Mechanical arm moving trolley for center positioning of pile foundation reinforcement cage

Abstract

The utility model discloses a mechanical arm moving vehicle for center positioning of a pile foundation reinforcement cage, and belongs to the technical field of bridge engineering. Comprising a moving device, a mechanical arm and a visual positioning device. A mechanical arm is mounted on the moving device, and a visual positioning device is mounted at the front end of the mechanical arm; the moving device comprises a control device used for controlling the mechanical arm moving trolley to move and controlling the mechanical arm to act. The mechanical arm comprises a rotating mechanical arm and a positioning mechanical arm; the bottom of the rotating mechanical arm is mounted on the moving device, and the top of the rotating mechanical arm is connected with the positioning mechanical arm; the visual positioning device comprises an image recognition device and a laser transmitter; the image recognition device and the laser transmitter are installed at the front end of the positioning mechanical arm. High-precision positioning of the center of the reinforcement cage can be achieved, deviation of welding of the pile foundation and the reinforcement of the pile is avoided, and the overall stability of a bridge is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of bridge engineering, in particular to a mechanical arm mobile vehicle used for center positioning of a pile foundation reinforcement cage. Background Art

[0002] In modern bridge construction, pile foundation is an important structural part supporting the bridge. Its position accuracy and stability are directly related to the safety and service life of the entire bridge. However, in the process of pile foundation construction, the positioning and construction measurement of pile foundation has always been a technical problem. Especially in engineering projects with tight schedules and heavy tasks, how to quickly and accurately locate the position of pile foundation and ensure its precise connection with the superstructure has become a problem that engineers and technicians need to solve urgently.

[0003] The traditional pile foundation positioning method mainly relies on manual measurement and mechanical adjustment. This method is not only labor-intensive and inefficient, but also easily affected by human factors and the external environment, resulting in low positioning accuracy and even deviation. Once the pile foundation and the steel bar welding of the pile deviate, it will not only affect the thickness of the steel bar protective layer, but also cause uneven force on the entire bridge pier, thus affecting the overall stability of the bridge. Utility Model Content

[0004] Aiming at the problem that the positioning accuracy of pile foundation positioning in the prior art is not high and deviation is easy to occur, which causes deviation in the welding of steel bars between the pile foundation and the pile, resulting in poor overall stability of the bridge. The utility model provides a mechanical arm mobile vehicle for center positioning of the pile foundation steel cage, which adopts machine laser positioning technology, combined with high-precision camera equipment and control devices, can achieve high-precision positioning of the center of the steel cage, avoid deviation in the welding of steel bars between the pile foundation and the pile, and ensure the overall stability of the bridge.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions.

[0006] A mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage comprises a mobile device, a mechanical arm and a visual positioning device; the mechanical arm is installed on the mobile device, and the visual positioning device is installed at the front end of the mechanical arm; the mobile device comprises a control device for controlling the movement of the mechanical arm mobile vehicle and the movement of the mechanical arm; the mechanical arm comprises a rotating mechanical arm and a positioning mechanical arm; the bottom of the rotating mechanical arm is installed on the mobile device, and the top of the rotating mechanical arm is connected to the positioning mechanical arm; the visual positioning device comprises an image recognition device and a laser transmitter; the image recognition device and the laser transmitter are installed at the front end of the positioning mechanical arm.

[0007] Furthermore, it also includes a wireless communication device; the wireless communication device is installed on the mobile device.

[0008] Furthermore, the mobile device also includes an obstacle avoidance device; the obstacle avoidance device is arranged inside the mobile device.

[0009] Furthermore, the mobile device also includes a power supply device; the power supply device adopts a solar panel.

[0010] Furthermore, the robotic arm also includes an extension robotic arm; the extension robotic arm is arranged between the rotating robotic arm and the positioning robotic arm.

[0011] Furthermore, the extension robotic arm includes a first extension robotic arm and a second extension robotic arm; one end of the first extension robotic arm is connected to the top of the rotating robotic arm, the other end of the first extension robotic arm is connected to one end of the second extension robotic arm, and the other end of the second extension robotic arm is connected to the positioning robotic arm.

[0012] Furthermore, a shock absorbing device is provided at the connection between the rotating mechanical arm, the rotating mechanical arm, the positioning mechanical arm and the positioning mechanical arm.

[0013] Furthermore, a protective plate is provided on the outside of the mobile device.

[0014] Furthermore, a plurality of tires are arranged at the bottom of the mobile device.

[0015] Furthermore, the image recognition device adopts an industrial camera.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The utility model discloses a mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage. Through a laser transmitter and an image recognition device, the mechanical arm mobile vehicle can realize high-precision positioning of the center line of the pile foundation reinforcement cage. This greatly improves the accuracy of positioning, reduces the deviation when welding the reinforcement of the pile foundation and the pile, and thus ensures the overall stability of the bridge. The multi-spectral imaging technology is used in the visual positioning device, which can perform visual recognition under different lighting conditions and improve the environmental adaptability of the system. This enables the mechanical arm mobile vehicle to work stably under various weather and lighting conditions, ensuring the continuity and efficiency of construction. At the same time, the mobile device can monitor the ground conditions in real time and automatically adjust the suspension parameters to adapt to different terrains and construction environments. This ensures the stability and passability of the mechanical arm mobile vehicle under various complex terrains and improves the construction efficiency. Therefore, the utility model can provide reliable technical support for the construction of bridge pile foundations, ensure the overall stability of the bridge, and improve the construction efficiency and quality.

[0018] Furthermore, shock absorbers are added to the key parts and joints of each robot arm, which reduces the damage and vibration during collisions on the accuracy of the robot arm. The added protective plates around the mobile platform further enhance the durability and reliability of the robot arm mobile vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes to help understand the present invention and are not intended to specifically limit the shapes and proportional dimensions of the components of the present invention. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of a mechanical arm mobile vehicle according to an embodiment of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the mechanical arm mobile vehicle of the utility model embodiment during construction.

[0022] In the figure: 1 is a mobile device; 2 is a robotic arm; 3 is a visual positioning device; 4 is a wireless communication device; 11 is an obstacle avoidance device; 12 is a power supply device; 13 is a control device; 21 is a rotating robotic arm; 22 is a first extended robotic arm; 23 is a second extended robotic arm; 24 is a positioning robotic arm; 31 is an image recognition device; 32 is a laser transmitter. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] like Figure 1 As shown, the utility model provides a mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage, comprising a mobile device 1, a mechanical arm 2 and a visual positioning device 3.

[0027] A mechanical arm 2 is installed on the mobile device 1 , and a visual positioning device 3 is installed at the front end of the mechanical arm 2 .

[0028] like Figure 2 As shown, the mobile chassis 1 includes an obstacle avoidance device 11 , a power supply device 12 and a control device 13 .

[0029] The obstacle avoidance device 11 , the power supply device 12 and the control device 13 are arranged inside the mobile chassis 1 .

[0030] The power supply device 12 is used to provide electrical energy to the robot arm moving vehicle.

[0031] The obstacle avoidance device 11 is used to accurately sense and measure the surrounding environment, provide navigation for the robotic arm mobile vehicle, and make timely obstacle avoidance signals by measuring the distance and relative speed between obstacles and the robotic arm mobile vehicle, and transmit them to the control device 13.

[0032] The control device 13 is used to control the robot arm moving vehicle to move according to the received signal.

[0033] The mobile device 1 is also equipped with a wireless communication device 4 .

[0034] The wireless communication device 4 is used to receive control signals for the robot arm moving vehicle and send the control signals to the control device 13. Afterwards, the control device 13 controls the robot arm moving vehicle to move in real time and accurately according to the control instructions or data, thereby realizing remote control and adjustment of the robot arm moving vehicle.

[0035] At the same time, the wireless communication device 4 enables the control device 13 to realize the remote control function, which improves the flexibility and convenience of the robot arm mobile vehicle. In addition, the wireless communication device 4 can also be used to monitor and diagnose the status of the robot arm mobile vehicle. By transmitting the operating data or status information of the controlled object in real time, the control device can monitor the robot arm mobile vehicle in real time and diagnose and handle abnormal situations in a timely manner.

[0036] The wireless communication device 4 may be a WiFi device.

[0037] The mobile device 1 integrates sensors and controllers, monitors the ground conditions in real time through the control device 13 and automatically adjusts the suspension parameters, and automatically switches the suspension stiffness, damping and height according to different terrains and construction environments to achieve optimal stability and passability. In addition, the power supply device 12 can also be a solar panel, which provides auxiliary energy for the manipulator mobile vehicle by utilizing renewable energy. In this case, the power supply device 12 can be set in the external area of ​​the mobile device 1.

[0038] Protective plates are added around the mobile device 1 to prevent damage to key components during collision. The drive system and tires of the mobile device 1 should be designed to be dustproof, waterproof and mud-proof to ensure normal operation under various weather conditions.

[0039] The robot arm 2 includes a rotating robot arm 21 , an extending robot arm and a positioning robot arm 24 .

[0040] The bottom of the rotating mechanical arm 21 is connected to the moving device 1 , the top of the rotating mechanical arm 21 is connected to one end of the extending mechanical arm, and the other end of the extending mechanical arm is connected to the positioning mechanical arm 24 .

[0041] The extension robot arm includes a first extension robot arm 22 and a second extension robot arm 23 .

[0042] One end of the first extension robot arm 22 is connected to the top of the rotating robot arm 21 , the other end of the first extension robot arm 22 is connected to one end of the second extension robot arm 23 , and the other end of the second extension robot arm 23 is connected to the positioning robot arm 24 .

[0043] The number of extended robotic arms can be increased or decreased according to actual conditions.

[0044] The surface of the mechanical arm 2 is covered with protective materials to reduce damage during collision. At the same time, shock absorbers are added to the rotating mechanical arm 21 and the key joints of the mechanical arm to reduce the impact of vibration on the accuracy of the mechanical arm.

[0045] The visual positioning device 3 is installed at the front end of the positioning mechanical arm 24. The visual positioning device 3 includes an image recognition device 31 and a laser transmitter 32.

[0046] The image recognition device 31 is used to collect image information of the steel cage and recognize the image information; the laser transmitter 32 is used to locate the welding points of the steel cage according to the information of the image recognition device 31.

[0047] After the robot arm mobile vehicle recognizes the center of the steel cage through the image recognition device 21, the laser transmitter 32 will emit an indication laser to display the center of the steel cage, and the robot arm 2 will operate according to the displayed center of the steel cage. The laser transmitter 12 has a built-in safety protection mechanism, which will automatically reduce the laser power or turn off the transmitter when a person approaches, ensuring the safety of the operator.

[0048] Multispectral imaging technology is used in visual sensors to address visual recognition problems under different lighting conditions and improve the environmental adaptability of the system.

[0049] The image recognition device 31 may be an industrial camera. The image recognition device 31 may also use multi-spectral imaging technology to cope with visual recognition problems under different lighting conditions and improve the environmental adaptability of the system.

[0050] like Figure 2 As shown, a construction method of a mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage comprises:

[0051] The robot arm mobile vehicle is moved to a suitable position by the mobile device 1 to ensure that the working range of the robot arm mobile vehicle can cover the area where the steel cage is located. Afterwards, the robot arm mobile vehicle is subjected to necessary debugging and calibration to ensure that each joint and actuator operate normally.

[0052] The visual positioning device 3 at the end of the robot arm 2 is calibrated. Ensure that the shooting angle of the image recognition device 31 is sufficient to identify the outline of the steel cage; ensure that the emission direction, angle and intensity of the laser transmitter 32 meet the requirements to accurately indicate the center position of the steel cage.

[0053] Configure the parameters of the control device 13, including the movement speed and accuracy requirements of the robot arm, etc. Ensure that the control device 13 can receive and process sensor data in real time and accurately control the movement of the robot arm 2.

[0054] The power supply device 12 of the robot arm moving vehicle is turned on, and the control device 13 is started. At this time, the robot arm 2 should be in an initial state, ready to receive instructions according to the control device 13 to perform actions.

[0055] The image recognition device 31 captures a clear image of the steel cage, and combines machine recognition technology to perform edge detection, feature extraction and other operations on the steel cage through an image algorithm, thereby identifying the outline of the steel cage. The center coordinates of the steel cage are calculated through the algorithm, and the position directly above the center coordinates is used as the moving target position of the visual positioning device 3 at the end of the robot arm 2.

[0056] Based on the moving target position, the motion path of the robot arm is solved by inverse kinematics. The path should ensure that the robot arm 2 can avoid obstacles and reach the target position quickly and accurately.

[0057] The control device 13 sends instructions to drive the robot arm 2 to move along the planned path. During the movement, the joints and actuators of the robot arm 2 will be adjusted accordingly according to the instructions to ensure that its end can accurately reach the specified position.

[0058] When ensuring that the visual positioning device 3 at the end of the robot arm 2 is located directly above the center coordinates of the steel cage, and the emission point of the laser emitter 32 completely coincides with the center coordinates of the target steel cage, the laser emitter 32 is controlled to emit an indication laser to indicate the center position of the steel cage at this time.

[0059] When the indicating laser emitted by the laser emitter 32 coincides with the center position of the pile foundation, it indicates that the steel cage is in a centered state; when the laser is not in the center position of the pile foundation, it indicates that the steel cage is not centered and needs further adjustment.

[0060] Therefore, the mechanical arm mobile vehicle for center positioning of pile foundation steel cage provided by the utility model can be applicable to different steel cages, and the deviation of the steel cage can be detected and adjusted at any time during construction. It has high positioning accuracy and is easy to operate, and can be widely used in the field of mechanically bored concrete bored pile construction.

[0061] In summary, the utility model adopts machine laser positioning technology, combined with a high-precision image recognition device and a control device, which can achieve high-precision positioning of the center of the steel cage; and, through the control device, it can quickly obtain data, calculate the center position and plan the moving path, so as to achieve one-click positioning, greatly shorten the operation time and improve work efficiency; at the same time, through the flexible mechanical arm design, it can adapt to steel cages of different shapes and sizes, and work in various environments. This makes the device have a wider range of applications and stronger adaptability. Moreover, the utility model can record the data in the positioning process in real time, including the motion trajectory of the mechanical arm, positioning accuracy, etc. By analyzing these data, the positioning algorithm and operation process can be further optimized to improve the accuracy and efficiency of positioning. Therefore, the utility model can achieve high-precision positioning of the center of the steel cage, avoid deviations in the welding of steel bars between the pile foundation and the pile, and ensure the overall stability of the bridge.

[0062] Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed utility model subject matter.

[0063] The above content is a further detailed description of the utility model. It cannot be determined that the specific implementation methods of the utility model are limited to these. For ordinary technicians in the technical field to which the utility model belongs, they can make some simple deductions or substitutions without departing from the concept of the utility model, which should be regarded as belonging to the protection scope of the utility model determined by the submitted claims.

Claims

1. A mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage, characterized in that: It comprises a moving device (1), a mechanical arm (2) and a visual positioning device (3); A mechanical arm (2) is installed on the mobile device (1), and a visual positioning device (3) is installed at the front end of the mechanical arm (2); The mobile device (1) comprises a control device (13) for controlling the movement of the robot arm moving vehicle and the action of the robot arm (2); The mechanical arm (2) comprises a rotating mechanical arm (21) and a positioning mechanical arm (24); The bottom of the rotating mechanical arm (21) is mounted on the moving device (1), and the top of the rotating mechanical arm (21) is connected to the positioning mechanical arm (24); The visual positioning device (3) comprises an image recognition device (31) and a laser emitter (32); The image recognition device (31) and the laser emitter (32) are installed at the front end of the positioning mechanical arm (24).

2. A mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage according to claim 1, characterized in that: Also included is a wireless communication device (4); The wireless communication device (4) is installed on the mobile device (1).

3. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: The mobile device (1) further comprises an obstacle avoidance device (11); The obstacle avoidance device (11) is arranged inside the mobile device (1).

4. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: The mobile device (1) further comprises a power supply device (12); The power supply device (12) adopts a solar panel.

5. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: The mechanical arm (2) further comprises an extended mechanical arm; The extension mechanical arm is arranged between the rotation mechanical arm (21) and the positioning mechanical arm (24).

6. A mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage according to claim 5, characterized in that: The extension mechanical arm comprises a first extension mechanical arm (22) and a second extension mechanical arm (23); One end of the first extension robot arm (22) is connected to the top of the rotating robot arm (21), the other end of the first extension robot arm (22) is connected to one end of the second extension robot arm (23), and the other end of the second extension robot arm (23) is connected to the positioning robot arm (24).

7. A mechanical arm mobile vehicle for center positioning of a pile foundation reinforcement cage according to claim 6, characterized in that: A shock absorbing device is provided at the connection between the rotating mechanical arm (21), the rotating mechanical arm (21), the positioning mechanical arm (24) and the positioning mechanical arm (24).

8. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: A protective plate is arranged on the outside of the mobile device (1).

9. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: The bottom of the mobile device (1) is provided with a plurality of tires.

10. The mechanical arm mobile vehicle for center positioning of pile foundation reinforcement cage according to claim 1, characterized in that: The image recognition device (31) adopts an industrial camera.

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