Manufacturing device and manufacturing method for steel bar component of prefabricated wall panel

Abstract

The invention relates to the technical field of steel bar component manufacturing methods, in particular to a prefabricated wallboard steel bar component manufacturing device and method. Comprising a supporting frame, a pedestal, a projection device, a carrying device and a machining device. The pedestal is located in the supporting frame and provided with a plurality of station platforms used for machining the prefabricated wall panel reinforcing mesh. The projection device is arranged on the supporting frame and used for projecting a machining drawing to the corresponding station platform. The carrying device is arranged on the supporting frame and used for carrying the reinforcing mesh to be machined to the station platform. The machining device is arranged on the supporting frame and used for cutting and binding the reinforcing mesh of the station platform according to the projected machining drawing. The machining device for the prefabricated wall panel reinforcing steel bar component is simple in structure, convenient to operate and use and high in automation and intelligence degree, the production efficiency and machining precision of the prefabricated wall panel reinforcing steel bar component are greatly improved, the labor cost is reduced, and the machining and manufacturing requirements of various complex components are met.

Description

Technical Field

[0001] The present invention relates to the technical field of steel bar component manufacturing methods, and in particular to a prefabricated wall panel steel bar component manufacturing device and manufacturing method. Background Art

[0002] As an important part of building industrialization, the production process of prefabricated wall panels requires high precision of steel parts. In the prior art, the cutting, positioning and installation of steel mesh mostly rely on manual operation, which is not only time-consuming and labor-intensive, but also prone to error accumulation, affecting the quality and assembly accuracy of prefabricated components. In recent years, laser projection technology has gradually been applied to the field of construction due to its precise and efficient characteristics. At present, there is a prior art that mentions that projection can be used to assist the production and processing of steel mesh, such as a projection-based prefabricated component production method, which includes: obtaining the component type of the prefabricated component to be produced and the mold table information of the mold table on the prefabricated component production line, the mold table information includes the workstation information of the mold table on the prefabricated component production line and the position information of the mold table on the workstation; obtaining the production drawing information of each workstation on the preset prefabricated component production line according to the component type; obtaining the production drawing information of the prefabricated component of the corresponding workstation according to the workstation information; sending the mold table information and the production drawing information of the corresponding workstation to the projection device, so that the projection device projects the production drawing information onto the mold table of the corresponding workstation. This method can greatly improve the processing efficiency of steel mesh by projecting drawings onto the mold table to assist in processing steel mesh. However, in actual applications, because the steel mesh structure involved in the prefabricated wall panels of assembled buildings needs to be cut and tied, both cutting and tying are manual operations, which requires a lot of manpower and material resources to produce the prefabricated wall panel steel bars. The existing devices lack automation equipment and laser projection equipment, making it difficult to promote and apply them on a large scale. Summary of the invention

[0003] The purpose of this application is to solve the deficiencies of the above-mentioned background technology and to provide a prefabricated wall panel steel bar component manufacturing device and manufacturing method.

[0004] The technical solution of the present application is: a prefabricated wall panel steel bar component manufacturing device, comprising:

[0005] Support frame;

[0006] A pedestal, the pedestal being located in the support frame and having a plurality of workstation platforms for processing the prefabricated wall panel steel mesh;

[0007] A projection device, which is arranged on the support frame and is used to project the processing drawings onto the corresponding workstation platform;

[0008] A transport device, which is arranged on the support frame and is used to transport the steel mesh to be processed to the workstation platform or to move the processed steel mesh away from the workstation platform;

[0009] A processing device is arranged on the supporting frame and is used for cutting and binding the steel mesh of the workstation platform according to the projected processing drawing.

[0010] According to a prefabricated wall panel steel bar component manufacturing device provided by the present application, the projection device includes:

[0011] A bracket, wherein the lower end of the bracket is fixed to the support frame, and the upper end is provided with a walking track arranged horizontally;

[0012] A laser projector is connected to a travel track so as to be laterally movable via a travel motor.

[0013] According to a prefabricated wall panel steel bar component manufacturing device provided in the present application, the transport device includes:

[0014] X-axis track, the X-axis track is a track arranged horizontally on the support frame;

[0015] A Y-axis track, the Y-axis track is connected to the X-axis track in a lateral movable manner through a motor drive;

[0016] A Z-axis track, which is connected to the Y-axis track and can be longitudinally moved by a motor;

[0017] The adsorption tooling is driven by a motor to move up and down and is connected to the Z-axis track for adsorbing steel bar components.

[0018] According to a prefabricated wall panel steel bar component manufacturing device provided in the present application, the processing device includes:

[0019] A cutting device, the cutting device comprising an automatic scissors connected to a support frame and capable of being automatically moved in a horizontal, longitudinal and vertical direction by a motor drive;

[0020] The tying device comprises an automatic tying gun connected to a supporting frame and capable of automatically moving in the horizontal, longitudinal and vertical directions by a motor drive.

[0021] The present application also provides a method for manufacturing a prefabricated wall panel steel bar component, wherein the method adopts the above-mentioned prefabricated wall panel steel bar component manufacturing device, and comprises the following steps:

[0022] Adjust the position of the projection device and extract the corresponding drawings into the projection device;

[0023] A target is arranged on a workstation platform on the pedestal, and a projection device is positioned and calibrated based on the target;

[0024] The projection device projects the cutting drawing of the steel mesh onto the workstation platform, and the transport device transports two steel meshes from the storage area of ​​the steel meshes to be processed to the projection workstation platform;

[0025] The processing device moves to the workstation platform to cut two steel mesh sheets based on the projected cutting drawing, and connects the two cut steel mesh sheets by erecting reinforcement bars;

[0026] The projection device projects the binding drawing onto the workstation platform, and the processing device binds and installs the wire box and the embedded pipe in two steel mesh sheets based on the projected binding drawing;

[0027] After the steel mesh is tied and waiting to be lifted away, the projection device switches to another workstation platform to complete the processing of another set of steel mesh according to the above process;

[0028] Proceed sequentially until all steel meshes are processed.

[0029] According to a method for manufacturing prefabricated wall panel steel bar components provided by the present application, the method for extracting corresponding drawings into a projection device includes: scanning the QR code on the current drawing by a barcode scanner, and the barcode scanner retrieves a first drawing for cutting the outer frame of the steel mesh, a second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and a third drawing for binding wire boxes and embedded pipes from the drawing library, and sets the first drawing as the first projection order of the projection device, the second drawing as the second projection order of the projection device, and the third drawing as the third projection order of the projection device.

[0030] According to a method for manufacturing a prefabricated wall panel steel bar component provided by the present application, the method for positioning and calibrating a projection device based on a target includes: acquiring an image of the target based on a binocular camera, preprocessing the acquired image to remove noise, using a SIFT algorithm to detect key feature points in the preprocessed image, extracting descriptors of the key feature points, and obtaining a descriptor vector; using a nearest neighbor algorithm to perform preliminary matching on the descriptor vector, and using a ratio to eliminate matching point pairs with low confidence in the descriptor vector to obtain preliminary matching feature points; using a RANSC method to eliminate mismatched points in the preliminary matching feature points, optimizing the matching results based on polar constraints, and obtaining optimized matching feature points; calculating the parallax between the left and right cameras of the optimized matching feature points, calculating the depth of the optimized matching feature points using a triangulation formula, and mapping the acquired image to a world coordinate system based on the calculated depth information; obtaining a transformation matrix based on the three-dimensional coordinates of the same optimized matching feature point in the projection device coordinate system and the three-dimensional coordinates in the binocular vision camera coordinate system; and using the transformation matrix to unify the target coordinates to the coordinate system of the projection device.

[0031] According to a method for manufacturing prefabricated wall panel steel bar components provided in the present application, the method for the transport device to transport two steel bar meshes from a storage area for steel bar meshes to be processed to a projected workstation platform includes: arranging a storage station for steel bar meshes to be processed on one side of a support frame, adjusting the lateral position of the Y-axis track on the support frame, the longitudinal position of the Z-axis track on the Y-axis track, and the vertical position of the adsorption tool on the Z-axis track, so that the adsorption tool is moved to the topmost steel bar mesh to be processed on the storage station and adsorbed; after the adsorption is completed, the adsorption tool adsorbing the steel bar mesh to be processed is transported to the workstation platform through the X-axis track, the Y-axis track, and the Z-axis track, and the steel bar mesh to be processed is placed on the workstation platform; repeating the above operation to complete the transport of another steel bar mesh to be processed.

[0032] According to a method for manufacturing prefabricated wall panel steel bar components provided in the present application, the method in which the processing device moves to a work station platform and cuts two steel mesh sheets based on a projected cutting drawing includes: adjusting the automatic scissors on the support frame to move horizontally, longitudinally and vertically, so that the automatic scissors move to the top of the work station platform where two steel mesh sheets to be processed are placed, and cutting the outer frames of the two steel mesh sheets to be processed below according to the first drawing corresponding to the outer frame cutting projected by the projection device; after the outer frame cutting is completed, the projection device switches the projection pattern to a second drawing corresponding to the cutting of windows, door openings, and embedded parts mold lines, and the automatic scissors cut the windows, door openings, and embedded parts mold lines of the two steel mesh sheets to be processed below according to the projected second drawing.

[0033] According to a method for manufacturing prefabricated wall panel steel bar components provided in the present application, the method in which the processing device binds and installs wire boxes and embedded pipes in two steel meshes based on a projected binding drawing includes: adjusting the automated binding gun on the support frame to move horizontally, longitudinally and vertically, so that the automated binding gun moves to the top of the two steel meshes that have completed cutting and reinforcement binding, arranging the wire boxes and embedded pipes according to the third binding drawing of the corresponding wire boxes and embedded pipes projected by the projection device, and the automated binding gun binds and fixes the arranged wire boxes and embedded pipes to the steel mesh.

[0034] According to a method for manufacturing prefabricated wall panel steel bar components provided in the present application, the method in which the projection device is switched to another work platform to complete the processing of another group of steel mesh sheets according to the above process includes: after completing the positioning and calibration of the projection device on the previous work platform, moving the target to the next work platform; after completing the processing of the steel mesh sheets on the previous work platform, the laser projector of the projection device is moved along the walking track on the bracket of the supporting frame to the top of the next work platform, and positioning and calibration are performed based on the target on the next work platform. After completion, another group of steel mesh sheets are processed according to the above process.

[0035] The advantages of the present application are as follows: 1. The prefabricated wall panel steel bar component of the present application combines a projection device and a processing device during the production process, and can perform automated processing operations on the prefabricated wall panel steel bar component based on the projected drawings. The overall processing process is extremely efficient, and the human and material resources required are greatly reduced. The entire device has a simple structure and is easy to operate and use, and can form an assembly line operation, which greatly improves the cutting and binding efficiency of the steel mesh. Compared with the traditional manual ruler cutting method, the projection accuracy is higher, and the cutting efficiency of the steel mesh is also improved;

[0036] 2. The present application can conveniently adjust the position of the laser projector by setting a walking track on the bracket. A single laser projector can switch projections on different workstation platforms, which is extremely convenient to adjust. At the same time, the walking track cooperates with the laser projector to conveniently and accurately project drawings onto the workstation platform;

[0037] 3. The present application sets a handling device on the supporting frame, which can conveniently carry the steel mesh to the workstation platform. The entire handling process is fully automated, without the need for human operation, thus reducing manpower investment and greatly improving safety;

[0038] 4. The present application sets a cutting device and a tying device on the supporting frame. The automatic scissors of the cutting device and the automatic tying gun of the tying device can be adjusted in position, and can automatically and accurately perform the cutting and tying operations of the steel mesh, without the need for excessive investment of manpower and material resources, which greatly improves the processing operation of the steel mesh;

[0039] 5. The present application also relates to a method for manufacturing a prefabricated wall panel steel bar component. The method for manufacturing a prefabricated wall panel steel bar component of the present application projects drawings through a projection device, and can automatically process and manufacture steel meshes in conjunction with an automated processing device, which greatly saves manpower and material resources, improves the processing efficiency of steel meshes, and has great promotion value.

[0040] 6. This application retrieves the corresponding processing drawings in advance and sets them according to the set projection order. Through one retrieval, the subsequent three drawing projection operations can be realized, which greatly facilitates the rapid projection of subsequent drawings. The overall operation is simple and convenient;

[0041] 7. This application uses binocular vision and targets to locate and calibrate the laser projector. The positioning and calibration process is fully intelligent and automated. The unified coordinate system avoids the error accumulation problem in the traditional method and improves the processing accuracy of the steel mesh.

[0042] 8. The method for handling steel mesh in this application is very simple. The adsorption tooling uses the support frame as the bearing basis, and realizes the grabbing and adsorption of the steel mesh on the storage station through movement and adjustment in all directions. The handling efficiency is extremely high, and no human intervention is required, which improves safety;

[0043] 9. The present application performs cutting and processing of the steel mesh in two steps, first trimming the outer frame part and then trimming the inner part, which can quickly cut and process the steel mesh, with extremely high cutting efficiency and cutting precision, thus improving the processing efficiency and processing precision of the steel mesh;

[0044] 10. The binding of steel mesh in this application is mainly to bind the wire box and embedded pipe on the steel bar parts. The binding operation is performed by projection with an automatic binding gun, without the need for manual binding operation, and the efficiency of the entire binding process is extremely high;

[0045] 11. The application of the target in this application can switch to the next workstation platform after completing the positioning and calibration of the previous workstation platform. The target is reusable and can be switched between the two workstation platforms to achieve projection positioning and calibration of the two workstation platforms, and realize the assembly line operation of the two workstation platforms, saving a lot of processing time.

[0046] The prefabricated wall panel steel bar component processing device of the present application has a simple structure, is easy to operate and use, has a high degree of automation and intelligence, greatly improves the production efficiency and processing accuracy of prefabricated wall panel steel bar components, reduces labor costs, and adapts to the processing and manufacturing requirements of various complex components. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 : Axial view of the prefabricated wall panel reinforcement component manufacturing device of the present application;

[0048] Figure 2 : A top view of the prefabricated wall panel steel bar component manufacturing device of the present application;

[0049] Figure 3 : Schematic diagram of the target of this application being placed on the workstation platform;

[0050] Figure 4 : The laser projector of the present application projects the first drawing schematic diagram onto the workstation platform;

[0051] Figure 5 : Schematic diagram of the handling device of the present application carrying the steel mesh to the workstation platform;

[0052] Figure 6 : A schematic diagram of the automatic scissors of the present application cutting a steel mesh based on the projected first drawing;

[0053] Figure 7: A schematic diagram of the laser projector of the present application projecting the second drawing onto the workstation platform;

[0054] Figure 8 : A schematic diagram of the automatic scissors of the present application cutting a steel mesh based on the projected second drawing;

[0055] Fig. 9 : A schematic diagram of the automated tying gun of the present application tying a steel mesh based on the projected third drawing;

[0056] Fig.10 : A schematic diagram of the laser projection of the present application switching to another workstation platform to produce another group of steel bar parts;

[0057] Among them: 1-support frame; 2-pedestal; 3-bracket; 4-walking track; 5-laser projector; 6-adsorption tooling; 7-X-axis track; 8-Y-axis track; 9-Z-axis track; 10-automatic scissors; 11-automatic tying gun; 12-target. DETAILED DESCRIPTION

[0058] The embodiments of the present application are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0059] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0060] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] like Figures 1 to 10 As shown, a prefabricated wall panel steel bar component manufacturing device of the present application includes a support frame 1, a pedestal 2, a projection device, a transport device and a processing device. The support frame 1 of the present application is the bearing base of the entire manufacturing device. Figures 1-2 As shown, the support frame 1 of the present application is a frame structure arranged in the transverse direction, and the support frame 1 includes two parts, one part is a storage station for storing steel mesh, and the other part is a processing station for processing the steel mesh, and the storage station and the processing station are arranged in sequence in the transverse direction; the pedestal 2 is in the support frame 1, and a plurality of station platforms for processing the prefabricated wall panel steel mesh are provided on the pedestal 2. The pedestal 2 is actually the processing station, and the steel mesh is cut and tied on the pedestal 2; the projection device is arranged on the support frame 1 for projecting the processing drawings onto the corresponding station platform, and the projection device projects the processing drawings of the steel mesh onto the pedestal 2, and the projected image is consistent with the steel mesh on the pedestal 2. Overlap, and then the steel mesh can be processed accordingly according to the projected image; the transporting device is arranged on the supporting frame 1 to transport the steel mesh to be processed to the work station platform, and the transporting device transports the steel mesh to be processed placed on the storage station to the work station platform horizontally. The transporting device of this embodiment is only used to transport the steel mesh to the work station platform, and the steel mesh on the work station platform is lifted away by lifting equipment after it is processed to form a steel bar component; the processing device is arranged on the supporting frame 1 to cut and bind the steel mesh on the work station platform according to the projected processing drawing. The processing device has two functions of cutting and binding, and is used in conjunction with the projection of the projection device to automatically cut and bind the steel mesh on the work station platform.

[0062] When the manufacturing device of the present application actually processes the steel bar parts, it is carried out according to the following steps:

[0063] S1. Adjust the position of the projection device and extract the corresponding drawing into the projection device;

[0064] The pedestal 2 of the present application is provided with a plurality of workstation platforms, each of which can process steel meshes. When starting to make the steel bar components of the prefabricated wall panels, a corresponding workstation platform is selected, and then the position of the projection device is adjusted to ensure that the projection device can project the drawings onto the workstation platform. Generally, the projection device can set a fixed point according to the number and position of the workstation platforms. When adjusting the projection device, it is only necessary to adjust the projection device to the fixed point corresponding to the workstation platform.

[0065] After the position adjustment of the projection device is completed, the drawings and projection tasks to be projected can be extracted into the projection device. In fact, the CAD drawings and pre-designed projection task files are imported into the MES system. The MES system and the projection device are data-connected. When the projection device is needed for image projection, the MES system projects the drawings to be projected onto the workstation platform through the projection device.

[0066] S2, placing a target 12 on a workstation platform on the pedestal 2, and positioning and calibrating the projection device based on the target 12;

[0067] The purpose of arranging the target 12 is to position and calibrate the projection device. There are many ways to position and calibrate the projection device. The present application adopts a method of cooperating with binocular vision to position and calibrate the projection device. In fact, the target 12 is imaged by a binocular camera, and then the image is processed to unify the coordinate system of the projection device and the coordinate system of the binocular camera.

[0068] S3, the projection device projects the cutting drawing of the steel mesh onto the workstation platform, and the transport device transports two steel meshes from the storage area of ​​the steel meshes to be processed to the projection workstation platform;

[0069] After completing the positioning and calibration of the projection device, the MES system projects the drawings to be projected onto the workstation platform through the projection device, and the transport device transports the steel mesh to be processed from the storage station to the projection station platform. Because the steel bar parts manufactured in this application include two steel meshes, the transport device needs to transport the two steel meshes from the storage station to the workstation platform;

[0070] S3, the processing device moves to the workstation platform to cut two steel mesh sheets based on the projected cutting drawing, and connects the two cut steel mesh sheets by erecting reinforcement bars;

[0071] The processing device automatically moves to the projected processing station, and then cuts the steel mesh in combination with the projected image. The cutting process of the steel mesh of the present application involves two aspects: one is cutting the outer frame of the steel mesh, and the other is cutting the inside of the steel mesh. The internal cutting involves the production of windows, door openings, and embedded parts mold lines. Both cutting operations are based on the processing device.

[0072] After cutting, the reinforcement bars are installed between the two steel mesh sheets by manual operation. This part of the processing is carried out between the two steel mesh sheets, so it cannot be operated by automatic devices.

[0073] S4, the projection device projects the binding drawing onto the workstation platform, and the processing device binds and installs the wire box and the embedded pipe in the two steel mesh sheets based on the projected binding drawing;

[0074] After the binding operation of the reinforcement bars between the two steel meshes is completed, the projection image of the projection device is switched. This part of the projection image is actually the installation image of the wire box and the embedded pipe. The wire box and the embedded pipe are installed on the steel mesh based on the projection image. Then, the automatic device binds and fixes the wire box and the embedded pipe to the steel mesh based on the projection image, completing the processing and production of the steel mesh.

[0075] S5. After the steel mesh is tied and waits to be lifted away, the projection device switches to another workstation platform to complete the processing of another set of steel mesh according to the above process;

[0076] After the steel bar parts are manufactured, they are temporarily stored on the current workstation platform and then lifted away by the lifting equipment. In order to save time and improve processing efficiency, the projection device can be directly switched to another workstation platform to process and manufacture the next group of steel bar parts. The workstation platforms are switched and used in a turnover manner without interfering with each other. With limited equipment, assembly line operation can be formed, which greatly improves the processing and production of prefabricated wall panel steel bar parts.

[0077] S6. Carry out the process in sequence until all the steel meshes are processed.

[0078] In some embodiments of the present application, the projection device includes a bracket 3, a binocular camera and a laser projector 5. Figure 1 As shown, the lower end of the bracket 3 is fixed to the supporting frame 1, and the upper end is provided with a walking track 4 arranged horizontally, and the laser projector 5 is connected to the walking track 4 so as to be laterally movable via a walking motor.

[0079] like Figure 1 and 2 As shown, the pedestal 2 of this embodiment is provided with two workstation platforms, so the laser projector 5 of this embodiment has two projection stations, which correspond to the two workstation platforms below respectively, and the two lateral ends of the walking track 4 can be set as two projection stations, that is, when the laser projector 5 walks to one end of the walking track 4, it is one projection station, and when the laser projector 5 walks to the other end of the walking track 4, it is another projection station. When multiple workstation platforms are provided on the pedestal 2, multiple corresponding fixed points can be set on the walking track 4 as projection stations, corresponding one to one with the workstation platforms.

[0080] The binocular camera is a device used to cooperate with the laser projector 5 for positioning and calibration. The binocular camera can be installed on the bracket 3 or in other positions as long as it can collect image information of the upper surface of the pedestal 2.

[0081] In practical applications, the method for positioning and calibrating the projection device based on the target 12 is:

[0082] S21, using a binocular camera to collect an image of the target 12, preprocessing the collected image to remove noise, using a SIFT algorithm to detect key feature points in the preprocessed image, extracting descriptors of the key feature points, and obtaining a descriptor vector. The Euclidean distance positioning of the descriptor vector is:

[0083]

[0084] Where: d ij ——Euclidean distance;

[0085] D i,k ——the kth component of a descriptor vector;

[0086] D j,k ——the kth component of another descriptor vector;

[0087] S22. Use the nearest neighbor algorithm to perform preliminary matching on the descriptor vectors, and use the ratio to eliminate the matching point pairs with low confidence in the descriptor vectors:

[0088]

[0089] Where: d1 – the distance from the current feature point to the first nearest neighbor;

[0090] d2——the distance from the current feature point to the second nearest neighbor;

[0091] Obtain preliminary matching feature points;

[0092] S23, using the RANSAC method to eliminate mismatched points in the preliminary matching feature points, optimizing the matching results based on the epipolar constraints, and obtaining optimized matching feature points:

[0093]

[0094] Where: P R , P L ——matching points in two images;

[0095] F——Basic matrix, calculated from matching point pairs;

[0096] S24, calculate the parallax between the left and right cameras of the optimized matching feature points:

[0097] d = x L -x R

[0098] Where: d – parallax between left and right cameras;

[0099] x L ——The horizontal coordinate of the feature point in the left camera image;

[0100] x R ——The horizontal coordinate of the feature point in the right camera image;

[0101] The depth of the optimized matching feature points is calculated using the triangulation formula:

[0102]

[0103] Where: z – depth;

[0104] d – parallax between left and right cameras;

[0105] f——focal length of the camera;

[0106] B——the length of the baseline of the left and right cameras;

[0107] Based on the calculated depth information, the acquired image is mapped to the world coordinate system:

[0108]

[0109] Where: P ω ——Points in the world coordinate system (i.e. points in the camera coordinate system);

[0110] z – the depth of the point in the camera coordinate system;

[0111] K——the inverse matrix of the camera intrinsic parameter matrix;

[0112] S24, obtaining a transformation matrix based on the three-dimensional coordinates of the same optimized matching feature point in the projection device coordinate system and the three-dimensional coordinates in the binocular vision camera coordinate system:

[0113] P proj =T·P cam

[0114] Where: T——transformation matrix;

[0115] P proj ——The three-dimensional coordinates of the same feature point in the laser projector 5 coordinate system;

[0116] P cam ——The three-dimensional coordinates of the feature point in the camera coordinate system;

[0117] The conversion matrix T is used to unify the coordinates of the target 12 into the coordinate system of the laser projector 5, thereby completing the positioning and calibration of the laser projection.

[0118] In a further embodiment of the present application, the above-mentioned transport device is optimized. Specifically, Figure 1As shown, the handling device of this embodiment includes an X-axis track 7, a Y-axis track 8, a Z-axis track 9 and an adsorption tooling 6. The X-axis track 7 is a track arranged horizontally on the support frame 1. An X-axis track 7 is respectively arranged on both sides of the longitudinal direction of the support frame 1 of this embodiment. The X-axis track 7 is a transverse track shared by the handling device and the processing device; the Y-axis track 8 is connected to the X-axis track 7 by a motor and can be moved laterally. The Y-axis track 8 is a beam structure arranged longitudinally. The two ends of the Y-axis track 8 are respectively connected to the two X-axis tracks 7 on both sides. The Y-axis track 8 can be easily moved along the X-axis track 7 by a motor drive; the Z-axis track 9 is connected to the Y-axis track 8 by a motor and can be moved longitudinally. The Z-axis track 9 is a rod-shaped structure arranged vertically, and the Z-axis track 9 itself can move longitudinally on the Y-axis track 8; the adsorption tooling 6 is connected to the Z-axis track 9 by a motor drive and can be moved up and down for adsorbing steel bar parts. The adsorption tooling 6 of this embodiment is a magnetic suction structure. In actual application, it is not limited to the magnetic suction structure. Other structures can be used to grab the steel mesh. When the adsorption tool 6 adopts the magnetic absorption method, it can be an electromagnetic structure, that is, after power is turned on, magnetic force is generated to adsorb the steel mesh, and then after it is moved to the right place, the steel mesh can be loosened by turning off the power.

[0119] In actual application, the method for the handling device to carry two steel mesh sheets from the storage area of ​​the steel mesh sheets to be processed to the projected work station platform is as follows: based on the X-axis track 7, the Y-axis track 8, and the Z-axis track 9, the adsorption tooling 6 is adjusted to move the adsorption tooling 6 to the storage station, and the adsorption structure moves down to contact with the top steel mesh sheet on the storage station, the adsorption tooling 6 adsorbs the steel mesh, and then the adsorption tooling 6 adsorbing the steel mesh sheets to be processed is transported to the work station platform through the X-axis track 7, the Y-axis track 8, and the Z-axis track 9, and the steel mesh sheets to be processed are placed on the work station platform, and the above operation is repeated to complete the handling of another steel mesh sheet to be processed.

[0120] In other embodiments of the present application, the present embodiment optimizes the above-mentioned processing device, specifically, Figure 1 As shown, the processing device of this embodiment includes a cutting device and a binding device. In fact, the cutting device and the binding device adopt a structure similar to the adsorption tooling 6. The cutting device includes an automatic scissors 10 connected to the support frame 1 and can be automatically moved in the horizontal, longitudinal and vertical directions by a motor drive. The automatic scissors 10 include an adjustment structure similar to the adsorption tooling 6, that is, it is installed on a three-way adjustment structure; the binding device includes an automatic binding gun 11 connected to the support frame 1 and can be automatically moved in the horizontal, longitudinal and vertical directions by a motor drive. Similarly, the automatic binding gun 11 is also installed on the three-way adjustment structure to facilitate binding operations.

[0121] The support frame 1 is arranged in the transverse direction, and the processing device and the transport device are respectively placed at the transverse ends of the support frame 1. The processing device is arranged on one side of the pedestal 2, and the transport device is close to the storage station side. The processing device can move freely in the area involved in the pedestal 2, and the transport device can move transversely to the pedestal 2. A group of cutting devices and a group of binding devices are arranged on the support frame 1 of this embodiment. The cutting devices and the binding devices are arranged in a transverse interval, and the cutting devices and the binding devices do not interfere with each other.

[0122] In actual application, the method for cutting two steel mesh sheets based on the projected cutting drawing after the processing device moves to the workstation platform is as follows: the automatic scissors 10 on the support frame 1 are adjusted to move horizontally, longitudinally and vertically, so that the automatic scissors 10 are moved to the upper part of the workstation platform where two steel mesh sheets to be processed are placed, and the outer frames of the two steel mesh sheets to be processed below are cut according to the first drawing corresponding to the outer frame cutting projected by the projection device; after the outer frame cutting is completed, the projection device switches the projection pattern to the second drawing corresponding to the cutting of the window, door opening and embedded part mold line, and the automatic scissors 10 cut the windows, door openings and embedded part mold lines of the two steel mesh sheets to be processed below according to the projected second drawing;

[0123] The method for the processing device to bind and install the wire box and embedded pipe in two steel meshes based on the projected binding drawing is: adjust the automatic binding gun 11 on the support frame 1 to move horizontally, longitudinally and vertically, so that the automatic binding gun 11 is moved to the top of the two steel meshes that have completed cutting and reinforcement binding, and arrange the wire box and embedded pipe according to the third binding drawing of the corresponding wire box and embedded pipe projected by the projection device. The automatic binding gun 11 binds and fixes the arranged wire box and embedded pipe to the steel mesh.

[0124] In some embodiments of the present application, this embodiment optimizes the method of extracting the corresponding drawings into the projection device in the above-mentioned step S1. Specifically, the operator scans the QR code on the current drawing with a barcode scanner, and the barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and the third drawing for binding wire boxes and embedded pipes from the drawing library, and imports these drawings to be projected into the MES system. The MES system sets the first drawing as the first projection order of the projection device, the second drawing as the second projection order of the projection device, and the third drawing as the third projection order of the projection device.

[0125] In this way, the drawings can be retrieved only once during the processing and production of each set of steel bar components, which greatly facilitates the processing and production of the entire steel bar components and simplifies the process of drawing retrieval and projection.

[0126] In some other embodiments of the present application, this embodiment optimizes the above-mentioned step S5. Specifically, the method of switching the projection device to another work platform to complete the processing of another group of steel meshes according to the above process is: after the positioning and calibration of the projection device are completed on the previous work platform, the target 12 on the work platform has completed the required operations, and the target 12 can be transferred to the next work platform to facilitate subsequent operations on the next work platform; after completing the processing of the steel mesh on the previous work platform, the laser projector 5 of the projection device is moved along the walking track 4 on the bracket 3 of the support frame 1 to the top of the next work platform, and positioning and calibration are performed based on the target 12 on the next work platform. After completion, another group of steel meshes are processed according to the above process.

[0127] Carrying out the steps one by one to form an assembly line operation can greatly improve the efficiency of the entire steel bar component production.

[0128] Specifically, the prefabricated wall panel steel bar components of the present application can be manufactured according to the following method:

[0129] Select a workstation platform, control the motor on the walking track 4 to drive the laser projector 5 to move to the projection position of the corresponding selected workstation platform, import the CAD drawing and the pre-designed projection task file into the MES system, and the MES system sets the first drawing as the first projection position of the projection device, the second drawing as the second projection position of the projection device, and the third drawing as the third projection position of the projection device;

[0130] A target 12 is arranged on the selected workstation platform, and the laser projector 5 is positioned and calibrated based on the target 12. The binocular camera based on the binocular camera collects the image of the target 12, and the collected image is preprocessed to remove noise. The SIFT algorithm is used to detect the key feature points in the preprocessed image, and the descriptors of the key feature points are extracted to obtain the descriptor vector; the nearest neighbor algorithm is used to preliminarily match the descriptor vector, and the matching point pairs with low confidence in the descriptor vector are eliminated by ratio to obtain the preliminary matching feature points; the RANSC method is used to eliminate the mismatched points in the preliminary matching feature points, and the matching results are optimized based on the polar constraint to obtain the optimized matching feature points; the parallax between the left and right cameras of the optimized matching feature points is calculated, and the depth of the optimized matching feature points is calculated by the triangulation formula, and the collected image is mapped to the world coordinate system based on the calculated depth information; the transformation matrix is ​​obtained based on the three-dimensional coordinates of the same optimized matching feature point in the laser projector 5 coordinate system and the three-dimensional coordinates in the binocular vision camera coordinate system; the coordinates of the target 12 are unified to the coordinate system of the laser projector 5 by using the transformation matrix, and the positioning and calibration of the laser projector 5 are completed;

[0131] After the workstation platform completes the positioning and calibration of the laser projector 5, the target 12 on the workstation platform has completed the required operation, and the target 12 can be transferred to the next workstation platform;

[0132] The MES system transmits the first drawing of the first priority to the laser projector 5, and the laser projector 5 projects the first drawing onto the current workstation platform. Based on the X-axis track 7, the Y-axis track 8, and the Z-axis track 9, the adsorption tool 6 is adjusted to move the adsorption tool 6 to the storage station. The adsorption structure moves down to contact the uppermost steel mesh on the storage station. The adsorption tool 6 adsorbs the steel mesh, and then the adsorption tool 6 adsorbing the steel mesh to be processed is transported to the workstation platform through the X-axis track 7, the Y-axis track 8, and the Z-axis track 9. The steel mesh to be processed is placed on the workstation platform, and the above operation is repeated to complete the transportation of another steel mesh to be processed.

[0133] The automatic scissors 10 on the support frame 1 are adjusted to move horizontally, longitudinally and vertically, so that the automatic scissors 10 are moved to the upper part of the workstation platform where two steel mesh sheets to be processed are placed, and the outer frames of the two steel mesh sheets to be processed below are cut according to the first drawing corresponding to the outer frame cutting projected by the laser projector 5; after the outer frame cutting is completed, the laser projector 5 switches the projection pattern to the second drawing corresponding to the cutting of the window, door opening and embedded part mold line, and the automatic scissors 10 cut the window, door opening and embedded part mold line of the two steel mesh sheets to be processed below according to the projected second drawing;

[0134] After the cutting is completed, the reinforcement bars are installed between the two steel meshes by manual operation, the laser projector 5 projects the third drawing onto the workstation platform, and the automatic tying gun 11 on the support frame 1 is adjusted to move horizontally, longitudinally and vertically, so that the automatic tying gun 11 moves to the top of the two steel meshes that have been cut and tied with reinforcement bars, and the wire boxes and embedded pipes are arranged according to the third drawing of the corresponding wire boxes and embedded pipes projected by the laser projector 5. The automatic tying gun 11 ties and fixes the arranged wire boxes and embedded pipes to the steel mesh, completing the production of the steel bar components of the prefabricated wall panel;

[0135] The motor on the walking track 4 is controlled to drive the laser projector 5 to move to the projection station corresponding to the next station platform, and the next group of steel bar parts on the next station platform are manufactured according to the above process.

[0136] like Figure 2 As shown, Figure 2 The left and right directions in the text are the lateral directions of the present application. Figure 2 The up-down direction in is the longitudinal direction of this application, Figure 2 The direction perpendicular to the paper is the up-down direction of this application.

[0137] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. A prefabricated wall panel steel bar component manufacturing device, characterized in that: include, Support frame; A pedestal, the pedestal being located in the support frame and having a plurality of workstation platforms for processing the prefabricated wall panel steel mesh; A projection device, which is arranged on the support frame and is used to project the processing drawings onto the corresponding workstation platform; A transport device, which is arranged on the support frame and is used to transport the steel mesh to be processed to the workstation platform; A processing device is arranged on the supporting frame and is used for cutting and binding the steel mesh of the workstation platform according to the projected processing drawing.

2. A prefabricated wall panel steel bar component manufacturing device as claimed in claim 1, characterized in that: The projection device comprises: A bracket, wherein the lower end of the bracket is fixed to the support frame, and the upper end is provided with a walking track arranged horizontally; A laser projector is connected to a travel track so as to be laterally movable via a travel motor.

3. A prefabricated wall panel steel bar component manufacturing device as claimed in claim 1, characterized in that: The transport device comprises: X-axis track, the X-axis track is a track arranged horizontally on the support frame; A Y-axis track, the Y-axis track is connected to the X-axis track in a lateral movable manner through a motor drive; A Z-axis track, which is connected to the Y-axis track and can be longitudinally moved by a motor; The adsorption tooling is driven by a motor to move up and down and is connected to the Z-axis track for adsorbing steel bar components.

4. A prefabricated wall panel steel bar component manufacturing device as claimed in claim 1, characterized in that: The processing device comprises: A cutting device, the cutting device comprising an automatic scissors connected to a support frame and capable of being automatically moved in a horizontal, longitudinal and vertical direction by a motor drive; The tying device comprises an automatic tying gun connected to a supporting frame and capable of automatically moving in the horizontal, longitudinal and vertical directions by a motor drive.

5. A method for manufacturing a prefabricated wall panel steel bar component, characterized in that: The manufacturing method adopts a prefabricated wall panel steel bar component manufacturing device as claimed in any one of claims 1 to 4, comprising the following steps: Adjust the position of the projection device and extract the corresponding drawings into the projection device; A target is arranged on a workstation platform on the pedestal, and a projection device is positioned and calibrated based on the target; The projection device projects the cutting drawing of the steel mesh onto the workstation platform, and the transport device transports two steel meshes from the storage area of ​​the steel meshes to be processed to the projection workstation platform; The processing device moves to the workstation platform to cut two steel mesh sheets based on the projected cutting drawing, and connects the two cut steel mesh sheets by erecting reinforcement bars; The projection device projects the binding drawing onto the workstation platform, and the processing device binds and installs the wire box and the embedded pipe in two steel mesh sheets based on the projected binding drawing; After the steel mesh is tied and waiting to be lifted away, the projection device switches to another workstation platform to complete the processing of another set of steel mesh according to the above process; Proceed sequentially until all steel meshes are processed.

6. A method for manufacturing a prefabricated wall panel reinforcement component according to claim 5, characterized in that: The method for extracting corresponding drawings into the projection device includes: scanning the QR code on the current drawing by using a barcode scanner, and the barcode scanner retrieves a first drawing for cutting the outer frame of the steel mesh, a second drawing for cutting the steel mesh windows, door openings, and embedded parts mold lines, and a third drawing for binding wire boxes and embedded pipes from a drawing library, and sets the first drawing as the first projection sequence of the projection device, the second drawing as the second projection sequence of the projection device, and the third drawing as the third projection sequence of the projection device.

7. A method for manufacturing a prefabricated wall panel reinforcement component according to claim 5, characterized in that: The method for positioning and calibrating a projection device based on a target comprises: collecting an image of a target by a binocular camera based on a binocular camera, preprocessing the collected image to remove noise, detecting key feature points in the preprocessed image by using a SIFT algorithm, extracting descriptors of the key feature points, and obtaining a descriptor vector; performing preliminary matching on the descriptor vector by using a nearest neighbor algorithm, eliminating matching point pairs with low confidence in the descriptor vector by using a ratio, and obtaining preliminary matching feature points; eliminating mismatching points in the preliminary matching feature points by using a RANSC method, optimizing matching results based on epipolar constraints, and obtaining optimized matching feature points; calculating the parallax between left and right cameras of the optimized matching feature points, calculating the depth of the optimized matching feature points by using a triangulation formula, and mapping the collected image to a world coordinate system based on the calculated depth information; obtaining a transformation matrix based on the three-dimensional coordinates of the same optimized matching feature point in the coordinate system of the projection device and the three-dimensional coordinates in the coordinate system of the binocular vision camera; and unifying the target coordinates to the coordinate system of the projection device by using the transformation matrix.

8. A method for manufacturing a prefabricated wall panel reinforcement component according to claim 5, characterized in that: The method for the conveying device to convey two steel mesh sheets from a storage area for steel mesh sheets to be processed to a projected workstation platform comprises: arranging a storage station for steel mesh sheets to be processed on one side of a supporting frame, adjusting the lateral position of a Y-axis track on the supporting frame, the longitudinal position of a Z-axis track on the Y-axis track, and the vertical position of an adsorption tool on the Z-axis track, so that the adsorption tool is moved to the topmost steel mesh sheet to be processed on the storage station and adsorbed; after the adsorption is completed, the adsorption tool adsorbing the steel mesh sheet to be processed is conveyed to the workstation platform via the X-axis track, the Y-axis track, and the Z-axis track, and the steel mesh sheet to be processed is placed on the workstation platform; and repeating the above operation to complete the conveying of another steel mesh sheet to be processed.

9. A method for manufacturing a prefabricated wall panel reinforcement component according to claim 5, characterized in that: The method for cutting two steel mesh sheets based on the projected cutting drawing after the processing device moves to the work station platform comprises: adjusting the automatic scissors on the support frame to move horizontally, longitudinally and vertically, so that the automatic scissors move to the upper part of the work station platform where the two steel mesh sheets to be processed are placed, and cutting the outer frames of the two steel mesh sheets to be processed below according to the first drawing corresponding to the outer frame cutting projected by the projection device; after the outer frame cutting is completed, the projection device switches the projection pattern to the second drawing corresponding to the cutting of the window, door opening and embedded part mold lines, and the automatic scissors cut the windows, door openings and embedded part mold lines of the two steel mesh sheets to be processed below according to the projected second drawing.

10. A method for manufacturing a prefabricated wall panel reinforcement component according to claim 5, characterized in that: The method for binding and installing wire boxes and embedded pipes in two steel meshes based on the projected binding drawings by the processing device includes: adjusting the automatic binding gun on the support frame to move horizontally, longitudinally and vertically, so that the automatic binding gun moves to the top of the two steel meshes that have been cut and tied with reinforcement bars, arranging the wire boxes and embedded pipes according to the third binding drawing of the corresponding wire boxes and embedded pipes projected by the projection device, and the automatic binding gun binds and fixes the arranged wire boxes and embedded pipes to the steel mesh.

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