Visual grabbing control system for curbs and tiles

Abstract

The invention relates to the technical field of urban construction, in particular to a kerb and tile visual grabbing control system. A kerb and tile visual grabbing control system comprises a visual identification module, a system control module and a six-axis mechanical arm module, the six-axis mechanical arm module comprises a mechanical arm main body and an auxiliary control assembly, the mechanical arm main body is used for grabbing and laying kerbs and tiles, and the auxiliary control assembly is used for controlling the mechanical arm main body. The mechanical arm body comprises a supporting arm, a lifting arm, a swing arm and a mechanical claw which are sequentially and rotationally connected, and the auxiliary control assembly is connected between the front end of the supporting arm and the front end of the swing arm and used for supporting the mechanical arm body and reducing the equipment load. According to the mechanical arm, the torque generated to the front end of the swing arm when the mechanical claw grabs a heavy object can be effectively shared, the load of each joint motor is greatly reduced, and therefore the structural rigidity and the movement stability of the whole mechanical arm under the heavy-load and large-arm-span working conditions are enhanced, and the precision and stability of the laying action are ensured.

Description

A visual grasping control system for curb stones and decorative bricks Technical Field

[0001] This invention relates to the field of urban construction technology, specifically to a visual grasping and control system for curb stones and decorative bricks. Background Technology

[0002] With the rapid development of urban construction and landscaping projects, the demand for paving prefabricated components such as curb stones and paving bricks is increasing. Traditional paving methods mainly rely on manual labor or simple mechanical assistance, which has problems such as high labor intensity, low paving efficiency, difficulty in guaranteeing accuracy, and high safety risks for workers.

[0003] In recent years, automation technology has been gradually applied to this field, especially the use of six-axis robotic arms for grasping and laying operations. However, in practical applications, such systems still face significant challenges: the load and stability of the robotic arm. Components such as curb stones and paving bricks typically have considerable mass and volume. When operating with a long reach and at large angles, the load on the end effector of the robotic arm (especially the swing arm and gripper) increases significantly, leading to excessive load on the joint motors, affecting motion accuracy, accelerating equipment wear, and potentially causing vibration or positioning errors, making it difficult to meet the requirements of high-precision laying.

[0004] Insufficient dynamic adaptability: The laying site environment is complex, the ground may be uneven, or the stacking position of components may be off. Existing robotic arm systems mostly rely on preset programs to operate, lacking the ability to perceive and dynamically adjust the actual posture of components and laying path in real time, resulting in grasping failures or uneven laying.

[0005] Lack of emergency and buffering mechanisms: In the process of grabbing or moving heavy objects, if an unexpected impact or power fluctuation occurs, the rigid transmission system lacks an effective buffering and energy absorption mechanism, which can easily damage the structure of the robotic arm and drive components, affecting the life of the equipment and operational safety.

[0006] Therefore, there is an urgent need for an automatic paving control system for curb stones and pavers that can intelligently identify and operate with high precision, while also possessing excellent load-bearing capacity and dynamic buffering adaptability. Summary of the Invention

[0007] To address the aforementioned problems, this invention provides a visual grasping and control system for curb stones and decorative bricks.

[0008] The technical solution adopted by this invention to solve its technical problem is: a visual grasping and control system for curb stones and paving stones, including a six-axis robotic arm module, comprising a robotic arm body and an auxiliary control component. The robotic arm body is used to grasp and lay curb stones and paving stones. The robotic arm body includes a support arm, a lifting arm, a swing arm, and a mechanical claw connected in sequence. The auxiliary control component is connected between the front ends of the support arm and the swing arm to support the robotic arm body and reduce the load on the equipment. A visual recognition module is used to collect and recognize the laying path and posture of curb stones and paving stones, including an image acquisition unit, a visual processing unit, and a posture recognition unit. A system control module is used to store and calculate the data collected by the visual recognition module and control the six-axis robotic arm module, including a data storage unit, a data calculation unit, and a human-computer interaction unit.

[0009] As an optimization, the auxiliary control component includes an auxiliary telescopic cylinder and a buffer component connected to the auxiliary telescopic cylinder. The auxiliary telescopic cylinder is rotatably disposed between the support arm and the swing arm. The auxiliary telescopic cylinder includes a cylinder body and a piston rod section. An adjustment cavity is opened inside the cylinder body. A hollow adjustment cylinder is slidably disposed inside the adjustment cavity. One end of the piston rod section passes through one end of the cylinder body and is slidably disposed inside the adjustment cylinder. The buffer component is connected to both ends of the cylinder body.

[0010] As an optimization, the buffer assembly includes a first buffer pipe, the two ends of which are respectively connected to the two ends of the cylinder body, and an auxiliary box is connected to the middle of the first buffer pipe. The auxiliary box includes a first cavity and a second cavity, which are respectively connected to the upper end and the lower end of the cylinder body.

[0011] As an optimization, a second buffer pipe is connected between the first buffer pipe between the first cavity and the cylinder and the first buffer pipe between the second cavity and the cylinder, and the second buffer pipe is equipped with a first solenoid valve.

[0012] As an optimization, the first cavity and the second cavity are arranged side by side, the first buffer pipeline is connected to the upper end of the first cavity and the lower end of the second cavity, a first sealing plug is slidably disposed inside the first cavity, and a second sealing plug is slidably disposed inside the second cavity; a triggering component and an air intake pump are arranged between the inner top of the second cavity and the second sealing plug, the triggering component and the air intake pump are used to push the second sealing plug to move, in the initial state, the lower side of the second sealing plug is filled with liquid medium, and the interior of the first cavity is in a vacuum state.

[0013] As an optimization, a first connecting channel is provided between the first cavity and the second cavity. The first sealing plug has a receiving hole inside, and a support spring and a limiting wedge are arranged inside the receiving hole. The support spring is used to push the limiting wedge into the inside of the first connecting channel. When the second sealing plug pushes the liquid medium downward to flow, the liquid medium pushes the limiting wedge to retract into the receiving hole, and the first sealing plug is unlocked from the inner wall of the first cavity.

[0014] As an optimization, the outer periphery of the regulating cylinder is slidably sealed to the inner wall of the regulating cavity, the length of the regulating cylinder is no more than half the length of the regulating cavity, and the regulating cylinder divides the regulating cavity into an upper cavity and a lower cavity; a piston is provided at the end of the piston rod section, and the outer periphery of the piston is slidably sealed to the inner wall of the regulating cylinder; buffer springs are provided on both the upper and lower sides of the piston, and the buffer springs are coaxially arranged with the regulating cylinder; a second connecting channel is opened at the bottom of the regulating cylinder, which communicates with the lower cavity, and a second solenoid valve is provided in the second connecting channel.

[0015] As an optimization, the main body of the robotic arm includes a normal state and an emergency assistance state. In the normal state, the upper cavity and the lower cavity are connected through a second buffer pipe. In the emergency assistance state, the upper cavity and the lower cavity are connected through a first buffer pipe.

[0016] As an optimization, the triggering component includes an electronic ignition component and an explosive layer. The electronic ignition component is embedded in the top outer shell of the second cavity, and the explosive layer is laid between the second cavity and the second sealing plug.

[0017] The beneficial effects of this solution are as follows: The integrated visual recognition module can collect and analyze the stacking position, posture, and environmental information of the preset paving path of curb stones and pavers in real time. The system control module dynamically plans the optimal gripping point and paving trajectory based on the visual data and controls the robotic arm to make adaptive adjustments in real time, realizing a leap from "blind operation" to "vision-guided intelligent operation," greatly improving the adaptability to different working conditions and the success rate of paving on the first attempt; A dynamic auxiliary support structure is formed by the auxiliary control component set between the support arm and the swing arm. This component can effectively share the torque generated on the front end of the swing arm when the robotic claw grips heavy objects, greatly reducing the load on the motors of each joint (especially the lifting arm and swing arm joints), thereby enhancing the structural rigidity and motion stability of the entire robotic arm under heavy load and long arm extension conditions, ensuring the accuracy and smoothness of the paving action; The buffer component in the auxiliary control component (especially the first buffer pipeline and auxiliary box structure) forms a hydraulic / pneumatic buffer circuit. When the robotic arm is subjected to external impact or sudden forces generated by internal motion, this circuit can effectively absorb and dissipate energy through the flow of the liquid medium and changes in cavity pressure, playing a core buffering role and protecting the main structure of the robotic arm. The system is designed with normal and emergency auxiliary states. In the emergency state, by controlling the solenoid valve to switch the oil circuit (such as activating the second buffer pipeline or changing the connection method), the buffering characteristics can be changed to provide stronger damping or support force to cope with sudden heavy loads or impacts, enhancing the system's safety redundancy. Through the deep integration of mechanical, hydraulic, vision, and control technologies, not only has the automation level, accuracy, and efficiency of curbstone and paving brick laying operations been significantly improved, but also, through innovative auxiliary support and multi-stage buffer design, the load capacity, motion stability, and system reliability of the heavy-duty robotic arm under complex working conditions have been fundamentally enhanced. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the six-axis robotic arm module of the present invention.

[0019] Figure 2 is a front view schematic diagram of the six-axis robotic arm module of the present invention.

[0020] Figure 3 is a schematic diagram of the auxiliary control component of the present invention from the left.

[0021] Figure 4 is a schematic diagram of the AA cross-section structure of Figure 3 of the present invention.

[0022] Figure 5 is an enlarged structural diagram of part B of Figure 4 of the present invention.

[0023] Figure 6 is an enlarged structural schematic diagram of part C of Figure 5 of the present invention.

[0024] Among them, 1. Support arm, 2. Lifting arm, 3. Swing arm, 4. Mechanical claw, 5. Auxiliary telescopic cylinder, 6. Cylinder body, 7. Plug rod section, 8. Adjusting cylinder, 9. First buffer pipeline, 10. First cavity, 11. Second cavity, 12. Second buffer pipeline, 13. First solenoid valve, 14. First sealing plug, 15. Second sealing plug, 16. Air pump, 17. First connecting channel, 18. Limiting wedge, 19. Upper cavity, 20. Lower cavity, 21. Piston, 22. Buffer spring, 23. Second connecting channel, 24. Second solenoid valve, 25. Electronic ignition assembly, 26. Explosive layer. Detailed Implementation

[0025] As shown in Figures 1-6, a visual grasping and control system for curb stones and paving stones includes a six-axis robotic arm module, comprising a robotic arm body and an auxiliary control component. The robotic arm body is used to grasp and lay curb stones and paving stones. The robotic arm body includes a support arm 1, a lifting arm 2, a swing arm 3, and a robotic claw 4 connected in sequence. The auxiliary control component is connected between the front ends of the support arm 1 and the swing arm 3 to support the robotic arm body and reduce the load on the equipment. A visual recognition module is used to collect and recognize the laying path and posture of curb stones and paving stones, including an image acquisition unit, a visual processing unit, and a posture recognition unit. A system control module is used to store and calculate the data collected by the visual recognition module and control the six-axis robotic arm module, including a data storage unit, a data calculation unit, and a human-machine interaction unit.

[0026] This system adopts a closed-loop control architecture of "perception-decision-execution". The six-axis robotic arm module acts as the end effector, responsible for physical operations; the vision recognition module acts as the "eyes", providing environmental perception; and the system control module acts as the "brain", performing information processing and motion planning. The three communicate in real time via a bus (such as EtherCAT, PROFINET) or high-speed Ethernet, forming an intelligent and collaborative automated work unit.

[0027] The support arm 1, lifting arm 2, and swing arm 3 of the main body of the robotic arm can be made of high-strength aluminum alloy (such as 7075-T6) or carbon fiber composite material to balance lightweight and rigidity. The joint motor is usually a high-torque, high-precision servo motor (such as Yaskawa or FANUC brands) and equipped with a high-precision harmonic reducer or RV reducer.

[0028] The image acquisition unit of the vision recognition module can be an industrial-grade color CMOS camera (such as Hikvision or Basler models), with a resolution of no less than 2 megapixels, a frame rate of 30fps or higher, and equipped with a wide-angle fixed-focus lens and a protective cover. The vision processing unit can be equipped with a high-performance industrial computer (IPC) or an embedded GPU (such as the NVIDIA Jetson series) to run recognition algorithms developed based on OpenCV or deep learning frameworks (such as TensorFlow and PyTorch).

[0029] The core of the system control module can be a high-performance PLC (such as the Siemens S7-1500 series) or a motion control card (such as Googol or Leadshine brands), responsible for logic and motion control. The human-machine interface unit is an industrial touch screen (HMI) for parameter setting, status monitoring, and manual intervention.

[0030] As shown in Figures 1 and 4, the auxiliary control component includes an auxiliary telescopic cylinder 5 and a buffer component connected to the auxiliary telescopic cylinder 5. The auxiliary telescopic cylinder 5 is rotatably disposed between the support arm 1 and the swing arm 3. The auxiliary telescopic cylinder 5 includes a cylinder body 6 and a stopper rod section 7. An adjustment cavity is provided inside the cylinder body 6. A hollow adjustment cylinder 8 is slidably disposed inside the adjustment cavity. One end of the stopper rod section 7 passes through one end of the cylinder body 6 and is slidably disposed inside the adjustment cylinder 8. The buffer component is connected to both ends of the cylinder body 6.

[0031] The auxiliary telescopic cylinder 5 is an active / passive composite support mechanism connecting the support arm 1 and the swing arm 3. Its core principle is to use a telescopic rigid rod to form a stable triangular support structure during the extension of the robotic arm, partially converting the torque generated by the load at the front end of the swing arm 3 into a pushing or pulling force on the support arm 1, thereby significantly reducing the burden on the joint motors of the lifting arm 2 and the swing arm 3. The introduction of a buffer component also gives it a dynamic shock absorption function.

[0032] The cylinder body 6 and piston rod section 7 can be made of high-strength alloy steel (such as 40Cr) and subjected to hard chrome plating to improve wear and corrosion resistance. Internal seals are made of polyurethane or fluororubber to ensure sealing under high pressure. The entire assembly can be compared to a heavy-duty electric actuator or hydraulic cylinder with integrated hydraulic buffering function.

[0033] As shown in Figure 4, the buffer assembly includes a first buffer pipe 9, the two ends of which are connected to the two ends of the cylinder 6 respectively. An auxiliary box is connected to the middle of the first buffer pipe 9. The auxiliary box includes a first cavity 10 and a second cavity 11. The first cavity 10 and the second cavity 11 are respectively connected to the upper end and the lower end of the cylinder 6.

[0034] The cylinder body 6, the first buffer line 9, and the auxiliary box form a closed hydraulic circuit. When the auxiliary telescopic cylinder 5 is compressed or stretched, it pushes the liquid medium (such as hydraulic oil) in the cylinder body 6 to flow between the two cavities of the first buffer line 9 and the auxiliary box. The energy of mechanical impact is absorbed and dissipated by the viscous resistance, compressibility, and changes in cavity volume of the liquid as it flows through the pipeline and cavities, thus achieving buffering.

[0035] The first buffer line 9 is a high-pressure hydraulic hose or seamless steel pipe. The auxiliary box is a welded steel structure. The commonly used liquid medium is ISO VG32 or VG46 anti-wear hydraulic oil.

[0036] As shown in Figure 4, a second buffer pipe 12 is connected between the first buffer pipe 9 between the first cavity 10 and the cylinder 6 and the first buffer pipe 9 between the second cavity 11 and the cylinder 6. The second buffer pipe 12 is equipped with a first solenoid valve 13.

[0037] The second buffer line 12 is connected in parallel between the two sections of the first buffer line 9 and is controlled by the first solenoid valve 13. This constitutes a switchable dual-mode buffer system. When the first solenoid valve 13 is closed, the liquid must flow through the entire first buffer line 9 and the auxiliary tank, resulting in a long path and high damping, suitable for "emergency auxiliary states" requiring strong buffering and support. When the first solenoid valve 13 is open, the liquid can flow through the second buffer line 12 via a short circuit, resulting in a shorter path and lower damping, making the system response more sensitive, suitable for "normal states" in routine operations.

[0038] The first solenoid valve 13 is a two-position, normally closed solenoid directional valve with a response time of less than 50ms and a pressure rating higher than the maximum working pressure of the system.

[0039] As shown in Figures 4-6, the first cavity 10 and the second cavity 11 are arranged side by side. The first buffer pipe 9 is connected to the upper end of the first cavity 10 and the lower end of the second cavity 11. A first sealing plug 14 is slidably disposed inside the first cavity 10, and a second sealing plug 15 is slidably disposed inside the second cavity 11. A trigger assembly and an air pump 16 are arranged between the inner top of the second cavity 11 and the second sealing plug 15. The trigger assembly and the air pump 16 are used to push the second sealing plug 15 to move. In the initial state, the lower side of the second sealing plug 15 is filled with liquid medium, and the interior of the first cavity 10 is in a vacuum state.

[0040] The first chamber 10 is initially a vacuum, while the second chamber 11 is filled with liquid. During normal buffering, only the flow and compression of the liquid are utilized. When an explosive supporting force is required (triggering an emergency state), air is pumped into the upper part of the second chamber 11 via the air intake pump 16 or the trigger component is activated, pushing the second sealing plug 15 downward. This rapidly compresses the liquid in the lower part, causing its pressure to surge and flow into the first buffer line 9, thereby instantly providing a huge additional supporting force to the auxiliary telescopic cylinder 5. The vacuum design of the first chamber 10 is intended to initially accommodate the propelled liquid, and its volume can be further changed by the movement of the first sealing plug 14.

[0041] As shown in Figures 4 and 5, a first connecting channel 17 is provided between the first cavity 10 and the second cavity 11. The first sealing plug 14 has a receiving hole inside, and a support spring and a limiting wedge 18 are arranged inside the receiving hole. The support spring is used to push the limiting wedge 18 into the inside of the first connecting channel. When the second sealing plug 15 pushes the liquid medium downward to flow, the liquid medium pushes the limiting wedge 18 to retract into the receiving hole, and the first sealing plug 14 is unlocked from the inner wall of the first cavity 10.

[0042] Initially, the limiting wedge 18, under the action of the support spring, engages with the first connecting channel 17, mechanically locking the first sealing plug 14 at the top of the first cavity 10, maintaining a vacuum. When the system is triggered, high-pressure liquid flows in from the second cavity 11 through the first connecting channel 17. The hydraulic pressure overcomes the spring force of the support spring, pushing the limiting wedge 18 back into the receiving hole, thereby releasing the lock on the first sealing plug 14. Subsequently, the first sealing plug 14 can move downward under the liquid pressure, increasing the volume of the first cavity 10 to accommodate the incoming liquid and ensuring the continuous operation of the entire hydraulic circuit.

[0043] When the first sealing plug 14 is locked to the first cavity 10, the hydraulic medium cannot flow into the first cavity 10 through the first buffer line 9. If it is necessary to release the pressure through the first buffer line 9, the air pump 16 needs to supplement the air pressure into the second cavity 11. The air pressure pushes the second sealing plug 15 to move. When the second sealing plug 15 pushes the hydraulic medium downward, the lock between the first sealing plug 14 and the first cavity 10 can be released.

[0044] As shown in Figures 4-6, the outer periphery of the regulating cylinder 8 is slidably sealed to the inner wall of the regulating cavity. The length of the regulating cylinder 8 does not exceed half the length of the regulating cavity. The regulating cylinder 8 divides the regulating cavity into an upper cavity 19 and a lower cavity 20. A piston 21 is provided at the end of the piston rod section 7. The outer periphery of the piston 21 is slidably sealed to the inner wall of the regulating cylinder 8. A buffer spring 22 is provided on both the upper and lower sides of the piston 21. The buffer spring 22 is coaxially arranged with the regulating cylinder 8. A second connecting channel 23 is provided at the bottom of the regulating cylinder 8, which communicates with the lower cavity 20. A second solenoid valve 24 is provided in the second connecting channel 23.

[0045] The sliding of the regulating cylinder 8 divides the cylinder interior into upper and lower chambers 20, and its movement itself can adjust the equivalent volume of the buffer system. The buffer springs 22 on both sides of the piston 21 can directly absorb the high-frequency, small-amplitude vibrations transmitted by the piston rod. The second connecting channel 23 and the second solenoid valve 24 are used to control the opening and closing of the regulating cylinder 8 and the lower chamber 20.

[0046] When the second solenoid valve 24 is closed, the inside of the regulating cylinder 8 is a vacuum. The piston 21 is supported and buffered by the buffer spring 22, and the piston rod section 7 is in a follow-up state.

[0047] Air is pumped into the second chamber 11 by the air intake pump 16, allowing the liquid medium inside the second chamber 11 to flow into the auxiliary telescopic cylinder 5. The second solenoid valve 24 opens, and the liquid medium flows into the regulating cylinder 8 through the lower chamber 20. The first solenoid valve 13 and the second solenoid valve 24 are then closed. At this time, the lower side of the piston 21 is filled with liquid medium, achieving rigid support for the piston rod section 7. This state is suitable for heavy-load construction of the auxiliary telescopic cylinder 5, improving support for the main body of the robotic arm.

[0048] As shown in Figure 4, the main body of the robotic arm includes a normal state and an emergency assistance state. In the normal state, the upper cavity 19 and the lower cavity 20 are connected through the second buffer pipe 12. In the emergency assistance state, the upper cavity 19 and the lower cavity 20 are connected through the first buffer pipe 9.

[0049] In normal operation, the first solenoid valve 13 is open, and the second solenoid valve 24 can be opened or closed as needed. The liquid medium flows through the second buffer pipe, resulting in low system damping and fast response, suitable for smooth routine gripping and laying operations.

[0050] In emergency auxiliary mode, the first solenoid valve 13 closes, forcing liquid to flow through the first buffer pipe 9 and the auxiliary tank. This pipe is long and the system damping is high. Simultaneously, the trigger component actuates, pushing the second sealing plug 15, causing the system to enter high-pressure support mode. In this state, it can provide maximum rigidity and support force to the auxiliary telescopic cylinder 5, to cope with sudden heavy loads, external collisions, or situations requiring extreme posture maintenance.

[0051] As shown in Figures 4-6, the triggering component includes an electronic ignition component 25 and an explosive layer 26. The electronic ignition component 25 is embedded in the top outer shell of the second cavity 11, and the explosive layer 26 is laid between the second cavity 11 and the second sealing plug 15.

[0052] The electronic ignition assembly 25 receives an electrical signal from the system control module (such as upon detecting an abnormal impact, overload signal, or manual emergency command) and ignites the explosive layer 26. The rapid combustion of the explosive layer 26 generates a large amount of high-pressure gas, violently pushing the second sealing plug 15 within milliseconds, thereby instantly establishing high pressure within the hydraulic system and providing extremely rapid explosive support force. The explosive layer 26 is a miniature solid propellant or sensitive explosive. The electronic ignition assembly 25 consists of a circuit with safety protection and an electric igniter.

[0053] Usage instructions: 1. System initialization and preparation.

[0054] Move the six-axis robotic arm module to the work area and secure it, ensuring its working range covers the curbstone / paving brick stacking area and the pre-set paving path. Connect all electrical and hydraulic lines, and power on the system control module, vision recognition module, and robotic arm actuator.

[0055] The system self-test program is initiated through the Human-Machine Interface (HMI). The system will automatically detect the status of each joint servo motor, the on / off function of the first solenoid valve 13 and the second solenoid valve 24, the hydraulic circuit pressure, the connection of the vision camera, and the safety status of the electronic ignition assembly 25. Subsequently, the system will perform zero-return operations on each axis of the robotic arm and use the vision recognition module to calibrate the working scene, establishing the transformation relationship between the world coordinate system and the robotic arm coordinate system.

[0056] Set the operational parameters on the HMI, including the specifications of the curbstone / paving stones, the target paving path (such as straight or curved coordinates), and the paving spacing. Obtain reference images of the component stacking area by loading or taking photos on-site.

[0057] 2. Automatic laying operation under normal conditions.

[0058] Set the system operating mode to "normal state". In this state, the system control module controls the first solenoid valve 13 to open, thereby connecting the second buffer pipeline 12; at this time, the hydraulic circuit damping of the auxiliary control component is small, and the response is sensitive.

[0059] Initiate the automatic operation cycle. The image acquisition unit of the vision recognition module continuously captures images of the work area, and the vision processing unit uses image processing algorithms to identify and calculate the precise three-dimensional position and orientation (such as rotation angle) of the target curbstone / paving stone in real time, and sends the data to the system control module.

[0060] The data calculation unit of the system control module performs inverse kinematics calculation and collision detection based on the current position and posture of the component provided by vision and the preset laying target position, and plans a smooth and optimal motion trajectory of the robotic arm from the current position to the gripping point and then to the laying point.

[0061] The system control module controls the six-axis robotic arm module to move along a planned trajectory. The support arm 1, lifting arm 2, and swing arm 3 of the main body of the robotic arm move in coordination, driving the robotic gripper 4 to move precisely above the component. During the gripping process, the auxiliary telescopic cylinder 5 extends and retracts with the posture of the arm, providing dynamic support to stabilize the end effector.

[0062] The robotic arm carries the component to the laying point. The vision recognition module can perform secondary positioning and fine-tuning to ensure laying accuracy. Subsequently, the robotic gripper 4 smoothly places the component at the target position and releases it. Throughout the movement and placement process, the buffer spring 22 in the auxiliary control component and the hydraulic circuit regulated by the second solenoid valve 24 work together to absorb the vibration and impact generated by the movement, ensuring smooth operation.

[0063] After completing one laying operation, the robotic arm returns to the standby position or goes directly to the next gripping point, repeating the above steps until the current laying task is completed.

[0064] 3. Triggering and application of emergency auxiliary status.

[0065] The system continuously monitors key parameters during operation. When one of the following situations occurs, the system can automatically or manually trigger the "emergency auxiliary state": the sensor detects that the load at the end of the robotic arm momentarily exceeds the safety threshold.

[0066] The vision system or force sensor detected an unexpected collision with the robotic arm.

[0067] It requires handling under extremely heavy loads or maintaining a large-span extended posture for extended periods.

[0068] State switching and actions: Close the first solenoid valve 13 to cut off the second buffer line 12; simultaneously, close the second solenoid valve 24; then, start the air pump 16 to fill the upper part of the second chamber 11 (above the second sealing plug 15) with high-pressure gas, pushing the second sealing plug 15 downward. The high-pressure gas pushes the second sealing plug 15 to expel the liquid medium below it.

[0069] High-pressure liquid medium flows into the cylinder body 6 of the auxiliary telescopic cylinder 5 through the first buffer pipe 9, and enters below the piston 21 in the regulating cylinder 8, pushing the piston 21 and the piston rod section 7, so that the auxiliary telescopic cylinder 5 quickly transforms into a highly rigid support rod. At the same time, the high-pressure liquid breaks through the limiting wedge block 18 through the first connecting channel 17, releasing the lock on the first sealing plug 14, allowing the volume of the first cavity 10 to change to accommodate some liquid.

[0070] In this state, the auxiliary telescopic cylinder 5 provides extremely strong rigid support and locking force for the entire robotic arm (especially the front end of the swing arm 3), effectively suppressing vibration, resisting deformation, and coping with sudden heavy loads or impacts.

[0071] After the emergency is resolved, the reset is confirmed via HMI. The system controls the pressure relief valve to release the gas pressure in the second chamber 11, and slowly opens the first solenoid valve 13 and the second solenoid valve 24 under control, so that the system hydraulic circuit is restored to balance and switched back to "normal state".

[0072] 4. Active triggering in extreme situations.

[0073] In extremely critical situations (such as impending overturning or severe structural overload), if the intake pump 16 is insufficient to provide the required support, the system can activate the triggering component.

[0074] The system control module sends an ignition command to the electronic ignition assembly 25, igniting the explosive layer 26. The instantaneous deflagration of the explosive layer 26 generates enormous gas pressure, violently pushing the second sealing plug 15 at millisecond speeds. This creates an instantaneous, extremely high pressure pulse within the hydraulic system, causing the liquid medium to rapidly flow into the lower cavity 20, quickly supporting the regulating cylinder 8 and providing maximum impact resistance to the auxiliary telescopic cylinder 5, causing it to lock instantly. This function is only a final protection measure; after use, the triggering assembly and related components must be inspected or replaced.

[0075] 5. Complete the task and shut down the computer.

[0076] Once the laying task is complete, the operator sends a stop command via the HMI. The robotic arm will then automatically move to a safe storage position.

[0077] The system saves the operation log and key data of this job.

[0078] Turn off the robotic arm power, vision system lighting, and processor in sequence, and finally disconnect the main system power. Perform necessary cleaning and maintenance on the robotic gripper 4, lens, and other components.

[0079] The above-described specific embodiments are merely specific examples of the present invention. The patent protection scope of the present invention includes, but is not limited to, the product form and style of the above-described specific embodiments. Any visual grasping control system for curb stones and paving stones that conforms to the claims of the present invention, and any appropriate changes or modifications made to it by those skilled in the art, shall fall within the patent protection scope of the present invention.

Claims

1. A visual grasping and control system for curb stones and decorative bricks, characterized in that: The system includes a six-axis robotic arm module, comprising a robotic arm body and an auxiliary control component. The robotic arm body is used to grasp and lay curb stones and pavers. The robotic arm body includes a support arm (1), a lifting arm (2), a swing arm (3), and a robotic claw (4) connected in sequence. The auxiliary control component is connected between the front ends of the support arm (1) and the swing arm (3) to support the robotic arm body and reduce the load on the equipment. The system includes a vision recognition module for collecting and recognizing the laying path and posture of curb stones and pavers, comprising an image acquisition unit, a vision processing unit, and a posture recognition unit. The system control module is used to store and calculate the data collected by the vision recognition module and control the six-axis robotic arm module, comprising a data storage unit, a data calculation unit, and a human-machine interaction unit.

2. The visual grasping control system for curb stones and paving stones according to claim 1, characterized in that: The auxiliary control component includes an auxiliary telescopic cylinder (5) and a buffer component connected to the auxiliary telescopic cylinder (5). The auxiliary telescopic cylinder (5) is rotatably disposed between the support arm (1) and the swing arm (3). The auxiliary telescopic cylinder (5) includes a cylinder body (6) and a piston rod section (7). An adjustment cavity is provided inside the cylinder body (6). A hollow adjustment cylinder (8) is slidably disposed inside the adjustment cavity. One end of the piston rod section (7) passes through one end of the cylinder body (6) and is slidably disposed inside the adjustment cylinder (8). The buffer component is connected to both ends of the cylinder body (6).

3. The visual grasping control system for curb stones and paving stones according to claim 2, characterized in that: The buffer assembly includes a first buffer pipe (9), the two ends of which are connected to the two ends of the cylinder (6) respectively. An auxiliary box is connected to the middle of the first buffer pipe (9). The auxiliary box includes a first cavity (10) and a second cavity (11). The first cavity (10) and the second cavity (11) are respectively connected to the upper end and the lower end of the cylinder (6).

4. The visual grasping control system for curb stones and paving stones according to claim 3, characterized in that: A second buffer pipe (12) is connected between the first buffer pipe (9) between the first cavity (10) and the cylinder (6) and the first buffer pipe (9) between the second cavity (11) and the cylinder (6), and the second buffer pipe (12) is equipped with a first solenoid valve (13).

5. The visual grasping control system for curb stones and paving stones according to claim 3, characterized in that: The first cavity (10) and the second cavity (11) are arranged side by side. The first buffer pipe (9) is connected to the upper end of the first cavity (10) and the lower end of the second cavity (11). A first sealing plug (14) is slidably arranged inside the first cavity (10), and a second sealing plug (15) is slidably arranged inside the second cavity (11). A trigger assembly and an air pump (16) are arranged between the top inner side of the second cavity (11) and the second sealing plug (15). The trigger assembly and the air pump (16) are used to push the second sealing plug (15) to move. In the initial state, the lower side of the second sealing plug (15) is filled with liquid medium, and the interior of the first cavity (10) is in a vacuum state.

6. The visual grasping control system for curb stones and paving stones according to claim 5, characterized in that: A first connecting channel (17) is provided between the first cavity (10) and the second cavity (11). The first sealing plug (14) has a receiving hole inside. A support spring and a limiting wedge (18) are arranged inside the receiving hole. The support spring is used to push the limiting wedge (18) into the inside of the first connecting channel. When the second sealing plug (15) pushes the liquid medium downward to flow, the liquid medium pushes the limiting wedge (18) to retract into the receiving hole, and the first sealing plug (14) and the inner wall of the first cavity (10) are unlocked.

7. The visual grasping control system for curb stones and paving stones according to claim 4, characterized in that: The outer periphery of the regulating cylinder (8) is slidably sealed with the inner wall of the regulating cavity. The length of the regulating cylinder (8) is no more than half the length of the regulating cavity. The regulating cylinder (8) divides the regulating cavity into an upper cavity (19) and a lower cavity (20). A piston (21) is provided at the end of the piston rod section (7). The outer periphery of the piston (21) is slidably sealed with the inner wall of the regulating cylinder (8). A buffer spring (22) is provided on both the upper and lower sides of the piston (21). The buffer spring (22) is coaxially arranged with the regulating cylinder (8). A second connecting channel (23) is opened at the bottom of the regulating cylinder (8) and communicates with the lower cavity (20). A second solenoid valve (24) is provided in the second connecting channel (23).

8. The visual grasping control system for curb stones and paving stones according to claim 7, characterized in that: The main body of the robotic arm includes a normal state and an emergency assistance state. In the normal state, the upper cavity (19) and the lower cavity (20) are connected through a second buffer pipe (12). In the emergency assistance state, the upper cavity (19) and the lower cavity (20) are connected through a first buffer pipe (9).

9. A visual grasping and control system for curb stones and decorative bricks according to claim 5, characterized in that: The triggering component includes an electronic ignition component (25) and an explosive layer (26). The electronic ignition component (25) is embedded in the top shell of the second cavity (11), and the explosive layer (26) is laid between the second cavity (11) and the second sealing plug (15).

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