CN112517742A

CN112517742A - Automatic positioning and punching device for building construction based on laser SLAM

Info

Publication number: CN112517742A
Application number: CN202011125530.0A
Authority: CN
Inventors: 不公告发明人
Original assignee: Yueqing Chenzhuo Electric Co Ltd
Current assignee: Yueqing Chenzhuo Electric Co Ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2021-03-19
Also published as: CN110976623B; CN110976623A

Abstract

The invention discloses an automatic positioning and punching device for building construction based on laser SLAM, which comprises a base and a workbench, wherein a feeding mechanism is arranged in the base, positioning mechanisms are uniformly arranged at the top of the workbench, a punching mechanism is arranged at the top of the workbench, the feeding mechanism comprises a feeding plate, a first motor and a swing rod, the first motor is fixed at one side of the base through welding, the swing rod is sleeved outside an output shaft of the first motor, one end of the swing rod is movably connected with the feeding plate through a hinge, a first through hole is formed in the top of the workbench, the first through hole is rectangular, the feeding plate is positioned in the center of the first through hole, the positioning mechanism comprises a guide rail, a clamping plate, a movable block, a gear, a second motor and a sliding groove, and the guide rail is correspondingly arranged at the top of the workbench, the method has the characteristics of flexible determination of punching positions and high positioning accuracy.

Description

Automatic positioning and punching device for building construction based on laser SLAM

Technical Field

The invention relates to the technical field of building construction, in particular to an automatic positioning and punching device for building construction based on laser SLAM.

Background

The laser SLAM is a process of calculating the self position of a moving object and constructing an environment map at the same time according to the information of a sensor, and solves the problems of positioning and map construction when a robot and the like move in an unknown environment. At present, SLAM is mainly applied to the fields of robots, unmanned planes, unmanned driving, AR, VR and the like.

And can face the area that a plurality of distances differ and punch the place in the building construction, because current perforating device is according to the program setting or artifical manual judgement position of punching, can not judge the position of punching automatically according to the circumstances, it is inefficient, and increased construction worker's labor intensity. Therefore, it is necessary to design an automatic positioning and punching apparatus for building construction based on laser SLAM, which can flexibly determine a punching position and has high positioning accuracy.

Disclosure of Invention

The invention aims to provide an automatic positioning and punching device for building construction based on laser SLAM, which aims to solve the problems in the background technology.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an automatic location perforating device for construction based on laser SLAM, includes base and workstation, the internally mounted of base has feeding mechanism, the top of workstation evenly is provided with positioning mechanism, the mechanism of punching a hole is installed at the top of workstation, the bottom of the mechanism of punching a hole is provided with vision sensor, vision sensor and the mechanism of punching a hole all are connected with the control system electricity.

Furthermore, feeding mechanism includes delivery sheet, first motor and pendulum rod, one side of base is through welded fastening has first motor, the pendulum rod has been cup jointed to the output shaft outside of first motor, the one end of pendulum rod has the delivery sheet through hinge swing joint, first through-hole has been seted up at the top of workstation, the shape of first through-hole is the rectangle, and the delivery sheet is located the center department of first through-hole, the scalable regulation length of pendulum rod.

Further, positioning mechanism includes guide rail, splint, movable block, gear, second motor and spout, the top correspondence of workstation is provided with the guide rail, the movable block is installed at the top of guide rail, the spout has been seted up to the bottom correspondence of movable block, and spout and guide rail be the cooperation structure, the inside of movable block is provided with the gear, welded fastening has the second motor bottom of workstation, second motor and external power source electric connection, the second through-hole has been seted up to the bottom of movable block, the output shaft of second motor passes the second through-hole, and its output shaft is fixed mutually with the gear, one side inner wall of movable block is provided with the rack, and rack and gear mesh mutually.

Further, the mechanism of punching a hole includes third motor, lead screw, mount, slip table, telescopic cylinder and the head of punching a hole, the top correspondence of workstation has the mount through the bolt fastening, and has the lead screw through bearing swing joint between two mounts, one side of mount has the third motor through welded fastening, and the output shaft of third motor passes through shaft coupling swing joint with the lead screw, the externally mounted of lead screw has the slip table, telescopic cylinder is installed at the top of slip table, and telescopic cylinder's output is connected with the head of punching a hole.

Further, the inside of slip table is provided with lubricated mechanism, lubricated mechanism is including leading to oil hose, the one end that leads to oil hose is connected with the batch oil tank, the other end that leads to oil hose is connected with the branch pipe, the one end opening and the punching head of branch pipe set up relatively, the batch oil tank sets up in the motion topmost department of delivery sheet, and the bottom of batch oil tank is the softwood matter.

Further, become vertically to be provided with the interlayer in the middle of the batch oil tank, and the interlayer both sides link up with two logical oil hose respectively each other, logical oil hose is the annular around the top of piercing head, logical oil hose inwards opens and is equipped with a plurality of oil through holes, and two logical oil hose correspond the setting from top to bottom at the first outer peripheral face of piercing head.

Further, the top of piercing press head is provided with the reducing subassembly, the reducing subassembly includes the reducing piece, the top of piercing press head is provided with fixed barrel, the spout has evenly been seted up to the inside of fixed barrel, and inside activity is pegged graft and is had the reducing piece, the reducing piece is a plurality of gyration central lines setting around fixed barrel, the one end of reducing piece articulates there is the connecting rod, the one end of connecting rod articulates there is the worm, the inside activity of fixed barrel is pegged graft and is had the reducing pivot, the worm wheel has been cup jointed to the outside of reducing pivot, the worm wheel meshes with the worm mutually, the one end of worm is connected with the knob, the reducing piece comprises the last portion of punching and the lower portion of punching of mutual slip grafting, it is provided with elastic element to go up between the portion of punching and the lower portion of punching, the bottom of punching portion.

Compared with the prior art, the invention has the following beneficial effects: in the invention, the raw materials are mixed,

(1) by arranging the positioning mechanism, the transverse position of the sheet metal plate can be changed by adjusting the position of the clamping plate after the plate is placed in the station, so that the time for manually adjusting the position of the plate is saved, and the processing efficiency is high;

(2) the punching mechanism is arranged, the positions of the sliding table and the punching head are adjusted by the rotation of the lead screw, a mark is made in the sheet by chalk, the position needing punching is judged according to the color by the vision sensor, and holes with irregular positions are punched, so that the sheet metal punching device has the characteristic of high positioning precision;

(3) the feeding mechanism is arranged, one end of the oscillating rod is used for driving two ends of the feeding plate to realize the movement of combining reciprocating ascending and descending with horizontal position phase shifting, the feeding plate penetrates through the first through hole, the feeding plate ascends and descends in the horizontal plane of the workbench, feeding is carried out when the drill bit retracts, intermittent feeding is convenient to realize, the length of the oscillating rod is adjusted to change the feeding amplitude, and meanwhile, the oscillating rod is matched with the positioning mechanism to clamp a plate, so that the oscillating rod has higher stability compared with synchronous belt transmission punching;

(4) the lubricating mechanism is arranged, so that lubricating oil is introduced into the punching head, the lubricating degree of the punching head is convenient to improve, intermittent lubrication is realized along with the intermittent motion of the feeding mechanism, the lubricating oil extruding mechanism is not required to be additionally arranged, and the interlayer is longitudinally arranged in the middle of the oil storage tank, so that the over-high temperature of the drill bit can be prevented by using cooling liquid;

(5) through being provided with the reducing subassembly, utilize elastic element to adjust the aperture of punching the portion and punching the portion down, can be based on the diameter of the whole circle that the reducing block becomes and prescribe a limit to the size of hole, carry out the reaming when punching to need not to change the drill bit and just can punch out the hole of equidimension not.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a side view of the overall structure of the present invention;

FIG. 2 is a schematic top view of the overall structure of the present invention;

FIG. 3 is a schematic view of the second motor and cleat assembly of the present invention;

FIG. 4 is a schematic view of the lubrication mechanism of the present invention;

FIG. 5 is a schematic structural view of a reducing assembly of the present invention;

FIG. 6 is a schematic view of the diameter changing block structure of the present invention;

in the figure: 1. a work table; 2. a positioning mechanism; 3. a punching mechanism; 4. a base; 5. a feeding mechanism; 51. A feeding plate; 52. a first motor; 53. a swing rod; 21. a guide rail; 22. a splint; 23. a movable block; 24. a gear; 25. a second motor; 11. a first through hole; 231. a second through hole; 232. a rack; 31. a third motor; 32. a lead screw; 33. a fixed mount; 34. a sliding table; 35. a telescopic cylinder; 36. a punching head; 6. a lubrication mechanism; 61. an oil storage tank; 62. an oil hose; 621. a branch pipe; 7. a variable diameter component; 71. a worm gear; 72. a knob; 73. a worm; 74. a variable diameter rotating shaft; 75. a diameter-variable block; 751. punching a hole part; 752. a lower punching part; 753. a tapered portion; 754. an elastic element.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a technical solution: an automatic positioning and punching device for building construction based on laser SLAM comprises a base 4 and a workbench 1, wherein a feeding mechanism 5 is installed inside the base 4, positioning mechanisms 2 are uniformly arranged at the top of the workbench 1, a punching mechanism 3 is installed at the top of the workbench 1, a vision sensor is arranged at the bottom of the punching mechanism 3 and electrically connected with a control system, the punching mechanism 3 is used for realizing a punching process, when the device is used, a position of a plate needing to be punched is marked by chalk, when the device is used, a point to be punched is judged by the vision sensor, a vision signal is fed back to the control system, so that an action position of the punching mechanism 3 is judged, a hole at an irregular position is punched, and the positioning mechanism can position the plate and can automatically feed the plate;

the feeding mechanism 5 comprises a feeding plate 51, a first motor 52 and a swing rod 53, the first motor 52 is fixedly welded on one side of the base 4, the swing rod 53 is sleeved outside an output shaft of the first motor 52, one end of the swing rod 53 is movably connected with the feeding plate 51 through a hinge, a first through hole 11 is formed in the top of the workbench 1, the first through hole 11 is rectangular, the feeding plate 51 is located in the center of the first through hole 11, the swing rod 53 can stretch and adjust the length, the first motor 52 drives the swing rod 53 to rotate during operation, one end of the swing rod 53 enables the feeding plate 51 to lift a plate when the feeding plate 51 rises to the position of the plate, the plate is fed to another horizontal position, the feeding plate 51 falls down to form a circular motion track, and the reciprocating motion can realize plate discharging, and the amplitude of the circular track can be adjusted by adjusting the length of the swing rod 53, so that the distance;

as shown in fig. 2-3, the positioning mechanism 2 includes a guide rail 21, a clamping plate 22, a movable block 23, a gear 24, a second motor 25 and a sliding slot 26, the top of the workbench 1 is correspondingly provided with the guide rail 21, the top of the guide rail 21 is provided with the movable block 23, the bottom of the movable block 23 is correspondingly provided with the sliding slot 26, the sliding slot 26 and the guide rail 21 are in a matching structure, the inside of the movable block 23 is provided with the gear 24, the bottom of the workbench 1 is fixedly provided with the second motor 25 by welding, the second motor 25 is electrically connected with an external power supply, the bottom of the movable block 23 is provided with a second through hole 231, an output shaft of the second motor 25 passes through the second through hole 231, and is fixed with the gear 24, the inner wall on one side of the movable block 23 is provided with a rack 232, and the rack 232 is meshed with the gear 24, the plate is firstly placed on the upper side of the two movable blocks 23, the power, the gear 24 is meshed with the rack 232 to drive the movable block 23 to move horizontally, the two clamping plates 22 clamp the sheet materials, so that the sheet materials with different widths are adapted, the position of the sheet metal sheet material can be changed by adjusting the positions of the clamping plates 22, the time for manually adjusting the position of the sheet material is saved, the processing efficiency is high, the sheet material is fed by the feeding mechanism when the positioning mechanism 2 is loosened, and then the sheet material is clamped again by the positioning mechanism 2 and has higher stability compared with synchronous belt transmission;

referring to fig. 1 and 2, the punching mechanism 3 includes a third motor 31, a lead screw 32, a fixing frame 33, a sliding table 34, a telescopic cylinder 35 and a punching head 36, the fixing frame 33 is correspondingly fixed on the top of the worktable 1 through bolts, the lead screw 32 is movably connected between the two fixing frames 33 through a bearing, the third motor 31 is fixed on one side of the fixing frame 33 through welding, an output shaft of the third motor 31 is movably connected with the lead screw 32 through a coupling, the sliding table 34 is installed outside the lead screw 32, the telescopic cylinder 35 is installed on the top of the sliding table 34, the punching head 36 is connected with an output end of the telescopic cylinder 35, a power supply of the third motor 31 is switched on, the output shaft drives the lead screw 32 to rotate, the horizontal position of the sliding table 34 is adjusted to a proper position, the controller 6 controls the output end of the telescopic cylinder 35 to push the punching head 36 to punch downwards, the punching head 36, the punching head 36 can punch holes at any position of the plate without repeated feeding, so that the working time is saved;

as shown in fig. 4, a lubricating mechanism 6 is arranged inside the sliding table 34, the lubricating mechanism 6 includes an oil hose 62, one end of the oil hose 62 is connected with an oil storage tank 61, the other end of the oil hose 62 is connected with a branch pipe 621, an opening at one end of the branch pipe 621 is arranged opposite to the punching head 36, the oil storage tank 61 is arranged at the topmost movement end of the feeding plate 51, and the bottom of the oil storage tank 61 is made of a soft material, when the feeding plate 51 periodically moves to the topmost movement end in operation, the feeding plate contacts with the bottom of the oil storage tank 61 to press a chamber of the oil storage tank 61, oil is pressed into the branch pipe 621 through the oil hose 62, so as to squeeze lubricating oil in the oil storage tank 61, and therefore, the lubricating oil can be dripped out by the plurality of oil dripping holes of the branch pipe 621 in each operation stroke, so that the punching head 36 can perform punching operation more smoothly, and;

the middle of the oil storage tank 61 is longitudinally provided with an interlayer, two sides of the interlayer are communicated with the two oil through hoses 62 respectively, the oil through hoses 62 annularly surround the top of the punching head 36, a plurality of oil through holes are formed in the inward side of each oil through hose 62, the two oil through hoses 62 are arranged on the outer peripheral surface of the punching head 36 in a vertically corresponding mode, lubricating oil can be dropped on the whole peripheral surface of the punching head 36 through the oil through hoses 62 arranged in the mode, the lubricating effect is improved, and meanwhile the drill bit can be prevented from being overhigh in temperature by utilizing cooling liquid;

as shown in fig. 5-6, a diameter-changing assembly 7 is disposed on the top of the punching head 36, the diameter-changing assembly 7 includes a diameter-changing block 75, a fixed cylinder is disposed on the top of the punching head 36, a sliding slot is uniformly formed in the fixed cylinder, the diameter-changing block 75 is movably inserted in the fixed cylinder, the diameter-changing block 75 is disposed around the rotation center line of the fixed cylinder, one end of the diameter-changing block 75 is hinged to a connecting rod, one end of the connecting rod is hinged to a worm 73, a diameter-changing rotating shaft 74 is movably inserted in the fixed cylinder, a worm wheel 71 is sleeved outside the diameter-changing rotating shaft 74, the worm wheel 71 is engaged with the worm 73, one end of the worm 73 is connected to a knob 72, the diameter-changing block 75 is composed of an upper punching portion 751 and a lower punching portion 752 which are slidably inserted into each other, an elastic element 754 is disposed between the upper punching portion and the lower, the reducing rotating shaft 74 and the worm wheel 71 are driven to rotate, the worm wheel 71 drives the worm 73 to rotate, one end of the connecting rod is driven to move, the reducing block 75 is pushed out or retracted from the fixed cylinder, when the reducing block 75 is pushed out, due to the fact that obstruction is lost, the elastic element 754 enables the upper punching portion 751 and the lower punching portion 752 to be separated outwards, each reducing block 75 forms a whole circle, the area of the whole circle is the size of holes to be punched, the conical portion 753 is in contact with the hole wall to conduct hole expansion during punching, the size of the holes is limited according to the diameter of the reducing block 75, and the area formed by the reducing block 75 is adjustable, so that the holes with different sizes can be punched without replacing a drill bit.

Example (b): when the punching device is used, firstly, a mark is made on a plate by chalk, then the positioning mechanism 2 is used for clamping the plate and adjusting the transverse position of the plate, then the punching mechanism 3 is used for punching, the feeding mechanism 5 is used for intermittent feeding, the lubricating mechanism 6 is used for lubricating and cooling the punching head 36 and intermittently supplying lubricating oil with the feeding mechanism 5, the reducing assembly 7 is used for changing the diameter of punching, and the plate is fed leftwards and rightwards to finish the machining process.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic positioning perforating device for construction based on laser SLAM, includes base (4) and workstation (1), its characterized in that: a feeding mechanism (5) is installed inside the base (4), positioning mechanisms (2) are uniformly arranged on the top of the workbench (1), a punching mechanism (3) is installed on the top of the workbench (1), a visual sensor is arranged at the bottom of the punching mechanism (3), and both the visual sensor and the punching mechanism (3) are electrically connected with a control system;

the feeding mechanism (5) comprises a feeding plate (51), a first motor (52) and a swing rod (53), the first motor (52) is fixedly welded on one side of the base (4), the swing rod (53) is sleeved outside an output shaft of the first motor (52), one end of the swing rod (53) is movably connected with the feeding plate (51) through a hinge, a first through hole (11) is formed in the top of the workbench (1), the first through hole (11) is rectangular, the feeding plate (51) is located in the center of the first through hole (11), and the swing rod (53) can be adjusted in length in a telescopic mode;

the punching mechanism (3) comprises a third motor (31), a lead screw (32), fixing frames (33), a sliding table (34), a telescopic cylinder (35) and a punching head (36), the fixing frames (33) are correspondingly fixed to the top of the workbench (1) through bolts, the lead screw (32) is movably connected between the two fixing frames (33) through a bearing, the third motor (31) is fixedly welded to one side of each fixing frame (33), an output shaft of the third motor (31) is movably connected with the lead screw (32) through a coupler, the sliding table (34) is installed outside the lead screw (32), the telescopic cylinder (35) is installed at the top of the sliding table (34), and the output end of the telescopic cylinder (35) is connected with the punching head (36);

the top of punching head (36) is provided with reducing subassembly (7), reducing subassembly (7) includes reducing piece (75), the top of punching head (36) is provided with fixed barrel, the spout has evenly been seted up to the inside of fixed barrel, and inside activity is pegged graft and is had reducing piece (75), reducing piece (75) are a plurality of gyration central line settings around fixed barrel, the one end of reducing piece (75) articulates there is the connecting rod, the one end of connecting rod articulates there is worm (73), the inside activity of fixed barrel is pegged graft and is had reducing pivot (74), worm wheel (71) has been cup jointed to the outside of reducing pivot (74), worm wheel (71) and worm (73) mesh mutually, the one end of worm (73) is connected with knob (72), reducing piece (75) comprise last drilling portion (751) and lower drilling portion (752) that mutual slip was pegged graft, an elastic element (754) is arranged between the upper punching part (751) and the lower punching part (752), and a conical part (753) is arranged at the bottom of the lower punching part (752);

the positioning mechanism (2) comprises a guide rail (21), a clamping plate (22), a movable block (23), a gear (24), a second motor (25) and a sliding groove (26), the top of the workbench (1) is correspondingly provided with the guide rail (21), the movable block (23) is installed at the top of the guide rail (21), the sliding groove (26) is correspondingly formed in the bottom of the movable block (23), the sliding groove (26) and the guide rail (21) are of a matched structure, the gear (24) is arranged inside the movable block (23), the second motor (25) is fixed to the bottom of the workbench (1) through welding, the second motor (25) is electrically connected with an external power supply, a second through hole (231) is formed in the bottom of the movable block (23), an output shaft of the second motor (25) penetrates through the second through hole (231), the output shaft of the second motor is fixed to the gear (24), a rack (232) is arranged on the inner wall of one side of the movable block (23), and the rack (232) is meshed with the gear (24);

the inside of slip table (34) is provided with lubricated mechanism (6), lubricated mechanism (6) are including logical oil hose (62), the one end that leads to oil hose (62) is connected with batch oil tank (61), the other end that leads to oil hose (62) is connected with branch pipe (621), the one end opening and the punching head (36) of branch pipe (621) set up relatively, batch oil tank (61) set up the motion topmost department at pay-off board (51), and the bottom of batch oil tank (61) is the soft material.

2. The automatic positioning and punching device for building construction based on the laser SLAM as claimed in claim 1, wherein: become vertically to be provided with the interlayer in the centre of oil storage tank (61), and the interlayer both sides link up each other with two logical oil hose (62) respectively, logical oil hose (62) are the annular around the top of punching a hole head (36), logical oil hose (62) are inwards opened and are equipped with a plurality of oil passing holes, and two logical oil hose (62) correspond the setting from top to bottom in punching a hole head (36) outer peripheral face.