Space arc-shaped concrete cross beam butt joint transfer equipment and use method

Abstract

The invention provides space arc-shaped concrete cross beam butt-joint transfer equipment and a using method, and belongs to the technical field of concrete cross beam butt-joint transfer equipment. A magnetic attraction lifting assembly is arranged in the center of the top surface of the flat car assembly, extending damping assemblies are arranged at the positions, close to the left side and the right side, of the bottom of the magnetic attraction lifting assembly respectively, a flat plate sliding way assembly is attracted to the top of the magnetic attraction lifting assembly, and a loading assembly is arranged at the top of the flat plate sliding way assembly. The regional three-dimensional recognition assembly is arranged to scan and recognize three-dimensional graphs of loading devices of different sizes and shapes in the surface of the whole transfer equipment, background data is transmitted to the mechanical arm, a visual recognition camera is matched, a target object is recognized through an image processing algorithm, and the target object is displayed. Spatial arc-shaped concrete cross beams with different geometrical shapes are obtained to be matched with loading areas with corresponding sizes formed in the surface of the loading device, and the two-dimensional coordinates of the spatial arc-shaped concrete cross beams in the camera are calculated.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete beam docking and transfer equipment, and in particular to spatial arc-shaped concrete beam docking and transfer equipment and a use method thereof. Background Art

[0002] As construction projects continue to expand, more and more large concrete beams are being used in various building structures, such as bridges and high-rise buildings. These concrete beams are typically large and heavy, making traditional manual handling or simple tool transfer methods inadequate. Therefore, specialized transfer equipment is needed to improve transfer efficiency and safety.

[0003] The limitations of existing transfer methods are as follows: 1. Dependence on external equipment. Most traditional transfer racks are not equipped with mobile devices and need to rely on external equipment such as cranes and trailers to move. This not only increases transportation costs and time, but is also restricted by on-site conditions, such as narrow roads and insufficient site carrying capacity, which makes the transfer rack unable to move flexibly; 2. Low transfer efficiency. Some simple transfer tools or methods, such as forklift transfer, although relatively flexible in operation, have low transfer efficiency for large concrete beams, and it is difficult to ensure stability and safety during the transfer process, which cannot meet the needs of large-scale production and construction; 3. Large equipment investment and space occupation. The method of using multiple transverse transfer vehicles and longitudinal transfer vehicles to carry out transfer, although safety and efficiency are improved, requires a large amount of equipment, and these equipment will take up more production space, increasing production costs and the difficulty of site management.

[0004] Therefore, if the loading and transfer device is integrated with a robotic arm of the same type as the crane, and AI machine vision and three-dimensional projection area division technology are used to match the robotic arm, a complete set of automatically integrated concrete beam transfer equipment can be completed. The recognition camera is used to identify the geometric shape of the beam, such as a cylindrical beam or a pentagonal beam or other polygons, to cope with different lifting claw methods and place it in the matching loading area. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a spatial arc concrete beam docking and transfer device and a method of use to solve the existing problems of dependence on external equipment, low transfer efficiency, large equipment investment and space occupation.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] The space arc concrete beam docking and transfer equipment includes a flatbed truck assembly, a magnetic lifting assembly is provided at the center of the top surface of the flatbed truck assembly, and the bottom of the magnetic lifting assembly is provided with extended shock-absorbing assemblies on the left and right sides respectively. The top of the magnetic lifting assembly is adsorbed with a flat slide assembly, and the top of the flat slide assembly is provided with a loading assembly, and the left and right sides of the loading assembly are respectively connected with a plurality of inclined plate frame assemblies in an arranged form, and the interior of the loading assembly is respectively provided with a plurality of regional three-dimensional recognition assemblies in an arranged form on the left and right sides respectively, and the left and right sides of the flat slide assembly are respectively connected with a visual recognition handling robot arm assembly, and the visual recognition handling robot arm assembly includes a robot arm base. A robotic arm main beam is provided at the center of the top surface of the robotic arm base, and supporting inclined plates are respectively provided on the left and right sides of the robotic arm main beam, and double-headed fixing bolts are respectively provided at the upper and lower ends of each supporting inclined plate and the connection with the robotic arm base and the robotic arm main beam. The top of the robotic arm main beam is connected to a robotic arm mounting beam, and a power arm is provided at the top of the robotic arm mounting beam, and a bending arm is provided at the top of the power arm, and a lifting claw connecting arm is provided at the front end of the bending arm, and a visual recognition camera is provided at the top of the bending arm, and one end of the lifting claw connecting arm is connected to a lifting claw fixing seat, and five adjusting telescopic rods are provided in a ring form on the outside of the lifting claw fixing seat, and the bottom of each adjusting telescopic rod is connected to an arc-shaped lifting claw.

[0008] Optionally, the loading assembly includes a tic-tac-toe loading plate, and I-beam load-bearing steels are respectively provided on the left and right sides of the tic-tac-toe loading plate, and a plurality of small beam placement racks are arranged on the top surface of each I-beam load-bearing steel, and a plurality of loading isolation steels are arranged at the center of the top surface of the tic-tac-toe loading plate, and a plurality of beam loading racks are respectively arranged on the left and right sides of the center of the top surface of the tic-tac-toe loading plate.

[0009] Optionally, the inclined plate frame assembly includes a fixed base plate, the front end of the fixed base plate is provided with hinges on the left and right side surfaces respectively, the top of the fixed base plate is provided with an L-shaped inclined plate bracket at the rear end edge, and the front end surface center of the L-shaped inclined plate bracket is provided with an arc-shaped support plate.

[0010] Optionally, the regional three-dimensional recognition component includes a power supply, the front end of the power supply is connected to a magnifying scanner, and the top of the magnifying scanner is provided with a regional three-dimensional scanner.

[0011] Optionally, the flatbed truck assembly includes a flatbed truck base load-bearing plate, a plurality of mudguards are provided in a matrix on the outside of the flatbed truck base load-bearing plate, a driving wheel is provided inside each mudguard, and a lifting lug is provided at the center of the front end surface of the flatbed truck base load-bearing plate.

[0012] Optionally, the flat slide assembly includes a flat slide base load-bearing plate, and a robotic arm slide is provided at the left and right edges of the top surface of the flat slide base load-bearing plate, and each robotic arm slide is provided with a limit block at the left and right ends.

[0013] Optionally, the magnetic lifting assembly includes a splicing plate, a rotating shaft disk is provided on the top of the splicing plate, a magnetic block is provided on the top of the rotating shaft disk, a top splicing disk is provided on the bottom of the rotating shaft disk, and a middle splicing ring is provided on the bottom of the top splicing disk.

[0014] Optionally, the top surface of the middle splicing ring is provided with a plurality of telescopic columns in a matrix form, the bottom of the middle splicing ring is provided with a circular base, and the interior of the circular base is provided with a plurality of slide rail steel balls in a ring form.

[0015] Optionally, the extension shock-absorbing assembly includes a trapezoidal fixed block, and fixed shock-absorbing rings are respectively provided at the left and right edges of the bottom of the trapezoidal fixed block. The left and right sides of the trapezoidal fixed block are respectively connected to telescopic power devices, and one end of each of the telescopic power devices is connected to a triangular mounting frame, and the upper and lower ends of the triangular mounting frame are respectively connected to extendable shock-absorbing rings.

[0016] The method for using the spatial arc concrete beam docking and transfer equipment includes the following steps:

[0017] Step 1: First, use the flatbed truck assembly to move the entire integrated transfer equipment to the vicinity of the concrete beam. Use the existing robotic arm slide and robotic arm body to move to the left and right sides of the transfer equipment to grab the concrete beams that need to be loaded and transferred on both sides;

[0018] Step 2: Adapt one or more extension shock-absorbing assemblies according to the loading tonnage. When using an extension shock-absorbing assembly, the telescopic power device can be activated before loading to extend the extendable shock-absorbing rings at the four corners forward and backward to expand the area of ​​the entire shock-absorbing device and increase the range of the shock-absorbing effect;

[0019] Step 3. Then use the regional three-dimensional recognition component to scan and identify the three-dimensional graphics of loading devices of different sizes and shapes on the surface of the entire transfer equipment, and transmit the background data to the robotic arm. In conjunction with the visual recognition camera, the image processing algorithm is used to identify the target object, and the spatial arc concrete beams of different geometric shapes are distinguished to match the loading areas of corresponding sizes opened on the surface of the loading device, and their two-dimensional coordinates in the camera are calculated. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. According to the posture information of the target object, the posture of the end effector of the robotic arm is calculated. Then, according to the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and reach the target position efficiently. Finally, the robotic arm performs the grasping action to complete the loading task.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] In the above scheme, by setting up a regional three-dimensional recognition component, the loading devices of different sizes and shapes on the surface of the entire transfer equipment are scanned and identified in three-dimensional graphics. The data is transmitted to the robotic arm through the background data, and the visual recognition camera is used to identify the target object using the image processing algorithm. The spatial arc concrete beams of different geometric shapes are distinguished to match the loading areas of corresponding sizes opened on the surface of the loading device, and their two-dimensional coordinates in the camera are calculated. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. According to the posture information of the target object, the posture of the end effector of the robotic arm is calculated. Then, according to the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and reach the target position efficiently. Finally, the robotic arm performs the grasping action to complete the loading task.

[0022] By setting up a loading and transferring device and a crane-type robotic arm for integration, and using AI machine vision and three-dimensional projection area division technology, the robotic arm can complete a complete set of automatically integrated concrete beam transfer equipment. The recognition camera is used to identify the geometric shape of the beam, such as polygons such as cylindrical beams or pentagonal beams, to cope with different lifting claw methods, and to place it in the matching loading area, which solves the existing limitations of relying on external equipment. Most traditional transfer racks are not equipped with mobile devices and need to rely on external equipment such as cranes and trailers to move, which not only increases transportation costs and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the space arc concrete beam docking and transfer equipment;

[0025] Figure 2 This is a schematic diagram of the exploded structure of the space arc concrete beam docking and transfer equipment;

[0026] Figure 3 It is a schematic diagram of the overall three-dimensional structure of the loading assembly;

[0027] Figure 4 Schematic diagram of the cross-shaped loading plate and I-shaped load-bearing steel structure;

[0028] Figure 5 Schematic diagram of the structure of the inclined plate frame assembly;

[0029] Figure 6 This is a schematic diagram of the structure of the regional three-dimensional recognition component;

[0030] Figure 7 This is a schematic diagram of the beam loading frame structure;

[0031] Figure 8 This is a schematic diagram of the flatbed truck assembly structure;

[0032] Figure 9 Schematic diagram of the flat slide assembly structure;

[0033] Figure 10 This is a schematic diagram of the three-dimensional structure of the magnetic lifting component;

[0034] Figure 11 This is a schematic diagram of the exploded structure of the magnetic lifting component;

[0035] Figure 12 This is a schematic diagram of the splicing structure of the extended shock-absorbing component and the magnetic lifting component;

[0036] Figure 13 It is a schematic diagram of the extended shock absorption component structure;

[0037] Figure 14 Schematic diagram of the structure of the handling robot arm assembly for visual recognition;

[0038] Figure 15 A schematic diagram of the structure of the robotic arm base in the visual recognition handling robotic arm assembly;

[0039] Figure 16 This is a schematic diagram of the power arm structure in the visual recognition handling robot arm assembly;

[0040] Figure 17 This is a schematic diagram of the structure of the lifting claw device in the visual recognition handling robot arm assembly.

[0041] [Reference Signs]

[0042] 1. Flatbed assembly; 101. Flatbed base bearing plate; 102. Fender; 103. Drive wheel; 104. Lifting lug; 2. Extended shock-absorbing assembly; 201. Trapezoidal fixing block; 202. Fixed shock-absorbing ring; 203. Telescopic power equipment; 204. Triangular mounting frame; 205. Extendable shock-absorbing ring; 3. Magnetic lifting assembly; 301. Splicing plate; 302. Rotating shaft; 303. Magnetic block; 304. Top splicing plate; 305. Middle splicing ring; 306. Telescopic column; 307. Ring base; 308. Slide rail steel ball; 4. Flatbed slide assembly; 401. Flatbed slide base bearing plate; 402. Robotic arm slide; 403. Limit block; 5. Loading assembly; 501. Tile loading plate; 502. I-beam bearing steel ; 503, small beam placement rack; 504, loading insulation steel; 505, beam loading rack; 6, inclined plate frame assembly; 601, fixed base plate; 602, hinge; 603, L-shaped inclined plate bracket; 604, arc-shaped support plate; 7, regional three-dimensional recognition assembly; 701, power supply; 702, magnifying scanner; 703, regional three-dimensional scanner; 8, visual recognition handling robot arm assembly; 801, robot arm base; 802, robot arm main beam; 803, supporting inclined plate; 804, double-headed fixing bolt; 805, robot arm mounting beam; 806, power arm; 807, bending arm; 808, visual recognition camera; 809, lifting claw connecting arm; 810, lifting claw fixing seat; 811, adjusting telescopic rod; 812, arc-shaped lifting claw.

[0043] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0044] The following describes in detail the spatial curved concrete beam docking and transfer equipment and its method of use provided by the present invention, with reference to the accompanying drawings and specific embodiments. It is also noted that, for the sake of completeness, the following embodiments are best and preferred embodiments, and those skilled in the art may employ alternative implementations for known technologies. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention.

[0045] It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment will include such specific features, structures, or characteristics. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0046] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0047] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” means not only “directly on” something but also includes the meaning of being “on” something with intervening features or layers, and “on” or “above” means not only “on” or “above” something but also includes the meaning of being “on” or “above” something with no intervening features or layers.

[0048] Additionally, spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as illustrated in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein should be similarly interpreted accordingly.

[0049] like Figures 1 to 7As shown, an embodiment of the present invention provides a space arc concrete beam docking and transferring device, including a flatbed truck assembly 1, a magnetic lifting assembly 3 is provided at the center of the top surface of the flatbed truck assembly 1, an extended shock-absorbing assembly 2 is provided on the left and right sides of the bottom of the magnetic lifting assembly 3, a flat slide assembly 4 is adsorbed on the top of the magnetic lifting assembly 3, a loading assembly 5 is provided on the top of the flat slide assembly 4, a plurality of inclined plate frame assemblies 6 are connected to the left and right sides of the loading assembly 5 in an arranged manner, a plurality of regional three-dimensional recognition assemblies 7 are arranged on the left and right sides of the interior of the loading assembly 5, a visual recognition handling robot arm assembly 8 is connected to the left and right sides of the flat slide assembly 4, the loading assembly 5 includes a well-shaped loading flat plate 501, and an I-shaped load-bearing steel 502 is provided on the left and right sides of the well-shaped loading flat plate 501. The top surface of the Chinese-shaped load-bearing steel 502 is provided with several small beam placement racks 503 in an arranged form, the center of the top surface of the cross-shaped loading plate 501 is provided with several loading isolation steels 504 in an arranged form, and the center of the top surface of the cross-shaped loading plate 501 is provided with several beam loading racks 505 in an arranged form on the left and right sides respectively. The inclined plate frame assembly 6 includes a fixed base plate 601, and the front end of the fixed base plate 601 is provided with hinges 602 on the left and right surfaces respectively. An L-shaped inclined plate bracket 603 is provided at the top of the fixed base plate 601 near the rear end edge, and an arc-shaped support plate 604 is provided at the center of the front end surface of the L-shaped inclined plate bracket 603. The regional three-dimensional recognition component 7 includes a power supply 701, and the front end of the power supply 701 is connected to an amplifying scanner 702, and the top of the amplifying scanner 702 is provided with an regional three-dimensional scanner 703.

[0050] The areas between the loading component 5 and the inclined plate frame component 6 are divided into various sizes and shapes for placing beams of different forms, namely, a small beam placement rack 503: which can load cylindrical beams, a beam loading rack 505: which can load polygonal or large beams, and an arc support rack 604: which can cooperate with the L-shaped inclined plate bracket 603 on one side to load triangular beams or other beams with few faces in geometric shapes.

[0051] The regional three-dimensional recognition component 7 scans and records the three-dimensional models of all loading areas of multiple sizes and shapes on the surface of the loading device, transmits them to establish the coordinate system of the robot arm's workspace, and converts the coordinates in the image into actual coordinates, so that the robot arm can quickly match the corresponding area after obtaining the shape of the grasped beam and place it in this area.

[0052] like Figures 8 to 13As shown, the flatbed truck assembly 1 includes a flatbed truck base bearing plate 101, and a plurality of fenders 102 are provided on the outside of the flatbed truck base bearing plate 101 in a matrix form, and a driving wheel 103 is provided inside each fender 102, and a lifting ear 104 is provided at the center of the front end surface of the flatbed truck base bearing plate 101, and the flatbed slide assembly 4 includes a flatbed slide base bearing plate 401, and a mechanical arm slide 402 is provided on the top surface of the flatbed slide base bearing plate 401, and a limit block 403 is provided on the inside of each mechanical arm slide 402, and a magnetic lifting assembly 3 includes a splicing plate 301, and a rotating shaft disk 302 is provided on the top of the splicing plate 301, and a magnetic block 303 is provided on the top of the rotating shaft disk 302. A top-layer splicing plate 304 is provided at the bottom of 302, a middle-layer splicing ring 305 is provided at the bottom of the top-layer splicing plate 304, a top surface of the middle-layer splicing ring 305 is provided with several telescopic columns 306 in a matrix form, a circular base 307 is provided at the bottom of the middle-layer splicing ring 305, and a plurality of slide rail steel balls 308 are provided in a ring form inside the circular base 307. The extended shock-absorbing assembly 2 includes a trapezoidal fixed block 201, and a fixed shock-absorbing ring 202 is respectively provided at the left and right edges of the bottom of the trapezoidal fixed block 201. The left and right sides of the trapezoidal fixed block 201 are respectively connected to a telescopic power device 203, and one end of each telescopic power device 203 is connected to a triangular mounting frame 204, and the upper and lower ends of the triangular mounting frame 204 are respectively connected to an extendable shock-absorbing ring 205.

[0053] One or more extended shock-absorbing components 2 are adapted to cope with transport operations of different weights through the loading tonnage of the entire loading equipment. When using an extended shock-absorbing component 2, the telescopic power device 203 can be started before loading to extend the extendable shock-absorbing rings 205 at the four corners forward and backward to expand the area of ​​the entire shock-absorbing device and increase the range of the shock-absorbing effect. When multiple extended shock-absorbing components 2 are used, they can be evenly distributed and the extendable shock-absorbing rings 205 can be selected according to actual conditions. The number and installation positions of the extended shock-absorbing components 2 are installed according to actual application requirements.

[0054] like Figures 14 to 17As shown, the visual identification handling robot arm assembly 8 includes a robot arm base 801, a robot arm main beam 802 is provided at the center of the top surface of the robot arm base 801, and support inclined plates 803 are respectively provided on the left and right sides of the robot arm main beam 802, and each support inclined plate 803 is respectively provided with double-headed fixing bolts 804 at the upper and lower ends of the connection with the robot arm base 801 and the robot arm main beam 802, the top of the robot arm main beam 802 is connected to the robot arm mounting beam 805, the top of the robot arm mounting beam 805 is provided with a power arm 806, the top of the power arm 806 is provided with a bending arm 807, the front end of the bending arm 807 is provided with a lifting claw connecting arm 809, the top of the bending arm 807 is provided with a visual identification camera 808, one end of the lifting claw connecting arm 809 is connected to the lifting claw fixing seat 810, and the outer side of the lifting claw fixing seat 810 is provided with five adjustment telescopic rods 811 in a ring form, and the bottom of each adjustment telescopic rod 811 is connected to an arc-shaped lifting claw 812.

[0055] Through the visual recognition camera 808 and the entire robotic arm itself, the camera obtains image information of the target object, including color, texture and other features, and then uses the image processing algorithm to identify the target object and calculate its two-dimensional coordinates in the camera. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. Then, based on the posture information of the target object, the posture of the robotic arm end effector is calculated. Then, based on the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and reach the target position efficiently. Finally, the robotic arm performs the grasping action to complete the grasping task. Finally, in actual applications, the robotic arm is usually used in combination with a vision system to achieve precise grasping operations. For example, in the field of industrial automation, the robotic arm can cooperate with the vision system to automatically grasp and assemble parts.

[0056] The method for using the space arc concrete beam docking and transfer equipment includes the following steps:

[0057] Step 1: First, use the flatbed truck assembly 1 to move the entire integrated transfer device to the vicinity of the concrete beam, and use the existing robotic arm slide 402 and the robotic arm body to move to the left and right sides of the transfer device to grab the concrete beams that need to be loaded and transferred on both sides;

[0058] Step 2: Adapt one or more extension shock absorbing assemblies 2 according to the loading tonnage. When using an extension shock absorbing assembly 2, the telescopic power device 203 can be activated before loading to extend the four corner extendable shock absorbing rings 205 forward and backward to expand the area of ​​the entire shock absorbing device and increase the range of the shock absorbing effect;

[0059] Step 3. Then, the regional three-dimensional recognition component 7 is used to scan and identify the three-dimensional graphics of the loading devices of different sizes and shapes on the surface of the entire transfer equipment, and the background data is transmitted to the robotic arm. In conjunction with the visual recognition camera 808, the image processing algorithm is used to identify the target object, and the spatial arc concrete beams of different geometric shapes are distinguished to match the loading areas of corresponding sizes opened on the surface of the loading device, and their two-dimensional coordinates in the camera are calculated. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. According to the posture information of the target object, the posture of the end effector of the robotic arm is calculated. Then, according to the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and reach the target position efficiently. Finally, the robotic arm performs the grasping action to complete the loading task.

[0060] The working principle of the technical solution provided by the present invention is as follows:

[0061] First, by setting up a regional three-dimensional recognition component 7, the loading devices of different sizes and shapes on the entire surface of the transfer equipment are scanned and identified in three-dimensional graphics. The data is transmitted to the robotic arm through the background data, and the visual recognition camera 808 is used to identify the target object using an image processing algorithm. The spatial arc concrete beams of different geometric shapes are separated to match the loading areas of corresponding sizes opened on the surface of the loading device, and their two-dimensional coordinates in the camera are calculated. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. According to the posture information of the target object, the posture of the end effector of the robotic arm is calculated. Then, according to the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and efficiently grasp the object. After reaching the target position, the robotic arm performs the grasping action to complete the loading task. Then, the loading and transferring device is integrated with the same type of robotic arm as the crane, and AI machine vision and three-dimensional projection area division technology are used to match the robotic arm to complete a complete set of automatically integrated concrete beam transfer equipment. The recognition camera is used to identify the geometric shape of the beam, such as cylindrical beams or pentagonal beams and other polygons, to cope with different lifting claw methods, and to place it in the matching loading area, which solves the existing limitations of relying on external equipment. Most traditional transfer racks are not equipped with mobile devices and need to rely on external equipment such as cranes and trailers to move, which not only increases transportation costs and time.

[0062] The present application encompasses any alternatives, modifications, equivalent methods and solutions made to the essence and scope of the present application. In order to make the public have a thorough understanding of the present application, specific details are described in the following preferred embodiments of the present application, and the present application can also be fully understood without the description of these details to those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits, etc. are not described in detail.

[0063] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can also be made, which should be considered as the protection scope of the present application.

Claims

1. Spatial arc concrete beam docking and transfer equipment, characterized in that: It includes a flatbed truck assembly, a magnetic lifting assembly is provided at the center of the top surface of the flatbed truck assembly, an extended shock-absorbing assembly is provided on the left and right sides of the bottom of the magnetic lifting assembly, a flat slide assembly is adsorbed on the top of the magnetic lifting assembly, a loading assembly is provided on the top of the flat slide assembly, a plurality of inclined plate frame assemblies are connected in an array on the left and right sides of the loading assembly, a plurality of regional three-dimensional recognition assemblies are arranged in an array on the left and right sides of the loading assembly, and a visual recognition handling robot arm assembly is connected on the left and right sides of the flat slide assembly; The visual identification handling robot arm assembly includes a robot arm base, a robot arm main beam is provided at the center of the top surface of the robot arm base, and support inclined plates are respectively provided on the left and right sides of the robot arm main beam, and the upper and lower ends of each support inclined plate are respectively provided with double-headed fixing bolts at the connection with the robot arm base and the robot arm main beam. The top of the robot arm main beam is connected to the robot arm mounting beam, and the top of the robot arm mounting beam is provided with a power arm, and the top of the power arm is provided with a bending arm, and the front end of the bending arm is provided with a lifting claw connecting arm, and the top of the bending arm is provided with a visual identification camera, and one end of the lifting claw connecting arm is connected to a lifting claw fixing seat, and the outer side of the lifting claw fixing seat is provided with five adjustment telescopic rods in a ring form, and the bottom of each of the adjustment telescopic rods is connected to an arc-shaped lifting claw.

2. The spatial arc concrete beam docking and transfer equipment according to claim 1 is characterized in that: The loading assembly includes a cross-shaped loading plate, and I-shaped load-bearing steels are respectively provided on the left and right sides of the cross-shaped loading plate. The top surface of each I-shaped load-bearing steel is provided with several small beam placement racks in an arranged form. Several loading isolation steels are arranged in the center of the top surface of the cross-shaped loading plate, and several beam loading racks are respectively arranged on the left and right sides of the center of the top surface of the cross-shaped loading plate.

3. The spatial arc concrete beam docking and transfer equipment according to claim 1 is characterized in that: The inclined plate frame assembly includes a fixed base plate, the front end of the fixed base plate is provided with hinges on the left and right side surfaces respectively, the top of the fixed base plate is provided with an L-shaped inclined plate bracket at the rear end edge, and the front end surface center of the L-shaped inclined plate bracket is provided with an arc-shaped support plate.

4. The spatial arc concrete beam docking and transfer equipment according to claim 1, characterized in that: The regional three-dimensional recognition component includes a power supply, the front end of the power supply is connected to an amplifying scanner, and the top of the amplifying scanner is provided with a regional three-dimensional scanner.

5. The spatial arc concrete beam docking and transfer equipment according to claim 1, characterized in that: The flatbed truck assembly includes a flatbed truck base load-bearing plate, and a plurality of mudguards are provided in a matrix on the outside of the flatbed truck base load-bearing plate. A driving wheel is provided inside each mudguard, and a lifting lug is provided at the center of the front end surface of the flatbed truck base load-bearing plate.

6. The spatial arc concrete beam docking and transfer equipment according to claim 1, characterized in that: The flat slide assembly includes a flat slide base load-bearing plate, and a robotic arm slide is provided at the left and right edges of the top surface of the flat slide base load-bearing plate. A limit block is provided at the left and right ends of each robotic arm slide.

7. The spatial arc concrete beam docking and transfer equipment according to claim 1, characterized in that: The magnetic lifting assembly includes a splicing plate, a rotating shaft disk is provided on the top of the splicing plate, a magnetic block is provided on the top of the rotating shaft disk, a top splicing disk is provided on the bottom of the rotating shaft disk, and a middle splicing ring is provided on the bottom of the top splicing disk.

8. The spatial arc-shaped concrete beam docking and transfer equipment according to claim 7, characterized in that: The top surface of the middle splicing ring is provided with a plurality of telescopic columns in a matrix form, the bottom of the middle splicing ring is provided with a circular base, and the interior of the circular base is provided with a plurality of slide rail steel balls in a ring form.

9. The spatial arc-shaped concrete beam docking and transfer equipment according to claim 1 is characterized in that: The extension shock-absorbing assembly includes a trapezoidal fixed block, and fixed shock-absorbing rings are respectively provided at the left and right edges of the bottom of the trapezoidal fixed block. The left and right sides of the trapezoidal fixed block are respectively connected to telescopic power devices, and one end of each telescopic power device is connected to a triangular mounting frame, and the upper and lower ends of the triangular mounting frame are respectively connected to extendable shock-absorbing rings.

10. The method for using the spatial arc-shaped concrete beam docking and transfer equipment according to claims 1-9, characterized in that: The following steps are involved: Step 1: First, use the flatbed truck assembly to move the entire integrated transfer equipment to the vicinity of the concrete beam. Use the existing robotic arm slide and robotic arm body to move to the left and right sides of the transfer equipment to grab the concrete beams that need to be loaded and transferred on both sides; Step 2: Adapt one or more extension shock-absorbing assemblies according to the loading tonnage. When using an extension shock-absorbing assembly, the telescopic power device can be activated before loading to extend the extendable shock-absorbing rings at the four corners forward and backward to expand the area of ​​the entire shock-absorbing device and increase the range of the shock-absorbing effect; Step 3. Then use the regional three-dimensional recognition component to scan and identify the three-dimensional graphics of loading devices of different sizes and shapes on the surface of the entire transfer equipment, and transmit the background data to the robotic arm. In conjunction with the visual recognition camera, the image processing algorithm is used to identify the target object, and the spatial arc concrete beams of different geometric shapes are distinguished to match the loading areas of corresponding sizes opened on the surface of the loading device, and their two-dimensional coordinates in the camera are calculated. These coordinates are then converted into three-dimensional world coordinates for the robotic arm to grasp. According to the posture information of the target object, the posture of the end effector of the robotic arm is calculated. Then, according to the path planning algorithm, a suitable grasping path is planned to ensure that the robotic arm can avoid obstacles and reach the target position efficiently. Finally, the robotic arm performs the grasping action to complete the loading task.

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