Composite robot for transferring to-be-detected building materials and detection system

Abstract

The utility model provides a composite robot and a detection system for transferring building materials to be detected, the composite robot comprises a mobile chassis, the mobile chassis is an automatic guided vehicle, an objective table and a mechanical arm are arranged on the mobile chassis, the objective table is used for bearing the building materials to be detected, and the mechanical arm is used for clamping and transferring the building materials to be detected. During detection, a to-be-detected building material is firstly conveyed to a maintenance position by the mobile chassis based on the automatic guide vehicle, and the to-be-detected building material is transferred to the maintenance position from the objective table by the mechanical arm to be maintained. And after maintenance is completed, the mechanical arm transfers the to-be-detected building material from the maintenance position to the objective table, the movable chassis conveys the to-be-detected building material to the compression resistance detection position, and the mechanical arm transfers the to-be-detected building material from the objective table to the compression resistance detection position for compression resistance detection. According to the composite robot, manual operation is not needed, automatic conveying of the building materials to be detected in the whole detection process of front end sample receiving, maintenance, compression resistance and the like is achieved, and the working efficiency of building material detection is improved.

Description

Technical Field

[0001] The present invention relates to the field of building material detection, and more specifically, to a composite robot and a detection system for transporting building materials to be detected. Background Art

[0002] In the construction field, in order to ensure the quality of the project, it is necessary to test building materials such as concrete and cement mortar. Concrete is a high-strength building material, mainly used for load-bearing structures of buildings, such as beams, columns, walls, etc. Concrete is also commonly used in construction sites such as cushions, pavements, bridges and other projects. Concrete must meet the requirements of work with high strength requirements. Cement mortar is a relatively fine mortar, which is often used to lay tiles, floors, stones and other surface materials to fill gaps and fix materials. Cement mortar has a strong viscosity, which can ensure that the surface material is firm and stable.

[0003] The testing method for concrete and cement mortar is to first take samples and make cubic test blocks through molds. After the cubic test blocks are made, they need to be transferred to the curing room for curing. The curing room needs to maintain constant humidity and temperature for a period of time. Then they can be transferred to the compression testing equipment for compression testing. At present, the transfer of cubic test blocks is often done manually or by manually operating carriers, which has low work efficiency. Summary of the invention

[0004] In order to overcome the defects of the prior art described above, the present invention provides a composite robot and a detection system for transporting building materials to be detected.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] On one hand, the utility model provides a composite robot for transporting building materials to be inspected, comprising a mobile chassis which is an automatic guided vehicle. The mobile chassis is provided with a loading platform and a mechanical arm, the loading platform is used to carry the building materials to be inspected, and the mechanical arm is used to clamp and transfer the building materials to be inspected.

[0007] Furthermore, the building material to be tested is a cubic concrete block or cement mortar block.

[0008] Furthermore, the loading platform is located on the top of the mobile chassis, and the loading platform includes a bottom plate, on which is provided a rectangular pad protruding from the surface of the bottom plate, and on both sides of the rectangular pad are respectively provided long strip-shaped blocks protruding from the surface of the bottom plate, and a groove for placing the building materials to be inspected is formed between the rectangular pad and the long strip-shaped blocks.

[0009] Furthermore, the loading platform also includes a support plate, the top of the support plate is connected to the bottom plate, and the bottom of the support plate is connected to the movable chassis.

[0010] Furthermore, there are two support plates, and the two support plates are arranged parallel to each other.

[0011] Furthermore, the robotic arm is a three-axis robotic arm, and a clamping claw is provided at the end of the robotic arm.

[0012] Furthermore, the clamp is an electric clamp or a pneumatic clamp.

[0013] Furthermore, a visual camera is provided at the end of the robotic arm.

[0014] Another aspect of the utility model provides a detection system, including a composite robot used for transporting building materials to be detected, and also including maintenance equipment and pressure resistance detection equipment.

[0015] Furthermore, the maintenance equipment includes a plurality of maintenance boxes.

[0016] Compared with the prior art, the beneficial effect of the technical solution of the present invention is as follows: the utility model provides a composite robot and a detection system for transporting building materials to be tested, the composite robot includes a mobile chassis, the mobile chassis is an automatic guided vehicle, a loading platform and a mechanical arm are arranged on the mobile chassis, the loading platform is used to carry the building materials to be tested, and the mechanical arm is used to clamp and transfer the building materials to be tested. During the detection, the mobile chassis based on the automatic guided vehicle first transports the building materials to be tested to the maintenance place, and the mechanical arm transfers the building materials to be tested from the loading platform to the maintenance place for maintenance. After the maintenance is completed, the mechanical arm transfers the building materials to be tested from the maintenance place to the loading platform, and the mobile chassis then transports the building materials to be tested to the compression test place, and the mechanical arm transfers the building materials to be tested from the loading platform to the compression test place for compression test. The composite robot for transporting building materials to be tested of the utility model does not require manual operation, realizes the automatic transportation of the building materials to be tested from the front end sample receiving, maintenance, compression test and other whole process, and improves the work efficiency of building materials detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Example 1 is a schematic diagram of a composite robot used for transporting building materials to be inspected.

[0018] Figure 2 Schematic diagram of Example 1 when the loading platform is not loaded with objects.

[0019] Figure 3 Schematic diagram of Example 1 when the object is loaded on the loading platform.

[0020] Figure 4 Schematic diagram of the end of the robotic arm of Example 1.

[0021] Among them: 1. Mobile chassis; 2. Loading platform; 201. Bottom plate; 202. Rectangular pad; 203. Long strip block; 204. Support plate; 3. Robotic arm; 4. Building materials; 5. Gripper; 6. Visual camera. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the described embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. "First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] Example 1

[0025] like Figure 1 As shown, this embodiment provides a composite robot for transporting building materials to be inspected, including a mobile chassis 1, which is an automatic guided vehicle. The mobile chassis 1 is provided with a loading platform 2 and a robotic arm 3, the loading platform 2 is used to carry the building materials 4 to be inspected, and the robotic arm 3 is used to clamp and transfer the building materials 4 to be inspected.

[0026] The present embodiment is a composite robot for transporting building materials to be tested, and the loading platform 2 is used to carry the building materials 4 to be tested. During the test, the mobile chassis 1 based on the automatic guided vehicle first transports the building materials 4 to be tested to the maintenance place, and the robotic arm 3 transfers the building materials 4 to be tested from the loading platform 2 to the maintenance place for maintenance. After the maintenance is completed, the robotic arm 3 transfers the building materials 4 to be tested from the maintenance place to the loading platform 2, and the mobile chassis 1 then transports the building materials 4 to be tested to the compression test place, and the robotic arm 3 transfers the building materials 4 to be tested from the loading platform 2 to the compression test place for compression test. The present embodiment is a composite robot for transporting building materials to be tested, and no manual operation is required. It realizes the automatic transportation of the building materials 4 to be tested from the front end sampling, maintenance, compression test and other whole process, and improves the work efficiency of the building material 4 test.

[0027] It should be noted that the mobile chassis 1 based on the automatic guided vehicle (AGV) does not require manual driving. It is powered by batteries and can travel along a planned path. Its navigation methods include laser, QR code, magnetic stripe, etc.

[0028] In this embodiment, the building material 4 to be tested is a cubic concrete block or cement mortar block with a side length of 150 mm. GB / T50107-2010 "Standard for Testing and Evaluation of Concrete Strength" stipulates: The standard value of cubic compressive strength refers to a value in the overall distribution of compressive strength measured by a standard test method for a cubic specimen with a side length of 150 mm made and cured according to a standard method at the age of 28 days, and the percentage of strength lower than this value does not exceed 5%.

[0029] like Figure 2-3 As shown, in this embodiment, the stage 2 is located on the top of the mobile chassis 1, and the stage 2 includes a bottom plate 201, on which a rectangular pad 202 protruding from the surface of the bottom plate 201 is provided, and on both sides of the rectangular pad 202 are respectively provided long strip-shaped blocks 203 protruding from the surface of the bottom plate 201, and between the rectangular pad 202 and the long strip-shaped blocks 203, a groove for placing the building material 4 to be tested is formed. On the stage 2, the cubic test blocks (concrete blocks or cement mortar blocks to be tested) are arranged in three columns, one of which is located on the rectangular pad 202, and the other two columns are located on the grooves on both sides of the rectangular pad 202. In this way, the middle column is slightly higher than the two columns on both sides, and such arrangement facilitates the mechanical arm 3 to clamp the test blocks.

[0030] In this embodiment, the loading platform 2 further includes a support plate 204 , the top of the support plate 204 is connected to the bottom plate 201 , and the bottom of the support plate 204 is connected to the mobile chassis 1 .

[0031] In this embodiment, there are two support plates 204 , and the two support plates 204 are arranged parallel to each other.

[0032] In this embodiment, the robot arm 3 is a three-axis robot arm, and a clamp 5 is provided at the end of the robot arm 3 .

[0033] In this embodiment, the gripper 5 can be an electric gripper or a pneumatic gripper. The pneumatic gripper needs an air compressor, which makes the structure of the composite robot more complicated. Therefore, the gripper 5 uses an electric gripper, which has a simpler structure and can provide real-time feedback of the clamping force.

[0034] like Figure 4As shown, in this embodiment, a visual camera 6 is provided at the end of the mechanical arm 3. The visual camera 6 can be a 2D camera or a 3D camera, which is used to assist in positioning. At present, the prior art has a mature visual camera 6 assisted positioning technology. Since the positioning accuracy of the mobile chassis 1 based on the automatic guided vehicle is generally ±5mm, which cannot meet the requirements of all usage scenarios, after the mobile chassis 1 moves to the destination, the visual camera 6 installed on the composite robot can be used for photo positioning, thereby guiding the mobile chassis 1 to a more precise position, and the integrated positioning accuracy can be improved to ±0.1mm.

[0035] Example 2

[0036] This embodiment provides a detection system, including the composite robot for transporting building materials to be detected as described in Embodiment 1, and also including maintenance equipment and pressure resistance detection equipment. The maintenance equipment is used to maintain the building materials 4 to be detected, and the pressure resistance detection equipment is used to perform pressure resistance detection on the building materials 4 to be detected.

[0037] The curing equipment includes a plurality of curing boxes. The temperature and humidity in the curing box must meet certain conditions. For example, GB50081 "Standard for Test Methods for Mechanical Properties of Ordinary Concrete" stipulates that the curing conditions of the specimens should be cured in a standard curing room at a temperature of 20±2°C and a relative humidity of more than 95% when the specimens are cured by standard curing, or cured in a non-flowing Ca(OH)2 saturated solution at a temperature of 20±2°C.

[0038] The detection process of the detection system in this embodiment includes front-end sampling, maintenance and pressure resistance testing.

[0039] In the testing industry, front-end sample collection is mainly divided into two types according to the customer's business type: one is to produce concrete / cement mortar by oneself and conduct testing by oneself; the other is to undertake commissioned testing business. In the latter business type, there is a front-end sample collection process. Generally, the client handles the testing business at the front desk. After the handling is completed, the concrete / cement mortar is transported to the maintenance, testing and other links. It has always been manually involved. There is no good automation solution at present. The composite robot can wait at the front desk. After the client completes the business, he directly places the test block on the composite robot's loading platform 2, and the composite robot automatically connects to the subsequent maintenance and compression resistance.

[0040] The test block is manually placed on the loading platform 2 of the composite robot. The system automatically assigns the operation program of the composite robot according to the order content. It can be maintained first, and then automatically subjected to compression after the maintenance expires; it can also be directly subjected to compression. The specific process of maintenance is as follows:

[0041] (1) The composite robot moves to the corresponding maintenance box according to the storage location information automatically assigned by the system;

[0042] (2) Utilizing the visual camera 6 for auxiliary positioning;

[0043] (3) The composite robot then uses a fixture to pull out the drawer and places the test block in the curing box for curing;

[0044] (4) The system automatically calculates the curing time. When the curing time expires, the system prompts the operator and automatically removes the test block and transfers it to the compression equipment for compression.

[0045] At present, the compression testing equipment is relatively independent, that is, the compression testing equipment has a corresponding robot. The composite robot transports the concrete / cement mortar test blocks to the compression testing equipment, and the remaining compression-related contents are completed by the robot of the compression testing equipment. At the same time, there is another solution, that is, the composite robot is also responsible for the contents related to compression testing. The composite robot collects the expired test blocks at the curing box, and then moves to the compression testing equipment to directly grab the test blocks for compression testing.

[0046] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A composite robot for transporting building materials to be inspected, characterized in that: The invention comprises a mobile chassis (1), wherein the mobile chassis (1) is an automatic guided vehicle, and a loading platform (2) and a mechanical arm (3) are provided on the mobile chassis (1), wherein the loading platform (2) is used to carry the building material (4) to be inspected, and the mechanical arm (3) is used to clamp and transfer the building material (4) to be inspected.

2. The composite robot for transporting building materials to be inspected according to claim 1, characterized in that: The building material (4) to be tested is a cubic concrete block or cement mortar block.

3. The composite robot for transporting building materials to be inspected according to claim 2, characterized in that: The loading platform (2) is located on the top of the mobile chassis (1), and comprises a bottom plate (201), on which a rectangular pad (202) protruding from the surface of the bottom plate (201) is provided, and on both sides of the rectangular pad (202) are respectively provided long strip-shaped stoppers (203) protruding from the surface of the bottom plate (201), and between the rectangular pad (202) and the long strip-shaped stoppers (203) a groove for placing the building material (4) to be tested is formed.

4. The composite robot for transporting building materials to be inspected according to claim 3, characterized in that: The loading platform (2) further comprises a support plate (204), wherein the top of the support plate (204) is connected to the bottom plate (201), and the bottom of the support plate (204) is connected to the movable chassis (1).

5. The composite robot for transporting building materials to be inspected according to claim 4, characterized in that: The number of the support plates (204) is two, and the two support plates (204) are arranged parallel to each other.

6. The composite robot for transporting building materials to be inspected according to claim 1, characterized in that: The mechanical arm (3) is a three-axis mechanical arm, and a clamping claw (5) is provided at the end of the mechanical arm (3).

7. The composite robot for transporting building materials to be inspected according to claim 6, characterized in that: The clamp (5) is an electric clamp or a pneumatic clamp.

8. The composite robot for transporting building materials to be inspected according to claim 1, characterized in that: A visual camera (6) is provided at the end of the mechanical arm (3).

9. A detection system, characterized in that: The invention comprises a composite robot for transporting building materials to be inspected as described in any one of claims 1 to 8, and also comprises maintenance equipment and pressure resistance testing equipment.

10. The detection system according to claim 9, characterized in that: The maintenance equipment includes a plurality of maintenance boxes.

Images