CN113090043B - Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component - Google Patents
Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component Download PDFInfo
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- CN113090043B CN113090043B CN202110326197.8A CN202110326197A CN113090043B CN 113090043 B CN113090043 B CN 113090043B CN 202110326197 A CN202110326197 A CN 202110326197A CN 113090043 B CN113090043 B CN 113090043B
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Abstract
The invention provides an auxiliary positioning device and a hoisting method applied to hoisting of prefabricated horizontal components, and belongs to the field of constructional engineering. The device comprises a base, a plurality of base fixing devices, a mechanical arm fixed on the base, a base moving device and a central controller. The auxiliary device is temporarily fixed on a lower floor slab through the base fixing device, the position relation between the auxiliary device and a building axis is sensed through the position sensor on the end platform of the mechanical arm, the position of the reserved clamping position of the hoisting horizontal component is captured through the camera device on the end platform of the mechanical arm, the rotation of the mechanical arm joint is controlled through the instruction of the central controller, the vertical rod is inserted into the reserved clamping position of the horizontal component, the rotation requirement of the mechanical arm joint is calculated according to the preset installation position of the horizontal component and the position information of the end platform, the hoisted prefabricated horizontal component is sent into the required horizontal position, the automatic accurate positioning of the prefabricated horizontal component is realized under the cooperation of the crane or the tower crane, the installation efficiency of the assembled structure is improved, and the safety of construction is improved.
Description
Technical Field
The invention belongs to the field of constructional engineering, relates to an assembled structure, and particularly relates to an auxiliary positioning device and method applied to hoisting of prefabricated horizontal components.
Background
The assembled structure has the characteristics of unique technical innovation and industrialized production, so that the assembled structure is widely valued and applied in building engineering in recent ten years, and the construction time can be saved and the construction efficiency can be improved on the premise of ensuring the construction quality.
In the current assembly type structure, when the prefabricated parts are hoisted in place in the installation and construction process, the prefabricated parts are required to be accurately installed at specific positions of the built structure. In the actual hoisting process, the following problems exist:
1) The accurate positioning problem of prefabricated horizontal components of the assembled structure is a key for influencing the installation efficiency and the construction quality of the assembled structure. Aiming at the alignment problem in the process of prefabricating horizontal components, the crane or the tower crane is only responsible for positioning at the vertical position, and the method adopted at present for aligning the horizontal position is that a plurality of workers cooperate to manually push and pull the components to the installation position. The manual method has poor alignment accuracy, so that the time consumption and the efficiency of the installation process are low, and the aim of realizing rapid construction and installation of the assembled structure is not facilitated.
2) The accurate positioning problem of prefabricated horizontal components of the assembled structure is a key for saving labor cost and improving construction safety. With the gradual shortage of labor force, the method of manual alignment needs a large number of workers, and the economic cost is high. The stability of components in the hoisting process is poor and the alignment accuracy is difficult to guarantee due to the influence of factors such as insufficient rigidity, deformation and the like of the crane boom and the lifting rope. In addition, the installation of horizontal components such as floors requires workers to perform high-altitude operation, so that great accident potential exists, safety problems frequently occur, and the safety problem of the workers in the hoisting process cannot be ignored.
Disclosure of Invention
The invention aims to: aiming at the technical problems, the invention provides a device for assisting in accurately positioning the horizontal position when being applied to hoisting of the prefabricated horizontal component (such as a floor slab, a beam and the like), which can intelligently assist in realizing the accurate positioning of the horizontal position of the prefabricated horizontal component, can avoid the hand alignment of workers in a high-altitude environment when being hoisted, improves the installation efficiency and the installation precision of an assembled structure, and ensures the construction safety.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
an auxiliary in-place device applied to hoisting of prefabricated horizontal components, comprising:
The base is provided with a plurality of base fixing devices which are used for temporarily fixing the base on a lower floor slab;
the multi-degree-of-freedom mechanical arm is arranged on the base;
the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a clamping position for inserting the vertical rod is arranged on the prefabricated horizontal component;
the first camera is arranged on the end platform and used for identifying the reserved clamping position of the prefabricated horizontal component;
A first distance sensor disposed on the end platform for monitoring a vertical distance between the prefabricated horizontal component and the end platform;
an end platform position sensor disposed on the end platform for determining a spatial position and orientation of the end platform;
and the signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm.
The base fixing device is a rod piece which extends out of the base in a hydraulic or threaded mode, a protruding piece or a concave point of the lower floor slab is clamped, and the plurality of fixing devices extend to different directions to fix the base.
The multi-degree-of-freedom mechanical arm is a mechanical arm with at least six degrees of freedom and is used for adjusting the position and the orientation of the end platform.
The bottom end of the vertical rod is arranged on the end platform of the multi-degree-of-freedom mechanical arm, and the vertical rod is kept in a vertical upward state in the whole auxiliary positioning process through rotation of the multi-degree-of-freedom mechanical arm, so that reserved clamping positions of the prefabricated components are convenient to insert.
The end platform position sensor is arranged on the end platform of the mechanical arm through the multi-directional holder and comprises a second camera, a second distance sensor and an angle sensor, wherein the second camera receives instructions of the central controller, the positioning axis drawn on the lower floor slab is searched and locked through the action of the multi-directional holder, and the spatial position and the orientation of the end platform of the mechanical arm are calculated through the readings of the second distance sensor and the angle sensor.
The end platform position sensor 46 is a lidar receiver.
The base is provided with a moving device.
The moving device is a universal roller arranged at the bottom of the base.
The mobile device includes walking wheel or track that sets up in base 1 bottom, still includes:
the power system is used for driving the travelling wheels or the caterpillar tracks to walk;
the base position and orientation sensing system is used for detecting the position and orientation of the base;
And the steering system is used for driving the travelling wheels or the caterpillar tracks to steer.
The invention further discloses a prefabricated horizontal component hoisting auxiliary method, which comprises the following steps:
1) Auxiliary device in place
The auxiliary device includes: a base; the multi-degree-of-freedom mechanical arm is arranged on the base; the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a plugging part for plugging the vertical rod is arranged on the prefabricated horizontal component; the first camera is used for identifying the relative positions of the prefabricated horizontal component and the vertical rod; a first distance sensor for monitoring a vertical distance between the prefabricated horizontal component and the end platform; an end platform position sensor for determining a spatial position and orientation of the end platform;
The signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm;
the operator pushes the auxiliary positioning device applied to the hoisting of the prefabricated horizontal component, or the device receives the instruction of the central controller to automatically walk to the working position;
2) The auxiliary device is installed and fixed:
The lower floor board is reserved with protruding pieces or concave points in advance, and the device is fixed by combining with a base fixing device on the base;
3) Determining the precise position of the mechanical arm:
the end platform position sensor is used for determining the spatial position and the azimuth of the end platform of the mechanical arm by identifying a building axis or an auxiliary axis or receiving a laser radar signal of a local area of a construction site;
4) The overall process of assisting in accurate positioning of the prefabricated horizontal component:
The crane or the tower crane sends the components to the vicinity of the installation position and falls to the position above the auxiliary device for a certain distance, firstly, a first camera on the first mechanical arm A captures the position of a prefabricated horizontal component for reserving a first clamping position a, the vertical distance between a platform at the upper end part of the first mechanical arm A and the prefabricated horizontal component is measured through a first distance sensor, a central controller analyzes and calculates the rotation angle of each joint required when the vertical rod on the first mechanical arm A is inserted into the first clamping position a through the acquired images and data, and the vertical rod of the first mechanical arm A is inserted into the first clamping position a according to the rotation angle;
Then, a first camera on a vertical rod of a second mechanical arm B captures the position of the prefabricated horizontal component where a second clamping position B is reserved, the vertical distance between a platform at the upper end part of the second mechanical arm B and the prefabricated horizontal component is measured through a first distance sensor, the rotation angles of all joints required when the vertical rod on the second mechanical arm B is inserted into the second clamping position B are calculated through analysis, and the vertical rod of the second mechanical arm B is inserted into the second clamping position B according to the rotation angles;
the vertical rod is kept in a vertical state in the whole auxiliary positioning process through the multi-degree-of-freedom motion of the mechanical arm, so that the vertical rod is convenient to insert into a reserved clamping position of the prefabricated horizontal component;
according to the preset installation position of the prefabricated horizontal component and by combining the current space positions and orientations of the end platforms of the first mechanical arm A and the second mechanical arm B, the central controller gives instructions to the rotation of the joints of the first mechanical arm A and the second mechanical arm B, and the vertical rods on the first mechanical arm A and the second mechanical arm B push the prefabricated horizontal component to the preset installation position through clamping, namely the prefabricated horizontal component reserves the preset space positions where the first clamping position a and the second clamping position B are located, so that the horizontal position of the prefabricated horizontal component is completely located;
then, the tower crane or the crane drops the prefabricated part to a preset position and finishes positioning and placing, the position sensor at the end platform of each mechanical arm continuously transmits the monitored space position of the end platform to the central controller in the whole positioning process, and the space position and the position of the end platform are checked in real time to prevent the positioning deviation of the prefabricated horizontal part;
5) And (5) removing the auxiliary device:
After the auxiliary positioning task of the prefabricated horizontal component is completed, each mechanical arm is retracted to the original position, the fixing of the device is removed, the device is moved to the position near the installation position of the next prefabricated horizontal component by utilizing the moving device installed at the lower part of the base, and the next auxiliary positioning task is waited.
1) The prefabricated horizontal component is sent to the installation position through a vertical rod on the platform at the end part of the mechanical arm, so that the prefabricated horizontal component is accurately positioned during hoisting. The device auxiliary device designed by the invention is arranged below the installation position of the prefabricated horizontal component on the lower floor board, the space position and the position of the end platform of the mechanical arm of the device are determined through the sensor, after the crane or the tower crane lifts the prefabricated component to the vicinity of the preset installation position, the camera and the distance sensor arranged on the end platform capture the position of the reserved clamping position on the prefabricated component, the central controller controls the rotation of the mechanical arm joint to insert the vertical rod into the reserved clamping position of the prefabricated component, the two mechanical arms cooperate to send the prefabricated component into the required horizontal position, and then the crane gradually lowers the component to the installation position and finishes the placement, so that the accurate positioning of the prefabricated component is realized.
2) The manual alignment of the prefabricated parts by workers is replaced, so that the overhead operation is avoided, the labor cost is saved, and the construction and installation efficiency of the assembled structure is improved. Due to the influence of factors such as insufficient rigidity and deformation of the crane boom and the crane rope, the prefabricated part is difficult to accurately position in actual hoisting. Accurate positioning requires the installer to manually centralize the prefabricated components through on-site multi-person collaboration, which is time consuming and inefficient. In addition, the installation of the horizontal component requires workers to operate in a high-altitude environment, so that potential safety hazards are more. In the invention, the accurate positioning of the prefabricated part is completed by the auxiliary device, the central controller controls the movement of the vertical rod by controlling the rotation of the mechanical arm joint, and the prefabricated part is sent to the installation horizontal position by utilizing the vertical rod, so that the automatic operation can be realized, the installation efficiency of the prefabricated part with the assembled structure is improved, the labor cost is saved, and the occurrence of safety accidents is avoided.
3) The device is convenient to install and detach, can adapt to the installation of all the prefabricated horizontal components of various types of whole engineering projects, and realizes the reuse of the device. The device is temporarily fixed by utilizing the protruding parts or the concave points reserved on the lower floor slab, and is convenient to install and detach. The movable device is arranged under the base, and can be pushed by an operator or automatically walked under the instruction of the central controller, so that the device can be reused, and after one component is hoisted, the movable device is moved to the next target position to wait for hoisting. For components with different sizes, the position of the mechanical arm on the base can be adjusted or the rotation of the mechanical arm joint can be used for adapting to prefabricated horizontal components with different sizes.
Drawings
Fig. 1 is a schematic view of a construction site of an auxiliary positioning device applied to hoisting of a prefabricated horizontal member:
the device comprises a horizontal component, a vertical component, a lower floor plate, a central controller, a vertical component, a horizontal component and a vertical component, wherein the auxiliary positioning device is applied to hoisting of the horizontal component, the horizontal component is to be installed, the vertical component is installed, and the vertical component is installed on the lower floor plate;
fig. 2 is a schematic diagram of the auxiliary positioning device composition applied to hoisting of prefabricated horizontal components:
the device comprises a base, a base fixing device, a moving device, a multi-degree-of-freedom mechanical arm and a multi-degree-of-freedom mechanical arm, wherein the base is 1, the base is 2, the base fixing device is 3, the moving device is 4;
Fig. 3 is a schematic diagram of a robotic arm:
41, an end platform, 42, a vertical rod, 43, a first camera, 44, a first distance sensor, 45 and an end platform position sensor;
FIG. 4 is a schematic diagram of a robotic arm position sensor;
451, a multidirectional holder, 452, a second camera, 453, a second distance sensor, 454 and an angle sensor;
FIGS. 5 (a) -5 (e) are process diagrams of the positioning of auxiliary components of the device;
In the figure: A. the first mechanical arm, B, the second mechanical arm, a, prefabricated horizontal component reserve first screens, B, prefabricated horizontal component reserve second screens, 7, mounted position.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 2, a device for assisting accurate positioning of a horizontal position when a prefabricated horizontal member is hoisted,
The device comprises a base 1, two multi-degree-of-freedom mechanical arms 4 fixed on the base 1 and a central controller 5.
The base 1 is provided with a moving device 3, which can be a universal roller, and can also comprise a wheel or crawler running system, a power system, a base position and orientation sensing system, an automatic driving system and a steering system which are arranged at the bottom of the base 1, and the moving device is used for manually or automatically moving to the next installation place after the hoisting of the components is finished, so that the device can be reused.
The foundation 1 comprises several foundation fixing means 2 for temporarily fixing said foundation 1 in a specific position of the underlying floor.
The base fixing device 2 is a rod piece which extends out of the base in a hydraulic or threaded mode, clamps a protruding piece or a concave point of a lower floor slab, and a plurality of fixing devices extend to different directions to fix the base 1.
The signal input end of the central controller 5 is connected with the first camera 43, the first distance sensor 44 and the end platform position sensor 45, and the signal output end thereof is connected with the multi-degree-of-freedom mechanical arm 4.
As shown in fig. 3, the multi-degree of freedom mechanical arm 4 includes an end stage 41, a vertical rod 42, a first camera 43, a first distance sensor 44, and an end stage position sensor 45.
The multi-degree-of-freedom mechanical arm 4 adjusts the position and orientation of the end platform 41 by rotation of a plurality of joints thereon;
The end platform 41 is provided with a vertical rod 42, a first camera 43, a first distance sensor 44 and an end platform position sensor 45; the vertical rod 42 is arranged at the end platform 41 of the multi-degree-of-freedom mechanical arm 4 and is used for inserting a prefabricated horizontal component to reserve a clamping position and sending the horizontal component to a required horizontal direction; the first camera 43 is arranged at the end platform 41 of the multi-degree-of-freedom mechanical arm 4 and is used for identifying the reserved clamping position of the prefabricated horizontal component; a first distance sensor 44, disposed at the end platform 41 of the multi-degree of freedom mechanical arm 4, for monitoring a vertical distance between the prefabricated horizontal member and the end platform 41; an end platform position sensor 45 is provided at the end platform 41 of the multi-degree of freedom robot 4 for determining the spatial position and orientation of the end platform 41.
The vertical rod 42 is kept in a vertical state through the rotation of each joint of the multi-degree-of-freedom mechanical arm 4 in the whole auxiliary positioning process, so that the vertical rod is convenient to insert into a reserved clamping position of the prefabricated horizontal component.
An end platform position sensor 45 is provided at the end platform 41 of the multi-degree of freedom robotic arm 4 to determine the spatial position and orientation of the end platform 41 by identifying a building axis or an auxiliary axis, or by receiving a laser radar signal local to the worksite.
As shown in fig. 4, the end platform position sensor 45 is mounted on the base 1 through the multi-directional pan-tilt 451, and comprises a second camera 452, a second distance sensor 453 and an angle sensor 454, wherein the second camera 452 receives instructions of the central controller 5, searches and locks a positioning axis drawn on the lower floor through the action of the multi-directional pan-tilt 451, and calculates the spatial position and orientation of the end platform 41 of the multi-degree of freedom mechanical arm 4 through the readings of the second distance sensor 453 and the angle sensor 454.
The technical scheme of the invention comprises the following characteristics:
1) Accurate alignment of the hoisting horizontal position of the prefabricated horizontal component is realized. When the auxiliary device applied to the hoisting of the prefabricated horizontal component in-place moves and is arranged below the preset installation position of the component, the positions of the two multi-degree-of-freedom mechanical arms 4 are adjusted according to the size of the hoisting component. The spatial position and orientation of the end platform 41 of each multiple degree of freedom robot arm 4 is precisely determined by the central controller 5 by identifying the building axis or auxiliary axis with the end platform position sensor 45 or by receiving the laser radar signal of the local area of the work site. The first camera 43 installed at the end platform 41 of the multi-degree-of-freedom mechanical arm 4 captures the position of the reserved clamping position of the prefabricated horizontal component, the first distance sensor 44 is used for measuring the vertical distance between the end platform 41 and the component, the central controller 5 uses the collected images and data to analyze and calculate the rotation angle of each joint required when the vertical rod 42 on the multi-degree-of-freedom mechanical arm 4 is inserted into the reserved clamping position, and the multi-degree-of-freedom mechanical arm 4 is adjusted according to the rotation angle to insert the vertical rod 42 into the reserved clamping position. According to the predetermined installation position of the component and the position of the current end platform 41, the central controller 5 gives instructions to the rotation of each joint of the multi-degree-of-freedom mechanical arm 4, and the vertical rod 42 sends the prefabricated component to the predetermined installation position, namely, the predetermined space position of the component reservation clamping position. The two multi-degree-of-freedom mechanical arms 4 cooperate to send the hoisted prefabricated horizontal component into a required horizontal direction, so that the horizontal position of the prefabricated horizontal component is completely and accurately positioned.
2) The automation device replaces manual implementation. The auxiliary device provided by the invention can automatically realize accurate positioning of the horizontal position after the prefabricated horizontal component is initially positioned, effectively solves the problems of poor accuracy, low efficiency and safety caused by manual alignment, improves the construction and installation efficiency of the assembled structure, and reduces the labor cost.
3) The device is convenient to install and disassemble and can be repeatedly used. The prefabricated part hoisting auxiliary device stretches out of the base fixing device 2 from the base 1 in a hydraulic or threaded mode, the device can be temporarily fixed by utilizing a protruding piece or a concave point reserved on the lower floor slab, and the device is convenient to install and detach. The bottom of the device is provided with a moving device 3, and after finishing the task of hoisting and aligning one component, an operator can push the device or the device to automatically walk to the next component installation site to wait for hoisting under the instruction of a central controller 5. The position of the multi-degree-of-freedom mechanical arm 4 on the base 1 can be adjusted, and the spatial position and the azimuth of the multi-degree-of-freedom mechanical arm 4 can be adjusted through rotation of each joint, so that the multi-degree-of-freedom mechanical arm is suitable for installation of prefabricated components with different sizes.
The design concept of the invention is embodied in the following aspects:
1) The hoisting horizontal position of the prefabricated horizontal component is accurately positioned. In the construction engineering of an assembled structure, due to the influence of factors such as insufficient rigidity and deformation of a crane boom and a crane rope, the prefabricated horizontal component is difficult to accurately position in a horizontal position during hoisting, manual pushing and pulling of the component is usually required, and the installation efficiency is low. By combining the characteristics of automatic control, flexible rotation, large travel range, small displacement error and the like of the multi-degree-of-freedom mechanical arm 4, the intelligent assembling auxiliary device for the prefabricated horizontal components (such as floors, beams and the like) is provided. The space position and the orientation of the end platform 41 of each multi-degree-of-freedom mechanical arm 4 are determined through a sensor system of an auxiliary device, when a crane or a tower crane lifts a prefabricated part to the vicinity above a preset installation position, a first camera 43 and a first distance sensor 44 arranged on the end platform 41 of the multi-degree-of-freedom mechanical arm 4 capture the position of a reserved clamping position on the prefabricated part, a central controller 5 controls rotation of each joint of the multi-degree-of-freedom mechanical arm 4 to insert a vertical rod 42 into the reserved clamping position of the prefabricated part, the two multi-degree-of-freedom mechanical arms 4 cooperate, the prefabricated part is sent to the required horizontal orientation, then the crane gradually falls to the installation position and is put in place, accurate positioning of the prefabricated part is achieved, and the installation efficiency is improved by an automatic device.
2) The device is convenient to install and disassemble and can be reused. In order to improve the installation speed of prefabricated horizontal components of the assembled structure and save equipment cost, the auxiliary device is needed to be conveniently detached after each component is installed, the auxiliary device can be moved to the next installation place in advance before the next component is hoisted and aligned, the alignment task waiting after the device is fixed is completed, and the repeated utilization of one device is realized. Therefore, the base fixing device 2 is arranged at the corner of each base 1, the fixing of the device is conveniently realized by utilizing the protruding piece or the concave point reserved by the floor, and the moving device 3 at the lower part of the base 1 can easily move to the next installation place by manual or automatic walking. In order to adapt to prefabricated components with different sizes in the same building structure, the position of the multi-degree-of-freedom mechanical arm 4 on the base can be adjusted or the size range of the applicable prefabricated components of the device can be enlarged through rotation of all joints of the multi-degree-of-freedom mechanical arm 4.
The following describes a specific embodiment of the present invention by taking an example of an embodiment of the present invention.
As shown in fig. 1 and 5 (a) to 5 (e), the prefabricated horizontal component lifting and positioning auxiliary device provided by the invention moves and is installed near the lower part of the installation position of the prefabricated component. In the specification, the device is provided with two mechanical arms, namely a first mechanical arm A and a second mechanical arm B, and corresponding reserved clamping positions of the prefabricated horizontal component are a first clamping position a and a second clamping position B.
1) The auxiliary device is in place:
The operator pushes the prefabricated horizontal component to hoist and mount in-place auxiliary device, or the device receives the instruction of the central controller 5 to walk automatically to the working position;
2) The auxiliary device is installed and fixed:
the lower floor board is reserved with protruding pieces or concave points in advance, and the device is fixed by combining with a base fixing device 2 on a base 1;
3) Determining the precise position of the mechanical arm:
The end platform position sensor 45 determines the spatial position and orientation of the end platform 41 of the multi-degree-of-freedom mechanical arm 4 by identifying a building axis or an auxiliary axis or by receiving laser radar signals of a local area of a construction site;
4) The overall process of assisting in accurate positioning of the prefabricated horizontal component:
the crane or tower crane brings the prefabricated horizontal components 6 to be installed near the installation location and drops a distance above the auxiliary device. First, a first camera on a vertical rod of a first mechanical arm A captures the position of a reserved first clamping position a of a prefabricated horizontal component 6 to be installed, the vertical distance between a platform at the upper end part of the mechanical arm A and the prefabricated horizontal component 6 to be installed is measured through a first distance sensor, a central controller 5 analyzes and calculates the rotation angle of each joint required when the vertical rod on the first mechanical arm A is inserted into the first clamping position a through collected images and data, and the vertical rod of the first mechanical arm A is inserted into the first clamping position a according to the rotation angle. Then, the first camera on the vertical rod of the second mechanical arm B captures the position where the second clamping position B is reserved for the prefabricated horizontal component 6 to be installed at the moment, the vertical distance between the platform at the upper end part of the second mechanical arm B and the prefabricated horizontal component 6 to be installed is measured through the first distance sensor, the rotation angle of each joint required when the vertical rod on the second mechanical arm B is inserted into the second clamping position B is calculated through analysis, and the vertical rod of the second mechanical arm B is inserted into the second clamping position B according to the rotation angle. According to the preset installation position of the prefabricated horizontal component 6 to be installed and by combining the current space position and the current direction of the end platforms of the first mechanical arm A and the second mechanical arm B, the central controller 5 gives instructions to the rotation of the joints of the first mechanical arm A and the second mechanical arm B, and the vertical rods on the first mechanical arm A and the second mechanical arm B push the prefabricated horizontal component 6 to be installed to the preset installation position through clamping, namely the preset space position where the reserved first clamping position a and the reserved second clamping position B of the component are located, so that the horizontal position of the prefabricated horizontal component is completely located. The tower crane or crane then lowers the prefabricated elements down to the installation position 7 and the rest in place is completed. The position sensor at each mechanical arm end platform continuously transmits the monitored space position of the end platform to the central controller 5 in the whole positioning process, and the space position and the position of the end platform are checked in real time, so that the positioning deviation of the component caused by deformation in the mechanical arm process is prevented.
5) And (5) removing the auxiliary device:
After the auxiliary positioning task of the prefabricated horizontal component 6 to be installed is completed, the mechanical arms 4 with multiple degrees of freedom are retracted to the original positions, the fixing of the device is removed, the device is moved to the position near the installation position of the next horizontal component by using the moving device 3 installed at the lower part of the base 1, and the next auxiliary positioning is waited.
Claims (8)
1. Be applied to auxiliary in-place device when prefabricated horizontal component hoists, characterized in that includes:
The base is provided with a plurality of base fixing devices which are used for temporarily fixing the base on a lower floor slab;
The multi-degree-of-freedom mechanical arm is arranged on the base; the multi-degree-of-freedom mechanical arm comprises a first mechanical arm A and a second mechanical arm B, according to the preset installation position of the prefabricated horizontal component and in combination with the current space position and the current direction of an end platform of the first mechanical arm A and an end platform of the second mechanical arm B, a central controller gives instructions to the rotation of joints of the first mechanical arm A and the second mechanical arm B, and vertical rods on the first mechanical arm A and the second mechanical arm B push the prefabricated horizontal component to the preset installation position through clamping, namely the prefabricated horizontal component reserves the preset space position where a first clamping position a and a second clamping position B are located, so that the prefabricated horizontal component is completely positioned;
the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a clamping position for inserting the vertical rod is arranged on the prefabricated horizontal component;
the first camera is arranged on the end platform and used for identifying the reserved clamping position on the prefabricated horizontal component;
The first distance sensor is arranged on the end platform and used for detecting the vertical distance between the prefabricated horizontal component and the end platform;
an end platform position sensor disposed on the end platform for determining a spatial position and orientation of the end platform;
The signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm;
the multi-degree-of-freedom mechanical arm is used for adjusting the position and the azimuth of the end platform;
The bottom end of the vertical rod is arranged on the end platform of the multi-degree-of-freedom mechanical arm, and the vertical rod is kept in a vertical upward state in the whole auxiliary positioning process through rotation of the multi-degree-of-freedom mechanical arm, so that reserved clamping positions of the prefabricated components are convenient to insert.
2. The auxiliary positioning device for hoisting prefabricated horizontal components according to claim 1, wherein the base fixing device is a rod extending from the base in a hydraulic or threaded mode, clamps the protruding piece or the concave point of the lower floor slab, and a plurality of fixing devices extend in different directions to fix the base.
3. The auxiliary positioning device applied to hoisting of the prefabricated horizontal component according to claim 1, wherein the end platform position sensor is installed on the end platform through a multi-directional holder and comprises a second camera, a second distance sensor and an angle sensor, wherein the second camera receives instructions of a central controller, a positioning axis drawn on a lower floor slab is searched and locked through actions of the multi-directional holder, and the spatial position and the orientation of the end platform of the multi-degree-of-freedom mechanical arm are calculated through readings of the second distance sensor and the angle sensor.
4. The auxiliary positioning device for hoisting prefabricated horizontal components according to claim 1, wherein the end platform position sensor is a lidar receiver.
5. The auxiliary positioning device for hoisting prefabricated horizontal components according to claim 1, wherein the base is provided with a moving device.
6. The auxiliary positioning device for hoisting prefabricated horizontal components according to claim 5, wherein the moving device is a universal roller arranged at the bottom of the base.
7. The auxiliary positioning device for hoisting prefabricated horizontal components according to claim 6, wherein the moving device comprises a walking wheel or a crawler belt arranged at the bottom of the base, and further comprises:
the power system is used for driving the travelling wheels or the caterpillar tracks to walk;
the base position and orientation sensing system is used for detecting the position and orientation of the base;
And the steering system is used for driving the travelling wheels or the caterpillar tracks to steer.
8. An auxiliary positioning method for hoisting a prefabricated horizontal component is characterized by comprising the following steps:
1) Auxiliary device in place
The auxiliary device includes: a base; the multi-degree-of-freedom mechanical arm is arranged on the base; the end part platform is arranged on the multi-degree-of-freedom mechanical arm, a vertical rod is arranged on the end part platform, and a plugging part for plugging the vertical rod is arranged on the prefabricated horizontal component; the first camera is used for identifying the relative positions of the prefabricated horizontal component and the vertical rod; a first distance sensor for monitoring a vertical distance between the prefabricated horizontal component and the end platform; an end platform position sensor for determining a spatial position and orientation of the end platform;
The signal input end of the central controller is connected with the first camera, the first distance sensor and the end platform position sensor, and the signal output end of the central controller is connected with the multi-degree-of-freedom mechanical arm;
the operator pushes the auxiliary positioning device applied to the hoisting of the prefabricated horizontal component, or the device receives the instruction of the central controller to automatically walk to the working position;
2) The auxiliary device is installed and fixed:
The lower floor board is reserved with protruding pieces or concave points in advance, and the device is fixed by combining with a base fixing device on the base;
3) Determining the precise position of the mechanical arm:
the end platform position sensor is used for determining the spatial position and the azimuth of the end platform of the mechanical arm by identifying a building axis or an auxiliary axis or receiving a laser radar signal of a local area of a construction site;
4) The overall process of assisting in accurate positioning of the prefabricated horizontal component:
The crane or the tower crane sends the components to the vicinity of the installation position and falls to the position above the auxiliary device for a certain distance, firstly, a first camera on the first mechanical arm A captures the position of a prefabricated horizontal component for reserving a first clamping position a, the vertical distance between a platform at the upper end part of the first mechanical arm A and the prefabricated horizontal component is measured through a first distance sensor, a central controller analyzes and calculates the rotation angle of each joint required when the vertical rod on the first mechanical arm A is inserted into the first clamping position a through the acquired images and data, and the vertical rod of the first mechanical arm A is inserted into the first clamping position a according to the rotation angle;
Then, a first camera on a vertical rod of a second mechanical arm B captures the position of the prefabricated horizontal component where a second clamping position B is reserved, the vertical distance between a platform at the upper end part of the second mechanical arm B and the prefabricated horizontal component is measured through a first distance sensor, the rotation angles of all joints required when the vertical rod on the second mechanical arm B is inserted into the second clamping position B are calculated through analysis, and the vertical rod of the second mechanical arm B is inserted into the second clamping position B according to the rotation angles;
the vertical rod is kept in a vertical state in the whole auxiliary positioning process through the multi-degree-of-freedom motion of the mechanical arm, so that the vertical rod is convenient to insert into a reserved clamping position of the prefabricated horizontal component;
according to the preset installation position of the prefabricated horizontal component and by combining the current space positions and orientations of the end platforms of the first mechanical arm A and the second mechanical arm B, the central controller gives instructions to the rotation of the joints of the first mechanical arm A and the second mechanical arm B, and the vertical rods on the first mechanical arm A and the second mechanical arm B push the prefabricated horizontal component to the preset installation position through clamping, namely the prefabricated horizontal component reserves the preset space positions where the first clamping position a and the second clamping position B are located, so that the horizontal position of the prefabricated horizontal component is completely located;
then, the tower crane or the crane drops the prefabricated part to a preset position and finishes positioning and placing, the position sensor at the end platform of each mechanical arm continuously transmits the monitored space position of the end platform to the central controller in the whole positioning process, and the space position and the position of the end platform are checked in real time to prevent the positioning deviation of the prefabricated horizontal part;
5) And (5) removing the auxiliary device:
After the auxiliary positioning task of the prefabricated horizontal component is completed, each mechanical arm is retracted to the original position, the fixing of the device is removed, the device is moved to the position near the installation position of the next prefabricated horizontal component by utilizing the moving device installed at the lower part of the base, and the next auxiliary positioning task is waited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110326197.8A CN113090043B (en) | 2021-03-26 | Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110326197.8A CN113090043B (en) | 2021-03-26 | Auxiliary positioning device and method applied to hoisting of prefabricated horizontal component |
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| Publication Number | Publication Date |
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| CN113090043A CN113090043A (en) | 2021-07-09 |
| CN113090043B true CN113090043B (en) | 2024-07-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215978533U (en) * | 2021-03-26 | 2022-03-08 | 东南大学 | Auxiliary positioning device applied to hoisting of prefabricated horizontal component |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215978533U (en) * | 2021-03-26 | 2022-03-08 | 东南大学 | Auxiliary positioning device applied to hoisting of prefabricated horizontal component |
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