CN117656027A - Automatic template disassembly robot and disassembly method based on visual recognition - Google Patents

Automatic template disassembly robot and disassembly method based on visual recognition Download PDF

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Publication number
CN117656027A
CN117656027A CN202410129454.2A CN202410129454A CN117656027A CN 117656027 A CN117656027 A CN 117656027A CN 202410129454 A CN202410129454 A CN 202410129454A CN 117656027 A CN117656027 A CN 117656027A
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screw
clamp
back edge
clamping jaw
vibration
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CN117656027B (en
Inventor
黄晨光
陈凯
季永新
桂峥嵘
董艺
彭子祥
唐维宏
李家盛
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China Construction Fourth Engineering Division Corp Ltd
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China Construction Fourth Engineering Division Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
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  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Databases & Information Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an automatic template disassembly robot based on visual identification and a disassembly method, which belong to the technical field of robots, wherein the robot comprises a track and a working device; the operation device is in sliding fit with the rail; the operation device comprises a measurement and control system and a manipulator provided with a clamp and a vibration mechanism; the measurement and control system comprises a camera for photographing the screw rod and the back edge on the template and a controller capable of performing data processing on an image acquired by the camera; the controller can control the operation device to move on the track, control the vibration mechanism to vibrate the template, control the clamp to pull the screw rod and the back edge based on visual identification, and monitor the force or displacement of the clamp when the clamp pulls the back edge. The robot can automatically disassemble the template, and solves the problems of lower automation degree, lower working efficiency and high labor intensity existing in the traditional manual template disassembly by means of a special device.

Description

Automatic template disassembly robot and disassembly method based on visual recognition
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic template disassembly robot and a disassembly method based on visual identification.
Background
At present, a wall penetrating screw rod and a back edge are generally utilized to fix a template when the shear wall is poured, wherein the back edge is fixed with the template, the screw rod penetrates through the wall, and a bolt seat on the screw rod is clamped on the back edge and is used for preventing the expansion of the die, so that the pouring quality of the shear wall is guaranteed. When the template is removed, the screw rod is required to be removed firstly, and then the back ridge and the template are removed together.
In the prior art, the removal of the template is realized by pulling in the screw rod and the back ridge by means of a special device. For example, chinese patent application with publication number CN114961251a, entitled a wall penetrating screw pulling device and method of use, it rotates through manual control lead screw for the lead screw drives sleeve and moves to one side of keeping away from the wall penetrating screw, and after spacing boss is located spacing recess, will drive the screw thread sleeve and move to one side of keeping away from the wall penetrating screw, thereby drives the wall penetrating screw and moves to one side of keeping away from the wall, pulls out the wall penetrating screw. The method for realizing the template dismantling by the aid of the special device is low in automation degree, low in working efficiency and high in labor intensity.
Disclosure of Invention
In view of the above, the invention provides an automatic template disassembly robot and a disassembly method based on visual recognition, which solve the technical problems of lower automation degree, lower working efficiency and high labor intensity in the traditional template disassembly.
The invention provides an automatic template disassembly robot and a disassembly method based on visual identification, which adopts the following technical scheme:
an automatic template disassembly robot based on visual recognition comprises a track and a working device;
the operation device is in sliding fit with the track;
the operation device comprises a measurement and control system and a manipulator provided with a clamp and a vibration mechanism; the measurement and control system comprises a camera for photographing a screw rod and a back edge on the template and a controller capable of performing data processing on an image acquired by the camera;
the controller can control the operation device to move on the track, control the vibration mechanism to vibrate the template, control the clamp to pull the screw rod and the back edge based on visual identification, and monitor the force or displacement of the clamp when the clamp pulls the back edge.
Further, the clamp comprises a clamp mounting seat, a screw clamp, a back rib clamp, a compression spring and a clamping jaw motor;
the clamp mounting seat is fixedly connected with the manipulator;
the screw clamping device comprises a sliding seat, a base and two screw clamping jaws used for clamping the screw; the sliding seat is in sliding fit with the clamp mounting seat, the base is fixedly arranged on the sliding seat, and the screw clamping jaw is fixedly connected with the base;
the back edge clamping device comprises two back edge clamping jaws used for clamping the back edge, and the two back edge clamping jaws are correspondingly arranged on the two screw clamping jaws in a sliding fit manner; when the screw clamping jaw slides in a direction away from the back ridge clamping jaw, the screw clamping jaw compresses the compression spring;
the clamping jaw motor can drive the sliding seat to drive the screw clamping jaw to slide on the clamp mounting seat, and the screw clamping jaw motor is used for adjusting the distance between the screw clamping jaws and the distance between the back edge clamping jaws.
Further, the vibration mechanism comprises a manipulator connecting seat, a vibration motor and a vibration rod;
the manipulator connecting seat is fixedly connected with the manipulator;
the vibration motor is arranged on the manipulator connecting seat;
the vibrating rod is connected with the vibrating motor and used for transmitting vibration generated by the vibrating motor to the template.
Further, the vibration mechanism further comprises a vibration spring, a vibration loop bar and a vibration motor mounting seat;
the vibration loop bar is fixedly arranged on the manipulator connecting seat;
the vibrating spring is sleeved on the periphery of the vibrating loop bar, the lower end of the vibrating spring is abutted with the manipulator connecting seat, and the upper end of the vibrating spring is abutted with the vibrating motor mounting seat;
the vibration motor mounting seat is in sliding fit with the vibration sleeve rod;
the vibrating rod and the vibrating motor are fixedly arranged on the vibrating motor mounting seat;
and when the vibrating motor vibrates, the vibrating motor mounting seat is driven to reciprocally compress the vibrating spring from top to bottom, so that the vibrating rod reciprocally vibrates along the axis of the vibrating rod.
Further, the clamp also comprises a compression sliding block and a compression sleeve rod;
the compression sleeve rod is fixedly arranged on the back edge clamping jaw;
the compression spring is sleeved on the periphery of the compression sleeve rod, and the lower end of the compression spring is limited by a bulge arranged at the lower end of the compression sleeve rod;
the compression sliding block is fixedly arranged on the screw clamping jaw and is in sliding fit with the compression sleeve rod;
when the screw clamping jaw slides in a direction away from the back ridge clamping jaw, the screw clamping jaw drives the compression sliding block to compress the compression spring from top to bottom.
Further, the measurement and control system also comprises a sensor and a trigger piece;
when the screw clamping jaw slides in the direction away from the back edge clamping jaw for setting displacement, the triggering piece can trigger the sensor to send a signal to the controller, and the controller can control the manipulator to enable the clamp to stop pulling the back edge after receiving the signal.
Further, the sensor is an illumination sensor;
the triggering piece is a shading piece.
Further, the rails comprise a first horizontal rail and a second horizontal rail positioned above the first horizontal rail, and the working device further comprises a working device base and a vertical rail;
the working device base is in sliding fit with the first horizontal rail;
the controller is arranged on the operating device base;
the bottom end of the vertical rail is arranged on the operating device base, and the upper end of the vertical rail is in sliding fit with the second horizontal rail;
one end of the manipulator is in sliding fit with the vertical rail, the manipulator can move on the vertical rail along the vertical direction, and the other end of the manipulator is provided with the clamp and the vibration mechanism.
The invention provides an automatic template disassembly method based on visual identification, which adopts the following technical scheme:
utilize above-mentioned automatic template dismantlement robot based on visual identification, include:
step A: the controller is used for controlling the clamp to clamp and pull the screw outwards after identifying the screw based on visual identification until the screw is pulled out;
and (B) step (B): the controller is used for controlling the clamp to clamp and pull the back edge outwards after identifying the back edge based on visual identification;
if the force of the clamp when pulling the back edge exceeds a set value F1 or the sliding displacement of the back edge clamping jaw relative to the screw clamping jaw exceeds a set value S1 but the back edge is not pulled out, stopping pulling the back edge, controlling the vibration mechanism to vibrate the template for a set period of time T1 by the controller, and continuing pulling the back edge after the set period of time T1 until the back edge is pulled out; otherwise, the back ridge is pulled all the time until the back ridge is pulled out.
Further, after the screw is pulled out by the set length L1, the clamp clamps the screw forwards again and continues pulling the screw.
The beneficial effects are that:
1. the automatic template disassembly robot based on visual recognition comprises a track and a working device; the operation device is in sliding fit with the rail; the operation device comprises a measurement and control system and a manipulator provided with a clamp and a vibration mechanism; the measurement and control system comprises a camera for photographing the screw rod and the back edge on the template and a controller capable of performing data processing on an image acquired by the camera; the controller can control the operation device to move on the track, control the vibration mechanism to vibrate the template, control the clamp to pull the screw rod and the back edge based on visual identification, and monitor the force or displacement of the clamp when the clamp pulls the back edge.
Therefore, the template can be automatically disassembled through the robot, and the problems of lower automation degree, lower working efficiency and high labor intensity in the traditional manual template disassembly realized by means of a special device are solved; meanwhile, the template can be vibrated through the vibrating mechanism, so that the separation of the concrete and the template is facilitated, and the template is easier to detach; moreover, the clamp can pull the screw rod and the back edge, so that different clamps are not required to be replaced in order to pull the screw rod and the back edge respectively, the automation degree and the working efficiency are further improved, and the labor intensity is reduced; in addition, the measurement and control system can monitor the force or the displacement when the back edge of the clamp is pulled out, and further can stop pulling when the displacement or the force is overlarge, so that the functions of protecting the manipulator and the clamp are achieved.
2. The clamp comprises a clamp mounting seat, a screw clamp, a back edge clamp, a compression spring and a clamping jaw motor; the clamp mounting seat is fixedly connected with the manipulator; the screw clamping device comprises a sliding seat, a sliding seat and two screw clamping jaws for clamping a screw; the sliding seat is in sliding fit with the clamp mounting seat, the base is mounted on the sliding seat, and the screw clamping jaw is fixedly connected with the base; the back edge clamping device comprises two back edge clamping jaws used for clamping the back edge, and the two back edge clamping jaws are correspondingly arranged on the two screw clamping jaws in a sliding fit manner; when the screw clamping jaw slides in a direction away from the back edge clamping jaw, the screw clamping jaw compresses the compression spring; the clamping jaw can drive the sliding seat to drive the screw clamping jaw to slide on the clamp mounting seat, and the clamping jaw is used for adjusting the distance between the screw clamping jaws and the distance between the back edge clamping jaws.
When the back edge clamping jaw clamps and pulls the back edge, the screw clamping jaw slides towards the direction away from the back edge clamping jaw through the mechanical arm to compress the compression spring, so that the back edge can be pulled; when the screw clamping jaw clamps the screw, the mechanical arm applies force to the mechanical arm connecting seat to enable the screw clamping jaw to move in the direction away from the screw, so that the screw can be pulled. The clamp has a compact structure, can realize the pulling of the screw rod and the pulling of the back edge.
3. The fixture and the camera are all installed on the manipulator connecting seat, and the manipulator connecting seat is connected with the vibration mechanism, so that the fixture, the camera and the vibration mechanism are all installed on the vibration mechanism, and the structure is more compact.
4. When the screw clamping jaw slides towards the direction away from the back edge clamping jaw to set displacement, the trigger piece can trigger the sensor to send signals to the controller, and the controller can control the manipulator to enable the clamp to stop pulling the back edge after receiving the signals, so that the clamp can be protected, and the structure for realizing the protection function is simple and compact.
5. The force or displacement of the back edge during pulling can be monitored through the cooperation of the sensor and the trigger piece, the force or displacement of the screw during pulling can be monitored, the structure is more compact, and the performance is more reliable.
6. The vibration spring in the vibration mechanism can reduce the vibration transmitted to the screw rod clamp and the back edge clamp by the vibration mechanism, so that the damage to the screw rod clamp and the back edge clamp when the vibration mechanism vibrates is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an automatic template disassembly robot based on visual recognition;
FIG. 2 is a schematic view of an end effector disposed on the manipulator of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the three-dimensional structure of the end effector of FIG. 2 at one of its angles;
FIG. 4 is a schematic view of the three-dimensional structure of the end effector of FIG. 2 at another angle;
fig. 5 is a schematic flow chart of a back edge pulling out of an automatic template disassembly robot based on visual recognition according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a drawing screw of an automatic template disassembly robot based on visual recognition;
the device comprises a 1-track, a 2-controller, a 3-vertical rail, a 4-manipulator, a 410-clamp mounting seat, a 415-clamping jaw motor, a 420-vibration motor mounting seat, a 425-vibration spring, a 426-manipulator connecting seat, a 427-vibration loop bar, a 430-camera, a 435-vibration motor, a 440-compression spring, a 445-compression sliding block, a 450-compression loop bar, a 455-compression loop bar mounting seat, a 460-vibration bar, a 465-back edge clamping jaw, a 466-hook, a 470-screw clamping jaw, a 471-base, a 472-screw clamping jaw mounting seat, a 473-sliding seat, a 475-illumination sensor, a 476-extension part and a 480-shading piece.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Embodiment one:
referring to fig. 1 to 4, an automatic template disassembly robot based on visual recognition comprises a track 1 and a working device, wherein:
the operation device is in sliding fit with the track 1; the operation device comprises a measurement and control system and a manipulator 4 provided with a clamp and a vibration mechanism; the measurement and control system comprises a camera 430 for photographing the screw rod and the back edge on the template and a controller 2 capable of performing data processing on an image acquired by the camera 430; the controller 2 can control the operation device to move on the track 1, control the vibration mechanism to vibrate the template, control the clamp in the end effector to pull the screw rod and the back edge based on visual recognition (namely, recognition result after data processing is carried out according to the image acquired by the camera 430), and monitor the force or displacement of the clamp when the back edge is pulled.
Therefore, the robot can automatically disassemble the template, and the problems of lower automation degree, lower working efficiency and high labor intensity existing in the traditional manual template disassembly realized by means of a special device are solved; meanwhile, the template can be vibrated through the vibrating mechanism, so that the concrete and the template are separated; moreover, the clamp can pull the screw rod and the back edge, so that different clamps are not required to be replaced in order to pull the screw rod and the back edge respectively, the automation degree and the working efficiency are further improved, and the labor intensity is reduced; in addition, the measurement and control system can monitor the force or displacement of the clamp when the back edge is pulled out, and further can stop pulling when the force or displacement is overlarge, so that the manipulator 4 and the clamp are protected. It should be noted that, the manipulator 4 in this embodiment may use only one clamp, and only one clamp is used to realize pulling of the screw and the back edge, or two clamps may be used, one clamp is used to pull the screw, one clamp is used to pull the back edge, two clamps are used to reduce the design difficulty of the clamp, but the working efficiency is reduced, because the clamp used to pull the screw or pull the back edge needs to be replaced by a special clamp, and it is understood that the clamp used to pull the screw only needs to design a structure capable of clamping the screw (such as two clamping parts capable of approaching/separating under the control of a motor), the clamp used to pull the back edge only needs to design a structure capable of clamping the back edge (such as two clamping parts capable of approaching/separating under the control of a motor), and in order to realize monitoring of force or displacement during pulling, a corresponding sensor is installed (such as a sensor is installed, the force sensor is applied to the clamp by the monitoring manipulator to pull the clamp outwards, or the clamp is installed to monitor the force applied to the back edge), or the clamp is further replaced by a special clamp, and the machine is easy to implement the automatic displacement monitoring of the screw and the clamp used to change the back edge.
For convenience of description, a rectangular coordinate system shown in fig. 3 is defined first, so that a vertical direction is a Z direction, and two directions perpendicular to each other in a horizontal plane are an X direction and a Y direction.
In this embodiment, the clamp includes a clamp mount 410, a screw clamp, a back ridge clamp, a compression spring 440, a jaw motor 415; wherein the screw gripper comprises screw clamping jaws 470 arranged in pairs (oppositely arranged in the X-direction), the screw clamping jaws 470 clamping the screw by oppositely arranged clamping surfaces; more than one pair of screw clamping jaws 470 may be provided in the screw clamp, with the present embodiment providing a pair of screw clamping jaws 470; each screw clamping jaw 470 is provided with a sliding seat 473 and a base 471 correspondingly; the sliding seat 473 is in sliding fit with the fixture mounting seat 410, and the two sliding seats 473 can move oppositely or back; the base 471 is mounted on the slide seat 473; the screw jaw 470 is mounted to the base 471 by a screw jaw mount 472.
The back edge clamping device comprises back edge clamping jaws 465 which are arranged in pairs, and the back edge clamping jaws 465 clamp the back edge through clamping surfaces which are arranged oppositely; more than one pair of back edge clamping jaws 465 can be arranged in the back edge clamping device, and the embodiment is provided with a pair of back edge clamping jaws 465; the two back ridge clamping jaws 465 are respectively arranged on the screw clamping jaw mounting seats 472 of the two screw clamping jaws 470 in a sliding fit manner; the screw jaw mount 472 is movable in the Z-direction with respect to the back bar jaw 465 along with the screw jaw 470 to be closer to or farther from the back bar jaw 465; a compression spring 440 is arranged on the back edge clamping jaw 465, and when the screw clamping jaw 470 slides away from the back edge clamping jaw 465 (negative direction of the Z axis in fig. 3), the compression spring 440 can be compressed; in this embodiment, the jaw motor 415 can drive the slide 473 to slide the screw jaws 470 (along the X-direction) on the fixture mount 410, so as to adjust the distance between the two screw jaws 470 and the distance between the two back edge jaws 465.
In addition, in the present embodiment, each screw jaw 470 has a bar block structure with a bar groove on a clamping surface, and the bar groove is used for increasing friction between the screw jaw 470 and the screw. At the junction of the screw jaw 470 and the screw jaw mount 472, the screw jaw mount 472 has an extension 476 extending outwardly (i.e., extending in the X-direction toward the screw jaw 470 at the other end) relative to the screw jaw 470, the screw axis being parallel to the Y-direction in fig. 3 when the screw jaw 470 clamps the screw, the extension 476 being configured to retain the screw between the clamping surfaces of the two screw jaws 470, thereby allowing the screw jaw 470 to clamp the screw more reliably. In addition, cotton or rubber or the like may be provided on the clamping surface of the screw clamp jaw 470 to increase the friction between the screw clamp jaw 470 and the screw. In this embodiment, each back edge clamping jaw 465 is provided with a hook 466, and when the back edge clamping jaw 465 pulls the back edge, the back edge clamping jaw 465 can hook the back edge through the hook 466.
In the present embodiment, the vibration mechanism includes a robot link 426, a vibration motor 435, and a vibration lever 460; the manipulator connecting seat 426 is fixedly connected with the tail end of the manipulator 4, and the clamp mounting seat 410 is arranged on the manipulator connecting seat 426; the vibration motor 435 is installed on the manipulator connecting seat 426; the vibration lever 460 is connected to the vibration motor 435 for transmitting vibration generated by the vibration motor 435 to the form. More specifically, in the present embodiment, the vibration mechanism further includes a vibration spring 425, a vibration socket 427, and a vibration motor mount 420; the vibration sleeve rod 427 is vertically and fixedly arranged on the manipulator connecting seat 426; the vibration spring 425 is sleeved on the periphery of the vibration sleeve rod 427, the lower end of the vibration spring 425 is abutted with the manipulator connecting seat 426, and the upper end of the vibration spring 425 is abutted with the vibration motor mounting seat 420; the vibration motor 435 is in sliding fit with the vibration sleeve rod 427 through the vibration motor mounting seat 420; the vibration rod 460 and the vibration motor 435 are fixedly installed on the vibration motor installation seat 420; when the vibration motor 435 vibrates, the vibration motor mounting seat 420 is driven to compress the vibration spring 425 in a reciprocating manner from top to bottom, so that the vibration rod 460 vibrates in a reciprocating manner along the axis of the vibration rod. The clamp and camera 430 are both mounted on the robot attachment base 426.
More specifically, the clamp further includes a compression slide 445 and a compression sleeve 450; the compression sleeve 450 is fixedly mounted on the back rib clamping jaw 465 through the compression sleeve mounting seat 455, the compression spring 440 is sleeved on the periphery of the compression sleeve 450, the lower end of the compression spring 440 is limited by a protrusion arranged at the lower end of the compression sleeve 450, the compression sliding block 445 is fixedly mounted on the screw clamping jaw 470, the compression sliding block 445 is in sliding fit with the compression sleeve 450, the upper end of the compression spring 440 is abutted with the compression sliding block 445, and when the screw clamping jaw 470 slides in a direction away from the back rib clamping jaw 465, the screw clamping jaw 470 drives the compression sliding block 445 to compress the compression spring 440 from top to bottom in fig. 2.
Thus, referring to fig. 2, when the back edge clamping jaw 465 clamps the back edge, the mechanical arm 4 applies a vertical downward force to the mechanical arm connecting seat 426 to enable the screw clamping jaw 470 to slide in a direction away from the back edge clamping jaw 465, the compression spring 440 is compressed, and because the lower end of the compression spring 440 is limited by the protrusion arranged at the lower end of the compression sleeve 450, when the compression spring 440 is compressed, the lower end of the compression spring 440 applies a vertical downward force to the protrusion of the compression sleeve 450, and the compression sleeve 450 is fixedly mounted on the back edge clamping jaw 465 through the compression sleeve mounting seat 455, and further applies a vertical downward force to the back edge clamping jaw 465 through the compression sleeve 450, so that the back edge pulling can be realized; referring to fig. 3, when the screw clamping jaw 470 clamps the screw, the robot 4 applies a force to the robot connection base 426 in the positive Y-axis direction, thereby pulling the screw. The clamp has a compact structure, can realize the pulling of the screw rod and the pulling of the back edge. The vibration springs 425 also reduce the vibration transmitted by the vibration mechanism to the screw clamp and the back ridge clamp, thereby reducing damage to the screw clamp and the back ridge clamp when the vibration mechanism vibrates.
In this embodiment, the measurement and control system further includes a sensor and a trigger; the sensor is mounted on the base 471 or the fixture mount 410, and the embodiment is selectively mounted on the base 471; the trigger piece is arranged on the back edge clamping jaw 465; when the screw clamping jaw 470 slides in the direction away from the back edge clamping jaw 465 for setting displacement S1, the trigger piece can trigger the sensor, the sensor is triggered to send a signal to the controller 2, the controller 2 can control the manipulator to stop pulling the back edge by the clamp after receiving the signal, the function of protecting the clamp is achieved, and the structure for realizing the function is simple and compact. In this embodiment, the sensor is an illumination sensor 475; the triggering member is a light shielding member 480, and the light shielding member 480 has light shielding portions in both the Z direction and the Y direction, and the light shielding portions of the light shielding member 480 in the Z direction and the Y direction constitute an L shape. In other possible embodiments, the sensor may also be a proximity switch and the corresponding trigger may be a protruding structure. It will be appreciated that in a possible embodiment, the sensor and trigger may also be mounted in the manner of: the trigger is mounted on the base 471 or on the clamp mount 410 and the sensor is mounted on the back bar jaw 465.
Referring to fig. 3, when the back edge clamping jaw 465 clamps the back edge to pull the back edge, the controller 2 controls the manipulator 4 to act, so that the manipulator 4 applies a negative Z-direction force to the manipulator connection seat 426, at this time, the screw clamping jaw 470 slides in a direction away from the back edge clamping jaw 465 (negative Z-direction in fig. 3) and compresses the compression spring 440, the illumination sensor 475 moves in a direction close to the light shielding member 480 (negative Z-direction and also downward direction), when the back edge clamping jaw is slid to a set displacement S1 (at this time, the compression spring 440 is compressed to a set compression amount), the Z-direction light shielding portion of the light shielding member 480 shields the emergent light of the illumination sensor 475 to trigger the illumination sensor 475 to send a signal to the controller 2, and the controller 2 can control the action of the manipulator 4 after receiving the signal, so that the back edge clamping jaw 465 stops pulling the back edge, and after the back edge clamping jaw 465 is released, the controller 2 controls the vibration motor 435 to start, so that the vibration motor 435 transfers the vibration motor 435 to the back edge and the back edge is removed from the vibration template, and the vibration template is pulled back edge is removed (at this time, the vibration motor 435 is controlled to be removed).
Of course, if the back ridge itself is relatively easy to pull out, the illumination sensor 475 may not be triggered to send a signal to the controller 2, and vibration of the template is not required. It can be seen that when the back edge is pulled, the measurement and control system can monitor the displacement of the clamp when the back edge is pulled, and stop pulling when the displacement reaches a set value, so that the clamp can be protected, and the safety and reliability of the automatic template dismounting robot are improved. It can be understood that the pulling force corresponding to the moment when the set displacement S1 is reached can also be used as a monitoring parameter, that is, the measurement and control system can also protect the clamp by monitoring the magnitude of the force when the back edge of the clamp is pulled. In addition, the operation device can be provided with an alarm device, and the alarm device can alarm when the back edge is pulled to reach the set displacement S1. It can be understood that the installation mode of the sensor and the trigger piece is characterized in that: the screw jaw 470 can trigger the sensor to send a signal to the controller 2 when it slides a set displacement S1 away from the back ridge jaw 465.
Embodiment two:
referring to fig. 3, a first difference from the embodiment is that the base 471 is configured as a slider that is slidably engaged with the slide 473 in the Y-direction, the illumination sensor 475 is fixedly disposed on the jig mount 410, and a spring is disposed between the slider and the slide 473, and the slider is capable of compressing the spring when the slider slides relative to the slide 473, for example, a spring may be disposed in a chute in which the slider and the slide 473 are slidably engaged; the screw jaw 470 is fixedly connected to the slider through a screw jaw mount 472. Referring to fig. 3, the slide 473 can slide in the X-direction relative to the clamp mount 410, the slide 473 can slide in the Y-direction relative to the slide 473, and the back edge jaw 465 can slide in the Z-direction relative to the screw jaw 470. The slider slides forward toward the Y-axis relative to the slide 473, such that the springs disposed in the slide grooves in which the slider and slide 473 are slidably engaged are compressed.
When the screw clamping jaw 470 clamps the screw and pulls the screw, the controller 2 controls the manipulator 4 to act, so that the manipulator 4 applies a force along the positive direction of the Y axis to the manipulator connecting seat 426, because the slide seat 473 on the clamp mounting seat 410 can slide along the positive direction of the Y axis relative to the slide block, the clamp mounting seat 410 can move forward relative to the slide block toward the positive direction of the Y axis, so that the illumination sensor 475 on the clamp mounting seat 410 approaches the light shielding member 480, when the displacement of the slide block relative to the slide seat 473 and the slide block reaches the set displacement S2 (at this time, the spring arranged between the slide block and the slide seat 473 is compressed to the set compression amount), the light shielding part of the Y direction of the light shielding member 480 shields the emergent light of the illumination sensor 475, so as to trigger the illumination sensor 475 to send signals to the controller 2, after the controller 2 receives the signal, the controller 2 can control the action of the manipulator 4, stop applying the force along the positive direction of the Y axis to the manipulator connecting seat 426, further, the screw clamping jaw 470 stops pulling the screw, and after the screw clamping jaw 470 loosens the clamping of the screw, the controller 2 controls the vibration motor 435 to start, the vibration motor 435 transmits the vibration to the formwork through the vibration rod 460, and further, the concrete is separated from the formwork, so that the screw can be loosened, after the vibration setting time period T2, the controller 2 controls the vibration motor 435 to stop vibrating and enables the screw clamping jaw 470 to pull the screw again, and the reciprocating operation is performed between pulling and vibrating until the screw is pulled out. Of course, if the screw itself is relatively easily pulled out, the illumination sensor 475 may not be triggered either, and vibration of the screw is not required at this time. In the embodiment, the force or displacement of the back edge during pulling can be monitored through the cooperation of the sensor and the trigger piece, and the force or displacement of the screw during pulling can be monitored. In this embodiment, referring to fig. 3, in order to improve reliability, a sensor and a trigger are symmetrically disposed at both left and right sides of the jig. The core of the installation of the sensor and the trigger piece can trigger the sensor to send a signal to the controller 2 when the screw clamping jaw 470 slides to set displacement S1 in a direction away from the back edge clamping jaw 465, and can trigger the sensor to send a signal to the controller 2 when the sliding block slides to set displacement S2 relative to the sliding seat 473. It will be appreciated that in this embodiment, the sensor and trigger may be mounted in the manner of: the sensor is arranged on the fixture mounting seat 410, and the trigger piece is arranged on the back edge clamping jaw 465; the second trigger is mounted on the clamp mount 410 and the sensor is mounted on the back jaw 465.
More specifically, in the present embodiment, the track 1 includes a first horizontal track and a second horizontal track located above the first horizontal track, and the working device further includes a working device base, a vertical upright rail 3; the operating device base is in sliding fit with the first horizontal rail; the controller 2 is arranged on the base of the operating device; the bottom end of the vertical rail 3 is arranged on the base of the operating device, and the upper end of the vertical rail 3 is in sliding fit with the second horizontal rail; one end of the manipulator 4 is in sliding fit with the vertical rail 3, can move on the vertical rail 3 in the vertical direction, the other end of the manipulator 4 is provided with a clamp and a vibration mechanism, and the manipulator 4 has six degrees of freedom. The controller 2 can control the movement of the working device on the rail 1, and also control the movement of the robot 4 on the vertical rail 3. In this embodiment, two manipulators 4 are disposed on one vertical rail 3, so that the working efficiency can be further improved.
In addition, it should be pointed out that, in order to dismantle the template on the shear wall, generally need build the pavement slab, when the automatic template dismantlement robot based on visual recognition that this implementation provided, track 1 both can be fixed with ground, and at this moment the robot is used for dismantling the template of lower department on the shear wall, track 1 also can be with pavement slab fixed connection that the shear wall was built, at this moment the robot is used for dismantling the template of higher department on the shear wall.
Embodiment III:
referring to fig. 5, on the basis of the first embodiment or the second embodiment, the present embodiment provides an automatic template disassembling method based on visual recognition, including:
step A: the controller 2 controls the clamp to clamp and pull the screw outwards after identifying the screw based on visual identification until the screw is pulled out;
and (B) step (B): the controller controls the clamp to clamp and pull the back edge outwards after identifying the back edge based on visual identification;
if the force of the clamp when pulling the back edge reaches a set value F1 or the sliding displacement of the back edge clamping jaw relative to the screw clamping jaw reaches a set displacement S1 but the back edge is not pulled out, stopping pulling the back edge, controlling the vibration mechanism to vibrate the template for a set period of time T1 by the controller, and continuing pulling the back edge after the set period of time T1 is vibrated; otherwise, the back edge is pulled and pulled until the back edge is pulled and pulled.
Specifically, before step a, the controller 2 controls the operation device to move to the front of the screw and the back edge to be pulled, controls the manipulator 4 to reach the position of the screw, then adjusts the gesture of the manipulator 4 to enable the camera 430 to reach a proper photographing point to photograph the target (the screw and the back edge) to obtain an image, receives the image and generates a depth image and a point cloud image, calculates coordinate information of the target (the screw and the back edge) and proper grabbing point coordinates of the clamp through point cloud processing (for example, calculating normal vector and filtering of the point cloud), then controls the clamp to clamp the screw or the back edge, and controls the manipulator 4 to move after clamping to enable the clamp to form an outward pulling force on the screw or the back edge. It should be noted that the bolts on the screw are removed before pulling the screw, and because the back edge and the template are fixed together, the back edge and the template are actually pulled together when the back edge is pulled.
More specifically, in the step a, after the screw is pulled out by the set length L1, the clamp clamps the screw forward (i.e., in a direction approaching the wall) and continues to pull the screw, so that the screw having a longer length can be pulled out from the wall one by one.
Referring to fig. 6, when the scheme of the second embodiment is used, if the pulling force exceeds the set value F2 or the displacement of the sliding block sliding relative to the sliding seat 473 reaches the set displacement S2 while the screw is not pulled out when the screw is pulled out, the screw pulling is stopped, the controller 2 controls the vibration mechanism to vibrate the template for the set period T2, and the screw pulling is continued after the set period T2 is vibrated; otherwise, the screw is pulled until the screw is pulled out. Therefore, the force or displacement can be monitored by pulling the back edge and the screw rod, the clamp is prevented from being damaged, the vibration mechanism vibrates the template, the concrete is separated from the template, and the screw rod can be pulled out of the concrete wall more easily.
More specifically, referring to fig. 4 and 5, when the number of back ridges and screws to be pulled does not reach the set value, the next back ridge and the next screw are pulled continuously until the set number of back ridges and screws are pulled out.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. An automatic template disassembly robot based on visual recognition is characterized by comprising a track and a working device;
the operation device is in sliding fit with the track;
the operation device comprises a measurement and control system and a manipulator provided with a clamp and a vibration mechanism; the measurement and control system comprises a camera for photographing a screw rod and a back edge on the template and a controller capable of performing data processing on an image acquired by the camera;
the controller can control the operation device to move on the track, control the vibration mechanism to vibrate the template, control the clamp to pull the screw rod and the back edge based on visual identification, and monitor the force or displacement of the clamp when the clamp pulls the back edge;
the clamp comprises a clamp mounting seat, a screw clamp, a back edge clamp, a compression spring and a clamping jaw motor;
the clamp mounting seat is fixedly connected with the manipulator;
the screw clamping device comprises a sliding seat, a base and two screw clamping jaws used for clamping the screw; the sliding seat is in sliding fit with the clamp mounting seat, the base is fixedly arranged on the sliding seat, and the screw clamping jaw is fixedly connected with the base;
the back edge clamping device comprises two back edge clamping jaws used for clamping the back edge, and the two back edge clamping jaws are correspondingly arranged on the two screw clamping jaws in a sliding fit manner; when the screw clamping jaw slides in a direction away from the back ridge clamping jaw, the screw clamping jaw compresses the compression spring;
the clamping jaw motor can drive the sliding seat to drive the screw clamping jaw to slide on the clamp mounting seat, and the screw clamping jaw motor is used for adjusting the distance between the screw clamping jaws and the distance between the back edge clamping jaws.
2. The automatic template disassembly robot based on visual recognition according to claim 1, wherein the vibration mechanism comprises a manipulator connection base, a vibration motor and a vibration rod;
the manipulator connecting seat is fixedly connected with the manipulator;
the vibration motor is arranged on the manipulator connecting seat;
the vibrating rod is connected with the vibrating motor and used for transmitting vibration generated by the vibrating motor to the template.
3. The automatic template disassembly robot based on visual recognition according to claim 2, wherein the vibration mechanism further comprises a vibration spring, a vibration loop bar and a vibration motor mounting seat;
the vibration loop bar is fixedly arranged on the manipulator connecting seat;
the vibrating spring is sleeved on the periphery of the vibrating loop bar, the lower end of the vibrating spring is abutted with the manipulator connecting seat, and the upper end of the vibrating spring is abutted with the vibrating motor mounting seat;
the vibration motor mounting seat is in sliding fit with the vibration sleeve rod;
the vibrating rod and the vibrating motor are fixedly arranged on the vibrating motor mounting seat;
and when the vibrating motor vibrates, the vibrating motor mounting seat is driven to reciprocally compress the vibrating spring from top to bottom, so that the vibrating rod reciprocally vibrates along the axis of the vibrating rod.
4. A vision-based automated template removal robot as claimed in claim 3, wherein said gripper further comprises compression slides and compression loop bars;
the compression sleeve rod is fixedly arranged on the back edge clamping jaw;
the compression spring is sleeved on the periphery of the compression sleeve rod, and the lower end of the compression spring is limited by a bulge arranged at the lower end of the compression sleeve rod;
the compression sliding block is fixedly arranged on the screw clamping jaw and is in sliding fit with the compression sleeve rod;
when the screw clamping jaw slides in a direction away from the back ridge clamping jaw, the screw clamping jaw drives the compression sliding block to compress the compression spring from top to bottom.
5. The automatic template disassembly robot based on visual recognition according to any one of claims 1 to 4, wherein the measurement and control system further comprises a sensor and a trigger;
when the screw clamping jaw slides in the direction away from the back edge clamping jaw for setting displacement, the triggering piece can trigger the sensor to send a signal to the controller, and the controller can control the manipulator to enable the clamp to stop pulling the back edge after receiving the signal.
6. The vision-based automated template removal robot of claim 5, wherein the sensor is an illumination sensor;
the triggering piece is a shading piece.
7. The automatic template disassembly robot based on visual recognition according to any one of claims 1 to 4, wherein the rails comprise a first horizontal rail and a second horizontal rail positioned above the first horizontal rail, and the working device further comprises a working device base and a vertical stand rail;
the working device base is in sliding fit with the first horizontal rail;
the controller is arranged on the operating device base;
the bottom end of the vertical rail is arranged on the operating device base, and the upper end of the vertical rail is in sliding fit with the second horizontal rail;
one end of the manipulator is in sliding fit with the vertical rail, the manipulator can move on the vertical rail along the vertical direction, and the other end of the manipulator is provided with the clamp and the vibration mechanism.
8. An automatic template disassembly method based on visual recognition, characterized in that the automatic template disassembly robot based on visual recognition according to any one of claims 1 to 7 is used, comprising:
step A: the controller is used for controlling the clamp to clamp and pull the screw outwards after identifying the screw based on visual identification until the screw is pulled out;
and (B) step (B): the controller is used for controlling the clamp to clamp and pull the back edge outwards after identifying the back edge based on visual identification;
if the force of the clamp when pulling the back edge exceeds a set value F1 or the sliding displacement of the back edge clamping jaw relative to the screw clamping jaw exceeds a set value S1 but the back edge is not pulled out, stopping pulling the back edge, controlling the vibration mechanism to vibrate the template for a set period of time T1 by the controller, and continuing pulling the back edge after the set period of time T1 until the back edge is pulled out; otherwise, the back ridge is pulled all the time until the back ridge is pulled out.
9. The automatic pattern plate removing method based on visual recognition according to claim 8, wherein in the step a, the clamp continues to pull the screw after the screw is re-clamped forward every time the screw is pulled out by a set length L1.
CN202410129454.2A 2024-01-31 2024-01-31 Automatic template disassembly robot and disassembly method based on visual recognition Active CN117656027B (en)

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