Railway beam yard tensioning robot

Abstract

The invention discloses a tensioning robot for a railway beam yard. The railway beam yard tensioning robot comprises a chassis trolley, a hydraulic device, a control center, a camera device, a mechanical arm device, a chassis trolley control device and a tensioning jack. The hydraulic device is arranged in the middle of the top of the chassis trolley. The control center, the camera device and the mechanical arm device are arranged at the top of the hydraulic device at intervals; the chassis trolley control device is arranged at the bottom of the chassis trolley; the tensioning jack is arranged at the end of the mechanical arm device and connected with the hydraulic device through an oil pipe. The hydraulic device, the camera device, the mechanical arm device, the chassis trolley control device and the tensioning jack are respectively connected with the control center. According to the railway beam yard tensioning robot, the workload of moving the tensioning jack is reduced, and the tensioning construction efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of beam yard tensioning construction, and in particular to a railway beam yard tensioning robot. Background Art

[0002] In the beam yard, after the prefabricated beams are made, they need to be tensioned, mainly the transverse and longitudinal tensioning of the prestressed steel strands on the prefabricated beams. The current tensioning method mainly uses jacks for tensioning. Since there are many prestressed steel strand bundles on the prefabricated beams, when using the jack to tension each bundle of prestressed steel strands, the jack needs to be moved many times. The jack is heavy and the moving workload is large, which greatly reduces the efficiency of the tensioning construction. Summary of the Invention

[0003] In order to solve the deficiencies in the above-mentioned background technology, the present invention provides a railway beam yard tensioning robot, which uses a camera device to find the tensioning target in the beam yard, and then controls the railway beam yard tensioning robot to move to the tensioning target through a control center and a chassis trolley control device, and then uses a robotic arm device to quickly and accurately move the tensioning jack to the steel strand bundle to be tensioned. After the tensioning is completed, the robotic arm device moves the tensioning jack to the next hole of the steel strand bundle to be tensioned, thereby reducing the workload of moving the tensioning jack and greatly improving the efficiency of the tensioning construction.

[0004] The present invention provides a railway beam yard tensioning robot, comprising a chassis trolley, a hydraulic device, a control center, a camera device, a mechanical arm device, a chassis trolley control device and a tensioning jack, wherein the hydraulic device is arranged in the middle of the top of the chassis trolley; the control center, the camera device and the mechanical arm device are arranged at intervals on the top of the hydraulic device, and the control center is arranged on one side of the top of the hydraulic device, and the mechanical arm device is arranged in the middle of the top of the hydraulic device; the chassis trolley control device is arranged at the bottom of the chassis trolley; the tensioning jack is arranged at the end of the mechanical arm device, and the tensioning jack is connected to the hydraulic device through an oil pipe; the hydraulic device, the camera device, the mechanical arm device, the chassis trolley control device and the tensioning jack are respectively connected to the control center.

[0005] In a preferred embodiment of the railway beam yard tensioning robot provided by the present invention, the hydraulic device includes an oil tank, an oil pump control center and an oil pump, the oil tank is arranged in the middle of the top of the chassis trolley; the oil pump control center is arranged on one side of the oil tank and is connected to the control center; the oil pump is connected to the oil pump control center, and the oil inlet end of the oil pump is connected to the oil tank, and the oil outlet end is connected to the tensioning jack through the oil pipe.

[0006] In a preferred embodiment of the railway beam yard tensioning robot provided by the present invention, the camera device includes a dome camera main pole and a dome camera, the bottom of the dome camera main pole is fixedly connected to the top of the hydraulic device; the dome camera is arranged on the top of the dome camera main pole and is connected to the control center.

[0007] In a preferred embodiment of the railway beam yard tensioning robot provided by the present invention, the robotic arm device includes a first robotic arm joint, a first robotic arm, a second robotic arm joint, a second robotic arm, a third robotic arm joint and a robotic arm grab hook, the first robotic arm joint is fixedly connected to the middle part of the top of the hydraulic device; the two ends of the first robotic arm are respectively connected to the first robotic arm joint and the second robotic arm joint; the two ends of the second robotic arm are respectively connected to the second robotic arm joint and the third robotic arm joint; the two ends of the robotic arm grab hook are respectively connected to the third robotic arm joint and the tensioning jack; the first robotic arm joint, the second robotic arm joint and the third robotic arm joint are respectively connected to the control center.

[0008] In a preferred embodiment of the railway beam yard tensioning robot provided by the present invention, the tensioning jack is a front card jack.

[0009] In a preferred embodiment of the railway beam yard tensioning robot provided by the present invention, hydraulic support legs are respectively provided at the four corners of the bottom of the chassis trolley, and the hydraulic support legs are respectively connected to the hydraulic devices.

[0010] Compared with the existing technology, the railway beam yard tensioning robot provided by the present invention has the following beneficial effects: the tensioning target in the beam yard is found through a camera device, and then the railway beam yard tensioning robot is controlled to move to the tensioning target through the control center and the chassis trolley control device, and then the tensioning jack is quickly and accurately moved to the steel strand bundle to be tensioned through the mechanical arm device. After the tensioning is completed, the tensioning jack is moved to the steel strand bundle to be tensioned in the next hole through the mechanical arm device, which reduces the workload of moving the tensioning jack and greatly improves the efficiency of the tensioning construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which: Figure 1 This is a schematic structural diagram of the railway beam yard tensioning robot provided by the present invention; Figure 2 yes Figure 1The structural block diagram of the railway beam yard tensioning robot is shown. DETAILED DESCRIPTION

[0012] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0013] Please also refer to Figure 1 and Figure 2 ,in, Figure 1 This is a schematic structural diagram of the railway beam yard tensioning robot provided by the present invention; Figure 2 yes Figure 1 The structural block diagram of the railway beam yard tensioning robot is shown. The railway beam yard tensioning robot comprises a chassis trolley 11, a hydraulic device, a control center 13, a camera device 14, a mechanical arm device 15, a chassis trolley control device 16, and a tensioning jack 17. The hydraulic device is located in the middle of the top of the chassis trolley 11; the control center 13, the camera device 14, and the mechanical arm device 15 are spaced apart on the top of the hydraulic device, with the control center 13 located on one side of the top of the hydraulic device, and the mechanical arm device 15 located in the middle of the top of the hydraulic device; the chassis trolley control device 16 is located at the bottom of the chassis trolley 11; the tensioning jack 17 is located at the end of the mechanical arm device 15 and is connected to the hydraulic device via an oil pipe; the hydraulic device, the camera device 14, the mechanical arm device 15, the chassis trolley control device 16, and the tensioning jack 17 are respectively connected to the control center 13.

[0014] The hydraulic device includes an oil tank 121, an oil pump control center 122 and an oil pump 123. The oil tank 121 is located in the middle of the top of the chassis trolley 11; the oil pump control center 122 is located on one side of the oil tank 121 and is connected to the control center 13; the oil pump 123 is connected to the oil pump control center 122, and the oil inlet end of the oil pump 123 is connected to the oil tank 121, and the oil outlet end is connected to the tensioning jack 17 through the oil pipe.

[0015] The camera device 14 includes a dome camera main pole 141 and a dome camera 142. The bottom of the dome camera main pole 141 is fixedly connected to the top of the oil tank 121. The dome camera 142 is arranged on the top of the dome camera main pole 141 and is connected to the control center 13 for searching for tensioning targets in the beam yard.

[0016] The manipulator device 15 includes a first manipulator joint 151, a first manipulator arm 152, a second manipulator arm joint 153, a second manipulator arm 154, a third manipulator arm joint 155 and a manipulator arm grab hook 156. The first manipulator arm joint 151 is fixedly connected to the middle of the top of the oil tank 121; the two ends of the first manipulator arm 152 are respectively connected to the first manipulator joint 151 and the second manipulator arm joint 153; the two ends of the second manipulator arm 154 are respectively connected to the second manipulator arm joint 153 and the third manipulator arm joint 155; the two ends of the manipulator arm grab hook 156 are respectively connected to the third manipulator arm joint 156. The joint 155 is connected to the tensioning jack 17; the first robotic arm joint 151, the second robotic arm joint 153 and the third robotic arm joint 155 are respectively connected to the control center 13; through the mutual cooperation of the first robotic arm joint 151, the first robotic arm 152, the second robotic arm joint 153, the second robotic arm 154 and the third robotic arm joint 155, the tensioning jack 17 fixed on the robotic arm grab hook 156 is quickly and accurately moved to the steel strand bundle to be tensioned, reducing the workload of moving the tensioning jack 17 and greatly improving the efficiency of tensioning construction.

[0017] The tensioning jack 17 is a front card jack.

[0018] Hydraulic support legs 111 are respectively provided at the four corners of the bottom of the chassis trolley 11, and the hydraulic support legs 111 are respectively connected to the oil pump 123; by providing the hydraulic support legs 111, the stability of the railway beam yard tensioning robot during tensioning can be greatly improved.

[0019] Before use, the precast beams in the beam yard are numbered in the control center 13, and the tensioning sequence of the steel strand bundles to be tensioned in the precast beams is set; when in use, the number of the precast beam to be tensioned is first input in the control center 13, and then the railway beam yard tensioning robot searches for the target precast beam in the beam yard through the camera device 14, and plans the walking route, and the railway beam yard tensioning robot is jointly controlled by the control center 13 and the chassis trolley control device 16 to move to the vicinity of the target precast beam, wherein one railway beam yard tensioning robot is arranged at each end of the target precast beam, and the railway beam yard tensioning robot again searches for the first hole steel strand bundle of the tensioning sequence set in the control center 13 through the camera device 14, and searches for the first hole steel strand bundle of the tensioning sequence set in the control center 13 through the first mechanical arm joint 151, the first mechanical arm 152, the second mechanical arm joint 153, the The second robotic arm 154, the third robotic arm joint 155 and the robotic arm grab hook 156 install the tensioning jack 17 on the steel strand bundle to be tensioned, and control the tensioning jack 17 through the hydraulic device to tension the steel strand bundle; after the tensioning is completed, the hydraulic device automatically releases the pressure, and then according to the tensioning sequence set in the control center 13, the control center 13 controls the first robotic arm joint 151, the first robotic arm 152, the second robotic arm joint 153, the second robotic arm 154, the third robotic arm joint 155 and the robotic arm grab hook 156 to move the tensioning jack 17 quickly and accurately to the next hole steel strand bundle to be tensioned for tensioning until all the steel strand bundles are tensioned, thereby reducing the workload of moving the tensioning jack 17 and greatly improving the efficiency of tensioning construction.

[0020] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A railway beam yard tensioning robot, characterized in that: It includes a chassis trolley, a hydraulic device, a control center, a camera device, a mechanical arm device, a chassis trolley control device and a tensioning jack. The hydraulic device is arranged in the middle of the top of the chassis trolley; the control center, the camera device and the mechanical arm device are arranged at intervals on the top of the hydraulic device, and the control center is arranged on one side of the top of the hydraulic device, and the mechanical arm device is arranged in the middle of the top of the hydraulic device; the chassis trolley control device is arranged at the bottom of the chassis trolley; the tensioning jack is arranged at the end of the mechanical arm device, and the tensioning jack is connected to the hydraulic device through an oil pipe; the hydraulic device, the camera device, the mechanical arm device, the chassis trolley control device and the tensioning jack are respectively connected to the control center.

2. The railway beam yard tensioning robot according to claim 1, characterized in that: The hydraulic device includes an oil tank, an oil pump control center and an oil pump. The oil tank is located in the middle of the top of the chassis trolley; the oil pump control center is located on one side of the oil tank and connected to the control center; the oil pump is connected to the oil pump control center, and the oil inlet end of the oil pump is connected to the oil tank, and the oil outlet end is connected to the tensioning jack through the oil pipe.

3. The railway beam yard tensioning robot according to claim 1, characterized in that: The camera device includes a dome camera main rod and a dome camera. The bottom of the dome camera main rod is fixedly connected to the top of the hydraulic device. The dome camera is arranged on the top of the dome camera main rod and connected to the control center.

4. The railway beam yard tensioning robot according to claim 1, characterized in that: The robotic arm device includes a first robotic arm joint, a first robotic arm, a second robotic arm joint, a second robotic arm, a third robotic arm joint and a robotic arm grab hook. The first robotic arm joint is fixedly connected to the middle of the top of the hydraulic device; the two ends of the first robotic arm are respectively connected to the first robotic arm joint and the second robotic arm joint; the two ends of the second robotic arm are respectively connected to the second robotic arm joint and the third robotic arm joint; the two ends of the robotic arm grab hook are respectively connected to the third robotic arm joint and the tensioning jack; the first robotic arm joint, the second robotic arm joint and the third robotic arm joint are respectively connected to the control center.

5. The railway beam yard tensioning robot according to claim 1, characterized in that: The tensioning jack is a front card type jack.

6. The railway beam yard tensioning robot according to claim 1, characterized in that: Hydraulic support legs are respectively provided at the four corners of the bottom of the chassis trolley, and the hydraulic support legs are respectively connected to the hydraulic devices.

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