CN220129076U - Intelligent robot dashes hair system - Google Patents
Intelligent robot dashes hair system Download PDFInfo
- Publication number
- CN220129076U CN220129076U CN202321551111.2U CN202321551111U CN220129076U CN 220129076 U CN220129076 U CN 220129076U CN 202321551111 U CN202321551111 U CN 202321551111U CN 220129076 U CN220129076 U CN 220129076U
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- China
- Prior art keywords
- awning
- frame
- hair
- pressure water
- detection device
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- 210000004209 hair Anatomy 0.000 title claims abstract description 29
- 238000004080 punching Methods 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000007599 discharging Methods 0.000 claims abstract description 18
- 210000002268 wool Anatomy 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 23
- 238000009991 scouring Methods 0.000 claims description 22
- 230000008676 import Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims 2
- 239000006185 dispersion Substances 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007788 roughening Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses an intelligent robot hair punching system which comprises a awning, wherein a linear rail is arranged between an inlet and an outlet of the awning in a penetrating way, the linear rail extends out of the awning, a high-pressure water hair punching mechanism is arranged in the awning, a 3D vision acquisition device is arranged above the inlet of the awning, a feeding car is movably arranged on the linear rail at the inlet position of the awning, a discharging car is movably arranged on the linear rail at the outlet position of the awning, the high-pressure water hair punching mechanism, the 3D vision acquisition device, the feeding car and the discharging car are connected with a PLC, and the PLC and the 3D vision acquisition device are connected with an industrial personal computer. The utility model solves the problems of high labor intensity, low working efficiency, incapability of ensuring the wool punching quality and the like caused by the manual wool punching in the prior art.
Description
Technical Field
The utility model relates to an intelligent robot scouring system, and belongs to the technical field of superimposed sheet scouring.
Background
In concrete pouring construction, in order to enable new and old concrete to be tightly combined, the surface of a construction joint of a concrete structure is generally subjected to roughening treatment. The superimposed sheet is the concrete structure that commonly uses, carries out to its dashing hair processing usually adopts the manual work mode, and the staff holds the high-pressure squirt promptly, carries out towards the hair along superimposed sheet four sides to the lateral wall. The high-pressure water jet in the scouring can achieve the effect of scouring, so that the emulsified skin on the surface of the concrete is rapidly peeled off to form coarse sand, thereby achieving the surface treatment requirement of tightly combining new and old concrete. However, the manual scouring treatment obviously has the defects of high labor intensity, low working efficiency, unfinished scouring quality and the like, and needs to be improved.
Disclosure of Invention
The utility model aims to provide an intelligent robot hair punching system which solves the problems that the labor intensity is high, the working efficiency is low, the hair punching quality cannot be ensured and the like caused by manual hair punching in the prior art.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides an intelligent robot dashes hair system, includes the awning, it has just to run through to lay straight line track between awning's import and the export straight line track extends the awning sets up, be equipped with high-pressure water and dash hair mechanism in the awning, 3D vision collection system is installed to awning's import top, be in awning import position straight line track is last to be equipped with the skip that advances, be in awning exit position straight line track is last to be equipped with the skip that goes out movably, high-pressure water dash hair mechanism 3D vision collection system advance skip with go out the skip that goes out to be connected with the PLC controller, the PLC controller with 3D vision collection system is connected with the industrial computer.
The utility model has the advantages that:
the utility model does not need to be operated by workers, realizes the wool punching treatment on the four side walls of the superimposed sheet in a whole-course automatic way, ensures the wool punching quality, has high working efficiency, reduces the work injury and reduces the cost.
Drawings
Fig. 1 is a schematic diagram of an intelligent robotic scouring system of the present utility model.
Fig. 2 is a schematic view of a feed car.
Fig. 3 is a schematic view of the discharge car.
Detailed Description
As shown in fig. 1 to 3, the intelligent robot hair punching system is arranged behind a laminated slab demoulding station and comprises a awning 10, a linear rail 20 is arranged between an inlet and an outlet of the awning 10 in a penetrating way, the linear rail 20 extends out of the awning 10, a high-pressure water hair punching mechanism is arranged in the awning 10, a 3D vision acquisition device 50 is arranged above the inlet of the awning 10, as shown in fig. 1, the 3D vision acquisition device 50 is arranged at the inlet position of the awning 10 in a hanging way through a cross beam 12 fixed at the top of the awning 10, a feeding car 30 is movably arranged on the linear rail 20 at the inlet position of the awning 10, a discharging car 40 is movably arranged on the linear rail 20 at the outlet position of the awning 10, the high-pressure water hair punching mechanism, the 3D vision acquisition device 50, the feeding car 30 and the discharging car 40 are connected with a PLC (not shown in the drawings), and the PLC controller and the 3D vision acquisition device 50 are connected with an industrial personal computer.
In actual design, high-pressure water dashes hair mechanism includes truss manipulator 60, and high-pressure squirt 65 installs on truss manipulator 60, and high-pressure squirt 65 can realize three-dimensional removal and swing on truss manipulator 60, and high-pressure squirt 65 is linked together with the high-pressure water pump 67 who locates in awning 10, and truss manipulator 60, high-pressure water pump 67 and high-pressure squirt 65 all are connected with the PLC controller, wherein: the lower part of the truss manipulator 60 is provided with a scouring platform 66 for placing the superimposed sheet for scouring.
Referring to fig. 1, the truss manipulator 60 includes a frame 61, a longitudinal rail 62 is provided on the frame 61 along the length direction of the linear rail 20, a transverse rail 63 is slidably provided on the longitudinal rail 62, the transverse rail 63 is provided along the direction perpendicular to the length direction of the linear rail 20, a vertical rail 64 is slidably provided on the transverse rail 63, the vertical rail 64 is provided along the up-down direction, a high-pressure water gun 65 is slidably provided on the vertical rail 64, and the high-pressure water gun 65 is swingable along the direction of the transverse rail 63.
Further, the nap-punching stage 66 is constituted by two beams mounted to the lower portion of the frame 61.
As shown in fig. 2, the feeding cart 30 includes a U-shaped frame 31, a controllable roller 32 is installed at the bottom of the frame 31, a plurality of lifting mechanisms 33 for lifting up the superimposed sheet and a sheet in-place detecting device 34 for detecting whether the superimposed sheet is placed on the feeding cart 30 are provided at the top of the frame 31, an opening 301 of the frame 31 is provided toward the truss manipulator 60, the width of the opening 301 is larger than that of the punching platform 66, so that the opening 301 of the feeding cart 30 can accommodate a part of the punching platform 66 therein, a discharging in-place detecting device 35 for detecting whether the feeding cart 30 reaches a discharging position is provided at the front of the truss manipulator 60, and the controllable roller 32, the lifting mechanisms 33, the sheet in-place detecting device 34 and the discharging in-place detecting device 35 on the feeding cart 30 are all connected with the PLC controller, wherein: the jack mechanisms 33 are symmetrically arranged at the opening 301 of the frame 31.
As shown in fig. 3, the discharging car 40 includes a U-shaped frame 41, a controllable roller 42 is installed at the bottom of the frame 41, a plurality of lifting mechanisms 43 for lifting up the laminated sheet and a sheet material in-place detecting device 44 for detecting whether the laminated sheet is placed on the discharging car 40 are arranged at the top of the frame 41, an opening 401 of the frame 41 is arranged towards the truss manipulator 60, the width of the opening 401 is larger than that of the punching platform 66, so that the opening 401 of the discharging car 40 can accommodate a part of the punching platform 66 therein, a loading in-place detecting device 45 for detecting whether the discharging car 40 reaches a loading position is arranged at the front of the truss manipulator 60, and the controllable roller 42, the lifting mechanism 43, the sheet material in-place detecting device 44 and the loading in-place detecting device 45 on the discharging car 40 are all connected with a PLC controller, wherein: the jacking mechanisms 43 are symmetrically arranged at the position of the opening 401 of the frame 41.
In practical design, the plate in-place detection device 34 and the plate in-place detection device 44 can be proximity switches, the unloading in-place detection device 35 and the loading in-place detection device 45 can be limit switches, and the jacking mechanism 33 and the jacking mechanism 43 can be controllable hydraulic jacks, which is not limited.
Further, an initial in-place detecting device (not shown in the figure) for detecting whether the feeding carriage 30 moves to an initial position, an in-place detecting device (not shown in the figure) for detecting whether the feeding carriage 30 moves to a collecting position, and an out-of-place detecting device (not shown in the figure) for detecting whether the feeding carriage 40 moves to a discharging position are mounted on the linear rail 20, wherein the in-place detecting device is located below the 3D vision collecting device 50, the initial in-place detecting device is located at a position far from an inlet in the awning 10, and the out-of-place detecting device is located at a position far from an outlet outside the awning 10.
In actual design, the initial in-place detection device, the acquisition in-place detection device and the removal in-place detection device can be proximity switches, and are not limited, and the initial in-place detection device, the acquisition in-place detection device and the removal in-place detection device are all connected with the PLC.
As shown in fig. 1, the inlet and outlet of the awning 10 are provided with dust curtains 11 for forming the awning 10 into a closed space to prevent dust diffusion generated by the scouring operation.
In the present utility model, the 3D vision acquisition device 50, the truss manipulator 60 are well known devices in the art and are not described in detail herein. The PLC controller and the industrial personal computer are well known devices in the field. The PLC is mainly used for receiving instructions of the industrial personal computer, sending control instructions to all equipment and devices to coordinate operation, uploading relevant data to the industrial personal computer and the like. The industrial personal computer is used for receiving the image information fed back by the 3D vision acquisition device 50, analyzing and calculating the outline dimension of the superimposed sheet, the position information placed on the feeding vehicle 30 and the like, and issuing a scouring instruction and the like to the PLC based on the received information.
The connection mentioned above may be a wired connection or a wireless connection.
In the present utility model, the longitudinal direction and the lateral direction are defined based on the horizontal plane, that is, the longitudinal direction of the linear rail 20 is defined as the longitudinal direction and the direction perpendicular to the longitudinal direction is defined as the lateral direction. The lateral direction, i.e., the width direction of the infeed and outfeed carts 30, 40, is also the width direction of the punching deck 66.
The utility model adopts a full-automatic working mode, and the working process is as follows:
at the laminated sheet demoulding station, a crane (such as a KBK crane) of the laminated sheet demoulding device lifts and places the demoulded laminated sheet 70 on the feeding vehicle 30, and at this time, each lifting mechanism 33 on the feeding vehicle 30 is in a lifting state. When the sheet in-place detecting device 34 on the feeding cart 30 at the initial position detects that the superimposed sheet is placed thereon, the feeding cart 30 is automatically moved toward the entrance along the linear rail 20. When the feeding vehicle 30 moves to the collecting position, the collecting in-place detecting device detects that the feeding vehicle 30 moves to the place, the feeding vehicle 30 stops and is just under the 3D vision collecting device 50, then the 3D vision collecting device 50 captures an image of the laminated plate and transmits the image information to the industrial personal computer, and the industrial personal computer obtains information such as the outline dimension of the laminated plate according to the received image information so as to send a scouring instruction to the PLC.
After the collection is completed, the feed carriage 30 continues to move into the awning 10. When the in-place discharge detection device 35 detects that the feed carriage 30 reaches the discharge position, i.e., that a portion of the punching stage 66 is located in the opening 301 of the feed carriage 30, the lifting mechanism 33 is lowered to transfer the superimposed sheet 70 on the feed carriage 30 to the punching stage 66, and then the feed carriage 30 is returned. When the initial in-place detection means detects that the feed carriage 30 moves to the initial position, the feed carriage 30 is stopped and each of the lifting mechanisms 33 thereon is reset to the lifted state, waiting for the next superimposed sheet.
When the superimposed sheet is placed on the scouring platform 66, the truss manipulator 60 is started, and runs according to the scouring instruction issued by the PLC controller, and the scouring operation is started. Specifically, the high-pressure water gun 65 slides along the longitudinal guide rail 62 and the transverse guide rail 63 and moves downward and upward along the vertical guide rail 64, and performs the scouring operation on the four side walls of the laminated plate 70, wherein when the scouring operation is performed on the two side walls of the laminated plate 70 in the transverse direction, the high-pressure water gun 65 swings while spraying high-pressure water, so as to expand the operation range and increase the scouring force.
When the scouring operation is completed, the truss manipulator 60 is reset. The discharge car 40 moves automatically along the linear track 20 into the awning 10. When the in-position detection device 45 detects that the discharge carriage 40 reaches the loading position, i.e., that a portion of the punching stage 66 is located in the opening 401 of the discharge carriage 40, each lifting mechanism 43 on the discharge carriage 40 is lifted up, and the superimposed sheet 70 placed on the punching stage 66 is lifted up. At this point the sheet-to-station detector 44 detects that the stack 70 has been placed on the discharge car 40, so that the discharge car 40 moves back, pushing the stack 70 out of the awning 10. When the out-of-position detecting device detects that the discharging carriage 40 moves to the discharging position, the discharging carriage 40 is stopped, a crane (such as a KBK crane) waiting for the position lifts off the upper superimposed sheet 70 thereof, and then each lifting mechanism 43 on the discharging carriage 40 is reset to the lowered state.
The utility model has the advantages that:
the utility model does not need to be operated by workers, realizes the wool punching treatment on the four side walls of the superimposed sheet in a whole-course automatic way, ensures the wool punching quality, has high working efficiency, reduces the work injury and reduces the cost.
The foregoing is a description of the preferred embodiments of the present utility model and the technical principles applied thereto, and it will be apparent to those skilled in the art that any modifications, equivalent changes, simple substitutions and the like based on the technical scheme of the present utility model can be made without departing from the spirit and scope of the present utility model.
Claims (8)
1. The utility model provides an intelligent robot dashes hair system, its characterized in that, includes the awning, it has just to run through between the import of awning and the export to lay the straight line track just the straight line track extends the awning sets up, be equipped with high-pressure water in the awning and dash hair mechanism, 3D vision collection device is installed to the import top of awning, is in awning import position be equipped with the skip that advances on the straight line track is movable, be in awning exit position be equipped with the skip that goes out on the straight line track, high-pressure water dash hair mechanism 3D vision collection device advance skip with go out the skip and be connected with the PLC controller, the PLC controller with 3D vision collection device is connected with the industrial computer.
2. The intelligent robotic hair punching system of claim 1, wherein the high pressure water hair punching mechanism comprises a truss manipulator, a high pressure water gun is mounted on the truss manipulator, the high pressure water gun can realize three-dimensional movement and swing on the truss manipulator, the high pressure water gun is communicated with a high pressure water pump, wherein: and a wool punching platform for placing the superimposed sheet to perform wool punching operation is arranged at the lower part of the truss manipulator.
3. The intelligent robot hair punching system according to claim 2, wherein the truss manipulator comprises a frame, a longitudinal guide rail is arranged on the frame along the length direction of the linear rail, a transverse guide rail is slidably arranged on the longitudinal guide rail, the transverse guide rail is arranged along the direction perpendicular to the length direction of the linear rail, a vertical guide rail is slidably arranged on the transverse guide rail, the vertical guide rail is arranged along the up-down direction, the high-pressure water gun is slidably arranged on the vertical guide rail, and the high-pressure water gun can swing along the direction of the transverse guide rail.
4. The intelligent robotic hair punching system of claim 3, wherein the hair punching platform is comprised of two beams mounted to a lower portion of the frame.
5. The intelligent robot dashes hair system of claim 2, wherein, the feed car includes the U-shaped frame, controllable gyro wheel is installed to the bottom of frame, the top of frame is equipped with a plurality of climbing mechanisms that are used for jack-up superimposed sheet and is used for detecting whether the superimposed sheet is placed the sheet material on the feed car and targets in place detection device, the opening of frame orientation truss manipulator sets up, the width of opening is greater than dash the width of hair platform, the frame orientation truss manipulator's front portion is equipped with and is used for detecting whether the feed car reaches the unloading detection device that targets in place of unloading position, wherein: the jacking mechanisms are symmetrically arranged at the opening position of the frame.
6. The intelligent robot dashes hair system of claim 2, wherein, the ejection of compact car includes the U-shaped frame, controllable gyro wheel is installed to the bottom of frame, the top of frame is equipped with a plurality of climbing mechanisms that are used for jack-up superimposed sheet and is used for detecting whether the superimposed sheet is placed the sheet material on the ejection of compact car and targets in place detection device, the opening of frame orientation truss manipulator sets up, the width of opening is greater than dash the width of hair platform, the frame orientation truss manipulator's front portion is equipped with and is used for detecting whether the ejection of compact car reaches the loading position and targets in place detection device, wherein: the jacking mechanisms are symmetrically arranged at the opening position of the frame.
7. The intelligent robotic scouring system of any one of claims 1-6, wherein the linear rail is provided with an initial in-place detection device for detecting whether the feeding vehicle moves to an initial position, an acquisition in-place detection device for detecting whether the feeding vehicle moves to an acquisition position, and a removal in-place detection device for detecting whether the discharging vehicle moves to a blanking position, wherein the acquisition in-place detection device is positioned below the 3D vision acquisition device, the initial in-place detection device is positioned outside the awning at a position far from an inlet, and the removal in-place detection device is positioned outside the awning at a position far from an outlet.
8. The intelligent robotic scouring system of claim 1, wherein the inlet and outlet of the awning are provided with dust curtains for causing the awning to form an enclosed space to avoid dust dispersion from the scouring operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321551111.2U CN220129076U (en) | 2023-06-16 | 2023-06-16 | Intelligent robot dashes hair system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321551111.2U CN220129076U (en) | 2023-06-16 | 2023-06-16 | Intelligent robot dashes hair system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220129076U true CN220129076U (en) | 2023-12-05 |
Family
ID=88961465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321551111.2U Active CN220129076U (en) | 2023-06-16 | 2023-06-16 | Intelligent robot dashes hair system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220129076U (en) |
-
2023
- 2023-06-16 CN CN202321551111.2U patent/CN220129076U/en active Active
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