CN111779287B - Conveying and aligning assembly system for large-span truss type assembly type prefabricated parts - Google Patents
Conveying and aligning assembly system for large-span truss type assembly type prefabricated parts Download PDFInfo
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- CN111779287B CN111779287B CN202010494641.2A CN202010494641A CN111779287B CN 111779287 B CN111779287 B CN 111779287B CN 202010494641 A CN202010494641 A CN 202010494641A CN 111779287 B CN111779287 B CN 111779287B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/162—Handles to carry construction blocks
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Abstract
The utility model provides a large-span truss type assembled prefabricated component is carried and is counterpointed assembly system which characterized in that: the invention adopts a large-span truss type conveying system, is matched with frame type prefabricated part carrying equipment consisting of a lifting base, a longitudinal moving platform, a transverse moving platform, a component bearing vertical frame and a hanging beam, has the functions of accurately adjusting the overall height and automatically aligning transversely and longitudinally with high precision, realizes the automatic alignment and assembly in the whole process by means of machine vision and sensors, carries out lifting and conveying by means of the large-span truss type conveying system, can carry various prefabricated parts with different dimensions, does not need to manually hold the prefabricated parts in the alignment and assembly process, ensures the stable posture of the prefabricated parts by a clamping and limiting mechanism, has high alignment and assembly precision, reduces the labor intensity of personnel, and greatly improves the alignment and assembly efficiency.
Description
Technical Field
The invention relates to alignment assembly equipment and an alignment assembly method thereof, in particular to a conveying and alignment assembly system for a large-span truss type assembly type prefabricated part, and belongs to the technical field of building construction equipment.
Background
The fabricated building is a building fabricated on site by using prefabricated parts, and the shear wall is also called as a wind-resistant wall, an earthquake-resistant wall or a structural wall, and a wall body mainly bearing horizontal load and vertical load caused by wind load or earthquake action in a house or a structure. In the assembly type building construction, a large number of shear wall prefabricated components and other prefabricated components need to be hoisted, aligned and installed, in order to enable the prefabricated components to be accurately aligned with reserved steel bars or reserved holes in the hoisting process, usually, several workers need to hold the shear wall when the prefabricated components reach the installation position, the shear wall in a suspended state needs to be adjusted from multiple angles to enable the shear wall to be accurately positioned, then a crane places the shear wall in place, and in the process, a tower crane driver needs to keep real-time talkback and communication with a signaler on a hoisting site and then is matched with a site construction worker, and multiple persons need to finish the hoisting and positioning of the prefabricated components together. The alignment precision can be seriously influenced due to more holding persons and inconsistent force or unequal angles, so that the assembly precision is influenced, the efficiency of the alignment process is low, the weight of the prefabricated part in a hanging and suspending state is large, and great potential safety hazards are formed for operators. Therefore, the operation mode has the defects of low automation degree, high hoisting difficulty, high labor intensity of personnel, low alignment precision, low alignment assembly efficiency, difficult safety guarantee and the like, and the invention aims to solve the technical problem.
Disclosure of Invention
The invention aims to solve the problems that the existing device for hoisting and aligning the prefabricated part of the shear wall has simple structure, requires multiple persons to coordinate in the hoisting process, is easy to cause inconsistent force or angle due to more persons, can seriously affect the aligning precision and has high labor intensity, the alignment assembly efficiency is lower, and the defects of larger potential safety hazards are formed to operators, the structure is reasonable, only one or two persons are needed for monitoring and assisting in hoisting and alignment assembly, the posture can be automatically adjusted and the butt joint position can be automatically aligned, the automatic alignment and assembly in the whole process are realized by machine vision and a sensor, counterpoint and assembly precision are high, have reduced personnel intensity of labour to counterpoint assembly efficiency increases substantially, a large-span truss type assembled prefabricated component that the security performance is good is carried and is counterpointed assembly system.
In order to achieve the above purpose, the technical solution of the invention is as follows: the utility model provides a large-span truss type assembled prefabricated component is carried and is counterpointed assembly system, includes the vertical braces pylon, its characterized in that: the vertical supporting towers are fixed at four corners of the outer side of a building, horizontal trusses are horizontally arranged at the tops of two vertical supporting towers positioned on the same side, track sliding grooves are formed in the horizontal trusses, track trolleys are respectively arranged on two parallel track sliding grooves, a hoisting truss is horizontally connected between the two track trolleys, a hoisting moving trolley is horizontally arranged on the lower surface of the hoisting truss, a winding machine is installed at the bottom of the hoisting moving trolley, the winding machine is connected with one end of a cable rope, a hoisting hook is fixed at the other end of the cable rope and is connected with alignment assembly equipment, the alignment assembly equipment comprises a lifting base, a longitudinal moving platform, a transverse moving platform, a component bearing vertical frame and a hoisting cross beam, the hoisting hook is connected with a hook on the hoisting cross beam, synchronous hydraulic cylinders are respectively installed at four corners of the lower surface of the lifting base, and a pair of longitudinal sliding rails which are parallel to each other is longitudinally arranged on the upper surface of the lifting base, longitudinal sliding blocks are respectively installed on the longitudinal sliding rails, a longitudinal moving platform is fixed on the longitudinal sliding blocks, a longitudinal linear motion device is installed between the longitudinal moving platform and the longitudinal sliding blocks, the longitudinal linear motion device comprises a driving lead screw, a lead screw bearing seat and a servo motor, a driving lead screw parallel to the longitudinal sliding rails is arranged on a lifting base, one end of the driving lead screw is provided with the lead screw bearing seat, the lead screw bearing seat is fixedly installed on the lifting base, the other end of the driving lead screw is coaxially fixed with a rotating shaft of the servo motor, a shell of the servo motor is installed and fixed on the lifting base, a nut pair corresponding to the driving lead screw is arranged in the longitudinal sliding blocks, the longitudinal sliding blocks are installed on the driving lead screw, a pair of transverse sliding rails parallel to each other are installed on the longitudinal moving platform, transverse sliding blocks are respectively installed on the transverse sliding rails, and transverse moving platforms are fixed on the transverse sliding blocks, a transverse linear motion device is arranged between the transverse moving platform and a transverse sliding block, the transverse linear motion device comprises a driving lead screw, a lead screw bearing seat and a servo motor, the longitudinal moving platform is provided with the driving lead screw parallel to the transverse sliding rail, one end of the driving lead screw is provided with the lead screw bearing seat, the lead screw bearing seat is fixedly arranged on the longitudinal moving platform, the other end of the driving lead screw is coaxially fixed with a rotating shaft of the servo motor, a shell of the servo motor is fixedly arranged on the longitudinal moving platform, a nut pair corresponding to the driving lead screw is arranged in the longitudinal sliding block, the longitudinal sliding block is arranged on the driving lead screw, the transverse moving platform is fixedly provided with a component bearing stand, the middle part of the upper end of the component bearing stand is fixedly provided with a hanging beam, the upper side and the lower side of the component bearing stand are respectively provided with clamping components corresponding to the prefabricated components, each clamping component comprises a fixed seat, a transverse sliding block and a transverse sliding block, each clamping component is fixedly arranged on the upper end and the lower end of the corresponding to the prefabricated component bearing stand, and the prefabricated component, and the clamping component is fixedly arranged on the upper end of the lower side and the longitudinal sliding block, and the longitudinal sliding block is fixedly provided with a clamping component, the clamping component is fixedly arranged on the transverse sliding block, and the transverse sliding block, the longitudinal sliding block, and the transverse sliding block is fixedly arranged on the longitudinal sliding block, and the longitudinal sliding block is provided with a clamping component, the clamping component is arranged on the longitudinal sliding block, the clamping component is fixedly arranged on the longitudinal sliding block, and the transverse sliding block, and the clamping component is fixedly arranged on the longitudinal sliding block, and the transverse sliding block, and the longitudinal sliding block, and the clamping component is provided with a clamping component, and the clamping component, the clamping component is arranged on the longitudinal sliding block, and the longitudinal sliding block, and the clamping component is provided with a clamping component, the longitudinal sliding block, the clamping component is arranged on the clamping component is provided with a clamping component, and the clamping component, and the clamping component is arranged on the longitudinal component is provided with a clamping component, and the clamping, The fixing device comprises fixing arms, movable clamping blocks, camshafts, cams and a speed reducing motor, wherein the fixing seats are fixedly arranged on the upper side and the lower side of a component bearing vertical frame, the two ends of each fixing seat are respectively and fixedly provided with the fixing arms which are oppositely arranged, each fixing arm is provided with a sliding groove, the movable clamping blocks are arranged in the sliding grooves, a compression spring is arranged between each movable clamping block and each fixing arm, the outer sides of the fixing arms are provided with the cams through the camshafts, the cams are coaxially fixed with rotating shafts of the speed reducing motor, bearing seats are arranged in the middle parts of the two sides of the component bearing vertical frame, the bearing seats are provided with limiting fixing clamps through the rotating shafts, the other ends of the rotating shafts are connected with an output shaft of a turnover motor through a speed reducer, a shell of the turnover motor is fixed on the component bearing vertical frame, one or more supporting plates are arranged at the bottom of the component bearing vertical frame through sliding grooves, and are connected with the telescopic ends of an electric telescopic rod, electric telescopic handle installs on the component bears the grudging post, one or more two mesh cameras are installed to lifting pedestal's inboard, lifting pedestal installs the laser calibration appearance corresponding to prefabricated component, lifting pedestal or vertical slide rail go up near the prefabricated component bottom around both sides parallel arrangement respectively have horizontal slide rail, the fixed rack that is provided with in side of horizontal slide rail, install the sliding seat on the horizontal slide rail, install step motor on the sliding seat, coaxial arrangement has drive gear on step motor's the output shaft, drive gear meshes with the rack mutually, install welding robot on the sliding seat.
Further, the lifting base, the longitudinal moving platform, the transverse moving platform and the component bearing stand are made of steel structures, the lifting base is a U-shaped steel structure base, the longitudinal moving platform and the transverse moving platform are steel structure rectangular frames, and the transverse length of the longitudinal moving platform, the transverse moving platform and the component bearing stand is larger than that of the prefabricated component.
Furthermore, the synchronous hydraulic cylinders are respectively connected with a multi-cylinder synchronous hydraulic controller, and the bottom of the lifting base is embedded with a photoelectric distance meter.
Furthermore, the binocular camera faces the assembly connection position between the prefabricated part and the building, the binocular camera and the laser calibrator are connected with the input end of the controller respectively, and the output end of the controller is connected with the multi-cylinder synchronous hydraulic control device, the longitudinal linear motion device and the transverse linear motion device respectively.
The invention has the beneficial effects that:
1. the invention adopts a large-span truss type conveying system, is matched with frame type prefabricated part carrying equipment consisting of a lifting base, a longitudinal moving platform, a transverse moving platform, a component bearing vertical frame and a hanging beam, has the functions of accurately adjusting the overall height and automatically aligning transversely and longitudinally with high precision, and realizes the automatic alignment and assembly of the whole process by means of machine vision and a sensor.
2. The invention adopts the limiting and fixing clamp and the clamping assembly to laterally clamp and fix the prefabricated part, has good anti-falling self-locking function, can drive the prefabricated part to turn over by rotating the turnover motor, integrally supports the prefabricated part from the bottom by the supporting plate, prevents the suspended large-mass prefabricated part from vertically sliding off, and improves the safety.
3. The large-span truss type conveying system is used for hoisting and conveying, the adaptability is strong, various prefabricated components with different dimensions can be carried, the prefabricated components do not need to be manually held in the alignment and assembly processes, and the clamping and limiting mechanisms ensure the stable posture of the prefabricated components.
4. The invention has reasonable structure, only one or two persons are needed for monitoring and assisting in hoisting and alignment assembly, the posture can be automatically adjusted and the butt joint position can be automatically aligned, the alignment and assembly precision is high, the labor intensity of personnel is reduced, the alignment assembly efficiency is greatly improved, the safety performance is good, and the invention has wide application in the field of assembly type construction.
Drawings
Fig. 1 is a schematic structural view of a long-span truss type conveying system of the present invention.
Fig. 2 is a schematic structural diagram of the alignment assembling apparatus of the present invention.
Fig. 3 is a schematic structural diagram of the longitudinal moving platform of the present invention.
Fig. 4 is a schematic structural diagram of the lateral moving platform of the present invention.
Fig. 5 is a schematic view of the structure of the rack gear of the present invention.
FIG. 6 is a schematic view of the structure of the clamping assembly of the present invention.
In the figure: the vertical support tower 1, the horizontal truss 2, the track chute 3, the rail trolley 4, the hoisting truss 5, the hoisting slide rail 6, the hoisting moving trolley 7, the winding machine 8, the cable 9, the hoisting hook 10, the lifting base 11, the longitudinal slide rail 12, the longitudinal slide block 13, the longitudinal moving platform 14, the transverse slide rail 15, the transverse slide block 16, the transverse moving platform 17, the component bearing stand 18, the hoisting cross beam 19, the synchronous hydraulic cylinder 20, the limit fixing clamp 21, the bearing seat 22, the overturning motor 12, the clamping component 24, the electric telescopic rod 25, the supporting plate 26, the driving screw 27, the screw bearing seat 28, the servo motor 29, the binocular camera 30, the laser calibrator 31, the horizontal slide rail 32, the rack 33, the sliding seat 34, the driving gear 35, the stepping motor 36, the welding robot 37, the prefabricated component 38, the fixed seat 39, the fixed arm 40, the movable clamping block 41, the cam shaft 42, a cam 43 for driving a motor 44.
Detailed Description
The invention is described in further detail below with reference to the following description of the drawings and the detailed description.
Referring to fig. 1 to 6, the conveying and aligning assembly system for the large-span truss type assembly type prefabricated parts of the present invention includes a vertical support tower 1, and is characterized in that: the vertical supporting towers 1 are fixed at four corners of the outer side of a building, horizontal trusses 2 are horizontally arranged at the tops of two vertical supporting towers 1 positioned on the same side, track sliding grooves 3 are arranged on the horizontal trusses 2, track trolleys 4 are respectively arranged on two parallel track sliding grooves 3, a hoisting truss 5 is horizontally connected between the two track trolleys 4, a hoisting travelling trolley 7 is horizontally arranged on the lower surface of the hoisting truss 5, a winding machine 8 is arranged at the bottom of the hoisting travelling trolley 7, the winding machine 8 is connected with one end of a cable 9, a hoisting hook 10 is fixed at the other end of the cable 9, the hoisting hook 10 is connected with alignment assembly equipment, the alignment assembly equipment comprises a lifting base 11, a longitudinal travelling platform 14, a transverse travelling platform 17, a component bearing vertical frame 18 and a hoisting beam 19, the hoisting hook 10 is connected with a hook on the hoisting beam 19, and synchronous hydraulic cylinders 20 are respectively arranged at four corners of the lower surface of the lifting base 11, the upper surface of the lifting base 11 is longitudinally provided with a pair of longitudinal sliding rails 12 which are parallel to each other, the longitudinal sliding rails 12 are respectively provided with a longitudinal sliding block 13, the longitudinal sliding block 13 is fixed with a longitudinal moving platform 14, a longitudinal linear motion device is arranged between the longitudinal moving platform 14 and the longitudinal sliding block 13, the longitudinal linear motion device comprises a driving lead screw 27, a lead screw bearing seat 28 and a servo motor 29, the lifting base 11 is provided with the driving lead screw 27 which is parallel to the longitudinal sliding rails 12, one end of the driving lead screw 27 is provided with the lead screw bearing seat 28, the lead screw bearing seat 28 is fixedly arranged on the lifting base 11, the other end of the driving lead screw 27 is coaxially fixed with a rotating shaft of the servo motor 29, a shell of the servo motor 29 is fixedly arranged on the lifting base 11, a nut pair corresponding to the driving lead screw 27 is arranged in the longitudinal sliding block 13, and the longitudinal sliding block 13 is arranged on the driving lead screw 27, a pair of mutually parallel transverse sliding rails 15 are arranged on the longitudinal moving platform 14, transverse sliding blocks 16 are respectively arranged on the transverse sliding rails 15, a transverse moving platform 17 is fixed on the transverse sliding blocks 16, a transverse linear motion device is arranged between the transverse moving platform 17 and the transverse sliding blocks 16, the transverse linear motion device comprises a driving lead screw 27, a lead screw bearing seat 28 and a servo motor 29, the longitudinal moving platform 14 is provided with the driving lead screw 27 parallel to the transverse sliding rails 15, one end of the driving lead screw 27 is provided with the lead screw bearing seat 28, the lead screw bearing seat 28 is fixedly arranged on the longitudinal moving platform 14, the other end of the driving lead screw 27 is coaxially fixed with a rotating shaft of the servo motor 29, a shell of the servo motor 29 is fixedly arranged on the longitudinal moving platform 14, a nut pair corresponding to the driving lead screw 27 is arranged in the longitudinal sliding block 13, the longitudinal sliding block 13 is arranged on the driving lead screw 27, a component bearing vertical frame 18 is fixed on the transverse moving platform 17, a hanging beam 19 is fixedly arranged in the middle of the upper end of the component bearing vertical frame 18, clamping components 24 are respectively arranged on the upper side and the lower side of the component bearing vertical frame 18 corresponding to the prefabricated component 38, each clamping component 24 comprises a fixed seat 43, a fixed arm 44, a movable clamping block 45, a cam shaft 46, a cam 47 and a speed reducing motor 48, the fixed seats 43 are fixedly arranged on the upper side and the lower side of the component bearing vertical frame 18, fixed arms 44 are respectively and fixedly arranged at the two ends of the fixed seats 43, the fixed arms 44 are oppositely arranged, each fixed arm 44 is provided with a sliding groove, the movable clamping block 45 is arranged in each sliding groove, a compression spring is arranged between the movable clamping block 45 and the fixed arm 44, the cam 47 is arranged on the outer side of each fixed arm through the cam shaft, the cam 47 is coaxially fixed with the rotating shaft of the speed reducing motor 48, bearing seats 22 are arranged in the middle of the two sides of the component bearing vertical frame 18, a limiting and fixing clamp 21 is arranged on a bearing seat 22 through a rotating shaft, the other end of the rotating shaft is connected with an output shaft of a turnover motor 23 through a speed reducer, a shell of the turnover motor 23 is fixed on a component bearing vertical frame 18, one or more supporting plates 26 are arranged at the bottom of the component bearing vertical frame 18 through a chute, the supporting plates 26 are connected with the telescopic end of an electric telescopic rod 25, the electric telescopic rod 25 is arranged on the component bearing vertical frame 18, one or more binocular cameras 30 are arranged at the inner side of a lifting base 11, a laser calibrator 31 is arranged on the lifting base 11 corresponding to a prefabricated component 38, horizontal sliding rails 32 are respectively arranged on the front side and the rear side of the lifting base 11 or a longitudinal sliding rail 12 close to the bottom of the prefabricated component 38 in parallel, racks 33 are fixedly arranged on the side surfaces of the horizontal sliding rails 32, sliding seats 34 are arranged on the horizontal sliding rails 32, and stepping motors 36 are arranged on the sliding seats 34, a driving gear 35 is coaxially installed on an output shaft of the stepping motor 36, the driving gear 35 is engaged with the rack 33, and a welding robot 37 is installed on the sliding seat 34.
The lifting base 11, the longitudinal moving platform 14, the transverse moving platform 17 and the component bearing stand 18 are made of steel structures, the lifting base 11 is a U-shaped steel structure base, the longitudinal moving platform 14 and the transverse moving platform 17 are steel structure rectangular frames, and the transverse lengths of the longitudinal moving platform 14, the transverse moving platform 17 and the component bearing stand 18 are greater than that of the prefabricated component 38.
The synchronous hydraulic cylinders 20 are respectively connected with a multi-cylinder synchronous hydraulic controller, and the bottom of the lifting base 11 is embedded with a photoelectric distance meter.
The binocular camera 30 faces the assembly connection position between the prefabricated part 38 and the building, the binocular camera 30 and the laser calibrator 31 are connected with the input end of the controller, and the output end of the controller is connected with the multi-cylinder synchronous hydraulic control device, the longitudinal linear motion device and the transverse linear motion device.
Referring to fig. 1 to 6, the invention adopts a large-span truss type conveying system for an assembly type building, which has large span, strong bearing capacity and convenient conveying, specifically, vertical support towers 1 are fixed at four corners of the outer side of the building, horizontal trusses 2 are horizontally arranged at the tops of two vertical support towers 1 positioned at the same side, track chutes 3 are arranged on the horizontal trusses 2, two parallel track chutes 3 are respectively provided with track trolleys 4, a hoisting truss 5 is horizontally connected between the two track trolleys 4, a hoisting movable trolley 7 is horizontally arranged on the lower surface of the hoisting truss 5, a winder 8 is arranged at the bottom of the hoisting movable trolley 7, the winder 8 is connected with one end of a cable 9, and a hoisting hook 10 is fixed at the other end of the cable 9. The rail trolley 4 and the hoisting movable trolley 7 adopt driving devices capable of moving independently or moving remotely, and servo motors are used as power. The hanging hook 10 is connected with an alignment assembly device, the alignment assembly device comprises a lifting base 11, a longitudinal moving platform 14, a transverse moving platform 17, a component bearing stand 18 and a hanging beam 19, and the hanging hook 10 is connected with a hook on the hanging beam 19.
The base that counterpoint rigging equipment adopted is lift base 11, and lift base 11 is U shaped steel structure base, also can adopt two vertical girder steels of both ends welded fastening of a horizontal girder steel to form, and the breach has been seted up to one side of lift base 11 in order to reduce and the building between the interference to can enlarge the visual angle of the eye of the people and machine vision in the installation of counterpointing. In order to enable the platform frame 14, the upper equipment and the carried prefabricated part 38 to be lifted at a certain distance in the vertical direction, the four corners of the lower surface of the lifting base 11 are respectively provided with the synchronous hydraulic cylinders 20, the synchronous hydraulic cylinders 20 are respectively connected with a multi-cylinder synchronous hydraulic controller, the four synchronous hydraulic cylinders 20 can be lifted synchronously through the multi-cylinder synchronous hydraulic controller, and the condition that the traditional multiple hydraulic cylinders are not synchronous in action is avoided.
The upper surface of the lifting base 11 is longitudinally provided with a pair of longitudinal sliding rails 12 which are parallel to each other, the longitudinal sliding rails 12 are respectively provided with a longitudinal sliding block 13, the longitudinal sliding block 13 is fixed with a longitudinal moving platform 14, and a longitudinal linear motion device is arranged between the longitudinal moving platform 14 and the longitudinal sliding block 13. The longitudinal linear motion device can adopt various structural forms, such as a lead screw transmission mechanism, a gear rack mechanism and the like, and because the weight of the prefabricated part 38 is larger and the accuracy requirement of contraposition installation is higher, the lead screw transmission mechanism with strong transmission capability and high motion accuracy is adopted, the control accuracy is close to the level of a machine tool, and the specific structure is as follows: the longitudinal linear motion device comprises a driving lead screw 27, a lead screw bearing seat 28 and a servo motor 29, the driving lead screw 27 parallel to the longitudinal sliding rail 12 is arranged on the lifting base 11, the lead screw bearing seat 28 is installed at one end of the driving lead screw 27, the lead screw bearing seat 28 is fixedly installed on the lifting base 11, the other end of the driving lead screw 27 is coaxially fixed with a rotating shaft of the servo motor 29, a shell of the servo motor 29 is installed and fixed on the lifting base 11, a nut pair corresponding to the driving lead screw 27 is arranged in the longitudinal sliding block 13, the longitudinal sliding block 13 is installed on the driving lead screw 27, the servo motor 29 drives the driving lead screw 27 to rotate, the longitudinal sliding block 13 is further driven to move, and accurate movement control of the longitudinal moving platform 14 in the longitudinal direction is achieved.
The longitudinal moving platform 14 is provided with a pair of mutually parallel transverse sliding rails 15, the transverse sliding rails 15 are respectively provided with a transverse sliding block 16, the transverse sliding block 16 is fixed with a transverse moving platform 17, a transverse linear motion device is arranged between the transverse moving platform 17 and the transverse sliding block 16, the structure of the transverse linear motion device and the longitudinal linear motion device can adopt various structural forms. For example, a screw transmission mechanism is adopted, and the structure is as follows: the transverse linear motion device comprises a driving lead screw 27, a lead screw bearing seat 28 and a servo motor 29, wherein the driving lead screw 27 parallel to the transverse slide rail 15 is arranged on the longitudinal moving platform 14, the lead screw bearing seat 28 is arranged at one end of the driving lead screw 27, the lead screw bearing seat 28 is fixedly arranged on the longitudinal moving platform 14, the other end of the driving lead screw 27 is coaxially fixed with a rotating shaft of the servo motor 29, a shell of the servo motor 29 is fixedly arranged on the longitudinal moving platform 14, a nut pair corresponding to the driving lead screw 27 is arranged in the longitudinal sliding block 13, and the longitudinal sliding block 13 is arranged on the driving lead screw 27. The servo motor 29 drives the driving screw 27 to rotate, and further drives the longitudinal slide block 13 to move, so that the transverse moving platform 17 is accurately controlled to move in the transverse direction.
The transverse moving platform 17 is fixed with a component bearing vertical frame 18, the component bearing vertical frame 18 is used for supporting and fixing the prefabricated component 38 in the hoisting and aligning process, a hanging beam 19 is fixedly arranged in the middle of the upper end of the component bearing vertical frame 18, a plurality of hooks for hanging the prefabricated component 38 are arranged on the lower portion of the hanging beam 19, an automatic control electromagnetic lock structure can be adopted, the auxiliary safety function in the hoisting process is achieved, and the falling accident in the hoisting process is prevented. One or more hooks for installing hoisting ropes are symmetrically arranged on the upper part of the hanging cross beam 19, and the invention and the carried component bearing vertical frame 18 are hoisted and lifted by a long-span truss type conveying system through the ropes.
Aiming at solving the technical problem that the vertical turning is needed after the clamping and hoisting preparation work of some prefabricated parts 38 is done, the invention adopts a mechanism capable of turning up and down, wherein bearing seats 22 are arranged in the middle parts of two sides of a part bearing vertical frame 18, a limiting fixing clamp 21 is arranged on each bearing seat 22 through a rotating shaft, the limiting fixing clamp 21 is used for clamping and fixing the middle parts of two sides of the prefabricated parts 38, the other end of each rotating shaft is connected with an output shaft of a turning motor 23 through a speed reducer, the shell of the turning motor 23 is fixed on the part bearing vertical frame 18, and the turning motor 23 can drive the prefabricated parts 38 to turn over and turn around by rotating. If the turning is not needed, the limiting and fixing clamp 21 is a clamp for limiting and fixing the side surface.
In addition, clamping units 24 are attached to the upper and lower sides of the component support stands 18 corresponding to the prefabricated components 38, respectively, and the clamping units 24 are used for clamping and fixing the prefabricated components 38 from the upper and lower sides of the two sides. The clamping assembly 24 comprises a fixed seat 43, a fixed arm 44, a movable clamping block 45, a cam shaft 46, a cam 47 and a speed reducing motor 48, wherein the fixed seat 43 is fixedly arranged on the upper side and the lower side of the component bearing vertical frame 18, fixed arms 44 are respectively and fixedly arranged at the two ends of the fixed seat 43, the fixed arm 44 is oppositely arranged, a sliding groove is formed in each fixed arm 44, the movable clamping block 45 is arranged in the sliding groove, an elastic rubber layer is arranged on one side, close to the prefabricated component 38, of the movable clamping block 45, the anti-skidding effect is achieved, a compression spring is arranged between the movable clamping block 45 and the fixed arm 44, the cam 47 is arranged on the outer side of each fixed arm through the cam shaft, and the cam 47 is coaxially fixed with the rotating shaft of the speed reducing motor 48. When clamping is required to be fastened, the two groups of speed reducing motors 48 simultaneously drive the cams 47 to form a certain angle respectively, due to the eccentric action of the cams 47, the cams 47 can extrude the movable clamping blocks 45, the compression springs can deform to a certain degree, and the two opposite movable clamping blocks 45 simultaneously clamp the prefabricated part 38. The spacing fixture 21 may also take the form of a clamping assembly 24. In addition, one or more supporting plates 26 are arranged at the bottom of the component bearing vertical frame 18 through a sliding groove, the supporting plates 26 are connected with the telescopic end of the electric telescopic rod 25, the electric telescopic rod 25 is arranged on the component bearing vertical frame 18, and the prefabricated components 38 are supported by the supporting plates 26 from the bottom, so that the components with large mass are prevented from vertically sliding off, and the safety is improved. When the required placement is released, the electric telescopic rod 25 retracts, and the supporting plate 26 is separated from the bottom of the prefabricated part 38.
Horizontal sliding rails 32 are respectively arranged on the front side and the rear side of the bottom of the prefabricated part 38 on the lifting base 11 or the longitudinal sliding rail 12 in parallel, racks 33 are fixedly arranged on the side faces of the horizontal sliding rails 32, sliding seats 34 are installed on the horizontal sliding rails 32, stepping motors 36 are installed on the sliding seats 34, driving gears 35 are coaxially installed on output shafts of the stepping motors 36, the driving gears 35 are meshed with the racks 33, the stepping motors 36 drive the driving gears 35 to rotate, and then the sliding seats 34 are driven to accurately move along the horizontal sliding rails 32. Install welding robot 37 on sliding seat 34, welding robot 37 adopts multistage formula arm structure, the welder that can adjust the direction and the automatic welding wire device that feeds into are installed to the end of arm, prefabricated component 38 has been realized with the building assembly position between the reinforcing bar automatic weld after counterpointing, can realize the different angle welding of same solder joint through the welder that can adjust the direction among the welding process, after a solder joint welding is accomplished and can be along horizontal slide rail 22 automatically move to next solder joint, full-automatic welding has been realized, the grout operation of seam crossing is being carried out to the welding completion back.
One or more binocular cameras 30 are installed on the inner side of the lifting base 11, the binocular cameras 30 are used for providing machine vision in the alignment process and acquiring the alignment condition between the prefabricated part 38 and the reinforcing steel bar hole and the reinforcing steel bar of the building assembly part, the lifting base 11 is provided with a laser calibrator 31 corresponding to the prefabricated part 38, and the laser calibrator 31 is used for placing the prefabricated part 38 in a falling mode and monitoring the overall posture of the prefabricated part 38 in the alignment process, for example: levelness, verticality, etc. The binocular camera 30 faces the assembly connection position between the prefabricated part 38 and the building, the binocular camera 30 and the laser calibrator 31 are connected with the input end of the controller, and the output end of the controller is connected with the multi-cylinder synchronous hydraulic control device, the longitudinal linear motion device, the transverse linear motion device, the limiting and fixing clamp 21 and the clamping assembly 24. In the alignment assembly process, the controller can accurately control the longitudinal linear motion device and the transverse linear motion device to move according to information collected by the binocular camera 30 and the laser calibrator 31 to realize accurate alignment in the transverse direction and the longitudinal direction, and after the alignment in the transverse direction and the longitudinal direction is finished, the synchronous descending of the four synchronous hydraulic cylinders 20 is realized by accurately controlling the multi-cylinder synchronous hydraulic control device, so that accurate installation is realized.
While the invention has been described in detail with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit of the invention.
Claims (4)
1. The utility model provides a large-span truss type assembled prefabricated component is carried and is counterpointed assembly system, includes vertical support tower (1), its characterized in that: the vertical support tower frames (1) are fixed at four outer corners of a building, horizontal trusses (2) are horizontally arranged at the tops of two vertical support tower frames (1) located on the same side, track sliding grooves (3) are formed in the horizontal trusses (2), two parallel track sliding grooves (3) are respectively provided with track trolleys (4), a hoisting truss (5) is horizontally connected between the two track trolleys (4), a hoisting movable trolley (7) is horizontally arranged on the lower surface of the hoisting truss (5), a winding machine (8) is installed at the bottom of the hoisting movable trolley (7), the winding machine (8) is connected with one end of a mooring rope (9), a hanging hook (10) is fixed at the other end of the mooring rope (9), the hanging hook (10) is connected with alignment assembly equipment, the alignment assembly equipment comprises a lifting base (11), a longitudinal moving platform (14), a transverse moving platform (17), The lifting device comprises a component bearing vertical frame (18) and a hanging beam (19), wherein a hanging hook (10) is connected with a hook on the hanging beam (19), four corners of the lower surface of a lifting base (11) are respectively provided with a synchronous hydraulic cylinder (20), the upper surface of the lifting base (11) is longitudinally provided with a pair of longitudinal sliding rails (12) which are parallel to each other, the longitudinal sliding rails (12) are respectively provided with a longitudinal sliding block (13), a longitudinal moving platform (14) is fixed on the longitudinal sliding block (13), a longitudinal linear motion device is arranged between the longitudinal moving platform (14) and the longitudinal sliding blocks (13), the longitudinal linear motion device comprises a driving lead screw (27), a lead screw bearing seat (28) and a servo motor (29), the lifting base (11) is provided with a driving lead screw (27) which is parallel to the longitudinal sliding rails (12), one end of the driving lead screw (27) is provided with the lead screw bearing seat (28), a screw rod bearing seat (28) is fixedly arranged on a lifting base (11), the other end of a driving screw rod (27) is coaxially fixed with a rotating shaft of a servo motor (29), a shell of the servo motor (29) is fixedly arranged on the lifting base (11), a nut pair corresponding to the driving screw rod (27) is arranged in a longitudinal sliding block (13), the longitudinal sliding block (13) is arranged on the driving screw rod (27), a pair of transverse sliding rails (15) which are parallel to each other is arranged on a longitudinal moving platform (14), transverse sliding blocks (16) are respectively arranged on the transverse sliding rails (15), a transverse moving platform (17) is fixed on the transverse sliding blocks (16), a transverse linear motion device is arranged between the transverse moving platform (17) and the transverse sliding blocks (16), and comprises the driving screw rod (27), the screw rod bearing seat (28) and the servo motor (29), a driving lead screw (27) parallel to the transverse slide rail (15) is arranged on the longitudinal moving platform (14), a lead screw bearing seat (28) is arranged at one end of the driving lead screw (27), the lead screw bearing seat (28) is fixedly arranged on the longitudinal moving platform (14), the other end of the driving lead screw (27) is coaxially fixed with a rotating shaft of a servo motor (29), a shell of the servo motor (29) is fixedly arranged on the longitudinal moving platform (14), a nut pair corresponding to the driving lead screw (27) is arranged in a longitudinal sliding block (13), the longitudinal sliding block (13) is arranged on the driving lead screw (27), a component bearing vertical frame (18) is fixedly arranged on the transverse moving platform (17), a hanging cross beam (19) is fixedly arranged in the middle of the upper end of the component bearing vertical frame (18), and clamping components (24) are respectively arranged at the upper side and the lower side of the component bearing vertical frame (18) corresponding to the prefabricated component (38), the clamping assembly (24) comprises a fixing seat (43), a fixing arm (44), a movable clamping block (45), a cam shaft (46), a cam (47) and a speed reducing motor (48), wherein the fixing seat (43) is fixedly arranged on the upper side and the lower side of the component bearing vertical frame (18), the two ends of the fixing seat (43) are respectively and fixedly provided with the fixing arm (44), the fixing arms (44) are arranged oppositely, each fixing arm (44) is provided with a sliding groove, the movable clamping block (45) is arranged in each sliding groove, a compression spring is arranged between each movable clamping block (45) and each fixing arm (44), the cam (47) is arranged on the outer side of each fixing arm through the cam shaft, the cam (47) and a rotating shaft of the speed reducing motor (48) are coaxially fixed, bearing seats (22) are arranged in the middle parts of the two sides of the component bearing vertical frame (18), and limiting fixing clamps (21) are arranged on the bearing seats (22) through rotating shafts, the other end of the rotating shaft is connected with an output shaft of a turnover motor (23) through a speed reducer, a shell of the turnover motor (23) is fixed on a component bearing stand (18), one or more support plates (26) are installed at the bottom of the component bearing stand (18) through a chute, the support plates (26) are connected with the telescopic end of an electric telescopic rod (25), the electric telescopic rod (25) is installed on the component bearing stand (18), one or more binocular cameras (30) are installed on the inner side of a lifting base (11), the lifting base (11) is provided with a laser calibrator (31) corresponding to a prefabricated component (38), horizontal slide rails (32) are respectively arranged on the front side and the rear side of the lifting base (11) or a longitudinal slide rail (12) close to the bottom of the prefabricated component (38) in parallel, racks (33) are fixedly arranged on the side faces of the horizontal slide rails (32), and sliding seats (34) are installed on the horizontal slide rails (32), a stepping motor (36) is installed on the sliding seat (34), a driving gear (35) is coaxially installed on an output shaft of the stepping motor (36), the driving gear (35) is meshed with the rack (33), and a welding robot (37) is installed on the sliding seat (34).
2. The conveying and aligning assembly system for the large-span truss type assembled prefabricated parts according to claim 1, wherein: the lifting base (11), the longitudinal moving platform (14), the transverse moving platform (17) and the component bearing stand (18) are made of steel structures, the lifting base (11) is a U-shaped steel structure base, the longitudinal moving platform (14) and the transverse moving platform (17) are steel structure rectangular frames, and the transverse length of the longitudinal moving platform (14), the transverse moving platform (17) and the component bearing stand (18) is greater than that of the prefabricated component (38).
3. The conveying and aligning assembly system for the large-span truss type assembled prefabricated parts according to claim 1, wherein: the synchronous hydraulic cylinders (20) are respectively connected with a multi-cylinder synchronous hydraulic controller, and the bottom of the lifting base (11) is embedded with a photoelectric distance meter.
4. The conveying and aligning assembly system for the large-span truss type assembled prefabricated parts according to claim 1, wherein: the binocular camera (30) faces to the assembly connection position between the prefabricated part (38) and the building, the binocular camera (30) and the laser calibrator (31) are connected with the input end of the controller respectively, and the output end of the controller is connected with the multi-cylinder synchronous hydraulic control device, the longitudinal linear motion device and the transverse linear motion device respectively.
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| CN202010494641.2A CN111779287B (en) | 2020-06-03 | 2020-06-03 | Conveying and aligning assembly system for large-span truss type assembly type prefabricated parts |
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