CN220468770U

CN220468770U - Channel bank protection prefabricated section device of mating formation

Info

Publication number: CN220468770U
Application number: CN202320956406.1U
Authority: CN
Inventors: 廖茂权; 田正宏; 吴立韬; 任勇; 林晓旭; 黄锐; 孟运庭; 王杰
Original assignee: Sinohydro Bureau 7 Co Ltd
Current assignee: Sinohydro Bureau 7 Co Ltd
Priority date: 2023-04-25
Filing date: 2023-04-25
Publication date: 2024-02-09
Anticipated expiration: 2033-04-25

Abstract

The utility model discloses a channel slope protection precast block paving device which comprises a mobile platform, a capturing and identifying system and a paving system, wherein the capturing and identifying system is used for capturing and identifying the channel slope protection precast block; the mobile platform comprises a bearing truss, a conveying slideway and a traveling system; the capturing and identifying system comprises a camera system and a computer central control, wherein the camera system and the computer central control are used for capturing and releasing the prefabricated block through the image identifying and controlling paving system of the prefabricated module; the paving system comprises a grabbing mechanism, a lifting mechanism and a transverse moving mechanism which are arranged on the frame; according to the utility model, the capturing and identifying system is arranged, and the capturing, moving and aligning paving can be automatically regulated according to the site conditions, so that the automatic intelligent paving of the precast blocks can be realized, the problems of high accuracy requirement and difficulty in automatic paving of the precast blocks due to soft slope, easy deformation and economical efficiency in the paving process of the channel slope protection precast blocks are solved, and compared with manual paving, the efficiency is higher, the safety is higher, and the economical efficiency is also considered.

Description

Channel bank protection prefabricated section device of mating formation

Technical Field

The utility model belongs to the technical field of building construction equipment design, in particular to the technical field of precast block paving construction equipment design in channel construction, and particularly relates to an intelligent pavement device for a ground precast block for channel slope protection.

Background

The precast block is often applied to ground pavement, such as channel slope protection is often carried out by adopting the precast block for pavement protection, the precast block is mainly made of concrete, and the unique interlocking design of the precast block has very good overall stability for preventing water wave scouring. After the slope protection brick with the interlocking structure is paved, green vegetation or shrubs can be planted in brick holes.

At present, the laying of precast blocks is mainly finished by manpower, and the main operation steps are as follows: the crane hangs the prefabricated block that packs to wait to mat formation place nearby, and the workman uses two people to a set of, breaks apart the prefabricated block, lifts up to the domatic of needs to mat formation.

The conventional paving process has the following problems: the traditional paving method is labor-intensive construction method, and has low efficiency and low safety. Because of the characteristics of precast block materials, the single block quality is more than 100 jin, and the carrying and the adjustment are difficult and the efficiency is low in the manual paving process. Two people are a group, and 200 blocks can be paved on average in one day. The manual paving workload is high, the body load for carrying the precast blocks is high, and the safety is low; the intelligent paving machine for the road is suitable for smooth and relatively firm ground roadbed, the paving brick opening is clamped smoothly, and the substrate is smooth and has no deformation and no slope toe. By adopting the mechanical automatic brick paving method and device, the problems of accurate alignment and efficient paving of heavy large-size blocks on the slope surface soft cushion layer can not be effectively solved.

Disclosure of Invention

The utility model discloses a channel slope protection precast block paving device according to the defects of the prior art. The utility model aims to provide a channel slope protection precast block paving device which can walk on a complex ground, can accurately carry out precast block connection paving and has high intelligent degree.

The utility model is realized by the following technical scheme:

channel bank protection prefabricated section device of mating formation, its characterized in that: the system comprises a mobile platform, a capturing and identifying system and a paving system;

the mobile platform comprises a bearing truss, a conveying slideway and a traveling system; the truss comprises a basic bearing platform formed by two truss girders which are arranged in parallel, wherein a connecting beam is arranged between the truss girders and is connected with a plurality of roller fixing rods for conveying the slideway to form a frame structure; the conveying slideway comprises a plurality of rollers which are arranged between the trusses at equal intervals and a feeding platform which is connected with one end of the trusses and is obliquely arranged; the walking system comprises a crawler system and a wheel frame; the wheel carrier support is connected with the crawler system and the truss to form a movable platform;

the capturing and identifying system comprises a camera system and a computer central control, wherein the camera system and the computer central control are used for capturing and releasing the prefabricated block through the image identifying and controlling paving system of the prefabricated module;

the paving system comprises a grabbing mechanism, a lifting mechanism and a transverse moving mechanism which are arranged on the frame; the grabbing mechanism is used for grabbing and fixing the precast block and releasing the precast block for paving after moving along with the system; the lifting mechanism is used for lifting the precast block after the precast block is stably grabbed by the grabbing mechanism, and accurately lowering the precast block after the precast block is moved to a paving position; the transverse moving mechanism is used for transverse movement of the precast block after grabbing and lifting; the frame is a four-column combined two-parallel portal structure, and the bottoms of the two portal are movably combined with the side wall of the truss through idler wheels respectively.

The sideslip mechanism includes: an upper rail and a lower rail, and a rail car moving on the upper rail; the upper ends of two portal frames of the frame are provided with bearing platforms with step structures, and two upper guide rails are fixedly arranged on the bearing platforms in parallel and extend to the outside of one side of the frame along the direction vertical to the truss; the bottom of the sliding rail trolley is provided with four rollers and is driven to move along an upper rail by an underframe; the lower track is arranged on a step bearing platform at one side of the middle parts of two portal frames of the frame, the outside extending to the same side of the frame is also arranged along the vertical and truss directions, and the lower part of the lifting mechanism is provided with a roller wheel which moves along the lower track in a limiting way.

The lifting mechanism comprises: the device comprises a bearing vertical rod, a pull rod, a telescopic vertical rod, a hanging platform and a gripper platform; the four bearing upright posts are symmetrically arranged, the upper end of the bearing upright posts are fixedly connected with the bottom surface of the sliding rail trolley of the transverse moving mechanism in a hanging way, and the lower end of the bearing upright posts are fixedly connected with the upper surface of the hanging platform in a hanging way; the four corners of the hanging platform are provided with pull rods which are fixedly connected with the hand grasping platform in a hanging way; four telescopic vertical rods are symmetrically arranged on the inner sides of four corners of the middle of the hanging platform, and pass through four through holes correspondingly formed in the gripper platform to be connected with the gripping mechanism in an up-down telescopic manner to form a lifting structure.

The grabbing mechanism comprises a crank lever type gripper; the upper end of the grab is connected with a telescopic upright rod of the lifting mechanism in a telescopic driving way, and the telescopic upright rod can vertically move up and down.

Further, the gripper consists of a grabbing component and a power component to achieve grabbing fixation and release of the prefabricated member.

Further, a rectangular limiting groove is formed in the center of the gripper platform, and the gripping mechanism stretches up and down to limit movement in the rectangular limiting groove.

A limiter is arranged on the moving route of the tail end of the truss; and a blocking device is also arranged on the truss and used for blocking the precast block.

One side of the gripper platform slides along the lower guide rail in a limiting way and is in driving connection with the gripper platform transmission device; the gripper platform transmission is driven by an engine provided with a differential.

The feeding platform is further connected with one end of the truss, and the other end of the feeding platform is lapped on the ground to form an angle inclined plane with the plane of the truss being 30 degrees.

The paving device for paving the precast block comprises the following steps:

step1, cutting the slope, pressing the roof and pouring footing after checking and accepting the slope, and paving geotextile to meet the design requirement and checking and accepting the geotextile, so that the concrete interlocking block paving construction can be carried out. The intelligent pavement device for the channel slope protection precast block is placed on a slope surface of the precast block to be paved, the precast block is conveyed to a preset position of a truss by a conveying slideway from a feeding platform.

The Step2 gripper control system moves to the vicinity of the position of the precast block on the truss, the capture and identification system obtains the image of the precast block on the truss, and after the operations such as image noise reduction and edge processing are performed, the coordinates of the precast block on the truss are obtained, and the gripper control system performs fine adjustment so as to capture the precast block.

Step3, capturing and identifying the image of the precast block paved on the slope protection by using a system, obtaining the coordinates for placing the precast block after the operations of image noise reduction, edge processing and the like, and paving the precast block at the coordinates by using a gripper control system.

Step4, paving the prefabricated block, and paving the next prefabricated block.

The main function of the conveying slideway is to convey the precast block to the preset position of the truss, and the conveying slideway comprises a roller conveying mechanism and a feeding platform. The roller transmission mechanism can not only adapt to the requirements of various ground pavement precast blocks, but also control the position of each precast block on the truss.

The traveling system comprises a track system and a wheel carrier. Through driving motor, the device of mating formation can remove on ground. When a row of precast blocks are paved, the motor drives the paving device to move, and paving of the next row of precast blocks is carried out.

The capturing and identifying system comprises a camera system and a computer central control room, wherein the camera system comprises a structured light 3D camera, a connecting piece of the structured light 3D camera and a data line, and the camera system can obtain images of the precast block and is characterized by an L-shaped side. The computer central control room stores the program of the image processing of the precast block and the control program of the hand grip movement. The image processing step is noise reduction, edge extraction and obtaining of the center coordinates of the precast block.

The large-size precast block paved in channel construction has the problem that the shape is irregular and the gap of the precast block needs to be adjusted in real time, so that the precast block pavement is difficult to calculate. The space between the precast blocks is too small, so that the precast blocks are difficult to lay down due to too large friction force; if the intervals of the precast blocks are too large, the accumulation of the margin can lead the precast blocks with the paving sequence being back to be paved, because the precast blocks are interlocked with each other and can not be paved. The precast block is paved with the soft cushion layer, so that the precast block can be moved after being paved. These objective conditions require real-time adjustment of the paving position of the precast block, and dynamic adjustment of the paving point.

The utility model designs an intelligent pavement method and device for channel slope protection precast blocks, which adopts a mechanical pavement mode to replace manual work, ensures personnel safety and improves pavement efficiency. And the paving points are dynamically adjusted by adopting the image recognition technology, so that the paving requirements are met.

Compared with the prior art, the utility model has the following advantages:

the robot for paving the floor tiles in the indoor space can accurately position the floor tiles, but has the defects in the aspects of paving soft large deformation cushions and irregular floor tiles. Because the floor tile spacing control needs to be calculated and adjusted in real time, the positioning principle is difficult to apply to paving channel precast blocks. The paving device of the pavement brick can only meet the paving requirement on a harder cushion layer, and also can not meet the requirement of accurately regulating and controlling each precast block on a soft cushion layer.

The device of the utility model can save labor cost investment and improve production efficiency by paving the precast blocks; the paving mode is intelligent automatic paving, and compared with the manual paving mode, the paving mode is safer, reduces the workload and improves the automation level of operation. The device adopts an intelligent field image identification mode, and has high reliability. The components are allocated through an algorithm, so that the method is accurate, reliable and high in efficiency. The method solves the problems of accurate alignment and efficient pavement of the heavy large-size precast blocks on the slope surface soft cushion layer, and has various use environments and strong adaptability.

Drawings

FIG. 1 is a schematic diagram of a paving apparatus system according to an embodiment of the present disclosure;

FIG. 2 is a front view of a paving apparatus according to an embodiment of the present utility model;

FIG. 3 is a side view of a paving apparatus according to an embodiment of the present utility model;

FIG. 4 is a top view of a paving apparatus according to an embodiment of the present utility model;

FIG. 5 is a schematic view of a blocking device according to an embodiment of the present utility model;

fig. 6 is a schematic view of a structure of a grip according to an embodiment of the present utility model.

In the figure: 1-a mobile platform, 2-a capturing and identifying system, 3-a paving system, 4-a precast block and 10-a truss; 11-a conveying slideway, 111-a roller, 112-a feeding platform, 113-a blocking device, 1131-a blocking plate, 1132-a movable shaft; 12-a walking system, 121-a track system, 122-a wheel frame, 1211-a driving wheel, 1212-a track and rollers; 21-camera system, 22-computer central control room; 31-a frame, 32-an upper guide rail, 33-a manual control panel, 34-a seat, 35-a slide rail trolley, 36-a bearing upright rod, 37-a hanging platform, 38-a lower guide rail, 39-a pull rod, 310-a telescopic upright rod, 311-a gripper platform, 312-a gripper, 3121-a gripping component, 3122-a power component, 313-an engine, 314-a gripper platform transmission device, 315-a paving system transmission device and 316-a limiter.

Detailed Description

The present utility model will be further described with reference to the following specific embodiments, which are intended to be illustrative of the principles of the present utility model and not in any way limiting, nor will the same or similar techniques be used in connection with the present utility model beyond the scope of the present utility model.

In combination with the accompanying drawings.

The following embodiment discloses a channel bank protection prefabricated section intelligence device of mating formation.

As shown in fig. 2, a front view of the intelligent paving device for the channel slope protection precast block; as shown in fig. 3, a side view of the intelligent paving device for the channel slope protection precast block; as shown in fig. 4, a top view of the intelligent paving device for the channel slope protection precast block; comprising the following steps: a mobile platform 1, a capturing and identifying system 2 and a paving system 3.

The mobile platform 1 includes: a carrying truss 10, a conveying slideway 11 and a travelling system 12.

The truss 10 is formed by arranging two truss beams in parallel to form a basic bearing platform, and a limiter 316 is arranged on the moving route at the tail end of the truss 10; the truss beams are provided with connecting beams therebetween and are connected with a plurality of roller 111 fixing rods for conveying the slideway 11 to form a frame structure.

The transport chute 11 includes: a plurality of rollers 111 arranged on the truss 10, wherein adjacent rollers 111 are distributed at equal intervals; and a feeding platform 112 coupled to one end of the truss 10 and disposed obliquely to the ground. The feeding platform 112 is used for placing precast blocks 4 to be paved, and the feeding platform 112 is arranged at one end of the truss 10 and forms an angle of 30 degrees with the plane of the truss 10. The truss 10 is provided with a blocking device 113, and the structure of the blocking device 113 is shown in fig. 5, and comprises a blocking plate 1131 and a movable shaft 1132; the baffle 1131 is connected with the truss 10 through a movable shaft 1132, the prefabricated block slides over the upper part of the baffle 1131 when the prefabricated block slides downwards, the baffle 1131 overturns around the movable shaft 1132 to absorb the kinetic energy of the downward sliding of the prefabricated block, and the prefabricated block is uniformly distributed on the distribution platform.

Running system 12 is composed of crawler system 121 and wheel frame 122; track system 121 is supportingly coupled to truss 10 by wheel carriage 122. Track system 121 includes motor driven drive wheels 1211, tracks, and rollers 1212.

The capture recognition system 2 includes a camera system 21 and a computer central room 22.

The camera system 21 comprises a structured light 3D camera and its connections, data lines.

The computer central control room 22 stores a program for processing the image of the precast block and a control program for moving the grip 312. The image processing of the prefabricated block in the computer central control room 22 comprises the steps of noise reduction, edge extraction and obtaining of the center coordinates of the prefabricated block 4. The image processing of the precast block is characterized by L-shaped edges, which ensures the precision and controls the time for processing data within a reasonable range.

The paving system 3 includes: a gripping mechanism, a lifting mechanism and a traversing mechanism provided on the frame 31. The paving system 3 performs paving by capturing the signal generated by the identification system 2. Controlled by the capture recognition system 2. The grabbing mechanism is used for stably grabbing and fixing the precast block 4 and accurately releasing the precast block 4 for paving after moving along with the system; the lifting mechanism is used for lifting the precast block 4 after the precast block 4 is stably grabbed by the grabbing mechanism and accurately lowering the precast block 4 after the precast block is moved to a paving position; the transverse moving mechanism realizes the transverse movement of the precast block 4 after grabbing and lifting. The frame 31 is a four-column combined two-parallel portal structure, and the bottoms of the two portals are movably combined with the side wall of the truss 10 through idler wheels respectively.

The sideslip mechanism includes: upper rail 32 and lower rail 38, and rail car 35 moving on upper rail 32; the upper ends of two portal frames of the frame 31 are provided with bearing platforms with step structures, and two upper guide rails 32 are fixedly arranged on the bearing platforms in parallel and extend to the outside of one side of the frame 31 along the direction vertical to the truss 10; four rollers are arranged at the bottom of the slide rail trolley 35 and are driven to move along the upper rail 32 by a bottom frame; the lower track 38 is arranged on a step bearing platform at one side of the middle parts of the two portal frames of the frame 31, and the outside extending to the same side of the frame 31 is also arranged along the direction vertical to the truss 10, and the lower part of the lifting mechanism is provided with a roller wheel which moves in a limiting manner along the lower track 38 to increase the stability of the system.

The lifting mechanism comprises: the device comprises a bearing upright rod 36, a pull rod 39, a telescopic upright rod 310, a hanging platform 37 and a gripper platform 311; four bearing upright rods 36 are symmetrically arranged, the upper ends of the four bearing upright rods are fixedly connected with the bottom surface of the sliding rail trolley of the traversing mechanism in a hanging way, and the lower ends of the four bearing upright rods are fixedly connected with the upper surface of a hanging platform 37 in a hanging way; the four corners of the hanging platform 37 are provided with pull rods 39 which are fixedly connected with the gripper platform 311 in a hanging manner; four telescopic upright rods 310 are symmetrically arranged on the inner sides of four corners in the middle of the hanging platform 37, and the four telescopic upright rods 310 penetrate through four through holes correspondingly arranged on the gripper platform 311 and can be connected with the gripping mechanism in an up-and-down telescopic manner to form a lifting structure; the centre of the gripper platform 311 is provided with a rectangular hole, and the gripping mechanism moves up and down in the rectangular hole in a telescopic way.

The frame 31 is provided with a manual control panel 33 and a seat 34.

The grabbing mechanism comprises: crank lever grip 312; the upper end of the grip 312 is connected with the telescopic upright rod 310 in a telescopic driving way, and the telescopic upright rod 310 realizes vertical up-and-down movement; the gripping device 312 is composed of a gripping part 3121 and a power part 3122, the gripping part is used for gripping and releasing the prefabricated parts, and the power part applies pressure to the gripping part, so that the gripping part is deformed to clamp the prefabricated parts after being pressed.

One side of the gripper platform 311 slides along the lower guide rail 38 in a limited manner and is connected to a gripper platform transmission 314. The gripper platform transmission 314 is connected to the motor 313.

The motor 313 is connected to the gripper platform transmission 314 so that the gripper platform 311 can be displaced in a horizontal outward direction perpendicular to the truss 10. The motor 313 adopts a differential mechanism to precisely control the displacement speed of the device and is connected with a paving system transmission device 315, so that the paving system 3 can displace along the length direction of the truss 10. The stopper 316 is mounted on the truss 10 to limit the movement range of the paving system 3 and prevent the paving system 3 from being excessively displaced out of the truss 10.

The construction process flow of the device of the utility model is as follows:

step1, cutting the slope, pressing the roof and pouring footing after checking and accepting the slope, and paving geotextile to meet the design requirement and checking and accepting the geotextile, so that the concrete interlocking block paving construction can be carried out. The intelligent pavement device for the channel slope protection precast blocks is placed on a slope surface of the precast blocks 4 to be paved, the precast blocks 4 are conveyed to a preset position of the truss 10 by the rollers 112 of the conveying slide 11 from the feeding platform 112.

Step2 pavement system 3 moves to the position near precast block 4 on truss 10, captures and recognizes that system 2 obtains the image of precast block 4 on truss 10, obtains the coordinate of precast block 4 on truss 10 through the operation such as making an uproar, edge treatment to the image after, pavement system 3 finely tunes in order to snatch precast block 4.

Step3 captures and identifies the system 2 to obtain the image of the precast block laid on the slope protection, and after the operations such as noise reduction and edge processing on the image, the coordinates where the precast block 4 is placed are obtained, and the precast block 4 is laid at the coordinates by the laying system 3.

Step4, paving the prefabricated block 4, and paving the next prefabricated block 4.

Claims

1. Channel bank protection prefabricated section device of mating formation, its characterized in that: the system comprises a mobile platform, a capturing and identifying system and a paving system;

the capturing and identifying system comprises a camera system and a computer central control, and is used for capturing and releasing the prefabricated block by controlling the paving system through image identification of the prefabricated module;

2. The channel slope protection prefabricated block paving device according to claim 1, wherein: the sideslip mechanism includes: an upper rail and a lower rail, and a rail car moving on the upper rail; the upper ends of two portal frames of the frame are provided with bearing platforms with step structures, and two upper guide rails are fixedly arranged on the bearing platforms in parallel and extend to the outside of one side of the frame along the direction vertical to the truss; the bottom of the sliding rail trolley is provided with four rollers and is driven to move along an upper rail by an underframe; the lower track is arranged on a step bearing platform at one side of the middle parts of two portal frames of the frame, the outside extending to the same side of the frame is also arranged along the vertical and truss directions, and the lower part of the lifting mechanism is provided with a roller wheel which moves along the lower track in a limiting way.

3. The channel slope protection prefabricated block paving device according to claim 2, wherein: the lifting mechanism comprises: the device comprises a bearing vertical rod, a pull rod, a telescopic vertical rod, a hanging platform and a gripper platform; the four bearing upright posts are symmetrically arranged, the upper end of the bearing upright posts are fixedly connected with the bottom surface of the sliding rail trolley of the transverse moving mechanism in a hanging way, and the lower end of the bearing upright posts are fixedly connected with the upper surface of the hanging platform in a hanging way; the four corners of the hanging platform are provided with pull rods which are fixedly connected with the hand grasping platform in a hanging way; four telescopic vertical rods are symmetrically arranged on the inner sides of four corners of the middle of the hanging platform, and pass through four through holes correspondingly formed in the gripper platform to be connected with the gripping mechanism in an up-down telescopic manner to form a lifting structure.

4. A channel bank protection prefabricated section paving device according to claim 3, wherein: the grabbing mechanism comprises a crank lever type gripper; the upper end of the grab is connected with a telescopic upright rod of the lifting mechanism in a telescopic driving way, and the telescopic upright rod can vertically move up and down.

5. The channel bank protection prefabricated section paving device according to claim 4, wherein: the gripper consists of a gripping component and a power component to achieve gripping fixation and release of the prefabricated member.

6. The channel bank protection prefabricated section paving device according to claim 4, wherein: the centre of the gripper platform is provided with a rectangular limiting groove, and the gripping mechanism stretches up and down to limit movement in the rectangular limiting groove.

7. The channel bank protection prefabricated section paving device according to claim 4, wherein: a limiter is arranged on the moving route of the tail end of the truss; and a blocking device is also arranged on the truss and used for blocking the precast block.

8. The channel bank protection prefabricated section paving device according to claim 4, wherein: one side of the gripper platform slides along the lower guide rail in a limiting way and is in driving connection with the gripper platform transmission device; the gripper platform transmission is driven by an engine provided with a differential.

9. The channel bank protection prefabricated section paving device according to claim 4, wherein: the feeding platform is connected with one end of the truss, and the other end of the feeding platform is lapped on the ground to form an angle inclined plane with the plane of the truss being 30 degrees.

10. The channel bank protection prefabricated section paving device according to claim 4, wherein: the camera system comprises a structured light 3D camera, a connecting piece and a data line, and is used for obtaining images of the precast block; and transmitting the data to a computer central control; the computer central control is used for the image processing of the precast block and the control of each system.