Prefabricated wallboard reinforcing component manufacturing device and manufacturing method

Abstract

The application relates to the technical field of a reinforcing part manufacturing method, in particular to a prefabricated wallboard reinforcing part manufacturing device and method. The device comprises a supporting frame, a pedestal, a projection device, a carrying device and a processing device; the pedestal is arranged in the supporting frame, a plurality of work station platforms for processing prefabricated wallboard reinforcing meshes are arranged on the pedestal; the projection device is arranged on the supporting frame and used for projecting a processing drawing on the corresponding work station platform; the carrying device is arranged on the supporting frame and used for carrying the reinforcing mesh to be processed to the work station platform; and the processing device is arranged on the supporting frame and used for cutting and binding the reinforcing mesh on the work station platform according to the projected processing drawing. The prefabricated wallboard reinforcing part processing device is simple in structure, convenient to operate and use, high in automation and intelligence, greatly improves the production efficiency and processing precision of the prefabricated wallboard reinforcing part, reduces the labor cost and is suitable for the processing and manufacturing requirements of various complex components.

Description

Technical Field

[0001] This invention relates to the technical field of steel reinforcement component manufacturing methods, specifically to a device and method for manufacturing precast wall panel steel reinforcement components. Background Technology

[0002] As a crucial component of industrialized construction, precast wall panels require high precision in their manufacturing process, particularly for reinforcing steel components. Currently, the cutting, positioning, and installation of reinforcing steel mesh largely rely on manual labor, which is not only time-consuming and labor-intensive but also prone to error accumulation, affecting the quality and assembly accuracy of precast components. In recent years, laser projection technology has been increasingly applied in the construction field due to its precision and efficiency. Existing technologies suggest using projection to assist in the production and processing of reinforcing steel mesh, such as a projection-based precast component production method. This method includes: acquiring the component type of the precast component to be produced and the mold information of the molds on the precast component production line, including the mold's station information and position information on the station; acquiring production drawing information for each station on the precast component production line based on the component type; acquiring the production drawing information of the precast component at the corresponding station based on the station information; and sending the mold information and the production drawing information of the corresponding station to a projection device, so that the projection device projects the production drawing information onto the mold at the corresponding station. This method, by projecting drawings onto a mold table, assists in the processing of steel mesh, significantly improving the processing efficiency of steel mesh. However, in practical applications, the steel mesh structure involved in prefabricated wall panels for assembled buildings requires cutting and binding, both of which are manual operations. This necessitates a significant investment of manpower and resources in the production of prefabricated wall panel steel reinforcement. Existing devices lack the integration of automated equipment with laser projection equipment, hindering their widespread adoption. Summary of the Invention

[0003] The purpose of this application is to address the shortcomings of the aforementioned background technology and to provide a device and method for manufacturing precast wall panel steel reinforcement components.

[0004] The technical solution of this application is: a device for manufacturing precast wall panel reinforcement components, comprising...

[0005] Supporting framework;

[0006] A platform, which is located within a support frame, is provided with multiple workstations for processing precast wall panel steel mesh.

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

[0008] A transport device, which is mounted on a support frame, 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, mounted on a support frame, is used to cut and tie the steel mesh of the workstation platform according to the projected processing drawings.

[0010] According to the precast wall panel reinforcement component manufacturing device provided in this application, the projection device includes...

[0011] The bracket has its lower end fixed to a support frame and its upper end provided with a horizontally arranged travel track.

[0012] A laser projector, which is connected to a walking track and can move laterally via a walking motor.

[0013] According to the precast wall panel reinforcement component manufacturing device provided in this application, the handling device includes...

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

[0015] The Y-axis track is connected to the X-axis track and is laterally movable via a motor drive.

[0016] The Z-axis track is connected to the Y-axis track and is longitudinally movable via a motor drive.

[0017] An adsorption fixture, which is connected to a Z-axis track and can move up and down via a motor, is used to adsorb steel reinforcement components.

[0018] According to the present application, a precast wall panel steel reinforcement component manufacturing device is provided, wherein the processing device includes...

[0019] A cutting device, comprising automated scissors connected to a support frame that are automatically movable in the transverse, longitudinal and vertical directions by means of a motor;

[0020] A tying device, comprising an automated tying gun connected to a support frame that is automatically movable in the lateral, longitudinal and vertical directions via a motor drive.

[0021] This application also provides a method for manufacturing precast wall panel reinforcement components, the method employing the aforementioned precast wall panel reinforcement component manufacturing device, and including the following steps:

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

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

[0024] The projection device projects the cutting drawings of the steel mesh onto the workstation platform, and the conveying device moves two steel mesh sheets from the storage area of ​​the steel mesh sheets to be processed to the projected workstation platform;

[0025] The processing device moves to the workstation platform and cuts two steel mesh sheets based on the projected cutting drawings. The two cut steel mesh sheets are then connected by reinforcing bars.

[0026] The projection device projects the binding drawings onto the workstation platform, and the processing device binds and installs the junction box and embedded pipe within two steel mesh panels based on the projected binding drawings.

[0027] After the steel mesh binding is completed, it waits to be hoisted away. The projection device is switched to another workstation platform to complete the processing of another set of steel mesh according to the above process.

[0028] This process is repeated until all the steel mesh panels have been processed.

[0029] According to the method for manufacturing precast wall panel steel reinforcement components provided in this application, the method for extracting the corresponding drawings into the projection device includes: scanning the QR code on the current drawing with a barcode scanner; the barcode scanner retrieves a first drawing for cutting the outer frame of the steel mesh, a second drawing for cutting the mold lines of the steel mesh windows, door openings, and embedded parts, and a third drawing for binding the junction box and embedded pipe from the 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.

[0030] According to the method for manufacturing precast wall panel reinforcement components provided in this application, the method for positioning and calibrating the projection device based on a target includes: acquiring images of the target using a binocular camera based on a binocular camera; preprocessing the acquired images to remove noise; using the SIFT algorithm to detect key feature points in the preprocessed images; extracting descriptors of the key feature points to obtain descriptor vectors; using the nearest neighbor algorithm to perform preliminary matching of the descriptor vectors; using ratios to eliminate low-confidence matching point pairs in the descriptor vectors to obtain preliminary matching feature points; using the RANSC method to eliminate mismatched points in the preliminary matching feature points; optimizing the matching results based on epipolar constraints to obtain optimized matching feature points; calculating the disparity between the left and right cameras of the optimized matching feature points; calculating the depth of the optimized matching feature points using triangulation formulas; mapping the acquired images to the 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 projection device coordinate system.

[0031] According to the method for manufacturing precast wall panel reinforcement components provided in this application, the method of the conveying device for conveying two steel mesh sheets from the storage area of ​​steel mesh sheets to the projected workstation platform includes: arranging a storage station for steel mesh sheets 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 fixture on the Z-axis track, so that the adsorption fixture moves to the uppermost steel mesh sheet to be processed on the storage station and adsorbs it; after adsorption is completed, the adsorption fixture with the steel mesh sheet to be processed is conveyed to the workstation platform via the X-axis track, Y-axis track, and Z-axis track, and the steel mesh sheet to be processed is placed on the workstation platform; repeating the above operation to complete the conveying of another steel mesh sheet to be processed.

[0032] According to the method for manufacturing precast wall panel steel reinforcement components provided in this application, the method of the processing device moving to the workstation platform to cut two steel mesh sheets based on the projected cutting drawings includes: adjusting the automatic scissors on the support frame to move horizontally, vertically, and vertically, so that the automatic scissors move above the workstation platform on which the two steel mesh sheets to be processed are placed, and cutting the outer frame of the two steel mesh sheets to be processed below according to the first drawing corresponding to the outer frame cutting of 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 window, door opening, and embedded part mold lines, and the automatic scissors cut the window, door opening, and embedded part mold lines of the two steel mesh sheets to be processed below according to the projected second drawing.

[0033] According to the method for manufacturing precast wall panel reinforcement components provided in this application, the method of binding and installing junction 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 above the two steel meshes that have been cut and the reinforcing bars have been bound; arranging the junction boxes and embedded pipes according to the third drawing of the corresponding junction box and embedded pipe binding projected by the projection device; and binding and fixing the arranged junction boxes and embedded pipes to the steel meshes by the automatic binding gun.

[0034] According to the method for manufacturing precast wall panel reinforcement components provided in this application, the method of switching the projection device to another workstation platform to complete the processing of another set of reinforcement mesh according to the above process includes: after completing the positioning and calibration of the projection device on the previous workstation platform, moving the target to the next workstation platform; after completing the processing of the reinforcement mesh on the previous workstation platform, the laser projector of the projection device moves along the walking track on the support frame to the top of the next workstation platform, performs positioning and calibration based on the target on the next workstation platform, and then processes another set of reinforcement mesh according to the above process.

[0035] The advantages of this application are: 1. The precast wall panel steel reinforcement component of this application combines a projection device and a processing device in the manufacturing process. It can perform automated processing of the precast wall panel steel reinforcement component based on the projected drawings. The overall processing process is extremely efficient, and the manpower and material resources required are greatly reduced. The entire device has a simple structure and is easy to operate and use. It can form an assembly line operation, which greatly improves the cutting and binding efficiency of steel mesh. Compared with the traditional manual cutting method, the projection accuracy is higher, and the cutting efficiency of steel mesh is also improved.

[0036] 2. By setting a walking track on the bracket, the position of the laser projector can be easily adjusted. A single laser projector can switch between different workstation platforms, which is extremely convenient to adjust. At the same time, the walking track, together with the laser projector, can easily and accurately project drawings onto the workstation platform.

[0037] 3. This application sets up a handling device on the support frame. The handling device can easily transport the steel mesh to the work platform. The entire handling process is fully automated and requires no human operation, which reduces the input of manpower and greatly improves safety.

[0038] 4. This application sets a cutting device and a binding device on the support frame. The automatic scissors of the cutting device and the automatic binding gun of the binding device can be adjusted in position, which can automatically and accurately cut and bind the steel mesh without much manpower and material resources, greatly improving the processing operation of the steel mesh.

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

[0040] 6. This application allows for the prior retrieval of relevant processing drawings and the setting of a predetermined projection order. This enables the subsequent three drawing projection operations to be performed with a single retrieval, greatly facilitating the rapid projection of subsequent drawings. The overall operation is simple and convenient.

[0041] 7. This application uses binocular vision and a target to position 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 traditional methods 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 fixture uses a support frame as the load-bearing base and can grasp and adsorb the steel mesh on the storage position by moving and adjusting in various directions. The handling efficiency is extremely high, no personnel intervention is required, and the safety is improved.

[0043] 9. The cutting and processing of the steel mesh in this application is carried out in two stages, with the outer frame part being trimmed first and the inner part being trimmed later. This allows for rapid cutting and processing of the steel mesh with extremely high efficiency and precision, thereby improving the processing efficiency and precision of the steel mesh.

[0044] 10. The binding of steel mesh in this application mainly involves binding the junction boxes and embedded pipes on the steel reinforcement components. The binding operation is carried out by projection in conjunction with an automatic binding gun, eliminating the need for manual binding operations and making the entire binding process extremely efficient.

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

[0046] The precast wall panel steel reinforcement component processing device of this application has a simple structure, is easy to operate, and has a high degree of automation and intelligence. It greatly improves the production efficiency and processing accuracy of precast wall panel steel reinforcement components, reduces labor costs, and adapts to the processing and manufacturing requirements of various complex components. Attached Figure Description

[0047] Figure 1 Axial view of the precast wall panel steel reinforcement component manufacturing device of this application;

[0048] Figure 2 Top view of the precast wall panel steel reinforcement component manufacturing device of this application;

[0049] Figure 3 This application illustrates the placement of the target on the workstation platform.

[0050] Figure 4 This application describes a laser projector projecting a first drawing onto a workstation platform.

[0051] Figure 5 This application provides a schematic diagram of the handling device for moving steel mesh to the workstation platform.

[0052] Figure 6 This application presents a schematic diagram of an automated shears cutting a steel mesh based on a first projected drawing;

[0053] Figure 7This application is a schematic diagram of a laser projector projecting a second drawing onto a workstation platform.

[0054] Figure 8 This application's automated shears are used to cut steel mesh based on a second projected drawing;

[0055] Figure 9 This application presents a schematic diagram of an automated tying gun tying steel mesh based on a third projected drawing;

[0056] Figure 10 This application illustrates the process of switching the laser projection to another workstation platform to fabricate another set of steel reinforcement components.

[0057] Wherein: 1—support frame; 2—base; 3—bracket; 4—traveling track; 5—laser projector; 6—adsorption fixture; 7—X-axis track; 8—Y-axis track; 9—Z-axis track; 10—automatic scissors; 11—automatic binding gun; 12—target. Detailed Implementation

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

[0059] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] like Figures 1-10 As shown, this application discloses a precast wall panel reinforcement component manufacturing device, including a support frame 1, a platform 2, a projection device, a handling device, and a processing device. The support frame 1 serves as the load-bearing foundation for the entire manufacturing device. Figures 1-2 As shown, the support frame 1 of this application is a frame structure arranged laterally. The support frame 1 includes two parts: a storage station for storing steel mesh and a processing station for processing steel mesh. The storage station and the processing station are arranged sequentially laterally. The platform 2 is located inside the support frame 1. The platform 2 is equipped with multiple workstation platforms for processing steel mesh for precast wall panels. The platform 2 is actually the processing station, where the steel mesh is cut and tied. A projection device is installed on the support frame 1 to project the processing drawings onto the corresponding workstation platforms. The projection device projects the processing drawings of the steel mesh onto the platform 2. The projected image and the steel mesh on the platform 2 are displayed together. The rebar mesh is then aligned with the projected image, and the rebar mesh can be processed accordingly. A transport device is installed on the support frame 1 to transport the rebar mesh to be processed to the workstation platform. The transport device transports the rebar mesh to be processed placed on the storage station laterally to the workstation platform. In this embodiment, the transport device is only used to transport the rebar mesh to the workstation platform. After the rebar mesh on the workstation platform is processed into rebar components, it is lifted away by hoisting equipment. A processing device is installed on the support frame 1 to cut and tie the rebar mesh on the workstation platform according to the projected processing drawings. The processing device has both cutting and tying functions. When used in conjunction with the projection of the projection device, it can automatically cut and tie the rebar mesh on the workstation platform.

[0062] When the fabrication apparatus of this application is used to process steel reinforcement components, the following steps are performed:

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

[0064] The pedestal 2 of this application is provided with multiple workstation platforms, each of which can process steel mesh. When the steel reinforcement components of the precast wall panel are started, 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 be set with fixed points 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 of the projection device is adjusted, the drawings to be projected and the projection task can be extracted into the projection device. In fact, the CAD drawings and the pre-designed projection task file are imported into the MES system. The MES system and the projection device are connected by data. When the projection device is needed to project images, the MES system will project the drawings to be projected onto the workstation platform through the projection device.

[0066] S2. Set up a target 12 on a workstation platform on the base 2, and position and calibrate the projection device based on the target 12;

[0067] The purpose of setting up the target 12 is to position and calibrate the projection device. There are many ways to position and calibrate the projection device. This application uses a method that combines binocular vision to position and calibrate the projection device. In fact, it uses a binocular camera to capture images of the target 12, then processes the captured images, and unifies the coordinate system of the projection device with the coordinate system of the binocular camera.

[0068] S3. The projection device projects the cutting drawings of the steel mesh onto the workstation platform, and the conveying device moves two steel meshes from the storage area of ​​the steel meshes to be processed to the projected workstation platform.

[0069] After the positioning and calibration of the projection device are completed, the MES system projects the drawings to be projected onto the workstation platform through the projection device. The handling device moves the steel mesh to be processed from the storage station to the projection workstation platform. Since the steel reinforcement components produced in this application contain two steel meshes, the handling device needs to move the two steel meshes from the storage station to the workstation platform.

[0070] S3. The processing device moves to the workstation platform and cuts two steel mesh sheets based on the projected cutting drawings. The two cut steel mesh sheets are then connected by the support 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 in this application involves two aspects: cutting the outer frame of the steel mesh and cutting the inside of the steel mesh. The inside cutting involves the production of window, door opening and embedded part mold lines. Both cutting operations are based on the processing device.

[0072] After cutting, the reinforcing 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 done by automatic devices.

[0073] S4. The projection device projects the binding drawings onto the workstation platform, and the processing device binds and installs the junction box and embedded pipe within two steel meshes based on the projected binding drawings.

[0074] After completing the binding operation of the reinforcing bars between the two steel mesh sheets, switch the projection image of the projection device. This part of the projection image is actually the installation image of the junction box and the pre-embedded pipe. Based on the projection image, install the junction box and the pre-embedded pipe on the steel mesh sheet. Then the automatic device binds and fixes the junction box and the pre-embedded pipe to the steel mesh sheet based on the projection image, thus completing the processing and manufacturing of the steel mesh sheet.

[0075] S5. After completing the binding of the steel mesh, wait for it to be hoisted away. The projection device is switched to another workstation platform to complete the processing of another set of steel mesh according to the above process.

[0076] After the steel reinforcement components are manufactured, they are temporarily stored on the current workstation platform and then lifted away by hoisting equipment. In order to save time and improve processing efficiency, the projection device can be directly switched to another workstation platform to process the next set of steel reinforcement components. The workstation platforms can be switched and used without interfering with each other. This can form an assembly line operation with limited equipment, which greatly improves the processing and production of precast wall panel steel reinforcement components.

[0077] S6. Proceed in sequence until all steel mesh panels have been processed.

[0078] In some embodiments of this application, the projection device described above includes a bracket 3, a binocular camera, and a laser projector 5, such as... Figure 1 As shown, the lower end of the bracket 3 is fixed to the support frame 1, and the upper end is provided with a horizontally arranged walking track 4. The laser projector 5 is connected to the walking track 4 and can move horizontally through the walking motor.

[0079] like Figure 1 and 2 As shown, the platform 2 in this embodiment has two workstations. Therefore, the laser projector 5 in this embodiment has two projection stations, corresponding to the two workstations below. The two ends of the travel track 4 can be set as two projection stations, that is, when the laser projector 5 moves to one end of the travel track 4, it is one projection station, and when the laser projector 5 moves to the other end of the travel track 4, it is another projection station. When multiple workstations are set on the platform 2, multiple corresponding fixed points can be set on the travel track 4 as projection stations, corresponding one-to-one with the workstations.

[0080] The binocular camera is a device used in conjunction with the laser projector 5 for positioning and calibration. The binocular camera can be mounted on the bracket 3 or in other locations, as long as it can capture image information from the upper surface of the platform 2.

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

[0082] S21. The binocular camera, based on a stereo camera, acquires images of the target 12. The acquired images are preprocessed to remove noise. The SIFT algorithm is used to detect key feature points in the preprocessed images, and descriptors of these key feature points are extracted to obtain descriptor vectors. The Euclidean distance of the descriptor vectors is used for localization.

[0083]

[0084] Where: d ij —Euclidean distance;

[0085] D i,k —The k-th component of a descriptor vector;

[0086] D j,k —The k-th component of another descriptor vector;

[0087] S22. The nearest neighbor algorithm is used to perform preliminary matching of the descriptor vectors, and low-confidence matching pairs in the descriptor vectors are eliminated using the ratio:

[0088]

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

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

[0091] Obtain preliminary matching feature points;

[0092] S23. Use the RANSAC method to remove mismatched points from the initial matching feature points, and optimize the matching results based on epipolar constraints to obtain optimized matching feature points:

[0093]

[0094] Where: P R P L — Matching points between two images;

[0095] F – the fundamental matrix, calculated from the matching point pairs;

[0096] S24. Calculate the disparity between the left and right cameras for optimizing the matching feature points:

[0097] d = x L -x R

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

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

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

[0101] Calculate the depth of the optimized matching feature points using triangulation formulas:

[0102]

[0103] Where: z — depth;

[0104] d—Parallelism between the left and right cameras;

[0105] f—Camera focal length;

[0106] B – Length of the baseline of the left and right cameras;

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

[0108]

[0109] Where: P ω —A point in the world coordinate system (i.e., a point in the camera coordinate system);

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

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

[0112] S24. Obtain the 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 coordinate system of the laser projector;

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

[0117] The coordinates of target 12 are unified to the coordinate system of laser projector 5 using the transformation matrix T, thus completing the positioning and calibration of the laser projection.

[0118] In a further embodiment of this application, the above-described conveying device has been optimized, specifically, as follows: Figure 1As shown, the handling device in this embodiment includes an X-axis track 7, a Y-axis track 8, a Z-axis track 9, and an adsorption fixture 6. The X-axis track 7 is a track arranged horizontally on the support frame 1. In this embodiment, an X-axis track 7 is provided on each of the two longitudinal sides of the support frame 1. 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 and can move laterally by a motor. 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. Driven by a motor, the Y-axis track 8 can move easily along the X-axis track 7. The Z-axis track 9 is connected to the Y-axis track 8 and can move longitudinally by a motor. The Z-axis track 9 is a rod-shaped structure arranged vertically and can move longitudinally on the Y-axis track 8. The adsorption fixture 6 is connected to the Z-axis track 9 and can move up and down by a motor for adsorbing steel reinforcement components. In this embodiment, the adsorption fixture 6 is a magnetic structure. In actual applications, it is not limited to a magnetic structure and other structures can be used to grasp steel mesh. When the adsorption fixture 6 adopts a magnetic adsorption method, it can be an electromagnetic structure, that is, after being energized, a magnetic force is generated to adsorb the steel mesh, and after being transported to the position, the steel mesh can be released by turning off the power.

[0119] In practical applications, the method for the handling device to transport two steel mesh sheets from the storage area to the projected workstation platform is as follows: The adsorption fixture 6 is adjusted based on the X-axis track 7, Y-axis track 8, and Z-axis track 9, causing it to move to the storage position. The adsorption structure moves down to contact the uppermost steel mesh sheet on the storage position, and the adsorption fixture 6 adsorbs the steel mesh sheet. Then, the adsorption fixture 6, which holds the steel mesh sheet to be processed, is transported to the workstation platform via the X-axis track 7, Y-axis track 8, and Z-axis track 9. The steel mesh sheet to be processed is placed on the workstation platform, and the above operation is repeated to complete the transport of the other steel mesh sheet.

[0120] In other embodiments of this application, the above-described processing apparatus has been optimized, specifically, as follows: Figure 1 As shown, the processing device in this embodiment includes a cutting device and a binding device. In fact, the cutting device and the binding device adopt a structure similar to that of the adsorption fixture 6. The cutting device includes an automated scissors 10 connected to the support frame 1 that can be automatically moved in the horizontal, vertical and longitudinal directions by a motor. The automated scissors 10 includes an adjustment structure similar to that of the adsorption fixture 6, that is, it is installed on the three-way adjustment structure. The binding device includes an automated binding gun 11 connected to the support frame 1 that can be automatically moved in the horizontal, vertical and longitudinal directions by a motor. Similarly, the automated binding gun 11 is also installed on the three-way adjustment structure to facilitate binding operations.

[0121] The support frame 1 is arranged laterally. The processing device and the conveying device are located at opposite ends of the support frame 1. The processing device is located on one side of the platform 2, while the conveying device is located near the storage station. The processing device can move freely within the area covered by the platform 2, and the conveying device can move laterally onto the platform 2. In this embodiment, a set of cutting devices and a set of binding devices are arranged on the support frame 1. The cutting devices and binding devices are arranged laterally at intervals, and they do not interfere with each other.

[0122] In practical applications, the method for the processing device to move to the workstation platform and cut two steel mesh sheets based on the projected cutting drawings is as follows: Adjust the automatic scissors 10 on the support frame 1 to move along the horizontal, vertical and longitudinal directions, so that the automatic scissors 10 moves to the workstation platform above where the two steel mesh sheets to be processed are placed. Cut the outer frame of the two steel mesh sheets to be processed below according to the first drawing corresponding to the outer frame cutting of 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 window, door opening and embedded part mold lines. The automatic scissors 10 cuts the window, door opening 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 junction boxes and embedded pipes within two steel mesh sheets based on the projected binding drawings is as follows: Adjust the automatic binding gun 11 on the support frame 1 to move horizontally, vertically, and horizontally, so that the automatic binding gun 11 moves above the two steel mesh sheets that have been cut and the reinforcing bars have been bound. Arrange the junction boxes and embedded pipes according to the third drawing of the corresponding junction box and embedded pipe binding projected by the projection device. The automatic binding gun 11 binds and fixes the arranged junction boxes and embedded pipes to the steel mesh sheets.

[0124] In some embodiments of this application, the method of extracting the corresponding drawings into the projection device in step S1 above has been optimized. Specifically, the operator scans the QR code on the current drawing with a barcode scanner. The barcode scanner retrieves the first drawing for cutting the outer frame of the steel mesh, the second drawing for cutting the mold lines of the steel mesh windows, door openings, and embedded parts, and the third drawing for binding the junction box and embedded pipe from the drawing library. These drawings to be projected are then imported 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] This method allows for the retrieval of drawings only once during the processing of each set of steel reinforcement components, greatly facilitating the entire steel reinforcement component processing and simplifying the drawing retrieval and projection process.

[0126] In some other embodiments of this application, step S5 above has been optimized. Specifically, the method for switching the projection device to another workstation platform to complete the processing of another set of steel mesh according to the above process is as follows: After the positioning and calibration of the projection device are completed on the previous workstation platform, the target 12 on the workstation platform has completed the required operation and can be transferred to the next workstation platform to facilitate subsequent operation on the next workstation platform; after the processing of the steel mesh on the previous workstation platform is completed, the laser projector 5 of the projection device moves along the walking track 4 on the bracket 3 of the support frame 1 to the top of the next workstation platform, performs positioning and calibration based on the target 12 on the next workstation platform, and then processes another set of steel mesh according to the above process.

[0127] This process is carried out sequentially, forming an assembly line operation, which can significantly improve the efficiency of the entire steel reinforcement component manufacturing process.

[0128] Specifically, the precast wall panel steel reinforcement components of this application can be manufactured according to the following methods:

[0129] Select a workstation platform, control the motor on the walking track 4 to drive the laser projector 5 to move to the corresponding projection workstation of the selected workstation platform, import the CAD drawings and the pre-designed projection task file into the MES system, and set 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.

[0130] A target 12 is placed on the selected workstation platform. The laser projector 5 is positioned and calibrated based on the target 12. Images of the target 12 are acquired using a binocular camera. The acquired images are preprocessed to remove noise. The SIFT algorithm is used to detect key feature points in the preprocessed images, and descriptors of the key feature points are extracted to obtain descriptor vectors. The nearest neighbor algorithm is used to perform preliminary matching of the descriptor vectors. Low-confidence matching point pairs in the descriptor vectors are eliminated using ratios to obtain preliminary matching feature points. Mismatched points in the preliminary matching feature points are eliminated using the RANSC method. The matching results are optimized based on epipolar constraints to obtain optimized matching feature points. The disparity between the left and right cameras of the optimized matching feature points is calculated. The depth of the optimized matching feature points is calculated using triangulation formulas. Based on the calculated depth information, the acquired images are mapped to the world coordinate system. A transformation matrix is ​​obtained based on the three-dimensional coordinates of the same optimized matching feature point in the coordinate system of the laser projector 5 and the three-dimensional coordinates in the coordinate system of the binocular vision camera. The transformation matrix is ​​used to unify the coordinates of the target 12 to the coordinate system of the laser projector 5, completing the positioning and calibration of the laser projector 5.

[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 can be transferred to the next workstation platform.

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

[0133] The automated shears 10 on the support frame 1 are moved horizontally, vertically, and horizontally to move above the workstation platform where two steel mesh sheets to be processed are placed. The automated shears 10 cuts the outer frame of the two steel mesh sheets to be processed below according to the first drawing of the corresponding 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 of the corresponding window, door opening, and embedded part mold lines cutting. The automated shears 10 cuts the window, door opening, and embedded part mold lines of the two steel mesh sheets to be processed below according to the second drawing of the projection.

[0134] After cutting, the reinforcing bars are installed between the two steel mesh sheets by manual operation. The laser projector 5 projects the third drawing onto the workstation platform. The automatic binding gun 11 on the support frame 1 is adjusted to move horizontally, vertically and vertically, so that the automatic binding gun 11 moves above the two steel mesh sheets that have been cut and the reinforcing bars are bound. According to the third drawing of the corresponding junction boxes and embedded pipes projected by the laser projector 5, the junction boxes and embedded pipes are arranged. The automatic binding gun 11 binds and fixes the arranged junction boxes and embedded pipes to the steel mesh sheets, thus completing the production of the steel reinforcement components of the precast wall panel.

[0135] The motor on the control track 4 drives the laser projector 5 to move to the projection station of the next work station platform, and the next set of steel reinforcement components are produced on the next work station platform according to the above process.

[0136] like Figure 2 As shown, Figure 2 The left and right directions in the text refer to the horizontal direction of this application. Figure 2 The vertical direction in the text is the longitudinal direction of this application. Figure 2 The direction perpendicular to the paper is the vertical direction of this application.

[0137] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A method for manufacturing precast wall panel reinforcing steel components, characterized in that: The invention includes a precast wall panel reinforcement component manufacturing device; the precast wall panel reinforcement component manufacturing device includes... Supporting framework; A platform, which is located within a support frame, is provided with multiple workstations for processing precast wall panel steel mesh. A projection device, which is mounted on a support frame, is used to project the processing drawings onto the corresponding workstation platform; A transport device, which is mounted on a support frame, is used to transport the steel mesh to be processed to the workstation platform; A processing device, which is mounted on a support frame, is used to cut and tie the steel mesh of the workstation platform according to the projected processing drawings. The method for manufacturing precast wall panel steel reinforcement components includes the following steps: Adjust the position of the projection device and extract the corresponding drawing into the projection device; A target is set up on a workstation platform on the pedestal, and the projection device is positioned and calibrated based on the target; The projection device projects the cutting drawings of the steel mesh onto the workstation platform, and the conveying device moves two steel mesh sheets from the storage area of ​​the steel mesh sheets to be processed to the projected workstation platform; The processing device moves to the workstation platform and cuts two steel mesh sheets based on the projected cutting drawings. The two cut steel mesh sheets are then connected by reinforcing bars. The projection device projects the binding drawings onto the workstation platform, and the processing device binds and installs the junction box and embedded pipe within two steel mesh panels based on the projected binding drawings. After the steel mesh binding is completed, it waits to be hoisted away. The projection device is switched to another workstation platform to complete the processing of another set of steel mesh according to the above process. This process is repeated sequentially until all steel mesh panels have been processed. The method for positioning and calibrating the projection device based on a target includes: acquiring images of the target using a binocular camera; preprocessing the acquired images to remove noise; using the SIFT algorithm to detect key feature points in the preprocessed images; extracting descriptors for the key feature points to obtain descriptor vectors; using the nearest neighbor algorithm to perform preliminary matching of the descriptor vectors; using ratios to eliminate low-confidence matching point pairs in the descriptor vectors to obtain preliminary matching feature points; using the RANSC method to eliminate mismatched points in the preliminary matching feature points; optimizing the matching results based on epipolar constraints to obtain optimized matching feature points; calculating the disparity between the left and right cameras for the optimized matching feature points; calculating the depth of the optimized matching feature points using triangulation formulas; mapping the acquired images to the 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 projection device coordinate system.

2. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The projection device includes, The bracket has its lower end fixed to a support frame and its upper end provided with a horizontally arranged travel track. A laser projector, which is connected to a walking track and can move laterally via a walking motor.

3. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The conveying device includes, X-axis track, which is a track arranged horizontally on the support frame; The Y-axis track is connected to the X-axis track and is laterally movable via a motor drive. The Z-axis track is connected to the Y-axis track and is longitudinally movable via a motor drive. An adsorption fixture, which is connected to a Z-axis track and can move up and down via a motor, is used to adsorb steel reinforcement components.

4. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The processing apparatus includes, A cutting device, comprising automated scissors connected to a support frame that are automatically movable in the transverse, longitudinal and vertical directions by means of a motor; A tying device, comprising an automated tying gun connected to a support frame that is automatically movable in the lateral, longitudinal and vertical directions via a motor drive.

5. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The method for extracting the corresponding drawings into the projection device includes: scanning the QR code on the current drawing with a barcode scanner; the barcode scanner retrieves a first drawing for cutting the outer frame of the steel mesh, a second drawing for cutting the mold lines of the steel mesh windows, door openings, and embedded parts, and a third drawing for binding the junction box and embedded pipe from the 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.

6. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The method for transporting two steel mesh sheets from the storage area to the projected workstation platform by the transport device includes: arranging a storage station for the steel mesh sheets to be processed on one side of the 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 fixture on the Z-axis track, so that the adsorption fixture moves to the uppermost steel mesh sheet to be processed on the storage station and adsorbs it; after adsorption is completed, the adsorption fixture holding the steel mesh sheet to be processed is transported to the workstation platform via the X-axis track, Y-axis track, and Z-axis track, and the steel mesh sheet to be processed is placed on the workstation platform; repeating the above operation to complete the transport of another steel mesh sheet to be processed.

7. A method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The method for the processing device to move to the workstation platform and cut two steel mesh sheets based on the projected cutting drawings includes: adjusting the automatic scissors on the support frame to move horizontally, vertically, and horizontally, so that the automatic scissors move above the workstation platform where the two steel mesh sheets to be processed are placed, and cutting the outer frame of the two steel mesh sheets to be processed below according to the first drawing corresponding to the outer frame cut by the projection device; after the outer frame cut is completed, the projection device switches the projection pattern to the second drawing corresponding to the cutting of window, door opening, and embedded part mold lines, and the automatic scissors cut the window, door opening, and embedded part mold lines of the two steel mesh sheets to be processed below according to the projected second drawing.

8. The method for manufacturing precast wall panel reinforcement components as described in claim 1, characterized in that: The method for binding and installing junction boxes and embedded pipes within two steel mesh sheets based on the projected binding drawings of 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 above the two steel mesh sheets that have been cut and the reinforcing bars have been bound; arranging the junction boxes and embedded pipes according to the third drawing of the corresponding junction box and embedded pipe binding projected by the projection device; and binding and fixing the arranged junction boxes and embedded pipes to the steel mesh sheets with the automatic binding gun.

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