Multifunctional nine-surface embedded part mounting equipment

Abstract

The utility model discloses a multifunctional nine-face embedded part installation device which comprises a truss, a support and a support, wherein the truss is used for supporting the device and positioning a mold; the nine-axis mechanical arm is arranged above the truss and is used for driving an execution end to a preset position of the mold; the 3D visual camera is arranged at the execution end of the nine-axis mechanical arm and is used for shooting and identifying the boundary dimension of the mold and the mounting position of the embedded part; the quick change device is arranged at the execution end of the nine-axis mechanical arm and is used for adapting to different types of clamps; the quick-change clamp is arranged on the quick-change device; according to the equipment, by combining a 3D vision technology, a quick change technology and a high-precision multi-axis mechanical arm, automatic embedded part mounting operation of nine surfaces of an inner mold and an outer mold in a concrete fabricated building is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of embedded component installation, in particular to a multifunctional nine-sided embedded component installation device. Background Art

[0002] Embedded parts (prefabricated embedded parts) are components pre-installed (buried) in concealed projects. They are components placed during structure casting and used for overlap when building superstructures to facilitate the installation and fixation of external engineering equipment foundations. Embedded parts are mostly made of metal, such as steel bars or cast iron, and can also be made of non-metallic rigid materials such as wood and plastic.

[0003] When installing embedded parts, most of them are installed manually, and tower cranes are used to install some larger embedded parts. However, some embedded parts are too heavy to be installed manually, and there is no way to lift them with a tower crane. In this case, embedded parts installation equipment is needed to install them. However, traditional embedded parts installation equipment will shake when lifting and moving the embedded parts, resulting in accidents such as the embedded parts falling off. At the same time, traditional embedded parts installation equipment may tip over after lifting the embedded parts. Utility Model Content

[0004] In view of the above defects or improvement needs of the prior art, the purpose of the utility model is to provide a multifunctional nine-sided embedded parts installation equipment, which realizes the automated embedded parts installation operation on nine sides of the inner and outer molds in concrete prefabricated buildings by combining 3D vision technology, quick-change technology and high-precision multi-axis robotic arms; the equipment can automatically obtain and process product BIM model and mold model information, accurately determine the type and installation position of the embedded parts, and significantly improve the efficiency, accuracy and reliability of the embedded parts installation. Among them, the application of the quick-change device enables the equipment to quickly replace the clamps to adapt to embedded parts of different shapes and functions, greatly enhancing the flexibility and scope of application of the equipment, and solving the problems of low efficiency, high labor intensity and low precision in the traditional embedded parts installation process.

[0005] To achieve this purpose, the utility model provides a multifunctional nine-sided embedded parts installation device, comprising:

[0006] Used to support equipment and position mold trusses;

[0007] A nine-axis mechanical arm disposed above the truss is used to drive the execution end to a predetermined position of the mold;

[0008] A 3D visual camera provided at the execution end of the nine-axis robotic arm is used to photograph and identify the mold dimensions and the installation position of the embedded parts;

[0009] A quick-change device provided at the execution end of the nine-axis robot arm, used to adapt to different types of fixtures;

[0010] And a quick-change fixture is arranged on the quick-change device; by combining 3D vision technology, quick-change technology and high-precision multi-axis robotic arms, the automated embedded parts installation operation on nine surfaces of inner and outer molds in concrete prefabricated buildings is realized.

[0011] Furthermore, the nine-axis robotic arm includes a three-axis manipulator, and the three-axis manipulator is fixed on the truss to provide the nine-axis robotic arm with movement capability on the truss.

[0012] Furthermore, the three-axis manipulator includes three motion axes, three guide rails and sliders, and controls the device to move smoothly and accurately in three orthogonal directions on the truss.

[0013] Furthermore, the nine-axis robotic arm also includes a six-axis robotic arm, which is connected to the three-axis truss robot and is used to drive the execution end to clamp the corresponding embedded parts and install them in a predetermined position.

[0014] Furthermore, the six-axis robotic arm includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

[0015] Furthermore, the quick-change device is designed to be modular, allowing for rapid disassembly and replacement of the quick-change fixture to accommodate embedded parts of different shapes and sizes.

[0016] Furthermore, the quick-change fixture is designed as a series of modular fixture components with standardized interfaces, and each component is optimized for embedded parts of specific shapes or sizes.

[0017] Furthermore, the device also includes an intelligent control system for receiving information transmitted by the 3D vision camera and generating an installation operation motion trajectory of the embedded parts based on the product BIM model, mold model and embedded parts requirement information obtained from the factory system.

[0018] Furthermore, an intelligent recognition module is integrated in the control system, which can automatically recognize the characteristics of the grasped object and adjust the grasping force and posture of the quick-change clamp.

[0019] Beneficial effects of the utility model:

[0020] 1. The multifunctional nine-sided embedded parts installation equipment of the utility model realizes the automated embedded parts installation operation on nine sides of inner and outer molds in concrete prefabricated buildings by combining 3D vision technology, quick change technology and high-precision multi-axis robotic arms.

[0021] 2. The utility model can automatically acquire and process product BIM model and mold model information, accurately determine the type and installation position of embedded parts, and significantly improve the efficiency, accuracy and reliability of embedded parts installation.

[0022] 3. The application of the quick-change device in the utility model enables the equipment to quickly replace the fixtures of embedded parts of different shapes and functions, greatly enhancing the flexibility and scope of application of the equipment, and effectively solving the problems of low efficiency, high labor intensity and low precision in the installation process of traditional embedded parts.

[0023] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 It is a general schematic diagram of the multifunctional nine-sided embedded parts installation device in the embodiment of the utility model;

[0026] Figure 2 This is a schematic diagram of the execution end of the nine-axis mechanical arm in the embodiment of the utility model;

[0027] In all the drawings, the same figure marks represent the same technical features, specifically: truss 1, nine-axis robot 2, three-axis robot 21, six-axis robot 22, 3D vision camera 3, quick change device 4, quick change fixture 5. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0029] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0031] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0032] The utility model provides that the purpose of the utility model is to provide a multifunctional nine-sided embedded parts installation equipment, which realizes the automated embedded parts installation operation of nine surfaces of inner and outer molds in concrete prefabricated buildings by combining 3D vision technology, quick-change technology and high-precision multi-axis robotic arms; the equipment can automatically obtain and process product BIM model and mold model information, accurately determine the type and installation position of embedded parts, and significantly improve the efficiency, accuracy and reliability of embedded parts installation. Among them, the application of the quick-change device enables the equipment to quickly replace fixtures that adapt to embedded parts of different shapes and functions, greatly enhancing the flexibility and scope of application of the equipment, and effectively solving the problems of low efficiency, high labor intensity and low precision in the traditional embedded parts installation process.

[0033] Example 1

[0034] like Figure 1 Figure 2 As shown, the embodiment of the utility model provides a multifunctional nine-sided embedded parts installation device, comprising:

[0035] Used to support the equipment and position the mold truss 1;

[0036] A nine-axis robot arm 2 disposed above the truss is used to drive the execution end to a predetermined position of the mold;

[0037] The 3D vision camera 3 provided at the execution end of the nine-axis robot arm 2 is used to photograph and identify the outer dimensions of the mold and the installation position of the embedded parts;

[0038] A quick-change device 4 provided at the execution end of the nine-axis robot arm 2 is used to adapt to different types of fixtures;

[0039] And a quick-change fixture 5 is arranged on the quick-change device; by combining 3D vision technology, quick-change technology and high-precision multi-axis robotic arms, the automated embedded parts installation operation on nine surfaces of inner and outer molds in concrete prefabricated buildings is realized.

[0040] Among them, Figure 1 As shown, the embedded parts storage place and the quick-change fixture 5 storage place are respectively located at both ends of the truss. The device can quickly move to the quick-change fixture 5 storage place to replace the corresponding fixture by obtaining the required type of embedded parts, and then move to the embedded parts storage place to clamp the embedded parts and install them to the predetermined position.

[0041] Furthermore, the nine-axis robotic arm 2 includes a three-axis robotic arm 21 , and the three-axis robotic arm 21 is fixed on the truss 1 to provide the nine-axis robotic arm 2 with the ability to move on the truss 1 .

[0042] Furthermore, the three-axis manipulator 21 includes three motion axes, three sets of guide rails and sliders, and controls the device to move smoothly and accurately in three orthogonal directions on the truss 1.

[0043] Furthermore, the nine-axis robot arm 2 also includes a six-axis robot arm 22, and the six-axis robot arm 22 is connected to the three-axis truss robot 21, and is used to drive the execution end to clamp the corresponding embedded parts and install them in a predetermined position.

[0044] Furthermore, the six-axis robot arm 22 includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

[0045] Furthermore, the quick-change device 4 is designed to be modular, allowing for quick disassembly and replacement of the quick-change fixture 5 to accommodate embedded parts of different shapes and sizes.

[0046] Furthermore, the quick-change fixture 5 is designed as a series of modular fixture components with standardized interfaces, and each component is optimized for embedded parts of specific shapes or sizes.

[0047] Furthermore, the device also includes an intelligent control system for receiving information transmitted by the 3D vision camera 3 and generating an installation operation motion trajectory of the embedded parts based on the product BIM model, mold model and embedded parts requirement information obtained from the factory system.

[0048] Furthermore, an intelligent recognition module is integrated in the control system, which can automatically recognize the characteristics of the grasped object and adjust the grasping force and posture of the quick-change clamp 5.

[0049] The workflow of this embodiment includes:

[0050] S100, during operation, after the mold requiring embedded parts installation arrives at the working area of ​​the embedded parts installation equipment, the multifunctional nine-sided embedded parts installation equipment can obtain information such as the product BIM model, the mold model, and the embedded parts requirement type and installation location from the factory system.

[0051] S200, the nine-axis robot arm 2 and the execution end are located at the origin position of the multifunctional nine-sided embedded part installation equipment, and the 3D vision camera 3 takes photos and samples of the mold in the workstation to obtain actual on-site information, and then combines the information obtained from the factory system to correct the error data and determine the embedded part type and installation position.

[0052] S300, the nine-axis robot arm 2 drives the execution end to clamp the corresponding embedded parts and install them in the predetermined position, wherein different embedded parts have different functions and shapes, and the quick-change device 4 of the execution end can quickly replace different quick-change fixtures 5 to match different embedded parts.

[0053] S400. After all embedded parts are installed, the nine-axis robot arm 2 and the execution end return to the origin again and wait for the next installation work.

[0054] In some optional embodiments, the equipment may be equipped with a predictive maintenance system that collects and analyzes equipment operation data to predict potential failures and perform maintenance in advance.

[0055] In some optional embodiments, the device may introduce an augmented reality (AR) auxiliary system to provide real-time installation guidance to operators and improve installation efficiency and accuracy.

[0056] In some optional embodiments, the device can be integrated with a cloud platform to achieve remote monitoring and control, as well as data analysis and storage.

[0057] In some optional embodiments, the device may be designed with cross-device collaborative working capabilities in mind, and through inter-device communication protocols, coordinated work of multiple devices in the same working area may be achieved.

[0058] In some optional embodiments, the device may be equipped with a safety monitoring system to monitor the operating environment in real time to ensure the safety of personnel and equipment.

[0059] In some optional embodiments, the device may be designed with an exception handling mechanism. Once an abnormal situation is detected, the operation is immediately stopped and an alarm is issued, while fault diagnosis and recovery guidance are provided.

[0060] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0061] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A multifunctional nine-sided embedded parts installation device, characterized in that: include: Used to support the equipment and position the mold truss (1); A nine-axis mechanical arm (2) disposed above the truss (1) and used to drive the execution end to a predetermined position of the mold; A 3D visual camera (3) provided at the execution end of the nine-axis mechanical arm (2) is used to photograph and identify the outer dimensions of the mold and the installation position of the embedded parts; A quick-change device (4) provided at the execution end of the nine-axis robot arm (2) and used for adapting to different types of clamps; And a quick-change fixture (5) arranged on the quick-change device (4); by combining 3D vision technology, quick-change technology and a high-precision multi-axis robot arm, the automated embedded parts installation operation on nine surfaces of the inner and outer molds in concrete prefabricated buildings is realized.

2. The multifunctional nine-sided embedded parts installation device according to claim 1 is characterized in that: The nine-axis robot arm (2) comprises a three-axis robot arm (21), and the three-axis robot arm (21) is fixed on the truss (1) and is used to provide the nine-axis robot arm (2) with the ability to move on the truss (1).

3. The multifunctional nine-sided embedded parts installation device according to claim 2 is characterized in that: The three-axis manipulator (21) comprises three motion axes, three sets of guide rails and sliders, and controls the device to move smoothly and accurately in three orthogonal directions on the truss (1).

4. The multifunctional nine-sided embedded parts installation device according to claim 1, characterized in that: The nine-axis robot arm (2) further comprises a six-axis robot arm (22), wherein the six-axis robot arm (22) is connected to the three-axis robot arm (21) and is used for driving the execution end to clamp the corresponding embedded part and install it in a predetermined position.

5. The multifunctional nine-sided embedded parts installation device according to claim 4 is characterized in that: The six-axis robot arm (22) includes at least six rotation axes, providing multi-directional rotation and bending capabilities.

6. The multifunctional nine-sided embedded parts installation device according to claim 1, characterized in that: The quick-change device (4) is designed to be modular, allowing the quick-change fixture (5) to be quickly disassembled and replaced to accommodate embedded parts of different shapes and sizes.

7. The multifunctional nine-sided embedded parts installation device according to claim 6, characterized in that: The quick-change fixture (5) is designed as a series of modular fixture components with standardized interfaces, and each component is optimized for embedded parts of specific shapes or sizes.

8. A multifunctional nine-sided embedded parts installation device according to any one of claims 1 to 7, characterized in that: The device also includes an intelligent control system for receiving information transmitted by the 3D vision camera (3) and generating a motion trajectory for the installation operation of the embedded parts based on the product BIM model, mold model and embedded parts requirement information obtained from the factory system.

9. The multifunctional nine-sided embedded parts installation device according to claim 8, characterized in that: The control system also integrates an intelligent recognition module, which can automatically recognize the characteristics of the grasped object and adjust the grasping force and posture of the quick-change clamp (5).

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