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

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

An automatic template disassembly robot and disassembly method based on visual recognition

Technical field

The invention belongs to the field of robot technology, and specifically relates to an automatic template disassembly robot and a disassembly method based on visual recognition.

Background technique

At present, when pouring shear walls, wall screws and backing corrugations are usually used to fix the formwork. The backing corrugations are fixed to the formwork, and the screws pass through the wall. Furthermore, the bolt seats on the screws are clamped on the backings. Prevent mold expansion and ensure the pouring quality of shear walls. When removing the formwork, you need to remove the screws first, and then remove the backing and formwork together.

In the prior art, the formwork is removed by manually pulling out the screws and backrests with the help of a proprietary device. For example, the Chinese patent application with the publication number CN114961251A titled a device and method for extracting a screw through a wall, manually controls the rotation of the screw so that the screw drives the sleeve to move away from the side of the screw through the wall. After the limit boss is located in the limit groove, it will drive the threaded sleeve to move to the side away from the wall screw, thereby driving the wall screw to move to the side away from the wall, and pull out the wall screw. This method of manually removing the formwork with the help of a proprietary device has a low degree of automation, low work efficiency, and high labor intensity.

Contents of the invention

In view of this, the present invention provides an automatic formwork disassembly robot and disassembly method based on visual recognition, which solves the technical problems of low automation, low work efficiency, and high labor intensity in traditional formwork disassembly.

An automatic template disassembly robot and disassembly method based on visual recognition provided by the present invention adopt the following technical solutions:

An automatic formwork disassembly robot based on visual recognition, including a track and a working device;

The working device is in sliding fit with the track;

The operation device includes a measurement and control system and a manipulator equipped with a clamp and a vibration mechanism; the measurement and control system includes a camera for taking pictures of the screws and backings on the template, and a control that can perform data processing on the images acquired by the camera. device;

The controller can control the working device to move on the track, control the vibration mechanism to vibrate the template, and can control the clamp to pull the screw and the backing based on visual recognition. , and can monitor the force or displacement when the clamp pulls the backing.

Further, the clamp includes a clamp mounting base, a screw gripper, a back-flute gripper, a compression spring, and a jaw motor;

The clamp mounting base is fixedly connected to the manipulator;

The screw gripper includes a sliding seat, a base and two screw clamps for clamping the screw; the sliding seat is in sliding cooperation with the clamp mounting seat, and the base is fixedly installed on the On the sliding seat, the screw clamp is fixedly connected to the base;

The back-flute gripper includes two back-flute clamps for clamping the back-flute, and the two back-flute clamps are correspondingly installed on the two screw clamps in a sliding fit; in When the screw clamp slides in a direction away from the backing clamp, the screw clamp compresses the compression spring;

The clamp motor can drive the sliding seat to drive the screw clamp to slide on the clamp mounting seat, and is used to adjust the distance between the screw clamps and the distance between the back flute clamps.

Further, the vibration mechanism includes a manipulator connection base, a vibration motor and a vibration rod;

The manipulator connection base is fixedly connected to the manipulator;

The vibration motor is installed on the manipulator connection base;

The vibration rod is connected to the vibration motor and is used to transmit the vibration generated by the vibration motor to the template.

Further, the vibration mechanism also includes a vibration spring, a vibration sleeve rod, and a vibration motor mounting base;

The vibration sleeve rod is fixedly installed on the manipulator connection seat;

The vibration spring is sleeved on the outer periphery of the vibration sleeve rod, and the lower end of the vibration spring is in contact with the manipulator connecting seat, and the upper end is in contact with the vibration motor mounting seat;

The vibration motor mounting seat is in sliding fit with the vibration sleeve rod;

The vibration rod and the vibration motor are both fixedly installed on the vibration motor mounting base;

When the vibration motor vibrates, the vibration motor mounting base is driven to reciprocally compress the vibration spring from top to bottom, causing the vibration rod to vibrate reciprocally along its own axis.

Further, the clamp also includes a compression slide block and a compression sleeve rod;

The compression sleeve rod is fixedly installed on the back-steering jaw;

The compression spring is sleeved on the outer periphery of the compression sleeve rod, and the lower end of the compression spring is limited by a protrusion provided on the lower end of the compression sleeve rod;

The compression slider is fixedly installed on the screw clamp, and the compression slider slides with the compression sleeve rod;

When the screw clamp slides in a direction away from the backing clamp, the screw clamp drives the compression slider to compress the compression spring from top to bottom.

Further, the measurement and control system also includes sensors and triggers;

When the screw clamp slides to set a displacement in a direction away from the backing clamp, the trigger can trigger the sensor to send a signal to the controller. After receiving the signal, the controller can control The manipulator causes the clamp to pull the back corrugation.

Further, the sensor is a light sensor;

The triggering part is a light-shielding part.

Further, the track 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 and a vertical rail;

The working device base is in sliding fit with the first horizontal track;

The controller is arranged on the base of the working device;

The bottom end of the vertical rail is installed on the base of the working device, and the upper end of the vertical rail is slidingly matched with the second horizontal rail;

One end of the manipulator is slidably matched with the vertical rail, and the manipulator can move in the vertical direction on the vertical rail. The other end of the manipulator is equipped with the clamp and the vibration mechanism.

An automatic template disassembly method based on visual recognition provided by the present invention adopts the following technical solutions:

Utilize the above-mentioned automatic template disassembly robot based on visual recognition, including:

Step A: The controller identifies the screw based on visual recognition and controls the clamp to clamp and pull the screw outward until the screw is pulled out;

Step B: The controller identifies the back fluting based on visual recognition and then controls the clamp to clamp and pull the back fluting outward;

If the force of the clamp when pulling out the back fluting exceeds the set value F1 or the sliding displacement of the back fluting jaw relative to the screw clamp exceeds the set value S1 but the back fluting is not pulled out yet, stop pulling out the back fluting. The controller controls the vibration mechanism to vibrate the template for a set duration T1, and continues to pull the backrest after the vibration setting duration T1 until the backrest is pulled out; otherwise, the backrest is Pull and pull the backrest until the backrest is pulled out.

Further, every time the screw rod is pulled out by the set length L1, the clamp re-clamps the screw rod forward and continues to pull the screw rod.

Beneficial effects:

1. The automatic formwork disassembly robot based on visual recognition includes a track and an operating device; the operating device slides and cooperates with the track; the operating device includes a measurement and control system and a manipulator equipped with a clamp and a vibration mechanism; the measurement and control system includes a screw and a back on the formwork. A camera that takes pictures and a controller that can perform data processing on the images acquired by the camera; the controller can control the working device to move on the track, control the vibration mechanism to vibrate the template, and can control the clamping of the screw and screw based on visual recognition. The backrest is pulled out, and the force or displacement of the fixture when pulling out the backrest can be monitored.

In this way, the formwork can be automatically dismantled by robots, which solves the problems of low automation, low work efficiency, and high labor intensity in traditional manual formwork removal with the help of proprietary devices; at the same time, the formwork can be disassembled through a vibration mechanism. Vibrating helps the concrete separate from the formwork, making the formwork easier to disassemble; moreover, the clamp can pull both the screw rod and the backing corrugation, so there is no need to replace different clamps in order to pull out the screw rod and backing corrugation respectively. , further improving the degree of automation and work efficiency, and reducing labor intensity; in addition, the measurement and control system can monitor the force or displacement when the fixture pulls the backrest, and can then stop pulling when the displacement or force is too large to protect the manipulator and The role of the fixture.

2. The clamp includes a clamp mounting base, a screw gripper, a back-flute gripper, a compression spring, and a jaw motor; the clamp mounting base is fixedly connected to the manipulator; the screw gripper includes a sliding seat, a sliding seat, and two for alignment. The screw clamp is used for clamping the screw; the sliding seat and the clamp mounting seat are slidingly matched, the base is installed on the sliding seat, and the screw clamp is fixedly connected to the base; the back flute gripper includes two clamps for clamping the back flute. Tight back-flute clamps, the two back-flute clamps are installed on the two screw clamps in a sliding fit; when the screw clamps slide in the direction away from the back-flute clamps, the screw clamps compress the compression spring; The clamping jaw motor can drive the slide seat to drive the screw clamping jaws to slide on the clamp mounting base, which is used to adjust the distance between the screw clamping jaws and the distance between the back fluted clamping jaws.

In this way, when the back fluting clamp clamps and pulls the back fluting, the manipulator slides the screw clamp in the direction away from the back fluting clamp, which will compress the compression spring, so that the back fluting can be pulled; the screw clamp clamp When tightening the screw, the manipulator exerts force on the manipulator connection base to make the screw clamp move in the direction away from the screw, so that the screw can be pulled. The clamp has a compact structure and can pull not only the screw but also the back corrugation.

3. The clamp and camera are installed on the manipulator connection base, and the manipulator connection base is connected to a vibration mechanism. In this way, the clamp, camera and vibration mechanism are all installed on the vibration mechanism, making the structure more compact.

4. When the screw clamp slides to set the displacement in the direction away from the back flute clamp, the trigger can trigger the sensor to send a signal to the controller. After receiving the signal, the controller can control the manipulator to stop pulling the clamp against the back flute, and can start. It functions as a protective fixture, and the structure to realize this protective function is simple and compact.

5. Through the cooperation of a sensor and a trigger, it is possible to monitor not only the force or displacement when pulling out the backrest, but also the force or displacement when pulling out the screw. The structure is more compact and the performance is more reliable.

6. The vibration spring in the vibration mechanism can reduce the vibration transmitted from the vibration mechanism to the screw clamp and the back-gauge clamp, thereby reducing the damage to the screw clamp and the back-gauge clamp when the vibration mechanism vibrates.

Description of drawings

Figure 1 is a schematic structural diagram of an automatic template disassembly robot based on visual recognition provided by the present invention;

Figure 2 is a schematic structural diagram of the end effector provided on the manipulator in Figure 1 provided by the present invention;

Figure 3 is a schematic diagram of the three-dimensional structure of the end effector in Figure 2 from one angle;

Figure 4 is a schematic diagram of the three-dimensional structure of the end effector in Figure 2 from another angle;

Figure 5 is a schematic flow chart of an automatic template disassembly robot based on visual recognition for pulling out back corrugations according to an embodiment of the present invention;

Figure 6 is a schematic flow chart of an automatic template disassembly robot pulling screws based on visual recognition provided by the present invention;

Among them, 1-track, 2-controller, 3-vertical rail, 4-manipulator, 410-clamp mounting base, 415-clamp motor, 420-vibration motor mounting base, 425-vibration spring, 426-manipulator connection base , 427-vibration sleeve rod, 430-camera, 435-vibration motor, 440-compression spring, 445-compression slider, 450-compression sleeve rod, 455-compression sleeve rod mounting seat, 460-vibration rod, 465-back corrugation Clamp, 466-hook, 470-screw clamp, 471-base, 472-screw clamp mounting base, 473-sliding seat, 475-light sensor, 476-extension, 480-shielding piece.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Example 1:

Referring to Figures 1 to 4, an automatic formwork disassembly robot based on visual recognition includes a track 1 and a working device, including:

The working device is slidingly matched with the track 1; the working device includes a measurement and control system and a manipulator 4 equipped with a clamp and a vibration mechanism; the measurement and control system includes a camera 430 for taking pictures of the screws and backings on the template, as well as images that can be acquired by the camera 430 Controller 2 for data processing; the controller 2 can control the movement of the working device on the track 1, control the vibration mechanism to vibrate the template, and can be based on visual recognition (that is, the recognition result after data processing based on the image acquired by the camera 430) The clamp in the end effector is controlled to pull the screw and the back corrugation, and the force or displacement of the clamp when pulling the back corrugation can be monitored.

In this way, the robot can be used to automatically dismantle the formwork, which solves the problems of low automation, low work efficiency and high labor intensity in the traditional manual formwork removal with the help of proprietary devices; at the same time, the vibration mechanism can be used to dismantle the formwork. The formwork vibrates to separate the concrete from the formwork; moreover, the fixture can pull both the screw rod and the backing corrugation, so there is no need to replace different fixtures in order to pull out the screw rod and backing corrugation respectively, further improving the degree of automation and Work efficiency reduces labor intensity; in addition, the measurement and control system can monitor the force or displacement when the fixture pulls the back corrugation, and can stop pulling when the force or displacement is too large, thus protecting the manipulator 4 and the fixture. It should be pointed out that the manipulator 4 in this embodiment can either use only one clamp and use this one clamp to pull the screw and the back corrugation, or it can use two clamps, one clamp specifically for pulling the screw. One fixture is specially used for pulling out the back fluting. Using two fixtures will reduce the difficulty of fixture design, but will also reduce work efficiency, because when pulling the screw or pulling out the back fluting, it needs to be replaced with a special fixture, and it is understandable that the special fixture The fixture for pulling out the screw only needs to be designed with a structure that can clamp the screw (for example, designing two clamping parts that can move closer/away under the control of the motor). The fixture specifically for pulling out the back fluting only needs to be designed to be able to clamp the back fluting. structure (for example, designing two clamping parts that can be moved closer/away under motor control), and in order to monitor the force or displacement during pulling, install corresponding sensors (for example, install a force sensor to monitor the manipulator The force applied to the clamp to pull the screw/back flute outward, or a displacement sensor is installed to monitor the displacement of the clamp when pulling the screw/back flute), those skilled in the art can easily design a special pull screw and a special pull back In this embodiment, only one clamp is used for the corrugation, so that on the basis of the robot automatically pulling out the screw and backing the corrugation, the replacement of the fixture can be avoided, thereby further improving the work efficiency.

For convenience of description, first define the rectangular coordinate system as shown in Figure 3, let the vertical direction be the Z direction, and the two mutually perpendicular directions in the horizontal plane be the X direction and Y direction.

In this embodiment, the clamp includes a clamp mounting base 410, a screw gripper, a back-flute gripper, a compression spring 440, and a gripper motor 415; wherein the screw gripper includes a pair of screw grippers 470 (along the X (set oppositely), the screw clamps 470 clamp the screw through oppositely arranged clamping surfaces; more than one pair of screw clamps 470 can be provided in the screw gripper, and this embodiment is provided with a pair of screw clamps 470; each screw The clamping jaw 470 is provided with a sliding seat 473 and a base 471 correspondingly; the sliding seat 473 is slidingly matched with the clamp mounting base 410, and the two sliding seats 473 can move toward or away from each other; the base 471 is installed on the sliding seat 473; the screw clamp jaw 470 is mounted on the base 471 through the screw jaw mounting seat 472.

The back-flute gripper includes back-flute clamping jaws 465 arranged in pairs, and the back-flute clamping jaws 465 clamp the back-flute through oppositely arranged clamping surfaces; more than one pair of back-flute clamping jaws 465 can be provided in the back-flute gripper. This embodiment is provided with a pair of back-flute clamps 465; the two back-flute clamps 465 are respectively installed in a sliding fit on the screw clamp mounting seats 472 of the two screw clamps 470; the screw clamp mounting base 472 can be connected with the screw. The clamping jaws 470 move together in the Z direction relative to the back-flute clamping jaw 465 to approach or stay away from the back-flugging clamping jaw 465; a compression spring 440 is provided on the back-flute clamping jaw 465, and the screw clamp 470 moves toward the direction away from the back-flugging clamping jaw 465. When sliding in the direction (the negative direction of the Z-axis in Figure 3), the compression spring 440 can be compressed; in this embodiment, the clamp motor 415 can drive the slide 473 to drive the screw clamp 470 to slide on the clamp mounting base 410 ( along the X direction), used to adjust the distance between the two screw clamps 470 and the distance between the two back flute clamps 465.

In addition, in this embodiment, each screw clamp 470 is a bar-shaped block structure with a strip groove on the clamping surface, and the strip groove is used to increase the friction between the screw clamp 470 and the screw. At the connection between the screw clamp 470 and the screw clamp mounting base 472, the screw clamp mounting base 472 has an extension 476 extending outward relative to the screw clamp 470 (that is, extending along the X direction toward the screw clamp 470 at the other end). When the screw clamp 470 clamps the screw, the screw axis is parallel to the Y direction in Figure 3, and the extension 476 is used to limit the screw between the clamping surfaces of the two screw clamps 470, so that the screw clamp 470 can more reliably Clamp the screw. In addition, cotton fabric or rubber can also be provided on the clamping surface of the screw clamp 470 to increase the friction between the screw clamp 470 and the screw. In this embodiment, a hook 466 is provided on each back-to-fence clamping claw 465. When the back-to-fence clamping claw 465 pulls out the back-to-fence, the back-to-faith clamping claw 465 can hook onto the back to Fence through the hook 466.

In this embodiment, the vibration mechanism includes a manipulator connection base 426, a vibration motor 435 and a vibration rod 460; the manipulator connection base 426 is fixedly connected to the end of the manipulator 4, and the clamp mounting base 410 is installed on the manipulator connection base 426; the vibration motor 435 is installed on On the manipulator connection base 426; the vibration rod 460 is connected to the vibration motor 435 for transmitting the vibration generated by the vibration motor 435 to the template. More specifically, in this embodiment, the vibration mechanism also includes a vibration spring 425, a vibration sleeve 427, and a vibration motor mounting base 420; the vibration sleeve 427 is vertically fixed and installed on the manipulator connection base 426; the vibration spring 425 is sleeved on The outer periphery of the vibration sleeve rod 427, and the lower end of the vibration spring 425 is in contact with the manipulator connection seat 426, and the upper end is in contact with the vibration motor mounting base 420; the vibration motor 435 is in sliding fit with the vibration sleeve rod 427 through the vibration motor mounting base 420; the vibration rod 460 The vibration motor 435 and the vibration motor 435 are both fixedly installed on the vibration motor mounting base 420; when the vibration motor 435 vibrates, the vibration motor mounting base 420 is driven to reciprocally compress the vibration spring 425 from top to bottom, causing the vibration rod 460 to vibrate reciprocally along its own axis. The fixture and camera 430 are both installed on the manipulator connection base 426 .

More specifically, the clamp also includes a compression slider 445 and a compression sleeve rod 450; the compression sleeve rod 450 is fixedly mounted on the backing jaw 465 through the compression sleeve rod mounting seat 455, and the compression spring 440 is sleeved on the outer periphery of the compression sleeve rod 450. , and the lower end of the compression spring 440 is limited by the protrusion set at the lower end of the compression sleeve rod 450. The compression slider 445 is fixedly installed on the screw clamp 470, and the compression slider 445 slides with the compression sleeve rod 450. The compression spring 440 The upper end is in contact with the compression slider 445. When the screw clamp 470 slides in the direction away from the back fluted clamp 465, in Figure 2, the screw clamp 470 drives the compression slider 445 to compress the compression spring 440 from top to bottom.

In this way, referring to Figure 2, when the back fluting clamp 465 clamps the back fluting, the robot 4 exerts a vertical downward force on the robot connecting seat 426 to cause the screw clamp 470 to slide in the direction away from the back fluting clamp 465, the compression spring 440 is compressed because the lower end of the compression spring 440 is limited by the protrusion set at the lower end of the compression sleeve rod 450. Therefore, when the compression spring 440 is compressed, the lower end of the compression spring 440 exerts a vertical downward force on the protrusion of the compression sleeve rod 450. force, and the compression sleeve rod 450 is fixedly installed on the back fluting clamp 465 through the compression sleeve rod mounting seat 455, and then exerts a vertical downward force on the back fluting clamp 465 through the compression sleeve rod 450, thereby achieving the Back-to-back pulling; referring to Figure 3, when the screw clamp 470 clamps the screw and the manipulator 4 exerts a force in the positive direction of the Y-axis on the manipulator connecting seat 426, the screw can be pulled. The clamp has a compact structure and can pull not only the screw but also the back corrugation. The vibration spring 425 can also reduce the vibration transmitted by the vibration mechanism to the screw clamp and the back-flute clamp, thereby reducing the damage to the screw clamp and the back-flute clamp when the vibration mechanism vibrates.

In this embodiment, the measurement and control system also includes a sensor and a trigger; the sensor is installed on the base 471 or the clamp mounting base 410. In this embodiment, it is selected to be installed on the base 471; the trigger is installed on the backing jaw 465 ; When the screw clamp 470 slides in the direction away from the backing clamp 465 to set the displacement S1, the trigger can trigger the sensor. After the sensor is triggered, it sends a signal to the controller 2. After receiving the signal, the controller 2 can control the manipulator to move the clamp. The back corrugation is pulled out to protect the fixture, and the structure to achieve this function is simple and compact. In this embodiment, the sensor is the light sensor 475; the triggering member is the light-shielding member 480, and the light-shielding member 480 has light-shielding portions in both the Z and Y directions. The light-shielding portions of the light-shielding member 480 in the Z and Y directions form 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 can be understood that in possible embodiments, the installation method of the sensor and the triggering member can also be: the triggering member is installed on the base 471 or the clamp mounting seat 410, and the sensor is installed on the backing jaw 465.

Referring to Figure 3, when the back fluting clamp 465 clamps the back fluting to pull the back fluting, the controller 2 will control the action of the manipulator 4 so that the manipulator 4 exerts a negative force in the Z direction on the manipulator connecting seat 426. At this time, the screw The clamping claw 470 will slide in the direction away from the back-flute clamping claw 465 (the negative direction in the Z direction in FIG. 3 ) and compress the compression spring 440 , and the light sensor 475 will move in the direction close to the light shield 480 (the negative direction in the Z direction). (also downward direction), when sliding to the set displacement S1 (at this time, the compression spring 440 is compressed to the set compression amount), the Z-direction light shielding portion of the light shielding member 480 will block the output of the light sensor 475 The irradiated light triggers the light sensor 475 to send a signal to the controller 2. After receiving the signal, the controller 2 can control the action of the manipulator 4, so that the back fluting clamp 465 stops pulling the back fluting, and the back fluting clamp 465 is loosened. After the clamping of the back corrugation is opened, the controller 2 controls the vibration motor 435 to start, so that the vibration motor 435 transmits the vibration to the formwork through the vibration rod 460, so that the concrete is separated from the formwork. After the vibration is set for a duration T1, the controller 2 controls The vibration motor 435 stops vibrating and causes the backrest clamping claws 465 to clamp and pull the backrest again. This reciprocates between pulling and vibrating until the backrest is pulled out (backrest pullout refers to the backrest and Pull the formwork off the wall together) to complete the removal of the formwork.

Of course, if the backing itself is relatively easy to pull out, the light sensor 475 may not be triggered to send a signal to the controller 2, and there is no need to vibrate the template at this time. It can be seen that when pulling out the backing, the measurement and control system can monitor the displacement of the fixture when pulling out the backing, and stop pulling when the displacement reaches the set value. This can protect the fixture and improve the safety of the automatic formwork disassembly robot. and reliability. It is understandable that the pulling force corresponding to the moment when the set displacement S1 is reached can also be used as a monitoring parameter. In other words, the measurement and control system can also protect the fixture by monitoring the force of the fixture when pulling out the backing. In addition, the working device can be equipped with an alarm device. When the pulling backrest reaches the set displacement S1, the alarm device can alarm. It can be understood that the core of the installation method of the sensor and the trigger is that when the screw clamp 470 slides the set displacement S1 in the direction away from the backing clamp 465, the sensor can be triggered to send a signal to the controller 2.

Example 2:

Referring to Figure 3, the difference from the first embodiment is that the base 471 is configured as a slider, and the slider and the slider 473 slide and cooperate in the Y direction. The light sensor 475 is fixedly provided on the clamp mounting base 410, and between the slider and the A spring is provided between the slide blocks 473. When the slide block slides relative to the slide block 473, the slide block can compress the spring. For example, a spring can be provided in the slide groove of the slide block and the slide block 473; the screw clamp 470 passes through The screw clamp mounting base 472 is fixedly connected to the slide block. Referring to FIG. 3 , the sliding seat 473 can slide in the X direction relative to the clamp mounting base 410 , the slide block can slide in the Y direction relative to the sliding seat 473 , and the back-fence clamp 465 can slide in the Z direction relative to the screw clamp 470 . The slide block slides in the positive direction of the Y-axis relative to the slide seat 473, so that the spring provided in the slide groove in which the slide block and the slide seat 473 slide and fit is compressed.

When the screw clamp 470 clamps the screw and needs to pull the screw, the controller 2 will control the action of the manipulator 4 so that the manipulator 4 exerts a positive force along the Y-axis on the manipulator connection base 426 because the slide 473 on the clamp mounting base 410 can slide in the Y direction relative to the slide block, so the clamp mounting base 410 will move in the positive direction of the Y axis relative to the slide block, thereby causing the light sensor 475 on the clamp mounting base 410 to approach the light shield 480. When the slide block 473 is in contact with the sliding block, When the relative sliding displacement of the slider reaches the set displacement S2 (at this time, the spring provided between the slider and the slide base 473 is compressed to the set compression amount), the Y-direction light shielding portion of the light shielding member 480 will block the light sensor 475 The emitted light then triggers the light sensor 475 to send a signal to the controller 2. After receiving the signal, the controller 2 can control the action of the manipulator 4 and stop exerting a positive force along the Y-axis on the manipulator connection base 426, thereby causing the screw clamp 470 to After the pulling of the screw is stopped and the screw clamp 470 can loosen the clamping of the screw, the controller 2 controls the vibration motor 435 to start, so that the vibration motor 435 transmits the vibration to the formwork through the vibration rod 460, thereby making the concrete and The template is detached, which can loosen the screw. After the vibration is set for the duration T2, the controller 2 controls the vibration motor 435 to stop vibrating and causes the screw clamp 470 to pull the screw again. In this way, the reciprocating operation between pulling and vibration is performed. until the screw is pulled out. Of course, if the screw itself is relatively easy to pull out, the light sensor 475 may not be triggered, and there is no need to vibrate the screw at this time. In this embodiment, through the cooperation of a sensor and a trigger, it is possible to monitor not only the force or displacement when pulling out the backrest, but also the force or displacement when pulling out the screw. In this embodiment, referring to Figure 3, in order to improve reliability, a sensor and a trigger are symmetrically arranged on the left and right sides of the clamp. The core of the installation of the sensor and trigger is not only to ensure that the screw clamp 470 can trigger the sensor to send a signal to the controller 2 when the screw clamp 470 slides in the direction away from the back flute clamp 465 to set the displacement S1, but also to ensure that the slider is relative to the slide base 473 When sliding to set the displacement S2, the sensor can be triggered to send a signal to the controller 2. It can be understood that in this embodiment, the installation method of the sensor and the triggering part can be: (1) the sensor is installed on the clamp mounting base 410, and the triggering part is installed on the backing jaw 465; (2) the triggering part is installed On the clamp mounting base 410, the sensor is installed on the backing jaw 465.

More specifically, in this embodiment, the track 1 includes a first horizontal track and a second horizontal track located above the first horizontal track. The working device also includes a working device base and a vertical vertical rail 3; the working device base and the third A horizontal rail slides and fits; the controller 2 is arranged on the base of the working device; the bottom end of the vertical rail 3 is installed on the base of the working device, and the upper end of the vertical rail 3 slides and fits with the second horizontal rail; one end of the manipulator 4 It is slidably matched with the vertical rail 3 and can move in the vertical direction on the vertical rail 3. The other end of the manipulator 4 is equipped with a clamp and a vibration mechanism, and the manipulator 4 has six degrees of freedom. In addition to controlling the movement of the working device on the track 1 , the controller 2 can also control the movement of the manipulator 4 on the vertical rail 3 . In this embodiment, two manipulators 4 are provided on a vertical rail 3, which can further improve work efficiency.

In addition, it should be pointed out that in order to remove the formwork on the shear wall, it is generally necessary to build a walkway board. When the automatic formwork removal robot based on visual recognition provided in this implementation is installed, the track 1 can be fixed to the ground. At this time, the robot uses In order to remove the formwork at the lower part of the shear wall, the track 1 can also be fixedly connected to the walkway plate built on the shear wall. At this time, the robot is used to remove the formwork at the higher part of the shear wall.

Embodiment three:

Referring to Figure 5, based on Embodiment 1 or Embodiment 2, this embodiment provides an automatic template disassembly method based on visual recognition, including:

Step A: The controller 2 identifies the screw based on visual recognition and then controls the clamp to clamp and pull the screw outward until the screw is pulled out;

Step B: The controller identifies the back fluting based on visual recognition and then controls the fixture to clamp and pull the back fluting outward;

If the force when the clamp pulls out the back fluting reaches the set value F1 or the sliding displacement of the back fluting clamp relative to the screw clamp reaches the set displacement S1 but the back fluting is not pulled out, the pulling of the back fluting will stop and the controller will control The vibration mechanism sets the duration T1 for vibration of the template, and continues to pull out the backrest after the set vibration duration T1; otherwise, the backrest will be pulled out until the backrest is pulled out.

Specifically, before step A, the controller 2 controls the working device to move in front of the screw and backing to be pulled, and controls the manipulator 4 to reach the position of the screw, and then adjusts the attitude of the manipulator 4 so that the camera 430 reaches the appropriate photographing point. The target (screw and backrest) is photographed to obtain an image. The controller 2 receives the image and generates a depth image and a point cloud image. After point cloud processing (such as calculating the normal vector of the point cloud and filtering), the target (screw and backrest) is matched and calculated. ) and the coordinates of the appropriate gripping point of the fixture. Then the controller 2 will control the fixture to clamp the screw or back corrugation. After clamping, the controller 2 will control the movement of the manipulator 4 to orient the fixture to the screw or back corrugation. External pulling force. It should be pointed out that before pulling out the screw rod, the bolts on the screw rod need to be removed first. Moreover, because the backing and the formwork are fixed together, when pulling out the backing, you actually pull out the backing and the formwork together. .

More specifically, in the above-mentioned step A, every time the screw rod is pulled out to a set length L1, the clamp re-clamps the screw rod forward (that is, in the direction close to the wall) and continues to pull the screw rod. This can lengthen the screw rod to a longer length. The screw rod is pulled out from the wall section by section.

Referring to Figure 6, when using the solution of Embodiment 2, when pulling out the screw, if the pulling force exceeds the set value F2 or the sliding displacement of the slider relative to the slide base 473 reaches the set displacement S2 but it is still not pulled out. When the screw is pulled out, the screw is stopped and the controller 2 controls the vibration mechanism to set the template vibration time T2, and continues to pull the screw after the vibration setting time T2; otherwise, the screw is pulled until the screw is pulled out. In this way, the force or displacement of the back corrugation and the screw rod can be monitored to avoid damage to the clamp. Moreover, the vibration mechanism vibrates the formwork to separate the concrete from the formwork, making it easier to pull the screw rod out of the concrete wall. .

More specifically, referring to Figures 4 and 5, when the number of pulling back flutes and screws does not reach the set value, the next back fluting and the next screw will continue to be pulled until the set number of back flutes and screws are pulled out out.

To sum up, the above are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (9)

1. An automatic formwork disassembly robot based on visual recognition, characterized by including a track and a working device; The working device is in sliding fit with the track; The operation device includes a measurement and control system and a manipulator equipped with a clamp and a vibration mechanism; the measurement and control system includes a camera for taking pictures of the screws and backings on the template, and a control that can perform data processing on the images acquired by the camera. device; The controller can control the working device to move on the track, control the vibration mechanism to vibrate the template, and can control the clamp to pull the screw and the backing based on visual recognition. , and can monitor the force or displacement when the clamp pulls the backing; The clamp includes a clamp mounting base, a screw gripper, a back-flute gripper, a compression spring, and a jaw motor; The clamp mounting base is fixedly connected to the manipulator; The screw gripper includes a sliding seat, a base and two screw clamps for clamping the screw; the sliding seat is in sliding cooperation with the clamp mounting seat, and the base is fixedly installed on the On the sliding seat, the screw clamp is fixedly connected to the base; The back-flute gripper includes two back-flute clamps for clamping the back-flute, and the two back-flute clamps are correspondingly installed on the two screw clamps in a sliding fit; in When the screw clamp slides in a direction away from the backing clamp, the screw clamp compresses the compression spring; The clamp motor can drive the sliding seat to drive the screw clamp to slide on the clamp mounting seat, and is used to adjust the distance between the screw clamps and the distance between the back flute clamps. 2. An automatic template disassembly robot based on visual recognition according to claim 1, characterized in that the vibration mechanism includes a manipulator connection base, a vibration motor and a vibration rod; The manipulator connection base is fixedly connected to the manipulator; The vibration motor is installed on the manipulator connection base; The vibration rod is connected to the vibration motor and is used to transmit the vibration generated by the vibration motor to the template. 3. An automatic template disassembly robot based on visual recognition according to claim 2, characterized in that the vibration mechanism also includes a vibration spring, a vibration sleeve rod, and a vibration motor mounting base; The vibration sleeve rod is fixedly installed on the manipulator connection seat; The vibration spring is sleeved on the outer periphery of the vibration sleeve rod, and the lower end of the vibration spring is in contact with the manipulator connecting seat, and the upper end is in contact with the vibration motor mounting seat; The vibration motor mounting seat is in sliding fit with the vibration sleeve rod; The vibration rod and the vibration motor are both fixedly installed on the vibration motor mounting base; When the vibration motor vibrates, the vibration motor mounting base is driven to reciprocally compress the vibration spring from top to bottom, causing the vibration rod to vibrate reciprocally along its own axis. 4. An automatic template disassembly robot based on visual recognition according to claim 3, characterized in that the clamp further includes a compression slider and a compression sleeve rod; The compression sleeve rod is fixedly installed on the back-steering jaw; The compression spring is sleeved on the outer periphery of the compression sleeve rod, and the lower end of the compression spring is limited by a protrusion provided on the lower end of the compression sleeve rod; The compression slider is fixedly installed on the screw clamp, and the compression slider slides with the compression sleeve rod; When the screw clamp slides in a direction away from the backing clamp, the screw clamp drives the compression slider to compress the compression spring from top to bottom. 5. An automatic template disassembly robot based on visual recognition according to any one of claims 1 to 4, characterized in that the measurement and control system further includes a sensor and a trigger; When the screw clamp slides to set a displacement in a direction away from the backing clamp, the trigger can trigger the sensor to send a signal to the controller. After receiving the signal, the controller can control The manipulator causes the clamp to pull the back corrugation. 6. An automatic template disassembly robot based on visual recognition according to claim 5, characterized in that the sensor is a lighting sensor; The triggering part is a light-shielding part. 7. An automatic template disassembly robot based on visual recognition according to any one of claims 1 to 4, characterized in that the track includes a first horizontal track and a second horizontal track located above the first horizontal track. Track, the working device also includes a working device base and a vertical vertical rail; The working device base is in sliding fit with the first horizontal rail; The controller is arranged on the base of the working device; The bottom end of the vertical rail is installed on the base of the working device, and the upper end of the vertical rail is slidingly matched with the second horizontal rail; One end of the manipulator is slidably matched with the vertical rail, and the manipulator can move in the vertical direction on the vertical rail. The other end of the manipulator is equipped with the clamp and the vibration mechanism. 8. An automatic template disassembly method based on visual recognition, characterized by utilizing an automatic template disassembly robot based on visual recognition according to any one of claims 1 to 7, including: Step A: The controller identifies the screw based on visual recognition and controls the clamp to clamp and pull the screw outward until the screw is pulled out; Step B: The controller identifies the back fluting based on visual recognition and then controls the clamp to clamp and pull the back fluting outward; If the force of the clamp when pulling out the back fluting exceeds the set value F1 or the sliding displacement of the back fluting jaw relative to the screw clamp exceeds the set value S1 but the back fluting is not pulled out yet, then stop pulling out the back fluting. The controller controls the vibration mechanism to vibrate the template for a set duration T1, and continues to pull the backrest after the vibration setting duration T1 until the backrest is pulled out; otherwise, the backrest is Pull and pull the backrest until the backrest is pulled out. 9. An automatic template disassembly method based on visual recognition according to claim 8, characterized in that in the step A, each time the screw is pulled out to a set length L1, the clamp faces forward. After the screw rod is re-clamped, the screw rod is continued to be pulled.