CN212762118U - Automatic anchor cable tensioning equipment - Google Patents
Automatic anchor cable tensioning equipment Download PDFInfo
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- CN212762118U CN212762118U CN202021946725.7U CN202021946725U CN212762118U CN 212762118 U CN212762118 U CN 212762118U CN 202021946725 U CN202021946725 U CN 202021946725U CN 212762118 U CN212762118 U CN 212762118U
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Abstract
The utility model relates to the technical field of anchor cables, and discloses an automatic anchor cable tensioning device, which comprises a mechanical arm system, an operating system, a swing mechanism and a traveling mechanism, wherein the mechanical arm system comprises a mechanical arm, a vision recognition system and a cutting system, and the mechanical arm, the vision recognition system, the cutting system, the swing mechanism and the swing mechanism are respectively connected with the operating system; the walking mechanism and the swing mechanism complete position and direction movement work, when an object needs to be grabbed or installed, the operating system controls the mechanical arm to reach the approximate position of the object, and the visual recognition system recognizes that the object and the mechanical arm are matched to complete object grabbing or installing work; the vision recognition system, the cutting system and the gripper complete the work of grabbing the object and cutting at the same time.
Description
Technical Field
The patent of the utility model relates to a technical field of anchor rope particularly, relates to automatic tensioning equipment of anchor rope.
Background
The prestressed anchor cable is a commonly used supporting structure in the field of civil engineering, and is often combined with other structures, such as cast-in-place piles, lattice beams and the like, particularly in slope and foundation pit supporting. The prestress applied through the anchor cable can obviously improve the stress state of the rock-soil body on the surface of the side slope on the one hand and improve the safety of the rock-soil body on the surface of the side slope, and on the other hand, the rock-soil body on the surface of the side slope and the internal rock-soil body can be connected into a whole, so that the integrity of the side slope is enhanced, the occurrence of a sliding body is avoided, and the key for realizing the purposes is to ensure the sufficient prestress.
In the prior art, before the anchor cable is tensioned, the steel strand needs to be manually cut and ground, the anchorage device and the clamping piece need to be manually installed, and the jack needs to be manually installed for tensioning. The problems of improper installation, irregular installation and low installation efficiency exist in the cutting of the steel strand, the installation of the anchorage device and the clamping piece, and meanwhile, the tension force value needs to be read manually and the tension parameters need to be judged manually during the tensioning construction of the anchor cable. Therefore, the problems of irregular operation, potential safety hazards and the like exist in the conventional anchor cable tensioning construction due to the adoption of manual operation.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic stretch-draw equipment of anchor rope aims at solving prior art, improves the automation level of anchor rope construction and the problem of efficiency of construction.
The utility model discloses a realize like this, the automatic stretch-draw equipment of anchor rope, including arm system, operating system, rotation mechanism and running gear, the arm system includes arm, vision recognition system and cutting system, the arm vision recognition system cutting system running gear reaches rotation mechanism connects respectively operating system.
Further, the operating system comprises a data terminal system and an anchor cable grabbing module, the anchor cable grabbing module is characterized in that the rotating mechanism, the walking mechanism and the visual recognition system are respectively connected with the data terminal system, the visual recognition system is arranged at the front end of the mechanical arm, the mechanical arm is provided with a gripper, the gripper is used for grabbing objects, and the mechanical arm and the rotating mechanism are in butt joint arrangement.
Furthermore, the operating system comprises an anchor cable cutting module, the cutting module comprises a cutting device, the cutting device is arranged at the outer end of the mechanical arm, and the data terminal system and the anchor cable cutting module are in butt joint arrangement.
Furthermore, the operating system comprises a base plate installation module, an anchor installation module and a clamping piece installation module, wherein the base plate installation module, the anchor installation module and the clamping piece installation module are respectively in butt joint arrangement with the data terminal system.
Further, the upper end of backing plate is equipped with and fills up the portion of grabbing, fill up the portion of grabbing can be discerned by vision system and supply the tongs to snatch, and the upper end of ground tackle is equipped with the anchor portion of grabbing, and the upper end of clamping piece is equipped with the claw portion.
Furthermore, the operating system comprises an anchor cable installation module and a jack installation module, and the anchor cable installation module and the jack installation module are respectively connected with the data terminal system.
Furthermore, the operating system comprises a displacement sensing mechanism, the displacement sensing mechanism comprises a displacement sensor and a pressure sensor, a jack control module is arranged in the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected with the data terminal system.
Furthermore, the slewing mechanism is arranged at the upper end of the travelling mechanism, a mechanical arm is arranged at the side end of the slewing mechanism, an operating room is arranged at the upper end of the slewing mechanism, and the operating system is installed in the operating room.
Furthermore, the front end of the mechanical arm is provided with a gripper and a vision recognition system, the gripper and the vision recognition system are correspondingly arranged, the cutting device comprises a cutting arm, the mechanical arm forms a cutting accommodating groove, the cutting arm and the cutting accommodating groove are arranged at the side end of the mechanical arm, the cutting arm is far longer than the gripper, and when the cutting arm is not used, the cutting arm is arranged in the cutting accommodating groove.
Furthermore, the mechanical arm is provided with a drilling arm and a screw mounting arm for drilling, and the drilling arm and the screw mounting arm are respectively connected with the data terminal system.
Compared with the prior art, the anchor cable automatic tensioning equipment provided by the utility model has the advantages that the mechanical arm, the vision recognition system, the cutting system, the walking mechanism and the swing mechanism are respectively connected with the operating system; the operating system controls the traveling mechanism to complete front-back or left-right traveling work, the swing mechanism is located at the upper end of the traveling mechanism and used for changing directions, the mechanical arm is arranged at the side end of the swing mechanism and rotates along with the rotation of the swing mechanism; when an object needs to be grabbed or installed, the operating system controls the mechanical arm to reach the approximate position of the object, and the visual recognition system recognizes the object and is matched with the mechanical arm to complete the grabbing or installing work of the object; the vision recognition system, the cutting device and the gripper complete the work of grabbing the object and cutting at the same time.
Drawings
Fig. 1 is a circuit structure layout diagram of an anchor cable automatic tensioning device provided by the present invention;
fig. 2 is a schematic view of an anchor cable automatic tensioning device provided by the present invention;
fig. 3 is a flow chart of anchor cable installation provided by the present invention;
fig. 4 is a cutting flow chart of the anchor cable provided by the present invention;
FIG. 5 is a flow chart of the installation of the backing plate provided by the present invention;
FIG. 6 is a flow chart illustrating the installation of an anchor according to the present invention;
fig. 7 is a flow chart of clip installation provided by the present invention;
fig. 8 is a flow chart of jack installation provided by the present invention;
fig. 9 is a schematic view of the gripper provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1-9, the preferred embodiment of the present invention is shown.
The automatic anchor cable tensioning equipment comprises a mechanical arm system, an operating system, a rotating mechanism 2 and a traveling mechanism 3, wherein the mechanical arm system comprises a mechanical arm 1, a visual recognition system 5 and a cutting system, and the mechanical arm 1, the visual recognition system 5, the cutting system, the traveling mechanism 3 and the rotating mechanism 2 are respectively connected with the operating system.
The walking mechanism 3 is used for walking back and forth or left and right, the swing mechanism 2 is used for rotating in the direction, the mechanical arm 1 is arranged on the swing mechanism 2, and the mechanical arm 1 rotates along with the rotation of the swing mechanism 2; the front end of the mechanical arm 1 is provided with a visual recognition system 5 and a gripper, the visual recognition system 5 can recognize objects according to approximate outlines and sizes, the gripper is used for gripping objects, a cutting system is arranged at the side end of the mechanical arm 1 and comprises a cutting device 4, the cutting device 4 is used for cutting the objects, the cutting device 4 is embedded into the mechanical arm 1 when the cutting system is not used, and when the mechanical arm 1 is used, the cutting device 4 is unfolded from the inside of the mechanical arm 1.
The walking mechanism 3 and the swing mechanism 2 finish position and direction movement work, when an object needs to be grabbed or installed, the operating system controls the mechanical arm 1 to reach the approximate position of the object, and the vision recognition system 5 recognizes that the object is matched with the hand grab to finish the grabbing or installing work of the object; the vision recognition system 5, the cutting device 4 and the gripper complete the object grabbing and cutting operations at the same time.
The operating system comprises a data terminal system and an anchor cable grabbing module, the rotating system, the traveling mechanism 3 and the visual recognition system 5 are respectively connected with the data terminal system, the visual recognition system 5 is arranged at the front end of the mechanical arm 1, the mechanical arm 1 is provided with a gripper, the gripper is used for grabbing objects, and the mechanical arm 1 and the rotating mechanism 2 are in butt joint arrangement.
The method comprises the steps that a worker manually operates a data terminal system, a walking mechanism 3 is controlled to walk, a swing mechanism is adjusted to a proper direction, a mechanical arm 1 is controlled to be adjusted to be close to an anchor cable, the worker clicks an anchor cable grabbing instruction, basic characteristic data of the anchor cable are stored in an anchor cable grabbing module, the anchor cable grabbing module feeds anchor cable information back to the data terminal system, the data terminal system controls a vision recognition system 5 to automatically recognize the anchor cable and feed the anchor cable back to the data terminal system, the worker confirms that the data terminal system controls the mechanical arm 1 to automatically move to a gripper to automatically grab the anchor cable, and a common gripper grabs the middle part of the anchor.
The vision recognition system 5 comprises a plurality of vision acquisition modules, the vision acquisition modules are movably connected with the data terminal system, the plurality of vision acquisition modules are arranged on the mechanical arm 1, different direction videos can be acquired, and if the target object is not acquired successfully, the direction of the vision acquisition modules can be rotated. The data terminal system comprises an alarm module, when the vision acquisition module acquires an object, the object is fed back to the data terminal system for confirmation, the data terminal system controls the alarm module to give out sound or light warning, a worker confirms that the object is not problematic, and the worker operates the hand grip to work; or the vision recognition system can automatically cooperate with the mechanical arm to work, the worker judges that automatic grabbing is not problematic, and presses the automatic grabbing button, so that the vision recognition system and the gripper automatically cooperate to work.
The gripper comprises an inner supporting part 8 and an outer fixing part 9, air pressure passes through the inner supporting part 8, the outer fixing part 9 grabs objects, the inner supporting part 8 passes through the air pressure, some objects with smooth surfaces are grabbed through the adsorption force of the air pressure, when the objects grabbed by the gripper are to be installed on a wall, the outer fixing part 9 is released, and the inner supporting part 8 is pressed against the objects on the wall or grabs the objects through the adsorption force. The operating system comprises an anchor cable cutting module, the cutting module comprises a cutting device 4, the cutting device 4 is arranged at the outer end of the mechanical arm, and the data terminal system is in butt joint arrangement with the anchor cable cutting module and the cutting device 4 respectively.
The anchor cable grabbing module is used for grabbing the anchor cable, a worker clicks an instruction for cutting off the anchor cable, the anchor cable grabbing module feeds back anchor cable cutting information to the data terminal system, the data terminal system controls the vision recognition system 5 to automatically recognize the anchor cable, the worker confirms the anchor cable, the data terminal system calculates the length of the anchor cable, the worker inputs the length needing to be cut off, and the data terminal system controls the cutting device 4 to cut the anchor cable.
The operating system comprises a base plate installation module, an anchor device installation module and a clamping piece installation module, the base plate installation module, the anchor device installation module and the clamping piece installation module are respectively in butt joint arrangement with a data terminal system, a pad grabbing portion is arranged at the upper end of a base plate, the pad grabbing portion can be recognized by a visual system and grabbed by a gripper, an anchor grabbing portion is arranged at the upper end of the anchor device, the pad grabbing portion can be recognized by the visual system and grabbed by the gripper, a clamping claw portion is arranged at the upper end of the clamping piece, and the pad grabbing portion can be recognized by the visual system and grabbed by the gripper.
The reinforcing mark points are made in advance in the reinforcing area for mounting the base plate, a worker firstly clicks the base plate mounting command, the base plate mounting module feeds information back to the data terminal system, the data terminal system controls the visual recognition system 5 to recognize the base plate, the data terminal system controls the mechanical arm 1 to adjust the angle to grab the base plate, the upper end of the base plate is specially made with an arch grab to grab the grab end of the base plate, the visual recognition recognizes the reinforcing mark points again, the angle is adjusted, and the base plate is placed at the marked place and fixed.
The two sides of the base plate are provided with base plate mark points, a worker clicks an anchor installation command first, an anchor installation module feeds information back to a data terminal system for control, a data terminal system control and control visual identification system 5 identifies a gasket, the upper end of the anchor is provided with an anchor grasping part for identifying and grasping an arch gripper, the data terminal system control mechanical arm 1 adjusts the angle to grasp the anchor grasping part, the visual identification identifies the base plate mark points again, the angle is adjusted, and the anchor is placed at a marked place and fixed.
The ground tackle is equipped with spacing hole, and the staff clicks the order of clamping piece installation earlier, and clamping piece installation module feeds back information to data terminal system control, and data terminal system control vision identification system 5 discerns the clamping piece, and the upper end of clamping piece is equipped with the clamping jaw portion that encircles the recognition of tongs and snatch, and data terminal system control arm 1 has adjusted the angle and has snatched clamping jaw portion, and visual identification recognises the spacing hole again, adjusts the angle, places spacing downthehole portion with the clamping piece.
The operating system comprises an anchor cable installation module and a jack installation module, and the anchor cable installation module and the jack installation module are respectively connected with the data terminal system.
According to the introduction, the data terminal system controls the gripper of the mechanical arm 1 to grab the anchor cable, a worker places the anchor cable near the anchor, the worker clicks an anchor cable installation instruction, the vision recognition system 5 recognizes an anchor hole in the anchor and the edge end of the anchor cable, the anchor cable is automatically adjusted to move to the position near the anchor hole, the anchor hole and the anchor cable are adjusted to be placed in a straight line, the adjusted anchor hole and the anchor cable are fed back to the data terminal system to be confirmed, the worker confirms, if the problem exists, the worker adjusts the mechanical arm 1 again, the anchor cable placement instruction is pressed once again until the anchor hole and the anchor cable are adjusted to be placed in a straight line, the placement instruction is confirmed, and the anchor cable is placed.
The worker clicks the jack installation command first, the jack installation module feeds information back to the data terminal system, the data terminal system controls the visual recognition system 5 to recognize the jack, the upper end of the jack is provided with a top grabbing portion for identifying and grabbing the arch grabbing hand, the data terminal system controls the mechanical arm 1 to adjust the angle to grab the top grabbing portion, and the worker manually operates the mechanical arm 1 to rotate the position near the outer end of the anchor cable.
The operating system comprises a displacement sensing mechanism, the displacement sensing mechanism comprises a displacement sensor and a pressure sensor, a jack control module is arranged in the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected with the data terminal system.
Firstly, placing a displacement sensing mechanism and a jack, resetting data of a displacement sensor and a pressure sensor to zero before working, detecting displacement data of an anchor cable by the displacement sensor in the process of pressurizing and tensioning the anchor cable by the jack, detecting pressure data between the anchor cable and the jack by the pressure sensor, and feeding back the displacement data and the pressure data to a data terminal system; the jack control module has preset tensioning parameters, works according to the preset parameters if no problem exists, if the pressure data or the tensioning data are abnormal, the operation data of a worker finally modifies the tensioning parameters of the jack control module, the jack control module automatically stretches after tensioning is in place, and the data terminal system simultaneously forms a chart with the displacement data and the tensioning process data to be output and stored at a computer center end.
The upper end of the walking mechanism 3 is provided with a swing mechanism, the side end of the swing mechanism is provided with a mechanical arm 1, the upper end of the swing mechanism is provided with an operating room, and an operating system is installed in the operating room.
The walking mechanism 3 is positioned at the lowest end and used for walking back and forth or left and right, the swing mechanism is arranged at the upper end of the walking mechanism 3, the swing mechanism 2 is used for rotating in the rotating direction, the mechanical arm 1 is arranged on the swing mechanism 2, the mechanical arm 1 rotates along with the rotation of the swing mechanism 2, a worker works in an operating room, and the operating room is positioned above the swing mechanism 2 and rotates along with the rotation of the swing mechanism 2.
The outer end of the walking mechanism is provided with infrared sensing modules all around, the infrared sensing modules are electrically connected with the data terminal system and arranged, when the infrared sensing modules detect that people move around, the infrared sensing modules feed back to the data terminal system, and the data terminal system controls the alarm module to alarm.
The front end of the mechanical arm 1 is provided with a gripper and a visual recognition system 5, the gripper and the visual recognition system 5 are correspondingly arranged, the cutting device 4 comprises a cutting arm 5, the mechanical arm 1 forms a cutting accommodating groove, the cutting arm 5 and the cutting accommodating groove are arranged at the side end of the mechanical arm 1, the cutting arm 5 is far longer than the gripper, and when the cutting arm 5 is not used, the cutting arm 5 is arranged in the cutting accommodating groove.
The gripper and visual recognition system 5 is arranged at the foremost end of the mechanical arm 1 and used for recognizing objects and gripping objects, the cutting arm 5 is arranged at the side end of the mechanical arm 1, a cutting accommodating groove is formed in the side end of the cutting arm 5, and when the gripper and visual recognition system is not used, the cutting arm 5 is arranged in the cutting accommodating groove.
The mechanical arm 1 is provided with a drilling arm 6 and a screw mounting arm 7 for drilling, and the drilling arm 6 and the screw mounting arm 7 are respectively connected with a data terminal system.
When installation such as backing plate and ground tackle, need use the fix with screw, place corresponding region back when backing plate and ground tackle etc. and staff operation data terminal system carries out fixed instruction, and the region that visual identification system 5 discerned and punched, drilling arm 6 punches, then the region that needs the fixation with the screw fixation of screw installation arm 7.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Automatic stretch-draw equipment of anchor rope, its characterized in that includes mechanical arm system, operating system, rotation mechanism and running gear, the mechanical arm system includes arm, visual identification system and cutting system, the arm visual identification system cutting system running gear reaches rotation mechanism connects respectively operating system.
2. The automatic anchor cable tensioning device according to claim 1, wherein the operating system comprises a data terminal system and an anchor cable grabbing module, the swing mechanism, the traveling mechanism and the vision recognition system are respectively connected to the data terminal system, the vision recognition system is arranged at the front end of the mechanical arm, the mechanical arm is provided with a hand grip for grabbing an object, and the mechanical arm and the swing mechanism are in butt joint arrangement.
3. The automatic anchor cable tensioning device of claim 2, wherein the operating system includes an anchor cable cutting module, the cutting module includes a cutting device, the cutting device is disposed at an outer end of the robotic arm, and the data terminal system is in a butt-joint arrangement with the anchor cable cutting module.
4. The automatic anchor cable tensioning device of claim 3, wherein the operating system comprises a backing plate installation module, an anchor installation module, and a clip installation module, wherein the backing plate installation module, the anchor installation module, and the clip installation module are respectively in a butt-joint arrangement with the data terminal system.
5. The automatic anchor cable tensioning device according to claim 3, wherein the upper end of the base plate is provided with a pad grip portion which can be recognized by a vision system and is gripped by a gripper, the upper end of the anchor device is provided with an anchor grip portion, and the upper end of the clamping piece is provided with a clamping jaw portion.
6. The automatic cable bolt tensioning device according to claim 5, wherein the operating system comprises a cable installation module and a jack installation module, and the cable installation module and the jack installation module are respectively connected to the data terminal system.
7. The automatic anchor cable tensioning device as claimed in claim 6, wherein the operating system comprises a displacement sensing mechanism, the displacement sensing mechanism comprises a displacement sensor and a pressure sensor, a jack control module is arranged in the jack, and the displacement sensor, the pressure sensor and the jack control module are respectively connected with the data terminal system.
8. An automatic anchor rope tensioning device as claimed in any one of claims 1 to 7, wherein the upper end of the travelling mechanism is provided with the swing mechanism, the side end of the swing mechanism is provided with a mechanical arm, the upper end of the swing mechanism is provided with an operating chamber, and the operating system is installed in the operating chamber.
9. An automatic anchor cable tensioning device according to any one of claims 3 to 7, wherein the front end of the mechanical arm is provided with a gripper and a visual recognition system, the gripper and the visual recognition system are arranged correspondingly, the cutting device comprises a cutting arm, the mechanical arm is provided with a cutting accommodating groove, the cutting arm and the cutting accommodating groove are arranged at the side end of the mechanical arm, the cutting arm is far longer than the gripper, and when the cutting arm is not used, the cutting arm is arranged in the cutting accommodating groove.
10. The automatic cable bolt tensioning device according to claim 9, wherein the mechanical arm is provided with a drilling arm for drilling and a screw mounting arm, and the drilling arm and the screw mounting arm are respectively connected with the data terminal system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021946725.7U CN212762118U (en) | 2020-09-07 | 2020-09-07 | Automatic anchor cable tensioning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021946725.7U CN212762118U (en) | 2020-09-07 | 2020-09-07 | Automatic anchor cable tensioning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212762118U true CN212762118U (en) | 2021-03-23 |
Family
ID=75065058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021946725.7U Active CN212762118U (en) | 2020-09-07 | 2020-09-07 | Automatic anchor cable tensioning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212762118U (en) |
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2020
- 2020-09-07 CN CN202021946725.7U patent/CN212762118U/en active Active
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