Automatic circulation device for concrete test blocks

Abstract

The utility model provides an automatic circulation device for concrete test blocks, a concrete robot execution end is arranged to be suitable for grabbing the test blocks, the automatic circulation device comprises an automatic guided vehicle and a test block frame arranged on the automatic guided vehicle, a plurality of trays are arranged on the inner side of the test block frame, and the trays are arranged in an array mode in the horizontal direction and / or the vertical direction. According to the automatic circulating device for the concrete test blocks, the trays are movably mounted on the test block frame, when the automatic guided vehicle arrives at a designated position, the specific tray is controlled to enter and exit through a signal sent by the execution end of the concrete robot, autonomous feeding is achieved, and the trays can be unfolded towards the two opposite sides of the test block frame in the horizontal direction; the redundant work that the execution end of the concrete robot is difficult to grab the test block and needs to turn around and change the direction due to the fact that the parking direction of the automatic guided vehicle is incorrect is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to transportation flow transfer technical field especially relates to a concrete test block automatic flow transfer device for concrete test block based on automatic guided vehicle and electric slide rail. BACKGROUND

[0002] With the comprehensive development and promotion of industrial digital intelligent transformation upgrading strategy, at present, many engineering laboratories introduce automatic guided vehicles and industrial concrete robots in order to save manpower and improve automation level, the existing automatic guided vehicles usually use lifting devices and loading plates to carry and distribute the distributed concrete test blocks, when the test blocks are transported to the side of the concrete robot, manual test blocks are needed to be transferred from the automatic guided vehicle to the test block frame for the robot to grab, so the manpower is not completely liberated.

[0003] When the test block frame is a multi-layer structure, in addition to the concrete test blocks placed on the top layer of the test block frame, the test blocks placed on the lower layer are not convenient for the mechanical arm to grab from the upper layer, for example, three concrete test blocks in a group need to be placed on the same tray, and the tray is placed on the test block frame, according to the current commonly used concrete robot operation program, the top layer of the multi-layer test block frame is provided with a transition position for placing the test block tray, when a group of test blocks on the lower layer need to be taken out for performance test, the mechanical arm will take out the tray from the lower layer and place it on the transition position on the top layer, and then the test blocks are clamped for subsequent test, it can be seen that the above-mentioned mechanical arm is not convenient for grabbing the test blocks on the multi-layer structure test block frame.

[0004] In order to solve the above problems, the utility model provides a concrete test block automatic flow transfer device convenient for the mechanical arm to grab the test blocks. UTILITY MODEL CONTENTS

[0005] In order to solve the above-mentioned problem that the existing mechanical arm is not convenient for grabbing the test blocks on the multi-layer structure test block frame, the utility model provides a concrete test block automatic flow transfer device.

[0006] According to one purpose of the utility model, the utility model provides a concrete test block automatic flow transfer device, the concrete robot execution end is set to be suitable for grabbing the test blocks, comprising:

[0007] The automatic guided vehicle and the test block frame arranged on the automatic guided vehicle, the inner side of the test block frame is provided with a plurality of trays, the trays are arranged in array in the horizontal direction and / or vertical direction, the trays are movably connected to the test block frame, the trays are set to be suitable for extending from the two sides of the test block frame in the horizontal direction, and the concrete robot execution end is control connected with the trays;

[0008] The tray is provided with horizontal limiting pieces, the tray is detachably connected with the material disc through the horizontal limiting pieces, the material disc is provided with a test block placement area, and the concrete robot execution end is matched with the material disc.

[0009] Preferably, the horizontal limiting piece comprises a fixed pin, the upper end surface of the tray is provided with a groove, the groove is in communication with both ends in the moving direction of the tray, the bottom surface of the groove extends upward to form the fixed pin, the material disc is slidingly connected in the groove, and the material disc is clamped with the fixed pin.

[0010] Preferably, the material disc is a hollow material disc, the two ends of the material disc in the moving direction of the tray are provided with bearing openings in communication between the inside and the outside, and a fixed strip is installed on the upper end surface of the material disc, and the fixed strip surrounds the test block placement area.

[0011] Preferably, the tray is movably connected with the test block frame through an electric sliding rail, a mechanical button is installed on the test block frame, and the mechanical button is connected with the electric sliding rail.

[0012] Preferably, the electric sliding rail is driven by a servo motor, the servo motor, the electric sliding rail and the tray are one-to-one corresponding, the servo motor and the electric sliding rail are connected through an electric wire, and the electric wire is hidden in the test block frame.

[0013] Preferably, the automatic guided vehicle comprises a vehicle shell, a driving wheel set is installed at the bottom of the vehicle shell, the driving wheel set is controlled to reverse through a servo motor, a positioning module is installed at the bottom of the vehicle shell, and the positioning module is electrically connected with the concrete robot execution end.

[0014] In the horizontal plane, the two sides of the driving wheel set in the axial direction are the width direction of the automatic guided vehicle, and the two sides of the driving wheel set in the radial direction are the length direction of the automatic guided vehicle.

[0015] Preferably, an electric control box is installed in the vehicle shell, the electric control box is connected with the driving wheel set and the concrete robot execution end respectively, a control screen is arranged on one side of the vehicle shell in the length direction, and the control screen is electrically connected with the electric control box.

[0016] Preferably, a battery box is installed in the vehicle shell, the battery box is located on the side of the electric control box away from the control screen, and the battery box supplies power to the automatic guided vehicle and the electric sliding rail on the test block frame.

[0017] Preferably, a counterweight is installed in the vehicle shell, and one counterweight is arranged on each side of the battery box in the length direction of the automatic guided vehicle.

[0018] Preferably, a full-directional camera is mounted on the outer side of the vehicle shell, the full-directional camera is electrically connected with the electric control box, and the full-directional camera is located below the control screen.

[0019] The anti-collision rubber strips are arranged on both sides of the vehicle shell in the length direction of the automatic guided vehicle.

[0020] Compared with the prior art, the utility model has the beneficial effects that:

[0021] The concrete test block automatic flow transfer device, the tray is movably installed on the test block frame, when the automatic guided vehicle reaches the specified position, the signal sent by the concrete robot execution end controls the in-out of a specific tray, realizes the self-provided material, and the tray can be expanded to the opposite two sides in the horizontal direction of the test block frame, avoids the automatic guided vehicle because the parking direction is incorrect, the concrete robot execution end is difficult to grab the test block, and the unnecessary work of turning around and changing direction is needed, and meanwhile, the tray is provided with a certain depth groove, the groove is attached with a protruding fixing pin, so that the tray placed in the tray groove does not shake in the moving and transporting process of the automatic guided vehicle, and the stability and safety of the overall structure are improved.

[0022] The utility model is further illustrated below in combination with the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a whole schematic view of the concrete test block automatic flow transfer device. DETAILED DESCRIPTION

[0024] The following description is used to explain the utility model in detail so that the person skilled in the art can realize the utility model. The preferred embodiments in the following description are only as examples, and other obvious variants can be thought of by the person skilled in the art. The basic principles of the utility model defined in the following description can be applied to other implementation schemes, variant schemes, improved schemes, equivalent schemes and other technical schemes without departing from the spirit and scope of the utility model.

[0025] Please refer to Figure 1 The utility model provides a technical scheme: a concrete test block automatic flow transfer device, a concrete robot execution end is set to be suitable for grabbing test blocks, comprising:

[0026] The automatic guide vehicle 100 and the test block rack 200 arranged on the automatic guide vehicle 100, the inner side of the test block rack 200 is provided with a plurality of trays 201, the trays 201 are arranged in the horizontal direction and / or the vertical direction, the trays 201 are movably connected to the test block rack 200, the trays 201 are arranged to extend to the opposite sides of the test block rack 200 in the horizontal direction, and the concrete robot execution end is connected to the trays 201;

[0027] The tray 201 is provided with a horizontal limiting piece 2011, the tray 201 is detachably connected to a material disc 202 through the horizontal limiting piece 2011, the material disc 202 is provided with a test block placing area 2023, and the concrete robot execution end is matched with the material disc 202.

[0028] The tray 201 is movably installed on the test block rack 200, when the automatic guide vehicle 100 reaches a specified position, the in-out of a specific tray 201 is controlled through a signal sent by the concrete robot execution end, autonomous feeding is realized, the tray 201 can be unfolded to the opposite sides of the test block rack 200 in the horizontal direction, unnecessary work of the automatic guide vehicle 100 needing to change direction due to incorrect parking direction and the concrete robot execution end being difficult to grab test blocks is avoided, meanwhile, the tray 201 is provided with a certain depth groove 2012, the groove 2012 is attached with a protruding fixing pin, it is ensured that the material disc 202 placed in the groove 2012 of the tray 201 does not shake in the moving and transporting process of the automatic guide vehicle, and the stability and safety of the overall structure are improved.

[0029] The above-mentioned concrete test block automatic flow device adopts the combination of an automatic guide vehicle and an industrial concrete robot, and is applied to an engineering test room, so that manpower can be saved, the automation level can be improved, and the test process is more simple and efficient.

[0030] It should be noted that, in one of the embodiments of the present application, the concrete robot execution end is a mechanical arm, and the test block is a concrete test block, wherein the concrete robot and the mechanical arm are both prior art.

[0031] The horizontal limiting part 2011 comprises a fixed pin, the upper end surface of the tray 201 is provided with a groove 2012, the groove 2012 and the two ends in the moving direction of the tray 201 are communicated, the bottom surface of the groove 2012 extends upward to form the fixed pin, the material tray 202 is slidingly connected in the groove 2012, and the material tray 202 and the fixed pin are clamped. Specifically, the material tray 202 is a hollow material tray, the two ends of the material tray 202 in the moving direction of the tray 201 are provided with bearing openings 2021 communicating inside and outside, and the bottom of the material tray 202 is provided with a fixed groove matched with the fixed pin. Through the groove 2012 with a certain depth and the protruding fixed pin, the material tray 202 is prevented from shaking on the tray 201, and the stability is improved.

[0032] Further, the upper end surface of the material tray 202 is fixedly provided with a fixed strip 2022, and the fixed strip 2022 surrounds the test block placing area 2023. The fixed strip 2022 is provided with a plurality of groups, and the number of the fixed strip 2022 in each group is a plurality. Specifically, the fixed strip 2022 is provided with three groups, and the number of the fixed strip 2022 in each group is four. Each group of fixed strips 2022 surrounds a square test block placing area 2023.

[0033] In use, the hollow material tray 202 can be supported by the concrete robot execution end of the robot, and the fixed strip 2022 is used to fix the test block placed on the material tray 202. The size and position of the fixed strip 2022 on the material tray 202 can be customized according to different sizes of the transported test block.

[0034] Further, the tray 201 is movably connected to the test block rack 200 through an electric sliding rail 203, a mechanical button 2031 is installed on the test block rack 200, and the mechanical button 2031 is connected to the electric sliding rail 203. Further, the electric sliding rail 203 is driven by a servo motor, the servo motor, the electric sliding rail 203 and the tray 201 are one-to-one corresponding, the servo motor and the electric sliding rail 203 are connected through wires, and the wires are hidden in the test block rack 200. In use, each group of electric sliding rails 203 has a corresponding servo motor to support its operation. By controlling the forward and reverse rotation of the servo motor of the electric sliding rail 203, the tray 201 is expanded to the two opposite sides in the horizontal direction through the electric sliding rail 203. In special cases, the power supply of the electric sliding rail 203 is cut off by pressing the mechanical button 2031, and the tray 201 can be manually pulled out of the test block rack 200.

[0035] Regarding the specific structure of the automatic guided vehicle 100, the automatic guided vehicle 100 comprises a vehicle shell 101, a driving wheel set 102 is mounted at the bottom of the vehicle shell 101, the driving wheel set 102 is controlled to reverse by a servo motor, realizing the function of the automatic guided vehicle 100 turning around in place, a positioning module 103 is also mounted at the bottom of the vehicle shell 101, the positioning module 103 is electrically connected with the concrete robot execution end, the positioning module 103 at the bottom can identify the position information of the ground surface, so as to ensure that the position reached by the automatic guided vehicle 100 is the preset accurate position of discharging, thereby opening the next linkage with the robot concrete robot execution end. In the horizontal plane, the width direction of the automatic guided vehicle 100 is on the two sides of the driving wheel set 102 in the axial direction, and the length direction of the automatic guided vehicle 100 is on the two sides of the driving wheel set 102 in the radial direction.

[0036] An electric control box 104 is mounted inside the vehicle shell 101, the electric control box 104 controls the driving wheel set 102 and the concrete robot execution end respectively, one side of the vehicle shell 101 in the length direction is provided with a control screen 105, and the control screen 105 is electrically connected with the electric control box 104. Preferably, the control screen 105 is arranged at the center position of the vehicle shell 101 in the width direction, the control screen 105 is a touchable control screen 105, and the electric control box 104 is arranged close to the control screen 105. In use, the running path of the automatic guided vehicle 100 and the signal connection with the concrete robot execution end can be set through the touch control screen 105, and the device is operated according to the set conditions through the electric control box 104.

[0037] A battery box 106 is mounted inside the vehicle shell 101, the battery box 106 is located on the side of the electric control box 104 away from the control screen 105, and the battery box 106 supplies power for the automatic guided vehicle 100 and the electric sliding rail 203 on the test block rack 200.

[0038] Further, a counterweight 107 is mounted inside the vehicle shell 101, one counterweight 107 is arranged on each side of the battery box 106 in the length direction of the automatic guided vehicle 100, a counterweight 107 with a larger mass than the counterweight in a similar size automatic guided vehicle is used to lower the overall structural gravity center, prevent the automatic guided vehicle 100 from rolling over, dumping and other situations during driving and when the tray 202 is pulled out of the tray 201, and improve stability.

[0039] Further, an omnidirectional camera 108 is mounted on the outside of the vehicle shell 101, the omnidirectional camera 108 is electrically connected with the electric control box 104, and the omnidirectional camera 108 is located below the control screen 105.

[0040] The anti-collision rubber strip 109 is arranged on both sides of the AGV 100 in the length direction of the AGV 100, and the omnibearing camera 108 monitors the specific conditions of the surrounding environment during the driving process of the device at all times, avoids obstacles in the running path, realizes visual guidance, and reduces the damage of the AGV 100 to obstacles in an unexpected situation through the anti-collision rubber strip 109, thereby playing a preventive role.

[0041] In one of the embodiments, the concrete test block automatic flow device is dedicated to the automatic transportation of the automatic guided vehicle in the engineering test room and the grabbing and placing of the concrete test block by the industrial robot, combines the advantages of the prior art, and is optimized and improved for higher test efficiency and automation requirements, is more convenient for the test block grabbing and placing of the concrete robot execution end, saves more manpower, and significantly improves the process efficiency and automation level of the test.

[0042] The AGV 100 can realize bidirectional movement, and when the AGV 100 reaches the preset discharging accurate position, the concrete robot execution end will send a signal to control the in-out of a specific tray 201, thereby embodying the autonomy of the feeding mechanism.

[0043] Meanwhile, by controlling the forward and reverse rotation of the servo motor of the electric slide rail 203, the electric slide rail 203 on the concrete test block rack 200 can be expanded to both sides, thereby avoiding the influence of the stopping direction of the AGV 100 on the difficulty of the test block grabbing by the concrete robot execution end.

[0044] In addition, the omnibearing camera 108 on the AGV 100 cooperates with the front and rear counterweights 107, and the recessed groove 2012 of the tray 201 of the concrete test block rack 200 cooperates with the protruding fixing pin, to jointly prevent the tray 202 from shaking during the transportation process, so as to achieve a safe and stable transportation process.

[0045] In summary, the concrete test block automatic flow device not only can improve the automation level of the engineering test room using the AGV and the industrial concrete robot, and the test process is more simple and efficient, but also can improve the safety and stability during the test process, and provides a reliable technical means for the digital reform of the engineering test room.

[0046] The above-described embodiments are only used to illustrate the technical ideas and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot be limited to the patent application range of the present application by the above-described embodiments, that is, any equivalent changes or modifications made according to the spirit disclosed in the present application still fall within the patent range of the present application.

Claims

1. An automatic concrete test block flow device, a concrete robot execution end is set up suitable for grabbing test block, characterized in that, Include: Automatic guided vehicle (100) and test block rack (200) arranged on the automatic guided vehicle (100), the inner side of the test block rack (200) is provided with a plurality of trays (201), the trays (201) are arrayed in horizontal direction and / or vertical direction, the trays (201) are movably connected to the test block rack (200), the trays (201) are arranged to extend out of the test block rack (200) on the opposite sides in horizontal direction, and the concrete robot execution end is connected to the trays (201); The trays (201) are provided with horizontal limit pieces (2011), the trays (201) are detachably connected to material trays (202) through the horizontal limit pieces (2011), the material trays (202) are provided with test block placing areas (2023), and the concrete robot execution end and the material trays (202) are matched.

2. The automatic concrete block flow transfer device according to claim 1, characterized in that, The horizontal limit pieces (2011) include fixed pins, the upper end surface of the tray (201) is provided with a groove (2012), the groove (2012) is connected with both ends in the movable direction of the tray (201), the bottom surface of the groove (2012) extends upward to form the fixed pin, the material tray (202) is slidably connected in the groove (2012), and the material tray (202) is clamped with the fixed pin.

3. The automatic concrete block flow transfer device according to claim 1, characterized in that, The material tray (202) is a hollow material tray, the material tray (202) is provided with bearing openings (2021) communicating inside and outside at both ends in the movable direction of the tray (201), and a fixed strip (2022) is installed on the upper end surface of the material tray (202).

4. The automatic concrete block flow device according to claim 1, wherein The tray (201) is movably connected to the test block rack (200) through an electric sliding rail (203), a mechanical button (2031) is installed on the test block rack (200), and the mechanical button (2031) is connected to the electric sliding rail (203).

5. The automatic concrete block flow device according to claim 4, wherein The electric sliding rail (203) is driven by a servo motor, the servo motor, the electric sliding rail (203) and the tray (201) are one-to-one corresponding, the servo motor and the electric sliding rail (203) are connected through wires, and the wires are hidden in the test block rack (200).

6. The automatic concrete block flow device according to claim 1, wherein The automatic guided vehicle (100) includes a vehicle shell (101), a driving wheel set (102) is installed at the bottom of the vehicle shell (101), the driving wheel set (102) is controlled to reverse by a servo motor, a positioning module (103) is installed at the bottom of the vehicle shell (101), and the positioning module (103) is electrically connected with the concrete robot execution end; In the horizontal plane, the width direction of the automatic guided vehicle (100) is on both sides of the driving wheel set (102) in the axial direction, and the length direction of the automatic guided vehicle (100) is on both sides of the driving wheel set (102) in the radial direction.

7. The automatic concrete block flow device according to claim 6, wherein The car shell (101) is internally provided with an electric control box (104), the electric control box (104) is connected with the driving wheel group (102) and the concrete robot execution end respectively, one side of the car shell (101) in the length direction is provided with a control screen (105), and the control screen (105) and the electric control box (104) are electrically connected.

8. The automatic concrete block flow device according to claim 7, wherein The car shell (101) is internally provided with a battery box (106), the battery box (106) is located on the side, away from the control screen (105), of the electric control box (104), and the battery box (106) supplies power for the automatic guided vehicle (100) and the electric sliding rail (203) on the test block rack (200).

9. The automatic concrete block flow device according to claim 8, wherein The car shell (101) is internally provided with a counterweight (107), and the battery box (106) is provided with one counterweight (107) on each side in the length direction of the automatic guided vehicle (100).

10. The automatic concrete block flow device according to claim 9, wherein The car shell (101) is externally provided with an all-around camera (108), the all-around camera (108) and the electric control box (104) are electrically connected, and the all-around camera (108) is located below the control screen (105). The car shell (101) is provided with an anti-collision rubber strip (109) at the bottom, and the anti-collision rubber strip (109) is arranged on both sides of the car shell (101) in the length direction of the automatic guided vehicle (100).

Images