Concrete test block gripping and carrying robot and gripping and carrying method

Abstract

The application belongs to the technical field of robots, and particularly relates to a concrete test block clamping and carrying robot and a clamping and carrying method. The concrete test block clamping and carrying robot comprises a transport platform, a mechanical arm, an image module and a control module, the mechanical arm is located on the upper portion of the front end of the transport platform, and comprises a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm and a test block clamping mechanical gripper which are connected in sequence, the image module comprises a walking image module and a test block clamping image module, the walking image module is located below the mechanical arm at the front end of the transport platform, and the test block clamping image module is located on the upper portion of the mechanical arm and comprises a test block clamping image lens base, a test block clamping image lens and an infrared distance measuring sensor. The concrete test block clamping and carrying robot is adopted to replace manual work, the interference influence on the curing room curing environment is reduced, the influence of curing work on the physical health of workers and the hidden danger of manual work are eliminated.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a concrete test block gripping and handling robot and a gripping and handling method. Background Technology

[0002] Concrete specimens are crucial for quality control during construction, evaluating the overall construction quality of buildings, and predicting their lifespan. Concrete is a hydraulic cementitious material that undergoes hydration during its setting and hardening process. To prevent surface evaporation and other forms of moisture loss, and to ensure sufficient hydration to guarantee the concrete's strength, durability, and other technical properties, proper curing is essential. Improper curing of concrete specimens can lead to significant testing errors and incorrect assessments of building quality and lifespan. Therefore, proper curing of concrete specimens is of paramount importance.

[0003] Both national and industry standards require that concrete specimens be placed in a standard curing room with a temperature of 20℃±2℃ and a relative humidity of 95% or higher immediately after demolding. Currently, the traditional curing room operation method is to manually classify the concrete specimens and then manually place them on the specimen rack in the curing room for curing until the curing age is reached. Then, the specimens are manually taken out for various tests. The existing operation method has some defects: (1) When the curing of concrete specimens begins and ends, staff need to enter and exit the curing room to complete the work of transporting and placing the specimens. Since the temperature and humidity requirements of the curing room are relatively strict, the operation of staff entering and exiting the room and moving the concrete specimens will have a significant impact on the temperature and humidity of the curing room for a certain period of time. When there are multiple transport and placement operations within a curing cycle, it will seriously affect the curing effect of the existing specimens in the curing room, thereby affecting the test results of the compressive strength test, durability test, etc. of the concrete specimens. (2) The high humidity environment in the curing room for a long time will affect the health of the staff working in the high humidity environment for a long time. (3) The specimen racks in the curing room are mostly made of cast iron or stainless steel, but they will rust and corrode if placed in the high humidity environment for a long time. There are safety hazards such as sudden breakage and collapse of the specimen rack when the staff picks up and puts in the concrete specimens. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a concrete test block clamping and handling robot and a clamping and handling method. By using a concrete test block clamping and handling robot to replace manual labor, the interference and impact on the curing environment of the curing room are reduced, and the impact of curing operations on the health of workers and the safety hazards of manual operations are eliminated.

[0005] The technical solution of this invention is as follows: a concrete specimen clamping and handling robot, comprising a transport platform, a robotic arm, an imaging module, and a control module. The robotic arm is located at the upper front end of the transport platform and includes a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, and a specimen clamping claw connected in sequence. The imaging module includes a walking imaging module and a specimen clamping imaging module. The walking imaging module is located at the front end of the transport platform, below the robotic arm, and includes a walking imaging lens base and a walking imaging lens. The specimen clamping imaging module is located at the upper part of the robotic arm and includes a specimen clamping imaging lens base and a specimen clamping imaging lens. An infrared ranging sensor is also provided on the side wall of the specimen clamping imaging lens base near the specimen clamping claw. The first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the specimen clamping claw, the walking imaging lens, the specimen clamping imaging lens, and the infrared ranging sensor are respectively connected to the control module.

[0006] The transport platform includes a transport platform load-bearing plate. The lower ends of the load-bearing plate are respectively provided with a front drive wheel and a rear driven wheel. The lower middle part of the load-bearing plate is provided with a transport platform drive motor and a robotic arm power source. The output end of the transport platform drive motor is connected to a drive steering linkage. The drive steering linkage is connected to the rotation shaft of the front drive wheel. The transport platform drive motor is connected to a control module. The first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, and the specimen gripping robotic claw are respectively connected to the robotic arm power source.

[0007] The conveyor platform load-bearing plate is a steel flat plate with a load-bearing capacity of ≥2000kg, and the upper surface of the conveyor platform load-bearing plate has a pattern.

[0008] The power source for the robotic arm includes an air compressor. The output end of the air compressor is equipped with a two-way converter. The two ends of the two-way converter are respectively equipped with a first pneumatic pipe and a second pneumatic pipe. The first pneumatic pipe is equipped with a first pneumatic control valve and a first pneumatic pressure gauge. The second pneumatic pipe is equipped with a second pneumatic control valve and a second pneumatic pressure gauge. The first pneumatic pipe is connected to the first, second, third, and fourth robotic arms. The second pneumatic pipe is connected to the specimen gripping claw. The first pneumatic control valve, the first pneumatic pressure gauge, the second pneumatic control valve, and the second pneumatic pressure gauge are respectively connected to the control module.

[0009] A first drive shaft is provided between the first and second robotic arms, a second drive shaft is provided between the second and third robotic arms, a third drive shaft is provided between the third and fourth robotic arms, and a fourth drive shaft is provided between the fourth robotic arm and the specimen gripper. The first, second, third, and fourth drive shafts are respectively connected to the control module.

[0010] The specimen gripping mechanical claw includes a left mechanical claw and a right mechanical claw. Multiple mechanical claw ribs are fixedly connected to the inner sidewalls of the left and right mechanical claws. The outer side of the mechanical claw ribs is provided with a mechanical claw-like airbag, and the surface of the mechanical claw ribs is provided with multiple round holes.

[0011] The left and right mechanical claws are clamp-type structures. One side of the mechanical claw rib plate is welded and fixed to the specimen clamping mechanical claw, and the other side is vulcanized and fixed to the mechanical claw's airbag-like structure.

[0012] The control module includes a control module and a battery pack. The control module integrates a transport platform drive motor control unit, a robotic arm control unit, a robotic arm power source control unit, an image sensor feedback unit, a power control unit, a specimen number memory storage unit, and a network unit for connecting to mobile phones and computers.

[0013] A method for handling concrete test blocks using a concrete test block gripping and handling robot, comprising the following steps:

[0014] S1: After demolding the molded specimens, the concrete test blocks to be picked up and transported are numbered. The test personnel use a handheld inkjet printer to number the concrete test blocks according to the concrete specimen numbering rules. The concrete test blocks are numbered in the order of project name, concrete test block type, concrete test block water-cement ratio, concrete test block fly ash content and concrete test block molding date.

[0015] S2: Start the concrete test block clamping and transporting robot. Transmit the numbered image data of the concrete test blocks to be operated to the robot via mobile phone or computer, and send the instruction to clamp and transport the concrete test blocks to the curing room for curing.

[0016] S3: After receiving the instruction, the concrete block picking and transporting robot starts the transport platform. The control module, combined with the image data from the image module, makes the concrete block picking and transporting robot move to the concrete block to be picked and transported, and the transport platform stops moving.

[0017] S4: Start the robotic arm. Combining the specimen gripping image lens of the imaging module with the image data of the concrete specimen number, the robotic arm begins to move, bringing the specimen gripping claw closer to the concrete specimen. When the specimen gripping claw approaches the concrete specimen until the infrared ranging sensor starts to respond, the specimen gripping claw locks. At this time, the specimen gripping claw and the concrete specimen are in a state of virtual contact. The claw then expands like an airbag to clamp the concrete specimen, at which point the specimen gripping claw and the concrete specimen are in a state of solid contact and tight grip.

[0018] S5: Start the robotic arm, and in conjunction with the specimen gripping image lens of the imaging module, move the specimen gripping robotic claw holding the concrete specimen block to the transport platform through behavioral actions.

[0019] S6: Repeat steps S2 to S5 to complete the work of clamping and placing other concrete test blocks onto the transport platform;

[0020] S7: The transport platform starts, and the control module, combined with the image data from the imaging module, causes the concrete test block clamping and transporting robot to move to the front of the specimen curing rack in the curing room. The transport platform stops moving, completing the transport of the concrete test block, and the robotic arm starts to remove the concrete test block.

[0021] In step S1, the concrete test blocks to be picked up and transported are numbered. The project name is represented by two-digit English letters, using the first letter of the first two Chinese characters of the abbreviation of the project. The concrete test block type is represented by one-digit English letters, where Y represents concrete cube compressive strength test block, D represents concrete freeze-thaw resistance test block, S represents concrete impermeability test block, L represents concrete tensile test block, and T represents concrete modulus of elasticity test block. The water-cement ratio of the concrete test block is represented by two-digit Arabic numerals. The fly ash content of the concrete test block is represented by two-digit Arabic numerals. The molding date of the concrete test block is represented by four-digit Arabic numerals, where the first two digits represent the month and the last two digits represent the day.

[0022] The technical advantages of this invention are as follows: 1. This invention replaces manual labor with a concrete specimen clamping and handling robot, reducing manual operation, avoiding human error, achieving a high degree of automation, improving work efficiency, and simultaneously reducing the impact and duration of personnel on the temperature and humidity inside the curing room during clamping and handling, eliminating the impact of curing operations on the health of workers and the safety hazards of manual operations; 2. The specimen clamping mechanical claw of this invention is equipped with a mechanical claw-like airbag, which is used to clamp the concrete specimen, applicable to concrete specimens of different shapes, and the clamping process does not damage the surface of the concrete specimen; 3. By numbering the concrete specimens and using a specimen clamping image lens, this invention can achieve the selection of concrete specimens with different numbers, which is beneficial for the selection of concrete specimens during the experiment.

[0023] The following will provide further explanation in conjunction with the accompanying drawings. Attached Figure Description

[0024] Figure 1 This is a front view of the structure of a concrete test block clamping and handling robot according to an embodiment of the present invention.

[0025] Figure 2 This is a side view of the structure of a concrete test block clamping and handling robot according to an embodiment of the present invention.

[0026] Figure 3 This is a schematic diagram of the mechanical claw for gripping specimens according to an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the power source for the robotic arm in an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the mechanical claw rib plate in an embodiment of the present invention.

[0029] Figure 6 This is a schematic diagram of a mechanical claw gripping a square concrete test block according to an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of a mechanical claw gripping a cylindrical concrete specimen in an embodiment of the present invention.

[0031] Reference numerals: 101-Front drive wheel, 102-Rear driven wheel, 103-Transport platform load-bearing plate, 104-Transport platform drive motor, 105-Drive steering linkage, 201-First robotic arm, 202-First drive shaft, 203-Second robotic arm, 204-Second drive shaft, 205-Third robotic arm, 206-Third drive shaft, 207-Fourth robotic arm, 208-Fourth drive shaft, 209-Specimen gripper, 210-Robot arm power source, 301-Walking image lens, 302-Walking image lens base, 303-Specimen gripper Image lens, 304 - Specimen clamp for image lens base, 305 - Infrared rangefinder sensor, 2091 - Left mechanical gripper, 2092 - Right mechanical gripper, 2093 - Mechanical gripper pneumatic airbag, 2094 - Mechanical gripper rib, 2101 - Air compressor, 2102 - Two-way converter, 2103 - First pneumatic control valve, 2104 - First pneumatic pressure gauge, 2105 - First pneumatic pipeline, 2106 - Second pneumatic control valve, 2107 - Second pneumatic pressure gauge, 2108 - Second pneumatic pipeline, 401 - Control module, 402 - Battery pack. Detailed Implementation Example 1

[0032] like Figures 1-7As shown, a concrete specimen handling robot includes a transport platform, a robotic arm, an imaging module, and a control module. The robotic arm is located at the upper front end of the transport platform and includes a first robotic arm 201, a second robotic arm 203, a third robotic arm 205, a fourth robotic arm 207, and a specimen gripper 209 connected in sequence. The imaging module includes a walking imaging module and a specimen gripping imaging module. The walking imaging module is located at the front end of the transport platform, below the robotic arm, and includes a walking imaging lens base 302 and a walking imaging lens 301. The specimen gripping image module is located on the upper part of the robotic arm and includes a specimen gripping image lens base 304 and a specimen gripping image lens 303. An infrared ranging sensor 305 is also provided on the side wall of the specimen gripping image lens base 304 near the specimen gripping mechanical claw 209. The first robotic arm 201, the second robotic arm 203, the third robotic arm 205, the fourth robotic arm 207, the specimen gripping mechanical claw 209, the walking image lens 301, the specimen gripping image lens 303, and the infrared ranging sensor 305 are respectively connected to the control module.

[0033] In practical use, after the molded specimens are demolded, the concrete test blocks to be clamped and transported are numbered. The concrete test block clamping and transporting robot is activated, and the numbered image data of the concrete test blocks to be handled is transmitted to the robot via a mobile phone or computer. Instructions are sent to clamp and transport the concrete test blocks to the curing room for curing. Upon receiving the instructions, the transport platform is activated, and the control module, combined with the image data from the imaging module, moves the concrete test block clamping and transporting robot to the location of the concrete test block to be clamped and transported. The transport platform then stops. The robotic arm is activated, and combined with the specimen clamping image lens from the imaging module and the numbered image data of the concrete test blocks, the robotic arm begins to move, bringing the specimen clamping claw 209 close to the concrete test block. When the specimen clamping claw 209 approaches the concrete test block until it reaches the infrared ranging sensor 3... When the response begins at 05, the specimen gripping mechanical claw 209 locks, and at this time, the specimen gripping mechanical claw 209 and the concrete specimen block are in a state of virtual contact. The specimen gripping mechanical claw 209 is equipped with a mechanical claw-like airbag that expands to clamp the concrete specimen block. At this time, the specimen gripping mechanical claw 209 and the concrete specimen block are in a state of solid contact and tight grip. The robotic arm is started, and in conjunction with the specimen gripping image lens 303 of the image module, the specimen gripping mechanical claw 209 holding the concrete specimen block moves to the transport platform through behavioral actions. The above process is repeated to complete the gripping and placement of other concrete specimen blocks on the transport platform. The transport platform is started, and the control module, in conjunction with the image data of the image module, causes the concrete specimen gripping and transporting robot to move to the specimen curing rack in the curing room. The transport platform stops moving, completing the transport of the concrete specimen blocks. The robotic arm is then started to remove the concrete specimen blocks. This invention replaces manual labor with a concrete test block clamping and handling robot, reducing the amount of manual operation, avoiding human error, and improving work efficiency with a high degree of automation. At the same time, it reduces the impact of personnel on the temperature and humidity inside the curing room during the clamping and handling process, eliminating the impact of curing operations on the health of workers and the safety hazards of manual operations. Example 2

[0034] Preferably, based on Embodiment 1, in this embodiment, the transport platform includes a transport platform load-bearing plate 103. The lower ends of the transport platform load-bearing plate 103 are respectively provided with a front drive wheel 101 and a rear driven wheel 102. The lower middle part of the transport platform load-bearing plate 103 is provided with a transport platform drive motor 104 and a robotic arm power source 210. The output end of the transport platform drive motor 104 is connected to a drive steering linkage 105. The drive steering linkage 105 is connected to the rotation shaft of the front drive wheel 101. The transport platform drive motor 104 is connected to a control module. The first robotic arm 201, the second robotic arm 203, the third robotic arm 205, the fourth robotic arm 207, and the specimen gripping robotic claw 209 are respectively connected to the robotic arm power source 210.

[0035] In actual use, the output end of the transport platform drive motor 104 of the present invention is connected to a drive steering linkage 105. The drive steering linkage 105 is connected to the rotation shaft of the front drive wheel 101. The transport platform drive motor 104 drives the drive steering linkage 105 to control the front drive wheel 101 to achieve walking and steering, thereby realizing the movement of the transport platform. Example 3

[0036] Preferably, based on Embodiment 1 or Embodiment 2, in this embodiment, the conveying platform load-bearing plate 103 is a steel plate with a load-bearing capacity of ≥2000kg, and the upper surface of the conveying platform load-bearing plate 103 has a pattern.

[0037] In actual use, the upper surface of the conveying platform load-bearing plate 103 of the present invention has a pattern, which increases the friction between the concrete specimen and the conveying platform load-bearing plate 103 and prevents the concrete specimen from slipping. Example 4

[0038] Preferably, based on Embodiment 1 or Embodiment 3, in this embodiment, the power source 210 of the robotic arm includes an air compressor 2101. The output end of the air compressor 2101 is provided with a dual-port converter 2102. The two ends of the dual-port converter 2102 are respectively provided with a first pneumatic pipe 2105 and a second pneumatic pipe 2108. The first pneumatic pipe 2105 is provided with a first pneumatic control valve 2103 and a first pneumatic pressure gauge 2104. The second pneumatic pipe 2108 is provided with a second pneumatic control valve 2106 and a second pneumatic pressure gauge 2107. The first pneumatic pipe 2105 is connected to the first robotic arm 201, the second robotic arm 203, the third robotic arm 205, and the fourth robotic arm 207. The second pneumatic pipe 2108 is connected to the specimen gripping claw 209. The first pneumatic control valve 2103, the first pneumatic pressure gauge 2104, the second pneumatic control valve 2106, and the second pneumatic pressure gauge 2107 are respectively connected to the control module.

[0039] In actual use, the air compressor 2101 of the present invention is equipped with a double-pass converter 2102 at its output end. Through the double-pass converter, one air compressor can coordinate the control of the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, and the specimen clamping robotic claw. The first pneumatic pipe 2105 is connected to the first robotic arm 201, the second robotic arm 203, the third robotic arm 205, and the fourth robotic arm 207. The first pneumatic pipe is connected to each level of robotic arm through a pneumatic pipe to realize the operation of the robotic arm. The second pneumatic pipe 2108 is connected to the specimen clamping robotic claw 209. The second pneumatic pipe 2108 is connected to the biomimetic airbag of the robotic claw inside the specimen clamping robotic claw 209 through a pneumatic pipe to realize the clamping and releasing of the concrete specimen by the robotic claw. Example 5

[0040] Preferably, based on Embodiment 1 or Embodiment 4, in this embodiment, a first transmission shaft 202 is provided between the first robotic arm 201 and the second robotic arm 203, a second transmission shaft 204 is provided between the second robotic arm 203 and the third robotic arm 205, a third transmission shaft 205 is provided between the third robotic arm 205 and the fourth robotic arm 207, and a fourth transmission shaft 208 is provided between the fourth robotic arm 207 and the specimen gripping claw 209. The first transmission shaft 202, the second transmission shaft 204, the third transmission shaft 205 and the fourth transmission shaft 208 are respectively connected to the control module.

[0041] In actual use, the first drive shaft 202 of the present invention connects the first robotic arm 201 and the second robotic arm 203, enabling the second robotic arm 203 to swing up and down and left and right. The second drive shaft 204 connects the second robotic arm 203 and the third robotic arm 205, enabling the third robotic arm 205 to swing up and down and left and right. The third drive shaft 206 connects the third robotic arm 205 and the fourth robotic arm 207, enabling the fourth robotic arm 207 to swing up and down and left and right. Example 6

[0042] Preferably, based on Embodiment 1 or Embodiment 5, in this embodiment, the specimen gripping mechanical claw 209 includes a left mechanical claw 2091 and a right mechanical claw 2092. The inner sidewalls of the left mechanical claw 2091 and the right mechanical claw 2092 are fixedly connected with a plurality of mechanical claw ribs 2094. The outer side of the mechanical claw ribs 2094 is provided with mechanical claw bionic airbags 2093, and the surface of the mechanical claw ribs 2094 is provided with a plurality of round holes.

[0043] In actual use, the inner walls of the left mechanical claw 2091 and the right mechanical claw 2092 of the present invention are fixedly connected with multiple mechanical claw ribs 2094. The outer side of the mechanical claw ribs 2094 is provided with mechanical claw-like airbags 2093. The surface of the mechanical claw ribs 2094 is provided with multiple round holes. When the entire robotic arm starts to move, the specimen-grabbing mechanical claw 209 approaches the concrete specimen block, and the specimen-grabbing mechanical claw 209 locks. At this time, the specimen-grabbing mechanical claw 209 and the concrete specimen block are in a state of virtual contact. The surface of the mechanical claw ribs 2094 is provided with multiple round holes. By pressurizing the gas, the mechanical claw-like airbags 2093 expand and clamp the concrete specimen block. At this time, the specimen-grabbing mechanical claw 209 and the concrete specimen block are in a state of solid contact and tight grip. Using mechanical claw-like airbags to clamp the concrete specimen block can be applied to concrete specimen blocks of different shapes, and the clamping process will not damage the surface of the concrete specimen block. Example 7

[0044] Preferably, based on Embodiment 1 or Embodiment 6, in this embodiment, the left mechanical claw 2091 and the right mechanical claw 2092 are clamp-type structures, one side of the mechanical claw rib plate 2094 is welded and fixed to the specimen clamping mechanical claw 209, and the other side is vulcanized and bonded to the mechanical claw biomimetic airbag 2093.

[0045] In actual use, one side of the mechanical claw rib plate 2094 of the present invention is welded and fixed to the mechanical claw 209 for clamping the specimen, and the other side is vulcanized and bonded to the mechanical claw bionic airbag 2093 to ensure that the mechanical claw bionic airbag is firmly connected. Example 8

[0046] Preferably, based on Embodiment 1, in this embodiment, the control module includes a control module 401 and a battery pack 402. The control module 401 integrates a transport platform drive motor control unit, a robotic arm control unit, a robotic arm power source control unit, an image sensor feedback unit, a power control unit, a specimen number memory storage unit, and a network unit for connecting to mobile phones and computers.

[0047] In practical use, the control module of this invention includes a control module 401 and a battery pack 402. The battery pack 402 is composed of multiple graphene batteries, which have a faster charging speed and longer battery life compared to ordinary lead-acid batteries. The control module 401 integrates a transport platform drive motor control unit, a robotic arm control unit, a robotic arm power source control unit, an image sensor feedback unit, a power control unit, a specimen number memory storage unit, and a network unit for connecting to mobile phones and computers. Through the interactive learning of several control units, the robot's walking, specimen recognition, and specimen gripping can be fully automated. Example 9

[0048] A method for handling concrete test blocks using a concrete test block gripping and handling robot, comprising the following steps:

[0049] S1: After demolding the molded specimens, the concrete test blocks to be picked up and transported are numbered. The test personnel use a handheld inkjet printer to number the concrete test blocks according to the concrete specimen numbering rules. The concrete test blocks are numbered in the order of project name, concrete test block type, concrete test block water-cement ratio, concrete test block fly ash content and concrete test block molding date.

[0050] S2: Start the concrete test block clamping and transporting robot. Transmit the numbered image data of the concrete test blocks to be operated to the robot via mobile phone or computer, and send the instruction to clamp and transport the concrete test blocks to the curing room for curing.

[0051] S3: After receiving the instruction, the concrete block picking and transporting robot starts the transport platform. The control module, combined with the image data from the image module, makes the concrete block picking and transporting robot move to the concrete block to be picked and transported, and the transport platform stops moving.

[0052] S4: Start the robotic arm. Combining the specimen gripping image lens of the imaging module and the image data of the concrete specimen number, the robotic arm begins to move, bringing the specimen gripping claw 209 close to the concrete specimen. When the specimen gripping claw 209 approaches the concrete specimen until the infrared ranging sensor 305 starts to respond, the specimen gripping claw 209 locks. At this time, the specimen gripping claw 209 and the concrete specimen are in a state of virtual contact. The claw's biomimetic airbag 2093 expands and clamps the concrete specimen. At this time, the specimen gripping claw 209 and the concrete specimen are in a state of real contact and tight grip.

[0053] S5: Start the robotic arm, and in conjunction with the specimen gripping image lens 303 of the imaging module, move the specimen gripping robotic claw 209 holding the concrete specimen to the transport platform through behavioral actions.

[0054] S6: Repeat steps S2 to S5 to complete the work of clamping and placing other concrete test blocks onto the transport platform;

[0055] S7: The transport platform starts, and the control module, combined with the image data from the imaging module, causes the concrete test block clamping and transporting robot to move to the front of the specimen curing rack in the curing room. The transport platform stops moving, completing the transport of the concrete test block, and the robotic arm starts to remove the concrete test block.

[0056] In step S1, the concrete test blocks to be handled are numbered. The project name is represented by two-digit letters, using the first letter of the first two Chinese characters of the abbreviated project name. The type of concrete test block is represented by a single-digit letter, where Y represents a concrete cube compressive strength test block, D represents a concrete frost-resistant test block, S represents a concrete impermeability test block, L represents a concrete tensile test block, and T represents a concrete modulus of elasticity test block. The water-cement ratio of the concrete test block is represented by two-digit Arabic numerals. The fly ash content of the concrete test block is represented by two-digit Arabic numerals. The molding date of the concrete test block is represented by four-digit Arabic numerals, where the first two digits represent the month and the last two digits represent the day. Specifically:

[0057] Example 1: The concrete cube compressive strength test block of Project ZY has a water-cement ratio of 0.40, a fly ash content of 20%, and a molding date of January 20. Its concrete test block number is ZYY40200120.

[0058] Example 2: The concrete frost-resistant test block for the TX project has a water-cement ratio of 0.45, a fly ash content of 30%, and a molding date of February 3. Its concrete test block number is TXD45300203.

[0059] Example 3: The concrete elastic modulus test block of the SS project has a water-cement ratio of 0.36, a fly ash content of 15%, and a molding date of December 15. Its concrete test block number is: SST36151215. Example 10

[0060] A method for handling concrete test blocks using a concrete test block gripping and handling robot, comprising the following steps:

[0061] S1: After the molded specimens are demolded, the test personnel use a handheld inkjet printer to number the concrete specimens according to the concrete specimen numbering rules.

[0062] S2: Start the concrete test block clamping and transporting robot. Transmit the numbered image data of the concrete test blocks to be operated to the robot via mobile phone or computer, and send the instruction to clamp and transport the concrete test blocks to the curing room for curing.

[0063] S3: After receiving the instruction, the concrete block picking and transporting robot starts the transport platform drive motor. The control module, combined with the image data from the image module, enables the concrete block picking and transporting robot to move to the concrete block location, and the transport platform drive motor shuts down.

[0064] S4: The first pneumatic control valve 2013 opens, and the air compressor 2101 of the robotic arm power source 210 starts. The power of the air compressor 2101 is adjusted by the control module to make the pressure of the first pneumatic pressure gauge 2104 between 0.6MPa and 0.7MPa. At this time, the robotic arm starts to move. Combined with the specimen clamping image lens 303 of the image module and the image data of the concrete specimen number, the entire robotic arm starts to move so that the specimen clamping mechanical claw 209 approaches the concrete specimen. When the specimen clamping mechanical claw 209 approaches the concrete specimen until the infrared ranging sensor 305 on the fourth robotic arm 207 starts to respond, the first pneumatic control valve 2013 closes, the air compressor 2101 of the robotic arm power source 210 is turned off, and the robotic arm is in the action lock state. At this time, the specimen clamping mechanical claw 209 and the concrete specimen are in a state of virtual contact.

[0065] S5: The second pneumatic control valve 2106 opens, the air compressor 2101 of the robotic arm power source 210 starts, and the power of the air compressor 210 is adjusted by the control module to slowly increase the pressure of the first pneumatic pressure gauge 2104 to 0.1MPa. The bionic airbag 2093 of the robotic claw begins to expand as the air pressure increases until it contacts the concrete specimen and the pressure rises to 0.1MPa. At this time, the specimen gripping robotic claw 209 is in a solid contact and tight gripping state with the concrete specimen. The second pneumatic control valve 2106 closes, and the air compressor 2101 of the robotic arm power source 210 shuts down.

[0066] S6: The first pneumatic control valve 2013 opens, the air compressor 2101 of the robotic arm power source 210 starts, and the power of the air compressor 2101 is adjusted by the control module to make the pressure of the first pneumatic pressure gauge 2104 between 0.8MPa and 0.9MPa. At this time, the robotic arm starts to move. Combined with the specimen gripping image lens 303 of the image module, the entire robotic arm begins to move. The specimen gripping claw 209, which grips the concrete specimen, moves to the transport platform load plate 103 through behavioral actions. When the specimen gripping claw 209 approaches the transport platform load plate 103 until the infrared ranging sensor 305 on the fourth robotic arm 207 starts to respond, the first pneumatic control valve 2013 closes, the air compressor 2101 of the robotic arm power source 210 shuts down, and the robotic arm is in the action lock state.

[0067] S7: The second pneumatic control valve 2106 is opened, the air compressor 2101 of the robotic arm power source 210 is started, and the power of the air compressor 2101 is adjusted by the control module to make the pressure of the first pneumatic pressure gauge slowly drop from 0.1MPa to 0MPa. The bionic airbag 2093 of the robotic claw begins to contract as the air pressure drops until it becomes a virtual contact with the concrete test block. At this time, the concrete test block is placed stably on the load-bearing plate of the transport platform.

[0068] S8: Repeat steps S4 to S7 to complete the work of clamping and placing other concrete test blocks onto the transport platform;

[0069] S9: The transport platform drive motor 104 starts, and the control module, combined with the image data from the image module, enables the concrete test block clamping and handling robot to move to the front of the specimen curing rack in the curing room. The transport platform drive motor then shuts off, completing the transport of the concrete test block.

[0070] S10: The first pneumatic control valve 2013 opens, the air compressor of the robotic arm power source 210 starts, and the power of the air compressor is adjusted by the control module to make the pressure of the first pneumatic pressure gauge between 0.6MPa and 0.7MPa. At this time, the robotic arm starts to move. Combined with the specimen gripping image lens 303 of the image module, the entire robotic arm begins to move, so that the specimen gripping mechanical claw 209 approaches the concrete specimen on the load-bearing plate 103 of the transport platform. When the specimen gripping mechanical claw 209 approaches the concrete specimen until the infrared ranging sensor 305 on the fourth robotic arm 207 starts to respond, the first pneumatic control valve 2013 closes, the air compressor of the robotic arm power source 210 is turned off, and the robotic arm is in the action lock state. At this time, the specimen gripping mechanical claw 209 and the concrete specimen are in a state of virtual contact.

[0071] S11: The second pneumatic control valve 2016 opens, the air compressor of the robotic arm power source 210 starts, and the power of the air compressor is adjusted by the control module to slowly increase the pressure of the first pneumatic pressure gauge 2104 to 0.1MPa. The bionic airbag of the robotic claw begins to expand as the air pressure increases until it contacts the concrete specimen and the pressure rises to 0.1MPa. At this time, the specimen gripping robotic claw 209 is in a solid contact and tight gripping state with the concrete specimen. The second pneumatic valve closes and the air compressor of the robotic arm power source 210 is turned off.

[0072] S12: The first pneumatic control valve 2013 opens, the air compressor of the robotic arm power source 210 starts, and the power of the air compressor is adjusted by the control module to make the pressure of the first pneumatic pressure gauge 2014 between 0.8MPa and 0.9MPa. At this time, the robotic arm starts to move. Combined with the specimen clamping image lens 303 of the image module, the entire robotic arm starts to move. The specimen clamping claw 209, which clamps the concrete specimen, moves to the curing rack in the curing room through behavioral actions. When the specimen clamping claw 209 approaches the curing rack until the infrared ranging sensor 305 on the fourth robotic arm 207 starts to respond, the first pneumatic control valve 2013 closes, the air compressor of the robotic arm power source 210 is turned off, and the robotic arm is in the action lock state.

[0073] S13: The second pneumatic control valve 2106 is opened, the air compressor of the robotic arm power source 210 is started, and the power of the air compressor is adjusted by the control module to make the pressure of the first pneumatic pressure gauge slowly drop from 0.1MPa to 0MPa. The artificial airbag of the robotic claw begins to contract as the air pressure of 2093 decreases until it becomes a virtual contact with the concrete test block. At this time, the concrete test block is placed stably on the curing frame.

[0074] S14: Repeat steps S10 to S13 to complete the clamping and placement of other concrete test blocks onto the curing frame;

[0075] S15: After the concrete test block is picked up and transported, the transport platform drive motor 104 starts, and the control module, combined with the image data from the image module, drives the concrete test block picking and transporting robot to the outside of the curing room. The transport platform drive motor 104 then shuts down, and the concrete test block picking and transporting robot enters standby mode.

[0076] Once the concrete specimens have reached the appropriate curing age, repeat steps S1 to S15 to remove and transport the concrete specimens to the test site.

[0077] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A concrete test block gripping and transporting robot, characterized in that: The system includes a transport platform, a robotic arm, an imaging module, and a control module. The robotic arm is located at the upper front end of the transport platform and includes a first robotic arm (201), a second robotic arm (203), a third robotic arm (205), a fourth robotic arm (207), and a specimen gripping gripper (209) connected in sequence. The imaging module includes a walking imaging module and a specimen gripping imaging module. The walking imaging module is located at the front end of the transport platform, below the robotic arm, and includes a walking imaging lens base (302) and a walking imaging lens (301). The specimen gripping imaging module is located at the upper part of the robotic arm and includes a specimen gripping imaging lens base (304) and a specimen gripping imaging lens (303). An infrared ranging sensor (305) is also provided on the side wall of the lens base (304) near the specimen gripping mechanical claw (209). The first robotic arm (201), the second robotic arm (203), the third robotic arm (205), the fourth robotic arm (207), the specimen gripping mechanical claw (209), the walking image lens (301), the specimen gripping image lens (303), and the infrared ranging sensor (305) are respectively connected to the control module. The transport platform includes a transport platform load-bearing plate (103). The lower parts of both ends of the transport platform load-bearing plate (103) are respectively provided with a front drive wheel (101) and a rear driven wheel (102). The lower part of the middle of the transport platform load-bearing plate (103) is provided with a transport platform. The transport platform is equipped with a drive motor (104) and a robotic arm power source (210). The output end of the transport platform drive motor (104) is connected to a drive steering linkage (105), which is connected to the rotation shaft of the front drive wheel (101). The transport platform drive motor (104) is connected to a control module. The first robotic arm (201), the second robotic arm (203), the third robotic arm (205), the fourth robotic arm (207), and the specimen gripping claw (209) are respectively connected to the robotic arm power source (210). The robotic arm power source (210) includes an air compressor (2101), and the output end of the air compressor (2101) is equipped with a double-pass converter (2). 102), the two ends of the dual-channel converter (2102) are respectively provided with a first pneumatic pipe (2105) and a second pneumatic pipe (2108). The first pneumatic pipe (2105) is provided with a first pneumatic control valve (2103) and a first pneumatic pressure gauge (2104). The second pneumatic pipe (2108) is provided with a second pneumatic control valve (2106) and a second pneumatic pressure gauge (2107). The first pneumatic pipe (2105) is connected to the first robotic arm (201), the second robotic arm (203), the third robotic arm (205), and the fourth robotic arm (207). The second pneumatic pipe (2108) is connected to the specimen clamping claw (209).The first pneumatic control valve (2103), the first pneumatic pressure gauge (2104), the second pneumatic control valve (2106), and the second pneumatic pressure gauge (2107) are respectively connected to the control module. The specimen gripping mechanical claw (209) includes a left mechanical claw (2091) and a right mechanical claw (2092). Multiple mechanical claw ribs (2094) are fixedly connected to the inner walls of the left mechanical claw (2091) and the right mechanical claw (2092). A mechanical claw-inspired airbag (2093) is provided on the outer side of each mechanical claw rib (2094), and multiple circular holes are provided on the surface of each mechanical claw rib (2094).

2. The concrete test block gripping and handling robot according to claim 1, characterized in that: The transport platform load-bearing plate (103) is a steel plate with a load-bearing capacity of ≥2000kg. The upper surface of the transport platform load-bearing plate (103) has a pattern.

3. The concrete test block gripping and handling robot according to claim 1, characterized in that: A first drive shaft (202) is provided between the first robotic arm (201) and the second robotic arm (203), a second drive shaft (204) is provided between the second robotic arm (203) and the third robotic arm (205), a third drive shaft (206) is provided between the third robotic arm (205) and the fourth robotic arm (207), and a fourth drive shaft (208) is provided between the fourth robotic arm (207) and the specimen gripping claw (209). The first drive shaft (202), the second drive shaft (204), the third drive shaft (206) and the fourth drive shaft (208) are respectively connected to the control module.

4. The concrete test block gripping and handling robot according to claim 1, characterized in that: The left mechanical claw (2091) and the right mechanical claw (2092) are clamp-type structures. One side of the mechanical claw rib plate (2094) is welded and fixed to the specimen clamping mechanical claw (209), and the other side is vulcanized and bonded to the mechanical claw's biomimetic airbag (2093).

5. A concrete test block gripping and handling robot according to claim 1, characterized in that: The control module includes a control module (401) and a battery pack (402). The control module (401) integrates a transport platform drive motor control unit, a robotic arm control unit, a robotic arm power source control unit, an image sensor feedback unit, a power control unit, a specimen number memory storage unit, and a network unit for connecting to mobile phones and computers.

6. A method for gripping and transporting concrete test blocks using a concrete test block gripping and transporting robot, comprising using the concrete test block gripping and transporting robot as described in claim 1, characterized in that: Includes the following steps: S1: After demolding the molded specimens, the concrete test blocks to be picked up and transported are numbered. The test personnel use a handheld inkjet printer to number the concrete test blocks according to the concrete specimen numbering rules. The concrete test blocks are numbered in the order of project name, concrete test block type, concrete test block water-cement ratio, concrete test block fly ash content and concrete test block molding date. S2: Start the concrete test block clamping and transporting robot. Transmit the numbered image data of the concrete test blocks to be operated to the robot via mobile phone or computer, and send the instruction to clamp and transport the concrete test blocks to the curing room for curing. S3: After receiving the instruction, the concrete block picking and transporting robot starts the transport platform. The control module, combined with the image data from the image module, makes the concrete block picking and transporting robot move to the concrete block to be picked and transported, and the transport platform stops moving. S4: Start the robotic arm. Combine the specimen gripping image lens of the image module with the image data of the concrete specimen number. The robotic arm starts to move so that the specimen gripping mechanical claw (209) approaches the concrete specimen. When the specimen gripping mechanical claw (209) approaches the concrete specimen until the infrared ranging sensor (305) starts to respond, the specimen gripping mechanical claw (209) locks. At this time, the specimen gripping mechanical claw (209) and the concrete specimen are in a state of virtual contact. The mechanical claw's biomimetic airbag (2093) expands and clamps the concrete specimen. At this time, the specimen gripping mechanical claw (209) and the concrete specimen are in a state of real contact and tight grip. S5: Start the robotic arm, and combine the specimen gripping image lens (303) of the image module to move the specimen gripping robotic claw (209) holding the concrete specimen to the transport platform through behavioral actions; S6: Repeat steps S2 to S5 to complete the work of clamping and placing other concrete test blocks onto the transport platform; S7: The transport platform starts, and the control module, combined with the image data from the imaging module, causes the concrete test block clamping and transporting robot to move to the front of the specimen curing rack in the curing room. The transport platform stops moving, completing the transport of the concrete test block, and the robotic arm starts to remove the concrete test block.

7. The method for gripping and transporting concrete test blocks using a gripping and transporting robot according to claim 6, characterized in that: In step S1, the concrete test blocks to be picked up and transported are numbered. The project name is represented by two-digit English letters, using the first letter of the first two Chinese characters of the abbreviation of the project. The concrete test block type is represented by one-digit English letters, where Y represents concrete cube compressive strength test block, D represents concrete freeze-thaw resistance test block, S represents concrete impermeability test block, L represents concrete tensile test block, and T represents concrete modulus of elasticity test block. The water-cement ratio of the concrete test block is represented by two-digit Arabic numerals. The fly ash content of the concrete test block is represented by two-digit Arabic numerals. The molding date of the concrete test block is represented by four-digit Arabic numerals, where the first two digits represent the month and the last two digits represent the day.

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