Buffer material piling body installation and scanning multi-item cooperation system

Abstract

The utility model discloses a buffer material piled body installation and scanning multi-item cooperation system, which relates to the technical field of buffer material piled body installation and comprises a piled body installation system and a piled body data acquisition and scanning system. The stacking body mounting system comprises a positioning tool, a stacking mechanical arm, a vacuum suction cup, an air pump box and a PLC, the positioning tool is provided with a conveying device, the conveying device can convey building blocks located at the first end of the positioning tool to the second end of the positioning tool, and the vacuum suction cup is mounted at the moving end of the stacking mechanical arm; the stacking body data collecting and scanning system comprises a scanning mechanical arm and a three-dimensional scanning system, the three-dimensional scanning system comprises a scanner, a plurality of trackers and a background computer, the fixed end of the scanning mechanical arm is installed on the stacking mechanical arm, and the scanner is installed at the movable end of the scanning mechanical arm. According to the utility model, mechanical piling and scanning can be realized, and manual participation is not needed, so that the working accuracy can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of the installation of buffer material masonry, in particular to a multi-cooperation system for the installation and scanning of buffer material masonry. Background Art

[0002] As a clean energy, nuclear energy inevitably generates a large amount of high-level radioactive waste (referred to as "high-level waste") while bringing significant economic benefits. The internationally accepted method for treating high-level waste is deep geological disposal. This method involves selecting a region with stable geological structure below the ground surface to build a disposal facility for high-level radioactive waste. The facility adopts a "multi-barrier system" design system to achieve long-term isolation of high-level waste from the biosphere. This system includes multiple layers from outside to inside: first is the surrounding rock, which provides the first layer of protection; second is the buffer material. Bentonite is selected as the base material of the buffer material due to its low permeability, high expansibility, high adsorbability and other characteristics, and it plays a role in slowing down the migration of radioactive substances; then there is a metal container for storing waste, which is used to wrap the innermost high-level radioactive waste.

[0003] The buffer material is usually stacked in the form of precast high-compaction blocks around the waste tank. The masonry uses 1 / 8 sector blocks (such as inner diameter 600mm, outer diameter 1200mm, angle 45°, thickness 200 - 300mm) and cylindrical blocks (such as outer diameter 600mm, thickness 200 - 300mm) as the combined units of the masonry. Currently, the installation equipment for the buffer material masonry uses a vacuum lifting crane (a crane and a vacuum suction cup). During the installation process, it is necessary to manually use the vacuum lifting crane to suck the buffer material blocks, and manually judge whether the position on the surface of the adsorbed block is appropriate. After lifting the block, turn it to the preset installation position. Similarly, it is necessary to judge according to human experience whether the installed block reaches the preset installation position. If the acceptable accuracy requirements are not met, it is necessary to rework and reinstall until the requirements are met. Generally speaking, the method of manual hoisting and installation has poor positioning accuracy, is time-consuming and laborious, and the manual operation is prone to shaking and even falling off; it also requires a large space to accommodate the crane, and at the same time requires a high-strength support as the foundation of the crane, and the land occupation requirement is relatively high. After the masonry is completed and installed, when collecting information, it is necessary to perform a full-surface scan of the masonry with a handheld scanner, which is time-consuming and laborious, and the inevitable human bumps during the scanning process will cause there to be many deviation data points in the scanned data, the scanning accuracy is difficult to guarantee, and it is not conducive to subsequent data processing.

[0004] Therefore, there is an urgent need in the art for a multi-cooperation system for the installation and scanning of buffer material masonry to solve the above problems. Summary of the Utility Model

[0005] The purpose of the present utility model is to provide a multi - collaborative system for the installation and scanning of a buffer material stack body, so as to solve the problems existing in the above - mentioned prior art. Through the stack body installation system, the installation of the buffer material stack body can be realized, and the stack body data acquisition and scanning system can realize the scanning of the buffer material stack body. The whole process is mechanically operated without manual participation, thereby effectively improving the accuracy of the work.

[0006] To achieve the above - mentioned purpose, the present utility model provides the following solutions:

[0007] The present utility model discloses a multi - collaborative system for the installation and scanning of a buffer material stack body, including a stack body installation system and a stack body data acquisition and scanning system;

[0008] Among them, the stack body installation system includes a positioning tooling, a palletizing robotic arm, a vacuum suction cup, an air pump box, and a PLC controller. A conveying device is provided on the positioning tooling. The conveying device can convey the building blocks located at the first end of the positioning tooling to the second end of the positioning tooling. The vacuum suction cup is installed on the mobile end of the palletizing robotic arm. The vacuum suction cup on the palletizing robotic arm can adsorb the building blocks located at the second end of the positioning tooling. The vacuum suction cup is also connected to the air pump box, and the palletizing robotic arm is electrically connected to the PLC controller;

[0009] The stack body data acquisition and scanning system includes a scanning robotic arm and a three - dimensional scanning system. The three - dimensional scanning system includes a scanner, several trackers, and a background computer. The fixed end of the scanning robotic arm is installed on the palletizing robotic arm. The scanner is installed on the mobile end of the scanning robotic arm. The scanning robotic arm is electrically connected to the PLC controller, and the three - dimensional scanning system is electrically connected to the background computer.

[0010] Preferably, the conveying device includes a plurality of horizontal transmission rollers rotatably connected to the upper surface of the positioning tooling. Each of the horizontal transmission rollers is arranged in parallel with each other. A propulsion cylinder is installed at the first end of the positioning tooling. The propulsion cylinder is connected to the air pump box through a pipeline. A propulsion plate is provided at the telescopic end of the propulsion cylinder, and the propulsion plate is used to push the building blocks.

[0011] Preferably, a lateral limiting bracket is provided on each side of the upper end of the positioning tooling. The distance between the two lateral limiting brackets gradually decreases in the direction from the first end to the second end of the positioning tooling. A plurality of lateral limiting rollers are rotatably connected to each lateral limiting bracket.

[0012] Preferably, the propulsion plate is an arc - shaped plate.

[0013] Preferably, a pressure sensor is provided on the propulsion plate, and a displacement sensor is provided on the lateral limiting bracket.

[0014] Preferably, a base support is respectively provided at the lower ends of the four corners of the positioning tooling, and a fixing plate is provided at the lower end of the base support.

[0015] Preferably, there are two trackers, namely a first tracker and a second tracker. The first tracker is installed on a first tripod, and the second tracker is installed on a second tripod. The first tracker and the second tracker are respectively arranged on both sides of the stacked buffer material stack.

[0016] Preferably, a safety system is further included. The safety system includes a first safety grating, a second safety grating, a third safety grating, and a fourth safety grating. The first safety grating, the second safety grating, the third safety grating, and the fourth safety grating are respectively arranged at the four corners of the stacked buffer material stack.

[0017] Preferably, the palletizing robotic arm is installed at the upper end of the steel support.

[0018] The utility model has achieved the following technical effects compared with the prior art:

[0019] The utility model provides a high-efficiency, high-precision and automated installation and scanning cooperation system for a buffer material stack and its working method. The buffer material stack can be installed through the stack installation system, and the stack data acquisition and scanning system can realize the scanning of the buffer material stack. The hoisting process can meet the hoisting requirements and the building blocks will not fall off, and at the same time, the building blocks will not be damaged due to factors such as bumping; the positioning tooling can push the building blocks to reach the predetermined limit position, eliminating the installation error caused by different adsorption positions due to human factors; the installation process of the palletizing robotic arm is completed by the designer writing a preset operation program. The palletizing robotic arm runs stably and occupies a small space; the mechanical scanning process eliminates the shaking and bumping caused by manual scanning, resulting in more deviation points in the collected data; the whole process can achieve high efficiency, high precision and automation, providing technical support for the installation of the buffer material stack in the underground laboratory and disposal repository.

[0020] Furthermore, the multi - collaborative system for the installation and scanning of the buffer material stack masonry provided by the present utility model is equipped with positioning tools matching the sector - shaped blocks and cylindrical blocks. The positioning tool has a horizontal transmission roller and two - wing lateral limiting rollers enclosing a 1 / 8 - sector - shaped block and a cylindrical - block limiting slot. The included angle between the two - wing lateral limiting rollers of the positioning tool is 45°, and it can accommodate blocks with an inner diameter of 600 mm, an outer diameter of 1200 mm, an angle of 45°, and a thickness of 200 - 300 mm. A push plate pushed by a propulsion cylinder is arranged at the center line of the horizontal transmission roller, and under the guidance of a preset program, it pushes the sector - shaped or cylindrical blocks. The push plate and the horizontal transmission roller cooperate to guide the blocks to move forward towards the limiting slot. After reaching the limit, it waits for the vacuum suction cup at the end of the palletizing robotic arm to fit the upper surface of the block and evacuate to adsorb it, and then it retracts to its original position. The positioning tool is also equipped with a displacement sensor and a pressure sensor, which can realize the automatic positioning of the adsorption position of the block.

[0021] Furthermore, the multi - collaborative system for the installation and scanning of the buffer material stack masonry provided by the present utility model is equipped with a scanning robotic arm and a three - dimensional scanning system. The scanning robotic arm is fixed above the top joint of the palletizing robotic arm and has six degrees of freedom. A scanner of the three - dimensional scanning system is installed at the very front end. The three - dimensional scanner system is also equipped with a tracker. When the tracker can identify the scanner, the scanning can be carried out. Designers respectively write the displacement program for the scanning robotic arm to scan the stack masonry in the teach pendants of the scanning robotic arm and the palletizing robotic arm. The scanning robotic arm operates stably and will not cause the scanner to shake due to human factors, resulting in excessive data deviation points, and can effectively improve the accuracy of the scanned data of the stack masonry.

[0022] Furthermore, the multi - collaborative system for the installation and scanning of the buffer material stack masonry provided by the present utility model is equipped with an air pump box and a PLC controller. The air pump box can supply air to the propulsion cylinder set on the positioning tool platform and can also provide vacuum negative pressure for the vacuum suction cup at the end of the palletizing robotic arm. The PLC controller, as the central device that feeds back the program written in the teach pendant to the palletizing robotic arm and the scanning robotic arm, can operate stably and give timely feedback.

[0023] Furthermore, the multi - collaborative system for the installation and scanning of the buffer material stack masonry provided by the present utility model is equipped with a safety light curtain. After a person strays into the operation area and touches the parallel light beam emitted by the safety light curtain, the palletizing robotic arm and the scanning robotic arm can stop their actions in time to ensure that no safety accidents occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the following - described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 Figure for the structural schematic of the multi - collaborative system for the installation and scanning of the buffer material stack masonry in Example 1;

[0026] Figure 2 Top view of the positioning tooling in the multi - collaborative system for the installation and scanning of the buffer material stack masonry in Example 1;

[0027] Figure 3 Side view of the positioning tooling in the multi - collaborative system for the installation and scanning of the buffer material stack masonry in Example 1;

[0028] Figure 4 Isometric view of the positioning tooling in the multi - collaborative system for the installation and scanning of the buffer material stack masonry in Example 1;

[0029] In the figure: 1 - buffer material stack masonry; 2 - PLC controller; 3 - air pump box; 4 - steel support; 5 - palletizing robotic arm; 6 - scanning robotic arm; 7 - scanner; 8 - vacuum suction cup; 9 - first safety light curtain; 10 - second safety light curtain; 11 - third safety light curtain; 12 - fourth safety light curtain; 13 - first tracker; 14 - first tripod; 15 - second tracker; 16 - positioning tooling; 17 - horizontal drive roller; 18 - lateral limit roller; 19 - propulsion cylinder; 20 - lateral limit bracket; 21 - base support; 22 - propulsion plate; 23 - second tripod. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] The purpose of the present invention is to provide a multi - collaborative system for the installation and scanning of a buffer material stack masonry to solve the problems existing in the above - mentioned prior art. Through the stack masonry installation system, the installation of the buffer material stack masonry can be realized, and the stack masonry data acquisition and scanning system can realize the scanning of the buffer material stack masonry. The whole process is mechanical operation without manual participation, thereby effectively improving the accuracy of the work.

[0032] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0033] Example 1

[0034] As Figures 1-4As shown in the figure, this embodiment provides a multi - collaborative system for the installation and scanning of a buffer material stack, including a stack installation system and a stack data acquisition and scanning system.

[0035] Among them, the stack installation system is used to achieve the stacking of the buffer material stack 1. The stack installation system includes a positioning tooling 16, a palletizing robotic arm 5, a vacuum suction cup 8, an air pump box 3, and a PLC controller 2. A conveying device is provided on the positioning tooling 16, and the conveying device can convey the building blocks located at the first end of the positioning tooling 16 to the second end of the positioning tooling 16. The vacuum suction cup 8 is installed on the moving end of the palletizing robotic arm 5. The palletizing robotic arm 5 selects an existing six - axis robotic arm. The vacuum suction cup 8 on the palletizing robotic arm 5 can adsorb the building blocks located at the second end of the positioning tooling 16. The vacuum suction cup 8 is also connected to the air pump box 3. An air pump is provided in the air pump box 3, and through the air pump box 3, air can be sucked into or supplied to the vacuum suction cup 8, so as to realize the adsorption and release of the building blocks by the vacuum suction cup 8. The palletizing robotic arm 5 is electrically connected to the PLC controller 2, and the operation of the palletizing robotic arm 5 can be controlled through the PLC controller 2.

[0036] The stack data acquisition and scanning system includes a scanning robotic arm 6 and a three - dimensional scanning system. Among them, the three - dimensional scanning system selects an existing tracking three - dimensional scanner. The three - dimensional scanning system includes a scanner 7, several trackers, and a background computer. The scanning robotic arm 6 is a six - axis robotic arm. The fixed end of the scanning robotic arm 6 is installed on the top joint of the palletizing robotic arm 5. Here, the palletizing robotic arm 5 has two functions. One is to install the scanning robotic arm 6; the other is that the movement of the palletizing robotic arm 5 can also drive the movement of the scanning robotic arm 6, so it can assist the scanning robotic arm 6 to move. It should be noted here that generally, only the scanning robotic arm 6 needs to drive the scanner 7 to move. If the scanning robotic arm 6 cannot drive the scanner 7 to the specified position, then the palletizing robotic arm 5 is used for auxiliary movement. The scanner 7 is installed on the moving end of the scanning robotic arm 6. The scanning robotic arm 6 is electrically connected to the PLC controller 2, and the operation of the scanning robotic arm 6 can be controlled through the PLC controller 2. The three - dimensional scanning system is electrically connected to the background computer and is used to transmit the scanning data to the background computer for data collection and analysis by the background computer.

[0037] During actual use, first use a crane to place the building blocks to be stacked at the first end of the positioning tooling 16, and then convey them to the second end of the positioning tooling 16 through the conveying device. At this time, use the palletizing robotic arm 5 to drive the vacuum suction cup 8 to suck the building blocks located at the second end of the positioning tooling 16, and move the palletizing robotic arm 5 to move the building blocks to the specified position for stacking. Repeat this process until the stacking work is completed. Use the palletizing robotic arm 5 and the scanning robotic arm 6 together to drive the scanner 7 to move, and scan the buffer material stack 1 from different angles, so as to realize the three - dimensional scanning work of the buffer material stack 1 and transmit the relevant data to the background computer.

[0038] In this embodiment, the conveying device includes a plurality of horizontal transmission rollers 17 rotatably connected to the upper surface of the positioning tooling 16. The horizontal transmission rollers 17 are arranged parallel to each other, and the horizontal transmission rollers 17 are spaced from the first end to the second end of the positioning tooling 16. In addition, a propulsion cylinder 19 is installed at the first end of the positioning tooling 16. The propulsion cylinder 19 is connected to the air pump box 3 through a pipeline. As for the specific connection relationship of the pipeline, the air outlet of the air pump box 3 is connected to the two air ports of the propulsion cylinder 19 through two branches respectively. By ventilating one air port, the other air port can discharge air to realize the linear movement of the propulsion cylinder 19. These all belong to the prior art, so they will not be described in detail here. A propulsion plate 22 is provided at the telescopic end of the propulsion cylinder 19. The propulsion plate 22 is used to push the building block located at the first end of the positioning tooling 16.

[0039] During actual use, when the propulsion cylinder 19 extends, the propulsion plate 22 at the end of the propulsion cylinder 19 will drive the building block to move towards the second end of the positioning tooling 16. And since the building block moves on the horizontal transmission rollers 17, the friction between the two is rolling friction, which can effectively reduce the friction between the two and reduce the wear of the building block.

[0040] In this embodiment, a lateral limiting bracket 20 is provided on each side of the upper end of the positioning tooling 16. The two lateral limiting brackets 20 are distributed in a "V" shape, that is, the distance between the two lateral limiting brackets 20 gradually decreases in the direction from the first end to the second end of the positioning tooling 16. That is to say, there is an included angle between the two lateral limiting brackets 20. In this embodiment, the included angle is 45°. A plurality of lateral limiting rollers 18 are rotatably connected to each lateral limiting bracket 20. The lateral limiting rollers 18 on both sides can not only reduce the friction of the lateral limiting bracket 20 on the building block, but also support and limit the building block.

[0041] When the building block is pushed from the first end to the second end of the positioning tooling 16 by the propulsion plate 22, the propulsion plate 22, the horizontal transmission rollers 17 and the lateral limiting rollers 18 can perform fan-shaped limiting on the building block, so that the movement of the building block is similar to moving along the radius towards the center of the circle. When the building block moves to the second end of the positioning tooling 16, the distance between the lateral limiting rollers 18 on both sides is the smallest at this time, so that the building block cannot move forward further. This position is the limiting card slot, and the propulsion plate 22 stops pushing each time the building block is pushed to the limiting card slot. The vacuum suction cup 8 on the palletizing robotic arm 5 also accurately adsorbs the building block at the limiting card slot each time, so that the position of adsorbing the building block each time has no difference, thus ensuring the accuracy of the system operation.

[0042] In this embodiment, the propulsion plate 22 is an arc-shaped plate, which can be adapted to fit the outer circumference of the building block and will not wear and damage the building block during the propulsion process.

[0043] In this embodiment, a pressure sensor is provided on the pushing plate 22, and the pressure sensor is electrically connected to the PLC controller 2. When the pushing plate 22 pushes the building block to move to the limit card slot, since the building block cannot move further, at this time the pressure sensor senses the pressure change and transmits the corresponding data to the PLC controller 2, and the PLC controller 2 controls the pushing plate 22 to move backward.

[0044] In addition, a displacement sensor is provided on the lateral limit bracket 20, and the displacement sensor is also electrically connected to the PLC controller 2. The displacement sensor includes, but is not limited to, existing devices such as proximity switches or photoelectric sensors, etc. When the building block moves to the limit card slot, after the displacement sensor senses that the building block reaches the specified position, it transmits the position signal of the building block to the PLC controller 2, and then the PLC controller 2 controls the pushing plate 22 to move backward.

[0045] In this embodiment, the skeleton of the positioning tooling 16 is a hollow steel frame with a square cross-section. This kind of steel frame reduces the mass while maintaining the bearing capacity. At the lower ends of the four corners of the positioning tooling 16, a base support 21 is respectively provided. At the lower end of the base support 21, a fixing plate is provided, and a plurality of threaded holes are provided on the fixing plate, so that the fixing plate can be fixed to the ground by bolts, so as to ensure the stability of the positioning tooling 16 and prevent the change of the adsorption position of the building block caused by the slight movement of the positioning tooling 16.

[0046] In this embodiment, there are two trackers, namely the first tracker 13 and the second tracker 15. The first tracker 13 is installed on the first tripod 14, and the second tracker 15 is installed on the second tripod 23. The first tracker 13 and the second tracker 15 are fixed by the first tripod 14 and the second tripod 23. And the first tracker 13 and the second tracker 15 are respectively arranged on both sides of the buffer material stack 1. The scanner 7 can emit cross blue light to collect data parameters such as the flatness, fit degree and gap width between different building blocks on the surface of the buffer material stack 1. The functions of the first tracker 13 and the second tracker 15 are to be able to identify the scanner 7 within a certain range around the buffer material stack 1.

[0047] In this embodiment, a safety system is further included. The safety system includes a first safety grating 9, a second safety grating 10, a third safety grating 11 and a fourth safety grating 12. The four safety gratings are paired in pairs and are all electrically connected to the PLC controller 2. Among them, the first safety grating 9 and the second safety grating 10 are a pair, and the third safety grating 11 and the fourth safety grating 12 are a pair. One of each pair is a transmitting end and the other is a receiving end. And the first safety grating 9, the second safety grating 10, the third safety grating 11 and the fourth safety grating 12 are respectively arranged at the four corners of the buffer material stack 1 being built, and the specific distribution positions can refer to Figure 1, the first safety light curtain 9, the second safety light curtain 10, the third safety light curtain 11, and the fourth safety light curtain 12 can surround the buffer material stack 1 and the palletizing robot arm 5. When a staff member enters the area surrounded by the first safety light curtain 9, the second safety light curtain 10, the third safety light curtain 11, and the fourth safety light curtain 12, the PLC controller 2 promptly controls the palletizing robot arm 5 and the scanning robot arm 6 to stop running to prevent harm to the staff member. After the safety hazard is eliminated, the operator gives subsequent instructions.

[0048] In this embodiment, the palletizing robot arm 5 is installed at the upper end of the steel support 4. The steel support 4 is the bottom support of the palletizing robot arm 5 and can bear the total weight of the palletizing robot arm 5, the scanning robot arm 6, the scanner 7, and a single building block.

[0049] Embodiment 2

[0050] This embodiment provides a working method for a buffer material stack installation and scanning multi - cooperation system. Based on the buffer material stack installation and scanning multi - cooperation system disclosed in Embodiment 1, it includes the installation process of the buffer material stack 1 and the scanning process of the buffer material stack 1;

[0051] Installation process of the buffer material stack 1: First, turn on the power of the PLC controller 2 and the air pump box 3. Open the power switch of the air pump box 3, press the start button on the PLC controller 2, and rotate the lower connection button to the on state. After the initialization of the teach pendants of the palletizing robotic arm 5 and the scanning robotic arm 6 is completed and the previous preparatory work is thoroughly completed, the installation of the buffer material stack 1 can begin. In this embodiment, there are a total of ten layers of the buffer material stack 1 to be installed, and each layer is composed of 8 - 9 sector-shaped blocks and cylindrical blocks. The first two layers are composed of a solid cylinder formed by fitting the middle cylindrical block with the eight surrounding sector-shaped blocks, and the latter eight layers are hollow cylinders without the middle cylindrical block. The installation process of each block is similar. Taking the installation of one block as an example, first use a crane to lift the sector-shaped block and place it on the horizontal transmission roller 17 of the positioning tooling 16. The inner circle of the sector-shaped block faces the limit card slot, and the outer circle faces the push plate 22. Then press the start button on the positioning tooling 16. Under the action of the push cylinder 19, the push plate 22 pushes the sector-shaped block forward. Guided by the lower horizontal transmission roller 17 and the lateral limit rollers 18 on both sides, it advances towards the limit card slot. After reaching the limit, the push plate 22 returns to the initial position. The palletizing robotic arm 5 runs to the position above the sector-shaped block in the limit according to the preset program, then moves downward so that the vacuum suction cup 8 fits the upper surface of the block, and starts the vacuum pumping action. After the vacuum pumping is completed, it moves to the preset stack position according to the preset program. After reaching the preset position, the vacuum suction cup 8 releases air, and the block is released and the installation of one block is completed. Then the palletizing robotic arm 5 returns to the initial position and waits for the instruction after the next block is loaded. After the installation of the ten-layer buffer material stack 1 is completed, the palletizing robotic arm 5 returns to the initial position, and the installation process is all completed.

[0052] Scanning process of the buffer material stack 1: After the whole installation process of the buffer material stack 1 is completed, use the teach pendant of the palletizing robotic arm 5 to call the scanning program. After the application program, the palletizing robotic arm 5 will run to a suitable position and wait for the operator to install the scanner 7 on the scanning robotic arm 6. Then build the first tracker 13 and the second tracker 15, and confirm whether the scanner 7, the first tracker 13, and the second tracker 15 are successfully connected in the scanning system on the corresponding background computer. After showing success, start the dynamic tracking mode, and the scanner 7 immediately emits cross blue light. Then use the teach pendant of the palletizing robotic arm 5 to continue running the scanning program. The scanning starts immediately, and the palletizing robotic arm 5 and the scanning robotic arm 6 will cooperate to ensure that the cross blue light emitted by the scanner 7 scans the entire surface of the buffer material stack 1. After the scanning program is completed, both the palletizing robotic arm 5 and the scanning robotic arm 6 return to their original positions and wait for subsequent instructions. Check whether the scanning data on the background computer is complete. After confirming completeness, save the project file. The scanning process is all completed, and the scanner 7 is removed.

[0053] In addition, it also includes a safety system: the safety light curtain is divided into two pairs, a total of four. Before turning on the PLC controller 2, place the first safety light curtain 9, the second safety light curtain 10, the third safety light curtain 11, and the fourth safety light curtain 12 at the designated positions. After the PLC controller 2 is powered on and turned on, the first safety light curtain 9, the second safety light curtain 10, the third safety light curtain 11, and the fourth safety light curtain 12 are immediately turned on. The first safety light curtain 9 emits parallel light beams to the second safety light curtain 10. Adjust the position until the green indicator lights of the two safety light curtains are on, then the arrangement of the safety light curtain is completed. The arrangement process of the third safety light curtain 11 and the fourth safety light curtain 12 is the same. Before running the installation program, first use the manual mode of the teach pendant to slowly move the palletizing robot arm 5 and touch the parallel light beam to check whether the palletizing robot arm 5 will stop moving. If it stops, it indicates that the safety light curtain is operating normally. Subsequently, all personnel retreat to a safe position, move the palletizing robot arm 5 to the initial position, and then the subsequent installation and scanning work can be started.

[0054] In the present utility model, specific examples are used to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model; at the same time, for those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present utility model.

Claims

1. A buffer material masonry installation and scanning multi-cooperative system, characterized in that: Including masonry installation system and masonry data collection and scanning system; Wherein, the stacking body installation system includes a positioning tool, a stacking robot arm, a vacuum suction cup, an air pump box and a PLC controller, the positioning tool is provided with a conveying device, the conveying device can convey the block located at the first end of the positioning tool to the second end of the positioning tool, the vacuum suction cup is installed on the moving end of the stacking robot arm, the vacuum suction cup on the stacking robot arm can absorb the block located at the second end of the positioning tool, the vacuum suction cup is also connected to the air pump box, and the stacking robot arm is electrically connected to the PLC controller; The stacking data acquisition and scanning system includes a scanning robot arm and a three-dimensional scanning system. The three-dimensional scanning system includes a scanner, a plurality of trackers and a background computer. The fixed end of the scanning robot arm is installed on the stacking robot arm, and the scanner is installed on the mobile end of the scanning robot arm. The scanning robot arm is electrically connected to the PLC controller, and the three-dimensional scanning system is electrically connected to the background computer.

2. The buffer material stacking body installation and scanning multi-cooperative system according to claim 1, characterized in that: The conveying device includes a plurality of horizontal transmission rollers rotatably connected to the upper surface of the positioning tooling, and the horizontal transmission rollers are arranged parallel to each other. A propulsion cylinder is installed at the first end of the positioning tooling, and the propulsion cylinder is connected to the air pump box through a pipeline. A propulsion plate is provided at the telescopic end of the propulsion cylinder, and the propulsion plate is used to push the building blocks.

3. The buffer material stacking body installation and scanning multi-cooperative system according to claim 2, characterized in that: A lateral limiting bracket is respectively provided on both sides of the upper end of the positioning tooling, and the spacing between the two lateral limiting brackets gradually decreases from the first end to the second end of the positioning tooling. Each of the lateral limiting brackets is rotatably connected to a plurality of lateral limiting rollers.

4. The buffer material stacking body installation and scanning multi-cooperative system according to claim 2, characterized in that: The propulsion plate is an arc-shaped plate.

5. The buffer material stacking body installation and scanning multi-cooperative system according to claim 3, characterized in that: The propulsion plate is provided with a pressure sensor, and the lateral limiting bracket is provided with a displacement sensor.

6. The buffer material stacking body installation and scanning multi-cooperative system according to claim 1, characterized in that: A base support is respectively provided at the lower end of the four corners of the positioning tool, and a fixing plate is provided at the lower end of the base support.

7. The buffer material stacking body installation and scanning multi-cooperative system according to claim 1, characterized in that: The trackers are provided with two, namely a first tracker and a second tracker. The first tracker is installed on a first tripod, and the second tracker is installed on a second tripod. The first tracker and the second tracker are respectively arranged on both sides of the stacked cushioning material masonry.

8. The buffer material stacking body installation and scanning multi-cooperative system according to claim 1, characterized in that: It also includes a safety system, which includes a first safety grating, a second safety grating, a third safety grating and a fourth safety grating, and the first safety grating, the second safety grating, the third safety grating and the fourth safety grating are respectively arranged at the four corners of the stacked buffer material masonry.

9. The buffer material stacking body installation and scanning multi-cooperative system according to claim 1, characterized in that: The stacking robot arm is installed on the upper end of the steel support.

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