parameters, and construction data.

[0031] This invention enables the control of a four-axis robot for pile cutting operations via a teach pendant. It achieves the input of geometric and non-geometric data for cast-in-place concrete piles by using a teach pendant to display the BIM model of the pile cutter and the BIM models of each pile head in a pile group. Furthermore, it enables precise on-site positioning of the pile cutter using a positioning chip. Finally, this invention, through a telescopic multi-pile cutting system, allows for long-distance and multi-directional pile cutting operations, which is of great significance for improving construction efficiency and achieving intelligent construction.

[0032] This invention pre-imports the site model and the four-axis pile-cutting robot equipment model into the teaching pendant, sets the pile-cutting construction operation plan in the teaching pendant, including the equipment location (the range of pile positions that can be covered by the telescopic ring-type hydraulic pile-cutting device should be considered), the pile-cutting sequence, etc., and evaluates the pile-cutting pressure value according to the actual site conditions, assisting in completing pile-cutting construction operations in various complex terrains, reducing construction safety risks, and improving construction efficiency.

[0033] In one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the positioning device includes: a positioning chip 1, an image measuring instrument 2, and a positioning data transmission device 3 disposed on the annular cutting head, wherein the positioning data transmission device is connected to the positioning chip, the image measuring instrument, and the teaching pendant respectively.

[0034] like Figure 2 As shown, in one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the teaching pendant includes: a display screen 4, a data receiving and transmitting antenna 5, and a data processing chip 6, wherein the data processing chip is connected to the display screen and the data receiving and transmitting antenna respectively; the data receiving and transmitting antenna communicates with the positioning data transmission device, and the data receiving and transmitting antenna receives the position information of the annular cutting pile head from the positioning data transmission device.

[0035] Here, the teach pendant may also include an on / off switch 7.

[0036] In one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the data receiving and transmission antenna is used to acquire the BIM model of each pile position in the pile group on site and the BIM model of the cutting machine and import them into the teaching pendant.

[0037] The data processing chip is used to read the BIM models of each pile location in the pile group and the pile cutter BIM model. Based on the pile location BIM models and the pile cutter BIM models, the data processing chip calculates the movement guide route of the pile cutter and the preset position of the pile head and displays it on the display screen. After controlling the pile cutter to move to the designated position of the pile cutter according to the movement guide route, the chip controls the ring pile cutter head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to perform pile cutting operations on each pile head in the pile group within the coverage area in a set order.

[0038] In one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the positioning chip is used to collect the planar coordinates in the position information of the annular pile head, and the image measuring instrument is used to collect the height coordinates of the annular pile head in the position information.

[0039] In one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the number of the image measuring instruments is three, such as... Figure 1 and 4 As shown, the three image measuring instruments are arranged at 90-degree intervals.

[0040] like Figure 1 and 4 As shown, in one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the number of positioning chips is three, wherein each positioning chip is respectively set on the annular cutting head corresponding to the location of an image measuring instrument.

[0041] In one embodiment of the four-axis intelligent multi-pile cutting system of the present invention, the data processing chip is further used to evaluate the corresponding pressure value applied by the pile cutter based on the parameter value of the pile body strength in the BIM model of each pile location, so as to obtain the evaluation pressure value, and control the pile cutter to cut each pile head based on the evaluation pressure value.

[0042] Here, the present invention uses the construction parameter values ​​attached to the BIM model of the pile head to intelligently analyze and evaluate the pressure that the pile cutter needs to apply during operation, providing stronger data support for the construction of the pile cutter.

[0043] Specifically, before construction, the site pile locations and the model of the four-axis pile-cutting robot can be imported into the teach pendant. By comparing the model with the positioning data transmitted by the positioning chip, the positioning is considered complete once the actual position of the device matches the preset calculated position. The operator can select the device position in the teach pendant based on the site pile group situation and environment. This position must ensure that all pile locations are within the coverage area of ​​the annular pile-cutting head of the telescopic multi-pile cutting system. After the position is selected, the teach pendant will demonstrate the pile-cutting operation. Simultaneously, the system provides a pile-cutting pressure value for the operator to select based on the assessed site conditions. Once the pressure value is selected, a pile-cutting operation plan is generated and converted into a language recognizable by the robot through the teach pendant's data processing system, guiding the four-axis pile-cutting robot in its pile-cutting operation.

[0044] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0045] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0046] Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A four-axis intelligent multi-pile cutting system, characterized in that, include: The positioning device installed on the annular pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter is used to collect the position information of the annular pile head in real time. A four-axis intelligent telescopic multi-pile cutting system includes: an annular pile cutting head and a telescopic mechanism connected to the annular pile cutting head; The teach pendant installed in the driver's control room of the pile cutter is used to receive the position information of the ring-shaped pile head from the positioning device. Based on the position information of the ring-shaped pile head, the designated position of the pile cutter, the pile cutter's BIM model, and the BIM models of each pile in the pile group, the pile cutter is moved to the designated position. Then, the ring-shaped pile head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter is controlled to cut the pile heads in the pile group in a set sequence.

2. The four-axis intelligent multi-pile cutting system as described in claim 1, characterized in that, The positioning device includes: The positioning chip, image measuring instrument, and positioning data transmission device are installed on the annular pile head, and the positioning data transmission device is connected to the positioning chip, image measuring instrument, and teaching pendant, respectively.

3. The four-axis intelligent multi-pile cutting system as described in claim 2, characterized in that, The teach pendant includes: The system includes a display screen, a data receiving and transmitting antenna, and a data processing chip. The data processing chip is connected to both the display screen and the data receiving and transmitting antenna. The data receiving and transmitting antenna communicates with the positioning data transmission device and receives the position information of the annular pile head from the positioning data transmission device.

4. The four-axis intelligent multi-pile cutting system as described in claim 3, characterized in that, The data receiving and transmission antenna is used to acquire the BIM models of each pile location in the pile group on site and the pile cutting machine BIM model and import them into the teaching pendant. The data processing chip is used to read the BIM models of each pile location in the pile group and the pile cutter BIM model. Based on the pile location BIM models and the pile cutter BIM models, the data processing chip calculates the movement guide route of the pile cutter and the preset position of the pile head and displays it on the display screen. After controlling the pile cutter to move to the designated position of the pile cutter according to the movement guide route, the chip controls the ring pile cutter head of the four-axis intelligent telescopic multi-pile cutting system of the pile cutter to perform pile cutting operations on each pile head in the pile group within the coverage area in a set order.

5. The four-axis intelligent multi-pile cutting system as described in claim 4, characterized in that, The number of image measuring instruments is three, and the three image measuring instruments are arranged at 90-degree intervals.

6. The four-axis intelligent multi-pile cutting system as described in claim 5, characterized in that, The number of positioning chips is three, with each positioning chip being set on the annular truncated pile head corresponding to the location of an image measuring instrument.

7. The four-axis intelligent multi-pile cutting system as described in claim 3, characterized in that, The data processing chip is also used to evaluate the corresponding pressure value applied by the pile cutter based on the parameter value of the pile body strength in the BIM model of each pile location, so as to obtain the evaluation pressure value, and control the pile cutter to cut each pile head based on the evaluation pressure value.

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