PC component three-dimensional laser scanning non-contact quality intelligent detection device and method

Abstract

The invention relates to the field of material conveying, in particular to a PC component three-dimensional laser scanning non-contact quality intelligent detection device and method so as to solve the problem that in the PC component detection process, lifting rope lifting stability is poor, and manual assistance is needed. The device comprises a gantry truss, a lifting mechanism and a hoisting unit, two optical shafts are arranged at the top of the gantry truss; the two optical shafts are arranged in parallel and are in sliding connection with the side wall of the box body through a sliding frame; a first threaded rod is arranged between the two optical shafts in parallel; the first threaded rod is in threaded connection with the sliding frame; one end of the first threaded rod is rotationally connected with a driving motor on the gantry truss; under the control of the driving motor, the box body can slide along the optical axis; the hoisting unit is arranged on the lower portion of the lifting mechanism and can clamp and limit the PC component. The lifting mechanism is arranged in the box body and can control the hoisting unit to move up and down. And through the clamping effect of the hoisting unit, the PC component can be kept stable in the moving process.

Description

Technical Field

[0001] The present invention relates to the field of material transportation, and particularly to a three-dimensional laser scanning non-contact quality intelligent detection device and method for PC components. Background Art

[0002] Prefabricated concrete (PC) components play an important role in modern building construction. After production, they need to be transported to the construction site for installation. However, if there are quality problems such as dimensional deviations, inaccurate positions of reserved holes and embedded parts in PC components, it will lead to difficulties in on-site installation, increase additional labor and time costs for repair or rework, and even require the components to be returned to the factory for replacement. This not only increases the construction cost but also seriously affects the installation quality and efficiency. According to on-site research data, the average rework cost caused by PC component defects accounts for about 5% of the total construction cost.

[0003] To reduce and eliminate rework and repair problems that occur during the on-site installation of PC components, it is necessary to conduct a comprehensive quality inspection before the PC components leave the factory. Currently, the quality inspection process for PC components includes using a truss vehicle to hoist and transfer the PC component to the load platform of an RGV vehicle by means of a lifting rope, and then the RGV vehicle transports the PC component to the three-dimensional scanning inspection station for inspection. However, this method of hoisting and transferring with a lifting rope is likely to cause the PC component to sway when lifted, making it difficult to accurately place the PC component at the center position of the RGV vehicle platform. Usually, manual assistance is required to ensure that the PC component is stably carried on the RGV vehicle. Therefore, it greatly affects the working efficiency of the entire inspection process, showing the deficiencies of the existing technology in terms of operation convenience and efficiency. Summary of the Invention

[0004] The present invention provides a three-dimensional laser scanning non-contact quality intelligent detection device and method for PC components to alleviate the problem that manual assistance is required due to poor stability of hoisting with a lifting rope during the detection process of PC components.

[0005] In order to alleviate the above technical problems, the technical solution provided by the present invention lies in:

[0006] The present invention provides a three-dimensional laser scanning non-contact quality intelligent detection device for PC components, including a gantry truss, a lifting mechanism, and a lifting unit;

[0007] Two optical axes are provided at the top of the gantry truss;

[0008] The two optical axes are arranged in parallel and are slidably connected to the side wall of the box body through a sliding frame;

[0009] A first threaded rod is also arranged in parallel between the two optical axes;

[0010] The first threaded rod is threadedly connected to the sliding frame;

[0011] One end of the first threaded rod is rotatably connected to the driving motor on the gantry truss;

[0012] Under the control of the driving motor, the box body can slide along the optical axis;

[0013] The hoisting unit is arranged at the lower part of the lifting mechanism and can clamp and limit the PC component;

[0014] The lifting mechanism is arranged in the box body and can control the up and down movement of the hoisting unit.

[0015] Furthermore,

[0016] The lifting mechanism includes a second threaded rod, a connecting rod, a threaded sleeve block and a lifting motor;

[0017] The second threaded rod is arranged vertically in the box body and is rotatably connected to the box body at both the upper and lower ends;

[0018] Two connecting rods are respectively arranged in parallel on both sides of the second threaded rod and are fixedly connected through the threaded sleeve block;

[0019] The lower end of the connecting rod penetrates through the box body and is fixedly connected to the hoisting unit;

[0020] The threaded sleeve block is rotatably connected to the second threaded rod;

[0021] The lifting motor is arranged at the top of the box body and is rotatably connected to the second threaded rod.

[0022] Furthermore,

[0023] The hoisting unit includes a suspension plate, a column, a double-headed hinge seat and a clamping rod;

[0024] The upper surface of the suspension plate is fixedly connected to the connecting rod, and the lower surface is fixedly connected to a plurality of columns;

[0025] The double-headed hinge seat is arranged horizontally at the bottom of the column;

[0026] Both ends of the double-headed hinge seat are respectively hinged to a clamping rod;

[0027] An assembly plate is arranged at one end of each clamping rod close to the double-headed hinge seat;

[0028] The assembly plate is provided with a straight groove;

[0029] A shift lever is respectively and slidably inserted into the straight grooves on both sides of the double-headed hinge seat;

[0030] Two symmetrically distributed rotating rods are rotatably mounted on the bottom plate of the suspension plate;

[0031] A first gear is respectively arranged at both ends of the rotating rod, and two adjacent first gears are meshed with each other;

[0032] An extension plate is provided on the outer wall of each first gear;

[0033] One end of the extension plate away from the first gear is sleeved with a shift lever respectively.

[0034] Furthermore,

[0035] The hoisting unit further includes a triggering component;

[0036] The triggering component includes a hydraulic cylinder and a hydraulic rod body;

[0037] The hydraulic rod body is slidably connected to the hydraulic cylinder;

[0038] One end of the hydraulic rod body away from the hydraulic cylinder is hinged to the extension plate;

[0039] One end of the hydraulic cylinder away from the hydraulic rod body is hinged to the hanging plate.

[0040] Furthermore,

[0041] A pin is rotatably provided on the bottom plate of the clamping rod through a bearing, and a balance plate is fixedly connected to the outside of the pin;

[0042] A support plate and a counterweight are respectively provided at both ends of the balance plate;

[0043] The balance plate maintains a horizontal state under the cooperation of the support plate and the counterweight.

[0044] Furthermore,

[0045] The hoisting unit further includes a limiting component;

[0046] The limiting component is arranged inside the bottom of the clamping rod and can limit the pin;

[0047] A pressure member for triggering the limiting component is provided at the end of the hydraulic rod body;

[0048] The limiting component includes a sealing cylinder, a first piston disk and a sliding column;

[0049] The sealing cylinder is arranged in the cavity at the bottom of the clamping rod;

[0050] The first piston disk is slidably assembled with the inner wall of the sealing cylinder;

[0051] The sliding column is arranged at one end of the first piston disk close to the pin, is slidably connected to the inner wall of the sealing cylinder and penetrates through the sealing cylinder;

[0052] A spring is arranged between one end of the first piston disk close to the pin and the sealing cylinder;

[0053] A toothed plate is arranged at one end of the sliding column close to the pin;

[0054] The outer surface of the bolt is provided with a second gear, and the toothed plate can abut and mesh with the second gear;

[0055] The top of the sealing cylinder is provided with a first communication pipe;

[0056] One end of the first communication pipe away from the sealing cylinder is slidably connected to the clamping rod.

[0057] Furthermore,

[0058] The pressure member includes butt pipes distributed outside the two lever rods, and each butt pipe is fixedly connected to a plurality of clamping rods on the same side. One ends of the plurality of first communication pipes on the same side away from the sealing cylinder are communicated with the butt pipe on the same side.

[0059] Furthermore,

[0060] The hydraulic rod body includes a first rod body that can extend into the hydraulic cylinder and a second rod body hinged to the extension plate;

[0061] The first rod body and the second rod body are slidably assembled, and a tension spring is also arranged between the first rod body and the second rod body;

[0062] Both ends of the tension spring are fixedly connected to the first rod body and the second rod body respectively;

[0063] A piston cylinder is fixedly arranged on the outer wall of the second rod body, and a second piston disc is slidably assembled inside the piston cylinder;

[0064] A piston rod is arranged at one end of the second piston disc close to the suspension plate;

[0065] The piston rod is inserted into the piston cylinder, fixedly connected to the second piston disc at one end and fixedly connected to the first rod body at the other end;

[0066] A second communication pipe is communicatively assembled between the outer wall of the piston cylinder and the butt pipe on the same side.

[0067] Furthermore,

[0068] The connection points of the second communication pipe and the piston cylinder are distributed on the side of the second piston disc close to the suspension plate;

[0069] Rubber pads are fixedly arranged on the upper end surface of the support plate and the end surface of the clamping rod in contact with the PC component.

[0070] A three-dimensional laser scanning non-contact quality intelligent detection method for PC components includes the above-mentioned three-dimensional laser scanning non-contact quality intelligent detection device for PC components, and further includes the following steps:

[0071] S1: Hoist the PC component to be quality-detected onto the RGV rail vehicle through the gantry truss;

[0072] S2: The RGV rail vehicle transports the PC component to the predetermined position;

[0073] S3: The collaborative robot scans the PC component through the three-dimensional laser scanning device and transmits the scanned data into the detection system;

[0074] S4: Make a three-dimensional point cloud model from the scanned data, compare it with the original PC three-dimensional model, automatically form the detection result, and give an early warning for defective detection.

[0075] The beneficial effects of the present invention are analyzed as follows:

[0076] With the cooperation of the gantry truss and the lifting mechanism, the lifting unit can move in the vertical and horizontal directions. Through the clamping action of the lifting unit, the PC component can remain stable during the movement. Compared with the prior art using a special sling for hoisting, it can ensure the accurate placement of the PC component on the loading platform of the RGB trolley without manual assistance. Description of the Drawings

[0077] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0078] Figure 1 Isometric schematic diagram of the present invention;

[0079] Figure 2 Cross-sectional schematic diagram of the lifting mechanism;

[0080] Figure 3 Isometric schematic diagram of the lifting unit;

[0081] Figure 4 Side view schematic diagram of the lifting unit;

[0082] Figure 5 Distribution schematic diagram of the pallet and the counterweight;

[0083] Figure 6 For Figure 5 Partial enlarged schematic diagram of A in

[0084] Figure 7 Structural schematic diagram of the hydraulic rod body;

[0085] Figure 8 For Figure 7 Partial enlarged schematic diagram of B in

[0086] Icon:

[0087] 100 - Lifting mechanism; 110 - Second threaded rod; 120 - Connecting rod; 130 - Threaded sleeve block; 140 - Lifting motor;

[0088] 200 - Hoisting unit; 210 - Hanging plate; 211 - Rotating rod; 220 - Column; 230 - Double - headed hinge seat; 240 - Clamping rod; 241 - Pin; 2411 - Second gear; 242 - Balance plate; 243 - Support plate; 244 - Counterweight; 250 - Assembly plate; 251 - Straight groove; 252 - Pushing rod; 260 - First gear; 261 - Extension plate; 270 - Touching component; 271 - Hydraulic cylinder; 272 - Hydraulic rod body; 2721 - First rod body; 2722 - Second rod body; 2723 - Tension spring; 2724 - Piston cylinder; 2725 - Second piston disc; 2726 - Piston rod; 280 - Limiting component; 281 - Sealing cylinder; 282 - First piston disc; 283 - Slide column; 284 - Spring; 285 - Tooth plate; 286 - First connecting pipe; 287 - Second connecting pipe; 288 - Docking pipe;

[0089] 300 - Optical axis; 310 - Sliding frame; 320 - First threaded rod;

[0090] 400 - Box body;

[0091] 500 - PC component. Detailed implementation mode

[0092] Embodiment 1

[0093] Currently, the quality inspection process for PC components includes using a truss vehicle to hoist and transfer the PC component to the load - carrying platform of the RGV vehicle by means of a lifting rope, and then the RGV vehicle transports the PC component to the three - dimensional scanning inspection station for inspection. However, this lifting - rope hoisting and transfer method is likely to cause the PC component to sway when lifted, making it difficult to accurately place the PC component at the center position of the RGV vehicle platform. Usually, manual assistance is required to ensure that the PC component is stably carried on the RGV vehicle. Therefore, it greatly affects the working efficiency of the entire inspection process, showing the deficiencies of the existing technology in terms of operation convenience and efficiency.

[0094] In view of this, as Figures 1 to 8 shown, this solution provides a three - dimensional laser scanning non - contact quality intelligent inspection device for PC components to alleviate the above problems.

[0095] This device includes a gantry truss, a lifting mechanism 100, and a hoisting unit 200;

[0096] Two optical axes 300 are arranged at the top of the gantry truss;

[0097] Two optical axes 300 are arranged in parallel and are slidably connected to the side wall of the box body 400 through a sliding frame 310;

[0098] A first threaded rod 320 is also arranged in parallel between the two optical axes 300;

[0099] The first threaded rod 320 is threadedly connected to the sliding frame 310;

[0100] One end of the first threaded rod 320 is rotatably connected to the driving motor on the gantry truss;

[0101] Under the control of the driving motor, the box body 400 can slide along the optical axis 300;

[0102] The hoisting unit 200 is arranged at the lower part of the lifting mechanism 100 and can clamp and limit the PC member 500;

[0103] The lifting mechanism 100 is arranged in the box body 400 and can control the up and down movement of the hoisting unit 200.

[0104] In this solution, the gantry truss is fixed above the stacking position of the PC member 500 and the RGV rail car. Through the cooperation of the driving motor, the two optical axes 300 and the first threaded rod 320, the box body 400 drives the PC member 500 to be detected from the stacking position to the RGV rail car. During the movement, the hoisting unit 200 can clamp and limit the PC member 500 to achieve the purpose of fixed lifting and avoid the problem that the PC member cannot be placed in the correct position on the RGV rail car due to shaking during transportation.

[0105] Regarding the shape and structure of the lifting mechanism 100, as Figure 2 shown:

[0106] The lifting mechanism 100 includes a second threaded rod 110, a connecting rod 120, a threaded sleeve block 130 and a lifting motor 140;

[0107] The second threaded rod 110 is arranged vertically in the box body 400 and is rotatably connected to the box body 400 at both the upper and lower ends;

[0108] Two connecting rods 120 are respectively arranged in parallel on both sides of the second threaded rod 110 and are fixedly connected through a threaded sleeve block 130;

[0109] The lower end of the connecting rod 120 penetrates through the box body 400 and is fixedly connected to the hoisting unit 200;

[0110] The threaded sleeve block 130 is rotatably connected to the second threaded rod 110;

[0111] The lifting motor 140 is arranged at the top of the box body 400 and is rotatably connected to the second threaded rod 110.

[0112] Specifically, driving the second threaded rod 110 to rotate through the lifting motor 140 can control the threaded sleeve block 130 to drive the two connecting rods 120 to move up and down, so that the lifting unit 200 moves up and down above the stacking position of the PC component and above the RGV rail vehicle.

[0113] Regarding the shape and structure of the lifting unit 200, as Figures 1 to 8 shown:

[0114] The lifting unit 200 includes a lifting plate 210, a column 220, a double-headed hinge seat 230, and a clamping rod 240;

[0115] The upper surface of the lifting plate 210 is fixedly connected to the connecting rod 120, and the lower surface is fixedly connected to a plurality of columns 220;

[0116] The double-headed hinge seat 230 is arranged at the bottom of the column 220 in the horizontal direction;

[0117] Both ends of the double-headed hinge seat 230 are respectively hinged to a clamping rod 240;

[0118] An assembly plate 250 is arranged at one end of each clamping rod 240 close to the double-headed hinge seat 230;

[0119] The assembly plate 250 is provided with a straight groove 251;

[0120] A shift lever 252 is respectively slidably inserted into the straight grooves 251 on both sides of the double-headed hinge seat 230;

[0121] Two symmetrically distributed rotating rods 211 are rotatably mounted on the bottom plate of the lifting plate 210;

[0122] A first gear 260 is respectively arranged at both ends of the rotating rod 211, and two adjacent first gears 260 are meshed with each other;

[0123] An extension plate 261 is arranged on the outer wall of each first gear 260;

[0124] The ends of the extension plates 261 away from the first gears 260 are respectively sleeved with the shift levers 252;

[0125] The lifting unit 200 further includes a trigger component 270;

[0126] The trigger component 270 includes a hydraulic cylinder 271 and a hydraulic rod body 272;

[0127] The hydraulic rod body 272 is slidably connected to the hydraulic cylinder 271;

[0128] The end of the hydraulic rod body 272 away from the hydraulic cylinder 271 is hinged to the extension plate 261;

[0129] One end of the hydraulic cylinder 271 away from the hydraulic rod body 272 is hinged to the hanging plate 210;

[0130] The bottom plate of the clamping rod 240 is rotatably provided with a pin 241 through a bearing, and a balance plate 242 is fixedly connected to the outside of the pin 241;

[0131] Both ends of the balance plate 242 are respectively provided with a support plate 243 and a counterweight 244;

[0132] The balance plate 242 maintains a horizontal state under the cooperation of the support plate 243 and the counterweight 244;

[0133] Specifically, the hydraulic cylinder 271 can drive the hydraulic rod body 272 to retract and extend, so as to adjust the swing angle of the extension plate 261. When the angle of the extension plate 261 changes, it can drive the assembly plate 250 to move through the lever 252, so as to adjust the angle of the clamping rod 240.

[0134] In this solution, the hoisting unit 200 further includes a limiting member 280;

[0135] The limiting member 280 is arranged inside the bottom of the clamping rod 240 and can limit the pin 241;

[0136] A pressure member for triggering the limiting member 280 is arranged at the end of the hydraulic rod body 272;

[0137] The limiting member 280 includes a sealing cylinder 281, a first piston disk 282 and a sliding column 283;

[0138] The sealing cylinder 281 is arranged in the cavity at the bottom of the clamping rod 240;

[0139] The first piston disk 282 is slidably assembled with the inner wall of the sealing cylinder 281;

[0140] The sliding column 283 is arranged at one end of the first piston disk 282 close to the pin 241, is slidably connected to the inner wall of the sealing cylinder 281, and penetrates through the sealing cylinder 281;

[0141] A spring 284 is arranged between one end of the first piston disk 282 close to the pin 241 and the sealing cylinder 281;

[0142] A toothed plate 285 is arranged at one end of the sliding column 283 close to the pin 241;

[0143] A second gear 2411 is arranged on the outer surface of the pin 241, and the toothed plate 285 can abut and mesh with the second gear 2411;

[0144] A first communication pipe 286 is arranged at the top of the sealing cylinder 281;

[0145] One end of the first connecting pipe 286 away from the sealing cylinder 281 is slidably connected to the clamping rod 240;

[0146] The pressure member includes butt joint pipes 288 distributed outside the two shifting rods 252, and each butt joint pipe 288 is fixedly connected to a plurality of clamping rods 240 on the same side. One ends of the plurality of first connecting pipes 286 on the same side away from the sealing cylinder 281 are communicated with the butt joint pipe 288 on the same side.

[0147] Specifically, the bottom of the sealing cylinder 281 is in an open state and the top is in a closed state. The sliding column 283 can slide along the axial direction of the sealing cylinder 281, so as to ensure that the toothed plate 285 will not shift when moving up and down, and when the toothed plate 285 moves downward, it can be engaged with the second gear 2411.

[0148] In this solution, the hydraulic rod body 272 includes a first rod body 2721 that can extend into the hydraulic cylinder 271 and a second rod body 2722 that is hinged to the extension plate 261;

[0149] The first rod body 2721 and the second rod body 2722 are slidably assembled, and a tension spring 2723 is also arranged between the first rod body 2721 and the second rod body 2722;

[0150] Two ends of the tension spring 2723 are respectively fixedly connected to the first rod body 2721 and the second rod body 2722;

[0151] The outer wall of the second rod body 2722 is fixedly provided with a piston cylinder 2724, and a second piston disc 2725 is slidably assembled inside the piston cylinder 2724;

[0152] One end of the second piston disc 2725 close to the suspension plate 210 is provided with a piston rod 2726;

[0153] The piston rod 2726 is inserted into the piston cylinder 2724, and one end is fixedly connected to the second piston disc 2725 and the other end is fixedly connected to the first rod body 2721;

[0154] A second connecting pipe 287 is communicated and assembled between the outer wall of the piston cylinder 2724 and the butt joint pipe 288 on the same side;

[0155] The butt joint points of the second connecting pipe 287 and the piston cylinder 2724 are distributed on the side of the second piston disc 2725 close to the suspension plate 210;

[0156] Rubber pads are fixedly arranged on the upper end surface of the support plate 243 and the end surfaces of the clamping rods 240 in contact with the PC member.

[0157] The working principle of the hoisting unit 200 in this solution is:

[0158] The PC components 500 are stacked in layers, that is, a partition is placed between the PC components 500 stacked up and down, and a certain gap is separated between each PC component 500 by the partition.

[0159] When the staff controls the box body 400 to move above the PC component stacking position, the lifting motor 140 is used to control the hanging plate 210 to move downward. During the downward movement of the hanging plate 210, at least two groups of symmetrically distributed clamping rods 240 are located on both sides of the PC component 500 to be hoisted. Then, the hydraulic cylinder 271 is controlled to drive the hydraulic rod body 272 to retract. During the retraction process, the lever 252 moves the assembly plate 250, so that at least two groups of clamping rods 240 clamp the PC component 500 to be hoisted, so that the lifting and transfer process of the PC component is always kept in a fixed state. Compared with the lifting and transfer by lifting rope in the prior art, it has stronger stability and no shaking. There is no need for the staff to manually pull the PC component 500 during the lifting and transfer process, which improves the work efficiency while also improving the construction safety of the staff.

[0160] In addition, when the clamping rod 240 clamps the PC component 500, the support plate 243 can be extended into the gap between the two PC components 500. When the clamping rod 240 is against the PC component 500 to be hoisted, and the hydraulic rod body 272 is continuously subjected to the retraction liquid pressure of the hydraulic cylinder 271, a small expansion will occur between the first rod body 2721 and the second rod body 2722. At this time, the tension spring 2723 is stretched, and the first rod body 2721 can touch the second piston plate 2725 through the piston rod 2726, and the pressure liquid in the piston cylinder 2724 is released through the second connecting pipe 287, the butt pipe 288 and The first connecting pipe 286 is transported to the sealing cylinder 281. The first piston disc 282 in the sealing cylinder 281 will move downward after receiving the hydraulic thrust, so that the tooth plate 285 can abut against the surface of the second gear 2411. The engagement of the tooth plate 285 with the second gear 2411 can limit the position of the latch 241, the balance plate 242 and the support plate 243. Therefore, during the transfer of the PC component 500, the support plate 243 is opposite to the bottom of the PC component 500. Even if the PC component 500 slips off the clamping rod 240, the support plate 243 can still hold up the PC component 500 to ensure the stability of the PC component during the transfer process.

[0161] Embodiment 2

[0162] A PC component three-dimensional laser scanning non-contact quality intelligent detection method includes the above-mentioned PC component three-dimensional laser scanning non-contact quality intelligent detection device, and also includes the following steps:

[0163] S1: hoist the PC component 500 that needs quality inspection onto the RGV rail car through the gantry truss;

[0164] S2: The RGV rail vehicle transports the PC component 500 to the predetermined position;

[0165] S3: The collaborative robot scans the PC component 500 through a three-dimensional laser scanning device and transmits the scanning data into the detection system;

[0166] S4: Make a three-dimensional point cloud model from the scanning data, compare it with the original PC three-dimensional model, automatically form a detection result, and give an early warning for defective detection.

[0167] Among them, the collaborative robot uses a six-axis robot, the three-dimensional laser scanning device uses an optical tracking 3D scanner, and the RGV rail vehicle itself has a driving device and can move along the track; and it relies on the constant velocity joint system, scanning sensors and optical trackers for real-time positioning to ensure high-precision dynamic measurement at the workshop site.

[0168] This solution has at least the following beneficial effects:

[0169] In the design of the lifting unit, this solution adopts the structure of the clamping rod 240 cooperating with the hydraulic cylinder 271 and the hydraulic rod body 272, which can realize the stable clamping and precise placement of the PC component 500, greatly improving the stability of the PC component during the transfer process and avoiding the shaking problem caused by the traditional sling method. The combined use of the lifting mechanism 100 and the gantry truss enables the entire device to not only move up and down in the vertical direction, but also translate horizontally, realizing the automatic transfer of the PC component from the stacking position to the RGV rail vehicle, reducing the need for manual intervention and improving work efficiency. In addition, this device is also equipped with a limit component 280 to ensure that even if an accidental slip occurs during the transfer of the PC component, the pallet 243 can effectively support it, further ensuring the safety of the operation. To sum up, this solution shows significant advantages in improving work efficiency, enhancing operation convenience and ensuring construction safety, and is of great significance for promoting the automation and intelligent development of the precast component production industry.

[0170] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A PC component three-dimensional laser scanning non-contact quality intelligent detection device, characterized in that: It comprises a gantry truss, a lifting mechanism (100) and a hoisting unit (200); Two optical axes (300) are arranged on the top of the gantry truss; The two optical axes (300) are arranged in parallel and are slidably connected to the side wall of the box body (400) via a sliding frame (310); A first threaded rod (320) is also arranged in parallel between the two optical axes (300); The first threaded rod (320) is threadedly connected to the sliding frame (310); One end of the first threaded rod (320) is rotatably connected to a driving motor on the gantry truss; Under the control of the driving motor, the box body (400) can slide along the optical axis (300); The hoisting unit (200) is disposed at the lower part of the lifting mechanism (100) and is capable of clamping and restricting the PC component (500); The lifting mechanism (100) is arranged in the box body (400) and can control the lifting unit (200) to move up and down.

2. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 1 is characterized in that: The lifting mechanism (100) comprises a second threaded rod (110), a connecting rod (120), a threaded sleeve block (130) and a lifting motor (140); The second threaded rod (110) is arranged in the box body (400) along the vertical direction, and both upper and lower ends are rotatably connected to the box body (400); The two connecting rods (120) are respectively arranged in parallel on both sides of the second threaded rod (110) and are fixedly connected via the threaded sleeve (130); The lower end of the connecting rod (120) passes through the box body (400) and is fixedly connected to the hanging unit (200); The threaded sleeve (130) is rotatably connected to the second threaded rod (110); The lifting motor (140) is disposed on the top of the box body (400) and is rotationally connected to the second threaded rod (110).

3. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 2 is characterized in that: The hanging unit (200) comprises a hanging plate (210), a column (220), a double-headed hinged seat (230) and a clamping rod (240); The upper surface of the hanging plate (210) is fixedly connected to the connecting rod (120), and the lower surface is fixedly connected to the plurality of columns (220); The double-headed hinge seat (230) is arranged at the bottom of the column (220) along the horizontal direction; Both ends of the double-headed hinged seat (230) are respectively hinged to one of the clamping rods (240); An assembly plate (250) is provided at one end of each clamping rod (240) close to the double-headed hinge seat (230); The assembly plate (250) is provided with a straight groove (251); The straight grooves (251) located on both sides of the double-headed hinge seat (230) are respectively slidably plugged with a lever (252); The bottom plate rotating frame of the hanging plate (210) is provided with two symmetrically distributed rotating rods (211); A first gear (260) is respectively disposed at both ends of the rotating rod (211), and two adjacent first gears (260) are meshed with each other; An extension plate (261) is provided on the outer wall of each of the first gears (260); One end of the extension plate (261) away from the first gear (260) is sleeved with the shifting rod (252).

4. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 3 is characterized in that: The hanging unit (200) further includes a trigger component (270); The actuating component (270) comprises a hydraulic cylinder (271) and a hydraulic rod body (272); The hydraulic rod body (272) is slidably connected to the hydraulic cylinder (271); One end of the hydraulic rod body (272) away from the hydraulic cylinder (271) is hinged to the extension plate (261); One end of the hydraulic cylinder (271) away from the hydraulic rod body (272) is hinged to the hanging plate (210).

5. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 4 is characterized in that: The bottom plate of the clamping rod (240) is rotatably provided with a latch (241) via a bearing, and the outside of the latch (241) is fixedly connected with a balance plate (242); A supporting plate (243) and a counterweight block (244) are respectively provided at both ends of the balance plate (242); The balancing plate (242) maintains a horizontal state under the cooperation of the supporting plate (243) and the counterweight block (244).

6. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 5 is characterized in that: The hanging unit (200) further includes a limiting component (280); The limiting component (280) is arranged on the inner side of the bottom of the clamping rod (240) and can limit the latch pin (241); The end of the hydraulic rod body (272) is provided with a pressure piece for triggering the limiting component (280); The limiting component (280) comprises a sealing cylinder (281), a first piston disc (282) and a sliding column (283); The sealing cylinder (281) is arranged in the cavity at the bottom of the clamping rod (240); The first piston disc (282) is slidably assembled with the inner wall of the sealing cylinder (281); The sliding column (283) is arranged at one end of the first piston plate (282) close to the latch pin (241), is slidably connected to the inner wall of the sealing cylinder (281), and penetrates the sealing cylinder (281); A spring (284) is provided between one end of the first piston disc (282) close to the latch pin (241) and the sealing cylinder (281); A tooth plate (285) is provided at one end of the sliding column (283) close to the latch pin (241); The outer surface of the latch (241) is provided with a second gear (2411), and the toothed plate (285) can abut and mesh with the second gear (2411); A first connecting pipe (286) is provided at the top of the sealing cylinder (281); One end of the first connecting tube (286) away from the sealing cylinder (281) is slidably connected to the clamping rod (240).

7. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 6 is characterized in that: The pressure member comprises a butt joint tube (288) distributed on the outside of the two shifting rods (252), and each of the butt joint tubes (288) is fixedly connected to a plurality of the clamping rods (240) located on the same side, and an end of a plurality of the first connecting tubes (286) located on the same side away from the sealing cylinder (281) is connected to the butt joint tube (288) on the same side.

8. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 7 is characterized in that: The hydraulic rod body (272) comprises a first rod body (2721) capable of extending into the interior of the hydraulic cylinder (271) and a second rod body (2722) hingedly connected to the extension plate (261); The first rod body (2721) and the second rod body (2722) are slidably assembled, and a tension spring (2723) is also provided between the first rod body (2721) and the second rod body (2722); Two ends of the tension spring (2723) are respectively fixedly connected to the first rod body (2721) and the second rod body (2722); A piston cylinder (2724) is fixedly provided on the outer wall of the second rod body (2722), and a second piston disc (2725) is slidably mounted inside the piston cylinder (2724); A piston rod (2726) is provided at one end of the second piston disc (2725) close to the hanging plate (210); The piston rod (2726) is plugged into the piston cylinder (2724), and one end is fixedly connected to the second piston disc (2725), and the other end is fixedly connected to the first rod body (2721); A second connecting pipe (287) is provided between the outer wall of the piston cylinder (2724) and the connecting pipe (288) on the same side.

9. The PC component three-dimensional laser scanning non-contact quality intelligent detection device according to claim 8 is characterized in that: The docking point between the second connecting pipe (287) and the piston cylinder (2724) is distributed on a side of the second piston disc (2725) close to the hanging plate (210); The upper end surface of the support plate (243) and the end surface of the clamping rod (240) in contact with the PC component are both fixedly provided with rubber pads.

10. A PC component three-dimensional laser scanning non-contact quality intelligent detection method, comprising a PC component (500) three-dimensional laser scanning non-contact quality intelligent detection device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: hoisting the PC component (500) that needs quality inspection onto the RGV rail vehicle through the gantry truss; S2: The RGV rail vehicle transports the PC component (500) to a predetermined position; S3: The collaborative robot scans the PC component (500) through a three-dimensional laser scanning device, and transmits the scan data to the detection system; S4: The scan data is converted into a 3D point cloud model and compared with the original PC 3D model to automatically generate the test results and give early warnings for defects in the test.

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