Automatic plastering robot for PC component and control method

Abstract

The invention relates to the technical field of PC component automatic production, and provides an automatic plastering robot for a PC component and a control method. According to the automatic plastering robot for the PC component, a movable moving system is installed on a support, the moving system comprises a multi-degree-of-freedom robot, and a camera system, a condensation detection system and a trowelling system are arranged at the tail end of the multi-degree-of-freedom robot; the condensation detection system comprises a guide rail mounting base fixed to the tail end of the multi-degree-of-freedom robot, a guide rail motor is arranged on the guide rail mounting base, an output shaft of the guide rail motor is connected with a T-shaped lead screw, a sliding block is arranged on the T-shaped lead screw, a connecting block is fixed to the sliding block, and a pressure sensor is arranged below the connecting block. The lower part of the pressure sensor is connected with a test needle through a connecting shaft, and one side of the connecting block is provided with a concrete resistivity tester probe; and when the condensation detection system performs concrete condensation detection, after the test needle penetrates into the PC component for a set distance, the probe of the concrete resistivity tester is in contact with the PC component.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic production of PC components, and particularly to an automatic plastering robot for PC components and a control method thereof. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, various new building concepts such as building industrialization, energy conservation and emission reduction, quality and safety, and ecological environment protection have brought development opportunities for PC components. A large number of infrastructure constructions in the process of urbanization and the urgent need for standardized and rapid construction of high-quality buildings for large-scale indemnificatory housing have provided a broad application space for PC components. PC components have many advantages such as high efficiency in energy conservation, environmental friendliness, cost reduction, provision of usage functions and performance, etc. The factory environment is more stable than the construction site operation environment and is safer for workers, and the quality and process of components can be better controlled.

[0004] The plastering of PC components must be carried out when the concrete is in the initial setting stage. Premature plastering will cause shrinkage cracks in the concrete, while too late plastering may lead to difficulties in plastering or an inability to level the surface. Therefore, the selection of the plastering timing should ensure that the concrete reaches the initial setting state but has not entered the final setting state. Existing plastering robots cannot determine the degree of concrete setting on-site, so the best timing for plastering PC components cannot be obtained.

[0005] At the present stage, the method for measuring the setting time of concrete mainly uses the penetration resistance method to measure the setting time of concrete: during the setting process of concrete, the test needle is pressed into the specimen to a depth of 25 mm multiple times to measure the penetration resistance; when the measured value of the penetration resistance reaches 3.5 Mpa, it is considered that the initial setting time has been reached, and when the measured value of the penetration resistance reaches 28 Mpa, it is considered that the final setting time has been reached. This method requires manual intervention and there are operation errors, and the best timing for plastering PC components cannot be accurately grasped. Summary of the Invention

[0006] In order to solve the technical problems existing in the above background art, the present invention provides an automatic plastering robot for PC components and a control method thereof. The present invention can realize automatic plastering of PC components on an automated production line, and integrate a concrete setting detection system on the plastering robot, which can be tested on-site before plastering. The PC component plastering robot flexibly avoids obstacles on the PC component through the cooperation of the camera system and the moving system, repairs the PC component according to the feedback of the camera system, improves the surface quality of the PC component after plastering, reduces human error, and ensures the best time for plastering.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: The first aspect of the present invention provides an automatic plastering robot for PC components.

[0008] An automatic surface finishing robot for PC components, comprising: brackets fixed on both sides of the PC component moving assembly line, a movable moving system is installed on the brackets, the moving system includes a multi-degree-of-freedom robot, and a camera system, a setting detection system and a finishing system are arranged at the end of the multi-degree-of-freedom robot; The setting detection system includes: a guide rail mounting seat fixed on the end of the multi-degree-of-freedom robot, a guide rail motor is arranged on the guide rail mounting seat, the output shaft of the guide rail motor is connected to a T-shaped lead screw, a slider is arranged on the T-shaped lead screw, a connecting block is fixed on the slider, a pressure sensor is arranged below the connecting block, a test needle is connected below the pressure sensor through a connecting shaft, and a concrete resistivity tester probe is arranged on one side of the connecting block; when the setting detection system conducts concrete setting detection, after the test needle penetrates into the PC component by a set distance, the concrete resistivity tester probe contacts the PC component.

[0009] Further, the moving system further includes a longitudinal moving component and a transverse moving component; the longitudinal moving component is installed on the track above the bracket and moves longitudinally along the track; the transverse moving component is installed on one side of the longitudinal moving component and moves transversely between the two brackets along the longitudinal moving component.

[0010] Further, the multi-degree-of-freedom robot is installed on the transverse moving component.

[0011] Further, the camera system includes: an overall scanning camera, a surface scanning camera, a feedback camera and a camera mounting bracket, the overall scanning camera is installed on the transverse moving component and is used to determine the position of obstacles on the PC component and the relative position between the PC component and the multi-degree-of-freedom robot; the camera mounting bracket is fixed at the end of the multi-degree-of-freedom robot, a surface scanning camera is arranged at one end of the camera mounting bracket and is used to obtain the surface information of the PC component; a feedback camera is arranged at the other end of the camera mounting bracket and is used to obtain the surface finishing information of the PC component.

[0012] Further, a guide rail mounting seat is arranged on the side of the camera mounting bracket where the feedback camera is arranged.

[0013] Further, the finishing system includes a finishing disk motor and a finishing disk, the finishing disk motor is installed at the end of the multi-degree-of-freedom robot, and the finishing disk is installed on the output shaft of the finishing disk motor.

[0014] Further, the moving system, the camera system, the setting detection system and the finishing system are all connected to a program console.

[0015] Further, the test needle adopts a flat needle.

[0016] The second aspect of the present invention provides a control method for an automatic surface finishing robot for PC components.

[0017] A control method for an automatic finishing robot of PC components, which is applied to the automatic finishing robot of PC components described in the first aspect, includes: It is transported by the PC component moving pipeline to the lower part of the automatic finishing robot of PC components; A camera system is used to identify the position of obstacles and locate the relative positions of the multi-degree-of-freedom robot and the PC component; The moving system drives the finishing system to move to the starting position of the PC component, and the degree of concrete setting is measured by the setting detection system; According to the degree of concrete setting, it is determined whether the finishing condition is met. If it is met, the finishing system is controlled to finish, and based on the finishing information collected by the camera system, the moving system drives the multi-degree-of-freedom robot to track the surface of the PC component in real time; Until the finishing information of the surface of the PC component collected by the camera system meets the set requirements, the finishing ends.

[0018] Further, the method of using the camera system to identify the position of obstacles and locate the relative positions of the multi-degree-of-freedom robot and the PC component includes: using the camera system to obtain the images of the PC component and the multi-degree-of-freedom robot and the PC component, and through the semantic segmentation method based on the convolutional neural network, identify the position of obstacles and locate the relative positions of the multi-degree-of-freedom robot and the PC component.

[0019] Compared with the prior art, the beneficial effects of the present invention are: The present invention innovatively develops an automatic finishing robot for PC components relative to traditional manual finishing, effectively reducing manual participation and providing the possibility for the automated production of PC components; the penetration resistance method and the resistivity method are combined to accurately determine the degree of concrete setting of the PC component, so as to determine the best timing for finishing the PC component and achieve the best finishing effect.

[0020] The present invention innovatively develops a detection system for the degree of concrete setting. With the above structure, it overcomes the problem that the prior art cannot detect the degree of concrete setting on site, so that the best time for finishing the PC component cannot be determined.

[0021] The present invention combines the moving system and the camera system, solves the problem that the existing PC component finishing robot can only finish PC components without obstacles on the surface, and is more adaptable to the characteristics of more customized PC components.

[0022] The present invention can effectively improve the finishing efficiency of PC components, reduce the manual participation rate, and the feedback mechanism of the camera system can ensure the quality of finishing, making the product quality more stable. Description of the Drawings

[0023] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0024] Figure 1 is a schematic diagram of the overall structure of the automatic plastering robot for PC components shown in an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of the mobile system shown in an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the camera system shown in an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of the condensation detection system shown in an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of the probe of the concrete resistivity tester shown in an embodiment of the present invention; Figure 6 is a schematic diagram of the structure of the plastering system shown in an embodiment of the present invention; Wherein, 1, bracket; 2, mobile system; 3, camera system; 4, condensation detection system; 5, plastering system; 6, longitudinal movement component; 7, transverse movement component; 8, multi-degree-of-freedom robot; 9, overall scanning camera; 10, surface scanning camera; 11, feedback camera; 12, camera mounting bracket; 13, guide rail motor; 14, guide rail mounting seat; 15, T-shaped lead screw; 16, slider; 17, connecting block; 18, pressure sensor; 19, connecting shaft; 20, test probe; 21, probe of concrete resistivity tester; 22, trowel motor; 23, trowel. Detailed implementation manners

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are all illustrative and are intended to provide a further description of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0027] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Embodiment 1 An embodiment of the present invention provides an automatic plastering robot for PC components, which is mainly applicable to the automatic plastering production of PC components in an automated production line for PC components. After a PC component completes the previous process, it moves to the working position of the PC component plastering robot. The moving system 2 drives the overall scanning camera 9 to scan the entire PC component to determine the positions of obstacles such as wire boxes. The PC component automatic plastering robot moves to the initial position. The setting detection system 4 starts to work to detect whether the concrete of the PC component reaches the optimal plastering condition. After reaching the condition, the plastering system 5 starts to work.

[0029] Specifically, as Figure 1 shown, an automatic plastering robot for PC components includes a bracket 1, a moving system 2, a camera system 3, a setting detection system 4, and a plastering system 5. The bracket 1 is fixed on both sides of the PC component moving production line. The moving system 2 is installed above the bracket 1 and can complete overall longitudinal movement, lateral movement, and multi-degree-of-freedom movement at the end. The camera system 3, the setting detection system 4, and the plastering system 5 are installed on the moving system 2. Driven by the moving system 2, the camera system 3, the setting detection system 4, and the plastering system 5 can complete reciprocating movement between the brackets above the PC component production line.

[0030] As Figure 2 shown, the moving system 2 includes a longitudinal moving component 6, a lateral moving component 7, and a multi-degree-of-freedom robot 8. The longitudinal moving component 6 is installed above the bracket 1. There are tracks above the bracket 1. The longitudinal moving component 6 can slide along the tracks of the bracket 1 and can stop at any position. The lateral moving component 7 is installed on one side of the longitudinal moving component 6 and can move laterally between the brackets along the longitudinal moving component 6. The multi-degree-of-freedom robot 8 is installed on the lateral moving component 7 and moves together with the lateral moving component 7. The multi-degree-of-freedom robot 8 is a six-degree-of-freedom robot.

[0031] As Figure 3 shown, the camera system 3 includes an overall scanning camera 9, a surface scanning camera 10, a feedback camera 11, and a camera mounting bracket 12. The overall scanning camera 10 is installed on the lateral moving component 7. The overall scanning camera 10 can move along with the longitudinal moving component 6 and the lateral moving component 7 to complete the overall scanning of the PC component, determine the positions of obstacles on the PC component, and the relative positions of the PC component and the PC component plastering robot, facilitating subsequent plastering work. The surface scanning camera 10 and the feedback camera 11 are installed on the camera mounting bracket 12. Through the feedback of the surface scanning camera 10, the moving system 2 moves in real time to track the surface of the PC component. The feedback camera 11 provides real-time feedback on the plastering effect during the plastering process. If the plastering is unqualified, the PC component plastering robot will repair it. The camera mounting bracket 12 is fixed at the end of the multi-degree-of-freedom robot 8.

[0032] As Figure 4As shown in the figure, the condensation detection system includes a guide rail motor 13, a guide rail mounting seat 14, a T-shaped lead screw 15, a slider 16, a connecting block 17, a pressure sensor 18, a connecting shaft 19, a test probe 20, and a concrete resistivity tester probe 21. The guide rail motor 13 is fixed on the guide rail mounting seat 14. The output shaft of the guide rail motor 13 is connected to the T-shaped lead screw 15. The guide rail mounting seat 14 is fixed at one end of the camera mounting bracket 12. The slider 16 is connected to the T-shaped lead screw 15 by a thread. The connecting block 17 is fixed on the slider 16. The pressure sensor 18 is connected below the connecting block 17 by a thread. The test probe 20 is connected to the pressure sensor 18 through the connecting shaft 19. The concrete resistivity tester probe 21 is installed on one side of the connecting block 17.

[0033] The moving system 2 drives the trowel 23 to move close to the PC component. The guide rail motor 13 is started to drive the T-shaped lead screw 15 and the slider 16 to move. The slider 16 drives the test probe 20 to move downward. When the pressure sensor 18 transmits data back, the trowel 23 and the test probe 20 are flush. At this time, the test probe 20 is in close contact with the PC component. The guide rail motor 13 drives the test probe 20 to move downward at a speed of 2.5 mm / s for 25 mm according to the preset operating parameters. When the test probe 20 starts to penetrate the PC component, the pressure sensor 18 transmits the detected pressure to the program console in real time. After the test probe 20 penetrates 25 mm into the PC component, the concrete resistivity tester probe 21 contacts the PC component, and the concrete resistivity is measured. The measured data is transmitted to the program console, and the data of pressure and resistivity are combined and compared with the best troweling data to determine whether it is the best troweling time at this moment.

[0034] As Figure 5 shown in the figure, the pressure sensor 18 and the concrete resistivity tester probe 21 are both installed on the connecting block 17, ensuring the relative positions of the test probe 20 and the concrete resistivity tester probe 21, so that after the test probe 20 penetrates 25 mm into the PC component, the concrete resistivity tester probe 21 can contact the PC component for simultaneous measurement.

[0035] To ensure the measurement accuracy, the test probe 20 is a flat needle, and a test needle with a cross-sectional area of 100 mm 2 is selected. According to the standard, when the penetration resistance per unit area is 0.2 - 3.5 Mpa, the cross-sectional area of the test needle is 100 mm 2 .

[0036] As Figure 6 shown in the figure, the troweling system 5 includes a trowel motor 22 and a trowel 23. The trowel motor 22 is a 3980W motor installed at the end of the multi-degree-of-freedom robot 8. The trowel 23 is installed on the output shaft of the trowel motor 22. The diameter of the trowel is 38 cm. Cooperating with the moving system 2, the troweling is more flexible, which can avoid obstacles such as wire boxes on the PC component. After troweling, there are fewer gaps and air holes.

[0037] The present invention can effectively improve the leveling efficiency of PC components, reduce the manual participation rate. The feedback mechanism of the camera system can ensure the quality of the plastering, making the product quality more stable, and effectively solving the problems such as a large number of PC component plastering workers, high labor intensity, low production efficiency, and large fluctuations in product quality.

[0038] Embodiment 2 This embodiment provides a control method for an automatic plastering robot for PC components, which is applied to the automatic plastering robot for PC components described in Embodiment 1, and includes the following steps: Step 1: After the PC component is initially plastered, it is transported by the PC component moving assembly line to the lower part of the automatic plastering robot for PC components; Step 2: Through the overall scanning of the overall scanning camera 9, determine the positions of obstacles such as wire boxes. The PC component plastering robot returns to the initial position, and the relative positions of the PC component plastering robot and the PC component are located through the overall scanning camera 9.

[0039] Step 3: The moving system 2 moves to make the leveling system 5 move to the starting position of the PC component, and the degree of concrete setting is measured by the setting detection system 4.

[0040] Step 4: Automatically determine whether the leveling condition is met. After the condition is met, the leveling system 5 starts to work. After starting the plastering, through the feedback of the surface scanning camera 10, the multi-degree-of-freedom robot 8 and the transverse moving assembly 7, and the longitudinal moving assembly 6 move in real time to track the surface of the component.

[0041] Step 5: Automatically determine whether the plastering is qualified according to the feedback of the feedback camera 11.

[0042] Step 6: The surface of the PC component is integrally repaired by the movement of the PC component plastering robot, and finally the surface of the PC component is flat, without lines and bubbles, meeting the requirements of leveling and pressing, and the plastering ends.

[0043] In one or more embodiments, the overall scanning camera in Step 2 performs an overall scan of the PC component. Through the semantic segmentation method based on a convolutional neural network, obstacles such as the robot, mold, wire boxes, and holes on the PC component are identified, and their positions are determined, avoiding collisions between the plastering disc and the obstacles, and better adapting to the non-standard characteristics of PC components.

[0044] In one or more embodiments, the surface scanning camera in Step 4 can calculate the surface tangent through three-dimensional modeling technology to determine the flatness of the surface of the PC component to be plastered, and feed it back to the multi-degree-of-freedom robot for operation, thereby ensuring the quality of the plastering.

[0045] In one or more embodiments, in step four, the feedback camera can reduce the operation blind area through camera vision surface reconstruction technology, judge the condition of the concrete surface, and determine whether the PC component needs to be repaired again.

[0046] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic plastering robot for PC components, characterized in that Including: Supports fixed on both sides of the PC component moving assembly line, with a movable moving system installed on the supports. The moving system includes a multi-degree-of-freedom robot, and a camera system, a setting detection system, and a leveling system are provided at the end of the multi-degree-of-freedom robot; The setting detection system includes: a guide rail mounting seat fixed on the end of the multi-degree-of-freedom robot. A guide rail motor is provided on the guide rail mounting seat. The output shaft of the guide rail motor is connected to a T-shaped lead screw. A slider is provided on the T-shaped lead screw. A connecting block is fixed on the slider. A pressure sensor is provided below the connecting block. A test probe is connected to the pressure sensor through a connecting shaft below. A concrete resistivity tester probe is provided on one side of the connecting block; when the setting detection system performs concrete setting detection, after the test probe penetrates the PC component by a set distance, the concrete resistivity tester probe contacts the PC component.

2. The automatic plastering robot for PC components according to claim 1, wherein, The moving system further includes a longitudinal moving component and a transverse moving component; the longitudinal moving component is installed on the track above the support and moves longitudinally along the track; the transverse moving component is installed on one side of the longitudinal moving component and moves transversely between the two supports along the longitudinal moving component.

3. The automatic plastering robot for PC components according to claim 2, characterized in that, The multi-degree-of-freedom robot is installed on the transverse moving component.

4. The automatic plastering robot for PC components according to claim 2, characterized in that, The camera system includes: an overall scanning camera, a surface scanning camera, a feedback camera, and a camera mounting bracket. The overall scanning camera is installed on the transverse moving component and is used to determine the position of obstacles on the PC component and the relative position between the PC component and the multi-degree-of-freedom robot; the camera mounting bracket is fixed at the end of the multi-degree-of-freedom robot. A surface scanning camera is provided at one end of the camera mounting bracket and is used to obtain the surface information of the PC component; a feedback camera is provided at the other end of the camera mounting bracket and is used to obtain the leveling information of the PC component surface.

5. The automatic surface finishing robot for PC components according to claim 4, wherein A guide rail mounting seat is provided on the side of the camera mounting bracket where the feedback camera is provided.

6. The automatic plastering robot for PC components according to claim 1, characterized in that, The leveling system includes a leveling disk motor and a leveling disk. The leveling disk motor is installed at the end of the multi-degree-of-freedom robot, and the leveling disk is installed on the output shaft of the leveling disk motor.

7. The automatic plastering robot for PC components according to claim 1, characterized in that, The moving system, the camera system, the setting detection system, and the leveling system are all connected to a program control console.

8. The automatic plastering robot for PC components according to claim 1, characterized in that, The test probe uses a flat probe.

9. A control method for an automatic plastering robot of PC components, characterized in that, Applied to the PC component automatic leveling robot according to any one of claims 1-8, including: Transferred to below the PC component automatic leveling robot by the PC component moving assembly line; Using the camera system to identify the position of obstacles and locate the relative position between the multi-degree-of-freedom robot and the PC component; The moving system drives the leveling system to move to the starting position of the PC component, and measures the concrete setting degree through the setting detection system; According to the concrete setting degree, determine whether the leveling condition is met. If it is met, control the leveling system to level. Through the leveling information collected by the camera system, the moving system drives the multi-degree-of-freedom robot to track the surface of the PC component in real time; Until the leveling information of the PC component surface collected by the camera system meets the set requirements, the leveling ends.

10. The control method of the automatic plastering robot for PC components according to claim 9, characterized in that, The method uses a camera system to identify the position of obstacles and locate the relative positions of the multi-degree-of-freedom robot and the PC component. The method includes: using a camera system to obtain images of the PC component and the images of the multi-degree-of-freedom robot and the PC component, and identifying the position of obstacles and locating the relative positions of the multi-degree-of-freedom robot and the PC component through a semantic segmentation method based on a convolutional neural network.

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