WO2023087160A1 - 一种机械手智能布料系统及其施工方法 - Google Patents
一种机械手智能布料系统及其施工方法 Download PDFInfo
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- WO2023087160A1 WO2023087160A1 PCT/CN2021/131050 CN2021131050W WO2023087160A1 WO 2023087160 A1 WO2023087160 A1 WO 2023087160A1 CN 2021131050 W CN2021131050 W CN 2021131050W WO 2023087160 A1 WO2023087160 A1 WO 2023087160A1
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- hopper
- motor
- base
- manipulator
- arm
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- 238000009826 distribution Methods 0.000 title claims abstract description 34
- 238000010276 construction Methods 0.000 title claims description 12
- 230000009471 action Effects 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims description 46
- 230000007246 mechanism Effects 0.000 claims description 28
- 238000003860 storage Methods 0.000 claims description 15
- 239000004744 fabric Substances 0.000 claims description 14
- 239000002699 waste material Substances 0.000 claims description 9
- 238000005303 weighing Methods 0.000 claims description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 claims description 2
- 230000008602 contraction Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
- B28B13/0225—Feeding specific quantities of material at specific locations in the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
- B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
- B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
- B28B13/026—Feeding the moulding material in measured quantities from a container or silo by using a movable hopper transferring the moulding material to the moulding cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
- B28B17/0081—Process control
Definitions
- the site needs a robotic intelligent distributing system that can adapt to the assembly line mode and accurately distribute micro-cube concrete.
- a robotic intelligent cloth system comprising:
- a manipulator assembly slidably mounted on the frame;
- a hopper system installed on the movable end of the manipulator assembly
- the hopper system includes:
- Hopper bracket installed on the movable end of the manipulator assembly
- the feeding port is installed on the hopper bracket
- the discharge port is installed on the hopper bracket
- the discharge switch is installed on the storage hopper
- the driving mechanism includes a cylinder; the cylinder is mounted on the side wall of the storage hopper through a cylinder bracket.
- a fixing plate is provided on the bottom side of the frame, and the fixing plate is fixed to the ground through anchor bolts.
- a buffer device is provided between the hopper support and the storage hopper.
- the manipulator assembly includes:
- the base is slidably mounted on the frame body through a sliding component
- a drive assembly used to drive the base to slide on the frame
- the base is rotatably mounted on the base through a rotating assembly
- a slewing bracket installed on the machine base
- the connecting rod one is connected with the output end of the motor three;
- Slewing mechanism 1 the lower part of which is axially connected to the boom 1 through motor 5, its first end is connected to the slewing bracket through connecting rod 3, and its second end is hinged to slewing mechanism 2 through connecting rod 4;
- Rotary mechanism two its first end is connected with described big arm two through motor six, its second end is connected with described rotary mechanism one through connecting rod four, and it is connected with described hopper support through motor seven.
- the sliding assembly includes:
- the sliding part is arranged on the lower surface of the base.
- the drive assembly includes:
- the rack is arranged on the side of the frame;
- the running motor is arranged on the side of the base, and the running motor cooperates with the rack through gears to complete the walking action.
- a limit baffle is provided on the frame, and a travel limiter matching the limit baffle is provided on the base.
- the rotating assembly includes:
- the second motor the base is connected to the base through the second motor to drive the harmonic reducer.
- the present invention also provides a construction method for the robot intelligent cloth system, including:
- the machine base drives the manipulator to rotate, and the PLC program controls the action of the first arm and the second arm so that the feeding port is located below the material receiving point.
- the load-bearing sensor gives the PLC control system feedback material receiving completion instructions;
- the PLC control system After reaching the material distribution position, the PLC control system makes a discharge command, and the cylinder drives the discharge switch to rotate to open the discharge port through contraction, and the concrete flows out from the discharge port, and the load-bearing sensor monitors it in real time.
- the discharge weight reaches the set value After setting the value, feed back to the control system to make a stop discharge command, and the cylinder drives the discharge switch to rotate and close the discharge port through the forward extension;
- Step S6 When the pouring of the material distribution point is completed, the control system gives an instruction to go to the next material distribution point, the base 8 drives the intelligent distribution system of the manipulator to move, the action of the first arm and the second arm makes the discharge port directly above the position to be placed, repeat Step S5;
- the PLC control system gives an instruction to release waste materials
- the base 8 drives the intelligent distribution system of the manipulator to move.
- the first and second arms move so that the discharge port is located above the waste material pool, and the waste materials are released, supplemented by manual cleaning.
- the hopper and then select the return to 0 button, and the intelligent cloth system of the manipulator returns to the initial position.
- the hopper system in this embodiment is slidably installed on the frame through the manipulator assembly.
- the hopper system can flexibly switch between the material receiving position and multiple material distributing positions, and efficiently complete the material receiving and distributing actions, thereby improving the stability of the components. Generate efficiency.
- Fig. 2 is the structural representation of the hopper system provided by the embodiment of the present invention.
- Fig. 3 is a schematic diagram of the main structure from another perspective of the robot intelligent cloth system provided by the embodiment of the present invention.
- the embodiment of the present application provides a robotic intelligent fabric distribution system, which includes: a frame body 1 (preferably a mechanical frame), a robotic arm assembly, and a hopper system.
- the hopper system is fixedly installed on the movable end of the manipulator assembly, and the manipulator assembly is slidably installed on the frame body.
- the hopper system in this embodiment is slidably installed on the frame body 1 through the manipulator assembly.
- the hopper system can flexibly switch between the material receiving position and multiple material distribution positions, and efficiently complete the material receiving action and the material distribution action, thereby improving the components. production efficiency.
- the hopper system includes: a hopper support 29 , a feed port 30 , a storage hopper 34 , a discharge port 36 , a discharge switch 35 , a driving mechanism and a load cell 37 .
- the hopper support 29 is installed on the movable end of the manipulator assembly
- the feeding port 30 is installed on the hopper support 29
- the storage hopper 34 is installed on the hopper support 29
- the discharge port 36 is installed on the hopper support 29,
- the feed port 30 and the discharge port 36 communicate with the upper and lower ends of the storage hopper 34 respectively
- the discharge switch 35 is installed in the storage hopper 34 to close the discharge port 36
- the driving mechanism is used to drive the discharge port.
- material switch 35, and then open or close the discharge port 36, and the load cell 37 is used to weigh the weight of concrete in the hopper system.
- the bottom side of the frame body 1 is provided with a fixing plate 2, and the fixing plate 2 is fixed to the ground by anchor bolts.
- a buffer device 33 is provided between the hopper bracket 29 and the storage hopper 34 .
- the buffer device is a plurality of springs located on opposite sides of the storage hopper 34 .
- the manipulator assembly includes: a base 8, a drive assembly, a base 10, a rotary bracket 12, a motor three 13, a motor four 27, a connecting rod one 25, a big arm one 14, a big arm two 20, and a rotary mechanism One 21 and two 17 of the rotary mechanism.
- the base 8 is slidably installed on the frame body 1 through a sliding assembly
- the driving assembly is used to drive the base 8 to slide on the frame body 1
- the base 10 is rotatably installed on the base body through a rotating assembly.
- the rotary bracket 12 is installed on the base 10, the motor three 13 is installed on the rotary bracket 12, the motor four 27 is installed on the rotary bracket 12; and the three motors 13 and the four motors 27 are respectively located at the Both sides of the slewing bracket 12, the connecting rod one 25 is connected with the output end of the motor three 13, the big arm one 14 is connected with the output end of the motor four 27, the connecting rod one 25 and the big arm one 14 can be rotatably installed inside the slewing bracket 12, and the two are axially connected, the middle part of the second boom 20 is rotatably installed on the first boom 14, and the first end of the second boom 20 is connected Rod two 24 is connected with described connecting rod one 25, and the second end of big arm two 20 is rotatably installed with rotary mechanism two 17, and the bottom of rotary mechanism one 21 is axially connected with described big arm one 14 by motor five 22 , the first end of the rotary mechanism one 21 is connected with the rotary bracket 12 through the connecting rod three 15, the second end of the rotary mechanism one 21 is hinge
- the sliding assembly includes: a track 6 and a sliding piece.
- the rail 6 is arranged on the frame body 1, and the sliding member (preferably a sliding bar 28) is arranged on the lower surface of the base 8; the sliding member is slidably installed on the rail 6.
- the drive assembly includes: a rack 3 and a traveling motor 5 .
- the rack 3 is arranged on the side of the frame body 1;
- the traveling motor 5 is arranged on the side of the base 8, and the traveling motor 5 cooperates with the rack 3 through the gear 4 to complete the walking action.
- the frame body is provided with a limit baffle 9
- the base 8 is provided with a travel limiter 26 matching the limit baffle 9 .
- the movement range of the manipulator assembly and the hopper system can be limited by the limit baffle plate 9 and the travel limiter, thereby ensuring that they will not slip outside the frame.
- the rotating assembly includes: a second motor 11 .
- the base 10 is connected with the base 8 through the motor 2 11 to drive a harmonic reducer.
- the machine base 10 drives the manipulator to rotate, and the PLC program controls the action of the first arm 14 and the second arm 20 so that the feed port 30 is located below the material receiving point.
- the load-bearing sensor 36 gives the PLC control system feedback material receiving completion instructions ;
- the PLC control system After reaching the material distribution position, the PLC control system makes a discharge command, and the cylinder 32 drives the discharge switch 35 to rotate to open the discharge port 36 through shrinkage, and the concrete flows out from the discharge port 36, and the load-bearing sensor 37 monitors it in real time. After the material weight reaches the set value, feedback to the control system to make a stop discharge command, and the cylinder 32 drives the discharge switch 35 to rotate and close the discharge port by extending forward;
- step S6 After the pouring of the material distribution point is completed, the control system gives an instruction to go to the next material distribution point, the base 8 drives the manipulator intelligent distribution system to move, and the action of the first arm 14 and the second arm 20 makes the discharge port 36 located at the position to be placed. Above, repeat step S5;
- the PLC control system gives an instruction to release waste materials, and the base 8 drives the intelligent distribution system of the manipulator to move.
- the first arm 14 and the second arm 20 move so that the discharge port 36 is located above the waste material pool, and the waste materials are released. Manually clean the hopper, and then select the return to 0 button, and the intelligent fabric distribution system of the manipulator returns to the initial position.
- connection In the description of the present invention, unless otherwise clearly specified and limited, the terms “installation”, “connection”, “connection” and “fixation” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
- a first feature being "on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
- “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "below" the second feature,
- “Below” and “beneath” include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
- Manipulator (AREA)
Abstract
一种机械手智能布料系统，包括：架体（1）、机械手组件以及料斗系统，其中，料斗系统固定安装于所述机械手组件的活动端，机械手组件可滑动地安装于所述架体（1）。上述料斗系统通过机械手组件可滑动地安装于架体（1），料斗系统可以在接料位置和多个布料位置之间灵活的切换，高效地完成接料动作和布料动作，进而提高构件的生成效率。
Description
本发明涉及建设设备技术领域，特别涉及一种机械手智能布料系统及其施工方法。
在我国铁路建设高速发展的今天，混凝土预制构件作为一种新型工艺，在铁路、市政等建筑行业领域应用极为广泛，其采用建筑标准化、构件部品成套化、工业化生产制作。节约材料、降低施工成本，改善了现场施工作业条件的限制，降低人的劳动强度，有利于保证构件的质量，促进产业结构调整和建筑工业化生产。
为了提高生产效率以及节约成本，现场需要一种可以适应流水线模式的微方量混凝土精准布料的机械手智能布料系统。
发明的公开
本发明的目的在于提供一种机械手智能布料系统及其施工方法，料斗系统可以在接料位置和多个布料位置之间灵活的切换，高效地完成接料动作和布料动作，进而提高构件的生成效率。
为了实现以上目的，本发明通过以下技术方案实现：
一种机械手智能布料系统，包括：
架体；
机械手组件，可滑动地安装于所述架体；以及
料斗系统，安装于所述机械手组件的活动端；
其中，所述料斗系统包括：
料斗支架，安装于所述机械手组件的活动端；
进料口，安装于所述料斗支架；
储料斗，安装于所述料斗支架；
放料口，安装于所述料斗支架；
放料开关，安装于所述储料斗；
驱动机构，用于驱动所述放料开关；以及
称重传感器，用于称量所述料斗系统内混凝土的重量。
可选地，所述驱动机构包括气缸；所述气缸通过气缸支架安装于所述储料斗的侧壁。
可选地，所述架体的底部侧面设有固定板，所述固定板通过地脚螺栓固定于地面。
可选地，所述料斗支架与所述储料斗之间设有缓冲装置。
可选地，所述机械手组件包括：
底座，通过滑动组件可滑动地安装于所述架体；
驱动组件，用于驱动所述底座在所述架体上滑动；
机座，通过转动组件可转动地安装于所述底座；
回转支架，安装于所述机座；
电机三，安装于所述回转支架；
电机四，安装于所述回转支架；
连杆一，与所述电机三的输出端连接；
大臂一，与所述电机四的输出端连接；
大臂二，其中部可转动地安装于所述大臂一，其第一端通过连杆二与所述连杆一连接，其第二端可转动地安装有回转机构二；
回转机构一，其下部通过电机五与所述大臂一轴向连接，其第一端通过连杆三与回转支架连接，其第二端通过连杆四与回转机构二铰接；
回转机构二，其第一端通过电机六与所述大臂二连接，其第二端通过连杆四与所述回转机构一连接，其通过电机七与所述料斗支架连接。
可选地，所述滑动组件包括：
轨道，设于所述架体；
滑动件，设于所述底座的下表面。
可选地，所述驱动组件包括：
齿条，设于所述架体的侧面；
走行电机，设于所述底座的侧面，所述走行电机通过齿轮配合所述齿条完成行走动作。
可选地，所述架体上设有限位挡板，所述底座上设有与所述限位挡板相匹配的行走限位器。
可选地，所述转动组件包括：
电机二，所述机座通过所述电机二带动谐波减速机与所述底座连接。
另一方面，本发明还提供了一种机械手智能布料系统的施工方法，包括：
S1、确定浇筑单个构件的混凝土用量；
S2、启动走行电机，走行电机末端齿轮沿着架体侧面的齿条行走，达到接料位置；
S3、机座带动机械手旋转，通过PLC程序控制大臂一、大臂二动作使进料口位于接料点下方，接料完成后承重传感器给PLC控制系统反馈接料完成指令；
S4、PLC控制系统收到接料完成指令后做出移至到布料点指令，所述底座的走行电机带动末端齿轮沿架体侧面齿条行走，到达布料位置；
S5、到达布料位置后，PLC控制系统做出放料指令，气缸通过收缩带动放料开关旋转打开放料口，混凝土从所述放料口流出，并且承重传感器实时监控，当下料重量达到设定值后，向控制系统反馈做出停止放料指令，气缸通过前伸带动放料开关旋转关闭放料口；
S6、当该布料点浇筑完成后，控制系统做出前往下一布料点指令，底座8带动机械手智能布料系统移动，大臂一、大臂二动作使放料口位于待布料位置正上方，重复步骤S5；
S7、当称重传感器检测料斗系统内的混凝土余量不够浇筑单个构件时，PLC控制系统做出返回接料点指令，重复步骤S2、S3；
S8、浇筑完毕后，PLC控制系统做出放出废料指令，底座8带动机械手智能布料系统移动，所述大臂一、大臂二动作使放料口位于废料池上方，放出废料，辅以人工清理所述料斗，然后选择回归0位按钮，机械手智能布料系统回至初始位置。
本发明至少具有以下优点之一：
本实施例中的料斗系统通过机械手组件可滑动地安装于架体，料斗系统可以在接料位置和多个布料位置之间灵活的切换，高效地完成接料动作和布料动作，进而提高构件的生成效率。
附图的简要说明
图1为本发明实施例提供的机械手智能布料系统的主要结构示意图；
图2为本发明实施例提供的料斗系统的结构示意图；
图3为本发明实施例提供的机械手智能布料系统的另一视角的主要结构示意图。
实现本发明的最佳方式
以下结合附图和具体实施方式对本发明提出的一种机械手智能布料系统作进一步详细说明。根据下面说明，本发明的优点和特征将更清楚。需要说明的是，附图采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施方式的目的。为了使本发明的目的、特征和优点能够更加明显易懂，请参阅附图。须知，本说明书所附图式所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容能涵盖的范围内。
请参阅图1～3，本申请实施例提供了一种机械手智能布料系统，该机械手智能布料系统包括：架体1(优选地为机械架)、机械手组件以及料斗系统。其中，料斗系统固定安装于所述机械手组件的活动端，机械手组件可滑动地安装于所述架体。本实施例中的料斗系统通过机械手组件可滑动地安装于架体1，料斗系统可以在接料位置和多个布料位置之间灵活的切换，高效地完成接料动作和布料动作，进而提高构件的生成效率。
请参阅图2，所述料斗系统包括：料斗支架29、进料口30、储料斗34、放料口36、放料开关35、驱动机构和称重传感器37。其中，料斗支架29安装于所述机械手组件的活动端，进料口30安装于所述料斗支架29，储料斗 34安装于所述料斗支架29，放料口36安装于所述料斗支架29，进料口30和放料口36分别与储料斗34的上下两端连通，放料开关35安装于所述储料斗34，用于封闭所述放料口36，驱动机构用于驱动所述放料开关35，进而打开或关闭所述放料口36，称重传感器37用于称量所述料斗系统内混凝土的重量。
具体地，所述驱动机构包括气缸32。所述气缸32通过气缸支架安装于所述储料斗34的侧壁，气缸32与气缸支架之间通过转动件连接，进而使气缸32可转动地安装在气缸支架上，该转动件优选地为销轴。
本实施例中，所述架体1的底部侧面设有固定板2，所述固定板2通过地脚螺栓固定于地面。
本实施例中，所述料斗支架29与所述储料斗34之间设有缓冲装置33。具体地，该缓冲装置为位于储料斗34相对的两侧的若干个弹簧。
本实施例中，所述机械手组件包括：底座8、驱动组件、机座10、回转支架12、电机三13、电机四27、连杆一25、大臂一14、大臂二20、回转机构一21和回转机构二17。其中，底座8通过滑动组件可滑动地安装于所述架体1，驱动组件用于驱动所述底座8在所述架体1上滑动，机座10通过转动组件可转动地安装于所述底座8，回转支架12安装于所述机座10，电机三13安装于所述回转支架12，电机四27安装于所述回转支架12；且所述电机三13和所述电机四27分别位于所述回转支架12的两侧，连杆一25与所述电机三13的输出端连接，大臂一14与所述电机四27的输出端连接，所述连杆一25和所述大臂一14均可转动地安装于所述回转支架12的内部，且二者轴向连接，大臂二20的中部可转动地安装于所述大臂一14，大臂二20的第一端通过连杆二24与所述连杆一25连接，大臂二20的第二端可转动地安装有回转机构二17，回转机构一21的下部通过电机五22与所述大臂一14轴向连接，回转机构一21的第一端通过连杆三15与回转支架12连接，回转机构一21的第二端通过连杆四19与回转机构二17铰接，回转机构二17的第一端通过电机六18与所述大臂二20连接，回转机构二17的第二端通过连杆四19与所述回转机构一21连接，回转机构二17的通过电机七16与所述料斗支架29连接。
本实施例中，所述滑动组件包括：轨道6和滑动件。其中，轨道6设于 所述架体1，滑动件(优选地为滑条28)设于所述底座8的下表面；所述滑动件可滑动地安装于所述轨道6。
本实施例中，所述驱动组件包括：齿条3和走行电机5。其中，齿条3设于所述架体1的侧面；走行电机5设于所述底座8的侧面，所述走行电机5通过齿轮4配合所述齿条3完成行走动作。
本实施例中，所述架体上设有限位挡板9，所述底座8上设有与所述限位挡板9相匹配的行走限位器26。通过限位挡板9和行走限位器可以限制机械手组件和料斗系统的移动范围，进而保证其不会滑至架体外。
本实施例中，所述转动组件包括：电机二11。其中，所述机座10通过所述电机二11带动谐波减速机与所述底座8连接。
本申请其他实施例中还提供了一种机械手智能布料系统的施工方法，该施工方法包括：
S1、确定浇筑单个构件的混凝土用量；
S2、启动走行电机5，走行电机5末端齿轮4沿着架体1侧面的齿条3行走，达到接料位置；
S3、机座10带动机械手旋转，通过PLC程序控制大臂一14、大臂二20动作使进料口30位于接料点下方，接料完成后承重传感器36给PLC控制系统反馈接料完成指令；
S4、PLC控制系统收到接料完成指令后做出移至到布料点指令，所述底座的走行电机5带动末端齿轮沿架体1侧面齿条3行走，到达布料位置；
S5、到达布料位置后，PLC控制系统做出放料指令，气缸32通过收缩带动放料开关35旋转打开放料口36，混凝土从所述放料口36流出，并且承重传感器37实时监控，当下料重量达到设定值后，向控制系统反馈做出停止放料指令，气缸32通过前伸带动放料开关35旋转关闭放料口；
S6、当该布料点浇筑完成后，控制系统做出前往下一布料点指令，底座8带动机械手智能布料系统移动，大臂一14、大臂二20动作使放料口36位于待布料位置正上方，重复步骤S5；
S7、当称重传感器37检测料斗系统内的混凝土余量不够浇筑单个构件时，PLC控制系统做出返回接料点指令，重复步骤S2、S3；
S8、浇筑完毕后，PLC控制系统做出放出废料指令，底座8带动机械手 智能布料系统移动，所述大臂一14、大臂二20动作使放料口36位于废料池上方，放出废料，辅以人工清理所述料斗，然后选择回归0位按钮，机械手智能布料系统回至初始位置。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本发明的描述中，需要理解的是，术语“中心”、“高度”、“厚度”、“上”、“下”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本发明的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、
“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第 一特征水平高度小于第二特征。
尽管本发明的内容已经通过上述优选实施例作了详细介绍，但应当认识到上述的描述不应被认为是对本发明的限制。在本领域技术人员阅读了上述内容后，对于本发明的多种修改和替代都将是显而易见的。因此，本发明的保护范围应由所附的权利要求来限定。
Claims (10)
- 一种机械手智能布料系统，其特征在于，包括：架体；机械手组件，可滑动地安装于所述架体；以及料斗系统，安装于所述机械手组件的活动端；其中，所述料斗系统包括：料斗支架，安装于所述机械手组件的活动端；进料口，安装于所述料斗支架；储料斗，安装于所述料斗支架；放料口，安装于所述料斗支架；放料开关，安装于所述储料斗；驱动机构，用于驱动所述放料开关，进而打开或关闭所述放料口；以及称重传感器，用于称量所述料斗系统内混凝土的重量。
- 如权利要求1所述的机械手智能布料系统，其特征在于，所述驱动机构包括气缸；所述气缸通过气缸支架安装于所述储料斗的侧壁。
- 如权利要求1所述的机械手智能布料系统，其特征在于，所述架体的底部侧面设有固定板，所述固定板通过地脚螺栓固定于地面。
- 如权利要求1所述的机械手智能布料系统，其特征在于，所述料斗支架与所述储料斗之间设有缓冲装置。
- 如权利要求1所述的机械手智能布料系统，其特征在于，所述机械手组件包括：底座，通过滑动组件可滑动地安装于所述架体；驱动组件，用于驱动所述底座在所述架体上滑动；机座，通过转动组件可转动地安装于所述底座；回转支架，安装于所述机座；电机三，安装于所述回转支架；电机四，安装于所述回转支架；连杆一，与所述电机三的输出端连接；大臂一，与所述电机四的输出端连接；大臂二，其中部可转动地安装于所述大臂一，其第一端通过连杆二与所述连杆一连接，其第二端可转动地安装有回转机构二；回转机构一，其下部通过电机五与所述大臂一轴向连接，其第一端通过连杆三与回转支架连接，其第二端通过连杆四与回转机构二铰接；回转机构二，其第一端通过电机六与所述大臂二连接，其第二端通过连杆四与所述回转机构一连接，其通过电机七与所述料斗支架连接。
- 如权利要求5所述的机械手智能布料系统，其特征在于，所述滑动组件包括：轨道，设于所述架体；滑动件，设于所述底座的下表面。
- 如权利要求5所述的机械手智能布料系统，其特征在于，所述驱动组件包括：齿条，设于所述架体的侧面；走行电机，设于所述底座的侧面，所述走行电机通过齿轮配合所述齿条完成行走动作。
- 如权利要求5所述的机械手智能布料系统，其特征在于，所述架体上设有限位挡板，所述底座上设有与所述限位挡板相匹配的行走限位器。
- 如权利要求5所述的机械手智能布料系统，其特征在于，所述转动组件包括：电机二，所述机座通过所述电机二带动谐波减速机与所述底座连接。
- 一种机械手智能布料系统的施工方法，其特征在于，包括：S1、确定浇筑单个构件的混凝土用量；S2、启动走行电机，走行电机末端齿轮沿着架体侧面的齿条行走，达到接料位置；S3、机座带动机械手旋转，通过PLC程序控制大臂一、大臂二动作使进料口位于接料点下方，接料完成后承重传感器给PLC控制系统反馈接料完成指令；S4、PLC控制系统收到接料完成指令后做出移至到布料点指令，所述底座的走行电机带动末端齿轮沿架体侧面齿条行走，到达布料位置；S5、到达布料位置后，PLC控制系统做出放料指令，气缸通过收缩带动放料开关旋转打开放料口，混凝土从所述放料口流出，并且承重传感器实时监控，当下料重量达到设定值后，向控制系统反馈做出停止放料指令，气缸通过前伸带动放料开关旋转关闭放料口；S6、当该布料点浇筑完成后，控制系统做出前往下一布料点指令，底座带动机械手智能布料系统移动，大臂一、大臂二动作使放料口位于待布料位置正上方，重复步骤S5；S7、当称重传感器检测料斗系统内的混凝土余量不够浇筑单个构件时，PLC控制系统做出返回接料点指令，重复步骤S2、S3；S8、浇筑完毕后，PLC控制系统做出放出废料指令，底座带动机械手智能布料系统移动，所述大臂一、大臂二动作使放料口位于废料池上方，放出废料，辅以人工清理所述料斗，然后选择回归0位按钮，机械手智能布料系统回至初始位置。
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| GB2071343A (en) * | 1980-01-29 | 1981-09-16 | Winget Ltd | Automatic feed weighers |
| CN203008385U (zh) * | 2012-12-23 | 2013-06-19 | 河北新大地机电制造有限公司 | 摊铺布料机 |
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