Prefabricated segmental beam side mold polishing robot

Abstract

The invention relates to the technical field of building construction equipment, in particular to a prefabricated segmental beam side mold polishing robot which comprises a robot body, a lifting guide frame is arranged on one side of the robot body, a control cabinet is installed at the bottom of the lifting guide frame, and a lifting plate is driven in the lifting guide frame; a mechanical arm of a multi-arm structure is installed on the lifting plate, a mounting plate is fixed to the tail end of the mechanical arm, a multi-directional movable plate is arranged on the outer side of the mounting plate in a driving mode, a grinding module is arranged on the outer side of the multi-directional movable plate and composed of a rotator and a grinding head, and a positioning module is further installed on the mounting plate. The positioning module is composed of a high-precision laser scanner and a visual identification system. The prefabricated segmental beam side mold grinding robot can adapt to formworks of various shapes and sizes, precise grinding is achieved, meanwhile, the good position sensing capacity is achieved, excessive grinding or uneven grinding is avoided, and therefore the quality and production efficiency of prefabricated parts are improved.

Description

Technical Field

[0001] The invention relates to the technical field of building construction equipment, and in particular to a prefabricated segment beam side form grinding robot. Background Art

[0002] With the development of the construction industry and the advancement of technology, prefabricated components are widely used in modern construction projects due to their high efficiency and environmental protection. In the production process of prefabricated components, the cleaning and maintenance of the formwork is one of the key links to ensure the quality of the components. In order to improve production efficiency, reduce labor costs, and ensure construction quality and safety, the formwork cleaning work is gradually developing in the direction of automation and intelligence. As an emerging solution, the intelligent cleaning robot has shown significant advantages in improving the cleanliness of the formwork and reducing the safety hazards caused by manual operation.

[0003] Although the existing intelligent template cleaning robots can effectively complete the tasks of template grinding and applying release agents, they still have some shortcomings when handling the side forms of prefabricated segmental beams. Specifically, due to the complex shapes and various sizes of the side forms of prefabricated segmental beams, the existing robots are difficult to adapt to templates of different shapes and sizes for precise grinding, resulting in poor grinding effects, affecting the quality of subsequent prefabricated components. At the same time, due to the lack of accurate position perception capabilities, the robots are prone to over-grinding or uneven grinding during the grinding process, further affecting the quality of prefabricated components. Summary of the invention

[0004] The purpose of the present invention is to provide a prefabricated segmental beam side form grinding robot to solve the problems raised in the above background technology that the current template intelligent cleaning robots have low grinding accuracy, poor adaptability and inaccurate position perception when processing prefabricated segmental beam side formwork.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a prefabricated segment beam side mold grinding robot, comprising a robot body, a lifting guide frame is provided on one side of the robot body, a control cabinet is installed at the bottom of the lifting guide frame, a lifting plate is driven inside the lifting guide frame, a mechanical arm with a multi-arm structure is installed on the lifting plate, a mounting plate is fixed at the end of the mechanical arm, a multi-directional movable plate is driven on the outer side of the mounting plate, a grinding module is provided on the outer side of the multi-directional movable plate, the grinding module is composed of a rotator and a grinding head, and a positioning module is also installed on the mounting plate, the positioning module is composed of a high-precision laser scanner and a visual recognition system.

[0006] Preferably, the visual recognition system includes an image processor and a camera, and the image processor is connected to a processor inside the control cabinet via a data cable.

[0007] Preferably, a steering roller is provided inside the mounting plate through a groove, a servo motor is provided at the top of the mounting plate, and the inner side of the top of the multi-directional movable plate is movably connected to the outer side of the top of the steering roller through a rotating pin.

[0008] Preferably, a side of the steering roller corresponding to the multi-directional movable plate is also connected to a swing cylinder, and the connection between the swing cylinder and the multi-directional movable plate is movably connected via a hinge.

[0009] Preferably, a clamping column is provided at the center of the back side of the grinding module, and a clamping sleeve matching the clamping column structure is provided at the center of the outer side of the rotator.

[0010] Preferably, both upper and lower ends of the ferrule are connected with locking screws through a threaded structure, and an elastic rubber ring is provided on the inner wall of the ferrule.

[0011] Preferably, vertical guide rails are provided on both inner walls of the lifting guide frame, and both sides of the lifting plate are connected to guide blocks in the vertical guide rails.

[0012] Preferably, guide pillars are symmetrically arranged inside the lifting guide frame, and guide sleeves which are sleeved outside the guide pillars are symmetrically fixed to the back side of the lifting plate.

[0013] Preferably, a cooling ring is detachably mounted on the back side of the grinding head, and a cooling medium is injected into the interior of the cooling ring.

[0014] Preferably, a circular recess is provided at the outer end of the clamping column, and a magnet sheet is bonded and fixed in the circular recess at the outer end of the clamping column.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the prefabricated segmental beam side form grinding robot can adapt to templates of various shapes and sizes, achieve precise grinding, and have good position perception ability to avoid excessive grinding or uneven grinding, thereby improving the quality and production efficiency of prefabricated components. The prefabricated segmental beam side form grinding robot realizes high-precision recognition of template surface features through the design of the image processor and camera of the visual recognition system, and cooperates with the high-precision laser scanner to accurately sense the position and shape of the template, ensuring that the grinding head operates accurately according to the preset path under the drive of the rotator. At the same time, through the synergy of components such as the control cabinet, lifting guide frame, lifting plate, mechanical arm, mounting plate and multi-directional movable plate, not only the adaptability and flexibility of the system are enhanced, but also the grinding quality and efficiency are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a prefabricated segment beam side form grinding robot according to the present invention;

[0017] Figure 2This is a schematic diagram of the external structure of a mounting plate of a prefabricated segment beam side form grinding robot according to the present invention;

[0018] Figure 3 It is a schematic diagram of the outer structure of a multi-directional movable plate of a prefabricated segment beam side mold grinding robot according to the present invention;

[0019] Figure 4 This is a schematic diagram of the internal structure of a lifting guide frame of a prefabricated segment beam side mold polishing robot according to the present invention;

[0020] Figure 5 This is a schematic diagram of the back structure of a grinding head of a prefabricated segment beam side mold grinding robot according to the present invention.

[0021] In the figure: 1. Robot body; 2. Lifting guide frame; 21. Vertical guide rail; 22. Guide column; 23. Guide sleeve; 3. Control cabinet; 4. Lifting plate; 5. Robot arm; 6. Mounting plate; 7. Multi-directional movable plate; 8. Grinding module; 81. Rotator; 82. Grinding head; 9. Positioning module; 91. High-precision laser scanner; 92. Visual recognition system; 921. Image processor; 922. Camera; 10. Steering roller; 11. Servo motor; 12. Swing cylinder; 13. Clamping sleeve; 14. Clamping column; 15. Cooling ring. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-5The present invention provides a technical solution: a prefabricated segment beam side mold grinding robot, comprising a robot body 1, a lifting guide frame 2 is provided on one side of the robot body 1, a control cabinet 3 is installed at the bottom of the lifting guide frame 2, a lifting plate 4 is driven inside the lifting guide frame 2, a mechanical arm 5 with a multi-arm structure is installed on the lifting plate 4, a mounting plate 6 is fixed at the end of the mechanical arm 5, a multi-directional movable plate 7 is driven on the outer side of the mounting plate 6, a grinding module 8 is provided on the outer side of the multi-directional movable plate 7, the grinding module 8 is composed of a rotator 81 and a grinding head 82, and a positioning module 9 is also installed on the mounting plate 6, the positioning module 9 is composed of a high-precision laser scanner 91 and a visual recognition system 92. When the prefabricated segment beam side mold needs to be ground, the robot body 1 can issue instructions through the control system in the control cabinet 3 to make the lifting plate 4 inside the lifting guide frame 2 move up and down, drive the mechanical arm 5 to reach the specified height position, and the mechanical arm 5 uses the flexibility of its multi-arm structure and combines the multi-directional movable plate 7 on the mounting plate 6 to enable the grinding module 8 to perform complex action adjustments in three-dimensional space to adapt to template surfaces of different shapes and sizes. When the grinding module 8 is in operation, the rotator 81 drives the grinding head 82 to rotate at high speed to finely grind the template surface. At the same time, the positioning module 9 can play a role synchronously, that is, the high-precision laser scanner 91 and the visual recognition system 92 therein work together to continuously collect and analyze the information of the template surface, and feed it back to the control system in real time, so as to adjust the grinding in time. The robot body 1 not only improves the accuracy and efficiency of the grinding work, but also effectively avoids the quality problems caused by inaccurate position perception, and finally achieves high-quality grinding of the side molds of the prefabricated segment beams, solves the shortcomings of traditional template intelligent cleaning robots when dealing with complex templates, and greatly improves the overall quality and production efficiency of prefabricated components. The visual recognition system 92 includes an image processor 921 and a camera 922. The image processor 921 is connected to the processor inside the control cabinet 3 via a data cable. The camera 922 of the visual recognition system 92 of this structure captures the image information of the template surface, and the image processor 921 transmits the image information to the control cabinet via a data cable. 3 internal processor, the processor adjusts the grinding path and strength in real time according to the received information to ensure the accuracy and uniformity of the grinding process, the mounting plate 6 is provided with a steering roller 10 through a groove, the upper and lower ends of the steering roller 10 are connected to the inner walls of the upper and lower ends of the groove inside the mounting plate 6 through a rotating shaft, and a servo motor 11 is fixedly installed on the top of the mounting plate 6 by bolts, the model of the servo motor 11 is MR-J4-20A, the output shaft of the servo motor 11 is connected to the rotating shaft at the top of the steering roller 10, and the inner side of the top of the multi-directional movable plate 7 is movably connected to the outer side of the top of the steering roller 10 through a rotating pin. When the servo motor 11 of this structure is started, it can drive the steering roller 10 to rotate, and the rotational motion of the steering roller 10 is transmitted to the multi-directional movable plate 7.Thereby, the multi-directional movable plate 7 can be freely adjusted in multiple directions, which not only ensures that the grinding module 8 can accurately grind on complex curved surfaces and template surfaces at different angles, but also ensures that the grinding head 82 always maintains the best contact angle with the template surface through the fine adjustment of the steering roller 10, avoiding uneven grinding or damage to the template surface due to poor contact, and finally improving the grinding quality and work efficiency. The steering roller 10 is also connected to a swing cylinder 12 on the side corresponding to the multi-directional movable plate 7. The model of the swing cylinder 12 is VNA20-180-CR, and the connection between the swing cylinder 12 and the multi-directional movable plate 7 is movably connected by a hinge. The swing cylinder 12 of this structure can further fine-tune the position of the multi-directional movable plate 7 through telescopic action, so that It realizes more flexible and precise multi-directional adjustment, further ensuring that the grinding module 8 can be precisely ground on complex curved surfaces and template surfaces at different angles. A clamping column 14 is provided at the center of the back side of the grinding module 8, and a clamping sleeve 13 that matches the structure of the clamping column 14 is provided at the center of the outer side of the rotator 81. The upper and lower ends of the clamping sleeve 13 are interlaced and connected with locking screws through a threaded structure, and an elastic rubber ring is provided on the inner wall of the clamping sleeve 13. The grinding module 8 of this structure can be inserted into the clamping column 14 by inserting the clamping column 14 into the clamping sleeve 13. The elastic rubber ring on the inner wall of the clamping sleeve 13 can provide good sealing and buffering effects, ensuring that the clamping column 14 and the clamping sleeve 13 are tightly fitted to prevent loosening during the grinding process. At the same time, the locking screws at the upper and lower ends of the clamping sleeve 13 are tightened to further fix it. The connection between the clamping column 14 and the clamping sleeve 13 ensures the firmness and stability between the two, which not only enables the rapid replacement and installation of different grinding modules 8, improving the flexibility and maintenance convenience of the equipment, but also ensures the reliability of the connection between the grinding module 8 and the rotator 81 during high-speed rotation and high-intensity grinding operations, thereby avoiding poor grinding effects caused by unstable connections. Vertical guide rails 21 are provided on the inner walls on both sides of the lifting guide frame 2, and both sides of the lifting plate 4 are connected to the guide blocks in the vertical guide rails 21. With this structure, the lifting plate 4 can move up and down along the inside of the lifting plate 4 through the vertical guide rails 21, ensuring stability and linear motion during the lifting process. Guide columns 22 are symmetrically provided inside the lifting guide frame 2, and the back side of the lifting plate 4 is symmetrically fixed with sleeves arranged on the guide columns 22. The external guide sleeve 23, when the lifting plate 4 of this structure is lifted or lowered, the guide sleeve 23 will be driven to slide smoothly along the outside of the guide column 22, further ensuring that the lifting plate 4 remains horizontal and stable during the lifting process. A cooling ring 15 is detachably installed on the back side of the grinding head 82. The inner walls of the upper and lower sides of the cooling ring 15 are installed on the back side of the grinding head 82 through connecting ears and screws. A liquid injection port is provided on the cooling ring 15, and a cooling medium is injected into the cooling ring 15. In this structure, when the grinding head 82 rotates at high speed for grinding, the cooling medium continuously absorbs and takes away the heat generated during the grinding process through the cooling ring 15, effectively reducing the working temperature of the grinding head 82 and preventing the grinding head 82 from being worn out or the performance being degraded due to overheating. The outer end of the clamping column 14 is provided with a circular inlay.A magnet is bonded and fixed in the circular recess at the outer end of the clamping column 14. The magnet at the outer end of the clamping column 14 attracts the metal parts in the clamping sleeve 13, helping the clamping column 14 to be quickly positioned and initially fixed in the clamping sleeve 13, further fixing the connection between the clamping column 14 and the clamping sleeve 13, and ensuring the firmness and stability between the two.

[0024] Working principle: When using the prefabricated segment beam side form grinding robot, firstly, a command is issued through the control system in the control cabinet 3, so that the lifting plate 4 inside the lifting guide frame 2 moves up and down along the vertical guide rail 21 and the guide column 22, driving the robot arm 5 to reach the specified height position, and then the robot arm 5 uses the flexibility of its multi-arm structure and the multi-directional movable plate 7 to accurately adjust the position of the grinding module 8. When the multi-directional movable plate 7 is adjusted, the servo motor 11 can drive the steering roller 10 to rotate, and the rotational motion of the steering roller 10 is transmitted to the multi-directional movable plate 7, and the swing cylinder 12 further fine-tunes the position of the multi-directional movable plate 7 through the telescopic action, so as to ensure that the grinding module 8 can adapt to template surfaces of different shapes and sizes. Next, the rotator 81 starts to operate, driving the grinding head 82 to rotate at high speed to finely grind the template surface. Grinding. During the grinding process, the cooling medium in the cooling ring 15 continuously absorbs and takes away the heat generated by the grinding head 82. At the same time, the high-precision laser scanner 91 and the visual recognition system 92 in the positioning module 9 work together. The camera 922 of the visual recognition system 92 captures the image information of the template surface, and the image processor 921 transmits this image information to the processor inside the control cabinet 3 through a data cable. The processor adjusts the grinding path and force in real time according to the received information to ensure the accuracy and uniformity of the grinding process. When the grinding head 82 needs to be removed, first loosen the locking screws at the upper and lower ends of the sleeve 13 to loosen the connection between the column 14 and the sleeve 13. At this time, the magnet sheet at the outer end of the column 14 is separated from the metal parts in the sleeve 13, which is convenient for the disassembly of the grinding module 8, thereby completing a series of tasks.

[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A prefabricated segment beam side form grinding robot, comprising a robot body (1), characterized in that: A lifting guide frame (2) is provided on one side of the robot body (1), a control cabinet (3) is installed at the bottom of the lifting guide frame (2), a lifting plate (4) is driven inside the lifting guide frame (2), a mechanical arm (5) with a multi-arm structure is installed on the lifting plate (4), a mounting plate (6) is fixed at the end of the mechanical arm (5), a multi-directional movable plate (7) is driven on the outer side of the mounting plate (6), a grinding module (8) is provided on the outer side of the multi-directional movable plate (7), the grinding module (8) is composed of a rotator (81) and a grinding head (82), and a positioning module (9) is also installed on the mounting plate (6), the positioning module (9) is composed of a high-precision laser scanner (91) and a visual recognition system (92).

2. A prefabricated segment beam side form grinding robot according to claim 1, characterized in that: The visual recognition system (92) comprises an image processor (921) and a camera (922), and the image processor (921) is connected to a processor inside the control cabinet (3) via a data line.

3. The prefabricated segment beam side form grinding robot according to claim 1, characterized in that: A steering roller (10) is provided inside the mounting plate (6) via a groove, a servo motor (11) is provided at the top end of the mounting plate (6), and the inner side of the top end of the multi-directional movable plate (7) is movably connected to the outer side of the top end of the steering roller (10) via a rotating pin.

4. The prefabricated segment beam side form grinding robot according to claim 3, characterized in that: The side of the steering roller (10) corresponding to the multi-directional movable plate (7) is also connected to a swing cylinder (12), and the connection between the swing cylinder (12) and the multi-directional movable plate (7) is movably connected via a hinge.

5. The prefabricated segment beam side form grinding robot according to claim 1, characterized in that: A clamping column (14) is provided at the center of the back side of the grinding module (8), and a clamping sleeve (13) that matches the structure of the clamping column (14) is provided at the center of the outer side of the rotator (81).

6. A prefabricated segment beam side form grinding robot according to claim 5, characterized in that: The upper and lower ends of the clamping sleeve (13) are both connected with locking screws through a threaded structure, and an elastic rubber ring is provided on the inner wall of the clamping sleeve (13).

7. The prefabricated segment beam side form grinding robot according to claim 1, characterized in that: Vertical guide rails (21) are provided on both inner walls of the lifting guide frame (2), and both sides of the lifting plate (4) are connected to guide blocks in the vertical guide rails (21).

8. The prefabricated segment beam side form grinding robot according to claim 7, characterized in that: The lifting guide frame (2) is symmetrically provided with guide pillars (22) inside, and the back side of the lifting plate (4) is symmetrically fixed with guide sleeves (23) sleeved outside the guide pillars (22).

9. The prefabricated segment beam side form grinding robot according to claim 1, characterized in that: A cooling ring (15) is detachably mounted on the back side of the grinding head (82), and a cooling medium is injected into the interior of the cooling ring (15).

10. The prefabricated segment beam side form grinding robot according to claim 5, characterized in that: The outer end of the clamping column (14) is provided with a circular inlay, and a magnet sheet is bonded and fixed in the circular inlay at the outer end of the clamping column (14).

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